Aircraft stainless steel double clamp and press pipe fitting machining device

Abstract

The application discloses an aviation stainless steel double-clamping and pressing pipe machining device and relates to the double-clamping and pressing pipe machining technical field.The supporting and identifying mechanism is externally provided with a rotating mechanism capable of rotating around the supporting and identifying mechanism.The rotating mechanism comprises a second mechanical arm.The movable end of the second mechanical arm is provided with a shaping mechanism.The shaping mechanism is internally provided with a forming mechanism.The shaping mechanism is used for forming a forming cavity during the forming of the stainless steel double-clamping and pressing pipe.The application only needs to process the end position without opening the mold when facing different shapes of the stainless steel pipe blank, so that the required size of the pipe blank can be pre-processed before the clamping and pressing joint is processed, the processing of the clamping and pressing joint is performed, the influence of the secondary processing on the precision of the clamping and pressing joint is avoided, and the independent processing and forming mode of the end increases the application range of the whole processing equipment.

Description

Technical Field

[0001] This invention relates to the field of double-clamping pipe fitting processing technology, specifically to a processing device for stainless steel double-clamping pipe fittings for aviation applications. Background Technology

[0002] Double-press fittings are a type of connection that fully utilizes the effective rigidity of metal pipes, the elastic compression ratio of sealing rings, and the length of the socket. They are radially pressed together on both sides of the U-groove of the pipe fitting socket using clamps. Due to their simple and stable structure, excellent tensile strength and sealing performance, double-press fittings are widely used in the aerospace field. The production process of stainless steel double-press fittings mainly includes cutting, forming, bright solution treatment, and polishing of stainless steel materials. In the forming process, the mainstream processing technology is internal high-pressure water expansion forming or stamping forming.

[0003] For example, the internal high-pressure forming machine for processing press-fit pipe fittings, as disclosed in patent publication number CN107866459A, changes the traditional side cylinder arrangement by using an internal high-pressure forming machine. Without increasing the size of the equipment, it increases the production quantity of internal press-fit pipe fittings in each working cycle and enhances its versatility in producing various types of press-fit pipe fittings.

[0004] For example, a one-time forming device for press-fit pipe fittings, disclosed in patent publication number CN114603014A, fixes the press-fit pipe fittings by setting up an upper clamping block, a lower clamping block, and a locking assembly, eliminating the need for manual fixing and improving processing efficiency.

[0005] The aforementioned equipment and similar equipment all use a similar mold cavity plus forming rod to pressurize and form a standard straight-through crimped tube. However, in actual use, the application range of straight-through double crimped tubes is relatively small, and their shape needs to be reprocessed before use. Reprocessing can sometimes cause deformation of the crimping position of the tube, affecting the later sealing performance. Moreover, in the aerospace field, the impact of such reprocessing has a great impact on the later safe use. In addition, sometimes it is necessary to crimp non-standard multi-way tubes, and the size of the crimping joint also has different requirements. The traditional forming method requires specially designed steel molds for various situations, which results in large manufacturing costs and low returns. Summary of the Invention

[0006] The purpose of this invention is to provide a processing device for stainless steel double-clamped pipe fittings for aviation, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a processing device for stainless steel double-clamped pipe fittings for aviation, comprising a support and identification mechanism, wherein a rotating mechanism is installed on the outer wall of the support and identification mechanism and can rotate around the support and identification mechanism, the rotating mechanism comprising a second robotic arm, wherein a shaping mechanism is installed at the movable end of the second robotic arm, and a forming mechanism is installed inside the shaping mechanism, wherein the shaping mechanism is used to form a forming cavity during the forming of stainless steel double-clamped pipe fittings, and the forming mechanism is used to provide internal forming pressure during the forming of stainless steel double-clamped pipe fittings, and the rotating mechanism comprises a water supply component for supplying water to the forming mechanism;

[0008] The molding mechanism includes a molding rod, one end of which is closed and the other end is provided with a water inlet. A water outlet is opened in the middle of the outer wall of the molding rod. An expansion membrane covering the water outlet is connected to the outer wall of the molding rod. Circular grooves are equidistantly opened on the outer wall of the molding rod near the closed end. A friction element is slidably arranged inside the groove. An inner groove opening is opened on the inner wall of the molding rod between the closed end and the circular groove. A second spring is arranged in the inner groove opening to pull the friction element into the circular groove. A pushing block is slidably arranged on the inner wall of the molding rod. One end of the pushing block abuts against the friction element to push the friction element to move out of the circular groove. The pushing block is connected to the closed end of the molding rod by a first spring. A piston assembly for driving the pushing block to move is provided at the end of the pushing block away from the first spring.

[0009] As a further preferred embodiment of this technical solution, the piston assembly includes a rubber pusher plate, a connecting rod is fixedly connected between the rubber pusher plate and the pusher block, two cavity rings forming a sealed chamber are fixedly connected to the inner wall of the molding rod at the position between the rubber pusher plate and the pusher block, and a sealing ring is fixedly connected to the outer wall of the connecting rod at the sealed chamber.

[0010] As a further preferred embodiment of this technical solution, a fixing rod is fixedly connected to the inner wall of the closed end of the forming rod to increase the sliding stability of the pushing block, and slots adapted to the fixing rod are provided in both the pushing block and the piston assembly.

[0011] As a further preferred embodiment of this technical solution, the friction component includes a sliding sleeve slidably disposed in a circular groove, and a replaceable friction head slidably disposed inside the sliding sleeve. When the friction head abuts against the inner wall of the stainless steel double-clamping tube, it increases the stability of the forming mechanism and restricts the change of direction of the expansion film. A sub-plate adapted to the inner groove opening is fixedly connected to the outer wall of the sliding sleeve, and the sub-plate is connected to the second spring.

[0012] As a further preferred embodiment of this technical solution, the shaping mechanism includes a bracket, which has a C-shaped structure. A slot is provided at the bottom of the bracket, and a detachable lower mold is installed in the slot. A hydraulic cylinder is installed at the top of the bracket. The piston end of the hydraulic cylinder passes through the top of the bracket and is fixedly connected to a snap-fit ​​frame. A detachable upper mold is installed in the snap-fit ​​frame. Cavities are provided on the inner walls of both the lower mold and the upper mold. A positioning hole is provided at the top of the lower mold, and a positioning post that matches the positioning hole is provided at the bottom of the upper mold.

[0013] As a further preferred embodiment of this technical solution, an L-shaped rotating frame is rotatably connected to the top end face of the bracket, and a sub-frame is rotatably connected to the other end of the L-shaped rotating frame. A heating coil for preheating stainless steel double-clamping pipe fittings is provided at the bottom of the sub-frame, and a second motor for driving the L-shaped rotating frame to rotate is installed at one end of the bracket.

[0014] As a further preferred embodiment of this technical solution, the support identification mechanism includes a workbench with an electric turntable installed at the center of the top of the workbench. The workbench is cylindrical, and its outer wall is provided with a first slide groove, a toothed ring, a second slide groove, and a third slide groove from top to bottom. The first slide groove, the toothed ring, the second slide groove, and the third slide groove are adapted to the rotating mechanism. At least one first robotic arm is installed on the workbench around the electric turntable. A robotic claw is installed at the movable end of the first robotic arm, and at least two airbags are installed at the gripper of the robotic claw. The airbags are inflated and deflated through air pipes.

[0015] As a further preferred embodiment of this technical solution, the rotating mechanism includes a C-shaped sliding frame. Two sets of first ear plates are fixedly connected to both ends of the sliding frame. A first parallel pulley is provided at the top of the first ear plate, and a vertical pulley is provided at the bottom of the first ear plate. The first parallel pulleys and vertical pulleys on the two sets of sliding frames are respectively adapted to the first slide groove and the second slide groove. The water supply component includes a water tank, which is installed on the side of the sliding frame away from the first ear plate. A water supply hose is fixedly connected to one end of the water tank. A pressure pump is fixedly connected to the end of the water supply hose near the support. The pressure pump is adapted to the water inlet. A support frame is fixedly connected to the bottom of the water tank. A second ear plate is fixedly connected to the bottom of the support frame. A second parallel pulley is provided at both the top and bottom of the second ear plate. The second parallel pulley is adapted to the third slide groove. A first motor is installed at the bottom of the sliding frame. A gear is fixedly connected to the top output end of the first motor after passing through the bottom of the sliding frame. The gear is located in the hollow part of the C-shaped structure of the sliding frame and is adapted to the gear ring to drive the entire rotating mechanism to rotate.

[0016] As a further preferred embodiment of this technical solution, a binocular camera is also installed on the top of the workbench around the electric turntable, and a control panel is installed on the side wall of the workbench. The binocular camera, the first robotic arm, the electric turntable, the rotating mechanism, the shaping mechanism, and the forming mechanism are electrically connected to the control panel and automatically identify the workpiece placed on the electric turntable by means of an identification processing method and obtain the workpiece processing requirements. The first robotic arm is controlled to grasp the workpiece, the rotating mechanism is used to position and control the shaping mechanism to surround the end of the workpiece, and the internal forming mechanism is used to apply pressure to complete the forming of the workpiece.

[0017] As a further preferred embodiment of this technical solution, the identification and processing method includes:

[0018] S1: Acquire workpiece image; acquire workpiece image and spatial position of workpiece through binocular camera 103;

[0019] S2: Feature Extraction: Create a workpiece information database, extract the features of the workpiece image, and find the corresponding workpiece information in the workpiece information database;

[0020] S3: Acquisition of processing information, acquiring processing information of workpiece information, wherein each workpiece in the workpiece information database is provided with basic processing information, and the processing information is created manually or based on the basic processing information;

[0021] S4: Create processing command: Create an execution flow that controls the first robotic arm 102, electric turntable 105, rotating mechanism 2, shaping mechanism 3 and forming mechanism 4 based on the processing information, and create processing command based on the execution flow;

[0022] S5: Processing execution: The first robotic arm 102, electric turntable 105, rotating mechanism 2, shaping mechanism 3 and forming mechanism 4 process the workpiece according to the processing command to complete the production.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] This aerospace-grade stainless steel double-clamp fitting processing device uses a robotic arm-driven shaping mechanism to surround the ends of stainless steel tube blanks of various shapes and sizes. A forming mechanism extending into the stainless steel tube fitting then applies pressure to the inner wall of the tube, forming the clamp fitting through a cavity within the shaping mechanism. Different cavities can be used to form various clamp fittings. When dealing with stainless steel tube blanks of different shapes, only the ends need to be processed without mold opening. This allows for pre-processing of the tube blank to the required dimensions before clamp fitting processing, avoiding the impact of secondary processing on the clamp fitting's accuracy. The independent end-forming method increases the applicability of the entire processing equipment.

[0025] Meanwhile, compared with ordinary forming rods, since the forming mechanism in this technical solution is in a semi-enclosed space, traditional forming rods need to rely on a closed cavity to apply pressure for forming. If used directly in this technical solution, they will deform towards the open area, making it impossible to apply pressure effectively and easily causing damage. The forming mechanism in this technical solution relies on the water pressure during forming to firmly fix the end of the forming mechanism to the inner wall of the tube blank, thereby preventing the expansion film from forming towards the open area and ensuring the forming quality.

[0026] Furthermore, given the diverse shapes of press-fit tubes used in aviation applications, traditional fixing methods are difficult to apply to the processing of press-fit joints. Therefore, a workpiece information database was specifically designed for press-fit tubes of various shapes and structures used in aviation, and intelligent processing and manufacturing of tube blanks were carried out using visual recognition methods based on binocular cameras. Attached Figure Description

[0027] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0028] Figure 2 This is a schematic diagram of the airbag structure of the present invention;

[0029] Figure 3 This is a schematic diagram of the toothed ring structure of the present invention;

[0030] Figure 4 This is a schematic diagram of the sliding frame structure of the present invention;

[0031] Figure 5 This is a schematic diagram of the rotating mechanism structure of the present invention;

[0032] Figure 6 This is a schematic diagram of the fixed mechanism structure of the present invention;

[0033] Figure 7 This is a schematic diagram of the cavity structure of the present invention;

[0034] Figure 8 This is a schematic diagram of the heating coil structure of the present invention;

[0035] Figure 9 This is a schematic diagram of the molding rod structure of the present invention;

[0036] Figure 10 This is a schematic diagram of the molding mechanism structure of the present invention;

[0037] Figure 11 This is a schematic diagram of the sliding sleeve structure of the present invention.

[0038] In the diagram: 1. Support and identification mechanism; 101. Workbench; 102. First robotic arm; 103. Binocular camera; 104. Mechanical gripper; 105. Electric turntable; 106. Control panel; 107. Airbag; 108. Air tube; 109. First slide rail; 110. Gear ring; 111. Second slide rail; 112. Third slide rail; 2. Rotation mechanism; 201. Sliding frame; 202. Water tank; 203. Water supply hose; 204. Pressure pump; 205. Second robotic arm; 206. First motor; 207. Gear; 208. First ear plate; 209. First parallel pulley; 210. Vertical pulley; 211. Support frame; 212. Second ear plate; 213. Second parallel pulley; 3. Shaping mechanism; 301. 302. Bracket; 303. Slot; 304. Lower mold; 305. Hydraulic cylinder; 306. Snap-fit ​​bracket; 307. Upper mold; 308. Cavity; 309. Positioning hole; 310. Positioning post; 311. L-shaped rotating frame; 312. Sub-frame; 313. Heating coil; 314. Second motor; 4. Molding mechanism; 401. Molding rod; 402. Expansion film; 403. Water inlet; 404. Water outlet; 405. Rubber pusher plate; 406. Connecting rod; 407. Push block; 408. Circular groove; 409. Sliding sleeve; 410. Friction head; 411. Inner groove opening; 412. First spring; 413. Fixing rod; 414. Slot; 415. Cavity ring; 416. Sealing ring; 417. Sub-plate; 418. Second spring. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] In the processing of stainless steel double-clamped tubes, internal high-pressure water expansion forming is the mainstream processing technology. This method requires placing the stainless steel tube in a mold with a special cavity and injecting high-pressure water from both ends of the tube, or using a forming rod to inject high-pressure water into the forming rod, so that high pressure is formed inside the tube, causing the tube to expand and be formed under the action of the cavity. However, this kind of process requires the formation of a closed space inside the tube to maintain water pressure. This means that if different shapes of irregular stainless steel tubes are to be processed, appropriate molds must be designed. High-precision molds are expensive. In the aerospace field, clamped tubes have clamped joints of various sizes and shapes, which also need to be changed according to different applications. Traditional clamped tube connection processing methods are mostly fixed-size straight-through types or other standard sizes because the design and manufacturing cost of their molds is high. To avoid the impact of reprocessing on the clamped joint, when using the processing device designed in this invention, the stainless steel tube blank can be pre-processed in advance, and the dimensions of the clamped joint can be independently controlled.

[0041] like Figures 1-11 As shown, the present invention provides a processing device for stainless steel double-clamped pipe fittings for aviation, including a support and identification mechanism 1. A rotating mechanism 2 that can rotate around the support and identification mechanism 1 is installed on the outer wall of the support and identification mechanism 1. The rotating mechanism 2 includes a second robotic arm 205. A shaping mechanism 3 is installed at the movable end of the second robotic arm 205. A forming mechanism 4 is installed inside the shaping mechanism 3. The shaping mechanism 3 is used to form a forming cavity during the forming of the stainless steel double-clamped pipe fitting. The forming mechanism 4 is used to provide internal forming pressure during the forming of the stainless steel double-clamped pipe fitting. The rotating mechanism 2 includes a water supply component for supplying water to the forming mechanism 4.

[0042] In one specific embodiment, the molding mechanism 4 includes a molding rod 401, one end of which is closed and the other end is provided with a water inlet 403. A water outlet 404 is provided in the middle of the outer wall of the molding rod 401. An expansion film 402 covering the water outlet 404 is connected to the outer wall of the molding rod 401. Circular grooves 408 are provided at equal intervals on the outer wall of the molding rod 401 near the closed end. Friction elements are slidably arranged inside the circular grooves 408. The inner wall of the molding rod 401 is located between the closed end and the circular grooves 408. An inner groove 411 is provided at the position, and a second spring 418 is provided inside the inner groove 411 to pull the friction element into the inner groove 408. A push block 407 is slidably provided on the inner wall of the forming rod 401. One end of the push block 407 abuts against the friction element to push the friction element to move out of the circular groove 408. The push block 407 is connected to the closed end of the forming rod 401 by a first spring 412. A piston assembly for driving the push block 407 to move is provided at the end of the push block 407 away from the first spring 412.

[0043] It should be noted that the expansion membrane 402 is made of polymer material and can withstand the pressure of water injection. During water injection molding, the pressurization pump 204 is started to inject high-pressure water from the water injection port 403. The high-pressure water flows out from the water outlet 404, expanding the expansion membrane 402. At the same time, it pushes the piston assembly and the push block 407 to slide closer to the closed end of the forming rod 401 and compress the first spring 412. The push block 407 will push the friction component to slide outward of the forming rod 401 until it slides into contact with the inner wall of the stainless steel tube. The friction component is in close contact with the inner wall of the stainless steel tube, which can increase the friction between the end of the forming rod 401 and the inner wall of the stainless steel tube and prevent the stainless steel tube from displacing due to excessive force during pressure molding. The shaping mechanism works in conjunction with the forming mechanism. When processing stainless steel tubes of different structural dimensions, each end of the stainless steel tube can be processed separately without opening a mold, saving manufacturing costs.

[0044] In one specific implementation, the piston assembly includes a rubber pusher plate 405, a connecting rod 406 fixedly connected between the rubber pusher plate 405 and the pusher block 407, two cavity rings 415 forming a sealed chamber fixedly connected to the inner wall of the forming rod 401 at the position between the rubber pusher plate 405 and the pusher block 407, and a sealing ring 416 fixedly connected to the outer wall of the connecting rod 406 at the sealed chamber.

[0045] It should be noted that a high-pressure environment is created inside the molding rod 401 when water is injected, and the rubber pusher plate 405 will age after prolonged use. High-pressure water may penetrate the rubber pusher plate 405. In this case, the sealed chamber formed by the two cavity rings 415 can prevent water from continuing to penetrate and damaging the internal structure of the molding rod 401 near the closed end. The sealing ring 416 can replace the rubber pusher plate 405 to push the piston assembly to slide after the rubber pusher plate 405 loses its sealing performance due to aging. If the rubber pusher plate 405 is damaged during processing, the sealing ring 416 can ensure that the molding rod 401 can continue to be used for a period of time until the routine maintenance of the molding rod 401, thus improving the durability of the molding rod 401.

[0046] In one specific implementation, a fixing rod 413 is fixedly connected to the inner wall of the closed end of the forming rod 401 to increase the sliding stability of the pushing block 407. The pushing block 407 and the piston assembly are both provided with slots 414 that are adapted to the fixing rod 413.

[0047] It should be noted that during use, the fixed rod 413 can be used to fix and support the push block 407 and the connecting rod 406, thereby improving the stability of the push block 407 and the connecting rod 406 when sliding under pressure and resetting under pressure.

[0048] In one specific implementation, the friction component includes a sliding sleeve 409 slidably disposed within a circular groove 408. A replaceable friction head 410 is slidably disposed within the sliding sleeve 409. When the friction head 410 abuts against the inner wall of the stainless steel double-clamping tube, it increases the stability of the forming mechanism 4 and restricts the deformation direction of the expansion film 402. A secondary plate 417 adapted to the inner groove opening 411 is fixedly connected to the outer wall of the sliding sleeve 409. The secondary plate 417 is connected to the second spring 418.

[0049] It should be noted that the protrusions on the surface of the friction head 410 are made of rubber. During use, when the sliding sleeve 409 is pushed by the push block 407 to the outside of the forming rod 401, it will compress the second spring 418. When the processing is completed and the pressure inside the forming rod 401 is lost, the first spring 412 is released and drives the push block 407 to reset. At this time, the second spring 418 loses pressure and is released, which can drive the sliding sleeve 409 to reset. Since the friction head 410 is a replaceable design, after long-term use and wear, which reduces the friction, the friction head 410 can be replaced separately.

[0050] In one specific implementation, the shaping mechanism 3 includes a bracket 301, which has a C-shaped structure. A slot 302 is provided at the bottom of the bracket 301, and a detachable lower mold 303 is installed in the slot 302. A hydraulic cylinder 304 is installed at the top of the bracket 301. The piston end of the hydraulic cylinder 304 passes through the top of the bracket 301 and is fixedly connected to a snap-fit ​​bracket 305. A detachable upper mold 306 is installed in the snap-fit ​​bracket 305. Cavities 307 are provided on the inner walls of both the lower mold 303 and the upper mold 306. A positioning hole 308 is provided at the top of the lower mold 303, and a positioning post 309 that matches the positioning hole 308 is provided at the bottom of the upper mold 306.

[0051] It should be noted that when using this product, if different stainless steel pipe ends need to be processed, the lower mold 303 and the upper mold 306 can be disassembled and replaced. The positioning holes 308 and positioning pins 309 can increase the stability when the mold is closed.

[0052] In one specific implementation, an L-shaped rotating frame 310 is rotatably connected to the top end face of the bracket 301, and a sub-frame 311 is rotatably connected to the other end of the L-shaped rotating frame 310. A heating coil 312 for preheating stainless steel double-clamping pipe fittings is provided at the bottom of the sub-frame 311, and a second motor 313 for driving the L-shaped rotating frame 310 to rotate is installed at one end of the bracket 301.

[0053] It should be noted that during use, starting the second motor 313 drives the L-shaped rotating frame 310 to rotate to a horizontal position, which allows the heating coil 312 to be lowered in front of the upper mold 306 and the lower mold 303. When the stainless steel pipe is inserted, the stainless steel pipe will pass through the inside of the heating coil 312. At this time, power is supplied to the heating coil 312 to electromagnetically heat the part of the stainless steel pipe to be processed, so that the stainless steel pipe can obtain better machinability at high temperature.

[0054] In one specific implementation, the support identification mechanism 1 includes a workbench 101. An electric turntable 105 is installed at the top center of the workbench 101. The workbench 101 is cylindrical, and the outer wall of the workbench 101 is provided with a first slide groove 109, a toothed ring 110, a second slide groove 111, and a third slide groove 112 from top to bottom. The first slide groove 109, the toothed ring 110, the second slide groove 111, and the third slide groove 112 are adapted to the rotating mechanism 2. At least one first robotic arm 102 is installed around the electric turntable 105 on the workbench 101. A robotic claw 104 is installed at the movable end of the first robotic arm 102. At least two airbags 107 are installed at the gripper of the robotic claw 104. The airbags 107 are inflated and deflated through air pipes 108.

[0055] It should be noted that during use, the air tube 108 is connected to the air pump built into the first robotic arm 102. When clamping stainless steel pipes of different structural sizes, the air bag 107 is inflated, which can increase the compatibility of the robotic gripper 104 with stainless steel pipes of different structural sizes, making it easier to clamp stainless steel pipes of different structural sizes and improving clamping adaptability. At the same time, the air bag 107 covers the stainless steel pipes, improving the stability of clamping.

[0056] In one specific implementation, the rotating mechanism 2 includes a C-shaped sliding frame 201. Two sets of first ear plates 208 are fixedly connected to both ends of the sliding frame 201. A first parallel pulley 209 is provided at the top of the first ear plate 208, and a vertical pulley 210 is provided at the bottom of the first ear plate 208. The first parallel pulley 209 and the vertical pulley 210 on the two sets of sliding frames 201 are respectively adapted to the first sliding groove 109 and the second sliding groove 111. The water supply assembly includes a water tank 202, which is installed on the side of the sliding frame 201 away from the first ear plates 208. A water delivery hose 203 is fixedly connected to one end of the water tank 202, and the water delivery hose 203 is close to the support... A pressure pump 204 is fixedly connected to the end of the frame 301. The pressure pump 204 is adapted to the water inlet 403. A support frame 211 is fixedly connected to the bottom of the water tank 202. A second ear plate 212 is fixedly connected to the bottom of the support frame 211. A second parallel pulley 213 is provided at the top and bottom of the second ear plate 212. The second parallel pulley 213 is adapted to the third slide groove 112. A first motor 206 is installed at the bottom of the sliding frame 201. A gear 207 is fixedly connected to the top output end of the first motor 206 after passing through the bottom of the sliding frame 201. The gear 207 is located in the hollow part of the C-shaped structure of the sliding frame 201 and is adapted to the gear ring 110 to drive the entire rotating mechanism 2 to rotate.

[0057] When in use, starting the first motor 206 drives the gear 207 to rotate, which in turn drives the rotating mechanism 2 to rotate around the outer wall of the worktable 101. The two sets of first parallel pulleys 209, vertical pulleys 210 and second parallel pulleys 213 slide inside the first slide groove 109, the second slide groove 111 and the third slide groove 112 respectively, which can counteract the weight of the rotating mechanism 2 itself and the centripetal force required when the rotating mechanism 2 rotates, so that the rotating mechanism 2 can maintain stable operation.

[0058] In one specific implementation, a binocular camera 103 is installed on the top of the workbench 101 around the electric turntable 105. A control panel 106 is installed on the side wall of the workbench 101. The binocular camera 103, the first robotic arm 102, the electric turntable 105, the rotating mechanism 2, the shaping mechanism 3, and the forming mechanism 4 are electrically connected to the control panel 106. The workpiece placed on the electric turntable 105 is automatically identified by the identification processing method to obtain the workpiece processing requirements. The first robotic arm 102 is controlled to grasp the workpiece. The rotating mechanism 2 positions and controls the shaping mechanism 3 to surround the end of the workpiece. The internal forming mechanism 4 applies pressure to complete the forming of the workpiece.

[0059] In use, the stainless steel pipe is placed on the electric turntable 105. At this time, the binocular camera 103 will automatically recognize the shape information of the stainless steel pipe and transmit the information to the control panel 106. After receiving the information, the control panel 106 first calculates how to clamp the stainless steel pipe according to its placement position, and then sends the control information to the first robotic arm 102 and the electric turntable 105, so that the first robotic arm 102 and the electric turntable 105 cooperate to clamp the stainless steel pipe. Then, according to the processing information of the stainless steel pipe, the control panel controls the second robotic arm 205 to cooperate with the first robotic arm 102 to insert the stainless steel pipe into the shaping mechanism 3. After that, the forming mechanism 4 is started to process one end of the stainless steel pipe.

[0060] As a specific implementation method, the identification and processing method includes: S1: Acquiring workpiece image: Acquiring workpiece image and spatial position of workpiece through binocular camera 103; S2: Feature extraction: Creating workpiece information database, extracting features of workpiece image and finding corresponding workpiece information in workpiece information database; S3: Acquiring processing information: Acquiring processing information of workpiece information, wherein each workpiece in the workpiece information database is provided with basic processing information, the processing information being created manually or based on basic processing information; S4: Creating processing command: Creating an execution flow to control the first robotic arm 102, electric turntable 105, rotating mechanism 2, shaping mechanism 3 and forming mechanism 4 according to the processing information, and creating processing command based on the execution flow; S5: Processing execution: The first robotic arm 102, electric turntable 105, rotating mechanism 2, shaping mechanism 3 and forming mechanism 4 process the workpiece according to the processing command to complete production.

[0061] It is important to note that the acquisition of workpiece images and spatial positions relies on binocular camera spatial positioning technology. Utilizing the spatial deviation and perspective relationship between the two cameras, various types of binocular positioning algorithms can be employed to obtain the workpiece's spatial position, providing data support for subsequent workpiece clamping and positioning. During the feature extraction stage, since the differences between different workpieces may be small, the rotation of the turntable combined with image acquisition from the binocular cameras enables more accurate identification of the features of the tube blank to be processed, thus achieving precise identification. The workpiece information database is created based on various types of clamping tubes previously used in aerospace operations. It basically covers the shapes of various existing workpieces and their corresponding processing requirements, forming basic processing information. However, with the continuous development of the aviation industry, new workpieces with new requirements are constantly emerging, and the workpiece information database needs to be constantly updated. When the workpiece to be processed does not exist in the existing workpiece information database, it needs to be manually entered. In addition, when special processing is required on workpieces that already exist in the workpiece information database, it also needs to be manually entered. The entered information will be updated to the workpiece information database synchronously. The entire processing command is created and issued by the control panel, which controls the processing operation of the entire equipment. It belongs to basic CNC technology, so it is not described in detail in this technical solution.

[0062] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A processing device for stainless steel double-clamping pipe fittings for aviation, comprising a support and identification mechanism (1), characterized in that: The outer wall of the support identification mechanism (1) is equipped with a rotating mechanism (2) that can rotate around the support identification mechanism (1). The rotating mechanism (2) includes a second robotic arm (205). The movable end of the second robotic arm (205) is equipped with a shaping mechanism (3). The shaping mechanism (3) is equipped with a forming mechanism (4). The shaping mechanism (3) is used to form a forming cavity when the stainless steel pipe is formed. The forming mechanism (4) is used to provide internal forming pressure when the stainless steel pipe is formed. The rotating mechanism (2) includes a water supply component for supplying water to the forming mechanism (4). The shaping mechanism (3) includes a bracket (301), which is a C-shaped structure. A slot (302) is provided at the bottom of the bracket (301), and a detachable lower mold (303) is installed in the slot (302). A hydraulic cylinder (304) is installed at the top of the bracket (301). The piston end of the hydraulic cylinder (304) passes through the top of the bracket (301) and is fixedly connected to a snap-fit ​​frame (305). A detachable upper mold (306) is installed in the snap-fit ​​frame (305). Cavities are provided on the inner walls of both the lower mold (303) and the upper mold (306). 307), the lower mold (303) has a positioning hole (308) at the top, and the upper mold (306) has a positioning post (309) at the bottom that matches the positioning hole (308); the bracket (301) is rotatably connected to an L-shaped rotating frame (310) at the top end, and a sub-frame (311) is rotatably connected to the other end of the L-shaped rotating frame (310); a heating coil (312) for preheating stainless steel pipe fittings is provided at the bottom of the sub-frame (311); a second motor (313) for driving the L-shaped rotating frame (310) to rotate is installed at one end of the bracket (301); The support identification mechanism (1) includes a workbench (101), an electric turntable (105) is installed at the top center of the workbench (101), and a binocular camera (103) is also installed around the electric turntable (105) on the top of the workbench (101). The molding mechanism (4) includes a molding rod (401), one end of which is closed and the other end is provided with a water inlet (403). A water outlet (404) is provided in the middle of the outer wall of the molding rod (401). An expansion film (402) covering the water outlet (404) is connected to the outer wall of the molding rod (401). Circular grooves (408) are provided at equal intervals on the outer wall of the molding rod (401) near the closed end. Friction elements are slidably arranged inside the circular grooves (408). An inner groove is provided on the inner wall of the molding rod (401) at the position between the closed end and the circular groove (408). The groove (411) is provided with a second spring (418) inside the inner groove (411) to pull the friction element into the inside of the circular groove (408). The inner wall of the forming rod (401) is slidably provided with a push block (407). One end of the push block (407) abuts against the friction element to push the friction element to move to the outside of the circular groove (408). The push block (407) is connected to the closed end of the forming rod (401) by a first spring (412). The end of the push block (407) away from the first spring (412) is provided with a piston assembly to drive the push block (407) to move.

2. The processing device for stainless steel double-clamping pipe fittings for aviation as described in claim 1, characterized in that: The piston assembly includes a rubber pusher plate (405), a connecting rod (406) is fixedly connected between the rubber pusher plate (405) and the pusher block (407), two cavity rings (415) forming a sealed chamber are fixedly connected to the inner wall of the forming rod (401) at the position between the rubber pusher plate (405) and the pusher block (407), and a sealing ring (416) is fixedly connected to the outer wall of the connecting rod (406) at the sealed chamber.

3. The processing device for stainless steel double-clamping pipe fittings for aviation as described in claim 1, characterized in that: The inner wall of the closed end of the forming rod (401) is fixedly connected to a fixing rod (413) to increase the sliding stability of the push block (407). The push block (407) and the piston assembly are both provided with slots (414) that are compatible with the fixing rod (413).

4. The processing device for stainless steel double-clamping pipe fittings for aviation as described in claim 1, characterized in that: The friction element includes a sliding sleeve (409) slidably disposed in a circular groove (408), and a replaceable friction head (410) slidably disposed in the sliding sleeve (409). When the friction head (410) abuts against the inner wall of the stainless steel pipe, it increases the stability of the forming mechanism (4) and restricts the deformation direction of the expansion film (402). The outer wall of the sliding sleeve (409) is fixedly connected to a sub-plate (417) that is adapted to the inner groove opening (411). The sub-plate (417) is connected to the second spring (418).

5. The processing device for stainless steel double-clamping pipe fittings for aviation as described in claim 1, characterized in that: The workbench (101) is cylindrical and the outer wall of the workbench (101) is provided with a first slide groove (109), a toothed ring (110), a second slide groove (111) and a third slide groove (112) from top to bottom. The first slide groove (109), the toothed ring (110), the second slide groove (111) and the third slide groove (112) are adapted to the rotating mechanism (2). At least one first robotic arm (102) is installed around the electric turntable (105) on the workbench (101). The movable end of the first robotic arm (102) is equipped with a robotic claw (104). At least two airbags (107) are installed at the gripper of the robotic claw (104). The airbags (107) are inflated and deflated through the air pipe (108).

6. The processing device for stainless steel double-clamping pipe fittings for aviation as described in claim 5, characterized in that: The rotating mechanism (2) includes a C-shaped sliding frame (201). Two sets of first ear plates (208) are fixedly connected to both ends of the sliding frame (201). A first parallel pulley (209) is provided on the top of the first ear plate (208), and a vertical pulley (210) is provided on the bottom of the first ear plate (208). The first parallel pulley (209) and the vertical pulley (210) on the two sets of sliding frames (201) are respectively adapted to the first slide groove (109) and the second slide groove (111). The water supply component includes a water tank (202). The water tank (202) is installed on the side of the sliding frame (201) away from the first ear plate (208). A water supply hose (203) is fixedly connected to one end of the water tank (202). The end of the water supply hose (203) is close to the support (301). A pressure pump (204) is fixedly connected to the head. The pressure pump (204) is adapted to the water inlet (403). A support frame (211) is fixedly connected to the bottom of the water tank (202). A second ear plate (212) is fixedly connected to the bottom of the support frame (211). A second parallel pulley (213) is provided at the top and bottom of the second ear plate (212). The second parallel pulley (213) is adapted to the third slide groove (112). A first motor (206) is installed at the bottom of the sliding frame (201). A gear (207) is fixedly connected to the top output end of the first motor (206) after passing through the bottom of the sliding frame (201). The gear (207) is located in the hollow part of the C-shaped structure of the sliding frame (201) and is adapted to the gear ring (110) to drive the entire rotating mechanism (2) to rotate.

7. The processing device for stainless steel double-clamping pipe fittings for aviation as described in claim 4, characterized in that: The workbench (101) is equipped with a control panel (106) on its side wall. The binocular camera (103), the first robotic arm (102), the electric turntable (105), the rotating mechanism (2), the shaping mechanism (3), and the forming mechanism (4) are electrically connected to the control panel (106). The workpiece placed on the electric turntable (105) is automatically identified by the identification processing method. The workpiece processing requirements are obtained, the first robotic arm (102) is controlled to grab the workpiece, the rotating mechanism (2) is used to position and control the shaping mechanism (3) to surround the end of the workpiece, and the internal forming mechanism (4) is used to apply pressure to complete the forming of the workpiece.

8. The processing device for stainless steel double-clamping pipe fittings for aviation as described in claim 7, characterized in that: The identification and processing method includes: S1: Acquire workpiece image; acquire workpiece image and workpiece spatial position through binocular camera (103); S2: Feature Extraction: Create a workpiece information database, extract the features of the workpiece image, and find the corresponding workpiece information in the workpiece information database; S3: Acquisition of processing information, acquiring processing information of workpiece information, wherein each workpiece in the workpiece information database is provided with basic processing information, and the processing information is created manually or based on the basic processing information; S4: Create processing command: Create an execution flow that controls the first robotic arm (102), electric turntable (105), rotating mechanism (2), shaping mechanism (3) and forming mechanism (4) based on the processing information, and create processing command based on the execution flow; S5: Processing execution: The first robotic arm (102), electric turntable (105), rotating mechanism (2), shaping mechanism (3) and forming mechanism (4) process the workpiece according to the processing command to complete the production.

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