Pipe fitting free bending forming device for integrated variable shaft machining

Abstract

The invention discloses a pipe fitting free bending forming device for integrated variable shaft machining. The basic moving module is used for providing translation freedom degrees of the bending die in the X direction and the Y direction, and the precision adjusting module comprises two state switching modules and two auxiliary adjusting modules. The bending die can be switched among a follow-up state, a semi-active state and an active state by changing the position of a rotating motor in the state switching module and the position of a driven shaft in the auxiliary adjusting module, the number of machining shafts of the device is adjusted, and the fixed guiding module is located on the rear side of the bending machining module. The fixed guide module is always kept static in the machining process, and the arc face of the front end of the guide mechanism makes contact with a guide tail wing of the bending machining module so as to control the machining posture of the bending die in the follow-up and semi-active state. The machining quality and the machining efficiency of the bent pipe are improved, and meanwhile the application range of the whole device can be widened.

Description

Technical Field

[0001] The invention relates to a metal pipe free bending forming device, in particular to a pipe free bending forming device with integrated variable axis processing. Background Art

[0002] Metal pipe bending is a key component for fuel transportation and cooling of high-end manufacturing products such as aerospace, automobiles, and ships. The pipe free bending forming device has a high degree of processing flexibility and can achieve one-time bending of pipes with complex spatial configurations.

[0003] After the traditional free bending forming device for pipe fittings is manufactured and assembled, the number of moving axes of the device is determined. Common free bending devices for pipe fittings can be divided into three-axis, four-axis, five-axis, etc. Free bending devices with a high number of axes cannot achieve free bending processing with a lower number of axes due to structural limitations. Increasing the number of axes can improve the processing accuracy of the free bending device, but at the same time, it also reduces the overall stability of the device due to the additional motors connected in series, increasing the processing cost. Free bending devices for pipe fittings with a fixed number of axes can only meet the free bending processing requirements of pipes within a certain range. It is difficult to take into account both the processing accuracy and stability of pipes under the condition of constantly changing processing requirements, and it is easy to cause problems such as insufficient processing accuracy.

[0004] In order to expand the application scope of the free bending device for pipe fittings and achieve a dynamic balance between the processing accuracy and stability of the free bending device, a multi-axis integrated free bending forming device for pipe fittings is now needed, which can adjust the number of processing axes as needed. Summary of the invention

[0005] In order to solve the problems in the background technology, the present invention provides an integrated variable-axis processing free bending forming device for pipe fittings. The number of processing axes can be switched by changing the position of the rotating motor, the passive shaft and the number of guide tail wings in the precision adjustment module. Different numbers of processing axes can be selected when facing bent pipes with different forming requirements, thereby improving the processing efficiency and final forming quality of the bent pipes.

[0006] The technical solution adopted by the present invention is as follows: 1. An integrated variable axis processing pipe free bending forming device The basic movement module is used to adjust the translational freedom of the device in the X and Y axes; A precision adjustment module fixedly connected to the basic moving module, the precision adjustment module is used to switch the processing state of the bending processing module, thereby adjusting the number of processing axes of the device; Fixed guide module, used to guide straight tube billet; The bending processing module is installed in the precision adjustment module, and the bending processing module is used to process the straight tube billet and complete the free bending forming of the straight tube billet.

[0007] The basic moving module comprises an X-axis linear translation module and a Y-axis linear translation module, the Y-axis linear translation module is fixedly connected to the X-axis linear translation module, and the Y-axis linear translation module is fixedly connected to the precision adjustment module.

[0008] The precision adjustment module includes a main body installation module, two state switching modules and two auxiliary adjustment modules; the main body installation module includes a main body support plate, a cross roller bearing, a bending die mounting seat and a driving shaft; the main body support plate of the main body installation module is fixedly connected to the basic moving module, the bending processing module is arranged in the bending die mounting seat, the four sides of the bending die mounting seat are respectively recorded as the RX side, the RY side, the A side and the B side, the RY side of the bending die mounting seat is installed on the main body support plate through the cross roller bearing, the two state switching modules are respectively recorded as the RX axis state switching module and the RY axis state switching module, the RX axis The state switching module is installed on the RX side of the bending die mounting seat, the RY axis state switching module is installed on the RY side of the bending die mounting seat, and the two auxiliary adjustment modules are respectively arranged on the A side and B side of the bending die mounting seat, and the passive shaft of each auxiliary adjustment module is connected to the bending processing module; a driving shaft is also fixedly installed on the RY side of the bending die mounting seat, and a cross roller bearing, the RY side plate of the bending die mounting seat, the driving shaft and the bending processing module are arranged in sequence along the axial direction where the output shaft of the RY axis state switching module is located, and the position where the output shaft of the RY axis state switching module is fixedly connected to the driving shaft 42 is recorded as position No. 3.

[0009] The state switching module includes a rotating motor, a rotating motor mounting member and an axial position control module; the rotating motor mounting member is installed at the corresponding side of the bending die mounting seat through the axial position control module, and the rotating motor is fixedly installed in the rotating motor mounting member. The axial position control module is used to adjust the axial displacement of the rotating motor so that the connection state of the output shaft of the rotating motor is switched, thereby switching the processing state of the bending processing module.

[0010] The axial position control module includes a second slide rail, a second slider, a driving gear, a linear rack and a gear motor; the linear rack is fixedly connected to the bending die mounting seat, the gear motor is fixedly connected to the rotating motor mounting piece, the output shaft of the gear motor is coaxially fixedly connected to the driving gear, and the driving gear is meshed with the linear rack to form a gear rack pair; the second slide rail is fixedly connected to the bending die mounting seat, and the second slider is slidably mounted in the second slide rail; the gear motor drives the rotating motor mounting piece to slide along the axial direction of the output shaft of the rotating motor through the gear rack pair, and the second slider slides in the second slide rail along the axial direction of the output shaft of the rotating motor.

[0011] In the RY-axis state switching module, a limiting column is also provided in the rotating motor mounting member. When the output shaft of the rotating motor in the RY-axis state switching module is fixedly connected to the bending die support member or the guide block in the bending processing module, the limiting column is clamped in the RY limiting hole on the driving shaft.

[0012] The auxiliary adjustment module comprises a cylinder and a passive shaft, the output shaft of the cylinder is fixedly connected to the passive shaft, and the passive shaft is connected to the bending processing module.

[0013] The bending processing module comprises a bending die, a bending die support, a guide block, a limit block and a compression spring; a bending die support is arranged in the bending die mounting seat of the precision adjustment module, and the bending die is rotatably mounted in the bending die support; both ends of the bending die are provided with inward grooves and the middle of the bending die is provided with an axial hole, and the straight tube blank is arranged in the hole in the middle of the bending die, and the inner side wall of the hole in the middle of the bending die is arc-shaped and serves as the action surface of the straight tube blank; axial guide grooves are provided at the RX side and the RY side of the bending die, and a corresponding guide block is installed in each guide groove, one end of the guide groove is open, and each guide block is installed in the bending die. A limit block is installed at the end face of the bending die at the opening of the groove, and corresponding compression springs are installed in the guide grooves at both ends of the guide blocks on the RX side and the RY side respectively; corresponding countersunk holes are opened on the A side and the B side of the bending die respectively; the output shaft of the state switching module / the passive shaft of the auxiliary adjustment module cooperates with the bending die support, and the position where the output shaft of the state switching module / the passive shaft of the auxiliary adjustment module cooperates with the bending die support is recorded as position No. 1; or the output shaft of the state switching module / the passive shaft of the auxiliary adjustment module cooperates with the bending die, and the position where the output shaft / the passive shaft cooperates with the bending die is recorded as position No. 2.

[0014] The bending processing module also includes a guide tail wing, which is fixedly installed on the input end of the bending die.

[0015] 2. A processing method for free bending of pipe fittings The processing method adopts the pipe free bending forming device for processing with an integrated variable axis, and the processing method comprises the following steps: When three-axis processing of straight tube billets is performed, a guide tail is installed in the device, the fixed guide module is in close contact with the guide tail, and the output shafts of the RX axis state switching module and the RY axis state switching module and the passive shafts of the auxiliary adjustment modules on the A side and the B side are controlled to be located at position 1, so that the bending die is in a follow-up state, and the three-axis processing of the straight tube billets is completed; When four-axis processing of a straight tube billet is performed, a guide tail is installed in the device, a fixed guide module is in close contact with the guide tail, the output shaft of the RX axis state switching module or the output shaft of the RY axis state switching module is controlled to be at position 2, the output shaft of the RY axis state switching module or the RX axis state switching module is at position 1, and the passive shafts of the auxiliary adjustment modules on the A side and the B side are both at position 1, so that the bending die is in a semi-active state, and the four-axis processing of the straight tube billet is completed; When performing five-axis machining of straight tube billets, the output shaft of the RX axis state switching module is controlled to be in position 1, the output shaft of the RY axis state switching module is in position 3, and the passive shafts of the auxiliary adjustment modules on the A side and the B side are both in position 2, so that the bending die is in the active state, completing the five-axis machining of the straight tube billet.

[0016] The beneficial effects of the present invention are as follows: (1) The present invention can realize the switching of different numbers of processing axes by adjusting the positions of the rotating motor and the passive shaft. When facing pipe fittings with different forming requirements, different numbers of axes are used for processing. While improving the bending processing efficiency and forming quality, it can also improve the overall applicability of the equipment.

[0017] (2) The axis switching method of the present invention is simple and efficient. The operator can quickly switch between different configurations such as three-axis, four-axis, and five-axis, reducing the time and difficulty of complex adjustments, further improving processing flexibility, and shortening the production cycle. The initial position of the bending die can be adjusted by the guide tail on the rear side of the bending die.

[0018] (3) The present invention integrates the advantages of various free bending forming devices in structure. The overall design of the device is compact, ensuring full utilization of the bending processing space and reducing the possibility of interference between the formed pipe section and various molds. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is an overall schematic diagram of the device of the present invention.

[0020] Figure 2 It is a structural schematic diagram of the basic mobile module; wherein (a) is a three-dimensional axial side view of the basic mobile module, and (b) is an exploded view of the basic mobile module.

[0021] Figure 3 Schematic diagram of the precision adjustment module.

[0022] Figure 4 This is an exploded diagram of the state switching module.

[0023] Figure 5 Schematic diagram of the auxiliary regulation module.

[0024] Figure 6Exploded view of the main installation module.

[0025] Figure 7 It is a schematic diagram of the structure of the driving shaft; (a) is a front view of the driving shaft, and (b) is a side view of the driving shaft.

[0026] Figure 8 is a schematic diagram of a bending processing module; wherein (a) is a schematic diagram of a bending processing module Figure 1 , (b) is a schematic diagram of the bending processing module Figure 2 .

[0027] Fig. 9 Schematic diagram of the bending mold support.

[0028] Fig.10 Schematic diagram of the bending mold for assembling various parts.

[0029] Fig.11 is a schematic diagram of a bending die; (a) is a schematic diagram of a bending die Figure 1 , (b) is a schematic diagram of the bending die Figure 2 , (c) is a schematic diagram of the bending die Figure 3 .

[0030] Fig.12 is a schematic diagram of a limit block; (a) is a schematic diagram of a limit block Figure 1 , (b) is a schematic diagram of the limit block Figure 2 .

[0031] Fig.13 is a schematic diagram of a guide block; (a) is a schematic diagram of a guide block Figure 1 , (b) is a schematic diagram of the guide block Figure 2 , (c) is a schematic diagram of the guide block Figure 3 .

[0032] Fig.14 It is a schematic diagram of the axis system of the bending processing module and the precision adjustment module in the RX-A direction.

[0033] Fig.15 The structure diagram of the fixed guide module; (a) is the overall schematic diagram of the fixed guide module, and (b) is the schematic diagram of the guide mechanism. Figure 1 , (c) is a schematic diagram of the guide mechanism Figure 2 , (d) is a schematic diagram of the guide mechanism fixing parts.

[0034] Fig.16 Schematic diagram of the bending die in the following state, the state switching module, the auxiliary adjustment module and the guide tail; (a) is a cross-sectional view of the bending die in the following state, the state switching module and the auxiliary adjustment module Figure 1(b) is a cross-sectional view of the state switching module and the auxiliary adjustment module when the bending die is in the follow-up state Figure 2 ; (c) is the axial side view of the state switching module and the auxiliary adjustment module when the bending die is in the follow-up state.

[0035] Fig.17 Schematic diagram of the bending mold in a semi-active state, the state switching module, the auxiliary adjustment module and the guide tail; (a) is a cross-sectional view of the bending mold in a semi-active state, the state switching module and the auxiliary adjustment module Figure 1 (b) is a cross-sectional view of the state switching module and the auxiliary adjustment module when the bending die is in a semi-active state Figure 2 ; (c) is the axial side view of the state switching module and the auxiliary adjustment module when the bending die is in a semi-active state.

[0036] Fig.18 Schematic diagram of the bending mold in the active state, the state switching module, the auxiliary adjustment module and the guide tail; (a) is a cross-sectional view of the bending mold in the active state, the state switching module and the auxiliary adjustment module Figure 1 ; (b) is the axial side view of the state switching module and the auxiliary adjustment module when the bending die is in the active state.

[0037] Fig.19 It is a cross-sectional view of the overall structure of the present invention.

[0038] Fig. 20 It is a processing schematic diagram of the device proposed by the present invention in the follow-up state.

[0039] In the figure: 1. Basic moving module, 2. Precision adjustment module, 3. Fixed guide module, 4. Bending processing module, 5. Straight tube blank, 6. Y-axis motor, 7. Motor mounting seat, 8. Vertical secondary support plate, 9. X-axis motor, 10. Support beam, 11. Motor mounting plate, 12. First slider, 13. First slide rail, 14. Horizontal support plate, 15. Ball screw, 16. Vertical primary support plate, 17. Tail end bearing seat, 18. Nut fixing seat, 19. Screw nut, 20. Front end bearing seat, 21. First key, 22. Coupling, 23. Main body installation module, 24. State switching module, 25. Auxiliary adjustment module, 26. Slide rail mounting, 27 , second slide rail, 28, second slider, 29, rotating motor, 30, second key, 31, driving gear, 32, linear rack, 33, rack mounting, 34, rotating motor mounting, 35, gear motor, 36, gear motor mounting, 37, passive shaft, 38, cylinder, 39, main body support plate, 40, cross roller bearing, 41, bending die mounting seat, 42, driving shaft, 43, thrust bearing, 44, flange bearing, 45, bending die support, 46, bending die, 47, guide tail, 48, guide block, 49, compression spring, 50, limit block, 51, third key, 52, guide mechanism, 53, guide mechanism fixing part, 54, limit column. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below with reference to the accompanying drawings and specific implementation examples.

[0041] like Figure 1 and Fig.19 As shown, the present invention proposes an integrated variable axis processing pipe free bending forming device comprising: The basic moving module 1 is used to adjust the translational freedom of the device in the X-axis and Y-axis, and provides the device with the freedom of movement in the X-direction and the Y-direction; The precision adjustment module 2 is fixedly connected to the basic moving module 1. The precision adjustment module 2 is used to switch the processing state of the bending processing module 4. Specifically, by changing the position of the rotating motor 29 in the state switching module 24 and the passive shaft 37 in the auxiliary adjustment module 25, the bending mold 46 can be switched between the three states of follow-up, semi-active and active, thereby adjusting the number of processing axes of the device; the precision adjustment module 2 is connected in series to the basic moving module 1, and by changing the positions of the two rotating motors 29 and the two passive shafts 37 in the precision adjustment module 2, the number of processing axes of the device can be switched.

[0042] The fixed guide module 3 is used to guide the straight tube 5; the fixed guide module 3 is located at the rear side of the bending processing module 4, and the module and the guide tail 47 at the rear side of the bending processing module 4 form a physical constraint to control the spatial posture of the bending die 46 in the follow-up state and the semi-active state. The fixed guide module 3 has the following function: first, it adjusts the posture of the bending die 46 in the follow-up and semi-active states (i.e., it rotates around the RX axis and the RY axis); second, it guides the straight tube 5 to prevent the unprocessed section of the straight tube 5 (i.e., the section at the rear side of the bending processing module, which contacts the fixed guide module) from becoming unstable or deforming.

[0043] The bending processing module 4 is installed in the middle of the precision adjustment module 2, and is used to process the straight tube blank 5 to complete the free bending forming of the straight tube blank 5. The bending processing module 4 is in direct contact with the straight tube blank 5 to apply the forming load required for the tube bending.

[0044] like Figure 2 (a) and Figure 2 As shown in (b), the basic moving module 1 includes an X-axis linear translation module and a Y-axis linear translation module, the Y-axis linear translation module is fixedly connected to the X-axis linear translation module, and the Y-axis linear translation module is fixedly connected to the precision adjustment module 2.

[0045] The X-axis linear translation module includes an X-axis motor 9, a first slider 12, a first slide rail 13, a transverse support plate 14, a first screw nut and a ball screw 15; the first slide rail 13 and the X-axis motor 9 are fixedly installed in the transverse support plate 14 in a transverse arrangement by bolts, and the four first sliders 12 are slidably installed in the first slide rail 13. The ball screw 15 is also installed in the transverse support plate 14 through a bearing mounting seat, and the first screw nut is sleeved in the ball screw 15. The axial direction of the ball screw 15 is recorded as the X-axis and the track direction of the first slide rail 13 is arranged parallel to the axial direction of the ball screw 15. One end of the ball screw 15 is coaxially fixedly connected to the output shaft of the X-axis motor 9, and the vertical primary support plate 16 of the Y-axis linear translation module is fixedly connected to the first slider 12 and the first nut fixing seat; the rotation of the X-axis motor 9 drives the ball screw 15 to rotate, thereby driving the Y-axis linear translation module to move on the X-axis.

[0046] The Y-axis linear translation module includes a Y-axis motor 6, a motor mounting seat 7, a vertical secondary support plate 8, a support beam 10, a motor mounting plate 11, a vertical primary support plate 16, a tail end bearing seat 17, a nut fixing seat 18, a Y-axis lead screw, a Y-axis guide rail, a lead screw nut 19, a front end bearing seat 20 and a coupling 22; the Y-axis motor 6 is fixedly installed in the vertical primary support plate 16 through the motor mounting seat 7, and both ends of the Y-axis lead screw are installed in the vertical primary support plate 16 through the tail end bearing seat 17 and the front end bearing seat 20. In the support plate 16, a vertically arranged Y-axis guide rail and a Y-axis lead screw are installed in the vertical primary support plate 16, four Y-axis sliders are slidably installed in the Y-axis guide rail, a lead screw nut 19 is sleeved in the Y-axis lead screw, a vertical secondary support plate 8 is fixedly connected to the lead screw nut 19 through a nut fixing seat 18, the axial direction of the Y-axis lead screw is recorded as the Y-axis and the track direction of the Y-axis guide rail is arranged parallel to the axial direction of the Y-axis lead screw, and the output shaft of the Y-axis motor 6 is coaxially fixedly connected to the Y-axis lead screw through a first key 21 and a coupling 22. The support beam 10 is fixedly connected to the vertical secondary support plate 8, and the precision adjustment module 2 is fixedly connected to the vertical secondary support plate 8 and the support beam 10. The rotation of the Y-axis motor 6 drives the Y-axis lead screw to rotate, so that the lead screw nut 19 moves on the Y-axis, thereby driving the precision adjustment module 2 to move on the Y-axis.

[0047] like Figure 3 , Figure 6 and Fig.14As shown, the precision adjustment module 2 includes a main mounting module 23, two state switching modules 24 and two auxiliary adjustment modules 25; the main mounting module 23 includes a main support plate 39, a cross roller bearing 40, a bending die mounting seat 41 and a driving shaft 42; the main support plate 39 of the main mounting module 23 is fixedly connected to the vertical secondary support plate 8 of the basic moving module 1, the bending die support 45 of the bending processing module 4 is arranged in the bending die mounting seat 41, and the bending die support 45 is connected to the bending die mounting seat 41 through the state switching module 24 and the auxiliary adjustment module 25. The four side surfaces of the bending die mounting seat 41 are sequentially recorded as RX side surface, RY side surface, A side surface and B side surface, and the RY side surface of the bending die mounting seat 41 is mounted on the main support plate 39 through the cross roller bearing 40, and the inner ring and outer ring of the cross roller bearing 40 can rotate relative to each other. The outer ring of the cross roller bearing 40 is connected to the main support plate 39, and the inner ring is connected to the RY side surface of the bending die mounting seat 41, so that the bending die mounting seat 41 has a rotational freedom relative to the main support plate 39. The two state switching modules 24 are respectively recorded as the RX axis state switching module and the RY axis state switching module. The output axis of the RX axis state switching module is parallel to the X axis of the basic moving module 1, and the output axis of the RY axis state switching module is parallel to the Y axis of the basic moving module 1. The RX axis state switching module is installed at the RX side of the bending die mounting seat 41, and the RY axis state switching module is installed at the RY side of the bending die mounting seat 41. The two auxiliary adjustment modules 25 are respectively arranged at the A side and the B side of the bending die mounting seat 41, and the passive shaft 37 of each auxiliary adjustment module 25 is connected to the guide block 48 of the bending processing module 4 or the bending die support 45; the RX side of the bending die mounting seat 41 and the A side of the bending die support 45 are connected through corresponding thrust bearings 43, and the passive shaft of the auxiliary adjustment module 25 at the A side is connected to the bending die mounting seat 41 through a flange bearing 44. The purpose of setting the thrust bearing 43 and the flange bearing 44 is to eliminate the friction caused by the relative rotation between different components. In this embodiment, the B side of the bending die mounting seat 41 is open, and the auxiliary adjustment module 25 at the B side is directly connected to the bending processing module 4. A driving shaft 42 is also fixedly installed at the RY side of the bending die mounting seat 41, and a cross roller bearing 40, an RY side plate of the bending die mounting seat 41, a driving shaft 42 and a bending processing module 4 are arranged in sequence along the axial direction where the output shaft of the RY axis state switching module (i.e., the output shaft of the rotary motor 29) is located, and the position where the output shaft of the RY axis state switching module is fixedly connected to the driving shaft 42 is recorded as position 3.

[0048] The state switching module 24 includes a rotating motor 29, a rotating motor mounting member 34 and two sets of axial position control modules; the rotating motor mounting member 34 is mounted on the corresponding side of the bending die mounting seat 41 through the axial position control module, and the rotating motor 29 is fixedly mounted in the rotating motor mounting member 34. The axial position control module is used to adjust the axial displacement of the rotating motor 29 so that the connection state of the output shaft of the rotating motor 29 is switched, that is, the connection state of the output shaft of the rotating motor 29 with different components (guide block 48, bending die support member 45 or driving shaft 42) is switched through the third key 51, thereby switching the processing state of the bending processing module 4. The two axial position control modules of the state switching module 24 have two arrangement modes: diagonal arrangement on different sides and parallel arrangement on the same side. The diagonal arrangement on different sides means that the gear motors 35 of the two sets of axial position control modules are on the opposite sides of the rotating motor mounting member 34, and the parallel arrangement on the same side means that the gear motors 35 of the two sets of axial position control modules are on the same side of the rotating motor mounting member 34. The state switching module 24 on the RX axis side of the main mounting module 23 is arranged diagonally on different sides. The state switching modules 24 on the RY axis side are arranged in parallel on the same side, that is, the gear motors 35 of the two sets of axial position control modules are on the same side of the rotating motor mounting member 34 and the connecting line of the two driving gears 31 is a parallel line of the rotating motor mounting member 34.

[0049] like Figure 4 As shown, the axial position control module includes a slide rail mounting member 26, a second slide rail 27, a second slider 28, a second key 30, a driving gear 31, a linear rack 32, a gear motor mounting member 36, a rack mounting member 33 and a gear motor 35; the linear rack 32 is fixedly connected to the bending die mounting seat 41 through the rack mounting member 33, the gear motor 35 is fixedly connected to the rotating motor mounting member 34 through the gear motor mounting member 36, the output shaft of the gear motor 35 is coaxially fixedly connected to the driving gear 31 through the second key 30, and the driving gear 31 is meshed with the linear rack 32 to form a gear rack pair; the second slide rail 27 is mounted through the slide rail Part 26 is fixedly connected to the bending die mounting seat 41, the second slider 28 is slidably mounted in the second slide rail 27, the layout direction of the linear rack 32 is parallel to the sliding direction of the second slider 28, and the axial direction of the output shaft of the gear motor 35 is arranged perpendicular to the axial direction of the output shaft of the rotating motor 29; the gear motor 35 drives the rotating motor mounting part 34 to slide along the axial direction of the output shaft of the rotating motor 29 through the gear rack pair, and at the same time, the second slider 28 slides in the second slide rail 27 along the axial direction of the output shaft of the rotating motor 29. The second slide rail 27 and the second slider 28 are used to ensure the stability of the movement of the rotating motor mounting part 34.

[0050] like Figure 6 , Figure 7 (a) and Figure 7As shown in (b), in the RY-axis state switching module, two limit columns 54 are also provided in the rotating motor mounting member 34. When the output shaft of the rotating motor 29 in the RY-axis state switching module is fixedly connected with the bending die support member 45 or the guide block 48 in the bending processing module 4 through the third key 51, the two limit columns 54 are clamped in the RY limit holes on the driving shaft 42, so as to limit the rotational freedom of the bending die mounting seat 41 in the RY direction, and prevent the bending die mounting seat 41 from rotating around the RY axis when the bending die 46 is in the follow-up and semi-active states.

[0051] like Figure 5 As shown, the auxiliary adjustment module 25 includes a cylinder 38 and a passive shaft 37. The output shafts of the two cylinders 38 arranged symmetrically along the axis of the passive shaft 37 are fixedly connected to the passive shaft 37. The passive shaft 37 is connected to the bending die support 45 or the guide block 48 of the bending processing module 4 through the telescopic control of the cylinder 38. The positions of the passive shafts 37 on the A side and the B side are determined by the number of axes in the processing process.

[0052] like Figure 8 (a) Figure 8 (b) Fig. 9 , Fig.10 , Fig.11 (a) Fig.11 (b) and Fig.11 As shown in (c), the bending processing module 4 includes a bending die 46, a bending die support 45, a guide block 48, a limit block 50 and a compression spring 49; a bending die support 45 is provided in the bending die mounting seat 41 of the precision adjustment module 2, and the bending die 46 is rotatably mounted in the bending die support 45, and the bending die 46 and the bending die support 45 are matched together through a spherical surface; both ends of the bending die 46 are provided with inward grooves (i.e., the inward inclined surface shown in Figure 11) and the middle part of the bending die 46 is provided with an axial hole, and the straight tube blank 5 is arranged in the hole in the middle part of the bending die 46. Since both ends of the bending die 46 are provided with inward grooves, the shape of the inner side wall of the hole is an arc. The inner side wall of the hole in the middle of the bending die 46 is arc-shaped and serves as the action surface of the straight tube blank 5. The front end of the straight tube blank 5 is arranged in the hole in the middle of the bending die 46 and contacts the action surface. Axial guide grooves are provided on the RX side and the RY side of the bending die 46. A corresponding guide block 48 is installed in each guide groove. The structure of the guide block 48 is as follows: Fig.13 (a) Fig.13 (b) and Fig.13The guide groove has an arc-shaped slope along the axial direction. The guide block 48 in the guide groove is used to connect the output shafts of the two state switching modules 24 and the passive shafts of the two auxiliary adjustment modules 25. One end of the guide groove is open. A limit block 50 is installed at the end face of the bending mold 46 at the opening of each guide groove (i.e., its input end) to limit the guide block 48 and the compression spring 49. The structure of the limit block 50 is as shown in FIG. Fig.12 (a) and Fig.12 As shown in (b). Corresponding compression springs 49 are installed in the guide grooves at both ends of the guide block 48 on the RX side and the RY side, respectively, to prevent the guide block 48 from moving without force. The RX side and the RY side of the bending mold support 45 are provided with key slot holes, and the A side and the B side are provided with through holes. A key slot hole is provided in the guide block 48; corresponding countersunk holes are provided on the A side and the B side of the bending die 46, respectively, for embedding the passive shaft 37 of the auxiliary adjustment module 25; the output shaft of the state switching module 24 / the passive shaft 37 of the auxiliary adjustment module 25 cooperates with the corresponding hole of the bending die support 45, so that the output shaft and the passive shaft 37 of the state switching module 24 cooperate with the bending die support 45, and the position where the output shaft of the state switching module 24 / the passive shaft 37 of the auxiliary adjustment module 25 cooperates with the bending die support 45 is recorded as position No. 1; or the output shaft of the state switching module 24 / the passive shaft 37 of the auxiliary adjustment module 25 cooperates with the bending die 46, wherein the output shaft of the state switching module 24 cooperates with the guide block 48 of the bending die 46, and the passive shaft 37 of the auxiliary adjustment module 25 cooperates with the countersunk hole on the side of the bending die 46, and the position where the output shaft / the passive shaft 37 cooperates with the bending die 46 is recorded as position No. 2, wherein the output shaft of the RY-axis state switching module only cooperates with the driving shaft 42, and this position is recorded as position No. 3. The output shaft of the RY axis state switching module is set at position 1, position 2 or position 3, that is, the key on the output shaft only matches with one keyway. The output shaft of the RX axis state switching module is set at position 1 or position 2.

[0053] When the bending die 46 is in the follow-up state and the semi-active state, the bending processing module 4 further includes a guide tail 47, and a plurality of guide tails 47 are fixedly installed at the input end of the bending die 46 at intervals along the circumference through the limit block 50. The output end of the guide mechanism 52 of the fixed guide module 3 is arranged in the guide tail 47, and the guide tail 47 is always in contact with the output end of the guide mechanism 52 during the movement. The output end (i.e., the front end) of the guide mechanism 52 is a curved surface structure, which is used to physically contact with the guide tail 47 to control the spatial posture of the bending die 46 in the follow-up state and the semi-active state. The guide mechanism 52 is installed on the guide mechanism fixing member 53 through six threaded holes and bolts on the rear side. During the bending process of the pipe fitting, the guide mechanism 52 always remains in a stationary state. When the bending die 46 is in the follow-up state, 4 guide tails are required; when the bending die 46 is in the semi-active state, 2 guide tails are required; when the bending die 46 is in the active state, the guide tail 47 is not required, that is, the guide tail 47 can be freely disassembled. The bending mold 46 has three motion states: follow-up, semi-active and active; in the follow-up state, the bending mold 46 has relative rotational freedom in the three directions of RX, RY and RZ brought by spherical fit. These three degrees of freedom are passively controlled by the physical contact between the guide tail 47 and the guide mechanism 52 during the processing, and the degrees of freedom in the X and Y directions of the bending mold 46 are actively controlled by the X-axis motor 9 and the Y-axis motor 6 of the basic moving module 1; in the semi-active state, the RX (or RY) degree of freedom of the bending mold 46 is actively controlled by the rotating motor 29 corresponding to the RX (or RY) state switching module, the RZ degree of freedom is limited by the motor shaft of the rotating motor 29, and the remaining RY (or RX) degree of freedom is still passively controlled by the guide tail 47; in the active state, the four degrees of freedom of the bending mold 46X, Y, RX and RY are all actively controlled, and the RZ degree of freedom is constrained.

[0054] During the processing, the number of processing axes can be independently selected according to the forming requirements, dynamically balancing the accuracy and stability of pipe bending, thereby expanding the scope of application of the device.

[0055] like Fig.15 (a) Fig.15 (b) Fig.15 (c) and Fig.15 As shown in (d), the fixed guide module 3 includes a guide mechanism 52 and a guide mechanism fixing part 53; the guide mechanism 52 is fixedly installed on the guide mechanism fixing part 53, and the straight tube blank 5 is arranged in the middle of the guide mechanism fixing part 53 and the guide mechanism 52. The straight tube blank 5 passes through one end of the guide mechanism 52 and enters the bending die 46 of the bending processing module 4.

[0056] The present invention also proposes a processing method for free bending of pipe fittings, the processing method adopts a free bending forming device for pipe fittings with integrated variable axis processing, the processing process is as follows Fig. 20As shown, the processing method includes the following steps: When the straight tube 5 is processed with three axes, the guide tail 47 is installed in the device, the guide mechanism 52 of the fixed guide module 3 is in close contact with the guide tail 47, and the output shafts of the RX axis state switching module and the RY axis state switching module and the passive shafts of the auxiliary adjustment module 25 on the A side and the B side are all located at position 1, that is, they are all fixedly connected to the panel corresponding to the bending die support 45, and the limiting column 54 cooperates with the RY limiting hole of the driving shaft 42, such as Fig.16 (a) Fig.16 (b) and Fig.16 As shown in (c), the bending die 46 is in a follow-up state, and the bending die 46 and the bending die support 45 have relative rotational freedom in three directions of RX, RY, and RZ. During the bending forming process, the X-axis motor 9 and the Y-axis motor 6 of the basic moving module 1 actively control the movement of the bending processing module 4 in the X direction and the Y direction, and the rotating motors 29 on the RX axis side and the RY axis side remain stationary. The output shafts of the two rotating motors 29 and the two passive shafts 37 constrain the bending die support 45 to move in the X direction and the Y direction together with the main mounting module 23 and cannot rotate. The relative rotation of the bending die 46 is adaptively adjusted through the contact between the guide tail 47 and the guide mechanism 52 during the processing, thereby completing the three-axis processing of the straight tube billet 5; When the straight tube blank 5 is processed with four axes, the guide tail 47 is installed in the device, the guide mechanism 52 of the fixed guide module 3 is in close contact with the guide tail 47, and the output shaft of the RX axis state switching module or the output shaft of the RY axis state switching module is controlled to be in position 2, that is, the output shaft is fixedly connected to the guide block 48 corresponding to the bending die 46, the output shaft of the RY axis state switching module or the RX axis state switching module is in position 1, and the passive shafts of the auxiliary adjustment modules 25 on the A side and the B side are both in position 1, so that the bending die 46 is in a semi-active state, and the four-axis processing of the straight tube blank 5 is completed; any rotating motor 29 on the RX axis side or the RY axis side can be selected to be in position 2. If the rotating motor 29 on the RY axis side is in position 2 and the rotating motor 29 on the RX axis side is in position 1, the rotational freedom of the bending die 46 in the RY direction is controlled by the rotating motor 29 on the RY axis side, and the rotational freedom in the RZ direction is limited by the output shaft of the rotating motor 29 on the RY axis side, and the connection line of the two remaining guide tails is parallel to the RY-B axis system. If the RX axis side rotary motor 29 is in position 2 and the RY axis side rotary motor 29 is in position 1, the RX direction rotational freedom of the bending mold 46 is controlled by the RX axis side rotary motor 29, and the RZ direction rotational freedom is limited by the output shaft of the RX axis side rotary motor 29. Fig.17 (a) Fig.17 (b) and Fig.17As shown in (c), the connection line of the two retained guide tail wings 47 is parallel to the RX-A axis system. When the third key 51 on the output shaft of the RX-axis side rotary motor 29 cooperates with the keyway of the guide block 48, the motor shaft rotation of the RX-axis side rotary motor 29 can drive the guide block 48 and the bending die 46 assembled with the guide block 48 to rotate in the RX direction. At the same time, when the basic moving module 1 controls the bending processing module 4 to move along the X direction, the contact force between the guide tail 47 and the guide mechanism 52 will drive the guide block 48 matched with the third key 51 on the RX-axis side rotary motor 29 to slide in the guide groove to realize the passive movement of the bending die 46 in the RY direction. The existence of the compression spring 49 makes the guide block 48 move only when it is subjected to the contact force between the guide tail 47 and the guide mechanism 52, thereby ensuring the certainty and stability of the overall movement of the device.

[0057] When the straight tube 5 is processed with five axes, the output shaft of the RX axis state switching module is controlled to be in position 1, that is, the output shaft cooperates with the bending die support 45, the output shaft of the RY axis state switching module is in position 3, and the passive shafts of the auxiliary adjustment modules 25 on the A side and the B side are both in position 2, and the limit column 54 is no longer matched with the RY limit hole of the driving shaft 42, such as Fig.18 (a) Fig.18 As shown in (b), the A-side and B-side passive shafts 37 connect the bending die 46 and the bending die support 45 together, and the two cannot have any relative movement. The RY-axis side rotary motor 29 controls the bending die mounting seat 41 and the bending processing module 4 to rotate in the RY direction as a whole, and the RX-axis side rotary motor 29 controls the bending processing module 4 to rotate in the RX direction as a whole, so that the bending die 46 is in an active state, completing the five-axis processing of the straight tube 5.

[0058] Therefore, the bending die 46 in the follow-up state, semi-active state and active state respectively represent that the free bending forming device of the sleeve has three-axis, four-axis and five-axis processing capabilities. The free bending device with a low number of axes has higher processing stability and reliability, and the free bending device with a high number of axes can perform additional rotation compensation to improve the forming accuracy of the bent pipe. The device integrates multiple processing axis numbers and independently selects the processing axis number according to the forming requirements, which can improve the efficiency of the bending process while expanding the scope of application of the device.

[0059] Finally, it should be noted that the above embodiments and explanations are only used to illustrate the technical solution of the present invention rather than to limit it. Those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope disclosed in the technical solution of the present invention, which should be included in the scope of protection of the claims of the present invention.

Claims

1. A pipe free bending forming device with integrated variable axis processing, characterized in that: include: A basic movement module (1) for adjusting the translational freedom of the device in the X-axis and Y-axis; A precision adjustment module (2) fixedly connected to the basic moving module (1), the precision adjustment module (2) being used to switch the processing state of the bending processing module (4), thereby adjusting the number of processing axes of the device; A fixed guide module (3) for guiding the straight tube blank (5); A bending processing module (4) is installed in the precision adjustment module (2), and the bending processing module (4) is used to process the straight tube billet (5) and complete the free bending forming of the straight tube billet (5).

2. The device for free bending a pipe with integrated variable axis processing according to claim 1 is characterized in that: The basic moving module (1) comprises an X-axis linear translation module and a Y-axis linear translation module, the Y-axis linear translation module is fixedly connected to the X-axis linear translation module, and the Y-axis linear translation module is fixedly connected to the precision adjustment module (2).

3. The device for free bending a pipe with integrated variable axis processing according to claim 1, characterized in that: The precision adjustment module (2) comprises a main body installation module (23), two state switching modules (24) and two auxiliary adjustment modules (25); the main body installation module (23) comprises a main body support plate (39), a cross roller bearing (40), a bending die mounting seat (41) and a driving shaft (42); the main body support plate (39) of the main body installation module (23) is fixedly connected to the basic moving module (1), the bending processing module (4) is arranged in the bending die mounting seat (41), the four side surfaces of the bending die mounting seat (41) are respectively marked as RX side surface, RY side surface, A side surface and B side surface, the RY side surface of the bending die mounting seat (41) is mounted on the main body support plate (39) through the cross roller bearing (40), the two state switching modules (24) are respectively marked as RX axis state switching module and R side surface. The Y-axis state switching module and the RX-axis state switching module are mounted on the RX side of the bending die mounting seat (41); the RY-axis state switching module is mounted on the RY side of the bending die mounting seat (41); two auxiliary adjustment modules (25) are respectively arranged on the A side and the B side of the bending die mounting seat (41); and the passive shaft (37) of each auxiliary adjustment module (25) is connected to the bending processing module (4); a driving shaft (42) is also fixedly mounted on the RY side of the bending die mounting seat (41); and a cross roller bearing (40), an RY side plate of the bending die mounting seat (41), a driving shaft (42) and a bending processing module (4) are arranged in sequence along the axial direction where the output shaft of the RY-axis state switching module is located; the position where the output shaft of the RY-axis state switching module is fixedly connected to the driving shaft 42 is marked as position No.

3.

4. The device for free bending a pipe with integrated variable axis processing according to claim 3 is characterized in that: The state switching module (24) comprises a rotating motor (29), a rotating motor mounting member (34) and an axial position control module; the rotating motor mounting member (34) is mounted on the corresponding side of the bending die mounting seat (41) through the axial position control module, the rotating motor (29) is fixedly mounted in the rotating motor mounting member (34), and the axial position control module is used to adjust the axial displacement of the rotating motor (29), so that the connection state of the output shaft of the rotating motor (29) is switched, thereby switching the processing state of the bending processing module (4).

5. The device for free bending a pipe with integrated variable axis processing according to claim 4, characterized in that: The axial position control module comprises a second slide rail (27), a second slider (28), a driving gear (31), a linear rack (32) and a gear motor (35); the linear rack (32) is fixedly connected to the bending die mounting seat (41), the gear motor (35) is fixedly connected to the rotating motor mounting member (34), the output shaft of the gear motor (35) is coaxially fixedly connected to the driving gear (31), and the driving gear (31) and the linear rack (32) are meshed to form a gear rack pair; the second slide rail (27) is fixedly connected to the bending die mounting seat (41), and the second slider (28) is slidably mounted in the second slide rail (27); the gear motor (35) drives the rotating motor mounting member (34) to slide along the axial direction of the output shaft of the rotating motor (29) through the gear rack pair, and the second slider (28) slides in the second slide rail (27) along the axial direction of the output shaft of the rotating motor (29).

6. The device for free bending a pipe with integrated variable axis processing according to claim 3, characterized in that: In the RY axis state switching module, a limit column (54) is also provided in the rotating motor mounting member (34); when the output shaft of the rotating motor (29) in the RY axis state switching module is fixedly connected to the bending die support member (45) or the guide block (48) in the bending processing module (4), the limit column (54) is clamped in the RY limit hole on the driving shaft (42).

7. The device for free bending a pipe with integrated variable axis processing according to claim 3 is characterized in that: The auxiliary adjustment module (25) comprises a cylinder (38) and a passive shaft (37), the output shaft of the cylinder (38) is fixedly connected to the passive shaft (37), and the passive shaft (37) is connected to the bending processing module (4).

8. The device for free bending a pipe with integrated variable axis processing according to claim 1, characterized in that: The bending processing module (4) comprises a bending die (46), a bending die support (45), a guide block (48), a limit block (50) and a compression spring (49); a bending die support (45) is arranged in the bending die mounting seat (41) of the precision adjustment module (2), and the bending die (46) is rotatably mounted in the bending die support (45); both ends of the bending die (46) are provided with inward grooves and the middle of the bending die (46) is provided with an axial hole, and the straight tube blank (5) is arranged in the hole in the middle of the bending die (46), and the inner side wall of the hole in the middle of the bending die (46) is in an arc shape and serves as an action surface of the straight tube blank (5); axial guide grooves are provided on the RX side and the RY side of the bending die (46), and a corresponding guide block (48) is installed in each guide groove, and one end of the guide groove is open. A limiting block (50) is installed at the end surface of the bending die (46) at the opening, and corresponding compression springs (49) are installed in the guide grooves at both ends of the guide blocks (48) on the RX side and the RY side; corresponding countersunk holes are respectively opened on the A side and the B side of the bending die (46); the output shaft (24) of the state switching module (24) / the passive shaft (37) of the auxiliary adjustment module (25) cooperates with the bending die support (45), and the position where the output shaft (37) of the state switching module (24) / the passive shaft (37) of the auxiliary adjustment module (25) cooperates with the bending die support (45) is recorded as position 1; or the output shaft (24) of the state switching module (24) / the passive shaft (37) of the auxiliary adjustment module (25) cooperates with the bending die (46), and the position where the output shaft / the passive shaft (37) cooperates with the bending die (46) is recorded as position 2.

9. The device for free bending a pipe with integrated variable axis processing according to claim 8, characterized in that: The bending processing module (4) further comprises a guide tail wing (47), wherein the guide tail wing (47) is fixedly mounted on the input end of the bending die (46).

10. A method for free bending of a pipe, characterized in that: The processing method adopts the pipe free bending forming device for integrated variable axis processing according to claim 8, and the processing method comprises the following steps: When three-axis processing of a straight tube billet (5) is performed, a guide tail (47) and a limit block (50) are installed in the device, the guide module (3) is fixed to be in close contact with the guide tail (47), and the output shafts of the RX axis state switching module and the RY axis state switching module and the passive shafts of the auxiliary adjustment modules (25) on the A side and the B side are controlled to be located at position 1, so that the bending die (46) is in a follow-up state, and the three-axis processing of the straight tube billet (5) is completed; When four-axis processing of a straight tube billet (5) is performed, a guide tail (47) and a limit block (50) are installed in the device, the guide module (3) is fixed to be in close contact with the guide tail (47), the output shaft of the RX axis state switching module or the output shaft of the RY axis state switching module is controlled to be in position 2, the output shaft of the RY axis state switching module or the RX axis state switching module is controlled to be in position 1, and the passive shafts of the auxiliary adjustment modules (25) on the A side and the B side are both located in position 1, so that the bending die (46) is in a semi-active state, and the four-axis processing of the straight tube billet (5) is completed; When the straight tube blank (5) is subjected to five-axis machining, the output shaft of the RX axis state switching module is controlled to be at position 1, the output shaft of the RY axis state switching module is controlled to be at position 3, and the passive shafts of the auxiliary adjustment modules (25) on the A side and the B side are both at position 2, so that the bending die (46) is in the active state, thereby completing the five-axis machining of the straight tube blank (5).

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