Parallel rail type intelligent robot composite bending forming machining method and device

An intelligent robot and bending forming technology, applied in the field of pipe forming and processing, can solve the problems of the difficulty of hollow pipe fittings, the inability to guarantee the dimensional accuracy and forming quality of forming components, increase the complexity of the process flow, the production cost and cycle, etc., and achieve the optimization of the forming process. , to achieve automatic intelligent operation, avoid the effect of interference

Active Publication Date: 2021-11-02
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0003] At present, the bending forming technologies of hollow pipe fittings mainly include roll bending, stretch bending, winding bending, push bending and other technologies. If the hollow pipe fittings with complex space axes and continuously changing bending radius are bent by the above-mentioned traditional methods, it is necessary to continuously adapt to different bending characteristics. Replacement of bending forming molds or diff

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  • Parallel rail type intelligent robot composite bending forming machining method and device
  • Parallel rail type intelligent robot composite bending forming machining method and device
  • Parallel rail type intelligent robot composite bending forming machining method and device

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Example Embodiment

[0047] Example 1

[0048] image 3 Schematic diagram of free bending forming stage of free bending / torsional composite forming, Figure 4 Schematic diagram of the post-torsion bending stage of free bending / torsional composite forming. The free bending forming device 13 and the bending forming device 41 are installed at the ends of the industrial robots 12 and 42 respectively. The industrial robots 12 and 42 are installed on the ground rails. The two robots are arranged in parallel and can move along the ground rails 11 and 43; The support guide 2 is located between the two robots. The free bending forming system 1 and the winding forming system 4 are respectively located on both sides of the external clamping guide device 2, and both include a robot motion control system and a bending die control system. The position and posture of the free bending forming device 13 is controlled by the robot to realize the space bending forming of different curvatures, and is guided by the...

Example Embodiment

[0058] Example 2

[0059] Figure 5 Schematic diagram of free bending forming stage of free bending / winding composite forming, Image 6 Schematic diagram of the bending forming stage of free bending / bending composite forming. The free bending forming device 13 and the bending forming device 41 are installed at the ends of the industrial robots 12 and 42 respectively. The industrial robots 12 and 42 are installed on the ground rails 11 and 43. The two robots are arranged in parallel and can be carried out along the ground rails 11 and 43. Movement; external support guide 2 is between the two robots. When the pipe is bent and formed, the free bending forming system 1 and the bending forming system 4 are sequentially bent and formed according to the characteristics of each bending part. For the small bending radius section with a straight section, the bending forming process is adopted; Section / non-straight section with large relative bending radius section / continuously variab...

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Abstract

The invention discloses a parallel rail type intelligent robot composite bending forming machining method and device. The device comprises two industrial robots, a free bending forming device, a bending forming device, an external clamping guiding device and two ground rails. The free bending forming device and the bending forming device are mounted at the tail ends of the two industrial robots respectively, the industrial robots are mounted on the ground rails, and the two industrial robots are arranged in parallel and can horizontally move along the ground rails respectively. The external clamping guiding device is located between the two industrial robots. By adopting the two industrial robots with the ground rails, the free bending forming system and the bending forming system are mounted at the tail ends of the robots respectively, so that in a bending forming process of a complex space component, a continuous variable curvature radius characteristic can be formed, a small bending radius characteristic can also be formed, and even a bending-torsion composite characteristic can be formed. Frequent die replacement in a single forming mode is avoided, and multi-bending-mode composite integrated short-process forming of a multi-feature complex space pipe fitting is achieved.

Description

technical field [0001] The invention relates to the technical field of pipe forming and processing, in particular to a compound bending forming processing method and device based on a parallel orbital intelligent robot. Background technique [0002] With the intensified demand for lightweight, the hollow components of the pipeline system widely used in aerospace, petrochemical, automobile, ship and other fields are becoming more and more complex in structure, and the hollow pipe fittings with complex three-dimensional space configuration are more It is conducive to improving the compactness of the piping system, thereby greatly improving the utilization of equipment space, and playing an important role in reducing the weight of equipment. [0003] At present, the bending forming technologies of hollow pipe fittings are mainly roll bending, stretch bending, winding bending, push bending and other technologies. If the hollow pipe fittings with complex space axes and continuous...

Claims

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Application Information

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IPC IPC(8): B21D7/12B21D7/16
CPCB21D7/12B21D7/16
Inventor 刘春梅黄祖树郭训忠郑硕孙振彪
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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