Multi-dimensional space bending copper pipe forming robot system and forming process

Abstract

The invention discloses a multi-dimensional space bending copper pipe forming robot system which comprises a horizontal guide rail a and a vertical rotating shaft. A driving device can drive the rotating shaft to rotate. One end of the guide rail a is fixed on the rotating shaft and synchronously rotates along with the rotating shaft; a horizontal copper pipe bending constraint block is fixed at the upper end of the rotating shaft; a sliding block a is arranged on the guide rail a, the driving structure can drive the sliding block a to move in the length direction of the guide rail a, and a clamping block as high as the copper pipe bending restraining block is fixedly arranged at the upper end of the sliding block a; according to the invention, a linear copper pipe can be processed into a multi-dimensional space bending copper pipe.

Description

Technical Field

[0001] The invention belongs to the field of copper tube bending. Background Art

[0002] The copper tube bending process is generally divided into single-stage bending and multi-stage bending, so as to bend the straight copper tube into the target shape; in the existing bending process, the center line of the copper tube after bending is still on the same two-dimensional plane, and it is impossible to realize any multi-dimensional space bending process; at the same time, the inner wall of the copper tube at the bending position also produces wrinkles, bulges, and inner diameter narrowing deformation due to deformation; thereby increasing the flow resistance of the internal flow state after the bending. Summary of the invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a multi-dimensional space bending copper tube forming robot system and forming process, which can process straight copper tubes into multi-dimensional space bending copper tubes.

[0004] Technical solution: To achieve the above-mentioned purpose, a multi-dimensional space copper tube bending forming robot system of the present invention includes a horizontal guide rail a and a vertical rotating shaft, and a driving device can drive the rotating shaft to rotate; one end of the guide rail a is fixed on the rotating shaft and rotates synchronously with the rotating shaft; a horizontal copper tube bending constraint block is fixed to the upper end of the rotating shaft; a slider a is provided on the guide rail a, and the driving structure can drive the slider a to displace along the length direction of the guide rail a, and a clamping block with the same height as the copper tube bending constraint block is fixed to the upper end of the slider a.

[0005] Furthermore, the copper tube bending constraint block is an integrated structure formed by integrally connecting a rectangular block and a semicircular block, and the axis of the semicircular block coincides with the axis of the rotating shaft; a straight line constraint groove is arranged on both sides of the rectangular block along the length direction, and an arc constraint groove is arranged on the arc side of the semicircular block along the arc contour, and the two ends of the arc constraint groove are respectively connected to two a straight line constraint grooves.

[0006] Furthermore, a guide rail b is fixed on the robot working platform; in an initial state, guide rail a and guide rail b are parallel and close to each other.

[0007] Furthermore, a b slider is provided on the b guide rail, and the driving structure can drive the b slider to move along the length direction of the b guide rail, and a guide block having the same height as the copper tube bending constraint block is fixedly provided on the upper end of the b slider;

[0008] A b straight constraint groove and a c straight constraint groove are respectively arranged along the length direction on one side of the clamping block and the guide block close to the copper tube bending constraint block; the cross-sectional profiles of the a straight constraint groove, the b straight constraint groove, the c straight constraint groove and the arc constraint groove are all semicircles with the same inner diameter as the outer diameter of the straight copper tube.

[0009] Furthermore, in the initial state, the b linear constraint groove and the c linear constraint groove are on the same extension line, and one side of the clamp block having the b linear constraint groove is against the copper tube bending constraint block, so that the b linear constraint groove and the a linear constraint groove are spliced ​​into a columnar copper tube clamping channel.

[0010] Furthermore, a copper tube guide in a fixed state is provided on the side of the guide block away from the clamping block, and the copper tube guide is coaxial with the b linear constraint groove and the a linear constraint groove in the initial state to form a columnar copper tube clamping channel, and the copper tube guide is provided with a copper tube guide channel along the axis, and the straight copper tube can move coaxially through the copper tube guide channel on the copper tube guide, and a three-jaw chuck is coaxially rotatably installed on the end of the copper tube guide close to the guide block, and the three-jaw chuck can clamp the straight copper tube that moves coaxially through the copper tube guide channel on the copper tube guide; a driving device that can drive the three-jaw chuck to rotate along the axis is installed on the copper tube guide.

[0011] Furthermore, it also includes a linear ejector rod coaxial with the copper tube guide, and the linear ejector rod can be displaced along the axial direction under the drive of the linear displacement device; the outer diameter is not larger than the inner diameter of the linear copper tube; a carbide sphere is provided at the end of the linear ejector rod, and the outer diameter of the carbide sphere is consistent with the inner diameter of the linear copper tube, and the carbide sphere is connected to the end of the linear copper tube through a plurality of flexible steel wire ropes distributed in a circular array, and a built-in expansion device is coaxially provided inside the segment of the end of the linear copper tube, and a ball top is provided at the end of the expansion part of the built-in expansion device. In the initial state, the ball top at the end of the expansion part presses the carbide sphere outward, so that the plurality of flexible steel wire ropes distributed in a circular array are all in a taut state. At this time, the carbide sphere is under the joint constraint of the plurality of taut flexible steel wire ropes and the ball top, and the center of the carbide sphere is on the extension line of the axis of the linear ejector rod.

[0012] Further, a forming process of a multi-dimensional space bending copper tube forming robot system:

[0013] After the bending preparation stage is ready, the control shaft drives the copper tube bending constraint block and the clamp block to rotate synchronously around the shaft counterclockwise (90 / N)°, and the copper tube straight clamp section follows the copper tube bending constraint block and the clamp block to rotate synchronously around the shaft counterclockwise (90 / N)°, so that a new "copper tube arc bending small section" is formed at the end of the straight copper tube and lies in the arc constraint groove; at this time, the carbide sphere is just at one end of the inner channel of the newly formed "copper tube arc bending small section";

[0014] The telescopic part of the built-in telescope is controlled to adaptively retract a certain distance, so that the originally tightened flexible steel wire ropes become loose and bent, thereby releasing the constraints of the flexible steel wire ropes on the carbide sphere. At this time, the center of the carbide sphere can move freely, and then the linear push rod is controlled to move to the left as a whole, so that the ball top at the end of the telescopic part pushes the carbide sphere in a free state to the left. The carbide sphere in a free state is pushed along the inner channel of the newly formed "copper tube arc bending small section" under the leftward push of the ball top, and reaches the other end of the newly formed "copper tube arc bending small section";

[0015] Control the linear push rod to retract to the right as a whole, so that the originally relaxed flexible steel wire rope is straightened again and the carbide ball is pulled back;

[0016] This step is repeated N times, and the N segments of "copper tube arc bending segments" finally formed together constitute the copper tube target bending segment.

[0017] Beneficial effects: The invention can process a straight copper tube into a multi-dimensional curved copper tube, and at the same time can make any position of the inner wall of any target curved section of the copper tube finally formed be reshaped once by the carbide sphere, thereby eliminating the wrinkles, bulges, and inner diameter narrowing deformation of the inner wall of the target curved section of the copper tube caused by deformation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of the shaft;

[0019] Figure 2 This is a schematic diagram at the end of "Step 1";

[0020] Figure 3 This is a schematic diagram of the first cycle of "Step 3";

[0021] Figure 4 for Figure 3 An internal cross-sectional view at the mark 80 of the embodiment, including two states;

[0022] Figure 5 This is the schematic diagram at the end of "Step 3";

[0023] Figure 6 This is the schematic diagram at the end of "Step 4";

[0024] Figure 7 This is the schematic diagram at the end of "Step Five";

[0025] Figure 8 This is the schematic diagram at the end of "Step 6";

[0026] Fig. 9 This is the diagram at the end of "Step 7". DETAILED DESCRIPTION

[0027] The present invention will be further described below in conjunction with the accompanying drawings.

[0028] As attached Figures 1 to 9 A multi-dimensional space copper tube bending forming robot system as shown in Figure 1 and 2 , including a robot working platform 40, on which are arranged horizontal guide rail a 15 and guide rail b 2, on which a vertical rotating shaft 13 is rotatably mounted via a bearing, and a hydraulic or electric drive device at the bottom of the robot working platform 40 can drive the rotating shaft 13 to rotate; one end of the guide rail a 15 is fixed on the rotating shaft 13 and rotates synchronously with the rotating shaft 13, and the guide rail b 2 is fixed to the robot working platform 40.

[0029] In the initial state, if Figure 2 , guide rail a 15 and guide rail b 2 are parallel and close to each other; a horizontal copper tube bending constraint block 14 is fixedly connected to the upper end of the rotating shaft 13, and the copper tube bending constraint block 14 is an integral structure formed by integrally connecting a rectangular block 14a and a semicircular block 14b, and the axis of the semicircular block 14b coincides with the axis of the rotating shaft 13; both side surfaces of the rectangular block 14a are provided with a straight line constraint groove 12 along the length direction, and an arc constraint groove 11 is provided on the arc side surface of the semicircular block 14b along the arc contour, and the two ends of the arc constraint groove 11 are respectively connected to the two a straight line constraint grooves 12.

[0030] A slider a 16 is provided on the a guide rail 15, and a driving structure (such as a screw motor, a hydraulic push rod, etc.) can drive the slider a 16 to move along the length direction of the a guide rail 15, and a clamping block 1 with the same height as the copper tube bending constraint block 14 is fixedly provided on the upper end of the slider a 16; a slider b 3 is provided on the b guide rail 2, and a driving structure (such as a screw motor, a hydraulic push rod, etc.) can drive the slider b 3 to move along the length direction of the b guide rail 2, and a guide block 4 with the same height as the copper tube bending constraint block 14 is fixedly provided on the upper end of the slider b 3.

[0031] A b straight constraint groove 17 and a c straight constraint groove 18 are respectively arranged along the length direction on one side of the clamping block 1 and the guide block 4 close to the copper tube bending constraint block 14; the cross-sectional profiles of the a straight constraint groove 12, the b straight constraint groove 17, the c straight constraint groove 18 and the arc constraint groove 11 are all semicircles with the same inner diameter as the outer diameter of the straight copper tube 8.

[0032] like Figure 2 In the initial state, the b linear constraint groove 17 and the c linear constraint groove 18 are on the same extension line, and one side of the clamp block 1 with the b linear constraint groove 17 is against the copper tube bending constraint block 14, so that the b linear constraint groove 17 and the a linear constraint groove 12 are spliced ​​into a columnar copper tube clamping channel.

[0033] A mounting seat 9 fixed on the robot working platform 40 is arranged on the side of the guide block 4 away from the clamping block 1, and a horizontal cylindrical copper tube guide 5 is installed on the mounting seat 9. The copper tube guide 5 is coaxial with the b linear constraint groove 17 and the a linear constraint groove 12 in the initial state to form a columnar copper tube clamping channel. The copper tube guide 5 is provided with a copper tube guide channel along the axis. The straight copper tube 8 can move coaxially through the copper tube guide channel on the copper tube guide 5. A three-jaw chuck 10 is coaxially rotatably installed on one end of the copper tube guide 5 close to the guide block 4. The three-jaw chuck 10 can clamp the straight copper tube 8 that moves coaxially through the copper tube guide channel on the copper tube guide 5; a driving device that can drive the three-jaw chuck 10 to rotate along the axis is installed on the copper tube guide 5.

[0034] like Figure 1 , and also includes a linear ejector rod 8 coaxial with the copper tube guide 5. Driven by the linear displacement device, the linear ejector rod 8 can be displaced along the axial direction; the outer diameter is not greater than the inner diameter of the linear copper tube 8; a hard alloy ball 22 is provided at the end of the linear ejector rod 8, and the outer diameter of the hard alloy ball 22 is consistent with the inner diameter of the linear copper tube 8. The hard alloy ball 22 is connected to the end of the linear copper tube 8 through a plurality of flexible steel wire ropes 19 distributed in a circular array. A built-in retractor 20 is coaxially provided inside the segment at the end of the linear copper tube 8. A ball top 18 is provided at the end of the telescopic part 21 of the built-in retractor 20. In the initial state, the ball top 18 at the end of the telescopic part 21 presses the hard alloy ball 22 outward, so that the plurality of flexible steel wire ropes 19 distributed in a circular array are all in a taut state. At this time, the hard alloy ball 22 is constrained by the plurality of taut flexible steel wire ropes 19 and the ball top 18, and the center of the hard alloy ball 22 is on the extension line of the axis of the linear ejector rod 8.

[0035] Working method:

[0036] Step 1: In the initial state, the guide rail a 15 and the guide rail b 2 are parallel and close to each other, the straight constraint groove b 17 and the straight constraint groove c 18 are on the same extension line, and the side of the clamp block 1 with the straight constraint groove b 17 is close to the copper tube bending constraint block 14, so that the straight constraint groove b 17 and the straight constraint groove a 12 are spliced ​​into a columnar copper tube clamping channel; a straight copper tube 6 to be bent is passed through the copper tube guide channel in the copper tube guide 5 and the columnar copper tube clamping channel spliced ​​by the straight constraint groove b 17 and the straight constraint groove a 12 in the length direction by a manipulator; at this time, a section of the straight copper tube 6 clamped between the straight constraint groove b 17 and the straight constraint groove a 12 is changed into a copper tube clamp section 8b, such as Figure 2 As shown;

[0037] Step 2, control the three-jaw chuck 10 to enter the clamping state first, so that the straight copper tube 6 cannot be displaced along the axis temporarily, and then control the linear ejector rod 8 and the carbide ball 22 at the end to coaxially penetrate into the straight copper tube 6 from the tail end of the straight copper tube 6, until the carbide ball 22 at the end of the linear ejector rod 8 reaches the position between the b linear constraint groove 17 and the c linear constraint groove 18 and pauses; finally, control the three-jaw chuck 10 to enter the release state; at this point, the bending preparation stage is ready.

[0038] Step three, control the rotating shaft 13 to drive the copper tube bending constraint block 14 and the clamp block 1 to rotate 90 / N° counterclockwise around the rotating shaft 13 synchronously, where N is an integer greater than or equal to 8, and in this case, N is 9; at this time, the copper tube straight clamp segment 8b follows the copper tube bending constraint block 14 and the clamp block 1 to rotate 90 / N° counterclockwise around the rotating shaft 13 synchronously, so that a new "copper tube arc bending segment" 8c is formed at the end of the straight copper tube 6, as shown in FIG. Figure 3 As shown, it lies in the arc constraint groove 11; at this time, the inner wall of the newly formed "copper tube arc bending small section" 8c may produce wrinkles, convexities, and inner diameter narrowing deformation due to deformation, thereby increasing the fluid resistance in the finally formed three-dimensional curved copper tube; and at this time, the cemented carbide sphere 22 is just at one end of the inner channel of the newly formed "copper tube arc bending small section" 8c, as shown in FIG. Figure 4 As shown in the figure above;

[0039] The telescopic part 21 of the built-in telescopic device 20 is controlled to adaptively retract a certain distance, so that the originally tightened several flexible steel wires 19 become loose and bent, thereby releasing the constraints of the several flexible steel wires 19 on the hard alloy sphere 22. At this time, the center of the hard alloy sphere 22 can move freely, and then the linear push rod 8 is controlled to move leftward as a whole, so that the ball top 18 at the end of the telescopic part 21 pushes the free state hard alloy sphere 22 to the left. The free state hard alloy sphere 22 is pushed to the left by the ball top 18. The carbide sphere 22 is pushed along the inner channel of the newly formed "copper tube arc bending section" 8c and reaches the other end of the newly formed "copper tube arc bending section" 8c; in the process of the carbide sphere 22 being pushed from one end of the "copper tube arc bending section" to the other end of the "copper tube arc bending section", the carbide sphere 22 performs extrusion shaping on the inner wall of the newly formed "copper tube arc bending section" to eliminate the inner wall of the newly formed "copper tube arc bending section" from wrinkling, inner convexity, and inner diameter narrowing deformation due to deformation; Figure 4 As shown in the figure below

[0040] The linear ejector rod 8 is controlled to retract rightward as a whole, so that the originally relaxed flexible steel wire rope 19 is straightened again and the carbide ball 22 is pulled back to the position at the end of "step three", and finally the telescopic part 21 of the built-in telescope 20 is controlled to re-extend the ball top 18 at the end to press the carbide ball 22 to the left, so that the flexible steel wire ropes 19 distributed in a circular array are all kept in a taut state. At this time, the carbide ball 22 is restrained by the taut flexible steel wire ropes 19 and the ball top 18, and the center of the carbide ball 22 is on the extension line of the axis of the linear ejector rod 8;

[0041] This step is repeated N times, and the N segments of "copper tube arc bending segments" 8c formed finally together constitute the copper tube target bending segment 8d. Figure 5 As shown, any position of the inner wall of the target bending section 8d of the copper tube formed finally is reshaped once by the hard alloy ball 22, so as to eliminate the wrinkles, inward bulges, and inner diameter narrowing deformation of the inner wall of the target bending section 8d of the copper tube caused by deformation; thus, the forming of the first section of the target bending section 8d of the copper tube is completed;

[0042] Step 4: Control the slider a 16 to drive the clamping block 1 to the left to disengage from the copper tube bending constraint block 14, and then control the linear push rod 8 to move to the left as a whole, so that the carbide ball 22 pushes the inner wall of the copper tube target bending section 8d to the left, so that the copper tube target bending section 8d and the linear copper tube 6 overcome the external friction force under the leftward push of the carbide ball 22 and move to the left by a predetermined distance; Figure 6 As shown;

[0043] Step 5: Control the three-jaw chuck 10 to enter the clamping state, and then control the three-jaw chuck 10 in the clamping state to rotate by a preset angle, so that the straight copper tube 6 rotates along its own axis, and the first copper tube target bending section 8d formed also swings along the axis of the straight copper tube 6 by a preset angle, such as Figure 7 As shown;

[0044] Step 6, except for the straight copper tube 6, control the device to return to the state at the end of "Step 2", such as Figure 8 ;

[0045] Step 7, refer to the process of "Step 3" to process the second copper tube target bending section 8d, such as Fig. 9 shown.

[0046] According to the above rules, multiple sections of three-dimensional curved copper tube structures are processed.

[0047] The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A multi-dimensional space copper tube bending robot system, characterized in that: The invention comprises a horizontal a-guide rail (15) and a vertical rotating shaft (13), wherein a driving device can drive the rotating shaft (13) to rotate; one end of the a-guide rail (15) is fixed on the rotating shaft (13) and rotates synchronously with the rotating shaft (13); a horizontal copper tube bending constraint block (14) is fixed on the upper end of the rotating shaft (13); an a-slider (16) is arranged on the a-guide rail (15), and a driving structure can drive the a-slider (16) to move along the length direction of the a-guide rail (15); and a clamping block (1) having the same height as the copper tube bending constraint block (14) is fixed on the upper end of the a-slider (16).

2. The multi-dimensional space copper tube bending robot system according to claim 1, characterized in that: The copper tube bending constraint block (14) is an integral structure formed by integrally connecting a rectangular block (14a) and a semicircular block (14b), wherein the axis of the semicircular block (14b) coincides with the axis of the rotating shaft (13); both sides of the rectangular block (14a) are provided with a linear constraint groove (12) along the length direction; the arc side surface of the semicircular block (14b) is provided with an arc constraint groove (11) along the arc contour; and the two ends of the arc constraint groove (11) are respectively connected to the two linear constraint grooves (12).

3. The multi-dimensional space copper tube bending robot system according to claim 2, characterized in that: A b guide rail (2) is fixed on the robot working platform (40); in an initial state, the a guide rail (15) and the b guide rail (2) are parallel and close to each other.

4. The multi-dimensional space copper tube bending robot system according to claim 3, characterized in that: The b guide rail (2) is provided with a b slider (3), and the driving structure can drive the b slider (3) to move along the length direction of the b guide rail (2), and the upper end of the b slider (3) is fixedly provided with a guide block (4) having the same height as the copper tube bending constraint block (14); The clamping block (1) and the guide block (4) are respectively provided with a b linear constraint groove (17) and a c linear constraint groove (18) along the length direction on one side close to the copper tube bending constraint block (14); the cross-sectional profiles of the a linear constraint groove (12), the b linear constraint groove (17), the c linear constraint groove (18) and the arc constraint groove (11) are all semicircles with an inner diameter the same as the outer diameter of the straight copper tube (8).

5. The multi-dimensional space copper tube bending robot system according to claim 4, characterized in that: In the initial state, the b linear constraint groove (17) and the c linear constraint groove (18) are on the same extension line, and the side surface of the clamping block (1) having the b linear constraint groove (17) is in contact with the copper tube bending constraint block (14), so that the b linear constraint groove (17) and the a linear constraint groove (12) are spliced ​​into a columnar copper tube clamping channel.

6. The multi-dimensional space copper tube bending robot system according to claim 5, characterized in that: A copper tube guide (5) in a fixed state is provided on the side of the guide block (4) away from the clamping block (1). The copper tube guide (5) is coaxial with the b linear constraint groove (17) and the a linear constraint groove (12) in the initial state to form a columnar copper tube clamping channel. The copper tube guide (5) is provided with a copper tube guide channel along the axis. The straight copper tube (8) can coaxially move through the copper tube guide channel on the copper tube guide (5). A three-jaw chuck (10) is coaxially rotatably installed on one end of the copper tube guide (5) close to the guide block (4). The three-jaw chuck (10) can clamp the straight copper tube (8) coaxially moving through the copper tube guide channel on the copper tube guide (5); and a driving device capable of driving the three-jaw chuck (10) to rotate along the axis is installed on the copper tube guide (5).

7. The multi-dimensional space copper tube bending robot system according to claim 6, characterized in that: The invention also comprises a linear ejector rod (8) coaxial with the copper tube guide (5), and driven by the linear displacement device, the linear ejector rod (8) can be displaced along the axial direction; the outer diameter is not greater than the inner diameter of the linear copper tube (8); a hard alloy ball (22) is arranged at the end of the linear ejector rod (8), the outer diameter of the hard alloy ball (22) is consistent with the inner diameter of the linear copper tube (8), the hard alloy ball (22) is connected to the end of the linear copper tube (8) through a plurality of flexible steel wire ropes (19) distributed in a circular array, and the end of the linear copper tube (8) is connected to the end of the linear copper tube (8). A built-in telescopic device (20) is coaxially arranged inside, and a ball top (18) is arranged at the end of the telescopic part (21) of the built-in telescopic device (20). In the initial state, the ball top (18) at the end of the telescopic part (21) presses the hard alloy ball (22) outward, so that a plurality of flexible steel wire ropes (19) distributed in a circular array are all in a taut state. At this time, the hard alloy ball (22) is restrained by the taut flexible steel wire ropes (19) and the ball top (18), and the center of the hard alloy ball (22) is on the extension line of the axis of the linear push rod (8).

8. The forming process of the multi-dimensional space copper tube bending forming robot system according to claim 7, characterized in that: After the bending preparation stage is ready, the control shaft (13) drives the copper tube bending constraint block (14) and the clamp block (1) to synchronously rotate counterclockwise (90 / N)° around the shaft (13), and the copper tube straight clamp section (8b) follows the copper tube bending constraint block (14) and the clamp block (1) to synchronously rotate counterclockwise (90 / N)° around the shaft (13), so that a new "copper tube arc bending small section" (8c) is formed at the end of the straight copper tube (6) and lies in the arc constraint groove (11); at this time, the carbide ball (22) is just at one end of the inner tube channel of the newly formed "copper tube arc bending small section" (8c); The telescopic part (21) of the built-in telescopic device (20) is controlled to adaptively retract a certain distance, so that the originally tightened plurality of flexible steel wire ropes (19) become loose and bent, thereby releasing the constraints of the plurality of flexible steel wire ropes (19) on the hard alloy ball (22). At this time, the center of the hard alloy ball (22) can move freely, and then the linear push rod (8) is controlled to move leftward as a whole, so that the ball top (18) at the end of the telescopic part (21) pushes the hard alloy ball (22) in a free state to the left. The hard alloy ball (22) in a free state is pushed along the inner channel of the newly formed "copper tube arc bending small section" (8c) under the leftward pushing of the ball top (18) and reaches the other end of the newly formed "copper tube arc bending small section" (8c); Control the linear push rod (8) to retract rightward as a whole, so that the originally relaxed flexible steel wire rope (19) is straightened again and the hard alloy ball (22) is pulled back; This step is repeated N times, and the N segments of "copper tube arc bending segments" (8c) finally formed together constitute the copper tube target bending segment (8d).

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