A sealing device and sealing method suitable for manipulator loading and unloading hydraulically formed bellows

Abstract

The present invention discloses a sealing device and a sealing method suitable for manipulator loading and unloading hydraulically formed bellows, belonging to the technical field of metal bellows forming. The sealing device includes a connector, the connector is connected to an inner core, a water outlet is provided on the inner core, a sealing element is sleeved on the outside of the connector, a butterfly spring, a pressure block and a slider are sleeved in sequence at the water inlet end of the inner core, the two ends of the butterfly spring contact the connector and the pressure block respectively, one end of the pressure block is connected to the slider, a chamber is formed between the pressure block, the slider and the inner core, the water outlet is opposite to the chamber, and the other end of the pressure block can contact the sealing element after being compressed, the sealing element expands outward, and the water outlet end of the inner core is connected to a delay voltage stabilizing device. The sealing device is suitable for thin-walled bellows forming, and it can drive the slider and the pressure block downward to indirectly press the sealing ring through the water pressure, so that the outer diameter of the sealing ring becomes larger to achieve sealing and achieve a sealing effect.

Description

Technical Field

[0001] The invention belongs to the technical field of metal bellows forming, and in particular relates to a sealing device and a sealing method thereof suitable for a robot to load and unload a hydraulically formed bellows. Background Art

[0002] The specific thickness of the bellows parts used in vacuum interrupter products is usually between 0.1 and 0.2 mm. This range ensures that the bellows has sufficient structural strength to withstand the expansion and contraction forces during operation while maintaining its lightweight characteristics as a thin-walled component.

[0003] Specifically, for example, the Chinese utility model patent bellows hydraulic forming sealing device with the prior art publication number CN204437280U provides a sealing device as follows: it includes a sealing shaft and two O-rings, two mounting sleeves are sleeved in parallel on the sealing shaft, gaskets are sleeved on the two mounting sleeves respectively, the two O-rings are sleeved on the two mounting sleeves respectively and close to one end of the gasket, a locking nut is threadedly connected at the small diameter end of the sealing shaft, and the two mounting sleeves are positioned by the locking nut. However, the positioning is achieved by the locking nut, and the above sealing method relies on the close fit between the O-ring, the mounting sleeve and the gasket, and the outer diameter of the O-ring is fixed.

[0004] When applied to the processing flow of vertical forming equipment, the process relies on manual operation. First, the tubular blank is tightly installed in the loading position through rotational force, and then it is manually transferred to the working area for forming. After the forming is completed, it is manually moved back to the loading position and unloaded through rotational force. In this loading and unloading process, because the design includes a sealing ring with a fixed outer diameter, a large rotational torque needs to be applied during the loading and unloading stages to achieve sealed connection and separation. This situation poses a high challenge to the mechanized arm to simulate manual operation, and there is an increased risk of damage or deformation of the tubular blank. The original sealing mechanism design has significant difficulties in realizing the automation of the production process. Summary of the invention

[0005] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide a sealing device and a sealing method suitable for manipulator loading and unloading hydraulically formed bellows, the sealing device includes a slider, a pressure block, a butterfly spring and other structures, suitable for thin-walled bellows forming, the O-ring in the sealing element is in a relaxed state with the minimum outer diameter, the bellows blank is placed in the work station under the action of the robot arm, and the slider, the pressure block and the inner core form a chamber, which can drive the slider and the pressure block downward by water pressure to indirectly press the sealing ring, and indirectly use the water pressure to make the outer diameter of the sealing ring increase and bulge outward to achieve sealing, after the pressure is released, the slider and the pressure block are reset under the action of the spring force to achieve the sealing effect, which solves the problem that the workpiece is not affected by large friction and can be automatically sealed to achieve automated processing.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: The present invention provides a sealing device suitable for manipulator loading and unloading hydraulically formed corrugated pipes, comprising a connecting head, the connecting head is connected to an inner core, the inner core is provided with a water outlet, a sealing element is sleeved on the outside of the connecting head, a butterfly spring, a pressure block and a slider are sleeved in sequence at the water inlet end of the inner core, two ends of the butterfly spring contact the connecting head and the pressure block respectively, one end of the pressure block is connected to the slider, a chamber is formed between the pressure block, the slider and the inner core, the water outlet hole is opposite to the chamber, the other end of the pressure block can contact the sealing element after being pressurized, the sealing element swells outwards, and the water outlet end of the inner core is connected to a delay pressure stabilizing device.

[0007] In one embodiment, the outer diameter of the O-ring in the sealing element is smaller than the inner diameter of the tube.

[0008] In one embodiment, the O-ring in the sealing element is located in a V-shaped space formed between the oblique side surface of the connector and the oblique side surface of one end of the pressing block, and a movable gap is left between the O-ring and the pressing block.

[0009] In one embodiment, the sealing element comprises a first O-ring, an intermediate pressure block and a second O-ring which are sequentially sleeved on the outside of the connector from bottom to top, and the other end of the pressure block can contact the second O-ring after being compressed.

[0010] In one embodiment, two sides of the first O-ring are respectively close to one side of the connector and the intermediate pressing block; One side of the second O-type sealing ring is close to the other side of the middle pressing block, and the other side of the second O-type sealing ring is close to the pressing block, and a movable gap is reserved between the second O-type sealing ring and the pressing block.

[0011] In one embodiment, the first O-ring is located in a V-shaped space formed between the oblique side surface of the connector and one oblique side surface of the intermediate pressing block, and the second O-ring is located in a V-shaped space formed between the other oblique side surface of the intermediate pressing block and the oblique side surface at one end of the pressing block, which is beneficial to the uniform expansion of the sealing ring and the close contact with the corrugated pipe blank.

[0012] In one embodiment, the outer diameters of the first O-ring and the second O-ring are smaller than the inner diameter of the tube.

[0013] In one embodiment, the water outlet end of the connector is connected to the water inlet end of the inner core, and a center hole is formed through the connector and the inner core. The center hole of the connector is connected to the center hole on the inner core, and the center hole on the inner core is connected to the time-delay voltage stabilizing device.

[0014] In one embodiment, the time-delay pressure-stabilizing device comprises a time-delay valve core having one end connected to the water outlet end of the inner core and a lock cap sleeved on the other end of the time-delay valve core; There is a movable spacing between one end of the time-delay valve core and the inner core, and between the other end of the time-delay valve core and the lock cap; The lock cap is provided with a water outlet hole, and a time-delay pressure-stabilizing device is introduced, which can block the water outlet at the initial stage of water filling, so that water flows into the chamber to build up pressure; as the water pressure increases, the time-delay valve core moves to open the water outlet to keep the water pressure stable; after the pressing is completed, the time-delay valve core returns to its position when the pressure is released. This design ensures the stability of the water pressure during the molding process.

[0015] In one embodiment, an annular boss is provided on the inner core, and the annular boss divides the chamber into a first cavity and a second cavity, the first cavity is surrounded by the pressure block, the annular boss and the slider, and the second cavity is surrounded by the slider and the annular boss.

[0016] In one embodiment, the water outlet is located above the first cavity.

[0017] The present invention also provides a sealing method suitable for manipulator loading and unloading of hydraulically formed bellows, comprising the following steps: During loading, the O-ring in the sealing element is in a relaxed state with the minimum outer diameter, and the bellows blank is placed in the work station under the action of the robotic arm; After filling with water, water enters the chamber through the connector, the inner core and the water outlet. Under the action of water pressure, the pressure block drives the slider to move downward, and the pressure block presses the butterfly spring and the O-ring in the sealing element downward. The O-ring in the sealing element swells outward, and the outer diameter increases, and it is in close contact with the tube wall of the bellows blank to form a seal, so that the water pressure can reach the set pressure value, and the bulged bellows is formed. After the forming pressure is released, under the action of the butterfly spring, the pressure block drives the slider to reset, and the O-ring in the sealing element returns to the relaxed state with the minimum outer diameter.

[0018] In one embodiment, the time-delay pressure-stabilizing device includes a time-delay valve core and a lock cap; When water starts to be filled, the time-delay valve core moves from the water outlet end of the inner core to one end of the lock cap, blocking the water outlet of the lock cap, so that water can flow into the chamber through the water outlet hole; As the water pressure increases, the time-delay valve core moves toward the water outlet of the inner core, opening the water outlet of the lock cap. The inside of the bellows blank is filled with water and begins to be pressed. The water pressure is maintained during the pressing process. After the pressing is completed, the pressure is released and the valve core returns to its position after a delay.

[0019] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a sealing device suitable for loading and unloading hydraulically formed bellows by a manipulator. When the sealing ring in the sealing element is acted upon by a pressing block, the inner diameter is limited by a connector and can only be extended in the outer diameter direction, thereby closely fitting the inner diameter of the tube blank to form an effective seal, thereby solving the problem of applying a large rotational torque in the loading and unloading stages due to the fixed outer diameter of the sealing ring in the processing flow of the vertical forming equipment, thereby realizing automated processing and reducing the risk of damage or deformation of the tubular blank. In addition, the device uses water pressure to generate mechanical action to expand the sealing ring. Specifically, the chamber in the present invention is surrounded by a slider, a pressing block and an inner core. The water pressure flows into the chamber through the side hole of the inner core, driving the slider and the pressing block to move, and indirectly using the water pressure to expand the sealing ring to realize the sealing ring. The advantage of this arrangement is that the expansion degree and sealing effect of the sealing ring can be more accurately controlled by mechanical action, while avoiding excessive deformation or damage of the sealing ring that may be caused by direct water pressure expansion. In addition, the butterfly spring provides a reset force for the pressing block, ensuring that the pressing block can be reset after forming.

[0020] Furthermore, a center hole is opened through the connecting head and the inner core, and the center hole of the connecting head and the center hole on the inner core are connected to the delay and voltage stabilizing device, thereby ensuring the smooth passage of water, providing the necessary water pressure for the forming of the bellows and the initial seal to prevent water seepage.

[0021] Furthermore, the outer diameter of the sealing ring is smaller than the inner diameter of the tube blank, so there is no resistance when loading and it is easy to put it in place. The sealing ring is located in the V-shaped space, which reserves space for the sealing ring to expand and helps it to expand and seal better under the action of water pressure.

[0022] Furthermore, the first O-ring and the second O-ring are respectively located on both sides of the middle pressure block, and expand outwards after being compressed to form a tight seal with the wall of the corrugated pipe.

[0023] Furthermore, the cooperation between the time-delay valve core and the lock cap in the time-delay pressure stabilizing device realizes the precise control of the water pressure. At the initial stage of water filling, the time-delay valve core blocks the water outlet of the lock cap, allowing water to flow into the chamber to form a seal, achieving an initial seal to prevent initial water seepage. As the water pressure increases, the time-delay valve core opens the water outlet of the lock cap to keep the water pressure inside the bellows blank stable.

[0024] Furthermore, the annular boss divides the chamber into a first cavity and a second cavity. The first cavity is used to push the pressing block to move after water enters. Since the pressing block is connected to the slider, the slider is driven to move in the second cavity.

[0025] The present invention also provides a sealing method suitable for loading and unloading hydraulically formed bellows by a manipulator. The device can cooperate with the manipulator for automatic loading and unloading, thereby improving production efficiency. When loading, the sealing ring is in a relaxed state, and the outer diameter is the smallest, which reduces the friction between the sealing ring and the bellows blank, and facilitates the insertion of the blank. Under the action of water pressure, the slider drives the pressure block to press the sealing ring downward. The pressure exerted by the pressure block causes the sealing ring to expand outward, increase the outer diameter, and closely contact with the wall of the bellows to form an effective seal. After forming, under the action of the spring force of the butterfly spring, the pressure block and the slider can be reset, and the sealing ring also returns to the minimum outer diameter state, ready for the next operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of a sealing device suitable for a robot to load and unload a hydraulically formed bellows in one embodiment of the present invention; Figure 2 The present invention is a schematic diagram of the use status of a sealing device suitable for loading and unloading a hydraulically formed bellows by a robot.

[0027] Among them, 1-connector, 21-first O-ring, 22-second O-ring, 3-middle pressure block, 4-butterfly spring, 5-inner core, 6-pressure block, 7-slider, 8-third O-ring, 9-locking cap, 10-fourth O-ring, 11-delay valve core, 12-fifth O-ring, 13-sixth O-ring, 14-sealing device, 15-external slider, 16-hose, 17-cylinder. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] The present invention is further described in detail below in conjunction with the accompanying drawings: The present invention provides a sealing device suitable for manipulator loading and unloading of hydraulically formed bellows, comprising a connector 1, an inner core 5, a butterfly spring 4, a pressing block 6, a slider 7, a sealing element and a time-delay voltage-stabilizing device.

[0031] One of the inventive points of the present invention is the arrangement of the pressure block 6, the slider 7, the sealing element, and the chamber formed between the inner core 5, the pressure block 6, and the slider 7. The related components use water pressure to generate mechanical action to expand the sealing ring, so that the outer diameter of the sealing ring in the sealing element becomes larger to achieve the sealing effect. Another inventive point is that after the pressure is released, the butterfly spring 4 has the function of resetting the pressure block 6 and the slider 7. Another inventive point is that the delayed pressure stabilizing device avoids the technical problem that the sealing ring may not be able to form an effective seal immediately when water is just entering because the water pressure has not yet been established. In addition, the sealing device is mainly used for thin-walled metal bellows. Compared with the traditional direct water pressure effect, the above-mentioned mechanical drive method provides a more stable and controllable sealing effect.

[0032] The specific movement process is as follows: After the slider 7 is connected to the pressure block 6, a chamber is formed therebetween, and the large outer diameter part of the inner core 5 structure is in this chamber. Since the inner core 5 is fixed on the connector 1, the inner core will not move in series, and the slider 7 and the pressure block 6 will move up and down relative to the inner core 5. When water flows from the center hole of the inner core 5, the water flows into the chamber between the slider 7 and the pressure block 6 through the side hole of the center hole of the inner core, i.e., the water outlet hole. Under the action of water pressure, the slider 7 and the pressure block 6 move downward and press against the sealing ring in the sealing element. The sealing ring is squeezed and expanded, and the outer diameter increases to achieve a sealing effect. After the pressure is released, the butterfly spring 4 resets the slider 7 and the pressure block 6, and the sealing ring loses the squeeze and resets to the initial diameter.

[0033] The connector 1 is internally connected with an inner core 5, the water inlet end of the inner core 5 is inside the connector 1, the connector 1 and the inner core 5 are connected via threads, and a water outlet hole is provided on the inner core 5 for leading out water.

[0034] The sealing element is sleeved on the outside of the connector 1 and is arranged near the water outlet end of the connector 1 to provide a sealing effect. The outer diameter of the O-ring in the sealing element is smaller than the inner diameter of the tube blank. The O-ring in the sealing element is located in a V-shaped space formed between the oblique side surface of the connector 1 and the oblique side surface of one end of the pressing block. A movable gap is left between the O-ring and the pressing block 6.

[0035] Furthermore, the sealing element includes a first O-ring 21, an intermediate pressure block 3 and a second O-ring 22 which are sequentially sleeved on the outside of the connector from bottom to top, and the other end of the pressure block 6 can contact the second O-ring 22 after being compressed.

[0036] For more details, see Figure 1 In one embodiment, a sealing device suitable for loading and unloading a hydraulically formed bellows by a manipulator is provided, comprising a connector 1, the connector 1 being connected to an inner core 5, the inner core 5 being provided with a water outlet, the outer portion of the connector 1 being sequentially sleeved with a first O-ring 21, an intermediate pressure block 3 and a second O-ring 22 from bottom to top, a butterfly spring 4, a pressure block 6 and a slider 7 being sequentially sleeved at the water inlet end of the inner core 5, the two ends of the butterfly spring 4 contacting the connector 1 and the pressure block 6 respectively, one end of the pressure block 6 being connected to the slider 7, a chamber being formed between the pressure block 6, the slider 7 and the inner core 5, the water outlet being directly opposite to the chamber, the other end of the pressure block 6 being able to contact the second O-ring 22 after being pressurized, the second O-ring 22 expanding outward, the intermediate pressure block 3 being pressurized, the first O-ring 21 expanding outward, and the water outlet end of the inner core 5 being connected to a time-delay pressure stabilizing device.

[0037] More specifically, the first O-ring 21 is located in a V-shaped space formed between the oblique side surface of the connector 1 and one oblique side surface of the intermediate pressing block 3, and the second O-ring 22 is located in a V-shaped space formed between the other oblique side surface of the intermediate pressing block 3 and an oblique side surface at one end of the pressing block 6. The inclination angle of the V-shaped space is preferably 15°.

[0038] The outer diameters of the first O-ring 21 and the second O-ring 22 are smaller than the inner diameter of the bellows blank.

[0039] The butterfly spring 4, the pressure block 6 and the slider 7 are sequentially sleeved on the outside of the water inlet end of the inner core 5, and the two ends of the butterfly spring 4 contact the connecting head 1 and the pressure block 6 respectively. Further, the butterfly spring 4 is surrounded by the pressure block 6 and the inner core 5.

[0040] One end of the pressing block 6 is connected to the slider 7. The inner core 5, the pressing block 6 and the slider 7 form a chamber. The water outlet is opposite to the chamber so that water can enter the chamber and act on the pressing block 6 and the slider 7. Due to the increase of water pressure in the chamber, the other end of the pressing block 6 contacts the sealing element and expands outward after being pressurized, thereby achieving a sealing effect. Furthermore, the slider 7 and the pressing block 6 are fixedly connected by threads.

[0041] Furthermore, an annular boss is provided on the inner core 5, and the annular boss divides the chamber into two independent parts: a first cavity and a second cavity. The first cavity is a space surrounded by the pressing block 6, the annular boss and the slider 7; the second cavity is another space surrounded by the slider 7 and the annular boss alone. The water outlet is set at the upper position of the first cavity, and water enters the first cavity through the water outlet, driving the pressing block 6 to move. The pressing block 6 is connected to the slider 7, driving the slider 7 to move. The second cavity is a reserved space for the slider 7 to move.

[0042] The water outlet end of the inner core 5 is connected with a time-delay voltage-stabilizing device, which is used to achieve initial sealing to prevent initial water seepage.

[0043] See also Figure 1 The delay pressure stabilizing device is composed as follows: it includes a delay valve core 11 and a lock cap 9. One end of the delay valve core 11 is connected to the water outlet end of the inner core 5, and the lock cap 9 is arranged outside the other end of the delay valve core 11, and the connection between the two is preferably a threaded connection. In addition, the lock cap 9 is connected to the inner core 5 by a thread.

[0044] There is a certain amount of space between the connecting end of the time-delay valve core 11 and the inner core 5 and the contact end of the time-delay valve core 11 and the lock cap 9, and they are not in close contact. A water outlet is designed on the lock cap 9 for draining water.

[0045] Furthermore, the water outlet of the connector 1 is connected to the water inlet of the inner core 5, and a central hole is formed through the connector 1 and the inner core 5, the central hole of the connector 1 is connected to the central hole of the inner core 5, and the central hole of the inner core 5 is connected to the time delay and voltage stabilizing device. The connector 1 and the inner core 5 are connected by threads.

[0046] The present invention also provides a sealing method suitable for manipulator loading and unloading of hydraulically formed bellows, comprising the following steps: During loading, the O-ring in the sealing element is in a relaxed state with the minimum outer diameter, and the bellows blank is placed in the work station under the action of the robotic arm; After filling with water, water enters the chamber through the connector 1, the inner core 5 and the water outlet. Under the action of water pressure, the pressing block 6 drives the slider 7 to move downward, and the pressing block 6 presses the butterfly spring 4 and the O-ring in the sealing element downward. The O-ring in the sealing element bulges outward, and the outer diameter increases, and it is in close contact with the tube wall of the bellows blank to form a seal, so that the water pressure can reach the set pressure value, and the bulged bellows is formed. After the forming pressure is released, under the action of the butterfly spring 4, the pressing block 6 drives the slider 7 to reset, and the O-ring in the sealing element returns to the relaxed state with the minimum outer diameter.

[0047] In a more specific implementation process, the above sealing method includes the following steps: During loading, the first O-ring 21 and the second O-ring 22 are in a relaxed state with the smallest outer diameter, and the corrugated tube blank is placed in the work station under the action of the robot arm; After filling with water, water enters the chamber through the connector 1, the inner core 5 and the water outlet. Under the action of water pressure, the pressing block 6 drives the slider 7 to move downward, and the pressing block 6 presses the butterfly spring 4 and the second O-ring 22, the middle pressing block 3, and the first O-ring 21 downward. The first O-ring 21 and the second O-ring 22 expand outward, and the outer diameter increases, and they are in close contact with the tube wall of the corrugated tube blank to form a seal, so that the water pressure can reach the set pressure value, and the expanded bellows is formed. After the forming pressure is released, under the action of the butterfly spring 4, the pressing block 6 drives the slider 7 to reset, and the first O-ring 21 and the second O-ring 22 return to the relaxed state with the minimum outer diameter.

[0048] In the above sealing method, the time-delay pressure-stabilizing device includes a time-delay valve core 11 and a lock cap 9; When water filling begins, the time-delay valve core 11 moves from the water outlet end of the inner core 5 to one end of the lock cap 9, blocking the water outlet of the lock cap 9, so that water can flow into the chamber through the water outlet hole; As the water pressure increases, the time-delay valve core 11 moves toward the water outlet end of the inner core 5, opening the water outlet of the lock cap 9, and the inside of the corrugated tube blank is filled with water to start forming, and the water pressure is maintained during the forming process; After the pressing is completed, the pressure is released and the delayed valve core 11 returns to its original position.

[0049] See also Figure 2 The sealing device 14 provided by the present invention is arranged on the external slider 15 and is connected to the hose 16 arranged inside the external slider 15 . The external slider 15 is connected to the cylinder 17 .

[0050] Example See also Figure 1 The present embodiment provides a sealing device suitable for a manipulator to load and unload a hydraulically formed bellows, the device comprising a connector 1, a first O-ring 21, a second O-ring 22, an intermediate pressure block 3, a butterfly spring 4, an inner core 5, a pressure block 6, a slider 7, a third O-ring 8, a locking cap 9, a fourth O-ring 10, a delay valve core 11, a fifth O-ring 12, and a sixth O-ring 13.

[0051] The water outlet end of the connector 1 is connected to the water inlet end of the inner core 5. A central hole is formed through the connector 1 and the inner core 5. A lateral water outlet hole is formed on the inner core 5. The first O-ring 21, the intermediate pressure block 3 and the second O-ring 22 are sequentially sleeved on the outside of the water outlet end of the connector 1. The butterfly spring 4 is sleeved on the inner core 5. One end of the butterfly spring 4 contacts the water outlet end of the connector 1, and the other end contacts one end of the pressure block 6. The pressure block 6 and the slider 7 are sleeved on the inner core 5 behind the butterfly spring 4. The other end of the pressure block 6 is connected to the slider 7. A chamber is formed between the pressure block 6, the slider 7 and the inner core 5. The water outlet hole is opposite to the chamber. The water outlet end of the inner core 5 is connected to the water inlet end of the delay valve core 11. The delay valve core 11 is sleeved with a lock cap 9.

[0052] A third O-ring 8 is provided at the contact between the pressing block 6 and the inner core 5, two groups of sixth O-rings 13 are provided at the contact between the slider 7 and the annular boss of the inner core 5, a group of O-rings is provided at the contact between the slider 7 and the inner core 5 near its water outlet, a group of O-rings is provided at the contact between the inner core 5 and the delay valve core 11, and a group of O-rings is provided at the contact between the delay valve core 11 and the lock cap 9. When loading, the butterfly spring 4 pushes the pressing block 6 upward, and the first O-ring 21 and the second O-ring 22 are in a relaxed state. At this time, the outer diameters of the first O-ring 21 and the second O-ring 22 are set smaller than the inner diameter of the tube blank, so the tube blank will not be subject to resistance during loading and can be easily placed in place. At this time, when using a robot to discharge the material, there is no need to worry about the tube blank being scrapped due to excessive force.

[0053] When the tube blank is in place and begins to be pressed, water flows in from the center hole of the connector 1. Due to the difference in upper and lower areas of the delay valve core 11, when water injection begins, the delay valve core 11 moves upward to block the water outlet of the lock cap 9. At the same time, water flows into the cavity surrounded by the pressing block 6, the slider 7 and the inner core 5 through the water outlet of the inner core 5. Under the action of water pressure, the pressing block 6 compresses the butterfly spring 4 and the first O-ring 21 and the second O-ring 22 at the same time. Since the inner diameters of the first O-ring 21 and the second O-ring 22 are limited by the connector 1, the first O-ring 21 and the second O-ring 22 can only extend in the direction of the outer diameter, and then hit the inner diameter of the tube blank to achieve a sealing effect.

[0054] As the water pressure increases, the water pressure area at the upper end of the delay valve core 11 increases, and the delay valve core 11 moves downward, opening the water outlet of the lock cap 9. The inside of the tube blank is filled with water and begins to be pressed. The water pressure is maintained during the pressing process. The water pressure in the tube blank is greater than the water pressure in the center hole of the water seal on the line of action of the press, so the water outlet of the lock cap 9 and the center hole of the connector 1 can be connected, and the water flows back to the water tank through the overflow valve. After the pressing is completed, the pressure is released, the delay valve core 11 is at the lower end, and the normal pressure water can still flow back to the water tank, and the butterfly spring 4 is reset. Prepare for the next pressing.

[0055] The above contents are only for explaining the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. A sealing device suitable for manipulator loading and unloading of hydraulically formed bellows, characterized in that: The invention comprises a connector (1), the connector (1) being connected to an inner core (5), the inner core (5) being provided with a water outlet hole, a sealing element being sleeved on the outer side of the connector (1), a butterfly spring (4), a pressure block (6) and a slider (7) being sleeved in sequence at the water inlet end of the inner core (5), the two ends of the butterfly spring (4) respectively contacting the connector (1) and the pressure block (6), one end of the pressure block (6) being connected to the slider (7), a chamber being formed between the pressure block (6), the slider (7) and the inner core (5), the water outlet hole being directly opposite to the chamber, the other end of the pressure block (6) being able to contact the sealing element after being pressurized, the sealing element expanding outwards, and a time-delay pressure-stabilizing device being connected to the water outlet end of the inner core (5).

2. The sealing device suitable for manipulator loading and unloading of hydraulically formed bellows according to claim 1 is characterized in that: The sealing element comprises a first O-ring (21), an intermediate pressure block (3) and a second O-ring (22) which are sequentially sleeved on the outside of the connector from bottom to top, and the other end of the pressure block (6) can contact the second O-ring (22) after being pressurized.

3. The sealing device suitable for loading and unloading hydraulically formed bellows by a robot according to claim 2, characterized in that: The first O-ring (21) is located in a V-shaped space formed between the oblique side surface of the connector (1) and one oblique side surface of the intermediate pressure block (3), and the second O-ring (22) is located in a V-shaped space formed between the other oblique side surface of the intermediate pressure block (3) and the oblique side surface at one end of the pressure block (6).

4. The sealing device suitable for loading and unloading hydraulically formed bellows by a robot according to claim 2, characterized in that: The outer diameters of the first O-type sealing ring (21) and the second O-type sealing ring (22) are smaller than the inner diameter of the corrugated tube blank.

5. The sealing device suitable for loading and unloading hydraulically formed bellows by a robot according to claim 1, characterized in that: The water outlet end of the connector (1) is connected to the water inlet end of the inner core (5); a central hole is provided through both the connector (1) and the inner core (5); the central hole of the connector (1) is in communication with the central hole on the inner core (5); and the central hole on the inner core (5) is in communication with the time-delay voltage stabilizing device.

6. The sealing device suitable for loading and unloading hydraulically formed bellows by a robot according to claim 1, characterized in that: The time-delay pressure-stabilizing device comprises a time-delay valve core (11) having one end connected to the water outlet end of the inner core (5) and a lock cap (9) sleeved on the outside of the other end of the time-delay valve core (11); A movable spacing is maintained between one end of the time-delay valve core (11) and the inner core (5), and between the other end of the time-delay valve core (11) and the lock cap (9); The lock cap (9) is provided with a water outlet hole.

7. The sealing device suitable for loading and unloading hydraulically formed bellows by a robot according to claim 1, characterized in that: An annular boss is provided on the inner core (5), and the annular boss divides the chamber into a first cavity and a second cavity, the first cavity being surrounded by the pressure block (6), the annular boss and the slider (7), and the second cavity being surrounded by the slider (7) and the annular boss.

8. The sealing device suitable for loading and unloading hydraulically formed bellows by a robot according to claim 7, characterized in that: The water outlet is located above the first cavity.

9. A sealing method suitable for manipulator loading and unloading of hydraulically formed bellows according to any one of claims 1 to 8, characterized in that: The following steps are involved: During loading, the O-ring in the sealing element is in a relaxed state with the minimum outer diameter, and the bellows blank is placed in the work station under the action of the robotic arm; After the water is filled, the water enters the chamber through the connector (1), the inner core (5) and the water outlet hole. Under the action of the water pressure, the pressing block (6) drives the slider (7) to move downward. The pressing block (6) presses the butterfly spring (4) and the O-ring in the sealing element downward. The O-ring in the sealing element expands outward, increases its outer diameter, and closely contacts the wall of the bellows blank to form a seal, so that the water pressure reaches a set pressure value, and the expanded bellows is formed. After the pressure is released after the forming, under the action of the butterfly spring (4), the pressing block (6) drives the slider (7) to reset, and the O-ring in the sealing element returns to a relaxed state with a minimum outer diameter.

10. The sealing method for hydraulically formed bellows suitable for loading and unloading by a robot according to claim 9, characterized in that: The time-delay pressure-stabilizing device comprises a time-delay valve core (11) and a lock cap (9); When water filling begins, the time-delay valve core (11) moves from the water outlet end of the inner core (5) to one end of the lock cap (9), blocking the water outlet of the lock cap (9), so that water can flow into the chamber through the water outlet hole; As the water pressure increases, the time-delay valve core (11) moves toward the water outlet end of the inner core (5), opening the water outlet of the lock cap (9), and the interior of the bellows blank is filled with water and begins to be pressed, with the water pressure being maintained during the pressing process; After the pressing is completed, the pressure is released and the time-delay valve core (11) returns to its original position.

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