Pipe bending system and pipe bending method for multi-repeated multi-directional bending of pipes with multiple sizes of pipe diameters

Abstract

The application discloses a pipe bending system and method for multi-repeated multi-directional bending of pipes with different diameters, which comprises a feeding mechanism for clamping and feeding a pipe on a supporting device; the pipe moves axially along the supporting device to be positioned and clamped at the end of the pipe end positioning and clamping device; a limiting device is arranged on both sides of the supporting device to limit the radial deviation of the pipe on the supporting device; a bending mechanism is arranged at the end of the supporting device, and the part of the pipe end beyond the end of the bending mechanism is a bending section; the bending mechanism is arranged in cooperation with the bending section; a deflection adjusting mechanism is further arranged at the end of the supporting device, and the deflection adjusting mechanism is arranged to move axially along the supporting device; the deflection adjusting mechanism comprises an adjusting unit which moves in a circular motion around the axis of the supporting device; and the adjusting unit is arranged in cooperation with the bending section end port of the pipe to be bent. The application can automatically realize the multi-repeated multi-directional bending of the pipe according to a preset pipe bending scheme, and is suitable for pipes with different diameters.

Description

Technical Field

[0001] This invention relates to the field of pipe bending equipment, and in particular to a pipe bending system and method for multiple-dimensional and multi-directional bending of pipe fittings of various sizes. Background Technology

[0002] Pipe bending machines are common processing equipment used for bending pipe fittings. Most pipe bending machines only have single-bending capabilities; for multiple bends, manual operation is required. However, when the required angles and directions for multiple bends are complex, it is difficult to control accurately through manual operation. Manual operation is not only inefficient but also poses safety risks. Therefore, there is a need for a pipe bending device capable of automatic multi-directional bending, applicable to pipe fittings of various diameters. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a pipe bending system and method for multiple and multi-directional bending of pipe fittings of various sizes and diameters, which automatically realizes multiple and multi-directional bending of pipe fittings according to a preset bending scheme.

[0004] Technical Solution: To achieve the above objectives, the present invention provides a pipe bending system and method for multi-dimensional and multi-directional bending of pipe fittings of various pipe diameters, comprising a feeding mechanism for clamping and feeding pipe fittings onto the outside of a support device; the pipe fitting moves axially along the support device to its end, where it engages with a pipe end positioning and clamping device; limit devices are provided on both sides of the support device to limit the radial offset of the pipe fittings on the support device; a bending mechanism is provided at the end of the support device, wherein the portion of the pipe fitting end extending beyond its end is a bending section; the bending mechanism engages with the bending section; a deflection adjustment mechanism is also provided at the end of the support device, which moves axially along the support device; the deflection adjustment mechanism includes a circular motion adjustment unit that rotates around the axis of the support device; the adjustment unit engages with the bending section end of the pipe fitting being bent.

[0005] Furthermore, the support device includes a columnar shell, and a plurality of support units are provided on the outer circular surface of the shell; the plurality of support units are equidistantly telescopically arranged relative to the outer circular surface of the shell; the plurality of support units are arranged relative to the telescopic drive structure, and the telescopic drive structure is disposed inside the shell.

[0006] Furthermore, multiple support units form a support ring around the axis of the housing, and the multiple support rings are arranged at equal intervals along the axial direction; the support units in adjacent support rings are staggered.

[0007] Furthermore, the telescopic drive structure includes a guide rod arranged along the axis of the housing, the front end of which is fixed to the front end of the housing; a plurality of movable rings are sleeved on the guide rod, the plurality of movable rings are arranged at equal intervals, and adjacent movable rings are connected by an elastic structure; a piston sleeve is sleeved on the rear end of the guide rod, the piston sleeve slides in fit with the inner wall of the housing, and an air cavity is formed between the rear end face of the piston sleeve and the rear end face of the housing, the air cavity being connected to a gas extraction / discharge device.

[0008] Furthermore, a sensing module is provided at the front end of the housing for measuring the diameter of the pipe fitting; the control signal of the sensing module is connected to the gas extraction / discharge device.

[0009] Furthermore, the moving ring is composed of multiple support units arranged at equal intervals around it.

[0010] Furthermore, the movable ring is provided with a plurality of guide holes corresponding to the plurality of support units; the support unit is provided with a telescopic rod that cooperates with the guide holes, and the telescopic rod is connected to the inner end of the guide hole through an elastic reset member; the outer end of the telescopic rod is provided with a support structure, and the two sides of the support structure are respectively connected to the two movable rings through linkage rods; both ends of the linkage rod are hinged to the support structure and the movable ring.

[0011] Furthermore, the deflection adjustment mechanism includes a base, which is movably disposed along the axial direction of the support device; an annular guide rail is disposed on the base, which is coaxially arranged with the support device; and the adjustment unit is movably disposed on the annular guide rail.

[0012] Furthermore, the adjustment unit includes a movable seat that slides and engages with the annular guide rail. A universal adapter structure is connected to the movable seat via a telescopic structure. A plug is connected to the universal adapter structure via a telescopic structure, and the plug engages with the pipe port.

[0013] Furthermore, the specific steps include the following pipe bending steps:

[0014] Step 1: The feeding mechanism clamps and places the pipe fitting from one end relative to the support device until the end of the pipe fitting is attached to the positioning surface of the pipe end positioning and clamping device. During this process, the sensing module detects the inner diameter of the pipe fitting and calculates the air intake volume of the air chamber, and then transmits the control signal to the air extraction and release device.

[0015] Step II: The gas extraction and release device extracts and releases gas from the gas chamber according to the required air intake volume, causing the piston sleeve to slide accordingly, thereby driving multiple moving rings to move in linkage, so that multiple support units are supported on the inner wall of the pipe.

[0016] Step III: The pipe end positioning and clamping device clamps the end of the pipe fitting, the limiting device is close to the pipe wall, and the bending mechanism is clamped at the point where the pipe fitting is to be bent.

[0017] Step IV: The pipe end positioning and clamping device releases the end of the pipe fitting, and the bending mechanism bends the pipe fitting at a preset bending angle;

[0018] Step V: Adjust the position of the adjustment unit to correspond with the pipe fitting port, and insert the corresponding plug into the pipe fitting port;

[0019] Step VI: Loosen and reset the bending mechanism. Adjust the moving seat and base according to the next bending point so that the next bending point of the pipe corresponds to the bending mechanism. The bending mechanism clamps the bending point and bends the pipe at the preset bending angle.

[0020] Step VII, repeat steps V-VI, until multiple bends are completed on the same pipe fitting.

[0021] Beneficial effects: The pipe bending system and method of the present invention for multiple and multi-directional bending of pipe fittings of various diameters have at least the following advantages:

[0022] 1. The pipe fitting is precisely positioned by the cooperation of the support device and the pipe end positioning and clamping device. The pipe bending mechanism is guided by the support device to achieve high-precision bending of the pipe fitting. The pipe fitting position is automatically adjusted by the cooperation of the deflection adjustment mechanism and the support device, thus automatically realizing multiple and multi-directional bending of the pipe fitting.

[0023] 2. The support device is supported on the inner wall of the pipe by multiple support units. The expansion and contraction of the support units is driven by the measurement of the pipe diameter using a sensing module, so as to achieve adaptive matching between the support device and pipe fittings of various sizes. Attached Figure Description

[0024] Appendix Figure 1 This is a schematic diagram of the overall structure of one embodiment of the present solution;

[0025] Appendix Figure 2 This is a schematic diagram of the support device structure according to one embodiment of the present solution;

[0026] Appendix Figure 3 This is a cross-sectional view of the support device structure according to one embodiment of the present solution;

[0027] Appendix Figure 4 For the appendix Figure 3 Enlarged view of the structure at point A in the middle;

[0028] Appendix Figure 5 This is a schematic diagram of the deflection adjustment mechanism in one embodiment of the present solution. Detailed Implementation

[0029] The invention will now be further described with reference to the accompanying drawings.

[0030] As attached Figure 1-5The aforementioned pipe bending system and method for multiple-dimensional and multi-directional bending of pipe fittings of various sizes includes a feeding mechanism 1 for clamping and feeding pipe fittings 2 onto the outside of a support device 3; the pipe fitting 2 moves axially along the support device 3 to its end to cooperate with a pipe end positioning and clamping device 4.

[0031] The pipe end positioning and clamping device 4 serves as the positioning reference for pipe loading, and its relative position is fixed. In one embodiment, the support device is provided on the reference surface that mates with the end face of the pipe, and the clamping part on it can adopt common chuck jaws, so that each jaw is symmetrically arranged relative to the support device.

[0032] The feeding mechanism can adopt a common robotic arm structure. Through programming, the clamped tube and the support device are kept coaxial throughout the feeding process. When the tube is fitted relative to the support device and its end is in contact with the reference surface, the support device supports the inner wall of the tube, thus determining the relative position of the tube and completing the entire feeding process. Finally, the end of the tube is clamped to prevent the tube from moving in subsequent actions and to avoid inaccurate bending positions.

[0033] Limiting devices 5 are provided on both sides of the support device 3 to limit the radial displacement of the pipe fitting 2 on the support device 3. The limiting device can be a limiting block structure with a V-groove, and is driven by a cylinder to laterally adhere to the side wall of the pipe fitting. Multiple limiting blocks can be provided and staggered on both sides of the pipe fitting, thereby limiting the radial displacement of the pipe fitting and ensuring that the unbent part of the pipe fitting always moves along the axial direction of the support device during subsequent bending operations, thereby ensuring bending accuracy.

[0034] The support device 3 is provided with a bending mechanism 6 at its end, and the part of the upper pipe 2 that extends beyond its end is a bending section 21; the bending mechanism 6 is configured to cooperate with the bending section 21.

[0035] The bending mechanism employs a common wheel-die clamping die combination. The clamping die holds the bending section onto the wheel die, and by rotating the wheel die, the clamping die moves accordingly, thus bending the pipe fitting. The control system controls the rotation angle of the wheel die, thereby controlling the bending angle of the pipe fitting and completing one bending operation. The wheel die and clamping die can be disassembled and replaced according to the size of the pipe fitting being bent.

[0036] The end of the support device 3 is also provided with a deflection adjustment mechanism 7, which is movably arranged along the axial direction of the support device 3.

[0037] The deflection adjustment mechanism 7 includes a circular motion adjustment unit 71, which moves in a circular motion around the axis of the support device 3; the adjustment unit 71 is configured to cooperate with the port of the bent section 21 of the bent pipe 2.

[0038] After completing one bend, with the bending mechanism clamping the pipe, the deflection adjustment mechanism is adjusted by moving it linearly and the adjustment unit is adjusted by moving it circumferentially. This makes the adjustment unit correspond to and engage with the pipe opening after bending, thus temporarily fixing the deflection adjustment mechanism relative to the pipe. Then, the bending mechanism is released to reset it. Next, the deflection adjustment mechanism is moved to adjust the position of the next bend of the pipe so that it corresponds to the bending mechanism. Then, the adjustment unit is moved circumferentially to adjust the required bending direction of the pipe so that it corresponds to the bending direction of the bending mechanism. After determining the relative position of the pipe, the bending mechanism clamps the pipe again and releases the fixed connection between the deflection adjustment mechanism and the pipe. The bending mechanism then completes the second bend of the pipe. The above bending action is repeated according to the required number of bends, angles, and directions of the pipe to complete multiple and multi-directional continuous bending operations on the same pipe. Each module is controlled and coordinated by the control system.

[0039] The bending mechanism can be set on an independent lifting platform. After the pipe is released, the lifting platform moves away from the pipe to provide space for the pipe to be repositioned, avoiding interference. After the repositioning is completed, the pipe is reset and the bending procedure is executed.

[0040] Example 1

[0041] The support device 3 includes a columnar housing 31, and a plurality of support units 32 are provided on the outer circular surface of the housing 31; the plurality of support units 32 are equidistantly telescopically arranged relative to the outer circular surface of the housing 31; the plurality of support units 32 are arranged relative to the telescopic drive structure 33, which is disposed inside the housing 31.

[0042] Multiple support units 32 form a support ring around the axis of the housing 31, and the multiple support rings are arranged at equal intervals along the axial direction; the support units 32 in adjacent support rings are staggered.

[0043] The telescopic drive structure 33 includes a guide rod 331 arranged along the axis of the housing 31, the front end of the guide rod 331 being fixed to the front end of the housing 31; a plurality of movable rings 332 are sleeved on the guide rod 331, the plurality of movable rings 332 being arranged at equal intervals, and adjacent movable rings 332 being connected by an elastic structure 333; a piston sleeve 334 is sleeved at the rear end of the guide rod 331, the piston sleeve 334 being slidably engaged with the inner wall of the housing 31, and an air cavity 335 is formed between the rear end face of the piston sleeve 334 and the rear end face of the housing 31, the air cavity 335 being connected to the air extraction and release device 34.

[0044] The front end of the housing 31 is provided with a sensing module 35 for measuring the diameter of the pipe fitting 2; the control signal of the sensing module 35 is connected to the gas extraction and release device 34.

[0045] The moving ring 332 is composed of multiple support units 32 arranged at equal intervals around it.

[0046] The movable ring 332 is provided with a plurality of guide holes 336 corresponding to the multiple support units 32; each support unit 32 is provided with a telescopic rod 321 that cooperates with the guide holes 336, and the telescopic rod 321 is connected to the inner end of the guide hole 336 through an elastic reset member 322; the outer end of the telescopic rod 321 is provided with a support structure 323, and the two sides of the support structure 323 are respectively connected to the two movable rings 332 through linkage rods 324; both ends of the linkage rod 324 are hinged to the support structure 323 and the movable rings 332. The housing is provided with a through groove for the movement of the support structure and the linkage rod, and the support surface of the support structure is provided with ball bearings, which provide support while ensuring that the resistance is reduced during bending and angle adjustment.

[0047] Based on the above structure, the principle of adjusting the support radius of the support structure is that during the feeding process, the pipe is continuously scanned by the end sensing module of the support structure and the corresponding distance d to the pipe wall is recorded, thereby obtaining the expansion and contraction variable Δh required by the support unit. This is then converted into the expansion and contraction variable Δl required by each elastic structure. The set of expansion and contraction variables of multiple elastic structures is the movement variable ΔL of the piston sleeve. The air intake volume ΔV is obtained by calculating the cross-sectional area S of the air chamber. The air extraction and release device performs air extraction and release operations according to the required air intake volume.

[0048] In a preferred embodiment, the sensing module is an infrared ranging module, and there are n pairs, each pair containing two infrared ranging modules, which are symmetrically arranged on both sides of the housing; the actual distance data collected by any pair of sensing modules are d1n and d2n respectively; the scaling variable Δhn = 1 / 2(d1n + d2n) is calculated for each pair of sensing modules.

[0049] By comparing multiple Δhn values, if the error is within the allowable range, then the actual required scaling variable is:

[0050] Δh=(Δh1+Δh2+…+Δhn) / n

[0051] If the error is large, it indicates that the pipe fitting is severely deformed and is a defective product, which should be scrapped and recycled directly.

[0052] Let the length of the linkage be F, then Δl = (F 2 -Δh 2 )^1 / 2;

[0053] If there are N elastic structures, then ΔL = Δl * N; ΔV = S * Δl * N.

[0054] By controlling the air intake, the inner wall of the pipe can be adaptively supported according to the inner diameter of the pipe, which can meet the needs of precise support and guidance for pipes of various sizes.

[0055] Example 2

[0056] The deflection adjustment mechanism 7 includes a base 72, which is movably disposed along the axis of the support device 3; an annular guide rail 73 is disposed on the base 72, which is coaxially arranged with the support device 3; and the adjustment unit 71 is movably disposed on the annular guide rail 73.

[0057] The adjustment unit 71 includes a movable seat 711 that slides and engages with the annular guide rail 73. A universal joint structure 712 is connected to the movable seat 711 via a telescopic structure. A latch 713 is connected to the universal joint structure 712 via the telescopic structure, and the latch 713 engages with the port of the pipe fitting 2. The telescopic structure can be a hydraulic cylinder or a pneumatic cylinder, and the universal joint structure can be a universal joint ball joint, with the movements controlled by robot programming.

[0058] Using the pipe section after the first bend as a reference segment for action reference, a spatial coordinate system is established. According to the preset bending scheme, the spatial position of the reference segment after each bend is calculated, and the motion trajectory of the base, moving seat, universal adapter structure and telescopic structure is programmed and planned so that the plug can be engaged with the pipe port.

[0059] As a preferred embodiment, the stopper is a rubber stopper with a multi-step structure, and each step can be adapted to pipe fittings with a certain range of pipe diameters.

[0060] Based on the above-described pipe bending system structure, multiple multi-directional pipe bending is performed, specifically including the following pipe bending steps:

[0061] Step 1: The feeding mechanism 1 clamps and feeds the pipe fitting from one end relative to the support device 3 until the end of the pipe fitting is attached to the positioning surface of the pipe end positioning clamping device 4. During this process, the sensing module 35 detects the inner diameter of the pipe fitting and calculates the air intake of the air chamber, and then transmits the control signal to the air extraction and release device 34.

[0062] Step II: The gas extraction and release device 34 extracts and releases gas in the gas chamber according to the required air intake, causing the piston sleeve 334 to slide accordingly, thereby pushing multiple moving rings 332 to move in linkage, so that multiple support units 32 are supported on the inner wall of the pipe.

[0063] Step III: The pipe end positioning and clamping device 4 clamps the end of the pipe fitting, the limiting device 5 is pressed against the pipe wall, and the bending mechanism 6 is clamped at the point where the pipe fitting is to be bent.

[0064] Step IV: The pipe end positioning and clamping device 4 releases the end of the pipe fitting, and the bending mechanism 6 bends the pipe fitting at a preset bending angle;

[0065] Step V: Adjust the position of the adjustment unit 71 to correspond with the pipe fitting port, and insert the corresponding plug into the pipe fitting port;

[0066] Step VI: Release and reset the bending mechanism 6. Adjust the moving seat 711 and the base 72 according to the next bending point so that the next bending point of the pipe corresponds to the bending mechanism 6. The bending mechanism 6 clamps the bending point and bends the pipe at the preset bending angle.

[0067] Step VII, repeat steps V-VI, until multiple bends are completed on the same pipe fitting.

[0068] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the above principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A pipe bending system for multi-dimensional and multi-directional bending of pipe fittings of various diameters, characterized in that: Including the feeding mechanism (1), be used for clamping and feeding the pipe (2) to set on the outside of the support device (3);The pipe (2) moves to the end of the support device (3) with the pipe end positioning clamping device (4) cooperation arrangement along the axial direction; The support device (3) is provided with a limiting device (5) on both sides, for limiting the radial deviation of the pipe (2) on the support device (3); The end of the support device (3) is provided with a bending mechanism (6), and the part of the pipe (2) beyond the end of the support device (3) is a bending section (21);The bending mechanism (6) is arranged in cooperation with the bending section (21); The end of the support device (3) is further provided with a deflection adjusting mechanism (7), which is arranged in the axial direction of the support device (3); The deflection adjusting mechanism (7) comprises a circumferential motion adjusting unit (71), which rotates around the axis of the support device (3);The adjusting unit (71) is arranged in cooperation with the bending section (21) of the pipe (2) which is bent; The support device (3) comprises a cylindrical shell (31), and a plurality of support units (32) are arranged on the outer circular surface of the shell (31);A plurality of support units (32) are arranged equidistantly relative to the outer circular surface of the shell (31);A plurality of support units (32) are arranged relative to the telescopic driving structure (33), and the telescopic driving structure (33) is arranged in the shell (31); A plurality of support units (32) surround the axis of the shell (31) to form a support ring, and a plurality of support rings are arranged equidistantly along the axial direction;The support units (32) in the adjacent support rings are arranged alternately; The telescopic driving structure (33) comprises a guide rod (331) arranged along the axis of the shell (31), and the front end of the guide rod (331) is fixed to the front end of the shell (31);A plurality of moving rings (332) are arranged on the guide rod (331), and the adjacent moving rings (332) are connected by an elastic structure (333);The rear end of the guide rod (331) is provided with a piston sleeve (334), and the piston sleeve (334) is in sliding cooperation with the inner wall of the shell (31), and the rear end surface of the piston sleeve (334) and the rear end surface of the shell (31) form an air cavity (335), and the air cavity (335) is connected to the air exhaust device (34); A plurality of support units (32) are arranged equidistantly on the moving ring (332) to form the support ring.

2. A bend system for multi-redundant multi-directional bending of pipes of multiple sizes as claimed in claim 1 wherein: The front end of the shell (31) is provided with a sensing module (35) for measuring the pipe diameter of the pipe (2);The control signal of the sensing module (35) is connected to the air exhaust device (34).

3. A bend system for multi-redundant multi-directional bending of pipes of multiple sizes as claimed in claim 2 wherein: A plurality of guide holes (336) are arranged on the moving ring (332) corresponding to the plurality of support units (32); the support units (32) are correspondingly provided with telescopic rods (321) matched with the guide holes (336); the telescopic rods (321) are connected with the inner ends of the guide holes (336) through elastic return members (322); the outer ends of the telescopic rods (321) are provided with support structures (323), and the support structures (323) are connected to the two sides of the moving ring (332) through linkage rods (324) respectively; the linkage rods (324) are hingedly arranged at the two ends of the support structures (323) and the moving ring (332).

4. A bend system for multi-redundant multi-directional bending of pipes of multiple sizes as claimed in claim 3 wherein: The deflection adjusting mechanism (7) comprises a base (72) arranged to move axially along the support device (3); the base (72) is provided with an annular guide rail (73) arranged coaxially with the support device (3); the annular guide rail (73) is movably arranged with the adjusting unit (71).

5. A bend system for multi-redundant multi-directional bending of pipes of multiple sizes as claimed in claim 4 wherein: The adjusting unit (71) comprises a moving seat (711) slidably matched with the annular guide rail (73); the moving seat (711) is connected with a universal adapter structure (712) through a telescopic structure; the universal adapter structure (712) is connected with a plug (713) through a telescopic structure; the plug (713) is matched with the port of the pipe fitting (2).

6. A pipe bending method of the pipe bending system according to claim 5, characterized by, Specifically comprising the following pipe bending steps: Step I: the feeding mechanism (1) clamps and feeds the pipe fitting from one end relative to the support device (3) to be sleeved, until the end of the pipe fitting is attached to the positioning surface of the pipe end positioning and clamping device (4); during this process, the induction module (35) detects the inner diameter of the pipe fitting and calculates the air cavity air intake, and then transmits the control signal to the air extraction device (34); Step II: the air extraction device (34) extracts the gas in the air cavity according to the required air intake, so that the piston sleeve (334) slides correspondingly, thereby driving the plurality of moving rings (332) to move in linkage, so that the plurality of support units (32) are supported on the inner wall of the pipe fitting; Step III: the pipe end positioning and clamping device (4) clamps the end of the pipe fitting, the limiting device (5) is attached to the pipe wall of the pipe fitting, and the bending mechanism (6) is clamped at the pipe fitting to be bent; Step IV: the pipe end positioning and clamping device (4) releases the end of the pipe fitting, and the bending mechanism (6) bends the pipe fitting according to the preset bending angle; Step V: adjust the position of the adjusting unit (71) corresponding to the port of the pipe fitting, and insert the plug into the port of the pipe fitting; Step VI: loosen the bending mechanism (6) and reset, adjust the moving seat (711) and the base (72) according to the next to-be-bent point of the pipe fitting, so that the next to-be-bent point of the pipe fitting corresponds to the bending mechanism (6), the bending mechanism (6) clamps the to-be-bent point, and bends the pipe fitting according to the preset bending angle; Step VII: repeat steps V-VI until the bending of multiple positions on the same pipe fitting is completed.

Images