WO2014094340A1 - Pipe bender and method of real-time detection on pipe bender - Google Patents
Pipe bender and method of real-time detection on pipe bender Download PDFInfo
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- WO2014094340A1 WO2014094340A1 PCT/CN2013/000223 CN2013000223W WO2014094340A1 WO 2014094340 A1 WO2014094340 A1 WO 2014094340A1 CN 2013000223 W CN2013000223 W CN 2013000223W WO 2014094340 A1 WO2014094340 A1 WO 2014094340A1
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- torque
- pipe
- control system
- bending
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000011897 real-time detection Methods 0.000 title claims abstract description 9
- 238000005452 bending Methods 0.000 claims abstract description 49
- 238000012544 monitoring process Methods 0.000 claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000012545 processing Methods 0.000 claims description 19
- 238000003754 machining Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 description 7
- 238000007689 inspection Methods 0.000 description 3
- 230000002950 deficient Effects 0.000 description 2
- 238000011179 visual inspection Methods 0.000 description 2
- 230000037303 wrinkles Effects 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D55/00—Safety devices protecting the machine or the operator, specially adapted for apparatus or machines dealt with in this subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D7/00—Bending rods, profiles, or tubes
- B21D7/12—Bending rods, profiles, or tubes with programme control
Definitions
- the invention relates to a pipe bending machine, in particular to a pipe bending machine with automatic detection function, and a method for real-time detection of the pipe bending machine during processing.
- the traditional tube bender detects the defective products after the tube is formed, and the inspectors visually check whether it has cracks, wrinkles, excessive thinning, etc., and then the product is checked by this step. , further testing the angle of the bend, etc., so as to prevent the outflow of unqualified products as much as possible.
- the pipe fitting inspection of the traditional pipe bending machine is after the pipe fitting has been finished, and the detection at this time belongs to a process of distinguishing between the qualified pipe fitting and the bad pipe fitting, and cannot monitor the machining process of the pipe fitting, when the feedback detection data When the abnormality reacts quickly, the processing is stopped, so as to avoid the scrapping of the pipe fittings.
- the inspection of the pipe fittings by visual inspection can not meet the accuracy requirements of the inspection data, and is not conducive to fully automated production. Summary of the invention
- the first technical problem to be solved by the present invention is to provide a bender having an automatic detecting function, which can effectively prevent torque runaway and reduce the scrap rate.
- a second technical problem to be solved by the present invention is to provide a method of performing real-time detection on the above-mentioned bender.
- a bending machine comprising a bending mechanism, wherein a torque monitoring system is connected to the bending mechanism, and the torque monitoring system includes a servo motor for driving the servo motor of the elbow arm of the bending mechanism, the driver of the servo motor is integrated with a detection module for obtaining a real-time torque value of the processed pipe by detecting the operation information of the servo motor, the torque monitoring
- the system also includes a control system that receives the torque value and controls the drive, and a console that is coupled to the control system.
- the drive and control system are located in the control cabinet.
- a method for real-time detection on a bender comprising the following steps:
- Confirmation 1 Performing the bending condition determination, by detecting whether the processing pipe reaches the bending position of the bending mechanism, the control system determines whether there is a torque monitoring requirement: if the processing pipe does not reach the bending position of the bending mechanism, Waiting for the next time monitoring to start; if the bending mechanism is performing bending processing, the control system controls the driver to start torque feedback detection;
- step 2) after entering the monitoring fault processing, the control system issues an alarm to the console, and sends an alarm signal on the display screen of the console, so that the operator can be reminded to perform related processing in time, such as troubleshooting. .
- the invention has the advantages that the torque variation can be monitored in real time directly during the bending process, and whether the pipe processing is normal according to the feedback torque value, and then the normal machining or the stop is performed according to the determination result.
- the elbow enters the monitoring fault treatment, which effectively prevents the tube from breaking and wrinkling caused by the torque out of control, reduces the scrap rate, and greatly improves the reliability of the whole equipment.
- FIG. 1 is a schematic structural view of a pipe bending machine of the present invention
- FIG. 2 is a schematic flow chart of a detection method of the present invention. detailed description
- a bender includes a bend mechanism 1, and a torque monitoring system 2 is connected to the bend mechanism 1.
- the torque monitoring system 2 includes a servo motor 21, a drive 22, a control system 23 and a console 24.
- the servo motor 21 is disposed on the head 11 of the bending mechanism 1, and the rotation of the bending arm 12 of the bending mechanism 1 is powered by a transmission mechanism such as a gear.
- the drive 22 and the control system 23 are connected and are disposed in the control cabinet 25, and the drive 22 is also connected to the servo motor 21, and the servo motor 21 is driven by receiving a command from the control system 23.
- a detection module is integrated on the chip of the driver 22, and the detection module acquires torque information in the processing pipe by detecting signals such as the rotational speed or current voltage of the servo motor 21.
- Control system 23 is connected to console 24.
- the steps of the method for automatically performing the real-time detection of the pipe fitting are as follows - (1)
- the elbow working condition is judged to detect whether the processed pipe member reaches the bent pipe position of the bending pipe mechanism 1, and can be detected by visual inspection or a sensor mounted on the bending pipe mold.
- the control system 23 determines whether there is a torque monitoring demand. If the machining pipe does not reach the bending position of the bending mechanism 1, that is, there is no torque monitoring demand, then wait for the next time monitoring to start; If the bending mechanism 1 is undergoing bending processing, that is, there is currently a torque monitoring demand, the control system 23 controls the driver 22 to start torque feedback detection;
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
Disclosed is a pipe bender, comprising a pipe bending mechanism (1) and a torque monitoring and control system (2). The torque monitoring and control system comprises a servomotor (21) providing motive power to a pipe bending rotary arm (12) of the pipe bending mechanism, and a driver (22), wherein a detection module is integrated on a chip of the driver for obtaining the real-time torque value of a pipe to be machined by detecting operating information of the servomotor. The torque monitoring and control system further comprises a control system (23) for receiving the torque value and controlling the driver and a console (24) connected to the control system. Disclosed is a method of real-time detection on a pipe bender, involving monitoring in real-time changes in torque while a pipe bender is machining, and judging whether or not the machining of a pipe is normal according to the torque value fed back, then carrying out normal machining or stopping pipe bending and entering monitoring and control management of faults depending on the result of the judgement. The pipe bender can guard against uncontrollable torque, preventing fracturing and wrinkling of the pipe, and reducing the discard rate.
Description
一种弯管机及在该弯管机上进行实时检测的方法 技术领域 Pipe bending machine and method for real-time detection on the pipe bending machine
本发明涉及一种弯管机，尤其是一种具有自动检测功能的弯管机， 以及对该弯管机 在加工时进行实时检测的方法。 背景技术 The invention relates to a pipe bending machine, in particular to a pipe bending machine with automatic detection function, and a method for real-time detection of the pipe bending machine during processing. Background technique
弯管机在管件加工过程中， 很容易因为扭矩失控而导致管件发生断裂、 起皱、 过度 拉薄等现象， 因此需要对管件进行检测以避免这些不良产品流出。 In the process of pipe fitting, the pipe bender is easy to break, wrinkle, and excessively thin due to the loss of torque. Therefore, the pipe fittings need to be tested to avoid the outflow of these defective products.
传统的弯管机对这些不良产品的检测， 是在管件成形以后， 通过检验人员目测来检 测它是否有发生断裂、起皱、过度拉薄等现象， 随后将通过这一步检测的产品放置检具， 对其弯管角度等做进一步检测， 从而尽可能的防止不合格产品流出。 The traditional tube bender detects the defective products after the tube is formed, and the inspectors visually check whether it has cracks, wrinkles, excessive thinning, etc., and then the product is checked by this step. , further testing the angle of the bend, etc., so as to prevent the outflow of unqualified products as much as possible.
但是，传统弯管机的管件检测是在管件已完成弯管加工之后，这时候的检测是属于 一种对合格管件和不良管件的区分过程， 而无法监控管件的加工过程， 当反馈的检测数 据异常时快速做出反应， 停止加工， 从而避免管件的报废， 此外， 通过目测对管件进行 检验， 既无法满足检验数据的准确性要求， 也不利于全自动化生产。 发明内容 However, the pipe fitting inspection of the traditional pipe bending machine is after the pipe fitting has been finished, and the detection at this time belongs to a process of distinguishing between the qualified pipe fitting and the bad pipe fitting, and cannot monitor the machining process of the pipe fitting, when the feedback detection data When the abnormality reacts quickly, the processing is stopped, so as to avoid the scrapping of the pipe fittings. In addition, the inspection of the pipe fittings by visual inspection can not meet the accuracy requirements of the inspection data, and is not conducive to fully automated production. Summary of the invention
本发明所要解决的第一个技术问题是提供一种具有自动检测功能的，有效预防扭矩 失控， 降低报废率的弯管机。 The first technical problem to be solved by the present invention is to provide a bender having an automatic detecting function, which can effectively prevent torque runaway and reduce the scrap rate.
本发明所要解决的第二个技术问题是提供一种在上述弯管机上进行实时检测的方 法。 A second technical problem to be solved by the present invention is to provide a method of performing real-time detection on the above-mentioned bender.
本发明解决上述第一个技术问题所采用的技术方案为：一种弯管机，包括弯管机构， 其特征在于， 在该弯管机构上连接有扭矩监控系统， 该扭矩监控系统包括为该弯管机构 的弯管转臂提供动力的伺服电机， 用于驱动该伺服电机的驱动器， 该驱动器的芯片上集 成有通过检测该伺服电机运转信息得到加工管件实时扭矩数值的检测模块， 该扭矩监控 系统还包括接收该扭矩数值并控制该驱动器的控制系统， 以及与该控制系统连接的控制 台。 The technical solution adopted by the present invention to solve the above first technical problem is: a bending machine comprising a bending mechanism, wherein a torque monitoring system is connected to the bending mechanism, and the torque monitoring system includes a servo motor for driving the servo motor of the elbow arm of the bending mechanism, the driver of the servo motor is integrated with a detection module for obtaining a real-time torque value of the processed pipe by detecting the operation information of the servo motor, the torque monitoring The system also includes a control system that receives the torque value and controls the drive, and a console that is coupled to the control system.
该驱动器和控制系统设置在控制柜中。 The drive and control system are located in the control cabinet.
本发明解决上述第二个技术问题所采用的技术方案为： 一种在弯管机上进行实时检 测的方法， 包括如下步骤： The technical solution adopted by the present invention to solve the above second technical problem is: A method for real-time detection on a bender, comprising the following steps:
1 1
确认本
1)进行弯管工况判定， 通过探测加工管件是否到达弯管机构的弯管位置， 由该控制 系统来判断是否有扭矩监控需求： 如果该加工管件未到达弯管机构的弯管位置， 则等待 下一时刻监控开始； 如果该弯管机构正在进行弯管加工， 则该控制系统控制该驱动器开 始进行扭矩反馈检测； Confirmation 1) Performing the bending condition determination, by detecting whether the processing pipe reaches the bending position of the bending mechanism, the control system determines whether there is a torque monitoring requirement: if the processing pipe does not reach the bending position of the bending mechanism, Waiting for the next time monitoring to start; if the bending mechanism is performing bending processing, the control system controls the driver to start torque feedback detection;
2)对该控制系统输入设定扭矩的数值范围， 随后通过该驱动器收集即时扭矩数值， 并将即时扭矩数值反馈到该控制系统作为反馈扭矩的数值， 该控制系统将该反馈扭矩的 数值与设定扭矩的数值进行比较： 如果反馈扭矩的数值在设定扭矩的数值范围中， 该控 制系统将正常的命令输出到该伺服电机执行弯管加工； 如果反馈扭矩的数值超出设定扭 矩的数值范围， 则进入监控故障处理， 该伺服电机停止工作。 2) input a range of values of the set torque to the control system, then collect the instantaneous torque value through the drive, and feed back the immediate torque value to the control system as the value of the feedback torque, and the control system sets the value of the feedback torque The value of the constant torque is compared: If the value of the feedback torque is within the range of the set torque, the control system outputs a normal command to the servo motor to perform the elbow processing; if the value of the feedback torque exceeds the value range of the set torque , then enter the monitoring fault processing, the servo motor stops working.
在步骤 2)中， 进入监控故障处理后， 该控制系统向该控制台发出警报， 在该控制台 的显示屏上发出警报信号， 从而可以提醒操作人员及时进行相关的处理， 如故障的排除 等。 In step 2), after entering the monitoring fault processing, the control system issues an alarm to the console, and sends an alarm signal on the display screen of the console, so that the operator can be reminded to perform related processing in time, such as troubleshooting. .
与现有技术相比，本发明的优点在于：可以直接在弯管加工过程中实时监控扭矩变 化情况， 并根据反馈的扭矩数值来判定管件加工是否正常， 再依据判定结果来执行正常 加工或者停止弯管进入监控故障处理， 从而有效预防了扭矩失控导致管件断裂、起皱等 现象， 降低了报废率， 极大地提高了整台设备的可靠性。 附图说明 Compared with the prior art, the invention has the advantages that the torque variation can be monitored in real time directly during the bending process, and whether the pipe processing is normal according to the feedback torque value, and then the normal machining or the stop is performed according to the determination result. The elbow enters the monitoring fault treatment, which effectively prevents the tube from breaking and wrinkling caused by the torque out of control, reduces the scrap rate, and greatly improves the reliability of the whole equipment. DRAWINGS
图 1为本发明的弯管机的结构示意图； 1 is a schematic structural view of a pipe bending machine of the present invention;
图 2为本发明的检测方法的流程示意图。 具体实施方式 2 is a schematic flow chart of a detection method of the present invention. detailed description
以下结合附图实施例对本发明作进一步详细描述。 The present invention will be further described in detail below with reference to the accompanying drawings.
参见图 1， 一种弯管机， 包括弯管机构 1， 在弯管机构 1上连接有扭矩监控系统 2。 扭矩监控系统 2包括伺服电机 21， 驱动器 22， 控制系统 23和控制台 24。 Referring to Figure 1, a bender includes a bend mechanism 1, and a torque monitoring system 2 is connected to the bend mechanism 1. The torque monitoring system 2 includes a servo motor 21, a drive 22, a control system 23 and a console 24.
与现有技术类似的， 伺服电机 21设置在弯管机构 1的机头 11上， 通过传动机构， 如齿轮， 为弯管机构 1的弯管转臂 12的转动提供动力。 驱动器 22和控制系统 23连接 且都设置在控制柜 25中， 并且驱动器 22还与伺服电机 21连接， 通过接收控制系统 23 的命令来驱动伺服电机 21。 驱动器 22的芯片上集成有检测模块， 检测模块通过检测伺 服电机 21的转速或电流电压等信号来获取在加工管件的扭矩信息。控制系统 23连接到 控制台 24。 Similar to the prior art, the servo motor 21 is disposed on the head 11 of the bending mechanism 1, and the rotation of the bending arm 12 of the bending mechanism 1 is powered by a transmission mechanism such as a gear. The drive 22 and the control system 23 are connected and are disposed in the control cabinet 25, and the drive 22 is also connected to the servo motor 21, and the servo motor 21 is driven by receiving a command from the control system 23. A detection module is integrated on the chip of the driver 22, and the detection module acquires torque information in the processing pipe by detecting signals such as the rotational speed or current voltage of the servo motor 21. Control system 23 is connected to console 24.
当使用上述这种弯管机进行弯管加工时， 自动进行管件加工实时检测的方法的步骤 如下-
(1)首先进行弯管工况判定，探测加工管件是否到达弯管机构 1的弯管位置，可以通 过目测或者装在弯管模上的传感器来进行检测。 根据当前弯管工序的进行情况， 由控制 系统 23来判断是否有扭矩监控需求， 如果加工管件未到达弯管机构 1的弯管位置， 即 当前没有扭矩监控需求，则等待下一时刻监控开始；如果弯管机构 1正在进行弯管加工， 即当前有扭矩监控需求， 则控制系统 23控制驱动器 22开始进行扭矩反馈检测； When the above-mentioned pipe bending machine is used for the bending process, the steps of the method for automatically performing the real-time detection of the pipe fitting are as follows - (1) First, the elbow working condition is judged to detect whether the processed pipe member reaches the bent pipe position of the bending pipe mechanism 1, and can be detected by visual inspection or a sensor mounted on the bending pipe mold. According to the current bending process, the control system 23 determines whether there is a torque monitoring demand. If the machining pipe does not reach the bending position of the bending mechanism 1, that is, there is no torque monitoring demand, then wait for the next time monitoring to start; If the bending mechanism 1 is undergoing bending processing, that is, there is currently a torque monitoring demand, the control system 23 controls the driver 22 to start torque feedback detection;
(2)对控制系统 23输入设定扭矩的数值范围， 如， 通过控制台 24， 随后通过驱动器 22收集即时扭矩数值， 并将当前扭矩数值反馈到控制系统 23， 控制系统 23将该反馈扭 矩的数值与设定扭矩的数值进行比较； 如果反馈扭矩的数值在设定扭矩的数值范围中， 则当前扭矩正常， 控制系统 23将正常的命令输出到伺服电机 21执行弯管加工； 如果反 馈扭矩的数值超出设定扭矩的数值范围， 则进入监控故障处理， 控制系统 23将立即输 出停止命令到伺服电机 21立即停止弯管加工， 并向控制台 24发出警报， 在控制台 24 的显示屏上发出警报信号， 以提醒操作人员进行处理。 (2) Entering a range of values for the set torque to the control system 23, such as through the console 24, then collecting the immediate torque value through the drive 22, and feeding back the current torque value to the control system 23, which controls the feedback torque The value is compared with the value of the set torque; if the value of the feedback torque is in the range of the set torque, the current torque is normal, and the control system 23 outputs a normal command to the servo motor 21 to perform the bending process; if the feedback torque If the value exceeds the value range of the set torque, the monitoring fault processing is entered, and the control system 23 immediately outputs a stop command to the servo motor 21 to immediately stop the elbow processing, and issues an alarm to the console 24, which is issued on the display of the console 24. An alarm signal to alert the operator to the process.
以上该仅为本发明的优选实施方式， 应当指出， 对于本领域的普通技术人员而言， 在不脱离本发明的原理前提下， 还可以做出多种变形和改进， 这也应该视为本发明的保 护范围。
The above is only a preferred embodiment of the present invention, and it should be noted that various modifications and improvements can be made by those skilled in the art without departing from the principles of the present invention. The scope of protection of the invention.
Claims
1、 一种弯管机， 包括弯管机构 (1)， 其特征在于， 在该弯管机构 (1)上连接有扭矩监 控系统 (2)，该扭矩监控系统 (2)包括为该弯管机构 (1)的弯管转臂 (12)提供动力的伺服电机 (21), 用于驱动该伺服电机 (21)的驱动器 (22)， 该驱动器 (22)的芯片上集成有通过检测该 伺服电机 (21)运转信息得到加工管件实时扭矩数值的检测模块， 该扭矩监控系统 (2)还包 括接收该扭矩数值并控制该驱动器 (22)的控制系统 (23)， 以及与该控制系统 (23)连接的控 制台 (24)。 1. A pipe bending machine, including a pipe bending mechanism (1), characterized in that a torque monitoring system (2) is connected to the pipe bending mechanism (1), and the torque monitoring system (2) includes the bending pipe The servo motor (21) powered by the elbow arm (12) of the mechanism (1), and the driver (22) used to drive the servo motor (21). The chip of the driver (22) is integrated with the servo motor (21) that detects the servo motor (21). The operation information of the motor (21) is used to obtain the detection module of the real-time torque value of the processed pipe fittings. The torque monitoring system (2) also includes a control system (23) that receives the torque value and controls the driver (22), and is connected to the control system (23). ) to which the console(24) is connected.
2、 如权利要求 1所述的弯管机， 其特征在于， 该驱动器 (22)和控制系统 (23)设置在 控制柜 (25)中。 2. The pipe bending machine according to claim 1, characterized in that the driver (22) and the control system (23) are arranged in the control cabinet (25).
3、 一种在如权利要求 1或 2中所述的弯管机上进行实时检测的方法， 包括如下步 骤： 3. A method for real-time detection on the pipe bending machine as claimed in claim 1 or 2, including the following steps:
1)进行弯管工况判定， 通过探测加工管件是否到达弯管机构 (1)的弯管位置， 由该控 制系统 (23)来判断是否有扭矩监控需求： 如果该加工管件未到达弯管机构 (1)的弯管位 置，则等待下一时刻监控开始；如果该弯管机构 (1)正在进行弯管加工，则该控制系统 (23) 控制该驱动器 (22)开始进行扭矩反馈检测； 1) Determine the working condition of the bending pipe. By detecting whether the processed pipe fitting reaches the bending position of the bending pipe mechanism (1), the control system (23) determines whether there is a torque monitoring requirement: If the processing pipe fitting does not reach the bending pipe mechanism (1), then wait for the monitoring to start at the next moment; if the bending mechanism (1) is performing bending processing, the control system (23) controls the driver (22) to start torque feedback detection;
2)对该控制系统 (23)输入设定扭矩的数值范围，随后通过该驱动器 (22)收集即时扭矩 数值， 并将即时扭矩数值反馈到该控制系统 (23)作为反馈扭矩的数值， 该控制系统 (23) 将该反馈扭矩的数值与设定扭矩的数值进行比较：如果反馈扭矩的数值在设定扭矩的数 值范围中， 该控制系统 (23)将正常的命令输出到该伺服电机 (21)执行弯管加工； 如果反 馈扭矩的数值超出设定扭矩的数值范围， 则进入监控故障处理， 该伺服电机 (21)停止工 作。 2) Input the value range of the set torque to the control system (23), then collect the real-time torque value through the driver (22), and feed the real-time torque value to the control system (23) as the feedback torque value. The control system The system (23) compares the value of the feedback torque with the value of the set torque: if the value of the feedback torque is within the value range of the set torque, the control system (23) outputs a normal command to the servo motor (21) ) to perform pipe bending processing; if the value of the feedback torque exceeds the value range of the set torque, monitoring fault processing will be entered and the servo motor (21) will stop working.
4、 如权利要求 3所述的实时检测的方法， 其特征在于， 在步骤 2)中， 进入监控故 障处理后， 该控制系统 (23)向该控制台 (24)发出警报， 在该控制台 (24)的显示屏上发出警 报信号。
4. The real-time detection method according to claim 3, characterized in that, in step 2), after entering the monitoring fault processing, the control system (23) issues an alarm to the console (24), and in the console An alarm signal appears on the display of (24).
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| CN201210552811.3 | 2012-12-18 | ||
| CN201210552811.3A CN103028640B (en) | 2012-12-18 | 2012-12-18 | Method for carrying out real-time detection on pipe bending machine |
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| WO2014094340A1 true WO2014094340A1 (en) | 2014-06-26 |
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| PCT/CN2013/000223 WO2014094340A1 (en) | 2012-12-18 | 2013-03-05 | Pipe bender and method of real-time detection on pipe bender |
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| RU2798137C2 (en) * | 2018-09-05 | 2023-06-15 | БЛМ С.п.А. | Pipe processing machine assembly with pipe displacement detector |
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