Flexible supporting mandril, supporting device and pipe bending robot forming control method

Abstract

The invention discloses a flexible supporting mandril, a supporting device and a pipe bending robot forming control method. The mandril comprises a core head and a core tail, wherein the core head is made of a rubber material, the size of the core head can be increased under the action of air pressure, and the core head comprises two layers from outside to inside, namely a loose porous rubber layer and an original rubber layer. The problem that the mandril cannot be added in the robot pipe bending forming process is solved through the structure of a traction servo motor, a traction wheel, a traction wire and the mandril, the core head of the mandril adopts the loose porous rubber layer, so that the core pulling of the mandril and the lubricating effect in the bending forming process are facilitated; and an air pressure controllable type inflatable mandril structure composed of an air pressure control system, an air inlet wire and the mandril is adopted, so that the internal supporting force of a bending section can be adjusted when a pipe is bent and formed, the defects of section distortion, instability, breakage and the like of the pipe in the robot pipe bending forming process can be effectively overcome, and the forming performance of the pipe is improved.

Description

technical field [0001] The invention relates to the technical field of robot bending flexible forming processing, in particular to a flexible supporting mandrel for bending pipes, a supporting device and a method. Background technique [0002] Robotic pipe bending technology is an important technological innovation in recent years to reduce production costs, improve production efficiency and precision, and realize intelligence and digitalization. This technology combines the traditional bending forming technology with a six-axis series robot, and an end bending actuator is installed at the end of the robot arm. Through the multi-axis coordinated movement of the end bending actuator and the robot arm, various spatially complex axes, small / Overall precise and rapid prototyping of multi-bending radius configuration elbows, such as figure 1 shown. Compared with the traditional bending method, the robot bending forming technology has outstanding advantages such as large flexi...

AI Technical Summary

Problems solved by technology

[0003]Because most of the pipes are hollow structures, during the bending process, especially when bending small bending radius or thin-walled pipes, the inner wall of the pipes is prone to instability. Defects such as wrinkle, cross-section distortion and even outer wall thinning and cracking seriously affect the quality of elbow forming

At present, traditional CNC bending mostly uses the forming method of adding a mandrel to solve the above defects. Since the position of the bending die is fixed during the traditional CNC bending forming process, the position of the mandrel is also fixed or in the bending section of the bending die. Internally adjustable, such as the patent CN109985942 discloses a flexible core-pulling device for a CNC pipe bender, but the bending position of the CNC pipe bender is fixed, so the mandrel in the device can only be in the bending section of the fixed bending position Adjust the position of the mandrel head in the pipe to eliminate some forming defects caused by the unreasonable control of the position of the first mandrel and the excessive extension of the mandrel during the traditional CNC bending process, but it is different from the traditional CNC bending forming process Compared with robot pipe bending, due to its special processing and forming method, the pipe remains fixed during processing and forming, and its bending position is constantly changing. The bending die will change with the movement of the robot, so the added mandrel will also change. It needs to follow the movement of the bending die, which leads to the fact that the mandrel structure used for traditional CNC bending cannot be applied to the robot bending technology

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