Automatic punching and bending equipment and method for bilaterally symmetrical pipe fittings

Abstract

The invention belongs to the technical field of mechanical automation, and discloses an automatic punching and bending device for bilaterally symmetrical pipe fittings, which comprises a device workbench, a punching mechanism and a bending mechanism, the device workbench is provided with a blanking mechanism, a feeding mechanism, a limiting and fixing mechanism and an identifying and conveying device, the pipe fittings are sequentially blanked into the feeding mechanism from the blanking mechanism, and the punching mechanism is arranged on the punching mechanism; then limiting and fixing are conducted through the limiting and fixing mechanism, then the feeding mechanism conveys the pipe fittings to the punching mechanism for punching, the upper punching machine punches the upper end of the first entering pipe fitting, the lower punching machine punches the lower end of the second entering pipe fitting, and circulation is conducted in sequence, so that automatic machining of the left pipe fitting and the right pipe fitting is achieved; the punched pipe fittings are conveyed to the bending mechanism through the recognition conveying device to be bent, finally, the first pipe fitting is placed into the material frame on the left side through the mechanical arm, the second pipe fitting is placed into the material frame on the right side through the mechanical arm, and therefore automatic distinguishing of the left pipe fitting and the right pipe fitting is achieved. The automation of various operations is improved, and the production efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical automation, and in particular relates to an automatic punching and bending device and method for bilaterally symmetrical pipe fittings. Background Art

[0002] In the production process of some symmetrical pipe fittings, such as the left and right armrests of seats, punching, bending and other processing are required. The existing production equipment has a fixed process and can only operate in a single direction, and cannot distinguish between left and right. To achieve the processing of symmetrical pipe fittings, multiple processes are required to be processed separately, which is inefficient. Summary of the invention

[0003] The object of the present invention is to provide an automatic punching and bending device and method for bilaterally symmetrical pipe fittings to solve the above-mentioned technical problems.

[0004] In order to solve the above technical problems, the specific technical solution of the automatic punching and bending equipment for bilaterally symmetrical pipe fittings of the present invention is as follows: The invention discloses an automatic punching and bending device for left-right symmetrical pipe fittings, comprising a device workbench and a punching mechanism and a bending mechanism installed on the device workbench. The device workbench is also equipped with a feeding mechanism, a feeding mechanism, a limit fixing mechanism and an identification and conveying device. The pipe fittings are fed from the feeding mechanism into the feeding mechanism in sequence, and then are limit fixed by the limit fixing mechanism. Then the feeding mechanism sends the pipe fittings to the punching mechanism for punching. The punching mechanism comprises an upper puncher and a lower puncher. The upper puncher punches holes at the upper end of the first pipe fitting entering, and the lower puncher punches holes at the lower end of the second pipe fitting entering, and the process is cyclically repeated to realize automatic processing of left and right pipe fittings. The punched pipe fittings are conveyed to the bending mechanism by the identification and conveying device for bending. Finally, the first pipe fitting is placed in the material box on the left and the second pipe fitting is placed in the material box on the right by a manipulator, so as to realize automatic distinction between left and right pipe fittings.

[0005] Furthermore, the unloading mechanism includes two fixed plates, a material slide rail, a material dividing assembly, a blocking assembly and an infrared recognition assembly. The two fixed plates are vertically installed on both sides of the equipment workbench. The material slide rail is fixedly installed on the inner side of the two fixed plates and is tilted so that the pipe fittings can automatically slide down along the material slide rail under the action of their own gravity. The material slide rail on each side includes two upper and lower ones. The pipe fittings are placed between the upper and lower material slide rails to achieve limited fixation; the material dividing assembly is rotatably installed on the fixed plate and above the material slide rail, and includes a material dividing motor, a connecting shaft and a gear disk. The material dividing motor is installed on the outside of a fixed plate. The connecting shaft passes through the two fixed plates, and one end is fixedly connected to the material dividing motor and is driven by the material dividing motor Rotate, the gear disc is coaxially fixed on the two ends of the connecting shaft and the inner side of the fixed plate. As the connecting shaft rotates, the gear disc unloads the pipe fittings in sequence by rotating. The infrared recognition component is installed downstream of the material distribution component; the blocking component is arranged behind the infrared recognition component, including a blocking cylinder and a blocking rod. The blocking cylinder is fixed to the outer sides of the material slide rails on both sides through fixings. The blocking rod is fixedly connected to the blocking cylinder. The blocking cylinder controls the lifting of the blocking rod to achieve blocking of the pipe fitting. When the material distribution component drives a pipe fitting to fall, the infrared recognition component identifies the pipe fitting, and the control system of the device triggers the blocking component to retract the blocking rod and release a pipe fitting. After the release, the blocking rod is extended to achieve single material separation and unloading.

[0006] Furthermore, the feeding mechanism is installed at the falling position of the pipe fitting, and includes a fixed base, a lifting cylinder, a lifting slide rail, a lifting bracket, a front and rear telescopic cylinder, a front and rear telescopic cylinder fixing seat, a front and rear slide rail and a support. The lifting cylinder and the lifting slide rail are fixedly installed on the fixed base, the lifting slide rail is fixedly installed on the equipment workbench, the lifting bracket is slidably installed on the lifting slide rail, the output end of the lifting cylinder is fixedly connected to the lifting bracket, driving the lifting bracket to move up and down along the lifting slide rail, the front and rear telescopic cylinder fixing seat is fixedly installed on the lifting bracket, the front and rear telescopic cylinder and the front and rear slide rail are fixedly installed On the front and rear telescopic cylinder fixing seats, as the lifting bracket moves up and down, the support hand is slidably connected to the front and rear slide rails, and the output end of the front and rear telescopic cylinder is fixedly connected to the support hand, driving the support hand to move forward and backward. In the initial state, the front and rear telescopic cylinders are extended to align the support hand forward to the unloading port, and the falling pipe fittings can just fit into the card slots of the support hands. Then, the front and rear telescopic cylinders are retracted to the limit fixing mechanism to align the pipe fittings. After the alignment, the lifting cylinder is lifted and the front and rear telescopic cylinders are extended to feed the pipe fittings into the punching mechanism. Then the lifting cylinder is lowered and the front and rear telescopic cylinders are retracted to reset the feeding mechanism.

[0007] Furthermore, the limit fixing mechanism includes a limit baffle and an orientation recognition device, wherein the limit baffle is fixedly mounted on a fixing plate on one side and aligned with one end of the pipe fitting; the orientation recognition device is fixedly mounted on the other side of the pipe fitting and is used to clamp the pipe fitting so that the pipe fitting is fixed at a set position and abuts against the limit baffle, so that the pipe fitting is close to the limit baffle and the position of each pipe fitting is aligned.

[0008] Furthermore, the punching mechanism also includes a clamping device and a punching machine fixing seat, the clamping device is fixedly installed on the equipment workbench, the punching machine fixing seat is fixedly installed on one side of the equipment workbench, the upper punching machine and the lower punching machine are respectively fixedly installed above and below the punching machine fixing seat, the clamping device is used to clamp the pipe fittings, the first pipe fitting is punched with the upper punching machine, and the second pipe fitting is punched with the lower punching machine, and the cycle is repeated in sequence to automatically distinguish the left and right pipe fittings.

[0009] Furthermore, the clamping and fixing device includes a support, a limit fixing seat and a clamping device, the support is fixedly installed on the equipment workbench, the feeding mechanism sends the pipe fitting to the support, the limit fixing seat includes limit baffles on left and right sides, one limit baffle is fixed on the inner side of the punching machine fixing seat, and the other limit baffle is fixed on the equipment workbench, which is used to limit the position of the pipe fitting, and the clamping device includes a fixed clamping arm on the front side and a movable clamping arm on the rear side, the fixed clamping arm is fixedly installed on the equipment workbench, and the inner side is in contact with one side of the pipe fitting, the movable clamping arm is aligned with the fixed clamping arm, and has a slide rail on the upper end, which can be extended and retracted under the drive of the cylinder, close to the other side of the pipe fitting, and clamps the pipe fitting, thereby fixing the position of the pipe fitting.

[0010] Furthermore, the identification and conveying device includes a fixed suspension, an up-down, left-right moving module, a front-and-back moving slide rail and a mechanical arm assembly, wherein the fixed suspension is fixedly mounted on the equipment workbench; the up-down, left-and-right moving module is slidably mounted on the fixed suspension and can slide up-down, left-and-right along the fixed suspension to adjust the height and left-and-right distance of the mechanical arm assembly; the front-and-back moving slide rail is fixedly mounted on the up-down, left-and-right moving module, and the mechanical arm assembly is mounted on the front-and-back moving slide rail to grab the punched pipe and place it into a bending mechanism for bending operations.

[0011] Furthermore, a plurality of infrared sensors are installed on the identification and conveying device for identification and positioning, so that the robot arm assembly can achieve precise grasping. The robot arm assembly includes two left and right jaws, which are driven by a cylinder to open and close. After the punching is completed, the robot arm assembly moves to the clamping device under the drive of a motor, and the jaws move to grab the pipe. Then the robot arm assembly moves backward along the forward and backward moving slide rails to place the pipe into the bending mechanism.

[0012] Furthermore, the bending mechanism includes a bending fixed seat and a bending device, the bending fixed seat is fixedly installed on the equipment workbench, the bending device includes a bending cylinder, a sliding rail and a bending support, the bending cylinder and the sliding rail are fixedly installed on the equipment workbench, the bending support is slidably installed on the sliding rail, the output end of the bending cylinder is fixedly connected to the bending support, and is used to drive the bending support to move back and forth along the sliding rail. The pipe fitting is transported to the bending support of the bending device by the identification and conveying device, and is driven forward by the bending cylinder. When it hits the bending fixed seat, the bending device continues to move forward to squeeze the pipe fitting to form a bent pipe.

[0013] The present invention also discloses a control method for an automatic punching and bending device for bilaterally symmetrical pipe fittings, comprising the following steps: Step 1: The first pipe falls into the feeding mechanism through the unloading mechanism; Step 2: The limiting and fixing mechanism identifies and aligns the pipe fittings, so that the pipe fittings are fixed according to the set position and the punching position does not deviate; Step 3: Then the feeding mechanism sends the pipe to the punching mechanism for punching, and the upper punching machine punches a hole at the upper end of the first pipe that enters; Step 4: After the punching is completed, the pipe is transported to the bending mechanism through the identification and conveying device for bending operation; Step 5: The subsequent robot puts the first processed pipe into the material box on the left to complete the processing of the left handrail workpiece; Step 6: The second pipe falls into the feeding mechanism through the unloading mechanism; Step 7: The limiting and fixing mechanism identifies and aligns the pipe fittings, fixes the pipe fittings in the set position, and prevents the punching position from shifting; Step 8: Then the feeding mechanism sends the pipe to the punching mechanism for punching, and the lower punching machine punches the lower end of the second pipe entering; Step 9: After the punching is completed, the pipe is transported to the bending mechanism through the identification and conveying device for bending operation; Step 10: The subsequent robot puts the processed second pipe into the material box on the right, completing the processing of the right handrail workpiece; Step 11: Repeat steps 1-10 to achieve automatic processing and differentiation of left and right pipe fittings.

[0014] The automatic punching and bending equipment and method of left-right symmetrical pipe fittings of the present invention have the following advantages: the present invention automatically unloads materials through the unloading mechanism, automatically feeds materials through the feeding mechanism, and automatically puts the pipe fittings together through the limit fixing mechanism. The punching mechanism 4 has an upper puncher and a lower puncher, which punch holes alternately on the pipe fittings that come over, and then transport them to the bending mechanism 6 for unified bending processing through the identification and conveying device. Finally, the processed pipe fittings are cyclically and alternately placed in the left and right material boxes respectively through the manipulator, so as to realize the automatic distinction between the left and right pipe fittings. The automation of various operations is improved, and the production efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the automatic punching and bending equipment for bilaterally symmetrical pipe fittings of the present invention; Figure 2 It is a schematic diagram of the structure of the material unloading mechanism and the identification and conveying device of the present invention; Figure 3 It is a schematic diagram of the structure of the feeding mechanism of the present invention; Figure 4 It is a schematic diagram of the punching mechanism structure of the present invention; Figure 5 It is a schematic diagram of the structure of the bending mechanism of the present invention; Explanation of the markings in the figure: 10, equipment workbench; 1, unloading mechanism; 11, fixed plate; 12, material slide rail; 13, material distribution assembly; 131, material distribution motor; 132, connecting shaft; 133, gear plate; 14, blocking assembly; 141, blocking cylinder; 142, blocking rod; 15, infrared recognition assembly; 2, feeding mechanism; 21, fixed base; 22, lifting cylinder; 23, lifting slide rail; 24, lifting bracket; 25, front and rear telescopic cylinder; 26, front and rear telescopic cylinder fixing seat; 27, front and rear slide rail; 28, support; 3, limit fixing mechanism; 31, limit baffle; 32, simple direction recognition device; 321, lifting mechanism; 322, rotary Rotating motor; 323, rotating mechanism; 324, clamping mechanism; 4, punching mechanism; 41, clamping fixture; 411, bracket; 412, limit fixing seat; 413, clamping device; 4131, fixed clamping arm; 4132, movable clamping arm; 42, punching machine fixing seat; 43, upper punching machine; 44, lower punching machine; 5, identification and conveying device; 51, fixed suspension; 52, up, down, left and right moving module; 53, forward and backward moving slide rail; 54, mechanical arm assembly; 541, clamping claw; 6, bending mechanism; 61, bending fixing seat; 62, bending device; 621, bending cylinder; 622, sliding rail; 623, bending bracket; 7, pipe fittings. DETAILED DESCRIPTION

[0016] In order to better understand the purpose, structure and function of the present invention, the automatic punching and bending equipment and method for bilaterally symmetrical pipe fittings of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0017] like Figure 1 As shown, an automatic punching and bending device for left-right symmetrical pipe fittings of the present invention comprises a device workbench 10, on which a feeding mechanism 1, a feeding mechanism 2, a limiting and fixing mechanism 3, a punching mechanism 4, an identification and conveying device 5 and a bending mechanism 6 are installed. The pipe fittings 7 are sequentially fed from the feeding mechanism 1 to the feeding mechanism 2, and then are limited and fixed by the limiting and fixing mechanism 3, so that the position of the pipe fittings is fixed and the punching position does not shift. Then the feeding mechanism 2 sends the pipe fittings 7 to the punching mechanism 4 for punching. The punching mechanism 4 has an upper puncher and a lower puncher, respectively, to punch the upper end of the first pipe fitting 7 entering, and to punch the lower end of the second pipe fitting 7 entering, and the process is cyclically repeated to realize automatic processing of left and right pipe fittings. The punched pipe fittings 7 are transported to the bending mechanism 6 by the identification and conveying device 5 for bending operation. Finally, the first pipe fitting 7 is placed in the material box on the left, and the second pipe fitting 7 is placed in the material box on the right by the manipulator, so as to realize automatic distinction between left and right pipe fittings 7.

[0018] like Figure 2As shown, the unloading mechanism 1 includes two fixed plates 11, a material slide rail 12, a material dividing assembly 13, a blocking assembly 14 and an infrared recognition assembly 15. The two fixed plates 11 are vertically installed on both sides of the equipment workbench 10. The material slide rail 12 is fixedly installed on the inner side of the two fixed plates 11 and is tilted so that the pipe fitting 7 can automatically slide down along the material slide rail 12 under the action of its own gravity. The material slide rail 12 on each side includes two upper and lower ones. The pipe fitting 7 is placed between the upper and lower material slide rails 12 to achieve limit fixation. The material dividing assembly 13 is rotatably mounted on the fixed plate 11, above the material slide rail 12, and includes a material dividing motor 131, a connecting shaft 132 and a gear disc 133. The material dividing motor 131 is mounted on the outside of a fixed plate 11, and the connecting shaft 132 passes through two fixed plates 11. One end is fixedly connected to the material dividing motor 131 and is driven to rotate by the material dividing motor 131. The gear disc 133 is coaxially fixed at both ends of the connecting shaft 132 and the inner side of the fixed plate 11. As the connecting shaft 132 rotates, the gear disc 133 rotates to discharge the pipe fittings 7 one by one. The infrared recognition component 15 is installed downstream of the material distribution component 13 and is fixed to the fixed plate 11 by a fixing member. The fixing method is not limited here. The blocking component 14 is arranged behind the infrared recognition component 15, and includes a blocking cylinder 141 and a blocking rod 142. The blocking cylinder 141 is fixed to the outer side of the material slide rails 12 on both sides by a fixing member. The blocking rod 142 is fixedly connected to the blocking cylinder 141. The blocking cylinder 141 controls the lifting and lowering of the blocking rod 142 to achieve the blocking of the pipe 7. When the material distribution component 13 moves a pipe 7 to fall, the infrared recognition component 15 recognizes the pipe 7, and the device control system triggers the blocking component 14 to retract the blocking rod 142, release a pipe 7, and extend the blocking rod 142 after release to achieve the separation and unloading of a single material.

[0019] Preferably, the fixing plate 11 is connected to the equipment workbench 10 via a slide rail at the bottom, and the distance between the two fixing plates 11 is adjusted by a screw mechanism, so that pipes of different lengths can be used.

[0020] like Figure 3As shown, the feeding mechanism 2 is installed at the falling part of the pipe fitting 7, and includes a fixed base 21, a lifting cylinder 22, a lifting slide rail 23, a lifting bracket 24, a front and rear telescopic cylinder 25, a front and rear telescopic cylinder fixing seat 26, a front and rear slide rail 27, and a hand support 28. The lifting cylinder 22 and the lifting slide rail 23 are fixedly installed on the fixed base 21, the lifting slide rail 23 is fixedly installed on the equipment workbench 10, the lifting bracket 24 is slidably installed on the lifting slide rail 23, the output end of the lifting cylinder 22 is fixedly connected to the lifting bracket 24, driving the lifting bracket 24 to move up and down along the lifting slide rail 23, the front and rear telescopic cylinder fixing seat 26 is fixedly installed on the lifting bracket 24, the front and rear telescopic cylinder 25 and the front and rear slide rail 27 are fixedly installed on the front and rear telescopic cylinder fixing seat 26, as the lifting bracket 24 moves up and down, the hand support 28 is slidably connected to the front and rear slide rail 27, and the output end of the front and rear telescopic cylinder 25 is fixedly connected to the hand support 28, driving the hand support 28 to move forward and backward. In the initial state, the front and rear telescopic cylinders 25 extend to align the support hand 28 forward to the feeding port, and the falling pipe 7 can just fit into the slot of the support hand 28. Then, the front and rear telescopic cylinders 25 retract to the position limit fixing mechanism 3 to align the pipe 7. After the alignment, the lifting cylinder 22 is lifted and the front and rear telescopic cylinders 25 extend to feed the pipe 7 into the punching mechanism 4, and then the lifting cylinder 22 is lowered and the front and rear telescopic cylinders 25 are retracted to reset the feeding mechanism 2.

[0021] like Figure 3 As shown, the position-limiting and fixing mechanism 3 includes a position-limiting baffle 31 and a simple direction-recognizing device 32. The position-limiting baffle 31 is fixedly mounted on the fixing plate 11 on one side and aligned with one end of the pipe 7. The simple direction-recognizing device 32 is fixedly mounted on the other side of the pipe 7 and is used to clamp the pipe 7 so that the pipe 7 is fixed according to the set position and is close to the position-limiting baffle 31, so that the position of each pipe 7 is aligned, so that the wider side is vertically vertical and the narrower side is horizontally parallel. The simple direction-recognizing device 32 includes a lifting mechanism 321, a rotating motor 322, a rotating mechanism 323, a clamping mechanism 324 and other components, which can realize the movement of the pipe 7, and are not limited here. The pipe 7 can also be set to fix the narrower side vertically vertically, the wider side horizontally parallel or the pipe 7 is in an inclined state or other set positions.

[0022] like Figure 4As shown, the punching mechanism 4 includes a clamping fixture 41, a punching machine fixing seat 42, an upper punching machine 43 and a lower punching machine 44. The clamping fixture 41 is fixedly mounted on the equipment workbench 10, the punching machine fixing seat 42 is fixedly mounted on one side of the equipment workbench 10, the upper punching machine 43 and the lower punching machine 44 are respectively fixedly mounted above and below the punching machine fixing seat 42, the clamping fixture 41 is used to clamp the pipe fitting 7, and the upper punching machine 43 and the lower punching machine 44 are used to punch holes in the pipe fitting 7. The first pipe fitting 7 is punched with the upper punching machine 43, and the second pipe fitting 7 is punched with the lower punching machine 44, and the cycle is repeated in sequence to automatically distinguish the left and right pipe fittings 7.

[0023] The clamping and fixing device 41 includes a support seat 411, a limit fixing seat 412 and a clamping device 413. The support seat 411 is fixedly installed on the equipment workbench 10. The feeding mechanism 2 sends the pipe fitting 7 to the support seat 411. The limit fixing seat 412 includes limit baffles on the left and right sides. One limit baffle is fixed on the inner side of the punching machine fixing seat 42, and the other limit baffle is fixed on the equipment workbench 10, which is used to limit the position of the pipe fitting 7. The clamping device 413 includes a fixed clamping arm 4131 on the front side and a movable clamping arm 4132 on the rear side. The fixed clamping arm 4131 is fixedly installed on the equipment workbench 10, and the inner side is in contact with one side of the pipe fitting 7. The movable clamping arm 4132 is aligned with the fixed clamping arm. The upper end has a slide rail, which can be extended and retracted under the drive of the cylinder to approach the other side of the pipe fitting 7 to clamp the pipe fitting 7, thereby fixing the position of the pipe fitting 7.

[0024] Preferably, the puncher fixing seat 42 is fixedly connected to the equipment workbench 10 via a slide rail, and an adjusting cylinder 421 is installed on the puncher fixing seat 42, which can adjust the position of the puncher fixing seat 42, so as to achieve punching of different positions of the pipe fitting 7.

[0025] like Figure 2 As shown, the identification conveying device 5 includes a fixed suspension 51, an up-down, left-right moving module 52, a front-back moving slide rail 53, and a mechanical arm assembly 54. The fixed suspension 51 is fixedly mounted on the equipment workbench 10, and the up-down, left-right moving module 52 is slidably mounted on the fixed suspension 51, and can slide up-down, left-right, and right-left along the fixed suspension 51 to adjust the height and left-right distance of the mechanical arm assembly 54. The up-down, left-right moving module 52 is a conventional motor slide rail moving module, which is not limited here. The front-back moving slide rail 53 is fixedly mounted on the up-down, left-right moving module 52, and the mechanical arm assembly 54 is mounted on the front-back moving slide rail 53 to grab the punched pipe 7 and put it into the bending mechanism 6 for bending operation.

[0026] The identification and conveying device 5 is equipped with a plurality of infrared sensors for identification and positioning, so that the mechanical arm assembly 54 can achieve accurate grasping. The mechanical arm assembly 54 includes two left and right clamps 541, and the clamps 541 are driven by a cylinder to open and close. After the punching is completed, the mechanical arm assembly 54 moves to the clamping and fixing device 41 under the drive of the motor, and the clamps 541 move to grasp the pipe 7, and then the mechanical arm assembly 54 moves backward along the front and rear moving slide rails 53 to put the pipe 7 into the bending mechanism 6.

[0027] like Figure 5 As shown, the bending mechanism 6 includes a bending fixed seat 61 and a bending device 62. The bending fixed seat 61 is fixedly mounted on the equipment workbench 10. The bending device 62 includes a bending cylinder 621, a sliding rail 622, and a bending bracket 623. The bending cylinder 621 and the sliding rail 622 are fixedly mounted on the equipment workbench 10. The bending bracket 623 is slidably mounted on the sliding rail 622. The output end of the bending cylinder 621 is fixedly connected to the bending bracket 623 to drive the bending bracket 623 to move forward and backward along the sliding rail 622. The pipe 7 is transported to the bending bracket 623 of the bending device 62 by the identification and conveying device 5, and is driven forward by the bending cylinder 621. When it hits the bending fixed seat 61, the bending device 62 continues to move forward to squeeze the pipe 7 to form a bent pipe.

[0028] Preferably, the bottom of the bending device 62 is connected to the equipment workbench 10 through a slide rail, and the front and rear positions of the bending device 62 can be adjusted through a screw mechanism, thereby controlling the bending degree of the pipe 7 and being able to adapt to requirements of different bending degrees.

[0029] In the subsequent process, a robot is used to grab the processed pipe fittings 7, and put them into the left material frame for the first time and into the right material frame for the second time, so as to distinguish the left and right pipe fittings 7.

[0030] A control method for an automatic punching and bending device for bilaterally symmetrical pipe fittings of the present invention comprises the following steps: Step 1: The first pipe 7 falls into the feeding mechanism 2 through the unloading mechanism 1; Step 2: The limiting and fixing mechanism 3 performs simple orientation and alignment on the pipe 7, so that one side of the pipe always faces one direction and is fixed in position, so that the punching position does not deviate; Step 3: Then the feeding mechanism 2 sends the pipe 7 to the punching mechanism 4 for punching, and the upper punching machine punches a hole at the upper end of the first pipe 7 that enters; Step 4: After the punching is completed, the pipe 7 is transported to the bending mechanism 6 through the identification and conveying device 5 for bending operation; Step 5: The subsequent robot puts the first processed pipe 7 into the material box on the left to complete the processing of the left handrail workpiece; Step 6: The second pipe 7 falls into the feeding mechanism 2 through the unloading mechanism 1; Step 7: The limiting and fixing mechanism 3 performs simple orientation and alignment on the pipe fitting 7, so that one side of the pipe fitting always faces one direction and is fixed in position, so that the punching position does not shift.

[0031] Step 8: Then the feeding mechanism 2 sends the pipe 7 to the punching mechanism 4 for punching, and the lower punching machine punches a hole at the lower end of the second pipe 7 that enters; Step 9: After the punching is completed, the pipe 7 is transported to the bending mechanism 6 through the identification and conveying device 5 for bending operation; Step 10: The subsequent robot puts the processed second pipe 7 into the material box on the right, completing the processing of the right handrail workpiece; Step 11: Repeat steps 1-10 to realize automatic processing and differentiation of the left and right pipe fittings 7.

[0032] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. An automatic punching and bending device for bilaterally symmetrical pipe fittings, comprising a device workbench (10) and a punching mechanism (4) and a bending mechanism (6) mounted on the device workbench (10), characterized in that: The equipment workbench (10) is also equipped with a feeding mechanism, a feeding mechanism (2), a limit fixing mechanism (3) and an identification and conveying device (5). The pipe fittings (7) are sequentially fed from the feeding mechanism to the feeding mechanism (2), and then are limit fixed by the limit fixing mechanism (3). Then, the feeding mechanism (2) sends the pipe fittings (7) to the punching mechanism (4) for punching. The punching mechanism (4) includes an upper punching machine (43) and a lower punching machine (44). The upper punching machine (43) The upper end of the first pipe (7) entering is punched, and the lower punching machine (44) punches the lower end of the second pipe (7) entering, and the process is cyclically repeated to realize automatic processing of the left and right pipes (7). The punched pipes (7) are transported to the bending mechanism (6) through the identification and conveying device (5) for bending. Finally, the first pipe (7) is placed in the left material box and the second pipe (7) is placed in the right material box by the manipulator, thereby realizing automatic distinction between the left and right pipes (7).

2. The automatic punching and bending equipment for bilaterally symmetrical pipe fittings according to claim 1 is characterized in that: The unloading mechanism comprises two fixed plates (11), a material slide rail (12), a material dividing assembly (13), a blocking assembly (14) and an infrared recognition assembly (15). The two fixed plates (11) are vertically mounted on both sides of the equipment workbench (10). The material slide rail (12) is fixedly mounted on the inner side of the two fixed plates (11) and is tilted so that the pipe (7) can automatically slide down along the material slide rail (12) under the action of its own gravity. The material slide rail (12) on each side comprises two upper and lower rails. The pipe (7) The material distribution assembly (13) is placed between the upper and lower material slide rails (12) to achieve limited fixation; the material distribution assembly (13) is rotatably mounted on the fixed plate (11) and above the material slide rail (12), and comprises a material distribution motor (131), a connecting shaft (132) and a toothed disc (133); the material distribution motor (131) is mounted on the outside of a fixed plate (11); the connecting shaft (132) passes through the two fixed plates (11); one end of the connecting shaft (132) is fixedly connected to the material distribution motor (131) and is driven to rotate by the material distribution motor (131); the toothed disc (133) The disc (133) is coaxially fixed to the two ends of the connecting shaft (132) and the inner side of the fixing plate (11). As the connecting shaft (132) rotates, the toothed disc (133) sequentially discharges the pipe fittings (7) by rotating. The infrared recognition component (15) is installed downstream of the material distribution component (13). The blocking component (14) is arranged behind the infrared recognition component (15) and includes a blocking cylinder (141) and a blocking rod (142). The blocking cylinder (141) is fixed to the material slide rails (142) on both sides by fixing parts. 2), the blocking rod (142) is fixedly connected to the blocking cylinder (141), and the blocking cylinder (141) controls the lifting and lowering of the blocking rod (142) to block the pipe (7). When the material separation component (13) moves a pipe (7) to fall, the infrared recognition component (15) recognizes the pipe (7), and the control system of the device triggers the blocking component (14) to retract the blocking rod (142), thereby releasing a pipe (7). After the release, the blocking rod (142) is extended, thereby realizing the separation and discharge of a single material.

3. The automatic punching and bending equipment for bilaterally symmetrical pipe fittings according to claim 1 is characterized in that: The feeding mechanism (2) is installed at the falling position of the pipe (7), and comprises a fixed base (21), a lifting cylinder (22), a lifting slide rail (23), a lifting bracket (24), a front and rear telescopic cylinder (25), a front and rear telescopic cylinder fixing seat (26), a front and rear slide rail (27) and a support (28). The lifting cylinder (22) and the lifting slide rail (23) are fixedly installed on the fixed base (21), the lifting slide rail (23) is fixedly installed on the equipment workbench (10), and the lifting bracket (24) is slidably installed on the lifting slide rail (23). The output end of the lifting cylinder (22) is fixedly connected to the lifting bracket (24), driving the lifting bracket (24) to move up and down along the lifting slide rail (23). The front and rear telescopic cylinder fixing seat (26) is fixedly installed on the lifting bracket (24), and the front and rear telescopic cylinder (25) and the front and rear slide rail ( The front and rear telescopic cylinders (27) are fixedly mounted on the front and rear telescopic cylinder fixing seats (26). As the lifting bracket (24) moves up and down, the support hand (28) is slidably connected to the front and rear slide rails (27). The output end of the front and rear telescopic cylinders (25) is fixedly connected to the support hand (28), driving the support hand (28) to move forward and backward. In the initial state, the front and rear telescopic cylinders (25) are extended to align the support hand (28) forward to the unloading port, and the falling pipe (7) can just fit into the slot of the support hand (28). Then, the front and rear telescopic cylinders (25) are retracted to the limit fixing mechanism (3) to align the pipe (7). After the alignment, the lifting cylinder (22) is lifted and the front and rear telescopic cylinders (25) are extended to feed the pipe (7) into the punching mechanism (4). Then, the lifting cylinder (22) is lowered and the front and rear telescopic cylinders (25) are retracted to reset the feeding mechanism (2).

4. The automatic punching and bending equipment for bilaterally symmetrical pipe fittings according to claim 2 is characterized in that: The position-limiting and fixing mechanism (3) comprises a position-limiting baffle (31) and an orientation recognition device (32). The position-limiting baffle (31) is fixedly mounted on a fixing plate (11) on one side and is aligned with one end of the pipe (7). The orientation recognition device (32) is fixedly mounted on the other side of the pipe (7) and is used to clamp the pipe (7) so that the pipe (7) is fixed at a set position and abuts against the position-limiting baffle (31), so that the pipe (7) is close to the position-limiting baffle (31), so that the position of each pipe (7) is aligned.

5. The automatic punching and bending equipment for bilaterally symmetrical pipe fittings according to claim 1 is characterized in that: The punching mechanism (4) further comprises a clamping device (41) and a punching machine fixing seat (42); the clamping device (41) is fixedly mounted on the equipment workbench (10); the punching machine fixing seat (42) is fixedly mounted on one side of the equipment workbench (10); the upper punching machine (43) and the lower punching machine (44) are respectively fixedly mounted above and below the punching machine fixing seat (42); the clamping device (41) is used to clamp the pipe fitting (7); the first pipe fitting (7) is punched with the upper punching machine (43); and the second pipe fitting (7) is punched with the lower punching machine (44); the process is cyclically repeated, and the left and right pipe fittings (7) are automatically distinguished.

6. The automatic punching and bending equipment for bilaterally symmetrical pipe fittings according to claim 5 is characterized in that: The clamping and fixing device (41) comprises a support seat (411), a limit fixing seat (412) and a clamping device (413); the support seat (411) is fixedly mounted on the equipment workbench (10); the feeding mechanism (2) feeds the pipe fitting (7) to the support seat (411); the limit fixing seat (412) comprises limit baffles (31) on the left and right sides; one limit baffle (31) is fixed on the inner side of the punching machine fixing seat (42); and the other limit baffle (31) is fixed on the equipment workbench (10) to clamp the pipe fitting (7). The position of the pipe (7) is limited, the clamping device (413) comprises a fixed clamping arm (4131) on the front side and a movable clamping arm (4132) on the rear side, the fixed clamping arm (4131) is fixedly mounted on the equipment workbench (10), the inner side of which is in contact with one side of the pipe (7), the movable clamping arm (4132) is aligned with the fixed clamping arm (4131), and the upper end of the movable clamping arm (4132) is provided with a slide rail, which can be extended and retracted under the drive of the cylinder, close to the other side of the pipe (7), and clamp the pipe (7), thereby fixing the position of the pipe (7).

7. The automatic punching and bending equipment for bilaterally symmetrical pipe fittings according to claim 1 is characterized in that: The identification and conveying device (5) comprises a fixed suspension (51), an up-down, left-right moving module (52), a front-back moving slide rail (53) and a mechanical arm assembly (54); the fixed suspension (51) is fixedly mounted on the equipment workbench (10); the up-down, left-right moving module (52) is slidably mounted on the fixed suspension (51) and can slide up-down, left-right and right-left along the fixed suspension (51) to adjust the height and left-right distance of the mechanical arm assembly (54); the front-back moving slide rail (53) is fixedly mounted on the up-down, left-right moving module (52); the mechanical arm assembly (54) is mounted on the front-back moving slide rail (53) to grab the punched pipe (7) and put it into the bending mechanism (6) for bending operation.

8. The automatic punching and bending equipment for bilaterally symmetrical pipes according to claim 7 is characterized in that: The identification and conveying device (5) is equipped with a plurality of infrared sensors for identification and positioning, so that the mechanical arm assembly (54) can achieve accurate grasping. The mechanical arm assembly (54) includes two left and right clamping claws (541), and the clamping claws (541) are driven by a cylinder to open and close. After the punching is completed, the mechanical arm assembly (54) is driven by a motor to move to the clamping and fixing device (41), and the clamping claws (541) are moved to grasp the pipe (7). Then, the mechanical arm assembly (54) moves backward along the front and rear moving slide rails (53) to place the pipe (7) into the bending mechanism (6).

9. The automatic punching and bending equipment for bilaterally symmetrical pipe fittings according to claim 1 is characterized in that: The bending mechanism (6) comprises a bending fixing seat (61) and a bending device (62); the bending fixing seat (61) is fixedly mounted on the equipment workbench (10); the bending device (62) comprises a bending cylinder (621), a sliding rail (622) and a bending support seat (623); the bending cylinder (621) and the sliding rail (622) are fixedly mounted on the equipment workbench (10); and the bending support seat (623) is slidably mounted on the sliding rail (622). The output end of the bending cylinder (621) is fixedly connected to the bending support (623) and is used to drive the bending support (623) to move forward and backward along the sliding rail (622). The pipe (7) is transported by the identification and conveying device (5) to the bending support (623) of the bending device (62) and is driven by the bending cylinder (621) to move forward. When it hits the bending fixed seat (61), the bending device (62) continues to move forward to squeeze the pipe (7) to form a bent pipe.

10. A control method for the automatic punching and bending equipment for bilaterally symmetrical pipe fittings according to any one of claims 1 to 9, characterized in that: The steps include: Step 1: The first pipe (7) is dropped into the feeding mechanism (2) through the unloading mechanism; Step 2: The limiting and fixing mechanism (3) identifies and aligns the pipe (7) so that the pipe (7) is fixed according to the set position and the punching position does not deviate; Step 3: The feeding mechanism (2) then feeds the pipe (7) to the punching mechanism (4) for punching, and the upper punching machine (43) punches a hole at the upper end of the first pipe (7) entering; Step 4: After the punching is completed, the pipe (7) is transported to the bending mechanism (6) through the identification and conveying device (5) for bending operation; Step 5: The subsequent robot puts the first processed pipe (7) into the material box on the left, completing the processing of the left handrail workpiece; Step 6: The second pipe (7) passes through the unloading mechanism and falls into the feeding mechanism (2); Step 7: The limiting and fixing mechanism (3) identifies and aligns the pipe (7) so that the pipe (7) is fixed according to the set position and the punching position does not deviate; Step 8: The feeding mechanism (2) then feeds the pipe (7) to the punching mechanism (4) for punching, and the lower punching machine (44) punches a hole at the lower end of the second pipe (7) entering; Step 9: After the punching is completed, the pipe (7) is transported to the bending mechanism (6) through the identification and conveying device (5) for bending operation; Step 10: The subsequent robot puts the processed second pipe fitting (7) into the material box on the right, completing the processing of the right handrail workpiece; Step 11: Repeat steps 1-10 to achieve automatic processing and differentiation of the left and right pipe fittings (7).

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