Automatic punching and bending equipment and method for left-right symmetrical pipe
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ZHEJIANG YOTRIO GRP CO LTD
- Filing Date
- 2024-12-27
- Publication Date
- 2026-07-21
Smart Images
Figure CN119703790B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of mechanical automation technology, and in particular relates to an automatic drilling and bending device and method for symmetrical pipe fittings. Background Technology
[0002] In the production of some symmetrical tubular components, such as the left and right armrests of a seat, drilling and bending are required. Existing production equipment has fixed processes and can only operate in one direction, making it impossible to distinguish between left and right. To achieve the processing of symmetrical tubular components, multiple separate processes are required, which is inefficient. Summary of the Invention
[0003] The purpose of this invention is to provide an automatic drilling and bending device and method for symmetrical pipe fittings to solve the above-mentioned technical problems.
[0004] To solve the above-mentioned technical problems, the specific technical solution of the automatic drilling and bending equipment for symmetrical pipe fittings of the present invention is as follows:
[0005] An automatic drilling and bending device for symmetrical pipe fittings includes a worktable and a drilling mechanism and a bending mechanism mounted on the worktable. The worktable also includes a feeding mechanism, a limiting and fixing mechanism, and an identification and conveying device. Pipe fittings are sequentially fed from the feeding mechanism into the feeding mechanism, and then limited and fixed by the limiting and fixing mechanism. Next, the feeding mechanism sends the pipe fittings to the drilling mechanism for drilling. The drilling mechanism includes an upper drilling machine and a lower drilling machine. The upper drilling machine drills a hole in the upper end of the first pipe fitting, and the lower drilling machine drills a hole in the lower end of the second pipe fitting, and so on, to achieve automatic processing of left and right pipe fittings. The drilled pipe fittings are conveyed to the bending mechanism for bending operations via the identification and conveying device. Finally, a robotic arm places the first pipe fitting into the left material box and the second pipe fitting into the right material box, thus achieving automatic differentiation between left and right pipe fittings.
[0006] Furthermore, the feeding mechanism includes two fixed plates, a material slide rail, a distributing component, a blocking component, and an infrared recognition component. The two fixed plates are vertically installed on both sides of the equipment workbench. The material slide rail is fixedly installed inside the two fixed plates and is inclined, allowing the pipe to slide automatically along the material slide rail under its own weight. Each side of the material slide rail includes two rails, upper and lower, with the pipe placed between the upper and lower rails for limiting and fixing. The distributing component is rotatably installed on the fixed plate above the material slide rail and includes a distributing motor, a connecting shaft, and a gear plate. The distributing motor is installed on the outside of one of the fixed plates, and the connecting shaft passes through both fixed plates, with one end fixedly connected to the distributing motor and driven by the distributing motor. The toothed disc is coaxially fixed at both ends of the connecting shaft and inside the fixing plate. As the connecting shaft rotates, the toothed disc feeds the pipes sequentially. The infrared recognition component is installed downstream of the material distribution component. The blocking component is located behind the infrared recognition component and includes a blocking cylinder and a blocking rod. The blocking cylinder is fixed to the outside of the material slide rails on both sides by a fixing component. The blocking rod is fixedly connected to the blocking cylinder. The blocking cylinder controls the raising and lowering of the blocking rod to block the pipes. When the material distribution component pushes a pipe down, the infrared recognition component recognizes the pipe, and the control system of the device triggers the blocking component to retract the blocking rod, releasing a pipe. After release, the blocking rod extends, realizing the separation and feeding of individual materials.
[0007] Furthermore, the feeding mechanism is installed at the pipe fitting's lowering point and includes a fixed base, a lifting cylinder, a lifting slide rail, a lifting bracket, front and rear telescopic cylinders, a front and rear telescopic cylinder fixing seat, front and rear slide rails, and a handle. The lifting cylinder and lifting slide rail are fixedly installed on the fixed base, the lifting slide rail is fixedly installed on the equipment's worktable, 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, and the front and rear telescopic cylinders and front and rear slide rails are fixedly installed. On the fixed seat of the front and rear telescopic cylinders, as the lifting bracket moves up and down, the handle is slidably connected to the front and rear slide rails. The output end of the front and rear telescopic cylinders is fixedly connected to the handle, driving the handle to move back and forth. In the initial state, the front and rear telescopic cylinders extend to align the handle forward with the feeding port, and the falling pipe can be just inserted into the slot of the handle. Then, the front and rear telescopic cylinders retract to the limiting and fixing mechanism to align the pipe. After alignment, the lifting cylinder lifts and the front and rear telescopic cylinders extend to feed the pipe into the drilling mechanism. Then, the lifting cylinder descends and the front and rear telescopic cylinders retract to reset the feeding mechanism.
[0008] Furthermore, the limiting and fixing mechanism includes a limiting baffle and a direction recognition device. The limiting baffle is fixedly installed on a fixing plate on one side and aligned with one end of the pipe. The direction recognition device is fixedly installed on the other side of the pipe and is used to clamp the pipe, so that the pipe is fixed in a set position and abuts against the limiting baffle, so that the pipe is close to the limiting baffle and the position of each pipe is aligned.
[0009] Furthermore, the drilling mechanism also includes a clamping and fixing device and a drilling machine fixing base. The clamping and fixing device is fixedly installed on the equipment workbench, and the drilling machine fixing base is fixedly installed on one side of the equipment workbench. The upper drilling machine and the lower drilling machine are respectively fixedly installed above and below the drilling machine fixing base. The clamping and fixing device is used to clamp the pipe fittings. The first pipe fitting is drilled by the upper drilling machine, the second pipe fitting is drilled by the lower drilling machine, and so on, automatically realizing the left and right differentiation of the pipe fittings.
[0010] Furthermore, the clamping and fixing device includes a support, a limiting fixing seat, and a clamping device. The support is fixedly installed on the equipment workbench, and the feeding mechanism delivers the pipe to the support. The limiting fixing seat includes limiting baffles on the left and right sides. One limiting baffle is fixed inside the drilling machine fixing seat, and the other limiting baffle is fixed on the equipment workbench to limit the position of the pipe. 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 its inner side is in contact with one side of the pipe. The movable clamping arm is aligned with the fixed clamping arm and has a slide rail at its upper end, which can extend and retract under the drive of a cylinder to clamp the pipe to the other side, thereby fixing the position of the pipe.
[0011] Furthermore, the identification and conveying device includes a fixed suspension, a vertical and horizontal moving module, a front and rear moving slide rail, and a robotic arm assembly. The fixed suspension is fixedly installed on the equipment workbench. The vertical and horizontal moving module is slidably installed on the fixed suspension and can slide along the fixed suspension to adjust the height and lateral distance of the robotic arm assembly. The front and rear moving slide rail is fixedly installed on the vertical and horizontal moving module, and the robotic arm assembly is installed on the front and rear moving slide rail for gripping the drilled pipe and placing it into the bending mechanism for bending operations.
[0012] Furthermore, the identification and conveying device is equipped with multiple infrared sensors for identification and positioning, enabling the robotic arm assembly to achieve precise grasping. The robotic arm assembly includes two grippers, left and right, which are opened and closed by a cylinder. After drilling is completed, the robotic arm assembly moves to the clamping and fixing device under the drive of the motor. The grippers move to grasp the pipe, and then the robotic arm assembly moves backward along the front and rear sliding rails to place the pipe into the bending mechanism.
[0013] Furthermore, the bending mechanism includes a bending fixing seat and a bending device. The bending fixing 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 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 encounters the bending fixing seat, the bending device continues to move forward to squeeze the pipe and form a bend.
[0014] This invention also discloses a control method for an automatic drilling and bending device for symmetrical pipe fittings, comprising the following steps:
[0015] Step 1: The first pipe fitting falls into the feeding mechanism via the unloading mechanism;
[0016] Step 2: The limiting and fixing mechanism aligns and fixes the pipe fittings, ensuring they are in the set position and preventing the drilling position from shifting.
[0017] Step 3: Next, the feeding mechanism sends the pipe fitting to the drilling mechanism for drilling. The upper drilling machine drills a hole at the top of the first pipe fitting that enters.
[0018] Step 4: After drilling is completed, the pipe fitting is transported to the bending mechanism for bending operation via the identification and conveying device;
[0019] Step 5: The robotic arm then places the first processed pipe into the material box on the left, completing the processing of the left handrail workpiece;
[0020] Step 6: The second pipe fitting falls into the feeding mechanism via the unloading mechanism;
[0021] Step 7: The limiting and fixing mechanism aligns and straightens the pipe fitting, fixing it in the set position to prevent the drilling position from shifting.
[0022] Step 8: Next, the feeding mechanism sends the pipe fitting to the drilling mechanism for drilling. The lower drilling machine drills a hole at the lower end of the second incoming pipe fitting.
[0023] Step 9: After drilling is completed, the pipe fitting is transported to the bending mechanism for bending operation via the identification and conveying device;
[0024] Step 10: The robotic arm then places the completed second pipe fitting into the material box on the right; completing the processing of the right handrail workpiece;
[0025] Step 11: Repeat steps 1-10 to achieve automatic processing and differentiation of left and right pipe fittings.
[0026] The automatic drilling and bending equipment and method for symmetrical pipe fittings of the present invention has the following advantages: The invention automatically feeds the pipe fittings through a feeding mechanism and a limiting and fixing mechanism. The drilling mechanism 4 has an upper drilling machine and a lower drilling machine, which alternately drill holes in the incoming pipe fittings. The fittings are then conveyed to the bending mechanism 6 for uniform bending processing via an identification and conveying device. Finally, a robotic arm alternately places the processed pipe fittings into the left and right material boxes, thereby achieving automatic differentiation between left and right pipe fittings. This improves the automation of various operations and increases production efficiency. Attached Figure Description
[0027] Figure 1 This is a schematic diagram of the automatic drilling and bending equipment for the left and right symmetrical pipe fittings of the present invention.
[0028] Figure 2 This is a schematic diagram of the feeding mechanism and the identification conveying device of the present invention;
[0029] Figure 3 This is a schematic diagram of the feeding mechanism of the present invention;
[0030] Figure 4 This is a schematic diagram of the punching mechanism of the present invention;
[0031] Figure 5 This is a schematic diagram of the bending mechanism of the present invention;
[0032] Explanation of markings in the diagram: 10. Equipment workbench; 1. Feeding mechanism; 11. Fixed plate; 12. Material slide rail; 13. Material distribution assembly; 131. Material distribution motor; 132. Connecting shaft; 133. Gear disc; 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. Handle; 3. Limiting and fixing mechanism; 31. Limiting baffle; 32. Simple orientation recognition device; 321. Lifting mechanism; 322. Rotating... 323. Rotating motor; 324. Clamping mechanism; 4. Drilling mechanism; 41. Clamping and fixing device; 411. Support; 412. Limiting and fixing seat; 413. Clamping device; 4131. Fixed clamping arm; 4132. Movable clamping arm; 42. Drilling machine fixing seat; 43. Upper drilling machine; 44. Lower drilling machine; 5. Identification and conveying device; 51. Fixed suspension; 52. Up, down, left, and right moving module; 53. Front and rear moving slide rail; 54. Robotic arm assembly; 541. Gripper; 6. Bending mechanism; 61. Bending fixing seat; 62. Bending device; 621. Bending cylinder; 622. Sliding slide rail; 623. Bending support; 7. Pipe fitting. Detailed Implementation
[0033] To better understand the purpose, structure, and function of this invention, the following detailed description, in conjunction with the accompanying drawings, provides an automatic drilling and bending device and method for symmetrical pipe fittings.
[0034] like Figure 1 As shown, an automatic drilling and bending device for symmetrical pipe fittings according to the present invention includes a worktable 10. The worktable 10 is equipped with a feeding mechanism 1, a feeding mechanism 2, a limiting and fixing mechanism 3, a drilling mechanism 4, an identification and conveying device 5, and a bending mechanism 6. Pipe fittings 7 are sequentially fed from the feeding mechanism 1 into the feeding mechanism 2, and then fixed by the limiting and fixing mechanism 3 to ensure the pipe fitting's position is fixed and the drilling position does not shift. Next, the feeding mechanism 2 sends the pipe fittings 7 to the drilling mechanism 4 for drilling. The drilling mechanism 4 has an upper drilling machine and a lower drilling machine, drilling the upper end of the first entering pipe fitting 7 and the lower end of the second entering pipe fitting 7, and so on, to achieve automatic processing of left and right pipe fittings. The drilled pipe fittings 7 are conveyed to the bending mechanism 6 by the identification and conveying device 5 for bending. Finally, a robotic arm places the first pipe fitting 7 into the left material box and the second pipe fitting 7 into the right material box, thus achieving automatic differentiation between left and right pipe fittings 7.
[0035] like Figure 2As shown, the feeding mechanism 1 includes two fixed plates 11, a material slide rail 12, a material distribution component 13, a blocking component 14, and an infrared recognition component 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 inclined so that the pipe 7 can automatically slide down along the material slide rail 12 under its own weight. Each side of the material slide rail 12 includes two rails, upper and lower. The pipe 7 is placed between the upper and lower material slide rails 12 to achieve limiting and fixing. The material distribution assembly 13 is rotatably mounted on the fixed plate 11, above the material slide rail 12. It includes a material distribution motor 131, a connecting shaft 132, and a gear plate 133. The material distribution motor 131 is mounted on the outside of one fixed plate 11. The connecting shaft 132 passes through two fixed plates 11, and one end is fixedly connected to the material distribution motor 131 and is driven to rotate by the material distribution motor 131. The gear plate 133 is coaxially fixed at both ends of the connecting shaft 132 and on the inside of the fixed plate 11. As the connecting shaft 132 rotates, the gear plate 133 feeds the pipes 7 sequentially by rotating. The infrared recognition component 15 is installed downstream of the material distribution component 13 and is fixed to the fixing plate 11 by a fastener. The fixing method is not limited here. The blocking component 14 is located 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 outside of the material slide rails 12 on both sides by a fastener. The blocking rod 142 is fixedly connected to the blocking cylinder 141. The blocking cylinder 141 controls the raising and lowering of the blocking rod 142 to block the pipe 7. When the material distribution component 13 pushes a pipe 7 down, 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, releasing a pipe 7. After release, the blocking rod 142 extends, realizing the separation and feeding of a single material.
[0036] Preferably, the fixed plate 11 is connected to the equipment workbench 10 via a slide rail, and the distance between the two fixed plates 11 is adjusted by a screw mechanism, so that pipes of different lengths can be used.
[0037] like Figure 3As shown, the feeding mechanism 2 is installed at the point where the pipe fitting 7 falls, 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 handle 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 handle 28 is slidably connected to the front and rear slide rail 27, the output end of the front and rear telescopic cylinder 25 is fixedly connected to the handle 28, driving the handle 28 to move back and forth. In its initial state, the front and rear telescopic cylinders 25 extend to align the handle 28 forward with the feeding port, allowing the falling pipe 7 to be precisely inserted into the slot of the handle 28. Next, the front and rear telescopic cylinders 25 retract to the limiting and fixing mechanism 3, aligning the pipe 7. After alignment, the lifting cylinder 22 raises, and the front and rear telescopic cylinders 25 extend, feeding the pipe 7 into the drilling mechanism 4. Then, the lifting cylinder 22 lowers, and the front and rear telescopic cylinders 25 retract, resetting the feeding mechanism 2.
[0038] like Figure 3 As shown, the limiting and fixing mechanism 3 includes a limiting baffle 31 and a simple orientation device 32. The limiting baffle 31 is fixedly installed on a fixing plate 11 on one side, aligned with one end of the pipe 7. The simple orientation device 32 is fixedly installed on the other side of the pipe 7, used to clamp the pipe 7, fixing it in a set position and close to the limiting baffle 31, ensuring that each pipe 7 is aligned, with the wider side vertically perpendicular and the narrower side horizontally parallel. The simple orientation device 32 includes components such as a lifting mechanism 321, a rotary motor 322, a rotating mechanism 323, and a clamping mechanism 324, which can enable the movement of the pipe 7; no limitation is made here. The pipe 7 can also be set to be fixed in other set positions, such as with the narrower side vertically perpendicular and the wider side horizontally parallel, or with the pipe 7 in an inclined state.
[0039] like Figure 4As shown, the drilling mechanism 4 includes a clamping and fixing device 41, a drilling machine fixing base 42, an upper drilling machine 43, and a lower drilling machine 44. The clamping and fixing device 41 is fixedly installed on the equipment workbench 10, and the drilling machine fixing base 42 is fixedly installed on one side of the equipment workbench 10. The upper drilling machine 43 and the lower drilling machine 44 are respectively fixedly installed above and below the drilling machine fixing base 42. The clamping and fixing device 41 is used to clamp the pipe fitting 7, and the upper drilling machine 43 and the lower drilling machine 44 are used to drill holes in the pipe fitting 7. The first pipe fitting 7 is drilled by the upper drilling machine 43, the second pipe fitting 7 is drilled by the lower drilling machine 44, and so on, automatically realizing the left and right differentiation of the pipe fitting 7.
[0040] The clamping and fixing device 41 includes a support 411, a limiting fixing seat 412, and a clamping device 413. The support 411 is fixedly installed on the equipment workbench 10. The feeding mechanism 2 delivers the pipe 7 to the support 411. The limiting fixing seat 412 includes limiting baffles on the left and right sides. One limiting baffle is fixed inside the drilling machine fixing seat 42, and the other limiting baffle is fixed on the equipment workbench 10 to limit the position of the pipe 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 its inner side is in contact with one side of the pipe 7. The movable clamping arm 4132 is aligned with the fixed clamping arm and has a slide rail at the upper end, which can extend and retract under the drive of a cylinder to approach the other side of the pipe 7 and clamp the pipe 7, thereby fixing the position of the pipe 7.
[0041] Preferably, the punching machine mounting base 42 is fixedly connected to the equipment worktable 10 via a slide rail. An adjusting cylinder 421 is installed on the punching machine mounting base 42, which can adjust the position of the punching machine mounting base 42, thereby enabling punching at different positions of the pipe fitting 7.
[0042] like Figure 2 As shown, the identification and conveying device 5 includes a fixed suspension 51, a vertical and horizontal moving module 52, a front and rear moving slide rail 53, and a robotic arm assembly 54. The fixed suspension 51 is fixedly installed on the equipment workbench 10. The vertical and horizontal moving module 52 is slidably installed on the fixed suspension 51 and can slide up, down, left, and right along the fixed suspension 51 to adjust the height and left and right distance of the robotic arm assembly 54. The vertical and horizontal moving module 52 is a conventional motor slide rail moving module, which is not limited here. The front and rear moving slide rail 53 is fixedly installed on the vertical and horizontal moving module 52. The robotic arm assembly 54 is installed on the front and rear moving slide rail 53 and is used to grip the perforated pipe 7 and place it into the bending mechanism 6 for bending operations.
[0043] Multiple infrared sensors are installed on the identification and conveying device 5 for identification and positioning, enabling the robotic arm assembly 54 to achieve precise grasping. The robotic arm assembly 54 includes two grippers 541, which are opened and closed by a cylinder. After drilling is completed, the robotic arm assembly 54 moves to the clamping and fixing device 41 under the drive of the motor. The grippers 541 actuate to grasp the pipe 7, and then the robotic arm assembly 54 moves backward along the front and rear sliding rail 53 to place the pipe 7 into the bending mechanism 6.
[0044] like Figure 5 As shown, the bending mechanism 6 includes a bending fixing seat 61 and a bending device 62. The bending fixing seat 61 is fixedly installed on the equipment workbench 10. The bending device 62 includes a bending cylinder 621, a sliding rail 622, and a bending support 623. The bending cylinder 621 and the sliding rail 622 are fixedly installed on the equipment workbench 10, and the bending support 623 is slidably installed on the sliding rail 622. The output end of the bending cylinder 621 is fixedly connected to the bending support 623, which is used to drive the bending support 623 to move back and forth along the sliding rail 622. The pipe fitting 7 is transported to the bending support 623 of the bending device 62 by the identification and conveying device 5, and is driven forward by the bending cylinder 621. When it encounters the bending fixing seat 61, the bending device 62 continues to move forward, realizing the compression of the pipe fitting 7 to form a bend.
[0045] Preferably, the bottom of the bending device 62 is connected to the worktable 10 of the equipment via a slide rail. The front and rear positions of the bending device 62 can be adjusted by a screw mechanism, thereby controlling the bending degree of the pipe fitting 7 and adapting to different bending degree requirements.
[0046] In subsequent processes, a robotic arm is used to grab the processed pipe fitting 7, placing it into the left material box the first time and the right material box the second time, thus distinguishing between the left and right pipe fittings 7.
[0047] The present invention discloses a control method for an automatic drilling and bending device for symmetrical pipe fittings, comprising the following steps:
[0048] Step 1: The first pipe fitting 7 falls into the feeding mechanism 2 through the unloading mechanism 1;
[0049] Step 2: The limiting and fixing mechanism 3 performs a simple orientation and alignment of the pipe fitting 7, ensuring that one side of the pipe fitting always faces one direction and is fixed in position, so that the drilling position does not shift.
[0050] Step 3: Next, the feeding mechanism 2 sends the pipe fitting 7 to the drilling mechanism 4 for drilling operation. The upper drilling machine drills a hole at the upper end of the first pipe fitting 7 that enters.
[0051] Step 4: After drilling is completed, the pipe fitting 7 is conveyed to the bending mechanism 6 by the identification and conveying device 5 for bending operation;
[0052] Step 5: The robotic arm then places the first processed pipe 7 into the material box on the left, completing the processing of the left handrail workpiece;
[0053] Step 6: The second pipe fitting 7 falls into the feeding mechanism 2 through the unloading mechanism 1;
[0054] Step 7: The limiting and fixing mechanism 3 performs simple orientation and alignment of the pipe fitting 7, so that one side of the pipe fitting always faces one direction and is fixed in position, so that the drilling position does not shift.
[0055] Step 8: Next, the feeding mechanism 2 sends the pipe fitting 7 to the drilling mechanism 4 for drilling operation. The lower drilling machine drills a hole at the lower end of the second entering pipe fitting 7.
[0056] Step 9: After drilling is completed, the pipe fitting 7 is conveyed to the bending mechanism 6 by the identification and conveying device 5 for bending operation;
[0057] Step 10: The robotic arm then places the completed second pipe component 7 into the material box on the right; completing the processing of the right handrail workpiece;
[0058] Step 11: Repeat steps 1-10 to achieve automatic processing and differentiation of the left and right pipe fittings 7.
[0059] It is understood that the present invention has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Furthermore, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.
Claims
1. A control method for an automatic drilling and bending device for symmetrical pipe fittings, the automatic drilling and bending device for symmetrical pipe fittings includes a workbench (10) and a drilling mechanism (4) and a bending mechanism (6) installed on the workbench (10). The workbench (10) is also equipped with a feeding mechanism, a feeding mechanism (2), a limiting and fixing mechanism (3), and an identification and conveying device (5). The pipe fitting (7) is fed from the feeding mechanism into the feeding mechanism (2) in sequence, and then limited and fixed by the limiting and fixing mechanism (3). Then the feeding mechanism (2) sends the pipe fitting (7) to the drilling mechanism (4) for drilling. The drilling mechanism (4) includes an upper drilling machine (43) and a lower drilling machine (44). The upper drilling machine (43) drills holes in the upper end of the first entering pipe fitting (7), and the lower drilling machine (44) drills holes in the lower end of the second entering pipe fitting (7). This process is repeated to achieve automatic processing of the left and right pipe fittings (7). The drilled pipe fittings (7) are transported to the bending mechanism (6) by the identification and conveying device (5) for bending. Finally, the robot arm places the first pipe fitting (7) into the material box on the left and the second pipe fitting (7) into the material box on the right, thereby achieving automatic differentiation of the left and right pipe fittings (7). The unloading mechanism includes two fixed plates (11). The equipment includes a material slide rail (12), a material distribution component (13), a blocking component (14), and an infrared recognition component (15). Two fixed plates (11) are vertically installed on both sides of the equipment workbench (10). The material slide rail (12) is fixedly installed inside the two fixed plates (11) and is inclined so that the pipe (7) can automatically slide down along the material slide rail (12) under its own weight. Each side of the material slide rail (12) includes two rails, upper and lower. The pipe (7) is placed between the upper and lower material slide rails (12) to achieve limited fixation. The material distribution component (13) is rotatably installed on the fixed plate (11) and the material slide rail (12). Above, there are a material dispensing motor (131), a connecting shaft (132) and a gear plate (133). The material dispensing motor (131) is installed on the outside of a fixed plate (11). The connecting shaft (132) passes through the two fixed plates (11) and is fixedly connected to the material dispensing motor (131) at one end. It is driven to rotate by the material dispensing motor (131). The gear plate (133) is coaxially fixed at both ends of the connecting shaft (132) and on the inside of the fixed plate (11). As the connecting shaft (132) rotates, the gear plate (133) feeds the pipes (7) one by one through rotation. The infrared recognition component (15) is installed downstream of the material dispensing component (13).The blocking component (14) is located 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 outside 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 raising and lowering of the blocking rod (142) to block the pipe (7). When the material distribution component (13) pushes 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) and release a pipe (7). After release, the blocking rod (142) extends to realize the separation and feeding of a single material. The characteristic is that: The control method includes the following steps: Step 1: The first pipe fitting (7) falls into the feeding mechanism (2) through the unloading mechanism; Step 2: The limiting and fixing mechanism (3) aligns and straightens the pipe fitting (7) so that the pipe fitting (7) is fixed in the set position and the drilling position does not shift. Step 3: Then the feeding mechanism (2) sends the pipe fitting (7) to the drilling mechanism (4) for drilling operation, and the upper drilling machine (43) drills the upper end of the first pipe fitting (7) that enters; Step 4: After drilling is completed, the pipe fitting (7) is transported to the bending mechanism (6) through the identification and conveying device (5) for bending operation; Step 5: The robot then places 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 fitting (7) falls into the feeding mechanism (2) through the unloading mechanism; Step 7: The limiting and fixing mechanism (3) aligns and straightens the pipe fitting (7) so that the pipe fitting (7) is fixed in the set position and the drilling position does not shift. Step 8: Then the feeding mechanism (2) sends the pipe fitting (7) to the drilling mechanism (4) for drilling operation, and the lower drilling machine (44) drills the lower end of the second pipe fitting (7) that enters; Step 9: After drilling is completed, the pipe fitting (7) is transported to the bending mechanism (6) through the identification and conveying device (5) for bending operation; Step 10: The robot then places the processed first pipe fitting (7) into the material box on the right; thus 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).
2. The control method according to claim 1, characterized in that, The feeding mechanism (2) is installed at the point where the pipe fitting (7) falls, 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 handle (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 lifting bracket (28). 27) Fixedly installed on the front and rear telescopic cylinder fixing seat (26), as the lifting bracket (24) moves up and down, the handle (28) is slidably connected to the front and rear slide rails (27). The output end of the front and rear telescopic cylinder (25) is fixedly connected to the handle (28), driving the handle (28) to move back and forth. In the initial state, the front and rear telescopic cylinder (25) extends to align the handle (28) forward with the feed port. The falling pipe (7) can be inserted into the slot of the handle (28). Then, the front and rear telescopic cylinder (25) retracts back to the limiting fixing mechanism (3) to align the pipe (7). After alignment, the lifting cylinder (22) lifts and the front and rear telescopic cylinder (25) extends to send the pipe (7) into the drilling mechanism (4). Then the lifting cylinder (22) descends and the front and rear telescopic cylinder (25) retracts to reset the feeding mechanism (2).
3. The control method according to claim 2, characterized in that, The limiting and fixing mechanism (3) includes a limiting baffle (31) and a pointing device (32). The limiting baffle (31) is fixedly installed on a fixing plate (11) on one side and aligned with one end of the pipe fitting (7). The pointing device (32) is fixedly installed on the other side of the pipe fitting (7) and is used to clamp the pipe fitting (7), so that the pipe fitting (7) is fixed in the set position and abuts against the limiting baffle (31), so that the pipe fitting (7) is close to the limiting baffle (31) and the position of each pipe fitting (7) is aligned.
4. The control method according to claim 1, characterized in that, The drilling mechanism (4) further includes a clamping and fixing device (41) and a drilling machine fixing seat (42). The clamping and fixing device (41) is fixedly installed on the equipment workbench (10). The drilling machine fixing seat (42) is fixedly installed on one side of the equipment workbench (10). The upper drilling machine (43) and the lower drilling machine (44) are fixedly installed above and below the drilling machine fixing seat (42), respectively. The clamping and fixing device (41) is used to clamp the pipe fitting (7). The first pipe fitting (7) is drilled by the upper drilling machine (43), and the second pipe fitting (7) is drilled by the lower drilling machine (44). The cycle is repeated to automatically distinguish the left and right sides of the pipe fitting (7).
5. The control method according to claim 4, characterized in that, The clamping and fixing device (41) includes a support (411), a limiting fixing seat (412), and a clamping device (413). The support (411) is fixedly installed on the equipment workbench (10). The feeding mechanism (2) delivers the pipe fitting (7) to the support (411). The limiting fixing seat (412) includes limiting baffles (31) on the left and right sides. One limiting baffle (31) is fixed inside the drilling machine fixing seat (42), and the other limiting baffle (31) is fixed on the equipment workbench (10) for clamping the pipe fitting. The position of the component (7) is defined. 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 its inner side is in contact with one side of the component (7). The movable clamping arm (4132) is aligned with the fixed clamping arm (4131) and has a slide rail at the upper end. It can extend and retract under the drive of the cylinder and approach the other side of the component (7) to clamp the component (7) and thus fix the position of the component (7).
6. The control method according to claim 1, characterized in that, The identification and conveying device (5) includes a fixed suspension (51), a vertical and horizontal moving module (52), a front and rear moving slide rail (53), and a robotic arm assembly (54). The fixed suspension (51) is fixedly installed on the equipment workbench (10). The vertical and horizontal moving module (52) is slidably installed on the fixed suspension (51) and can slide up, down, left, and right along the fixed suspension (51) to adjust the height and left and right distance of the robotic arm assembly (54). The front and rear moving slide rail (53) is fixedly installed on the vertical and horizontal moving module (52). The robotic arm assembly (54) is installed on the front and rear moving slide rail (53) to grab the perforated pipe (7) and put it into the bending mechanism (6) for bending.
7. The control method according to claim 6, characterized in that, The identification and conveying device (5) is equipped with multiple infrared sensors for identification and positioning, enabling the robotic arm assembly (54) to achieve precise grasping. The robotic arm assembly (54) includes two grippers (541) on the left and right sides. The grippers (541) are driven by a cylinder to open and close. After drilling is completed, the robotic arm assembly (54) moves to the clamping and fixing device (41) under the drive of the motor. The grippers (541) move and grasp the pipe (7). Then the robotic arm assembly (54) moves backward along the front and rear moving slide rail (53) to put the pipe (7) into the bending mechanism (6).
8. The control method according to claim 1, characterized in that, The bending mechanism (6) includes a bending fixing seat (61) and a bending device (62). The bending fixing seat (61) is fixedly installed on the equipment workbench (10). The bending device (62) includes a bending cylinder (621), a sliding rail (622), and a bending support (623). The bending cylinder (621) and the sliding rail (622) are fixedly installed on the equipment workbench (10), and the bending support (623) is slidably installed 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 back and forth along the sliding rail (622). The pipe (7) is transported to the bending support (623) of the bending device (62) by the identification and conveying device (5), and is driven forward by the bending cylinder (621). When it encounters the bending fixed seat (61), the bending device (62) continues to move forward to realize the squeezing of the pipe (7) and form a bent pipe.