阅读说明：本技术 一种多轴弯管系统及其操作方法和加工方法 (Multi-shaft pipe bending system and operation method and machining method thereof ) 是由 刘坤 黄万永 吴钰屾 王财先 童梁 于 2020-04-23 设计创作，主要内容包括：本发明公开一种多轴弯管系统及其操作方法和加工方法,包括：自动上料机,所述自动上料机用于将其内部的一管件顶出；旋转夹持器,所述旋转夹持器设于所述自动上料机的一侧,所述旋转夹持器用于夹紧并旋转所述管件；至少一机器人,所述机器人设于所述自动上料机的一侧,所述机器人上活动安装有弯管机头,所述弯管机头用于对该一所述管件进行抓取、运送以及弯管加工；控制系统,所述控制系统控制所述机器人、所述弯管机头、所述旋转夹持器工作。本发明自动化程度高,柔性度高,占地面积较小；解决细长管件两头弯工艺难的问题,可扩展性好。(The invention discloses a multi-axis pipe bending system and an operation method and a processing method thereof, wherein the multi-axis pipe bending system comprises the following steps: the automatic feeding machine is used for ejecting a pipe fitting in the automatic feeding machine; the rotary gripper is arranged on one side of the automatic feeding machine and is used for clamping and rotating the pipe fitting; the robot is arranged on one side of the automatic feeding machine, a pipe bending machine head is movably mounted on the robot and used for grabbing, conveying and pipe bending the pipe fitting; and the control system controls the robot, the pipe bender head and the rotary clamp to work. The invention has high automation degree, high flexibility and small floor area; the problem of long and thin pipe fitting both ends curved technology difficult is solved, scalability is good.)

1. A multi-axis elbow system, comprising:

the automatic feeding machine is used for ejecting a pipe fitting in the automatic feeding machine;

the rotary gripper is arranged on one side of the automatic feeding machine and is used for clamping and rotating the pipe fitting;

the robot is arranged on one side of the automatic feeding machine, a pipe bending machine head is movably mounted on the robot and used for grabbing, conveying and pipe bending the pipe fitting;

and the control system controls the robot, the pipe bender head and the rotary clamp to work.

2. The multi-axis elbow system according to claim 1, further comprising: the robot is movably arranged on the walking shaft and moves along the axial direction of the pipe fitting on the rotary clamp holder.

3. The multi-axis elbow system according to claim 1, comprising: and the two robots are respectively used for bending the two ends of the pipe fitting on the rotary clamp holder.

4. The multi-axis elbow system according to claim 1, further comprising: and the blanking frame is used for storing the processed pipe fittings.

5. The multi-axis elbow system according to claim 1, further comprising: the automatic feeding machine is arranged at one end of the bottom plate, the rotary clamp holder is arranged in the middle of the bottom plate, and the robot is arranged on one side of the bottom plate.

6. The multi-axis elbow system according to claim 1, wherein the robot is a six-axis robot.

7. A method of operating a multi-axis elbow system, comprising the multi-axis elbow system of any one of claims 1 to 6, the method of operating comprising:

step A1: the automatic feeding machine jacks up one pipe fitting inside the automatic feeding machine;

step A2: the robot moves the pipe bending machine head to a material grabbing position, the pipe bending machine head clamps the pipe fitting, and the pipe bending machine head of the robot conveys the pipe fitting to the rotary clamp;

step A3: the rotary gripper clamps the pipe fitting;

step A4: the pipe bending machine head loosens the pipe fitting and bends the pipe fitting;

step A5: and the pipe bending head of the robot carries out blanking on the processed pipe fittings.

8. A method of machining a multi-axis pipe bending system, comprising the multi-axis pipe bending system of any one of claims 1 to 6, the method comprising:

step B1: the control system reads a drawing of the finished pipe fitting to obtain coordinate information of the pipe fitting;

step B2: setting a die and a processing mode of the pipe fitting in the control system, and establishing a coordinate system of the pipe fitting;

step B3: the control system automatically selects a mould of the pipe fitting corresponding to the pipe bending machine head and generates an action program of the pipe bending machine head;

step B4: importing the action program of the pipe bending machine head into simulation software for interference verification;

step B5: if so, the control system automatically adjusts the rotation angle of the rotary clamp and the pipe bending machine head around the pipe fitting, and executes the step B3, otherwise, executes the step B6;

step B6: the pipe bending head bends the pipe fitting on the rotary clamp holder;

step B7: and feeding back the process and the running state of the bent pipe machining to the control system, and finishing the machining.

Technical Field

The invention relates to the technical field of pipe bending, in particular to a multi-shaft pipe bending system and an operation method and a processing method thereof.

Background

At present, the equipment used in common pipe bending methods can be divided into hydraulic pipe bending equipment and servo pipe bending equipment. The pipe bending processing method comprises a pipe bending special machine and a manual feeding pipe forming pipe bending production unit, wherein during processing, the pipe is manually fed and discharged, a pipe fitting is fed by a pipe bender feeding trolley to rotate and is pushed to an appointed pipe bending point position, and after the pipe fitting is in place, the pipe fitting is clamped by a clamping die and rotates, so that a pipe fitting bending process is realized, the processing process is generally controlled by a coordinate YBC and is converted into an action program Y: the feeding trolley translates; b: rotating by taking the axial direction of the pipe fitting as a rotating shaft; c: the clamping die rotates around the center. The production efficiency of the pipe bending method in the prior art mainly depends on the skill of the operators and the size of the pipe fittings, and the dies of the pipe bending machine need to be replaced when different types of pipes are processed.

The pipe bending processing in the prior art mainly has the following defects:

(1) the feeding and discharging are carried out manually, the automation degree is low, the pipe bending efficiency is low, the operation is dangerous, meanwhile, the flexibility is low, and the interference avoiding performance is poor;

(2) the special machine for bending the pipe has larger body volume and large floor area;

(3) the problems of difficult process, low processing efficiency and the like exist in the process of processing the slender pipe fitting.

Disclosure of Invention

Aiming at the problems of complex operation and low production efficiency of the existing pipe processing, the multi-shaft pipe bending system, the operation method and the processing method thereof are provided, the automation degree is high, the flexibility is high, and the occupied area is small; the problem of long and thin pipe fitting both ends curved technology difficult is solved, scalability is good.

The specific technical scheme is as follows:

a multi-axis elbow system, comprising:

the automatic feeding machine is used for ejecting a pipe fitting in the automatic feeding machine;

the rotary gripper is arranged on one side of the automatic feeding machine and is used for clamping and rotating the pipe fitting;

the robot is arranged on one side of the automatic feeding machine, a pipe bending machine head is movably mounted on the robot and used for grabbing, conveying and pipe bending the pipe fitting;

and the control system controls the robot, the pipe bender head and the rotary clamp to work.

The multi-axis elbow system further comprises: the robot is movably arranged on the walking shaft and moves along the axial direction of the pipe fitting on the rotary clamp holder.

The multi-axis elbow system described above, wherein, includes: and the two robots are respectively used for bending the two ends of the pipe fitting on the rotary clamp holder.

The multi-axis elbow system further comprises: and the blanking frame is used for storing the processed bent pipe.

The multi-axis elbow system further comprises: the automatic feeding machine is arranged at one end of the bottom plate, the rotary clamp holder is arranged in the middle of the bottom plate, and the robot is arranged on one side of the bottom plate.

In the multi-axis pipe bending system, the robot is a six-axis robot.

A method of operating a multi-axis elbow system, comprising the multi-axis elbow system of any one of the above, the method comprising:

step A1: the automatic feeding machine jacks up one pipe fitting inside the automatic feeding machine;

step A2: the robot moves the pipe bending machine head to a material grabbing position, the pipe bending machine head clamps the pipe fitting, and the pipe bending machine head of the robot conveys the pipe fitting to the rotary clamp;

step A3: the rotary gripper clamps the pipe fitting;

step A4: the pipe bending machine head loosens the pipe fitting and bends the pipe fitting;

step A5: and the pipe bending head of the robot carries out blanking on the processed bent pipe.

A method for machining a multi-axis pipe bending system, including the multi-axis pipe bending system of any one of the above aspects, the method comprising:

step B1: the control system reads a drawing of the finished pipe fitting to obtain coordinate information of the pipe fitting;

step B2: setting a die and a processing mode of the pipe fitting in the control system, and establishing a coordinate system of the pipe fitting;

step B3: the control system automatically selects a mould of the pipe fitting corresponding to the pipe bending machine head and generates an action program of the pipe bending machine head;

step B4: importing the action program of the pipe bending machine head into simulation software for interference verification;

step B5: if so, the control system automatically adjusts the rotation angle of the rotary clamp and the pipe bending machine head around the pipe fitting, and executes the step B3, otherwise, executes the step B6;

step B6: the pipe bending head bends the pipe fitting on the rotary clamp holder;

step B7: and feeding back the process and the running state of the bent pipe machining to the control system, and finishing the machining.

Compared with the prior art, the technical scheme has the positive effects that:

the pipe bending machine can simultaneously perform pipe bending in the feeding and discharging processes, improves the production efficiency and the automation degree, can control the rotation of the pipe after the pipe is clamped by the rotary clamp holder, is in multi-axis linkage with the robot and the pipe bending machine head, and improves the flexibility of a pipe bending system. The invention has high automation degree, high flexibility and small floor area; the problem of long and thin pipe fitting both ends curved technology difficult is solved, scalability is good.

Drawings

FIG. 1 is a schematic view of an overall structure of a multi-axis pipe bending system and a robot for operating and processing the multi-axis pipe bending system according to the present invention;

FIG. 2 is a schematic diagram of the overall structure of a multi-axis pipe bending system and its operation method and processing method with dual robots according to the present invention;

in the drawings: 1. an automatic feeding machine; 2. rotating the gripper; 3. a robot; 4. a pipe bending machine head; 5. a control system; 6. a traveling shaft; 7. a pipe fitting; 8. a blanking frame; 9. a base plate.

Detailed Description

The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.

Fig. 1 is a schematic overall structure diagram of a multi-axis pipe bending system and an operation method and a processing method thereof provided with a robot according to the present invention, fig. 2 is a schematic overall structure diagram of a multi-axis pipe bending system and an operation method and a processing method thereof provided with a double robot according to the present invention, and as shown in fig. 1 to 2, a multi-axis pipe bending system according to a preferred embodiment is shown, including: automatic feeding machine 1, rotatory holder 2 and an at least robot 3, automatic feeding machine 1 is used for ejecting with a pipe fitting 7 of its inside, one side of automatic feeding machine 1 is located to rotatory holder 2, rotatory holder 2 is used for pressing from both sides tight and rotatory pipe fitting 7, one side of automatic feeding machine 1 is located to robot 3, movable mounting has bending machine head 4 on the robot 3, bending machine head 4 is used for snatching this pipe fitting 7, transports and pipe bending.

Further, as a preferred embodiment, the multi-axis elbow system further includes: and the control system 5 controls the robot 3, the pipe bending machine head 4 and the rotary clamp holder 2 to work.

Further, as a preferred embodiment, the multi-axis elbow system further includes: and the robot 3 is movably arranged on the walking shaft 6, and the robot 3 moves along the axial direction of the pipe fitting 7 on the rotary clamp holder 2.

Further, as a preferred embodiment, the multi-axis elbow system includes: the two robots 3 are used for respectively bending two ends of the pipe 7 on the rotary clamp holder 2.

Preferably, the multi-axis elbow system comprises: two walking axles 6, two robots 3 are respectively movably arranged on two walking axles 6, two walking axles 6 are respectively located at two sides of rotary clamper 2, and robots 3 on two walking axles 6 are all movable along the axial direction of pipe fitting 7 on rotary clamper 2.

The above are merely preferred embodiments of the present invention, and the embodiments and the protection scope of the present invention are not limited thereby.

The present invention also has the following embodiments in addition to the above:

in a further embodiment of the present invention, please continue to refer to fig. 1 to fig. 2, the multi-axis pipe bending system further includes: and the blanking frame 8 is used for storing the machined pipe fittings 7.

In a further embodiment of the present invention, the multi-axis elbow system further comprises: the automatic feeding machine 1 is arranged at one end of the bottom plate 9, the rotary clamp holder 2 is arranged in the middle of the bottom plate 9, and the robot 3 is arranged on one side of the bottom plate 9.

Preferably, the blanking frame 8 is arranged at the other end of the bottom plate 9, and the two walking shafts 6 are respectively arranged at two sides of the bottom plate 9.

Preferably, the bottom plate 9 is provided for easy handling and disassembly.

In a further embodiment of the invention, the robot 3 is a six-axis robot.

The following illustrates the method of operation of the present invention including:

the early preparation of the operation method is to install and fix the whole system on the bottom plate 9, introduce the drawing of the finished pipe fitting into the control system 5 and input the relevant information of the die, and then automatically generate the action program of the pipe bender head.

Step A1: the automatic feeding machine 1 jacks up a pipe fitting 7 inside the automatic feeding machine;

step A2: the robot 3 moves the pipe bender head 4 to a material grabbing position, the pipe bender head 4 clamps the pipe 7, and the pipe bender head 4 of the robot 3 conveys the pipe 7 to the rotary clamper 2;

step A3: the rotary gripper 2 grips the pipe 7;

step A4: the pipe bending machine head 4 loosens the pipe fitting 7 and bends the pipe fitting 7;

step A5: the pipe bending machine head 4 of the robot 3 performs blanking on the processed pipe 7.

Preferably, after the multi-axis pipe bending system is started, the automatic feeding machine 1 receives a feeding permission signal and detects that a bin of the automatic feeding machine 1 is filled, the automatic feeding machine automatically jacks up a pipe 7, the pipe bending machine head 4 outputs a feeding position signal after clamping, the six-axis robot moves the pipe bending machine head 4 to a material grabbing position after receiving the feeding position signal, the pipe bending machine head 4 clamps and processes the pipe 7 and sends the pipe to the rotary clamper 2 for fixing, and meanwhile, the automatic feeding machine 1 prepares the pipe 7 to be processed next.

Preferably, after the rotary clamper 2 clamps the pipe 7 to be processed, the pipe bender head 4 loosens the pipe 7 and bends the pipe, thereby effectively improving interference avoidance.

Preferably, if the length of the tube 7 is long, a "double sided mode" can be selected in the control system, in which the tube is machined on both sides of the rotary gripper 2, respectively.

Preferably, after the pipe bending process of the pipe fitting 7 is completed, the robot 3 clamps the processed pipe fitting 7 by using the pipe bending machine head 4, places the pipe fitting on the blanking rack 8, and then the robot 3 takes out the next pipe fitting 7 from the automatic blanking machine 1 to perform the pipe bending process of the next pipe fitting 7.

The processing method of the present invention is explained below including:

step B1: the control system 5 reads a drawing of the finished pipe fitting 7 to obtain coordinate information of the pipe fitting 7;

step B2: setting a die and a processing mode of the pipe fitting 7 in the control system 5, and establishing a coordinate system of the pipe fitting 7;

step B3: the control system 5 automatically selects the mould of the pipe fitting corresponding to the pipe bending machine head 4 and generates an action program of the pipe bending machine head 4;

step B4: importing the action program of the pipe bending machine head 4 into simulation software for interference verification;

step B5: if yes, the control system 5 automatically adjusts the rotation angle of the rotary clamper 2 and the pipe bender head 4 around the pipe fitting 7, and executes the step B3, otherwise, executes the step B6;

step B6: the pipe bending machine head 4 bends the pipe 7 on the rotary clamp holder 2;

step B7: and feeding back the process and the running state of the bent pipe machining to the control system 5, and finishing the machining.

The robot 3 is provided with a multi-mold pipe bending machine head 4 on the sixth shaft, a servo motor controls the rotation of a rotating arm of the pipe bending machine head, pipe bending can be simultaneously carried out in the feeding and blanking processes, and the production efficiency and the automation degree are improved.

The rotary clamp holder 2 is also provided with a servo motor, the rotation of the pipe fitting 7 can be controlled after the pipe fitting 7 is clamped, the multi-shaft linkage with the six shafts of the robot and the pipe bending machine head 4 is realized, and the flexibility of a pipe bending system is improved.

The invention is provided with the walking shaft 6, can process a thin tube with larger length, introduces the double robots to be matched with the walking shaft, and simultaneously carries out work on two ends of the tube 7 when the tube 7 is processed by the two robots 3, thereby realizing the 3D bending processing of the complex thin and long tube and greatly improving the production efficiency of the thin and long tube.

When the invention is used for processing a pipe fitting 7, the drawing of the finished pipe fitting can be read by the pipe bending software, and information such as coordinates of the pipe fitting is obtained; setting a mould and a processing mode in the pipe bending software, and after establishing a coordinate system, the pipe bending software can automatically select a pipe bending head to correspond to the mould and generate a pipe bending system action program; the action program is guided into simulation software for interference verification, and the pipe bending software can automatically adjust the rotation angle of the rotary clamp holder 2 and the pipe bending machine head 4 around the pipe fitting, so that the interference avoiding performance and the flexibility are effectively improved.

The invention has high automation degree and high flexibility; compared with the traditional machining method special for the bent pipe, the method has the advantages that the occupied area is small; the problem that the process for bending two ends of the slender pipe fitting 7 is difficult is solved; the expandability is good, and the 3D bent pipe of the complex slender pipe can be realized by matching with the walking shaft 6 or the double robots 3.

The invention can improve the automation degree and the processing efficiency of the pipe fitting 7 processing, and the system layout is more compact.

The pipe bender has high flexibility, the rotary clamp holder 2 and the pipe bender head 4 can rotate around the pipe fitting 7, interference can be avoided in processing, and complex pipe fitting processing can be realized.

The invention has good expandability, and can realize the 3D pipe bending of a thin pipe with larger length by matching with the walking shaft 6 or the double robots 3.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.