Pipe bending machine with automatic feeding and discharging functions

Abstract

The invention relates to a pipe bending machine with an automatic feeding and discharging function. The pipe bending machine is suitable for high-precision automatic machining of pipe fittings with cover plates. In order to solve the problems that traditional equipment is large in manual feeding angle deviation, needs secondary positioning and is low in efficiency, automatic conveying of pipe fittings is achieved through a chain feeding part, the pipe fittings with cover plates are axially positioned through a double-air-cylinder structure of a positioning detection device, the angle of the cover plates is detected in real time in cooperation with an industrial camera, and the angle is transmitted to a B-axis rotating shaft; and the servo compensation adjustment of the postures of the pipe fittings is realized. The transverse moving feeding component is in multi-axis linkage with the main machine of the pipe bending machine, and automation of the whole process of feeding, detecting, pipe bending and discharging can be achieved. The angle consistency problem of the cover plate is solved through a visual detection and servo compensation mechanism, a secondary positioning procedure is canceled, and meanwhile, the modular design is adopted to adapt to pipe fittings of different specifications. The machining precision and production efficiency of the pipe fitting with the cover plate are remarkably improved, and an efficient automatic solution is provided for the fields of automobiles, aerospace and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical manufacturing, and particularly relates to a pipe bending machine with automatic feeding and discharging functions. BACKGROUND

[0002] With the iteration and upgrading of industrial technology, the demand for complex-shaped pipe fittings in high-end manufacturing fields such as automobiles and aerospace is growing exponentially, and the precision requirements for pipe fittings with cover plates have been upgraded to angle deviation ≤ ± 1° and bend radius error ≤ ± 0.5 mm. Such industries not only require equipment to quickly process complex structures such as multi-bend angles and three-dimensional curved surfaces (such as special-shaped cooling pipes for new energy automobile three-electricity systems and aviation engine fuel distribution pipes), but also require the equipment to have full-process automation, millimeter-level repeat positioning accuracy and continuous operation reliability. However, in actual production, the bending process of pipe fittings with cover plates always faces double technical bottlenecks:

[0003] On the one hand, traditional semi-automatic pipe bending machines use manual feeding mode, and the angle control of pipe fittings with cover plates completely depends on the experience of operators. Test data shows that when manually placing the cover plate, the angle deviation of the same batch of products can be more than ± 2°, and when the pipe fittings contain more than 3 bend angles, the cumulative error of the angle will cause the interface misalignment rate to exceed 30% during subsequent assembly. On the other hand, although the existing automatic feeding pipe bending machine realizes the automation of the feeding link, it generally lacks real-time detection and compensation mechanism for the angle of the cover plate. The equipment still needs to be positioned twice before bending, that is, the operator first visually calibrates the angle of the cover plate, and then fixes it again through mechanical stop block. The time consumed for single workpiece positioning twice is about 15-20 seconds. For mass production lines, the secondary positioning process needs to consume more time every year, which seriously restricts the capacity release and yield improvement of the automatic production line. SUMMARY

[0004] (I) Technical problems solved

[0005] In view of the deficiencies of the prior art, the present application aims to provide a pipe bending machine with automatic feeding and discharging functions, which solves the problems existing in the prior art, and solves the background technical problem through the integration of a "vision detection-servo compensation" technical system: the pipe fitting is automatically and accurately positioned by using a chain feeding component in cooperation with double sensors to avoid angle deviation during feeding; the double-cylinder mechanical positioning of the positioning detection device and the industrial camera vision detection are used to real-time extract cover plate angle data and transmit the data to the B-axis rotating shaft, so that the automatic compensation of the pipe fitting posture is realized, and the secondary positioning process is completely cancelled; the multi-axis linkage (such as B-axis and C-axis rotary drive) of the transverse feeding component and the pipe bending machine main machine ensures that the angle deviation of the pipe fitting with a cover plate during bending is ≤±0.5°; the PLC control system coordinates the feeding, detection, pipe bending and discharging processes to realize automatic feeding, detection, pipe bending and discharging, which can significantly shorten the single workpiece processing cycle; in addition, the adjustable design of the feeding V-shaped block and the modular die changing mechanism enable the equipment to quickly adapt to different specifications of pipe fittings with a cover plate, meet the flexible production requirements of large quantities, and fundamentally solve the industry pain points of poor angle consistency, time-consuming secondary positioning, low production efficiency and weak equipment adaptability in the traditional technology.

[0006] (II) Technical solutions

[0007] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0008] A pipe bending machine with automatic feeding and discharging functions, comprising a pipe bending machine main machine, a chain feeding component and a transverse feeding component arranged at the rear end of the pipe bending machine main machine, and a discharging component and a conveyor belt component arranged at the front end of the pipe bending machine main machine.

[0009] Preferably, the chain feeding component comprises a feeding frame, a chain transmission mechanism arranged at the upper end of the feeding frame, a plurality of feeding V-shaped blocks arranged on each chain, and a positioning detection device arranged at the left upper end of the feeding frame.

[0010] Preferably, the positioning detection device comprises symmetrically arranged positioning V-shaped blocks moving along the slide rail, first and second cylinders arranged on the two sides of the positioning V-shaped blocks, a positioning plate arranged at the output shaft end of the first cylinder, a spring positioning block arranged at the output shaft end of the second cylinder, and a camera detection device arranged on the side of the positioning plate.

[0011] Preferably, the chain transmission mechanism comprises a first chain group arranged at a fixed position and a second chain group arranged on the feeding frame and movable, and chain wheels arranged at the two side ends of the first chain group and the second chain group, and an outer hexagonal transmission rod arranged at the axis of each chain wheel for transmission connection.

[0012] Preferably, the chain transmission mechanism further comprises a feeding servo motor arranged at the front of the feeding frame and a pitch adjusting servo motor arranged at the rear of the feeding frame, the feeding servo motor is connected with the side chain wheels through belt transmission, and the pitch adjusting servo motor is connected with the second chain group to drive the second chain group to move in the feeding direction.

[0013] Preferably, the transverse feeding component comprises a transverse feeding frame, a slide rail arranged on the transverse feeding frame, two groups of material clamps arranged at the lower end of the slide rail, a Z-axis servo motor for driving the material clamps to move up and down through a gear and a rack, and an X-axis servo motor for driving the material clamps to move left and right.

[0014] Preferably, a first sensor is arranged at the inner side of the first chain group near the positioning detection device, a second sensor is arranged at the outer side of the second chain group, and a positioning boss is arranged at the side of the feeding V-shaped block near the second sensor.

[0015] Preferably, the pipe bending machine main machine comprises a rack component, a feeding component, a trolley component, a B-axis rotating shaft, a material supporting component, a head component, an up-down die changing component, a left-right die changing component and a pipe bending shaft C-axis arranged on the rack component, the feeding component is used to drive the trolley component to move along the length direction of the rack component to realize the feeding operation of the pipe, the trolley component is connected with the B-axis rotating shaft to clamp and drive the pipe to rotate to change the spatial angle of the pipe, the material supporting component is used to push the connecting rod through the air cylinder to support the pipe during pipe bending, the head component is arranged at one end of the rack component, the up-down die changing component is connected with the head component to drive the head component to move up and down, the left-right die changing component is connected with the head component to drive the head component to move back and forth along the width direction of the rack, and the pipe bending shaft C-axis is drivingly connected with the head component and drives the head component to rotate.

[0016] Preferably, the unloading component comprises an unloading frame, an unloading servo motor arranged on the unloading frame, a clamping jaw mechanism moving transversely through the unloading servo motor and an air cylinder driving the clamping jaw mechanism to move up and down, the clamping jaw mechanism is used to clamp the pipe processed by the pipe bending machine main machine and move the pipe to the conveying belt component.

[0017] A processing method of a pipe bending machine with automatic feeding and unloading function, characterized in that the method comprises the following steps:

[0018] S1: The chain feeding component drives the chain transmission mechanism through the feeding servo motor to convey the pipe to the vicinity of the positioning detection device, the feeding is paused when the first sensor senses the pipe, and the second sensor completes accurate positioning by detecting the positioning boss of the feeding V-shaped block.

[0019] S2: The cross-moving feeding component drives the material clamp to the positioning V-shaped block of the positioning detection device through the X-axis servo motor and the Z-axis servo motor, the first cylinder first extends to push the positioning plate, and the second cylinder then extends to push the pipe through the spring positioning block to realize axial positioning; the camera detection device photographs the angle of the pipe pressing plate and transmits the angle to the B-axis rotating shaft;

[0020] S3: The trolley component clamps the pipe, and the B-axis rotating shaft adjusts the spatial angle of the pipe according to the angle data;

[0021] S4: The feeding component drives the trolley component to feed to the die position on the head component, the head component adjusts the die position through the up-down die changing component and the left-right die changing component, the pipe bending shaft C drives the die clamping to rotate to realize pipe bending, and the cylinder of the material supporting component pushes the connecting rod to support the pipe to prevent deformation;

[0022] S5: The jaw mechanism of the unloading component clamps the pipe after pipe bending, and moves to the conveying belt component to be conveyed to the designated position.

[0023] (Three) beneficial effects

[0024] The application discloses a pipe bending machine with automatic feeding and unloading functions, and aims at the processing pain points of special pipe fittings such as cover plate pipes. Core technology breakthroughs are realized through a plurality of innovative designs: first, an adjustable chain feeding and double-cylinder positioning structure is adopted, the feeding V-shaped block can be self-adaptively adjusted according to the cover plate specifications, and the double cylinders are used to elastically push the cover plate end, so that the deformation problem caused by uneven stress of the cover plate in traditional positioning is solved, and axial accurate constraint is realized; second, an integrated industrial camera visual detection and B-axis servo rotating compensation mechanism is adopted, the cover plate angle is captured in real time, and the rotating shaft is automatically corrected in posture, so that the secondary positioning process is completely cancelled, and the industry problem of poor cover plate angle consistency is fundamentally solved; third, a full-process automatic system seamlessly connects feeding, detection, pipe bending and unloading links, the cross-moving feeding component and the pipe bending host are multi-axially linked, so that the angle control of the cover plate pipe is accurate during the pipe bending process, and the processing flow is efficient and coherent; fourth, a modularized type changing design supports rapid adaptation of different cover plate specifications, the feeding mechanism and the positioning device can be flexibly adjusted, and the processing adaptability of the equipment to the cover plate pipe is significantly improved. Through the exclusive technical scheme, the angle control, efficiency bottleneck and adaptability problems in the cover plate pipe processing are systematically solved, and the manufacturing technology in the related field is promoted. BRIEF DESCRIPTION OF DRAWINGS

[0025] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The detailed description is made with reference to the accompanying drawings.

[0026] Figure 1It is the overall schematic view of the pipe bending machine with automatic feeding and discharging function.

[0027] Figure 2 It is the schematic view of the pipe bending machine main machine in the pipe bending machine with automatic feeding and discharging function.

[0028] Figure 3 It is Figure 2 The enlarged view of A in the schematic view of the pipe bending machine main machine.

[0029] Figure 4 It is the front view of the chain feeding component in the pipe bending machine with automatic feeding and discharging function.

[0030] Figure 5 It is the top view of the chain feeding component in the pipe bending machine with automatic feeding and discharging function.

[0031] Figure 6 It is Figure 5 The enlarged view of B in the schematic view of the chain feeding component.

[0032] Figure 7 It is the cross-sectional view of the positioning detection device in the pipe bending machine with automatic feeding and discharging function.

[0033] Figure 8 It is Figure 1 The enlarged view of C in the overall schematic view.

[0034] Figure 9 It is the side view of the chain feeding component in the pipe bending machine with automatic feeding and discharging function.

[0035] Figure 10 It is Figure 9 The enlarged view of D in the chain feeding component.

[0036] Figure 11 It is the schematic view of the transverse feeding component with automatic feeding and discharging function.

[0037] Figure 12 It is the schematic view of the discharging component with automatic feeding and discharging function.

[0038] In the figure: 1- pipe bending machine main unit, 2- chain feeding component, 3- transverse loading component, 4- unloading component, 5- conveyor belt component, 11- frame component, 12- feeding component, 13- trolley component, 14- B axis rotating shaft, 15- supporting component, 16- head component, 17- upper and lower mold changing component, 18- left and right mold changing component, 19- bending axis C axis, 21- feeding frame, 22- chain transmission mechanism, 23- feeding V-block, 24- positioning detection device, 25- first sensor, 26- second sensor, 231- positioning boss, 24 1-Positioning V-block, 242-First cylinder, 243-Second cylinder, 244-Positioning plate, 245-Spring positioning block, 246-Camera detection device, 221-First chain group, 222-Second chain group, 223-Sprocket, 224-External hexagonal transmission rod, 225-Feeding servo motor, 226-Adjustable distance servo motor, 31-Transverse loading rack, 32-Slide rail, 33-Material clamp, 34-Z-axis servo motor, 35-X-axis servo motor, 41-Unloading rack, 42-Unloading servo motor, 43-Gripping mechanism, 44-Cylinder. DETAILED DESCRIPTION

[0039] The following is a summary of the examples of the present invention. Figures 1-12 A clear and complete description of the technical solutions in the embodiments of the present invention is provided. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0040] Example 1:

[0041] A pipe bending machine with automatic loading and unloading functions,

[0042] like Figures 1-12 As shown, a pipe bending machine with automatic loading and unloading functions includes: a pipe bending machine main unit 1, a chain feeding component 2 and a transverse loading component 3 are provided at the rear end of the pipe bending machine main unit 1, and a discharge component 4 and a conveyor belt component 5 are provided at the front end of the pipe bending machine main unit 1;

[0043] like Figures 2-3As shown, the pipe bending machine main machine 1 comprises a rack part 11, a feeding part 12, a trolley part 13, a B-axis rotating shaft 14, a material supporting part 15, a head part 16, an up-down die changing part 17, a left-right die changing part 18 and a pipe bending shaft C-axis 19 arranged on the rack part 11; the feeding part 12 is used to drive the trolley part 13 to move along the length direction of the rack part 11 to realize the feeding operation of the pipe, the trolley part 13 is connected with the B-axis rotating shaft 14 to clamp and drive the pipe to rotate to change the spatial angle of the pipe; the material supporting part 15 is used to push the connecting rod by a cylinder to support the pipe during pipe bending; the head part 16 is arranged at one end of the rack part 11, the up-down die changing part 17 is connected with the head part 16 to drive the head part to move up and down, the left-right die changing part 18 is connected with the head part 16 to drive the head part to move back and forth along the width direction of the rack, and the pipe bending shaft C-axis 19 is drivingly connected with the head part 16 to drive it to rotate.

[0044] The rack part 11 is the support structure of the pipe bending machine main machine, which is formed by welding high-strength steel and is subjected to aging treatment on the surface to eliminate stress, thereby ensuring the overall rigidity and stability. The feeding part 12 is driven by a feeding driving motor (servo motor) through a gear and rack transmission mechanism. The trolley part 13 is controlled to move back and forth along the length direction X-axis of the rack to realize the feeding of the pipe. The trolley part 13 clamps the pipe by a pneumatic clamping cylinder to ensure that the pipe does not slip during bending. The bottom of the trolley part 13 is installed on the slider of the feeding part 12 and moves with the feeding part. The B-axis rotating shaft is rigidly connected with the trolley part and is driven by a "servo motor + precision planetary reducer". The core function thereof is to automatically adjust the spatial angle (rotation around the pipe axis) of the pipe according to the cover plate angle data transmitted by the positioning detection device to compensate the cover plate angle deviation and ensure that the posture of the cover plate after pipe bending is consistent with the design.

[0045] The supporting component 15 is driven by a cylinder push link mechanism, and the end of the link mechanism is provided with a supporting block in the form of a cylinder body tapered from both ends to the middle. The supporting point position can be adjusted by a screw rod. It is used to provide support force for the pipe during pipe bending. The supporting point is located near the bending pipe to prevent the pipe from sagging and deforming due to bending moment. It is especially suitable for long-diameter ratio large cover plate pipe to ensure uniform bending arc and no wrinkles. The head component 16 is integrated with a pipe bending die. The pipe bending die includes upper and lower circular dies. The upper and lower circular dies are tightly fitted by the movement of the cylinder push link mechanism to realize pipe bending forming. The upper and lower die changing components 17 and the left and right die changing components 18 are both driven by a "servo motor + ball screw" transmission. The upper and lower die changing components 17 are used to drive the head component 16 to move up and down along the vertical direction Z-axis to change different height dies or adjust the vertical alignment of the die and the pipe. The left and right die changing components 18 drive the head component to move along the width direction Y-axis of the rack to adjust the horizontal position of the pipe bending die to adapt to different pipe bending radius requirements or change the left and right dies of different specifications. The pipe bending shaft C-axis 19 is the execution shaft of the pipe bending action, which drives the head component 16 to rotate. The rotation angle is accurately controlled by the PLC system.

[0046] As shown in Figures 4-10 , the chain feeding component 2 includes a feeding frame 21, a chain transmission mechanism 22 arranged at the upper end of the feeding frame 21, a plurality of feeding V-shaped blocks 23 arranged on each chain, and a positioning detection device 24 arranged at the left upper end of the feeding frame 21.

[0047] The feeding frame 21 is the basic support structure of the chain feeding component. The chain transmission mechanism 22 includes a first chain set 221 fixed to the left side of the feeding frame and a second chain set 222 slidingly connected to the feeding frame through a linear guide rail. The center distance of the two chain sets can be adjusted by an adjusting servo motor 226. The feeding V-shaped blocks 23 are moved along the length direction of the feeding frame by a roller chain to realize automatic conveying of the pipe. The two chain sets can adapt to pipes of different lengths. The sprocket 223 is precisely engaged with the chain, and the outer hexagonal transmission rod 224 penetrates the axes of the two sprocket shafts to connect the left and right sprockets, ensuring that the two chains rotate synchronously and preventing the pipe from twisting due to speed difference between the two sides.

[0048] As shown in Figures 5-6 , the first sensor 25 is installed inside the first chain set near the positioning detection device. When the pipe moves with the chain into the detection range, the sensor triggers a signal, and the feeding servo motor 225 temporarily stops running, realizing the preliminary positioning of the pipe. The second sensor 26 is installed on the outside of the second chain set and corresponds to the positioning boss 231 of the feeding V-shaped block. After the feeding is paused, it detects whether the positioning boss is in place. If it is in place, it confirms that the feeding V-shaped block is stopped at the specified position, providing a precise positioning reference for subsequent transverse feeding, and avoiding deviation in taking materials due to sensor 1 detection error.

[0049] As Figures 9-10 shown, the feeding V-shaped block 23 is installed on the chain link, the V-shaped groove angle is 90°-110°, which prevents the pipe from rolling and deviating due to the weight of the cover plate during feeding; the positioning boss 231 is arranged on the side of the feeding V-shaped block close to the second sensor 26, when the feeding V-shaped block moves to the specified position, the positioning boss triggers the second sensor 26, realizing accurate positioning of the feeding V-shaped block.

[0050] The chain transmission mechanism 22 further comprises a feeding servo motor 225 arranged at the front of the feeding frame 21 and a pitch adjusting servo motor 226 arranged at the rear of the feeding frame 21, the feeding servo motor 225 is connected with the side chain wheel 223 through belt transmission, and the pitch adjusting servo motor 226 is connected with the second chain set 222 to drive it to move in the feeding direction.

[0051] The positioning detection device 24 comprises symmetrically arranged positioning V-shaped blocks 241 moving along the slide rail, the first air cylinder 242 and the second air cylinder 243 are arranged on the two sides of the positioning V-shaped block 241 respectively, the output shaft end of the first air cylinder 242 is provided with a positioning plate 244, the output shaft end of the second air cylinder 243 is provided with a spring positioning block 245, and the side edge of the positioning plate 244 is provided with a camera detection device 246.

[0052] The positioning V-shaped blocks 241 are arranged in pairs and symmetrically move along the slide rail (such as a linear guide rail), the V-shaped groove angle is 90°-110°, and the groove surface is hardened. It is used for receiving the pipe sent by the transverse moving feeding component, the V-shaped structure ensures that the axis of the pipe coincides with the center line of the positioning device, realizing preliminary positioning;

[0053] The first air cylinder output shaft 242 is rigidly connected with the positioning plate 244, the cylinder stroke is 50 mm, and the cylinder diameter is 32 mm. When the cylinder is extended, the positioning plate abuts against the end face of the non-cover plate end of the pipe, providing a rigid positioning force to limit the axial movement of the pipe; the output shaft end of the second air cylinder 243 is connected with the spring positioning block, and the spring compression amount can be adjusted. When the cylinder is extended, the spring positioning block pushes the cover plate end of the pipe, and the spring provides an elastic pushing force, avoiding deformation of the cover plate caused by rigid contact, ensuring uniform distribution of the positioning force, and preventing the cover plate from being deformed due to local stress. The camera detection device 246 is an industrial camera, which is used for taking a photo of the positioned cover plate, identifying the included angle between the edge of the cover plate and the positioning mark, and transmitting the angle data to the B-axis rotary shaft controller in real time through the gigabit network port, providing a basis for pipe angle compensation.

[0054] As Figure 11As shown, the horizontal transfer feeding component 3 includes a horizontal transfer feeding frame 31, a slide rail 32 arranged on the horizontal transfer feeding frame 31, two groups of material clamps 33 arranged at the lower end of the slide rail 32, a Z-axis servo motor 34 for driving the material clamps 33 to move up and down through a gear and rack driving mechanism, and an X-axis servo motor 35 for driving the material clamps 33 to move left and right. The horizontal transfer feeding frame 31 is the basic support structure of the horizontal transfer feeding component, provides a mounting reference for the slide rail, servo motor and other components, ensures the relative position accuracy of each component, and bears the load when the material clamps move to ensure the stability of the overall structure. The slide rail 32 is mounted on the horizontal transfer feeding frame and provides a guide rail for the movement of the material clamps. The material clamps 33 are arranged at the lower end of the slide rail 22 and are provided with independent driving and clamping mechanisms to realize the picking and placing of the pipe fittings through clamping actions. The two groups of material clamps can move synchronously or independently to adapt to pipe fittings of different lengths or specifications. The clamp opening design ensures that the pipe fittings do not slip or deform when clamped, and is especially suitable for stable clamping and picking of pipe fittings with cover plates. The Z-axis servo motor 34 is connected to the base at the upper end of the material clamps through a gear and rack transmission mechanism. It is used to control the material clamps to move up and down along the vertical direction (Z-axis) to realize the height switching of the material clamps between the picking position and the placing position. The X-axis servo motor 35 is connected to the material clamps through a gear and rack transmission mechanism. It controls the material clamps to move left and right along the horizontal direction (X-axis) to realize the horizontal displacement of the material clamps between different workstations (such as the chain feeding component, the positioning detection device, and the pipe bending machine main machine), and cooperates with the Z-axis movement to complete the three-dimensional space transfer of the pipe fittings.

[0055] As shown in FIG. 1, Figure 12 As shown, the unloading component 4 includes an unloading frame 41, an unloading servo motor 42 arranged on the unloading frame 41, a clamping jaw mechanism 43 for clamping and picking the pipe fittings processed by the pipe bending machine main machine 1 and transferring them to the conveyor belt component 5, and a cylinder 44 for driving the clamping jaw mechanism 43 to move up and down. The unloading frame 41

[0056] is the support frame of the unloading component, provides a mounting base for the unloading servo motor, clamping jaw mechanism and other components, and ensures the relative position accuracy of each component. The unloading servo motor 42 is connected to the clamping jaw mechanism through a transmission mechanism (gear and rack). It controls the clamping jaw mechanism to move along the horizontal direction (transversely) to realize the position switching of the clamping jaw between the pipe bending machine main machine and the conveyor belt. The clamping jaw mechanism 43 clamps and picks the pipe fittings processed by the pipe bending machine main machine through opening and closing actions. The clamping jaw is designed to fit the shape of the pipe fittings, and the clamping jaw surface is treated to prevent slipping to ensure that the pipe fittings do not fall off or deform when clamped, especially for stable clamping and picking of pipe fittings with cover plates. The cylinder 44 drives the piston rod to extend and retract through air pressure and is connected to the clamping jaw mechanism. It controls the clamping jaw mechanism to move up and down along the vertical direction to realize the height switching of the clamping jaw between the picking position (pipe bending machine main machine) and the placing position (conveyor belt), has fast response speed, and can accurately control the lifting stroke of the clamping jaw.

[0057] Embodiment 2: A method for processing thin-walled steel pipes, comprising the following specific steps:

[0058] 1. Chain feeding mechanism drive: The feeding servo motor 225 drives the outer hexagonal transmission rod 224 to rotate through belt transmission, driving the first chain set 221 and the second chain set 222 to run synchronously, and the feeding V-block 23 moves with the chain to transport the pipe along the feeding rack 21.

[0059] The distance adjustment servo motor 226 adjusts the position of the second chain set 222 through screw transmission to change the distance between the two chain sets and adapt to pipe of different lengths.

[0060] 2. Double sensor positioning trigger: When the pipe moves to the vicinity of the positioning detection device 24 along the chain, the first sensor 25 detects the pipe and sends a signal, and the feeding servo motor 225 pauses operation; the second sensor 26 detects the positioning boss 231 on the feeding V-block 23 to confirm that the V-block stops at the specified position with a positioning error ≤0.3mm.

[0061] 3. Mechanical axial positioning: The Z-axis servo motor 34 of the transverse feeding component 3 drives the material clamp 33 to descend, and after clamping the pipe on the chain, it is moved to the above of the positioning V-block 241 of the positioning detection device 24 through the X-axis servo motor 35; during positioning, the first air cylinder 242 first extends to push the positioning plate 244 against one end of the pipe, and then the second air cylinder 243 extends to push the other end of the pipe through the spring positioning block 245, realizing axial clamping.

[0062] 4. Visual angle detection and data transmission: The industrial camera 246 takes a photo of the pipe pressing plate to extract angle data, which is transmitted to the controller of the B-axis rotating shaft 14 through electrical signal; the B-axis rotating shaft 14 is internally provided with a servo motor and an encoder to pre-adjust the rotation angle according to the angle data, preparing for the subsequent pipe bending posture.

[0063] 5. Pipe posture adjustment and feeding: The transverse feeding component 3 moves the positioned pipe to the trolley clamp 131 of the pipe bending machine main machine 1, and the clamping cylinder 132 clamps the pipe; the B-axis rotating shaft 14 drives the trolley component 13 to rotate to adjust the spatial angle of the pipe according to the angle of the pressing plate detected by the camera.

[0064] The feeding drive motor 122 of the feeding component 12 drives the trolley component 13 to feed along the length direction of the machine rack through gear and rack transmission, and sends the pipe to the mold clamping position.

[0065] 6. Pipe forming: The up-down mold changing component 17 drives the head component 16 to ascend and descend through the servo motor + ball screw, and the left-right mold changing component 18 adjusts the horizontal position of the head to realize rapid positioning of the mold; the pipe bending shaft C-axis 19 drives the mold clamping to rotate to complete the pipe bending action; the cylinder of the material supporting component 15 pushes the connecting rod to provide supporting force to the pipe during pipe bending to prevent pipe deformation.

[0066] 7. The demolding process: after the bending of the pipe, the head part 16 is lowered by the up-down die changing part 17, the trolley part 13 moves backward, and the pipe is separated from the mold; the pipe is released by the trolley clamp 131, and the jaw mechanism 43 of the unloading part 4 is driven by the unloading servo motor 42 and the cylinder 44 to clamp and transport the pipe to the unloading position.

[0067] 8. The unloading and conveying: the pipe is moved by the unloading part 4 to the conveying belt part 5; the pipe is conveyed to the designated station by the conveying belt, and the whole process is completed.

[0068] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A pipe bending machine with automatic loading and unloading functions, comprising a pipe bending machine main unit (1), characterized in that: The rear end of the pipe bending machine main unit (1) is provided with a chain feeding component (2) and a transverse loading component (3), and the front end of the pipe bending machine main unit (1) is provided with a discharge component (4) and a conveyor belt component (5); The chain feeding component (2) comprises a feeding frame (21), a chain transmission mechanism (22) arranged at the upper end of the feeding frame (21), a plurality of feeding V-shaped blocks (23) arranged on each chain section, and a positioning detection device (24) arranged at the upper left end of the feeding frame (21).

2. The pipe bending machine with automatic loading and unloading functions according to claim 1, characterized in that: The positioning detection device (24) includes a symmetrically arranged positioning V-shaped block (241) that moves along a slide rail, a first cylinder (242) and a second cylinder (243) are respectively provided on both sides of the positioning V-shaped block (241), a positioning plate (244) is provided at the end of the output shaft of the first cylinder (242), a spring positioning block (245) is provided at the end of the output shaft of the second cylinder (243), and a camera detection device (246) is provided on the side of the positioning plate (244).

3. The pipe bending machine with automatic loading and unloading functions according to claim 1, characterized in that: The chain transmission mechanism (22) comprises a first chain group (221) in a fixed position and a second chain group (222) movably arranged on the feeding rack (21); sprockets (223) are provided at both ends of the first chain group (221) and the second chain group (222); an external hexagonal transmission rod (224) is passed through the axis of the sprocket (223) on each side for transmission connection.

4. The pipe bending machine with automatic loading and unloading functions according to claim 1, characterized in that: The chain transmission mechanism (22) further comprises a feeding servo motor (225) arranged at the front of the feeding rack (21) and a pitch-adjusting servo motor (226) arranged at the rear of the feeding rack (21); the feeding servo motor (225) is connected to the sprocket (223) on the side via a belt transmission; the pitch-adjusting servo motor (226) is connected to the second chain group (222) to drive it to move in the feeding direction.

5. The pipe bending machine with automatic loading and unloading functions according to claim 1, characterized in that: The transverse loading component (3) comprises a transverse loading frame (31), a slide rail (32) arranged on the transverse loading frame (31), two sets of material clamps (33) arranged at the lower end of the slide rail (32), a Z-axis servo motor (34) for driving the material clamps (33) to move up and down through a gear rack, and an X-axis servo motor (35) for driving the material clamps (33) to move left and right.

6. The pipe bending machine with automatic loading and unloading functions according to claim 1, characterized in that: A first sensor (25) is provided on the inner side of the first chain group (221) near the positioning detection device (24), a second sensor (26) is provided on the outer side of the second chain group (222), and a positioning boss (231) is provided on one side of the feeding V-block (23) near the second sensor (26).

7. The pipe bending machine with automatic loading and unloading functions according to claim 1, characterized in that: The pipe bending machine main unit (1) comprises a frame component (11) and a feeding component (12), a trolley component (13), a B-axis rotating shaft (14), a material supporting component (15), a head component (16), an upper and lower mold changing component (17), a left and right mold changing component (18) and a pipe bending axis C-axis (19) arranged on the frame component (11); the feeding component (12) is used to drive the trolley component (13) to move along the length direction of the frame component (11) to realize the feeding operation of the pipe fitting, and the trolley component (13) is connected to the B-axis rotating shaft (14) to clamp the pipe fitting and drive the pipe fitting to move along the length direction of the frame component (11). The part rotates to change the spatial angle of the pipe; the supporting part (15) is used to push the connecting rod through the cylinder to support the pipe when bending; the head part (16) is arranged at one end of the frame part (11); the upper and lower mold changing parts (17) are connected to the head part (16) and are used to drive the head part to rise and fall; the left and right mold changing parts (18) are connected to the head part (16) and are used to drive the head part to move back and forth along the width direction of the frame; the bending axis C axis (19) is connected to the head part (16) and drives it to rotate.

8. The pipe bending machine with automatic loading and unloading functions according to claim 1, characterized in that: The unloading component (4) includes a unloading frame (41), a unloading servo motor (42) arranged on the unloading frame (41), a clamping mechanism (43) moved laterally by the unloading servo motor (42), and a cylinder (44) driving the clamping mechanism (43) to move up and down. The clamping mechanism (43) is used to clamp the pipe fittings processed by the pipe bending machine main unit (1) and transfer them to the conveyor belt component (5).

9. A processing method for a pipe bending machine with automatic loading and unloading functions according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1: The chain feeding component (2) drives the chain transmission mechanism (22) through the feeding servo motor (225) to transport the pipe to the vicinity of the positioning detection device (24). When the first sensor (25) senses the pipe, the feeding is suspended, and the second sensor (26) completes the precise positioning by detecting the positioning boss (231) of the feeding V-block (23); S2: The transverse loading component (3) drives the material clamp (33) through the X-axis servo motor (34) and the Z-axis servo motor (35), and clamps the pipe fitting to the positioning V-shaped block (241) of the positioning detection device (24). The first cylinder (242) first extends to push the positioning plate (244), and the second cylinder (243) then extends to push the pipe fitting through the spring positioning block (245) to achieve axial positioning; the camera detection device (246) takes a picture of the pipe fitting pressure plate angle and transmits it to the B-axis rotation shaft (14); S3: The trolley component (13) clamps the pipe, and the B-axis rotation axis (14) adjusts the spatial angle of the pipe according to the angle data; S4: The feeding component (12) drives the trolley component (13) to feed to the mold position on the head component (16). The head component (16) adjusts the mold position through the upper and lower mold changing components (17) and the left and right mold changing components (18). The bending axis C axis (19) drives the clamping die to rotate to achieve pipe bending. The cylinder of the supporting component (15) pushes the connecting rod to support the pipe to prevent deformation. S5: The clamping mechanism (43) of the unloading component (4) clamps the pipe after bending, transfers it to the conveyor belt component (5) and transmits it to the designated position.

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