Automatic stamping pipe processing production line and processing method

Abstract

The present invention provides an automatic punching pipe processing production line and a processing method, comprising an automatic feeding mechanism, a positioning and clamping mechanism, a processing component, and a control console, wherein the automatic feeding mechanism, the positioning and clamping mechanism, and the processing component are sequentially arranged and electrically connected to the control console; the present invention designs an automatic punching pipe processing production line for a limited space in a small workshop, and by arranging a propulsion mechanism inside a material rack, the pipes automatically dropped from the material rack are pushed into a conveyor belt, and at the same time, in a relatively limited space, the position requirements for equipment can be reduced, space can be effectively saved, and space utilization can be improved, thereby realizing a systematic and automated structure with simplified steps, and finished product processing can be performed on partial structures such as frames, shapes, and burrs, and no manual assistance is required for the pipes between various processes, such as waste cleaning, material transfer, etc., thereby shortening the processing and production time of the pipes and improving production efficiency.

Description

Technical Field

[0001] The invention belongs to the field of pipe processing, and more specifically, particularly relates to an automatic punching pipe processing production line and a processing method. Background Art

[0002] The existing pipe processing production lines are basically in a state of staged automation, especially in small workshops due to space limitations. It is difficult to deploy large-scale pipe stamping lines, and most of them are basically in a semi-automatic processing state. The transfer steps and some pipe processing steps are highly dependent on manual labor. Since it is difficult to achieve a systematic and automated structure with streamlined steps in a limited space, the processing of some frame structures is carried out in a scattered manner, and a certain amount of manual labor is required to assist the pipes between various processes, such as waste cleaning and material transfer, which extends the processing and production time of the pipes and reduces production efficiency.

[0003] In view of the above problems existing in the prior art, designing an automatic stamping pipe processing production line is the purpose of the present invention. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides an automatic stamping pipe processing production line and a processing method to solve the existing problems.

[0005] In view of the shortcomings of the prior art, the purpose and efficacy of an automatic stamping pipe processing production line and a processing method of the present invention are achieved by the following specific technical means: an automatic stamping pipe processing production line, comprising an automatic feeding mechanism, a positioning clamping mechanism, a processing component, and a control console, wherein the automatic feeding mechanism, the positioning clamping mechanism, and the processing component are arranged in sequence and are all electrically connected to the control console;

[0006] An automatic feeding mechanism, the automatic feeding mechanism comprises a material rack, a propulsion mechanism arranged inside the material rack, a fixed-distance transmission mechanism is arranged on one side of the material rack along the propulsion direction of the propulsion mechanism, and a plurality of pipes are placed in the material rack;

[0007] A positioning clamping mechanism, wherein the positioning clamping mechanism is arranged on a side of the fixed-distance transmission mechanism away from the propulsion mechanism, and the positioning clamping mechanism comprises a group of symmetrically arranged clamping frames, a cutting notch is arranged between two of the clamping frames, an air pump clamping piece is arranged on the side of the clamping frame, a U-shaped open groove is arranged above the clamping frame, and side grooves connected to the U-shaped open groove are arranged at both ends of the clamping frame facing the air pump clamping piece, the U-shaped open groove is used to place the pipe pushed by the fixed-distance transmission mechanism, and the air pump clamping piece abuts against the side of the pipe through the side groove;

[0008] A processing assembly, which is located on one side of the positioning and clamping mechanism and is used to receive and process the pipe pushed by the fixed-distance transmission mechanism. The processing assembly is located above the clamping frame and includes a cutting machine for cutting the pipe and a pressurizing machine for pressurizing the pipe. The cutting machine is located before the pressurizing machine.

[0009] A plurality of four-axis robotic arms are arranged on the side of the processing component and are used for the transportation of processed pipes.

[0010] Preferably, the processing component also includes a burr grinding mechanism, which includes a base, two groups of single-sided grinding components symmetrically arranged on the base, the single-sided grinding component includes an L-shaped bracket, two groups of grinding belts symmetrically arranged up and down, several transmission wheels for positioning the grinding belts, a first motor driving the transmission wheel, a first worm with a bevel gear at one end, a second worm arranged on one side of the first worm, and a second motor driving the second worm to rotate, the first worm is rotatably installed on the lower surface of the inside of the L-shaped bracket, the first motor and the second motor are fixedly mounted on the outer side surface of the L-shaped bracket, the transmission wheel is rotatably installed on the inner side surface of the L-shaped bracket, and the second worm is rotatably installed inside the second motor.

[0011] Preferably, the cutting machine and the press are independently arranged as different machines, a burr grinding mechanism is arranged between the cutting machine and the press, and the cutting machine, the burr grinding mechanism and the press are arranged in sequence, and a four-axis robotic arm is also arranged between the burr grinding mechanism and the adjacent machine for pipe transfer.

[0012] Preferably, the cutting machine and the pressurizing machine are combined into the same machine, in which the cutting machine and the pressurizing machine are installed, a burr grinding mechanism is arranged on one side of the machine, and the cutting machine, the pressurizing machine and the burr grinding mechanism are arranged in sequence, and a four-axis robotic arm is arranged between the machine and the burr grinding mechanism for the transportation of pipes.

[0013] Preferably, a cutting machine is installed on the front side of the machine, a press is installed on the oblique rear side of the cutting machine, and the first air pump and a T-shaped push piece fixed to the output end of the air pump are also fixedly installed on the side of the machine where the fifth air pump is installed. The flat head end of the T-shaped push piece is fixedly connected to the side of the clamping frame, and is used to push the pipe from the cutting machine station to the press processing station.

[0014] Preferably, the clamping frame is slidably mounted on the machine platform, and a cylindrical groove is provided inside the clamping frame, and the cylindrical groove corresponds to the stamping position of the press.

[0015] Preferably, the burr grinding mechanism also includes a hydraulic lifting mechanism arranged on one side below the L-shaped bracket, and a rotating shaft arranged on the other side of the L-shaped bracket away from the hydraulic lifting mechanism, the L-shaped bracket is rotatably installed in the middle of the base through the rotating shaft, the hydraulic lifting mechanism includes a hydraulic press, a group of symmetrical hydraulic telescopic rods are arranged on the top of the hydraulic press, the top of the hydraulic telescopic rod is connected to the bottom of the L-shaped bracket through an axle pin, and the hydraulic press is fixed in the base.

[0016] An automatic punching pipe processing method, the steps are:

[0017] Unloading: Single pipe is automatically discharged from the bottom of the rack;

[0018] Feeding: Push a single tube to the fixed-distance conveying mechanism in the processing area through the propulsion mechanism under the rack;

[0019] Fixed-distance feeding: The long pipe is transported from the processing area to the processing position by the conveyor belt, and the transmission status of the pipe is detected by the optical positioning needle to achieve fixed distance;

[0020] Positioning and clamping: clamp the pipe entering the processing position;

[0021] Cutting: Punch and cut the rear section of the pipe to obtain pipe sections;

[0022] Pressurization: The pipe is transferred to the pressurizer in sections through the transfer mechanism, and the bent pipe is obtained by vertical pressurization;

[0023] Blanking: The bent pipe is transferred to the material frame by a four-axis robotic arm.

[0024] Compared with the prior art, the present invention has the following advantages: Beneficial Effects :

[0025] The present invention designs an automatic punching pipe processing production line for the limited space in small workshops. By arranging a propulsion mechanism inside the material rack, the pipes automatically dropped from the material rack are pushed into the conveyor belt, which drives the pipes into the clamping rack to realize automatic feeding. The infrared sensor is used for positioning, and the air pump clamp is triggered to clamp and fix the pipes, so that automatic fixation can be realized. After cutting by the cutting machine, the pipes can be placed in the burr grinding mechanism for burr removal, and then placed in the press to complete the pipe punching. During this period, the transfer of each mechanism is realized by a four-axis robot arm to complete the automatic processing of the pipe.

[0026] At the same time, in a relatively limited space, it can reduce the location requirements of the equipment, effectively save space, improve space utilization, realize a systematic and automated structure with streamlined steps, and process the frame, shape, burrs and other partial structures into finished products. There is no need for manual assistance between the various processes of the pipe, such as waste cleaning and material transfer, thereby shortening the processing and production time of the pipe and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of an automatic punching pipe processing production line of the present invention.

[0028] Figure 2 It is a detailed structural schematic diagram of the automatic feeding mechanism of the present invention.

[0029] Figure 3 This is a detailed structural diagram of the propulsion mechanism.

[0030] Figure 4 A side view of the V-shaped guide frame.

[0031] Figure 5 This is a schematic diagram of the four-axis robotic arm structure.

[0032] Figure 6 Schematic diagram of the enlarged structure of the protruding particles.

[0033] Figure 7 This is a detailed structural diagram of the machine.

[0034] Figure 8 This is a top view of the machine workbench.

[0035] Fig. 9 It is a schematic diagram of the fixed-pitch transmission mechanism structure.

[0036] Fig.10 This is a schematic diagram of the burr grinding mechanism structure.

[0037] Fig.11 This is a side view of the burr grinding mechanism.

[0038] Fig.12 This is a schematic diagram of the burr grinding mechanism after movement.

[0039] Fig.13 Schematic diagram of the clamping frame structure.

[0040] Fig.14 It is the side view of the jacket.

[0041] Fig.15 It is a schematic diagram of the structure of the waste traction mechanism.

[0042] Fig.16 The figure is a schematic diagram of the steps of an automatic punching tube processing method.

[0043] In the figure:

[0044] Automatic feeding mechanism-1, material rack-11, propulsion mechanism-12, fixed-distance transmission mechanism-13, pipe-14, V-shaped guide frame-15, raised particles-151, infrared sensor-152;

[0045] Propulsion mechanism-12, third air pump-121, telescopic rod-122;

[0046] Fixed-distance transmission mechanism-13, guide frame-131, conveyor belt-132, third motor-133, guide wheel-134, fourth air pump-135;

[0047] Fixed frame-1311, movable frame-1312;

[0048] Positioning clamping mechanism-2, air pump clamping member-21, clamping frame-22, U-shaped open groove-23, side groove-24, cutting workbench-25;

[0049] Fourth motor-261, rotating arm-262, electromagnetic block-263;

[0050] Fifth air pump-211, jacket-212, light sensing positioning needle-213;

[0051] Cutting machine-31, pressing machine-32, machine table-33;

[0052] Air pump translation mechanism-331, first air pump-332, T-shaped push piece-333;

[0053] Four-axis robotic arm-5, camera-51;

[0054] Burr grinding mechanism-6, base-61, single-side grinding assembly-62, L-shaped bracket-63, grinding belt-64, transmission wheel-65, first motor-66, first worm-67, second worm-68, second motor-69, guide plate-610;

[0055] Hydraulic lifting mechanism-611, hydraulic press-612, hydraulic telescopic rod-613, rotating shaft-614. DETAILED DESCRIPTION

[0056] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0057] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0058] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] The existing pipe 14 processing production line is limited by the space in a small workshop, and it is difficult to deploy a large pipe 14 stamping line. Therefore, most of them are basically in a semi-automatic processing state, and the transfer steps and some pipe 14 processing steps are highly dependent on manual labor. Since it is difficult to achieve a systematic and automated structure with streamlined steps in a limited space, the processing of the frame structure is carried out in a scattered manner, and a certain amount of manual labor is required to assist the pipe 14 between various processes, such as waste cleaning, material transfer, etc., which leads to an extension of the processing and production time of the pipe 14 and a reduction in production efficiency. Therefore, an automatic stamping pipe processing production line is set up.

[0060] Example 1

[0061] As attached Figure 1 To Attachment Fig.16 As shown:

[0062] The present invention provides an automatic punching pipe processing production line, comprising an automatic feeding mechanism 1, a positioning and clamping mechanism 2, a processing assembly 3, and a control console 4, wherein the automatic feeding mechanism 1, the positioning and clamping mechanism 2, and the processing assembly 3 are arranged in sequence and are all electrically connected to the control console 4; the automatic feeding mechanism 1, the automatic feeding mechanism 1 comprises a material rack 11, a propulsion mechanism 12 arranged inside the material rack 11, a fixed-distance transmission mechanism 13 is arranged on one side of the material rack 11 along the propulsion direction of the propulsion mechanism 12, and a plurality of pipes 14 are placed in the material rack 11;

[0063] In this embodiment, a V-shaped guide frame 15 is provided on the material rack 11, and a propulsion mechanism 12 is provided below the V-shaped guide frame 15, and a plurality of pipes 14 are placed inside the material rack 11. The pipes 14 are vertically arranged through the V-shaped guide frame 15 and exported to the propulsion area of ​​the propulsion mechanism 12, and the pipes 14 are pushed to the fixed-distance transmission mechanism 13 through the propulsion mechanism 12; wherein the propulsion mechanism 12 includes a third air pump 121 with a telescopic rod, and a push plate fixed at the push-out end of the telescopic rod 122, which is used to push the pipes 14 directly below the V-shaped guide frame 15 to the fixed-distance transmission mechanism 13.

[0064] Among them, the inner surface of the V-shaped guide frame 15 is rough and has irregular protruding particles 16. Due to the V-shaped structural design, the narrow side can disperse and bear most of the pressure, and the pressure on the tube 14 located at the bottom can be controlled to be in a pushable state. Among them, several protruding particles 16 can compress the placement space of the tube 14 laterally, thereby reducing the density of the internal tube 14 and increasing the empty space, which can effectively prevent the tubes 14 from being too dense and getting stuck to each other.

[0065] In addition, a number of infrared sensors 152 are provided at different heights in the material rack 11 and fixed under the raised particles 16 of the V-shaped guide frame 15. In the present embodiment, two infrared sensors 152 are provided, one high and one low, which are used to detect the stock amount of the pipe 14 in the material rack 11 at different heights.

[0066] In this embodiment, the fixed-distance transmission mechanism 13 includes a guide frame 131, a conveyor belt 132 is arranged on one side of the guide frame 131, and a third motor 133 driving the conveyor belt 132, the conveyor belt 132 is in contact with the outer surface of the pipe 14, and a plurality of guide wheels 134 are rotatably arranged on the other side of the guide frame 131, the guide wheels 134 are arranged in parallel and transversely on the guide frame 131, and are located opposite to the conveyor belt 132, and the outer annular surface of the guide wheel 134 is provided with a groove, and the groove is in contact with the outer arc surface of the pipe 14. The third motor 133 and the third air pump 121 are both electrically connected to the control console 4, wherein at least one control console 4 is provided, and in other embodiments, multiple control consoles may be provided, and synchronous control may be performed between the control consoles.

[0067] Among them, the guide frame 131 is divided into a fixed frame 1311 and a movable frame 1312, the conveyor belt 132 is set on the fixed frame 1311 through a transmission wheel, and the guide wheel 134 is set on the movable frame 1312. The movable frame 1312 is far away from the fixed frame 1311. The side of the movable frame 1312 is provided with a fourth air pump 135 for controlling the adjustment of the movable frame 1312. The lower side of the fourth air pump 135 is fixedly connected to one side of the fixed frame 1311, and the output end abuts against the movable frame 1312. The distance between the movable frame 1312 and the fixed frame 1311 can be adjusted by pressurizing the fourth air pump 135, so as to use pipes 14 of different sizes.

[0068] A positioning clamping mechanism 2, which is arranged on a side of the fixed-distance transmission mechanism 13 away from the propulsion mechanism 12, and includes a group of symmetrically arranged clamping frames 22, a cutting workbench 25 is arranged between the two clamping frames 22, an air pump clamping piece 21 is arranged on the side of the clamping frame 22, a U-shaped open groove 23 is arranged on the top of the clamping frame 22, and side grooves 24 connected to the U-shaped open groove 23 are arranged on both ends of the clamping frame 22 facing the air pump clamping piece 21, and the U-shaped open groove 23 is used to place the pipe 14 pushed by the fixed-distance transmission mechanism 13, and the air pump clamping piece 21 abuts against the side of the pipe 14 through the side groove 24;

[0069] Furthermore, when the light-sensing positioning needle 213 detects that the tube 14 has reached the specified length, the fifth air pump 211 is started through the control console 15, wherein the air pump clamp 21 includes a fifth air pump 211 with a telescopic rod and a jacket 212 fixed at one end of the telescopic rod 122. When the telescopic rod 122 is extended, the jacket 212 clamps the tube 14 in the side groove 24 to implement Z-axis constraint on the tube 14. At the same time, the clamping frame 22 has a Y-axis constraint on the tube 14. The X-axis constraint of the tube 14 is implemented by the jacket 212 cooperating with the clamping frame 22, thereby achieving all-round constraint.

[0070] A processing assembly 3, which is located on one side of the positioning and clamping mechanism 2 and is used to receive and process the pipe 14 pushed by the fixed-distance transmission mechanism 13. The processing assembly 3 is located above the clamping frame 22. The processing assembly 3 includes a cutting machine 31 for cutting the pipe 14 and a pressurizing machine 32 for pressurizing the pipe 14. The cutting machine 31 is located before the pressurizing machine 32.

[0071] A plurality of four-axis robotic arms 5 are provided on the side of the processing assembly 3, and the four-axis robotic arms 5 are used for the processing assembly 3 to transport the processed pipe 14. Among them, the four-axis robotic arms 5 are also provided with a camera 51, and are equipped with an image recognition processing module, which can accurately identify and locate the pipe 14, which is an application of the prior art and will not be described in detail in this embodiment. In this embodiment, the four-axis robotic arms 5 are provided in three numbers, one of which is respectively provided between the cutting machine 31 and the burr grinding mechanism 6, and one is provided on each of the left and right sides of the pressurizing machine 32.

[0072] In order to automatically transfer the waste after cutting, a waste traction mechanism 26 is set on the oblique side of the cutting workbench 25. The waste traction mechanism 26 includes a fourth motor 261 fixed to the machine table 33 by bolts. A rotating arm 262 is installed above the fourth motor 261, and an electromagnetic block 263 is fixed below the tail of the rotating arm 262. The fourth motor 261 can be started by being electrically connected to the control console, and the electromagnetic block 263 is energized to drive the rotating arm 262 to rotate 90°, so that the electromagnetic block 263 passes through the waste remaining after cutting and then sucks it up, and the waste is taken away from the cutting workbench 25 by reverse driving the fourth motor 261, thereby achieving the effect of automatic cleaning.

[0073] In order to allow the pipe 14 to be directly deburred in the assembly line, a burr grinding mechanism 6 is provided, which includes a base 61, two groups of single-sided grinding components 62 symmetrically arranged on the base 61, the single-sided grinding component 62 includes an L-shaped bracket 63, two groups of grinding belts 64 symmetrically arranged up and down, a plurality of transmission wheels 65 for positioning the grinding belts 64, a first motor 66 for driving the transmission wheel 65, a first worm 67 with a bevel gear at one end, a second worm 68 arranged on one side of the first worm 67, and a second motor 69 for driving the second worm 68 to rotate, the first worm 67 is rotatably mounted on the lower surface of the inside of the L-shaped bracket 63, the first motor 66 and the second motor 69 are fixedly mounted on the outer side surface of the L-shaped bracket 63, the transmission wheel 65 is rotatably mounted on the inner side surface of the L-shaped bracket 63, and the second worm 68 is rotatably mounted inside the second motor 69. After the pipe 14 enters the first worm 67, it is clamped in the grooves of the two parallel first worm 67. Under the meshing drive of the second worm 68 driven by the second motor 69, the first worm 67 rotates synchronously, thereby driving the pipe 14 to move and gradually enter the grinding belt 64. Driven by the first motor 66, the upper and lower groups of grinding belts 64 move in opposite directions, thereby grinding the cut edges on both sides of the pipe 14 at the same time.

[0074] Since two inclined guide plates 610 are provided on the inner side of the L-shaped bracket 63, they form a guide channel for guiding the pipe 14 to enter the first worm gear 67. The pipe 14 that has completed preliminary processing is clamped from the processing component 3 by the four-axis robot 5 and placed in the guide channel. Since the bottom of the guide plate 610 is designed to be V-shaped, the flat cut edges on both sides of the pipe 14 can enter the grinding belt 64 at a fixed angle.

[0075] In order to process the more complicated bent pipe 14, the cutting machine 31 and the pressurizing machine 32 are independently set as different machines 33, and a burr grinding mechanism 6 is arranged between the cutting machine 31 and the pressurizing machine 32, and the cutting machine 31, the burr grinding mechanism 6, and the pressurizing machine 32 are arranged in sequence. The pipe 14 needs to be cut and burred first, and then pressurized. During this period, a four-axis robot arm 5 is arranged between the burr grinding mechanism 6 and the adjacent machine to transport the pipe 14.

[0076] A replaceable tool is arranged inside the cutting machine 31, and the tool is always located just above the cutting opening between the two clamping frames 22 below. During cutting, the tube 14 is segmented by pressing down the tool; the steel tube is clamped by the four-axis robot 5 and placed in the guide plate 610, and is transported at a uniform speed by the first worm 67, during which the cutting opening of the tube 14 is polished by the polishing belt 64; after polishing, the tube 14 is clamped by the four-axis robot 5 and placed in the press 32, and according to the different tools, pressure is applied to the tube 14 when pressing down, so that the tube 14 achieves a preset bend to form a finished product.

[0077] An automatic punching pipe processing method, the steps are:

[0078] Unloading: Single pipe is automatically discharged from the bottom of the rack;

[0079] Feeding: A single tube 14 is pushed to a fixed-distance conveying mechanism in the processing area by the propulsion mechanism 12 below the rack 11; in the present embodiment, a V-shaped guide frame 15 is provided in the rack 11 to control the single-tube discharge of the tube 14. The propulsion mechanism 12 is propelled by an air pump, and the propulsion distance does not exceed 1 / 4 of the tube 14. The tube 14 below can play a certain role in the upper tube 14, thereby allowing the propulsion mechanism 12 to be smoothly reset without restraint. In other embodiments, other pumps can also be used to achieve the propulsion of a single tube.

[0080] Fixed-distance feeding: The long tube 14 is transferred from the processing area to the processing position by the conveyor belt 132, and the transmission status of the tube 14 is detected by a light-sensitive positioning needle to achieve fixed distance; in this embodiment, the light-sensitive positioning needle is a positioning needle simulated by an infrared sensor, and the infrared sensor is adjusted to the preset cutting length position of the tube 14 to detect the distance the long tube 14 is advanced. The control console 4 controls the drive of the conveyor belt 132 by receiving the signal detected by the infrared sensor, thereby achieving fixed-distance transmission.

[0081] Positioning and clamping: clamping the pipe 14 entering the processing position; further clamping is achieved through the clamping frame 22 and the air pump clamping member 21.

[0082] Cutting: stamping and cutting the rear section of the tube 14 to obtain the tube 14 segments;

[0083] Pressurization: The pipe 14 is transferred to the pressurizer 32 by the transfer mechanism, and the pipe is formed by vertical pressurization to obtain a bent pipe;

[0084] Blanking: The bent pipe is transferred to the material frame by the four-axis robot arm 5.

[0085] A grinding step is also provided between the cutting step and the pressing step, specifically:

[0086] Grinding: The four-axis robot arm 5 transfers the 14 segments of the pipe to the grinder, cleans the burrs on both sides of the cutting edge, and obtains the 14 segments of the pipe without burrs;

[0087] Furthermore, the burr-free pipe 14 is transferred into the press 32 in sections by the four-axis robot 5 .

[0088] A material preparation step is also provided before unloading. In this embodiment, a sensor is provided in the material rack 11 to obtain the stock of the long pipe 14 in the material rack 11. When the stock is insufficient, the long pipe 14 is replenished. The sensor is an infrared sensor, which is provided at a first height and a second height in the material rack 11. Specifically, when the pipe 14 is lower than the second height, the long pipe 14 is clamped and replenished, and the replenishment is stopped when it reaches the first height. In this embodiment, the whole bundle of pipes 14 can be hoisted and loaded at one time, which is a common material preparation method in material preparation applications and an intermittent material preparation method. The method is not described in detail here. In other embodiments, the pipes 14 can be replenished one by one by a robotic arm, which belongs to a continuous preparation method; the continuous preparation method requires continuous work, and the single handling volume is small, so an ordinary robotic arm can be used. However, due to the long working time, the power consumption and the machine wear are large, but it is sustainable and can always maintain a working state; the intermittent preparation method requires the use of large-scale handling and lifting equipment due to the large single handling volume, which leads to high costs, and it is necessary to monitor and set the handling path. Both preparation methods have advantages.

[0089] The clamping state in the positioning and clamping step is specifically:

[0090] The clamping is mainly achieved by a clamping frame 22 for placing the pipe 14 and an air pump clamp 21. The air pump clamp 21 includes a fifth air pump 211 with a telescopic rod and a jacket 212 fixed to one end of the telescopic rod 122. When the telescopic rod 122 is extended, the jacket 212 clamps the pipe 14 in the side groove 24 to implement Z-axis constraint on the pipe 14. At the same time, a transverse U-shaped groove is provided inside the clamping frame 22, which can largely fit the surface of the pipe 14 and has a Y-axis constraint on the pipe 14. The X-axis of the pipe 14 is constrained by the jacket 212 cooperating with the clamping frame 22, thereby achieving all-round clamping constraint.

[0091] Example 2

[0092] This embodiment is basically the same as the embodiment 1, except that the cutting machine 31 and the press machine 32 are combined into the same machine platform 33, the cutting machine 31 and the press machine 32 are installed in the machine platform 33, a burr grinding mechanism 6 is provided on one side of the machine platform 33, and the cutting machine 31, the press machine 32, and the burr grinding mechanism 6 are arranged in sequence, and a four-axis robot arm 5 is provided between the machine platform 33 and the burr grinding mechanism 6 for the transportation of the pipe 14.

[0093] In order to process relatively simple bent pipes 14, the cutting machine 31 and the pressurizing machine 32 can be combined into the same machine 33, and after cutting and pressurizing, the pipes can be polished. Compared with Example 1, the space utilization rate can be further improved.

[0094] In order to allow the pipe 14 to enter the working area of ​​the press 32 in the shortest time after cutting, the cutter 31 and the press 32 are combined into the same machine platform 33, with the cutter 31 installed on the front side of the machine platform 33 and the press 32 installed on the oblique rear side of the cutter 31.

[0095] In this embodiment, two four-axis robotic arms 5 are provided, one between the machine platform 33 and the burr grinding mechanism 6 , and another on the side of the burr grinding mechanism 6 away from the machine platform.

[0096] In order to enable the pipe 14 to be transferred from the processing station of the cutting machine 31 to the processing station of the press 32 in the shortest path and at the fastest speed, an air pump translation mechanism 331 is set. The air pump translation mechanism 331 includes a first air pump 331 fixed inside the machine table 33 and a T-shaped push piece 333 fixed at the output end of the air pump. The flat head end of the T-shaped push piece 333 is fixed to the side of the clamping frame 22, and is used to push the pipe 14 from the processing station of the cutting machine 31 to the processing station of the press 32.

[0097] Since the clamping frame 22 is slidably mounted on the machine table 33 , it can be pushed and transferred directly to the processing position directly below the press 32 along the track on which it is slidably mounted through the T-shaped push piece 333 fixed thereto in a straight line distance.

[0098] It should be emphasized that the clamping direction of the jacket 212 controlled by the air pump clamp 21 is consistent with the opposite direction of the T-shaped push piece 333. When the T-shaped push piece 333 pushes the clamping frame 22, the pipe 14 in the clamping frame 22 will directly break away from the control of the jacket 212. At the same time, during pressurized bending, the Z-axis is in an unrestricted state, so that the center of the pipe 14 can be smoothly bent when it is pressed.

[0099] At the same time, since the cut tube 14 is transferred in the fixed state when it is cut, the step of positioning the cut edge after re-transfer can be further omitted.

[0100] In this embodiment, a cylindrical groove with a diameter of 10 cm is provided inside the clamping frame 22, and the cylindrical groove corresponds to the stamping position of the press 32. In other embodiments, the clamping frame 22 with cylindrical grooves of different diameters can be replaced according to the needs of the stamping pipe diameter and curvature.

[0101] The present embodiment is different from the embodiment 1 in that the burr grinding mechanism 6 also includes a hydraulic lifting mechanism 611 arranged on one side below the L-shaped bracket 63, and a rotating shaft arranged on the other side of the L-shaped bracket 63 away from the hydraulic lifting mechanism 611. The L-shaped bracket 63 is rotatably installed in the middle of the base 61 through the rotating shaft 614. The hydraulic lifting mechanism 611 includes a hydraulic press 612. A group of symmetrical hydraulic telescopic rods 613 are arranged on the top of the hydraulic press 612. The top of the hydraulic telescopic rod 613 is connected to the bottom of the L-shaped bracket 63 through an axle pin, and the hydraulic press 612 is fixed in the base 61.

[0102] In order to further adapt to the burr processing of the above-mentioned bent pipe, the inner side of the short side of the L-shaped bracket 63 is rotatably connected to the middle part of the base 61 through an axle pin, and a hydraulic lifting mechanism 611 is set at the bottom of the other side to gradually reduce the angle between the two L-shaped brackets 63 from 180°, and adjust it according to the actual processing angle of the bent pipe. It should be emphasized that the adjustment degree of the L-shaped bracket 63 needs to be 2-3° greater than the actual bending angle of the bent pipe, so as to facilitate the entry of the bent pipe.

[0103] The processing method of this embodiment is different from the processing method in Embodiment 1 in that the cutting step is provided before the pressurizing step, and a grinding step is provided after the pressurizing step, and the air pump translation mechanism 331 in the transfer mechanism switches the station of the pipe 14 between the cutting machine 31 and the pressurizing machine 32, and pressurizes the pipe 14 in sections, specifically:

[0104] The pipe 14 is cut first, and then the cut portion of the pipe 14 is transferred to the station of the press 32 through the cylinder translation mechanism, and then the pipe 14 is directly pressurized to directly complete the cutting and bending of the pipe 14.

[0105] Grinding: Adjust the hydraulic lifting mechanism 611 on the grinder to make the internal transmission amplitude of the grinder consistent with the pipe 14, transfer the pipe 14 segments to the grinder through the four-axis robot 5, clean the burrs on both sides of the cutting edge, and obtain the burr-free pipe 14 segments.

[0106] The embodiments of the present invention are given for the purpose of illustration and description, and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. An automatic stamping pipe processing production line, characterized in that: It comprises an automatic feeding mechanism (1), a positioning and clamping mechanism (2), a processing component (3), and a control console (4); the automatic feeding mechanism (1), the positioning and clamping mechanism (2), and the processing component (3) are arranged in sequence and are all electrically connected to the control console (4); An automatic feeding mechanism (1), the automatic feeding mechanism (1) comprising a material rack (11), a propulsion mechanism (12) arranged inside the material rack (11), a fixed-distance transmission mechanism (13) arranged on one side of the material rack (11) along the propulsion direction of the propulsion mechanism (12), and a plurality of pipes (14) placed inside the material rack (11); A positioning clamping mechanism (2), the positioning clamping mechanism (2) being arranged on a side of the fixed-distance transmission mechanism (13) away from the propulsion mechanism (12), the positioning clamping mechanism (2) comprising a group of symmetrically arranged clamping frames (22), a cutting notch being arranged between two of the clamping frames (22), an air pump clamping piece (21) being arranged on the side of the clamping frame (22), a U-shaped open groove (23) being arranged on the top of the clamping frame (22), side grooves (24) communicating with the U-shaped open groove (23) being arranged at both ends of the clamping frame (22) on a side facing the air pump clamping piece (21), the U-shaped open groove (23) being used to place the pipe (14) pushed by the fixed-distance transmission mechanism (13), and the air pump clamping piece (21) being abutted against the side of the pipe (14) through the side groove (24); a processing assembly (3), the processing assembly (3) being located on one side of the positioning and clamping mechanism (2) and being used for receiving and processing the pipe (14) pushed by the fixed-distance transmission mechanism (13); the processing assembly (3) being located above the clamping frame (22); the processing assembly (3) comprising a cutting machine (31) for cutting the pipe (14) and a pressurizing machine (32) for pressurizing and forming the pipe (14); the cutting machine (31) being located before the pressurizing machine (32); A plurality of four-axis robotic arms (5), wherein the four-axis robotic arms (5) are arranged on the side of the processing assembly (3), and the four-axis robotic arms (5) are used for the transportation of the processed pipe (14); The processing assembly (3) further comprises a burr grinding mechanism (6), the burr grinding mechanism (6) comprising a base (61), two groups of single-sided grinding assemblies (62) symmetrically arranged on the base (61), the single-sided grinding assembly (62) comprising an L-shaped bracket (63), two groups of grinding belts (64) symmetrically arranged above and below, a plurality of transmission wheels (65) for positioning the grinding belts (64), a first motor (66) for driving the transmission wheel (65), a first worm (67) with a bevel gear at one end, a second worm (68) arranged on one side of the first worm (67), and a second motor (69) for driving the second worm (68) to rotate, the first worm (67) being rotatably mounted on the lower surface of the inside of the L-shaped bracket (63), the first motor (66) and the second motor (69) being fixedly mounted on the outer side surface of the L-shaped bracket (63), the transmission wheel (65) being rotatably mounted on the inner side surface of the L-shaped bracket (63), the second worm ( 68) is rotatably mounted inside the second motor (69). After the pipe (14) enters the first worm (67), it is clamped in the grooves of the two parallel first worms (67). Under the meshing drive of the second worm (68) driven by the second motor (69), the first worm (67) rotates synchronously, thereby driving the pipe (14) to move and gradually enter the grinding belt (64). Driven by the first motor (66), the upper and lower groups of grinding belts (64) move in opposite directions, thereby simultaneously grinding the cut edges on both sides of the pipe (14). Two inclined guide plates (610) are also arranged on the inner side of the L-shaped bracket (63). The two inclined guide plates (610) form a guide channel for guiding the pipe (14) to enter the first worm (67). After the four-axis robot arm (5) clamps the pipe (14) that has completed preliminary processing from the processing component (3) and places it in the guide channel, the pipe (14) enters the grinding belt (64) at a fixed angle; The burr grinding mechanism (6) further comprises a hydraulic lifting mechanism (611) arranged on one side below the L-shaped bracket (63), and a rotating shaft arranged on the other side of the L-shaped bracket (63) away from the hydraulic lifting mechanism (611); the L-shaped bracket (63) is rotatably mounted on the middle part of the base (61) via the rotating shaft (614); the hydraulic lifting mechanism (611) comprises a hydraulic press (612); a group of symmetrical hydraulic telescopic rods (613) are arranged on the top of the hydraulic press (612); the top of the hydraulic telescopic rods (613) is connected to the bottom of the L-shaped bracket (63) via an axle pin, and the hydraulic press (612) is fixedly mounted in the base (61).

2. The automatic stamping pipe processing production line according to claim 1 is characterized in that: A burr grinding mechanism (6) is provided between the cutting machine (31) and the press (32), and the cutting machine (31), the burr grinding mechanism (6), and the press (32) are arranged in sequence. A four-axis robot arm (5) is also provided between the burr grinding mechanism (6), the cutting machine (31), and the press (32).

3. The automatic stamping pipe processing production line according to claim 2 is characterized in that: The processing assembly (3) further comprises a machine table (33), wherein a cutting machine (31) and a pressurizing machine (32) are installed in the machine table (33), a burr grinding mechanism (6) is arranged on one side of the machine table (33), and the cutting machine (31), the pressurizing machine (32), and the burr grinding mechanism (6) are arranged in sequence, and a four-axis robot arm (5) is arranged between the machine table (33) and the burr grinding mechanism (6).

4. The automatic stamping pipe processing production line according to claim 3 is characterized in that: A cutting machine (31) is installed on the front side of the machine platform (33), and a pressurizing machine (32) is installed on the oblique rear side of the cutting machine (31). A first air pump (332) and a T-shaped push piece (333) fixed to the output end of the air pump are also fixedly installed on the side of the machine platform (33) where the fifth air pump (211) is installed. The flat end of the T-shaped push piece (333) is fixedly connected to the side of the clamping frame (22) for pushing the pipe (14) from the working station of the cutting machine (31) to the processing station of the pressurizing machine (32).

5. The automatic stamping pipe processing production line according to claim 4 is characterized in that: The clamping frame (22) is slidably mounted on the machine platform (33), and a cylindrical groove is provided inside the clamping frame (22), and the cylindrical groove corresponds to the punching position of the press (32).

6. An automatic punching pipe processing method, using the automatic punching pipe processing production line according to claim 1, characterized in that: The following steps are involved: Unloading: Single pipe is automatically discharged from the bottom of the rack; Feeding: Push a single tube to the fixed-distance conveying mechanism in the processing area through the propulsion mechanism under the rack; Fixed-distance feeding: The long pipe is transported from the processing area to the processing position by the conveyor belt, and the transmission status of the pipe is detected by the optical positioning needle to achieve fixed distance; Positioning and clamping: clamp the pipe entering the processing position; Cutting: Punch and cut the rear section of the pipe to obtain pipe sections; Pressurization: The pipe is transferred to the pressurizer in sections through the transfer mechanism, and the bent pipe is obtained by vertical pressurization; Blanking: The bent pipe is transferred to the material frame by a four-axis robotic arm.

7. The automatic punching tube processing method according to claim 6, characterized in that: A grinding step is also provided between the cutting step and the pressing step. Grinding: The four-axis robot transfers the pipe segments to the grinder, cleans the burrs on both sides of the cut, and obtains burr-free pipe segments; The burr-free pipes are transferred into the press in sections by a four-axis robot.

8. The automatic punching tube processing method according to claim 6, characterized in that: The cutting step is provided before the pressurizing step, and a grinding step is provided after the pressurizing step, and the pipe is pressurized in sections by switching the pipe between the cutting machine and the pressurizing machine through the air pump translation mechanism in the transfer mechanism; Grinding: Adjust the hydraulic lifting mechanism on the grinder to make the internal transmission amplitude of the grinder consistent with the pipe, transfer the pipe segments to the grinder through the four-axis robot arm, clean the burrs on both sides of the cut, and obtain burr-free pipe segments.

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