Pipe end pier rib forming system based on mechanical arm feeding and discharging and working method

Abstract

The invention discloses a pipe end pier rib forming system based on mechanical arm feeding and discharging and a working method. The pipe end pier rib forming system comprises a copper pipe transferring unit, a clamping unit and a forming unit. The copper pipe transfer unit comprises a manipulator; the clamping unit comprises a clamping block a and a clamping block b. A semicircular clamping groove a and a semicircular clamping groove b are formed in the sides, close to each other, of the clamping block a and the clamping block b correspondingly. When the thin-wall metal pipe is in a clamped state, the clamping groove a and the clamping groove b coaxially wrap and clamp the thin-wall metal pipe, and the end, close to the forming unit, of the thin-wall metal pipe is exposed at one end of a splicing structure formed by the clamping block a and the clamping block b; a section of integrated convex ring can be gradually machined on the thin-wall metal pipe in a gradient rolling mode, the finally formed contour is regular, and meanwhile the problems that cracks are prone to being generated, forming is not uniform and residual stress is generated in a traditional instant forming process are solved.

Description

Technical Field

[0001] The present invention relates to the field of tube body forming. Background Art

[0002] Robotic manipulators are widely used in the field of pipe end reinforcement forming, such as Figure 1 The process shown is a process for forming a tube end pier rib with an integrated convex ring on a thin-walled metal tube. In the existing devices of this process, a robot arm is generally used to load and unload materials, and then an instant forming process is used to complete it, such as rapid stamping and pushing. Although the instant forming process has the advantages of being fast and efficient, when encountering metal materials with low ductility during the instant forming process, cracks, uneven forming and residual stress are easily generated. Summary of the invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a tube end pier rib forming system and forming process based on loading and unloading of a robotic arm, which can process a section of an integrated convex ring on a thin-walled metal tube.

[0004] Technical solution: To achieve the above-mentioned purpose, the tube end pier rib forming system based on mechanical arm loading and unloading of the present invention comprises a copper tube transfer unit, a clamping unit and a forming unit; the copper tube transfer unit comprises a mechanical arm; the clamping unit comprises a clamping block and b clamping block, and the sides of the clamping block a and the clamping block b close to each other are respectively provided with semicircular clamping grooves a and b; when the thin-walled metal tube is in the clamped state, the clamping grooves a and b are coaxially clamped outside the thin-walled metal tube, and one end of the thin-walled metal tube close to the forming unit is exposed at one end of the spliced ​​structure formed by the clamping block a and the clamping block b.

[0005] Furthermore, the molding unit includes a translation axis, which is coaxial with the a-clip groove and can translate along the axial direction.

[0006] Furthermore, the outer diameter of the translation axis is larger than the outer diameter of the thin-walled metal tube; an insertion axis is coaxially arranged at the end of the translation axis, and the outer diameter of the insertion axis is consistent with the inner diameter of the thin-walled metal tube.

[0007] Furthermore, the spacing between the translation axis and the insertion axis forms a disc-shaped gap cavity; a cylindrical insertion groove is coaxially arranged on the end face of the translation axis, and the inner circle diameter and outer circle diameter of the cylindrical insertion groove are respectively consistent with the inner diameter and outer diameter of the thin-walled metal tube; one end of the thin-walled metal tube can be coaxially inserted into the cylindrical insertion groove.

[0008] Furthermore, a disc groove is provided in one end of the insertion shaft close to the translation shaft, a bearing sleeve is provided coaxially with the groove bottom of the disc groove, a rotating ring disc is provided coaxially in the disc groove, a rotating sleeve is provided coaxially with one end of the rotating ring disc, and the rotating sleeve is coaxially rotatably matched with the bearing sleeve through a bearing;

[0009] Three groups of gradual rolling forming units are arranged in a circular array in the disc-shaped gap cavity, and each group of gradual rolling forming units includes a slide bar, a rolling wheel and a conical running wheel. The slide bar extends in the radial direction of the disc-shaped gap cavity, the rolling wheel is rotatably mounted on the end of the slide bar away from the axis of the disc-shaped gap cavity, and the conical running wheel is rotatably mounted on the end of the slide bar close to the axis of the disc-shaped gap cavity; one side of the rotating ring disk is arranged in a circular array with three guide rails extending in the radial direction, and the three slide bars are respectively arranged along the length The direction guide is matched in the three guide rails; a conical column is coaxially arranged at the axis of the disc-shaped gap cavity, a transmission screw is coaxially fixedly connected to the thin end, a screw nut is coaxially fixedly installed on the inner wall of the rotating sleeve through a nut bracket, and the screw nut is matched with the transmission screw; a guide hole is penetrated along the length direction at an eccentric position inside the integrated structure formed by the transmission screw and the conical column, and the axis of the guide hole is parallel to the axis of the integrated structure formed by the transmission screw and the conical column but does not overlap;

[0010] It also includes a structural guide rod that slides through the guide hole, and two ends of the structural guide rod are respectively fixedly connected to one end of the insertion shaft and the translation shaft that are close to each other.

[0011] Furthermore, the ends of the wheel axles of the three rolling wheels are fixedly provided with connecting piles, and any two adjacent connecting piles among the three connecting piles are connected by elastic pulling wires or pulling springs; the three elastic pulling wires are connected to form an equilateral triangle; under the joint pulling of the three elastic pulling wires, the three conical walking wheels always roll to match the conical surface of the conical column.

[0012] Furthermore, a toothed disc is coaxially provided integrally at one end of the rotating ring disc, a built-in driving motor is fixedly mounted on the inner wall of the disc groove, an output end of the built-in driving motor is drivingly connected to a gear, and the gear is meshed with the toothed disc.

[0013] Furthermore, the insertion shaft is inserted coaxially along the axial direction into the thin-walled metal tube in the clamped state, and after one end of the thin-walled metal tube is coaxially inserted into the cylindrical insertion groove and limitedly contacts the bottom of the cylindrical insertion groove, the built-in drive motor drives the rotating ring disk to continuously rotate positively along the axis through the transmission structure.

[0014] Beneficial effects: The present invention can gradually process a section of an integrated convex ring on a thin-walled metal tube in the form of gradual rolling, and the final contour is regular, while avoiding the problems of easy cracking, uneven forming and residual stress caused by the traditional instant forming process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Cross-sectional view of thin-walled tube before and after pier reinforcement;

[0016] Figure 2 It is a schematic diagram of the overall process of step one to step four of the device;

[0017] Figure 3 This is a schematic diagram of the core structure of the device;

[0018] Figure 4 It is a schematic diagram of the translation axis and the insertion axis;

[0019] Figure 5 for Figure 4 Explosion and disassembly diagram;

[0020] Figure 6 It is a schematic diagram of the rotating ring disk and three groups of gradual roll forming units;

[0021] Figure 7 Schematic diagram of a conic spiral. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the accompanying drawings.

[0023] As attached Figures 1 to 7 The tube end pier reinforcement forming system based on loading and unloading of a robot arm shown includes a copper tube transfer unit, a clamping unit and a forming unit.

[0024] like Figure 2 As shown, the copper tube transfer unit includes a manipulator 21 installed at the end of a manipulator arm, and the lower end of the manipulator 21 is a clamping portion 22 that can clamp a thin-walled metal tube 19 in a horizontal state; the clamping unit includes a fixed clamping platform 45, and a fixed seat 25 and a movable seat 24 are respectively arranged on the upper side of the fixed clamping platform 45, and a clamping block a 29 and a clamping block b 28 are respectively fixedly installed on the side where the fixed seat 25 and the movable seat 24 are close to each other, and a clamping block a 30 and a clamping groove b 31 are respectively arranged on the side where the clamping block a 29 and the clamping block b 28 are close to each other; and it also includes a telescoping device 23 that can drive the movable seat 24 to translate.

[0025] The main body material of the thin-walled metal tube 19 can be a copper tube with good ductility or other metals with poor ductility. When the thin-walled metal tube 19 is in the clamped state, the a clamping block 29 and the b clamping block 28 are assembled into a whole, the a clamping groove 30 and the b clamping groove 31 are coaxially clamped outside the thin-walled metal tube 19, and one end of the thin-walled metal tube 19 close to the forming unit is exposed at one end of the assembled structure 61 formed by the a clamping block 29 and the b clamping block 28, as shown in FIG. Figure 2 As shown in the lower right figure.

[0026] like Figures 3 to 6As shown, the forming unit includes a translation block 27 on one side of the fixed clamping platform 45, and the translation block 27 is fixedly connected to the translation axis 14 on the side close to the fixed clamping platform 45, and the translation axis 14 is coaxial with the clamping groove 30. The translation block 27 is connected to the electric push rod 26 on the side away from the fixed clamping platform 45, and the electric push rod 26 drives the translation axis 14 to translate along the axial direction; the outer diameter of the translation axis 14 is larger than the outer diameter of the thin-walled metal tube 19; the end of the translation axis 14 is coaxially provided with an insertion axis 5, and the outer diameter of the insertion axis 5 is consistent with the inner diameter of the thin-walled metal tube 19; the spacing between the translation axis 14 and the insertion axis 5 forms a disc-shaped gap cavity 37; the end face of the translation axis 14 is coaxially provided with a cylindrical insertion groove 38, and the inner circle diameter and outer circle diameter of the cylindrical insertion groove 38 are respectively consistent with the inner diameter and outer diameter of the thin-walled metal tube 19; one end of the thin-walled metal tube 19 can be coaxially inserted into the cylindrical insertion groove 38.

[0027] A disk groove 54 is provided in one end of the insertion shaft 5 close to the translation shaft 14, and a bearing sleeve 85 is coaxially provided at the bottom of the disk groove 54, and a rotating ring disk 7 is coaxially provided in the disk groove 54, and a rotating sleeve 10 is coaxially provided at one end of the rotating ring disk 7, and the rotating sleeve 10 rotates coaxially with the bearing sleeve 85 through a bearing; a toothed disk 6 is coaxially provided at one end of the rotating ring disk 7, and a built-in driving motor 15 is fixedly installed on the inner wall of the disk groove 54, and a gear 16 is drivingly connected to the output end of the built-in driving motor 15, and the gear 16 is meshed with the toothed disk 6, thereby driving the rotating ring disk 7 to rotate.

[0028] like Figures 3 to 6As shown, three groups of gradual rolling forming units 4 are arranged in a circular array in the disc-shaped void cavity 37, and each group of gradual rolling forming units 4 includes a slide bar 2, a rolling wheel 1 and a conical running wheel 3; the wheel surface of the rolling wheel 1 is made of cemented carbide, and the cross-section is a smooth arc; the slide bar 2 extends in the radial direction of the disc-shaped void cavity 37, the rolling wheel 1 is rotatably mounted on the end of the slide bar 2 away from the axis of the disc-shaped void cavity 37, and the conical running wheel 3 is rotatably mounted on the end of the slide bar 2 close to the axis of the disc-shaped void cavity 37; one side of the rotating ring disk 7 is arranged in a circular array with three guide rails 17 extending in the radial direction, and the three slide bars 2 are respectively guided and matched in the three guide rails 17 along the length direction; the axis of the disc-shaped void cavity 37 A conical column 9 is coaxially arranged at the thin end, and a transmission screw 8 is coaxially fixedly connected to the thin end thereof. A screw nut 35 is coaxially fixedly installed on the inner wall of the rotating sleeve 10 through a nut bracket 36, and the screw nut 35 cooperates with the transmission screw 8 in transmission; a guide hole 107 is penetrated through the eccentric position of the integrated structure formed by the transmission screw 8 and the conical column 9 along the length direction, and also includes a structural guide rod 11 sliding through the guide hole 107, and both ends of the structural guide rod 11 are respectively fixedly connected to one end of the insertion shaft 5 and the translation shaft 14 close to each other, and the axis of the guide hole 107 is parallel to the axis of the integrated structure formed by the transmission screw 8 and the conical column 9 but does not overlap, so that the transmission screw 8 and the conical column 9 cannot rotate along the axis.

[0029] A process groove 12 for accommodating the transmission screw 8 is coaxially arranged at the end axis of the translation axis 14 .

[0030] The ends of the wheel axles 102 of the three rolling wheels 1 are fixedly provided with connecting piles 101, and any two adjacent connecting piles 101 among the three connecting piles 101 are connected by elastic pulling wires 100 or pulling springs; the three elastic pulling wires 100 are connected to form an equilateral triangle; under the common pulling of the three elastic pulling wires 100, the three conical walking wheels 3 always roll to match the conical surface of the conical column 9.

[0031] Process and working principle:

[0032] Step 1: The robot arm drives the robot hand 21 to clamp a thin-walled metal tube 19 and move it to the top of the fixed clamping platform 45;

[0033] Step 2: The robot arm drives the robot hand 21 to move the clamped thin-walled metal tube 19 to the clamping groove 30 of the clamping block 29 coaxially fitted therewith;

[0034] Step 3: The retractor 23 pushes the b clamping block 28 to move closer to the a clamping block 29 until the b clamping block 28 and the a clamping block 29 are assembled into a whole, and the a clamping groove 30 and the b clamping groove 31 are coaxially and tightly clamped outside the thin-walled metal tube 19, so that the thin-walled metal tube 19 enters a clamping state, and at this time, one end of the thin-walled metal tube 19 close to the forming unit is exposed to one end of the assembled structure 61 formed by the a clamping block 29 and the b clamping block 28;

[0035] Step 4: The electric push rod 26 performs a pushing action to insert the insertion shaft 5 into the thin-walled metal tube 19 in the clamped state coaxially along the axial direction. At the same time, one end of the thin-walled metal tube 19 is coaxially inserted into the cylindrical insertion groove 38 and contacts the bottom of the cylindrical insertion groove 38. At this time, a temporary process annular groove 63 is formed in the gap between one end surface of the combined structure 61 formed by the a clamping block 29 and the b clamping block 28 and the end surface of the translation shaft 14;

[0036] Step five, the built-in driving motor 15 drives the rotating ring disk 7 to continuously rotate along the axis through the transmission structure, so that the three rolling wheels 1 and the three conical walking wheels 3 all rotate along the axis of the rotating ring disk 7 with the rotating ring disk 7. At the same time, the screw nut 35 rotates along the axis with the rotating ring disk 7. Since the screw nut 35 itself cannot move along the axis direction, the rotation of the screw nut 35 drives the non-rotating transmission screw 8 to gradually and slowly move left along the axis direction under the thread transmission, so that the conical column 9 moves slowly to the left following the transmission screw 8. At the same time, the three conical walking wheels 3 roll circumferentially along the outer circumference of the conical column 9 under the rotation drive of the rotating ring disk 7; the slow leftward movement of the conical column 9 is combined with the continuous circumferential rolling of the conical walking wheels 3 along the outer circumference of the conical column 9, so that the conical walking wheels 3 roll relative to the outer circumference of the conical column 9 in a conical spiral line 120 that gradually moves away from the axis of the conical column 9, as shown in FIG. Figure 7 As shown; the three rolling wheels 1 rotate circumferentially along the axis of the rotating ring disk 7 while slowly and gradually moving away from the axis of the conical column 9, so that the three rolling wheels 1 periodically roll circumferentially along the inner wall of the thin-walled metal tube 19 while gradually deepening the rolling pressure on the inner wall of the thin-walled metal tube 19. A section of the thin-walled metal tube 19 at the location of the temporary process ring groove 63 forms a gradually convex annular convex arch under the gradually deepening circumferential outward expansion rolling of the three rolling wheels 1, and finally forms a section of an integrated convex ring on the thin-walled metal tube 19. At this point, a pier rib 20 on the thin-walled metal tube 19 has been formed;

[0037] Step six, the built-in drive motor 15 drives the rotating ring disk 7 to rotate continuously in the opposite direction along the axis through the transmission structure. From the transmission relationship, it can be seen that during the circumferential rotation of the three rolling wheels 1 along the axis of the rotating ring disk 7, they also move gradually closer to the axis of the rotating ring disk 7, so that the three rolling wheels 1 gradually retract into the disc-shaped gap cavity 37, and then the electric push rod 26 retracts to disengage the insertion shaft 5 from the formed thin-walled metal tube 19, and then the b clamping block 28 moves away from the a clamping block 29, and finally the robotic arm drives the robotic arm 21 to clamp and take away the thin-walled metal tube 19 after the reinforcement is completed.

[0038] The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. The pipe end pier reinforcement forming system based on loading and unloading of the robot arm is characterized by: The invention comprises a copper tube transfer unit, a clamping unit and a molding unit; the copper tube transfer unit comprises a manipulator (21); the clamping unit comprises a clamping block a (29) and a clamping block b (28); the clamping block a (29) and the clamping block b (28) are respectively provided with semicircular clamping groove a (30) and b clamping groove (31) on the sides close to each other; when the thin-walled metal tube (19) is in a clamped state, the clamping groove a (30) and the clamping groove b (31) are coaxially clamped outside the thin-walled metal tube (19), and one end of the thin-walled metal tube (19) close to the molding unit is exposed at one end of a spliced ​​structure (61) formed by the clamping block a (29) and the clamping block b (28).

2. The pipe end pier reinforcement forming system based on loading and unloading of a robot arm according to claim 1 is characterized in that: The molding unit comprises a translation shaft (14), the translation shaft (14) is coaxial with the a-clamping groove (30), and the translation shaft (14) can translate along the axial direction.

3. The pipe end pier reinforcement forming system based on loading and unloading of a robot arm according to claim 2 is characterized in that: The outer diameter of the translation axis (14) is greater than the outer diameter of the thin-walled metal tube (19); an insertion axis (5) is coaxially arranged at the end of the translation axis (14), and the outer diameter of the insertion axis (5) is consistent with the inner diameter of the thin-walled metal tube (19).

4. The pipe end pier reinforcement forming system based on loading and unloading of a robot arm according to claim 3 is characterized in that: The spacing between the translation axis (14) and the insertion axis (5) forms a disc-shaped gap cavity (37); the end surface of the translation axis (14) is coaxially provided with a cylindrical insertion groove (38); the inner circle diameter and the outer circle diameter of the cylindrical insertion groove (38) are respectively consistent with the inner diameter and the outer diameter of the thin-walled metal tube (19); one end of the thin-walled metal tube (19) can be coaxially inserted into the cylindrical insertion groove (38).

5. The pipe end pier reinforcement forming system based on mechanical arm loading and unloading according to claim 4 is characterized in that: A disc groove (54) is arranged in one end of the insertion shaft (5) close to the translation shaft (14); a bearing sleeve (85) is coaxially arranged on the bottom of the disc groove (54); a rotating ring disc (7) is coaxially arranged in the disc groove (54); a rotating sleeve (10) is coaxially arranged on one end of the rotating ring disc (7); the rotating sleeve (10) is coaxially rotatably matched with the bearing sleeve (85) via a bearing; Three groups of gradual rolling forming units (4) are arranged in a circular array in the disc-shaped void cavity (37), and each group of gradual rolling forming units (4) comprises a slide bar (2), a rolling wheel (1) and a conical running wheel (3). The slide bar (2) extends in the radial direction of the disc-shaped void cavity (37), the rolling wheel (1) is rotatably mounted on the end of the slide bar (2) away from the axis of the disc-shaped void cavity (37), and the conical running wheel (3) is rotatably mounted on the end of the slide bar (2) close to the axis of the disc-shaped void cavity (37); one side of the rotating ring disk (7) is arranged in a circular array with three guide rails (17) extending in the radial direction, and the three slide bars (2) are respectively arranged along the length The direction guide is matched in three guide rails (17); a conical column (9) is coaxially arranged at the axis of the disc-shaped gap cavity (37); a transmission screw (8) is coaxially fixedly connected to the thin end; a screw nut (35) is coaxially fixedly installed on the inner wall of the rotating sleeve (10) through a nut bracket (36); the screw nut (35) is matched with the transmission screw (8) in transmission; a guide hole (107) is penetrated in the length direction at an eccentric position inside the integrated structure formed by the transmission screw (8) and the conical column (9); the axis of the guide hole (107) is parallel to the axis of the integrated structure formed by the transmission screw (8) and the conical column (9) but does not overlap; It also includes a structural guide rod (11) that slides through the guide hole (107), and the two ends of the structural guide rod (11) are respectively fixedly connected to the insertion shaft (5) and the end of the translation shaft (14) that are close to each other.

6. The pipe end pier reinforcement forming system based on loading and unloading of a robot arm according to claim 5 is characterized in that: The ends of the wheel axles (102) of the three rolling wheels (1) are all fixedly provided with connecting piles (101), and any two adjacent connecting piles (101) among the three connecting piles (101) are connected by pulling through elastic pulling wires (100) or pulling springs; the three elastic pulling wires (100) are connected to form an equilateral triangle; under the common pulling of the three elastic pulling wires (100), the three conical walking wheels (3) always roll to match the conical surface of the conical column (9).

7. The pipe end pier reinforcement forming system based on loading and unloading of a robot arm according to claim 6 is characterized in that: A toothed disc (6) is coaxially provided on one end of the rotating ring disc (7), a built-in driving motor (15) is fixedly mounted on the inner wall of the disc groove (54), and a gear (16) is drivingly connected to the output end of the built-in driving motor (15), and the gear (16) is meshed with the toothed disc (6).

8. The working method of the pipe end pier reinforcement forming system based on loading and unloading of a robot arm according to claim 7 is characterized in that: The insertion shaft (5) is coaxially inserted into the thin-walled metal tube (19) in a clamped state along the axial direction, and after one end of the thin-walled metal tube (19) is coaxially inserted into the cylindrical insertion groove (38) and contacts the bottom of the cylindrical insertion groove (38) in a limited manner, the built-in driving motor (15) drives the rotating ring disk (7) to continuously rotate along the axis through the transmission structure.

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