A ton barrel metal frame processing and forming device

Abstract

The present invention discloses a ton barrel metal frame processing and forming device, comprising a rotating base plate, a plurality of groups of distribution support plates are arranged above the rotating base plate, and the plurality of groups of distribution support plates are evenly arranged at the two edges of the rotating base plate; a welding robot arm is arranged on the inner side of the rotating base plate, and a clamping robot arm is arranged on the outer side; it also includes a supporting frame arranged on the side of the rotating base plate, the supporting frame comprises two sets of frame bodies, a plurality of sets of resisting wheels and bending plates, an adjusting mechanism is arranged between the two frames, the adjusting mechanism can control the relative movement of the two frames, and the plurality of sets of resisting wheels and bending plates are adjustably distributed and arranged on the two frames; the present invention arranges two sets of frames, and resisting wheels and bending plates are arranged on the two frames, and the angle between the bending plate and the frame is set to 90°, so the bending plate can be controlled to move under the action of the telescopic cylinder to press the pipeline located on the side of the resisting wheel to realize the bending processing of the pipeline.

Description

Technical Field

[0001] The invention relates to the field of ton barrel frame processing equipment, and in particular to a ton barrel metal frame processing and forming device. Background Art

[0002] As a medium-sized bulk container, ton barrels are widely used in many industries such as chemical, food, and medicine. In order to enhance the strength of ton barrels, metal frames are usually set on the outside of the ton barrels. The metal frames play a supporting role and undertake important functions such as protecting the inner liner and facilitating transportation and stacking.

[0003] At present, the frame for ton barrels is mainly formed by welding multiple steel pipes of different shapes, including closed steel pipes bent into a rectangular structure and distributed up and down, and steel pipes arranged along the height direction of the ton barrel. In the process of processing the metal frame of the ton barrel, it needs to go through the steps of frame forming, welding and assembly.

[0004] Among them, frame forming includes bending forming, which bends the metal pipe into the angle required by the frame. This process is usually completed using a bending machine. The operator adjusts the parameters of the bending machine according to the design requirements, such as the bending angle, bending radius, etc. During the bending process, attention should be paid to controlling the bending speed and pressure to avoid problems such as excessive deformation and cracking at the bend. Welding assembly is to weld and assemble the various components of the frame according to the requirements of the design drawings. During the welding process, it is necessary to control the welding parameters, such as welding current, voltage, welding speed, etc. Welding workers need to have skilled operating skills to ensure that the weld is uniform, free of defects such as pores, slag inclusions, and undercuts.

[0005] From the above description, it can be seen that in the processing of the ton barrel metal frame, the equipment required to be used includes bending machines, welding machines, etc. There are many types of bending machines, such as an exhaust pipe bending machine disclosed in a Chinese patent with announcement number CN103978077B, which includes a rotating disk, a pipe bending groove is installed on the rotating disk, a rotating handle is hingedly connected to the rotating disk, a connecting rod is installed at one end of the rotating handle, and a cylinder is connected to the other end of the rotating handle. A plurality of rollers are installed in the roller seat, and a guide groove matching the pipe bending groove is opened on the roller. The pipe bending groove consists of a movable part and a fixed part, and the fixed part is rotatably arranged on the rotating disk through a rotating shaft, a protrusion is arranged on the movable part, and a groove is opened on the fixed part, and the protrusion and the groove cooperate with each other. When the handle is rotated and pressed down, the connecting rod will slide a certain distance in the trapezoidal groove to ensure uniform force on the roller seat. Multiple rollers increase the contact area between the guide groove and the exhaust pipe bend, ensuring uniform force at the bend to reduce the direct breakage of the exhaust pipe or the occurrence of cracks at the bend of the exhaust pipe, thereby reducing the scrap rate of the exhaust pipe.

[0006] When using the bending machine provided by the above patent or other types of bending machines to bend metal pipes, if a single, two or four pipes are bent to form a rectangular frame, the frame needs to be transferred to a welding device, and the welding device performs the closed welding operation of the frame. Then, the staff supports and arranges multiple rectangular frame steel pipes and multiple vertical steel pipes to complete the welding assembly through the welding device. This operation of assembling metal frames is time-consuming and inefficient. Summary of the invention

[0007] The purpose of the present invention is to provide a ton barrel metal frame processing and forming device, aiming to improve the problem of low assembly efficiency of ton barrel metal frames.

[0008] The present invention is implemented as follows: a ton barrel metal frame processing and forming device includes a rotating bottom plate, and a plurality of distribution support plates are arranged above the rotating bottom plate, and the plurality of distribution support plates are evenly arranged at the two edges of the rotating bottom plate; a welding robot arm is arranged on the inner side of the rotating bottom plate, and a clamping robot arm is arranged on the outer side; it also includes a supporting frame arranged on the side of the rotating bottom plate, the supporting frame includes two sets of frame bodies, a plurality of sets of abutment wheels and bending plates, an adjustment mechanism is arranged between the two frame bodies, the adjustment mechanism can control the relative movement of the two sets of frame bodies, and the plurality of sets of abutment wheels and bending plates are adjustably distributed on the two sets of frame bodies; welding robot arms are arranged on the outer sides of both ends of the gap between the two sets of frame bodies, and a clamping robot arm is arranged in the gap between the two sets of frame bodies and the rotating bottom plate; a storage bin is arranged above each frame body.

[0009] Preferably, the upper end size of the resisting wheel is larger than the lower end size, and is sleeved on the support shaft, and the support shaft is vertically installed on the cross plate; the bending plate is arranged on the side of the resisting wheel, and a bending groove is arranged on the end face adjacent to the resisting wheel; a second telescopic cylinder is hingedly arranged on the side of the bending plate, and the second telescopic cylinder is installed on the frame.

[0010] Preferably, the angle between the two bending plates on the same frame is 90°, and a second guide plate is fixedly provided on the lower side of the bending plate, and a first guide plate is provided below, the second guide plate is movably installed in the first guide plate, and the first guide plate is connected to the frame.

[0011] Preferably, the frame is configured as a rectangular structure, and a plurality of support plates are provided inside, a slide groove is provided on the inner long side wall of the frame, and slide plates are fixedly provided at the ends of the support plate and the cross plate, the slide plates are installed in the slide groove, and the end faces of the support plate and the cross plate are in contact with the side walls of the frame; a threaded hole is provided on the cross plate, and an adjusting screw is threadedly provided through the threaded hole, and the end of the adjusting screw is connected to the end wall of the frame through a bearing; a connecting plate is fixedly provided below the first guide plate, the connecting plate is configured as an L-shaped structure, and is inserted into the slide groove; a connecting plate is provided between the connecting plate and the cross plate.

[0012] Preferably, the supporting frame also includes two sets of brackets, which are vertically arranged at the two ends below the two sets of frame bodies; a snap-in groove is provided on the upper side of the bracket, and the end of the snap-in groove is set as an opening, and snap-in grooves are provided at both ends of the lower side of the frame body, and the snap-in plates at the same end of the two sets of frame bodies are installed in the same snap-in groove.

[0013] Preferably, the adjustment mechanism is arranged between the two sets of brackets, and includes a third telescopic cylinder, a driving plate group and two inclined plates. The two ends of the third telescopic cylinder are respectively connected to the bracket and the driving plate group. The two inclined plates are hingedly arranged on the same side of the driving plate group, and the ends away from the third telescopic cylinder are respectively connected to the convex shafts on the lower sides of the two sets of frames.

[0014] Preferably, the driving plate group includes a first driving plate and a second driving plate, the first driving plate is arranged as an L-shaped structure, and a protruding plate is fixedly arranged on the top, the second driving plate is arranged above the first driving plate, and a recessed groove is arranged at the end, and the protruding plate extends into the recessed groove; plug columns are arranged on the side avoidances of the first driving plate and the second driving plate close to each other, and the plug columns are inserted into the end of the inclined plate.

[0015] Preferably, the storage bin includes a support frame, a first baffle and a second baffle, the first baffle and the second baffle are both arranged on the inner side of the support frame, and the support frame is installed on the support plate of the frame; the second baffle is arranged in a bent shape, and an arc plate is arranged at the bottom; a roller is arranged at the bottom of the space formed by the second baffle and the first baffle, the roller is installed on the first baffle through a connecting frame, and the end of the central axis protruding from the roller is connected to the second motor through a sprocket and a chain, and a plurality of accommodating grooves are arranged on the roller, and the accommodating grooves are arranged along the length direction of the first baffle, and the ends are arranged to be openings.

[0016] Preferably, a through hole is provided in the middle of the rotating base plate, an inner gear ring is provided at the through hole, and an annular convex plate is provided on the lower side of the rotating base plate; a base is provided on the inner side of the annular convex plate through a bearing connection, a first motor is provided above the base, and a gear on the output shaft of the first motor is meshed and connected with the inner gear ring; the welding robot arm is installed on the base.

[0017] Preferably, the distribution support plate is configured as an L-shaped structure, and a snap groove is provided on the bottom surface, a threaded column is provided in the snap groove, and a snap plate is inserted, the snap plate is installed on the rotating bottom plate, the threaded column is threadedly inserted into the snap plate, a sliding hole is provided on the vertical section of the distribution support plate, and a plurality of supporting plates are provided at the sliding hole; a splint is provided on the side of the supporting plate, and a first splicing plate and a second splicing plate are respectively provided on the side walls where the splint and the supporting plate are close to each other, the first splicing plate and the second splicing plate are respectively connected through the sliding hole, and the splint is connected to the second splicing plate by bolts.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention is provided with two sets of frames, and the two sets of frames are provided with abutment wheels and bending plates, and the angle between the bending plate and the frame is set to 90°. Therefore, the bending plate can be controlled to move under the action of the telescopic cylinder to press against the pipe located on the side of the abutment wheel to achieve the bending of the pipe.

[0020] 2. The present invention is provided with a storage bin above each set of frames, and pipes are stored in each storage bin. At the same time, the pipes can be controlled to fall onto the frames under the action of the rollers. Therefore, two pipes can be bent at the same time, which relatively improves the pipe bending efficiency.

[0021] 3. The present invention is provided with an adjustment mechanism, under the action of which the two sets of frames can be controlled to approach each other so that the ends of the two pipes can contact each other, so that the welding process of the two pipes can be realized under the action of the welding robot arm, thereby forming a pipe frame; then, under the action of the clamping robot arm, multiple pipe frames can be distributed up and down on the rotating base plate.

[0022] 4. The present invention is provided with a distribution support plate, which can control the pipeline frame to be stably placed relative to the rotating base plate, and with the cooperation of the clamping robot arm and the welding robot arm, multiple vertical pipelines are welded and arranged on the side of the pipeline frame, thereby completing the assembly of the metal frame and reducing the degree of manual participation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a structural schematic diagram of the rotating bottom plate and the distribution support plate of the present invention;

[0025] Figure 3 It is a structural schematic diagram of the rotating bottom plate of the present invention;

[0026] Figure 4 It is a structural schematic diagram of the distribution support plate of the present invention;

[0027] Figure 5 It is a structural schematic diagram of the support plate of the present invention;

[0028] Figure 6 It is a structural schematic diagram of the clamping mechanical arm of the present invention;

[0029] Figure 7 It is a structural schematic diagram of the first fixing plate and the first bottom frame of the present invention;

[0030] Figure 8 It is a structural schematic diagram of the material storage bin, the supporting frame, the clamping mechanical arm, and the welding mechanical arm of the present invention;

[0031] Fig. 9 It is a structural schematic diagram of the supporting frame of the present invention;

[0032] Fig.10 It is a schematic diagram of the structure of the support of the present invention;

[0033] Fig.11 It is a structural schematic diagram of the frame of the present invention;

[0034] Fig.12 It is a structural schematic diagram of the resisting wheel of the present invention;

[0035] Fig.13 is a first structural schematic diagram of the bent plate of the present invention;

[0036] Fig.14 is a second structural schematic diagram of the bent plate of the present invention;

[0037] Fig.15 It is a structural schematic diagram of the bending plate and the resisting wheel of the present invention;

[0038] Fig.16 It is a structural schematic diagram of the regulating mechanism of the present invention;

[0039] Fig.17 It is a schematic structural diagram of the first driving plate and the second driving plate of the present invention;

[0040] Fig.18 It is a structural schematic diagram of the storage bin of the present invention;

[0041] Fig.19 It is a structural schematic diagram of the clamping mechanical arm and the welding mechanical arm of the present invention.

[0042] In the figure: 1, rotating bottom plate; 11, inner gear ring; 12, annular convex plate; 13, base; 14, bearing; 15, first motor; 2, storage bin; 21, support frame; 22, first baffle; 23, second baffle; 24, second motor; 25, arc plate; 26, connecting frame; 27, roller; 28, receiving groove; 3, supporting frame; 31, frame; 311, clamping plate; 312, supporting plate; 313, slide groove; 314, supporting plate; 32, bracket; 321, clamping groove; 33, blocking wheel; 331, supporting shaft; 332, horizontal plate; 333, adjusting screw; 334, slide plate; 34, bending plate; 341, bending groove; 342, first guide plate; 343, connecting plate; 3 44. Second telescopic cylinder; 345. Second guide plate; 346. Connecting plate; 35. Adjusting mechanism; 351. Inclined plate; 352. Third telescopic cylinder; 353. First driving plate; 354. Second driving plate; 355. Inserting column; 356. Recessed groove; 357. Protruding plate; 4. Distribution support plate; 41. Snap groove; 42. Snap plate; 43. Sliding hole; 44. Supporting plate; 45. Clamping plate; 46. First splicing plate; 47. Second splicing plate; 5. Clamping robot arm; 51. First fixed plate; 52. First bottom frame; 53. Strip groove; 54. Snap column; 55. Snap groove; 56. Roller; 57. First telescopic cylinder; 6. Welding robot arm; 61. Second fixed plate; 62. Second bottom frame. DETAILED DESCRIPTION

[0043] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] The following is a further description with reference to the accompanying drawings and specific embodiments:

[0045] Example 1

[0046] like Figure 1-5 Place, Figure 8-18 In order to improve the processing efficiency of the ton barrel metal frame, this embodiment provides a new device for metal frame processing. When the device is used to process the metal frame, the bending and welding of the metal pipe are continuously processed, while the degree of manual participation is reduced, the processing time of the metal frame is correspondingly reduced, and the processing efficiency is improved.

[0047] Specifically, the processing device includes a rotating base plate 1, a distribution support plate 4, a supporting frame 3, a storage bin 2, etc. The rotating base plate 1 is arranged outside the end of the supporting frame 3 and is placed opposite to the supporting frame 3. Multiple sets of distribution support plates 4 are evenly arranged at the two edges of the rotating base plate 1, that is, the distribution support plates 4 located on the same edge are arranged along the length direction of the supporting frame 3. This arrangement can leave a transfer channel for the bent pipe between the supporting frame 3 and the rotating base plate 1 and the distribution support plate 4. The storage bin 2 is arranged above the supporting frame 3, and specifically can be arranged as two sets. The two sets of storage bins 2 are respectively arranged at the two long edges of the supporting frame 3, and can control the pipes stored in the storage bin 2 to fall onto the supporting frame 3, and realize the synchronous bending processing of the two pipes under the action of the supporting frame 3.

[0048] Because the supporting frame 3 is set to be in a width-adjustable state, after the two pipes are bent, the two pipes can be controlled to be close to each other so that the ends of the bent pipes are in contact, which facilitates the stable connection of the two bent pipes.

[0049] In order to stably connect the two bent pipes to form a closed frame structure, welding robot arms 6 are provided at both ends of the supporting frame 3. The welding robot arms 6 can directly weld the junction of the two bent pipes to achieve stable connection.

[0050] In order to transfer the pipes on the supporting frame 3 to the top of the rotating base plate 1, and to distribute the multiple pipes up and down under the action of the distribution support plate 4, a clamping robot arm 5 is arranged between the rotating base plate 1 and the supporting frame 3. Through the operation of the clamping robot arm 5, the processed pipes on the supporting frame 3 can be transferred to between multiple sets of distribution support plates 4, and stably distributed up and down between the multiple sets of distribution support plates 4.

[0051] After multiple closed pipe frames are arranged vertically between multiple sets of distribution support plates 4, in order to vertically distribute other pipes on the sides of the multiple closed pipe frames and realize fixed connection, a clamping robot arm 5 is arranged on the side of the rotating bottom plate 1, and a welding robot arm 6 is arranged on the inner side of the rotating bottom plate 1. The clamping robot arm 5 clamps the vertical pipe and moves it to the side of the pipe body frame, and vertically fits the multiple pipe frames. Then, the welding robot arm 6 welds the closed pipes and vertical pipes one by one. Repeat the above steps, and adjust the direction by rotating the rotating bottom plate 1, so as to realize the processing of the ton barrel metal frame.

[0052] In actual production, a rotating bottom plate 1 can be provided at both ends of the supporting frame 3 according to needs, and corresponding clamping mechanical arms 5 and welding mechanical arms 6 can be provided on the sides of the rotating bottom plate 1 to further improve the welding process of the ton barrel metal frame. Of course, in actual production, a platform can also be set up between the rotating bottom plate 1 and the supporting frame 3 according to needs to provide a temporary storage point for the pipes bent and welded into the frame. In short, for production needs, corresponding devices can be added according to needs.

[0053] The clamping robot arm 5 and the welding robot arm 6 are both existing publicly available devices, which are briefly introduced here. The clamping robot arm 5 and the welding robot arm 6 include known robot arms, which include arm rods, joints, drive systems, transmission mechanisms, and control systems.

[0054] The arm of a robot is its basic supporting structure, usually made of metal materials (such as aluminum alloy, stainless steel). Its shape and size are designed according to the working range and load requirements of the robot. The arm can be a multi-section structure connected by joints to achieve a larger working space and more flexible movement. The joint is the key part that enables the robot to achieve various movement postures.

[0055] The types of joints mainly include rotary joints and translation joints. The rotary joint enables the arm to rotate around an axis, similar to a human shoulder joint or elbow joint, and can be driven by a motor or hydraulic device to achieve different angles of rotation.

[0056] The drive system can be set to motor drive, which is one of the most commonly used drive methods for robotic arms. For rotating joints, servo motors or stepper motors are usually used. Servo motors have the characteristics of high precision, high speed and high torque, and can accurately control the rotation angle and speed of the joint. It converts electrical energy into mechanical energy by receiving signals from the controller to drive the joint to rotate. Stepper motors can achieve precise angle subdivision and are widely used in some occasions with extremely high position accuracy requirements (such as precision assembly robotic arms).

[0057] The transmission mechanism can be set as a gear transmission, which is a common transmission method in robotic arms and is used to transmit the rotational motion of the motor to the joint. In the rotary joint, the function of deceleration or acceleration can be achieved by meshing gears of different sizes, and the torque can also be changed. For example, at the base joint of the robotic arm, a gear set with a large reduction ratio is usually used to convert the high-speed and low-torque motion of the motor into a low-speed and high-torque motion to bear the weight and load of the entire robotic arm.

[0058] The control system includes controller hardware, control software and algorithms. The hardware mainly includes central processing unit (CPU), programmable logic controller (PLC), motion control card, etc. The control software is a program running on the control system hardware, which realizes various control functions of the robot arm through programming. Common control algorithms include kinematics algorithm, dynamics algorithm and trajectory planning algorithm. The kinematics algorithm is used to solve the relationship between the joint angle of the robot arm and the position and posture of the end effector, so as to calculate the movement angle of the joint according to the target position. The dynamics algorithm considers the force and torque of the robot arm during the movement process, and is used to optimize the movement speed and acceleration of the robot arm to improve the working efficiency and stability of the robot arm. The trajectory planning algorithm is used to design the movement trajectory of the robot arm according to the task requirements and working environment, such as straight line trajectory, circular arc trajectory, etc., so that the robot arm can complete the task smoothly and efficiently.

[0059] The robot arm may also include a sensor system, which may include position sensors, force sensors, visual sensors, etc. Position sensors are used to determine the position and posture of each joint of the robot arm. Common ones include encoders and potentiometers. Encoders are high-precision position sensors that can convert the rotation angle or linear displacement of the joint into digital signals and feed them back to the control system. Force sensors are used to detect the external forces applied to the robot arm during operation. They can be installed on the end effector (such as the gripper) of the robot arm or at the joint. When the robot arm collides with the workpiece or the environment, the force sensor can detect the magnitude and direction of the collision force in time and feed the signal back to the control system. The control system can take corresponding measures based on the feedback signal of the force sensor, such as stopping the movement, adjusting the direction of movement, etc., to avoid damage to the robot arm or the workpiece. Force sensors can be strain gauge force sensors, piezoelectric force sensors, etc., which convert force signals into electrical signals based on different physical principles. Visual sensors are an important part of the intelligentization of the robot arm. It is usually a visual system composed of a camera or multiple cameras, installed at an appropriate position of the robot arm. Visual sensors can obtain image information of the working environment and the workpiece, and identify the position, shape, size and other information of the workpiece through image processing technology. For example, on an assembly line, vision sensors can help robotic arms accurately grasp parts that are placed out of order, or perform quality inspections on parts (such as checking whether there are defects on the surface of the parts). Vision sensors can also work with other sensors to achieve more complex tasks, such as vision-based obstacle avoidance.

[0060] The connection methods of the above sensors, motors, etc. with the controller have also been disclosed. For example, the sensor is connected to the analog input port of the controller through a shielded cable; for example, the two power lines (positive and negative) of the motor are connected to the output of the controller (such as a simple motor driver chip), and the controller controls the rotation direction and speed of the motor by changing the polarity and magnitude of the voltage output to the motor.

[0061] The end effectors of the clamping robot 5 and the welding robot 6 usually have a tool interface (ISO 9409-1 standard interface) to facilitate the replacement of different tools. For example, a gripper, a welding system, etc. are provided at the end effector. The gripper is a device used to grasp the workpiece at the end of the robot arm. There are various types of grippers, and different grippers can be selected according to the shape, size and material of the grasped object. Common ones include parallel grippers, three-finger grippers and vacuum suction cups. Parallel grippers grasp the workpiece by two relatively moving grippers, and are suitable for grasping objects with regular shapes, such as cuboids, cylinders, etc.

[0062] The welding system includes welding power supply, welding head, etc. The welding power supply is the energy source of the welding robot arm, and its type varies according to the welding process. For example, in gas metal arc welding (GMAW), the commonly used welding power supply is a constant voltage power supply; while in gas non-metal arc welding (GTAW), a constant current power supply is usually used. The power of the welding power supply is also selected according to factors such as the thickness, material and welding speed of the welding workpiece. A high-power welding power supply can provide enough energy to melt thicker metal materials, while a low-power power supply is suitable for thin plate welding or fine welding.

[0063] The welding head is the part that directly performs welding operations. It is installed at the end of the robot arm, and its structure and function vary depending on the welding process. In gas metal arc welding, the welding gun includes a conductive nozzle, a gas nozzle, a wire feeding mechanism and other parts. The conductive nozzle is used to conduct the welding current to the welding wire to melt the welding wire; the gas nozzle is used to spray out the protective gas to prevent the weld from oxidizing. The wire feeding mechanism is responsible for transporting the welding wire to the welding area at a certain speed. In non-metal arc arc welding, the welding gun mainly includes a tungsten electrode, a gas nozzle and other parts. The tungsten electrode is used as an electrode to generate an arc and melt the workpiece metal. The gas nozzle also needs to spray out the protective gas to protect the weld. The welding head usually has a certain angle adjustment function to meet the requirements of different welding positions and weld shapes. For example, when welding a fillet weld, the welding head can adjust the angle so that the arc can be perpendicular to the root of the weld, thereby obtaining good welding quality.

[0064] In order to achieve synchronous bending of the ends of the two steel pipes through the support frame 3 , the support frame 3 includes an adjustment mechanism 35 , two sets of frames 31 , two sets of brackets 32 , multiple sets of blocking wheels 33 and bending plates 34 .

[0065] Multiple sets of resisting wheels 33 and bending plates 34 are adjustable and distributed on two sets of frames 31. The upper end size of the resisting wheel 33 is larger than the lower end size, and is sleeved on the support shaft 331. The support shaft 331 is vertically mounted on the cross plate 332, and the cross plate 332 is movably mounted on the frame 31. Therefore, when the resisting wheel 33 is stably installed, the position of the resisting wheel 33 can be adjusted according to demand to adapt to the bending process of pipes of different lengths, thereby improving the practicality of the device. The bending plate 34 is arranged on the side of the resisting wheel 33, and a bending groove 341 is arranged on the end face adjacent to the resisting wheel 33. Therefore, the bending process of the pipe can be realized with the cooperation of the bending plate 34 and the resisting wheel 33. In addition, in order to control the movement of the bending plate 34, a second telescopic cylinder 344 is hingedly provided on the side of the bending plate 34, and the second telescopic cylinder 344 is installed on the frame 31. Therefore, when the second telescopic cylinder 344 is working, the bending plate 34 can be controlled to move along a preset trajectory, thereby squeezing the pipe located on the side of the blocking wheel 33 to bend it 90°.

[0066] In order to bend the pipe 90°, the angle between the bending plate 34 and the frame 31 in the length direction needs to be set to 90°. Therefore, in order to control the bending plate 34 and the frame 31 to maintain a stable angle, a second guide plate 345 is fixedly arranged on the lower side of the bending plate 34, and a first guide plate 342 is arranged below. A cavity is arranged on the first guide plate 342, and the cross section of the cavity is the same as that of the second guide plate 345. Therefore, the second guide plate 345 is movably installed in the first guide plate 342 to achieve stable connection between the bending plate 34 and the frame 31. In order to reduce the movement resistance of the first guide plate 342 and the second guide plate 345, a lubricant can be arranged on their contact surfaces, or a soft material (such as polytetrafluoroethylene) can be coated on their contact surfaces.

[0067] In order to facilitate the continuous bending of the pipe, the storage bin 2 is arranged above the frame 31, that is, a storage bin 2 is arranged on each frame 31, and the storage bin 2 realizes the storage and one-by-one loading of the pipes to be bent. Specifically, the storage bin 2 includes a support frame 21, a first baffle 22 and a second baffle 23, the first baffle 22 and the second baffle 23 are both arranged on the inner side of the support frame 21, and the support frame 21 is installed on the support plate 312 of the frame 31, so the first baffle 22 and the second baffle 23 form a stable storage space, and multiple pipes are regularly placed in the storage space. The second baffle 23 is set to a bent shape to enhance the storage capacity. In actual production, a plate body can also be installed at the end of the storage space to limit the position of the pipe under the action of the plate body. A roller 27 is arranged at the bottom of the space formed by the second baffle 23 and the first baffle 22. The length of the roller 27 is determined according to actual needs. The roller 27 is installed on the first baffle 22 through a connecting frame 26, and the end of the central axis protruding from the roller 27 is connected to the second motor 24 through a sprocket and a chain. The second motor 24 is arranged on the first baffle 22, so that the roller 27 is stable. At the same time, the roller 27 can be controlled to rotate under the action of the second motor 24, which provides convenience for the one-by-one loading of the pipes. The roller 27 is provided with a plurality of receiving grooves 28, which are arranged along the length direction of the first baffle 22, and the ends are arranged to be open. Therefore, the pipes accumulated in the storage space can fall into the receiving grooves 28, and move to the bottom of the storage space with the rotation of the roller 27, and fall on the frame 31 from the bottom. In order to guide the pipe body to move to the side of the blocking wheel 33, an arc plate 25 is arranged at the bottom of the second baffle 23.

[0068] In order to bring the two bent pipes closer to each other after the pipes are bent to facilitate welding, the two sets of frames 31 are arranged in parallel above the two sets of brackets 32, and the two sets of brackets 32 are respectively arranged at the two ends of the frame 31 and vertically connected to the frame 31. In order to achieve stable connection between the frame 31 and the bracket 32, a clamping groove 321 is arranged on the upper side of the bracket 32, and the clamping groove 321 is arranged along the length direction of the bracket 32, and the end is arranged to be open, and clamping plates 311 are arranged at both ends of the lower side of the frame 31. The clamping plates 311 at the same end of the two sets of frames 31 are installed in the same clamping groove 321. Therefore, the frame 31 and the bracket 32 ​​are movably connected under the cooperation of the clamping groove 321 and the clamping plate 311, that is, the two sets of frames 31 can be closer to or farther away from each other along the length direction of the bracket 32, thereby facilitating the two bent pipes to be closer to each other to complete welding.

[0069] In order to control the relative movement of the two sets of frames 31, the adjustment mechanism 35 is arranged between the two sets of frames 31, which includes a third telescopic cylinder 352, a driving plate group and two inclined plates 351. The two ends of the third telescopic cylinder 352 are respectively connected to the bracket 32 ​​and the driving plate group. The two inclined plates 351 are hingedly arranged on the same side of the driving plate group, and the ends away from the third telescopic cylinder 352 are respectively connected to the convex shafts on the lower sides of the two sets of frames 31. Therefore, under the action of the third telescopic cylinder 352, the movement of the driving plate group can be controlled, and then the angle between the two inclined plates 351 can be adjusted to achieve the relative movement of the two sets of frames 31.

[0070] In order to achieve the connection with the inclined plate 351, the driving plate group includes a first driving plate 353 and a second driving plate 354. The first driving plate 353 is set to an L-shaped structure, and a protruding plate 357 is fixedly set on the top. The second driving plate 354 is set above the first driving plate 353, and a recessed groove 356 is set at the end. The protruding plate 357 extends into the recessed groove 356. Therefore, the first driving plate 353 can be raised and lowered relative to the second driving plate 354. In addition, the first driving plate 353 and the second driving plate 354 are connected by bolts, so that the first driving plate 353 and the second driving plate 354 can be stably connected. The side avoidances of the first driving plate 353 and the second driving plate 354 are both provided with plug posts 355. The plug posts 355 can be inserted into the end of the inclined plate 351 through a bearing connection, so that the inclined plate 351 can be hingedly connected with the plug posts 355.

[0071] In order to stably support the pipe, the frame 31 is set to a rectangular structure, and a plurality of support plates 314 are arranged inside, and the transverse plate 332 is also arranged on the frame 31, and the upper side of the transverse plate 332 and the support plate 314 is flush with the upper side of the frame 31, so that the pipe falling from the storage bin 2 falls on the plane surface composed of the support plate 314, the transverse plate 332 and the frame 31, and then moves to the side of the blocking wheel 33, which facilitates the bending of the pipe. The number of support plates 314 is determined according to demand.

[0072] In order to achieve stable and adjustable installation of the support plate 314 and the cross plate 332, a slide groove 313 is provided on the inner long side wall of the frame 31, and a slide plate 334 is fixedly provided at the ends of the support plate 314 and the cross plate 332. The slide plate 334 is installed in the slide groove 313, so that the support plate 314 and the cross plate 332 are stably connected to the frame 31, and it is convenient to adjust the position of the support plate 314 and the cross plate 332 according to the needs. In addition, the end faces of the support plate 314 and the cross plate 332 are in contact with the side wall of the frame 31.

[0073] To control the movement of the cross plate 332 and ensure its stable placement relative to the frame 31 after movement, threaded holes are provided on the cross plate 332. An adjusting screw 333 is threaded through the threaded holes. The end of the adjusting screw 333 is connected through the end wall of the frame 31 by a bearing. Therefore, by rotating the adjusting screw 333, the movement of the cross plate 332 can be controlled, and the positions of the cross plate 332 and the resisting wheel 33 can be adjusted.

[0074] In addition, a connecting plate 343 is fixedly provided below the first guide plate 342. The connecting plate 343 is arranged in an L-shaped structure and is inserted into the sliding groove 313. At the same time, a connecting plate 346 is provided between the connecting plate 343 and the cross plate 332. Therefore, the first guide plate 342 is stably installed relative to the cross plate 332 and is also stably arranged relative to the frame 31.

[0075] To be able to remove the support plate 314 and the cross plate 332 from the frame 31 according to requirements, the frame 31 may include a main body in a U-shaped structure and end plates. The end plates are connected to the ends of the main body. When it is necessary to disassemble and assemble the support plate 314 and the cross plate 332, the end plates can be removed.

[0076] To arrange the pipes formed by welding into a frame in an up-and-down distribution, the distribution support plate 4 is arranged in an L-shaped structure, and sliding holes 43 are provided on the vertical section. A plurality of supporting plates 44 are provided at the sliding holes 43. Also, since the distribution support plate 4 is arranged on two parallel edges of the rotating bottom plate 1, the clamping robotic arm 5 clamps the welded frame pipes and places them one by one on the supporting plates 44 located in the same plane. Therefore, under the extrusion of the distribution support plate 4, the frame pipes can be stably placed relative to the rotating bottom plate 1.

[0077] To be able to adjust the height of the supporting plate 44 according to requirements and thus adjust the position of the frame pipes, clamping plates 45 are provided on the sides of the supporting plates 44. First splicing plates 46 and second splicing plates 47 are respectively provided on the side walls of the clamping plates 45 and the supporting plates 44 that are close to each other. The first splicing plates 46 and the second splicing plates 47 penetrate through the sliding holes 43. The clamping plates 45 are connected to the second splicing plates 47 by bolts. Therefore, the clamping plates 45 and the supporting plates 44 cooperate to clamp the distribution support plate 4. Under the action of friction, the supporting plates 44 are stably arranged at a certain position of the distribution support plate 4. When it is necessary to adjust the position of the supporting plate 44, rotate the bolts to release the restriction of the supporting plate 44 and realize the adjustment of the height of the supporting plate 44.

[0078] In order to adapt to frame pipes of different sizes, a snap groove 41 is provided on the bottom surface of the distribution support plate 4, and a threaded column is provided in the snap groove 41. The end of the threaded column is connected through a bearing and penetrates the end wall of the snap groove 41. A snap plate 42 is inserted in the snap groove 41. The snap plate 42 is installed on the rotating base plate 1, and the threaded column is threadedly inserted into the snap plate 42. Therefore, when the threaded column is rotated, the distribution support plate 4 can be controlled to move relative to the snap plate 42, and then the position of the distribution support plate 4 relative to the rotating base plate 1 can be adjusted to adapt to frame pipes of different sizes.

[0079] In order to facilitate welding of multiple vertical pipes on the frame pipe, a through hole is provided in the middle of the rotating base plate 1, an inner gear ring 11 is provided at the through hole, and an annular convex plate 12 is provided on the lower side of the rotating base plate 1. A base 13 is provided on the inner side of the annular convex plate 12 through a bearing 14, and a first motor 15 is provided above the base 13. The gear on the output shaft of the first motor 15 is meshed and connected with the inner gear ring 11. Therefore, under the action of the first motor 15, the rotating base plate 1 can be controlled to rotate around the axis, thereby adjusting the direction of the frame pipe, providing convenience for the clamping robot arm 5 to clamp the vertical pipe and cooperate with the welding robot arm 6 to complete welding. In this case, the welding robot arm 6 is installed on the base 13.

[0080] In order to control the operation of the device, a control box may also be provided, in which circuit breakers, contactors, relays, fuses, controllers (such as PLC), frequency converters, power modules, etc. are provided. The telescopic cylinder may be provided as an electric cylinder, or as a pneumatic cylinder or a hydraulic cylinder. If the telescopic cylinder is driven by electric hydraulics or electric pneumatics, its power unit (such as an electric hydraulic pump or an electric pneumatic pump) needs to be connected to a power supply. The power supply generally comes from the power module in the control box, and it is necessary to ensure that the voltage and current parameters of the power supply match the requirements of the power unit. For example, for an electric hydraulic telescopic cylinder, its hydraulic pump motor may require a three-phase AC power supply of 380V and 50Hz, and the power output in the control box should be able to provide such a power supply. A fuse is connected in series in the power supply line. The rated current of the fuse should be selected according to the rated current of the electric cylinder.

[0081] Telescopic cylinders usually need to feed back information such as their position and speed to the PLC. If the telescopic cylinder is equipped with a position sensor (such as a linear displacement sensor) and a speed sensor (such as an encoder), the signal output lines of these sensors can be connected to the input port of the PLC. For example, the position sensor can use analog output (such as a 4-20mA current signal) or digital output (such as a pulse signal), and it can be connected to the corresponding analog input or high-speed counter input port of the PLC, so that the PLC can read the position and speed information of the telescopic cylinder in real time. The PLC sends a control signal to the drive unit of the telescopic cylinder through the output port according to the control program and the input signal. If it is a hydraulic telescopic cylinder, the PLC output signal can control the relay or contactor, and then control the start and stop and direction of the hydraulic pump motor to achieve the telescopic action of the telescopic cylinder. For telescopic cylinders that use a frequency converter to control the motor speed, the PLC can communicate with the frequency converter through a communication interface (such as RS-485) or analog output (such as a 0-10V voltage signal) to control the motor speed, thereby adjusting the telescopic speed of the telescopic cylinder.

[0082] The power of the electric cylinder comes from electricity, which needs to be obtained from the power supply of the control box. The power output terminal (such as AC 220V or 380V) in the control box is connected to the power input terminal of the electric cylinder through wires. When connecting, make sure that the voltage, frequency and other parameters of the power supply match the rated power requirements of the electric cylinder. For example, if the rated voltage of the electric cylinder is 220V AC, the 220V AC line output by the control box power supply needs to be correctly connected to the power wiring terminal of the electric cylinder. Connect a fuse in series in the power supply line. The rated current of the fuse should be selected according to the rated current of the electric cylinder.

[0083] The motor can be set as a stepper motor. In the control box, a suitable DC power supply output terminal should be selected to connect to the stepper motor. If the control box does not have a directly matched DC power supply, the AC power supply can be converted into a suitable DC power supply through a transformer and a rectifier circuit. A fuse is connected in series to the power supply line. PLC is a key device for controlling the rotation of the stepper motor. PLC controls the number of steps of the stepper motor by outputting pulse signals, thereby achieving quantitative rotation. The high-speed pulse output port of the PLC (such as the Y0, Y1 and other ports of the transistor output type PLC) is connected to the pulse input terminal (PUL+ and PUL-) of the stepper motor driver through a shielded cable. When connecting, pay attention to the polarity and level matching of the signal. For example, some driver pulse input signals are 5V level, while the PLC output pulse signal is 24V level. At this time, a level conversion circuit may be required for matching. In addition to the pulse signal, a direction signal needs to be sent to the stepper motor driver to control the rotation direction of the motor. A digital output port of the PLC (such as Y2) is connected to the direction input terminal (DIR + and DIR -) of the stepper motor driver. When the PLC outputs a high or low level signal, the driver changes the rotation direction of the motor according to this signal.

[0084] Ethernet is a communication technology widely used in the field of industrial control and automation. Controllers of different devices (such as PLC and PLC, PLC and smart instrument, etc.) can be connected in the same local area network through Ethernet switches. The data transmission between them is based on the TCP / IP protocol, and each device is identified by assigning different IP addresses. For example, multiple PLCs on an automated production line, each PLC controls a link in the production process, and they can exchange data through Ethernet, such as transmitting product production parameters, equipment status information, etc. In scenarios such as automation systems and intelligent building control systems, it is used to achieve interconnection between different areas or different functional devices. For example, in the factory's workshop management system, the host computer (such as an industrial computer) communicates with the controllers of each production equipment through Ethernet, collects the equipment's operating data and monitors and manages it, thereby facilitating the completion of the production of the entire metal frame.

[0085] The fixed installation or setting and the hinged connection mentioned in this embodiment are all existing technologies. For example, the fixed setting is mostly achieved by bolts, welding, etc., and the hinge is mostly achieved by bearings, shafts, hinges, etc.

[0086] Example 2

[0087] like Figure 6 , Figure 7 , Fig.19As shown, on the basis of Example 1, in order to facilitate the coordinated work of the welding mechanical arm 6 and the clamping mechanical arm 5 located outside the ends of the two sets of frames 31, a second fixing plate 61 is provided at the lower ends of the welding mechanical arm 6 and the clamping mechanical arm 5, and the second fixing plate 61 is installed on the second bottom frame 62. In addition, in order to prevent the existence of the clamping mechanical arm 5 from affecting the rotation of the rotating bottom plate 1, a first fixing plate 51 is provided below the clamping mechanical arm 5, and the first fixing plate 51 is installed on the first bottom frame 52.

[0088] Specifically, a clamping column 54 is fixedly provided below the fixed plate, and a strip groove 53 is provided on the lower side, and a roller 56 is provided at the strip groove 53. A clamping groove 55 is provided on the bottom frame, and the clamping column 54 is located in the clamping groove 55, and the roller 56 is in rolling contact with the upper side of the bottom frame, so that the fixed plate and the bottom frame are stably and movably connected. In the above case, a first telescopic cylinder 57 is provided on the side of the fixed plate, and the first telescopic cylinder 57 is connected to the bottom frame. Therefore, under the action of the first telescopic cylinder 57, the fixed plate can be controlled to move relative to the bottom frame, and the positions of the welding mechanical arm 6 and the clamping mechanical arm 5 can be adjusted, which provides convenience for completing clamping and welding.

[0089] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A ton barrel metal frame processing and forming device, characterized in that: The invention comprises a rotating base plate (1), a plurality of distribution support plates (4) are arranged above the rotating base plate (1), and the plurality of distribution support plates (4) are evenly arranged at the two edges of the rotating base plate (1); a welding mechanical arm (6) is arranged on the inner side of the rotating base plate (1), and a clamping mechanical arm (5) is arranged on the outer side; and a supporting frame (3) is arranged on the side of the rotating base plate (1), and the supporting frame (3) comprises two sets of frame bodies (31), a plurality of sets of blocking wheels (33) and a bending plate (34), and the two frames are provided with a plurality of support wheels (33) and a bending plate (34). An adjusting mechanism (35) is arranged between the two frames (31), and the adjusting mechanism (35) can control the relative movement of the two frames (31); a plurality of sets of the blocking wheels (33) and the bending plates (34) are adjustably arranged on the two frames (31); welding mechanical arms (6) are arranged on the outer sides of both ends of the gap between the two frames (31), and a clamping mechanical arm (5) is arranged in the gap between the two frames (31) and the rotating bottom plate (1); a material storage bin (2) is arranged above each frame (31); The upper end of the resisting wheel (33) is larger than the lower end, and is sleeved on a support shaft (331), and the support shaft (331) is vertically mounted on a horizontal plate (332); the bending plate (34) is arranged on the side of the resisting wheel (33), and a bending groove (341) is arranged on the end surface adjacent to the resisting wheel (33); a second telescopic cylinder (344) is hingedly arranged on the side of the bending plate (34), and the second telescopic cylinder (344) is mounted on the frame (31); The included angle of the two bending plates (34) located on the same frame (31) is 90°, and a second guide plate (345) is fixedly arranged on the lower side of the bending plate (34), and a first guide plate (342) is arranged below, the second guide plate (345) is movably installed in the first guide plate (342), and the first guide plate (342) is connected to the frame (31); The frame (31) is configured as a rectangular structure, and a plurality of support plates (314) are arranged inside. A slide groove (313) is arranged on the inner long side wall of the frame (31). The ends of the support plates (314) and the cross plates (332) are fixedly provided with slide plates (334). The slide plates (334) are installed in the slide groove (313), and the end surfaces of the support plates (314) and the cross plates (332) are in contact with the side walls of the frame (31); A threaded hole is provided on the top, and an adjusting screw (333) is threadedly penetrated through the threaded hole, and the end of the adjusting screw (333) is connected to the end wall of the frame (31) through a bearing (14); a connecting plate (343) is fixedly provided below the first guide plate (342), and the connecting plate (343) is provided in an L-shaped structure and is inserted into the slide groove (313); a connecting plate (346) is provided between the connecting plate (343) and the cross plate (332).

2. The ton barrel metal frame processing and forming device according to claim 1 is characterized in that: The supporting frame (3) further comprises two sets of brackets (32), the two sets of brackets (32) being vertically arranged at the two ends below the two sets of frame bodies (31); a clamping groove (321) is arranged on the upper side surface of the bracket (32), the end of the clamping groove (321) is arranged to be open, and clamping plates (311) are arranged at both ends of the lower side surface of the frame body (31), and the clamping plates (311) at the same end of the two sets of frame bodies (31) are installed in the same clamping groove (321).

3. The ton barrel metal frame processing and forming device according to claim 2 is characterized in that: The adjustment mechanism (35) is arranged between the two sets of brackets (32), and comprises a third telescopic cylinder (352), a driving plate group and two inclined plates (351); the two ends of the third telescopic cylinder (352) are respectively connected to the bracket (32) and the driving plate group; the two inclined plates (351) are hingedly arranged on the same side of the driving plate group, and the ends away from the third telescopic cylinder (352) are respectively connected to the convex shafts on the lower side surfaces of the two sets of frames (31).

4. The ton barrel metal frame processing and forming device according to claim 3 is characterized in that: The driving plate group includes a first driving plate (353) and a second driving plate (354), wherein the first driving plate (353) is arranged as an L-shaped structure, and a protruding plate (357) is fixedly arranged on the top, and the second driving plate (354) is arranged above the first driving plate (353), and a recessed groove (356) is arranged at the end, and the protruding plate (357) extends into the recessed groove (356); plug columns (355) are arranged on the side avoidances of the first driving plate (353) and the second driving plate (354) close to each other, and the plug columns (355) are inserted into the end of the inclined plate (351).

5. The ton barrel metal frame processing and forming device according to claim 1 is characterized in that: The storage bin (2) comprises a support frame (21), a first baffle (22) and a second baffle (23), wherein the first baffle (22) and the second baffle (23) are both arranged on the inner side of the support frame (21), and the support frame (21) is mounted on the support plate (312) of the frame body (31); the second baffle (23) is arranged in a bent shape, and an arc plate (25) is arranged at the bottom; a roller (27) is arranged at the bottom of the space formed by the second baffle (23) and the first baffle (22), and the roller (27) is installed on the first baffle (22) through a connecting frame (26), and the end of the central axis protruding from the roller (27) is connected to the second motor (24) through a sprocket and a chain, and a plurality of accommodating grooves (28) are arranged on the roller (27), and the accommodating grooves (28) are arranged along the length direction of the first baffle (22), and the ends are arranged to be open.

6. The ton barrel metal frame processing and forming device according to claim 1 is characterized in that: A through hole is provided in the middle of the rotating base plate (1), an inner gear ring (11) is provided at the through hole, and an annular convex plate (12) is provided on the lower side of the rotating base plate (1); a base (13) is provided on the inner side of the annular convex plate (12) via a bearing (14), a first motor (15) is provided above the base (13), and a gear on an output shaft of the first motor (15) is meshed and connected with the inner gear ring (11); the welding robot arm (6) is mounted on the base (13).

7. The ton barrel metal frame processing and forming device according to claim 1 is characterized in that: The distribution support plate (4) is configured as an L-shaped structure, and a snap groove (41) is provided on the bottom surface, a threaded column is provided in the snap groove (41), and a snap plate (42) is inserted therein, the snap plate (42) is mounted on the rotating bottom plate (1), the threaded column is threadedly inserted into the snap plate (42), a sliding hole (43) is provided on the vertical section of the distribution support plate (4), and a plurality of supporting plates (44) are provided at the sliding hole (43); a clamping plate (45) is provided on the side of the supporting plate (44), and a first splicing plate (46) and a second splicing plate (47) are respectively provided on the side walls where the clamping plate (45) and the supporting plate (44) are close to each other, the first splicing plate (46) and the second splicing plate (47) are arranged through the sliding hole (43), and the clamping plate (45) is connected to the second splicing plate (47) by bolts.

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