Robot-based variable bend radius and variable pipe diameter bending method and apparatus

Abstract

The application discloses a kind of variable bending radius and variable pipe diameter bending forming method and device based on robot, including variable bending radius and variable pipe diameter forming device (2);Variable bending radius and variable pipe diameter forming device (2) include rotating mechanism (21), compaction mechanism (22), forming mechanism (23);Compaction mechanism (22) is installed on rotating mechanism (21) rotating shaft (213) by rotating arm (225), servo motor (211) controls rotating arm (225) to do counterclockwise rotation around rotating shaft (213) to complete pipe bending operation;The application realizes the goal of bending different pipe diameters and bending different bending radii in the same set of mould by innovative design of bending mould, adapts to the development trend of pipe forming integration in pipe processing industry, reduces mould manufacturing cost, and improves production efficiency.

Description

Technical Field

[0001] This invention relates to the field of bending and forming technology for complex hollow components, and mainly to a robot-based method and apparatus for analyzing the bending and forming process of variable bending radius and variable pipe diameter. Background Technology

[0002] As industrial manufacturing products gradually move towards miniaturization, precision, and lightweighting, various complex hollow bending components are finding wider applications in aerospace, automotive, shipbuilding, petrochemical, and many other fields. This can reduce production costs, improve product quality, and increase factory efficiency.

[0003] For complex hollow bent components, common forming processes include bending around, stretching, pressing, and pushing. These traditional bending processes can only form components with fixed bending radii and fixed pipe diameters without changing the molds. For complex hollow components, multiple sets of bending molds are often required, significantly increasing manufacturing costs. Furthermore, after changing the molds, the formed components need to be repositioned, which can increase manufacturing difficulty and reduce the forming accuracy.

[0004] Industrial robots are currently used in many fields such as automobile manufacturing, electronics, and metal forming. This invention is based on the design of the end effector of an industrial robot, enabling it to form complex hollow components with varying bending radii and pipe diameters without changing the mold. Compared with traditional CNC machine tools, robotic arms have higher degrees of freedom, higher automation, better stability, and are more in line with modern industrial development. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a robot-based method and apparatus for forming components with varying bending radii and pipe diameters. By designing the end effector of the robot arm, it enables the forming of components with different bending radii and pipe diameters using only one set of molds, meeting market demand for one-time forming of complex hollow components. This saves manufacturing costs and improves production efficiency and factory profits.

[0006] The present invention adopts the following technical solution:

[0007] A robot-based variable bending radius and variable pipe diameter bending forming device includes a variable bending radius and variable pipe diameter forming device (2); the variable bending radius and variable pipe diameter forming device (2) includes a rotating mechanism (21), a pressing mechanism (22), and a forming mechanism (23); the pressing mechanism (22) is mounted on the rotating shaft (213) of the rotating mechanism (21) via a rotating arm (225), and the servo motor (211) controls the rotating arm (225) to rotate counterclockwise around the rotating shaft (213) to complete the pipe bending operation;

[0008] In the clamping mechanism (22), the cylinder (221) is connected to the piston rod (224). The cylinder (221) controls the piston rod (224) to move downward, which drives the bent arm three-hole plate (226) to rotate counterclockwise around the bent arm pin (227), thereby pushing the floating slider (223) to move horizontally towards the rotating mechanism (21) to clamp the pipe (3). The bent arm cover plate (222) is installed on one side of the clamping mechanism (22) through the bent arm pin (227), and the other side of the clamping mechanism (22) is installed on the rotating shaft (213) of the rotating mechanism (21) through the rotating arm (225).

[0009] The forming mechanism (23) is divided into left and right parts. The left half is fixed to the floating slider (223) of the clamping mechanism (22) by the main clamping mold base (231), and moves horizontally together with the floating slider (223). The right half is fixed to the rotating shaft (213) of the rotating mechanism (21) by the fixed plate (2311). The left half consists of the upper cover plate (2313), the upper and lower clamping blocks (232), the lower base plate (234), and the adjusting motor I (235) from top to bottom. The upper cover plate (2313) is fixed to the rotating shaft (213) of the rotating mechanism (21) by the screw I (2314). The upper and lower clamping blocks (232) and the lower base plate (234) are connected. The upper and lower screws I (2314) are left-handed and right-handed screws respectively. When the screw I (2314) is rotated by the adjusting motor I (235), the upper and lower clamping blocks (232) move towards each other, so that they separate or come closer to each other, thereby clamping pipes of different diameters. The upper cover plate (2313) is fixed to the main clamping mold base (231) by bolt I (2315), and the lower base plate (234) is also fixed to the main clamping mold base (231) by bolt II (233).

[0010] The right half consists of, from top to bottom, a fixed plate (2311), a clamping block housing (239), a square clamping block (236), a round clamping block (238), and an adjusting motor II (237). The fixed plate (2311), the clamping block housing (239), and the round clamping block (238) are connected by a screw II (2310). The square clamping block (236) and the round clamping block (238) are a single unit.

[0011] The square clamping block (236) includes two square clamping plates with arc grooves on the top and bottom. The arc grooves are set along one edge of the square clamping plate. When the two square clamping plates are closed together, the two arc notches form a semi-elliptical groove. The horizontal direction of the semi-elliptical groove is the major axis of the ellipse, and the vertical direction is the minor axis of the ellipse, which is used to clamp the round tube. When the upper and lower pressing blocks (232) are closed together, they form the same semi-elliptical groove as the square clamping block (236). A complete ellipse is formed between the square clamping block (236) and the pressing block (232).

[0012] The circular clamp (238) also includes two circular clamping plates with arc grooves on the top and bottom. The arc grooves are set along the circumference of the circular clamping plates. When the two circular clamping plates are closed together, the two arc notches form a semi-elliptical groove. The horizontal direction is the minor axis of the ellipse and the vertical direction is the major axis of the ellipse. The purpose is to make the elliptical pipe fit better with the clamping plate as the bending direction changes. The square clamping plate and the circular clamping plate adjusting motor (237) control the screw (2310) to rotate so that the upper and lower clamping plates (236) and the circular clamping plate (238) move towards each other, thereby clamping pipes of different diameters.

[0013] The forming device is formed by the upper square clamping block (236) and the upper round clamping block (238), and the lower square clamping block (236) and the lower round clamping block (238) forming a whole clamping block. The round clamping block (238) has a notch, the width of the notch in the horizontal direction is equal to the width of the square clamping block (236), and the tangent of the groove of the round clamping block (238) is the same as the tangent of the groove of the square clamping block (236), so that the groove of the round clamping block (238) and the groove of the square clamping block (236) are smoothly connected.

[0014] According to the forming method of the forming device, when forming a variable bending radius, when the bending radius is small, the motor I (235) controls the screw I (2314) to rotate, causing the upper and lower clamping blocks (232) to move relative to each other. At the same time, the motor II (237) controls the screw II (2310) to rotate, causing the upper and lower clamping blocks (236) to move towards each other. This allows the tube (3) to move closer to the rotating shaft (213), resulting in a smaller bending radius. When the bending radius is large, the clamping blocks (232) and square clamping blocks (236) move in the opposite direction to the smaller bending radius, causing the tube (3) to move further away from the rotating shaft (213) and closer to the clamping blocks (232). That is, by adjusting the relative positions of the upper and lower clamping blocks (232) and square clamping blocks (236), different bending radii can be achieved by using the same set of molds.

[0015] The forming method specifically includes the following steps:

[0016] Step 1: The clamping block and square clamping block hold the pipe in an elliptical shape, with the center O of the ellipse coinciding with the center of the pipe. At this point, the bending radius of the formed pipe is in the middle position. The ellipse's minor axis is half its length (b), the pipe radius is r, the distance from the clamping block and square clamping block to the horizontal centerline is h, the forming bending radius of the pipe is R, and the radius of the round clamping block is r0, satisfying the following relationship:

[0017] Step 2: Adjust motor I to control screw I to rotate, causing the upper and lower clamping blocks to move towards each other, increasing the distance between the clamping ends; simultaneously, adjust motor II to control screw II to rotate, causing the upper and lower square clamping blocks to move relative to each other, reducing the distance between the clamping blocks, thus causing the pipe forming position to move closer to the clamping end; when the upper and lower clamping blocks overlap, the forming mechanism can form the maximum bending radius R. max The distance between the center position O1 of the pipe and the center O of the ellipse is x, which satisfies the following relationship:

[0018] Step 3: Forming the minimum bending radius R min Reversing step 2, adjust motor I to make the upper and lower clamping blocks overlap, while simultaneously adjusting motor II to move the upper and lower clamping blocks towards each other, increasing the distance between the clamping blocks. The distance between the pipe center position O2 and the ellipse center O is also x, satisfying the following relationship:

[0019] According to the forming method of the forming device, when forming pipes of different diameters, firstly, the axis of the pipe (3) needs to be aligned with the center of the ellipse formed by the clamping block (232) and the square clamping block (236); secondly, the motor I and the motor II are adjusted to control the screw I and the screw II to rotate, so that the upper and lower clamping blocks (232) and the upper and lower clamping blocks (236) move in the same way at the same time, and the cylinder (221) controls the floating slider (223) to drive the main clamping mold base (231) towards the square clamping block (236). When the servo motor (211) controls the rotating arm (225) to rotate counterclockwise around the rotating axis (213), the left half of the forming mechanism (23) will also rotate, and finally the bending forming is achieved. When the upper and lower pressing blocks (232) and the upper and lower clamping blocks (236) move relative to each other to contact, the radius of the formed pipe is the smallest. When the upper and lower pressing blocks (232) and the upper and lower clamping blocks (236) move towards each other to the maximum distance, the radius of the formed pipe is the largest.

[0020] The forming method specifically includes the following steps:

[0021] Step 1: When forming a variable diameter pipe, firstly, the pipe axis needs to be aligned with the center of the ellipse formed by the clamping block and the square clamping block; secondly, adjust motor I and motor II to control the rotation of screw I and screw II until the upper and lower clamping blocks and the upper and lower clamping blocks move relative to each other and coincide; simultaneously, the cylinder controls the floating slider to drive the main clamping mold base to press towards the round clamping block until the clamping block and the side of the round clamping block coincide. At this point, the minimum radius of the formed pipe is r. min The following relationship is satisfied: r min =b;

[0022] Step 2: Form the maximum pipe diameter r maxSimilar to the minimum forming diameter, the motor controls the screw to rotate, causing the upper and lower clamping blocks and the upper and lower clamping blocks to move towards each other to their maximum positions.

[0023] According to the forming method of the forming device, when forming elliptical tubes with different bending directions, when the bending direction is parallel to the minor axis of the elliptical tube, the square clamp (236) and the round clamp (238) need to be rotated 90° counterclockwise so that the round clamp (238) clamps the tube (3); when the bending direction is parallel to the major axis of the elliptical tube, the square clamp (236) and the round clamp (238) need to be rotated 90° clockwise so that the square clamp (236) clamps the tube (3). The purpose is to make the side shape of the tube (3) fit better with the side shape of the clamp, so that the formed tube has better quality.

[0024] The beneficial effects of this invention are as follows: 1) This invention, based on the design of the end effector of an industrial robot arm, provides a high-degree-of-freedom method for bending and forming pipes with varying bending radii and diameters. 2) Through innovative design of the bending die, this invention achieves the goal of bending different pipe diameters and different bending radii within the same die set, adapting to the development trend of integrated pipe forming in the pipe processing industry, reducing die manufacturing costs, and improving production efficiency. 3) This invention mainly achieves pipe bending and forming through an industrial robot, with a high degree of automation throughout the process, meeting the modern industry's pursuit of intelligence, and has significant engineering application value in aerospace, automotive manufacturing, and marine shipbuilding fields. Attached Figure Description

[0025] Figure 1 Schematic diagram of a robot-based bending forming system with variable bending radius and variable pipe diameter;

[0026] Figure 2 Schematic diagram of a forming device with variable bending radius and variable pipe diameter;

[0027] Figure 3 Schematic diagram of the rotating mechanism;

[0028] Figure 4 Schematic diagram of the clamping mechanism;

[0029] Figure 5 Schematic diagram of the forming mechanism;

[0030] Figure 6 Schematic diagram of variable bending radius process;

[0031] Figure 7 Schematic diagram of the bending process for forming different bending radii;

[0032] Figure 8 Schematic diagram of variable pipe diameter process;

[0033] Figure 9Schematic diagram of the bending process for forming pipes of different diameters;

[0034] Figure 10 Schematic diagram of segmented forming of a circular tube;

[0035] Figure 11 Schematic diagram of elliptical tubes with different bending directions;

[0036] Figure 12 Schematic diagram of the segmented forming of the elliptical tube;

[0037] In the diagram: 1. Industrial robot arm; 2. Variable bending radius and variable pipe diameter forming device; 3. Pipe; 4. Pipe clamping device; 21. Rotating mechanism; 22. Clamping mechanism; 23. Forming mechanism; 211. Servo motor; 212. Connecting plate; 213. Rotating shaft; 221. Cylinder; 222. Bending arm cover plate; 223. Floating slider; 224. Piston rod; 225. Rotating arm; 226. Bending arm three-hole. 227. Plate, 231. Bent arm pin, 232. Main clamping mold base, 233. Clamping block, 234. Bolt II, 235. Lower base plate, 236. Adjusting motor I, 237. Square clamping block, 238. Round clamping block, 239. Clamping block box, 2310. Screw II, 2311. Fixing plate, 2312. Bolt III, 2313. Upper cover plate, 2314. Screw I, 2315. Bolt I; Detailed Implementation

[0038] The present invention will be described in detail below with reference to specific embodiments.

[0039] refer to Figure 1 A robot-based variable bending radius and variable pipe diameter bending forming device includes an industrial robot arm 1, a variable bending radius and variable pipe diameter forming device 2, and a pipe clamping device 4. The variable bending radius and variable pipe diameter forming device 2 is mounted on the end effector of the industrial robot arm 1, and its posture and position are controlled by the high degree of freedom of the industrial robot arm 1. The pipe clamping device 4 clamps the end of the pipe 3, and together with the industrial robot arm 1 and the variable bending radius and variable pipe diameter forming device 2, complex components can be formed in one step.

[0040] refer to Figure 2-5 The variable bending radius and variable pipe diameter forming device 2 includes a rotating mechanism 21, a pressing mechanism 22, and a forming mechanism 23.

[0041] The rotating mechanism 21 includes a servo motor 211, a connecting disk 212, and a rotating shaft 213; the servo motor 211 can drive the rotating shaft 213 to rotate.

[0042] The clamping mechanism 22 includes a cylinder 221, a curved arm cover plate 222, a floating slider 223, a piston rod 224, a rotating arm 225, a curved arm three-hole plate 226, and a curved arm pin 227.

[0043] The forming mechanism 23 includes a main clamping mold base 231, a clamping block 232, bolt II 233, a lower base plate 234, an adjusting motor 235, a square clamping block 236, an adjusting motor II 237, a round clamping block 238, a clamping block box 239, a screw II 2310, a fixing plate 2311, a bolt III 2312, an upper cover plate 2313, a screw I 2314, and a bolt I 2315;

[0044] The variable bending radius and variable pipe diameter forming device 2 is mounted on the industrial robot arm 1 via a connecting plate 212. The clamping mechanism 22 is mounted on the rotating shaft 213 of the rotating mechanism 21 via a rotating arm 225. The servo motor 211 controls the rotating arm 225 to rotate counterclockwise around the rotating shaft 213 to complete the pipe bending operation. The forming mechanism 23 is divided into left and right parts. The left half is fixed to the floating slider 223 of the clamping mechanism 22 via a main clamping mold base 231 and moves horizontally together with the floating slider 223. The right half is fixed to the rotating shaft 213 of the rotating mechanism 21 via a fixing plate 2311.

[0045] refer to Figure 4 In the clamping mechanism 22, cylinder 221 is connected to piston rod 224. Cylinder 221 controls piston rod 224 to move downward, causing bent arm three-hole plate 226 to rotate counterclockwise around bent arm pin 227, thereby pushing floating slider 223 to move horizontally towards rotating mechanism 21, clamping pipe 3. Bent arm cover plate 222 is installed on one side of clamping mechanism 22 via bent arm pin 227, and the other side of clamping mechanism 22 is installed on rotating shaft 213 of rotating mechanism 21 via rotating arm 225.

[0046] refer to Figure 5 The forming mechanism 23 is divided into two parts, left and right. The left half, from top to bottom, consists of an upper cover plate 2313, two upper and lower clamping blocks 232, a lower base plate 234, and an adjusting motor I 235. These components are connected in series via a screw I 2314. The upper and lower screws of the screw I 2314 are left-handed and right-handed, respectively. When the adjusting motor I 235 controls the rotation of the screw I 2314, the upper and lower clamping blocks 232 move towards each other, separating them to clamp pipes of different diameters. The upper cover plate 2313 is fixed to the main clamping mold base 231 by bolt I 2315, and the lower base plate 234 is also fixed to the main clamping mold base 231 by bolt II 233.

[0047] The right half consists of, from top to bottom, a fixed plate 2311, a clamping block housing 239, a square clamping block 236, a round clamping block 238, and an adjusting motor II 237. The components are connected in series by a screw II 2310. The square clamping block 236 and the round clamping block 238 are a whole.

[0048] The square clamping block 236 includes two square clamping plates (one on top and one on the bottom) with arc grooves. The arc grooves are set along one edge of the square clamping plate. When the two square clamping plates are closed together, the two arc notches form a semi-elliptical groove (a straight groove). The horizontal direction of the semi-elliptical groove is the major axis of the ellipse, and the vertical direction is the minor axis of the ellipse, which is used to clamp the round tube. When the upper and lower pressing blocks 232 are closed together, the semi-elliptical groove formed is the same as that of the square clamping block 236. A complete ellipse is formed between the square clamping block 236 and the pressing block 232.

[0049] The circular clamping block 238 also includes two circular clamping plates (one on top and one on the bottom) with arc grooves. The arc grooves are set along the circumference of the circular clamping plates. When the two circular clamping plates are closed, the two arc notches form a semi-elliptical groove, with the horizontal direction being the minor axis of the ellipse and the vertical direction being the major axis of the ellipse. The purpose is to allow the elliptical pipe to fit better with the clamping block as the bending direction changes. The square clamping plate and the circular clamping plate adjusting motor II 237 control the screw II 2310 to rotate, causing the upper and lower clamping blocks 236 and the circular clamping block 238 to move towards each other, thereby clamping pipes of different diameters. The clamping block housing 239 is fixed to the fixing plate 2311 by bolt III 2312.

[0050] The upper square clamping block 236 and the upper round clamping block 238, as well as the lower square clamping block 236 and the lower round clamping block 238, are all formed as a single clamping block. The round clamping block 238 has a notch, the width of which in the horizontal direction is equal to the width of the square clamping block 236. The tangent of the groove in the round clamping block 238 is the same as the tangent of the groove in the square clamping block 236, so that the groove in the round clamping block 238 and the groove in the square clamping block 236 are smoothly connected.

[0051] refer to Figure 6-7 During the forming process with varying bending radii, when the bending radius is small, motor I 235 controls screw I 2314 to rotate, causing the upper and lower clamping blocks 232 to move relative to each other. Simultaneously, motor II 237 controls screw II 2310 to rotate, causing the upper and lower clamping blocks 236 to move towards each other. This allows the tube 3 to move closer to the rotating shaft 213, resulting in a smaller bending radius. When the bending radius is large, the clamping blocks 232 and square clamping blocks 236 move in the opposite direction to the smaller bending radius, causing the tube 3 to move further away from the rotating shaft 213 and closer to the clamping blocks 232. In other words, by adjusting the relative positions of the upper and lower clamping blocks 232 and square clamping blocks 236, different bending radii can be achieved using the same set of molds.

[0052] refer to Figure 8-9In the process of forming pipes of different diameters, the first step is to align the axis of the pipe 3 with the center of the ellipse formed by the clamping block 232 and the square clamping block 236. Next, adjusting motors I and II control the rotation of screws I and II, causing the upper and lower clamping blocks 232 and the upper and lower clamping blocks 236 to move simultaneously. Meanwhile, cylinder 221 controls the floating slider 223 to drive the main clamping mold base 231 to press against the square clamping block 236. Servo motor 211 controls the rotating arm 225 to rotate counterclockwise around the rotation axis 213, which in turn causes the left half of the forming mechanism 23 to rotate, ultimately achieving bending forming. When the upper and lower clamping blocks 232 and the upper and lower clamping blocks 236 move relative to each other and come into contact, the radius of the formed pipe is at its minimum; when the upper and lower clamping blocks 232 and the upper and lower clamping blocks 236 move towards each other to their maximum distance, the radius of the formed pipe is at its maximum.

[0053] refer to Figure 11 In the process of forming elliptical tubes with different bending directions, when the bending direction is parallel to the minor axis of the elliptical tube, the square clamp 236 and the round clamp 238 need to be rotated 90° counterclockwise first, so that the round clamp 238 clamps the tube 3; when the bending direction is parallel to the major axis of the elliptical tube, the square clamp 236 and the round clamp 238 need to be rotated 90° clockwise again, so that the square clamp 236 clamps the tube 3. The purpose is to make the side shape of the tube 3 fit better with the side shape of the clamp, so that the formed tube has better quality.

[0054] Example 1:

[0055] The first step is to clamp the round pipe with the pipe clamping device 4, and adjust the motor I 235 and the adjusting motor II 237 to control the upper and lower pressing blocks 232 and the upper and lower clamping blocks (the integral clamping block formed by the square clamping block 236 and the round clamping block 238) to open to the maximum position.

[0056] The second step is to determine the process parameters.

[0057] The third step is to shape the large diameter of the circular tube. It is 60mm, small diameter pipe size The bending radius is 20mm, the bending radius R1 is 40mm, the bending radius R2 is 50mm, and the bending radius R3 is 60mm. Half the minor axis of the ellipse, b, is 10mm, and the radius of the circular clamping block, r0, is 40mm. The forming process of each section of the bent pipe is analyzed as follows:

[0058] like Figure 9-10 As shown, when forming a small-diameter circular tube section:

[0059] First, the axis of pipe 3 needs to be aligned with the center of the ellipse formed by clamping block 232 and square clamping block 236. (Small diameter pipe) It is 20mm, and its radius is equal to half the size of the minor axis b of the ellipse. Figure 8Therefore, h equals 0, and the bending radius of the formed shape is... The diameter of the pipe is exactly equal to the length of the minor axis of the ellipse formed by the clamping block 232 and the square clamping block 236. The servo motor 211 controls the rotating arm 225 to rotate 90° counterclockwise around the rotating axis 213, thereby driving the clamping mechanism 22 to rotate, completing the bending and forming, and forming a small diameter round pipe with a bending radius R1.

[0060] When forming a circular tube with a variable bending radius:

[0061] First, calculate the h value corresponding to the point where the center of the circular tube coincides with the center of the ellipse. The maximum and minimum bending radii are determined as follows: The forming aims to achieve bending radii of R2 = 50mm and R3 = 60mm. When forming a bending radius of R2, the difference between the center of the circular tube and the center of the ellipse is x = R - R2 = 55 - 50 = 5mm. The circular tube is closer to the square clamping block 236. Therefore, motor I 235 controls screw I 2314 to rotate, causing the upper and lower clamping blocks 232 to move relative to each other and clamp the tube. Simultaneously, motor II 237 controls screw II 2310 to rotate, causing the upper and lower clamping blocks 236 to separate and clamp the tube. Servo motor 211 controls the rotating arm 225 to rotate 90° counterclockwise around the rotation axis 213 to complete the bending forming. Then, when forming a bending radius of R3, motors I and II control the upper and lower clamping blocks 232 and the upper and lower clamping blocks 236 to open to their maximum positions. Because the difference between the center position of the circular tube and the center position of the ellipse is x = R - R3 = 55 - 60 = -5mm, the circular tube is closer to the clamping block 232. Adjusting motor I controls the relative movement distance of the upper and lower clamping blocks 232 to be less than the relative movement distance of the upper and lower clamping blocks 236, until they clamp the circular tube. Servo motor 211 controls the rotating arm 225 to rotate 90° counterclockwise around the rotation axis 213 to complete the bending and forming process, resulting in the final shape as shown. Figure 10 The target pipe material.

[0062] Example 2:

[0063] like Figure 11-12 This is a schematic diagram of elliptical tubes with different bending directions and elliptical tube segments.

[0064] The first step is to use the pipe clamping device 4 to clamp the elliptical pipe, and adjust the motor I 235 and the adjusting motor II 237 to control the upper and lower pressing blocks 232 and the upper and lower clamping blocks to open to the maximum position.

[0065] The second step is to determine the process parameters: the large diameter of the formed elliptical tube has a major axis of 20mm and a minor axis of 14mm; the small diameter has a major axis of 14mm and a minor axis of 8mm. The bending radius R4 is 20mm, the bending radius R5 is 30mm, and the bending radius R6 is 40mm.

[0066] The third step is to first form the large-diameter section, aligning the axis of the elliptical tube with the center of the ellipse formed by the clamping blocks 232. Since the bending direction is parallel to the minor axis of the elliptical tube, it is necessary to first rotate the square clamping block 236 and the round clamping block 238 counterclockwise by 90° so that the round clamping block 238 is close to the elliptical tube. Adjusting motors I 235 and II 237 control the relative movement of the upper and lower clamping blocks 232 and the upper and lower circular clamping blocks 238 to clamp the elliptical tube. Servo motor 211 controls the rotating arm 225 to rotate 90° counterclockwise around the rotation axis 213 to form a bending radius R4. Since the bending radius R5 is 10mm larger than R4, according to the above analysis method, adjusting motor I 235 needs to first control the upper and lower clamping blocks 232 to move towards each other, so that the elliptical tube is separated from the clamping blocks 232. Then, the industrial robot arm 1 moves horizontally 10mm towards the circular clamping block 238, so that the clamping block 232 clamps the elliptical tube again. Adjusting motor II 237 controls the relative movement of the upper and lower circular clamping blocks 238 to clamp the elliptical tube. Servo motor 211 again controls the rotating arm 225 to rotate 90° counterclockwise around the rotation axis 213 to form a bending radius R5. For the small-diameter forming section, firstly, the pipe clamping device 4 rotates the elliptical tube 90° clockwise. Secondly, because the bending direction is parallel to the long axis of the elliptical tube, the square clamping block 236 and the round clamping block 238 need to be rotated 90° clockwise first, so that the square clamping block 236 is close to the elliptical tube. Adjusting motor I 235 and adjusting motor II 237 control the relative movement of the upper and lower clamping blocks 232 and the upper and lower clamping blocks 236 to clamp the elliptical tube. Servo motor 211 controls the rotating arm 225 to rotate 90° counterclockwise around the rotation axis 213 to form the last bent section R6, ultimately forming the elliptical tube as shown in the figure. Figure 12 The spatial components shown.

[0067] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A robot-based bending forming device with variable bending radius and variable pipe diameter, characterized in that, The device includes a variable bending radius and variable pipe diameter forming device (2); the variable bending radius and variable pipe diameter forming device (2) includes a rotating mechanism (21), a pressing mechanism (22), and a forming mechanism (23); the pressing mechanism (22) is mounted on the rotating shaft (213) of the rotating mechanism (21) via a rotating arm (225), and the servo motor (211) controls the rotating arm (225) to rotate counterclockwise around the rotating shaft (213) to complete the pipe bending operation; in the pressing mechanism (22), the cylinder (221) is connected to the piston rod (224), and the cylinder (221) controls the piston rod (224) to move downward, driving the bending arm three-hole plate (226) to rotate counterclockwise around the bending arm pin (227), thereby pushing the floating slider. (223) Moves horizontally towards the rotating mechanism (21) to press the pipe (3); the curved arm cover plate (222) is installed on one side of the pressing mechanism (22) through the curved arm pin (227), and the other side of the pressing mechanism (22) is installed on the rotating shaft (213) of the rotating mechanism (21) through the rotating arm (225); the forming mechanism (23) is divided into left and right parts, the left half is fixed on the floating slider (223) of the pressing mechanism (22) through the main clamping mold base (231), and moves horizontally together with the floating slider (223), the right half is fixed on the rotating shaft (213) of the rotating mechanism (21) through the fixed plate (2311); the left half is the upper cover plate (2313) from top to bottom. The upper and lower clamping blocks (232), the lower base plate (234), and the adjusting motor I (235) are connected by screw I (2314) to the upper cover plate (2313), the upper and lower clamping blocks (232), and the lower base plate (234). Screw I (2314) is a left-handed screw and a right-handed screw, respectively. When the adjusting motor I (235) controls the screw I (2314) to rotate, the upper and lower clamping blocks (232) move relative to each other, so that they can separate or move closer together, thereby clamping pipes of different diameters. The upper cover plate (2313) is fixed to the main clamping mold base (231) by bolt I (2315), and the lower base plate (234) is also fixed to the main clamping mold base (231) by bolt II (233). The upper half; the right half consists of a fixed plate (2311), a clamping block box (239), a square clamping block (236), a round clamping block (238), and an adjusting motor II (237) from top to bottom. The fixed plate (2311), the clamping block box (239), and the round clamping block (238) are connected by screw II (2310). The square clamping block (236) and the round clamping block (238) are a whole. The square clamping block (236) includes two square clamping plates with arc grooves on the upper and lower parts. The arc grooves are set along one edge of the square clamping plate. When the two square clamping plates are closed together, the two arc notches form a semi-elliptical groove. The horizontal direction of the semi-elliptical groove is the major axis of the ellipse, and the vertical direction is the minor axis of the ellipse, which is used to clamp the round tube.When the upper and lower clamping blocks (232) of the semi-elliptical groove are closed together, they form a semi-elliptical groove similar to that of the square clamping block (236). A complete ellipse is formed between the square clamping block (236) and the clamping block (232). The round clamping block (238) also includes two round clamping plates with arc grooves. The arc grooves are set along the circumference of the round clamping plates. When the two round clamping plates are closed together, the two arc notches form a semi-elliptical groove. The horizontal direction is the minor axis of the ellipse, and the vertical direction is the major axis of the ellipse. The purpose is to allow the elliptical pipe to fit better with the clamping block as the bending direction changes when bending the elliptical pipe. The square clamping plate and the round clamping plate adjusting motor (237) control the screw (2310) to rotate, so that the upper and lower clamping blocks (236) and the round clamping block (238) move relative to each other, thereby clamping pipes of different diameters.

2. The forming apparatus according to claim 1, characterized in that, The upper square clamping block (236) and the upper round clamping block (238), as well as the lower square clamping block (236) and the lower round clamping block (238), are all formed as a whole clamping block. The round clamping block (238) has a notch, and the width of the notch in the horizontal direction is equal to the width of the square clamping block (236). The tangent of the groove of the round clamping block (238) is the same as the tangent of the groove of the square clamping block (236), so that the groove of the round clamping block (238) and the groove of the square clamping block (236) are smoothly connected.

3. The forming method of the forming apparatus according to claim 1 or 2, characterized in that, When forming a variable bending radius, when the bending radius is small, the motor I (235) controls the screw I (2314) to rotate, so that the upper and lower clamping blocks (232) move towards each other. At the same time, the motor II (237) controls the screw II (2310) to rotate, so that the upper and lower clamping blocks (236) move in opposite directions. This allows the pipe (3) to be closer to the rotating shaft (213), resulting in a smaller bending radius. When the bending radius is large, the clamping blocks (232) and square clamping blocks (236) move in the opposite direction to the smaller bending radius, so that the pipe (3) moves further away from the rotating shaft (213) and closer to the clamping blocks (232). That is, by adjusting the relative positions of the upper and lower clamping blocks (232) and square clamping blocks (236), different bending radii can be achieved by using the same set of molds.

4. The forming method according to claim 3, characterized in that, Specifically, the steps are as follows: Step 1: The clamping block and square clamping block hold the pipe in an elliptical shape, with the center O of the ellipse coinciding with the center of the pipe. At this point, the bending radius of the formed pipe is in the middle position; where half of the minor axis of the ellipse is b, the pipe radius is r, the distance from the clamping block and square clamping block to the horizontal central axis is h, the bending radius of the formed pipe is R, and the radius of the round clamping block is... It satisfies the following relationship: Step 2: Adjust motor I to control screw I to rotate, causing the upper and lower clamping blocks to move in opposite directions, increasing the distance between the clamping ends; at the same time, adjust motor II to control screw II to rotate, causing the upper and lower square clamping blocks to move towards each other, reducing the distance between the clamping blocks, thereby causing the pipe forming position to move closer to the clamping end. When the upper and lower clamping blocks overlap, the forming mechanism can form the maximum bending radius. Pipe center position The distance x between the ellipse and the center O of the ellipse satisfies the following relationship: , ; Step 3: Forming the minimum bending radius In the opposite direction to step 2, adjust motor I to control the upper and lower clamping blocks to overlap, and simultaneously adjust motor II to control the upper and lower clamping blocks to move in the opposite direction, increasing the distance between the clamping blocks and centering the pipe. The distance between the ellipse and the center O is also x, satisfying the following relationship: .

5. The forming method of the forming apparatus according to claim 1 or 2, characterized in that, When forming pipes of different diameters, firstly, the axis of the pipe (3) needs to be aligned with the center of the ellipse formed by the clamping block (232) and the square clamping block (236); secondly, adjust motor I and adjust motor II to control the rotation of screw I and screw II, so that the upper and lower clamping blocks (232) and the upper and lower clamping blocks (236) move in the same way at the same time, and the cylinder (221) controls the floating slider (223) to drive the main clamping mold base (231) to press towards the square clamping block (236), and then... The motor (211) controls the rotating arm (225) to rotate counterclockwise around the rotating shaft (213), which in turn drives the left half of the forming mechanism (23) to rotate, and finally achieves bending forming; when the upper and lower pressing blocks (232) and the upper and lower clamping blocks (236) move towards each other to contact, the radius of the formed pipe is the smallest; when the upper and lower pressing blocks (232) and the upper and lower clamping blocks (236) move in opposite directions to the position of maximum distance, the radius of the formed pipe is the largest.

6. The forming method according to claim 5, characterized in that, Specifically, the steps are as follows: Step 1: When forming a variable diameter pipe, firstly, the pipe axis needs to be aligned with the center of the ellipse formed by the clamping block and the square clamping block; secondly, adjust motor I and motor II to control the rotation of screw I and screw II until the upper and lower clamping blocks and the upper and lower clamping blocks move relative to each other and coincide; simultaneously, the cylinder controls the floating slider to drive the main clamping mold base to press towards the round clamping block until the clamping block coincides with the side of the round clamping block. At this time, the minimum radius of the formed pipe is... It satisfies the following relationship: Step 2: Form the maximum pipe diameter Conversely to the minimum forming diameter, the motor controls the screw to rotate, causing the upper and lower clamping blocks and the upper and lower clamping blocks to move in opposite directions to their maximum positions.

7. The forming method of the forming apparatus according to claim 1 or 2, characterized in that, When forming elliptical tubes with different bending directions, when the bending direction is parallel to the minor axis of the elliptical tube, the square clamp (236) and the round clamp (238) need to be rotated 90° counterclockwise so that the round clamp (238) clamps the tube (3); when the bending direction is parallel to the major axis of the elliptical tube, the square clamp (236) and the round clamp (238) need to be rotated 90° clockwise so that the square clamp (236) clamps the tube (3). The purpose is to make the side shape of the tube (3) fit the side shape of the clamp, so that the quality of the formed tube is better.

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