Positioning device and pipe bending equipment

Abstract

The invention belongs to the technical field of pipe bending machining, and particularly relates to a positioning device and pipe bending equipment, the positioning device is used for positioning a through hole formed in a pipe fitting, the through hole is formed in the side wall of the pipe fitting, and the positioning device comprises a positioning assembly, a supporting structure used for supporting the pipe fitting and a driving structure used for driving the pipe fitting to rotate around the axis of the pipe fitting; the positioning assembly comprises a mounting base arranged above the pipe fitting, a positioning piece movably mounted on the side, facing the pipe fitting, of the mounting base and a detection structure connected to the mounting base, the positioning piece is slidably arranged in the radial direction of the pipe fitting, the axis of the positioning piece coincides with the plane where the axis of the through hole is located, and the pipe fitting supports the positioning piece in the rotating process; and when the through hole rotates to directly face the positioning piece, the positioning piece falls into the through hole under the action of gravity, the detection structure detects that the positioning piece falls into the through hole and generates an induction signal, and the driving structure stops driving the pipe fitting to rotate according to the induction signal. The method can improve the positioning precision and reduce the cost.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of pipe bending processing, and particularly relates to a positioning device and a pipe bending device. BACKGROUND

[0002] In the field of pipe bending processing, it is often necessary to accurately position a pipe with a through hole in the peripheral wall, so as to accurately feed it to a pipe bending machine for subsequent processing. Such a pipe needs to adjust its peripheral angle before bending, to ensure that the through hole or a specific structure thereon is aligned with the mold or clamping position of the pipe bending machine, thereby avoiding interference, ensuring bending accuracy, and meeting the assembly or use requirements of the workpiece at the subsequent workstations.

[0003] At present, in actual production, the adjustment of the angle of the pipe is mostly dependent on manual rotation and visual alignment by the operator. This method is low in efficiency, poor in positioning consistency, and difficult to achieve efficient integration with automatic pipe bending equipment. In particular, on a mass production line with high tact time, random errors in manual operation can easily cause deviation in the relative position of the through hole and the clamp of the pipe bending machine, which may cause processing interference. There are also some mechanical positioning auxiliary devices in the prior art, but their structures are often complex, and the cost of debugging and maintenance is high, which does not meet the production requirements. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a positioning device and a pipe bending device, aiming to solve the problems of how to improve positioning accuracy and how to reduce cost.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present application is: In a first aspect, a positioning device is provided for positioning a through hole provided on a pipe, the through hole being provided on a side wall of the pipe, the positioning device comprising a positioning assembly, a support structure for supporting the pipe, and a driving structure for driving the pipe to rotate about its axis, the positioning assembly comprising a mounting seat provided above the pipe, a positioning piece movably mounted on a side of the mounting seat facing the pipe, and a detection structure connected to the mounting seat, the positioning piece being slidingly arranged along the radial direction of the pipe, the axis of the positioning piece coinciding with the plane in which the axis of the through hole is located, the pipe supporting the positioning piece during rotation, and when the through hole is rotated to be directly opposite the positioning piece, the positioning piece falls into the through hole under the action of gravity, the detection structure detects that the positioning piece has fallen into the through hole and generates a sensing signal, and the driving structure stops driving the pipe to rotate according to the sensing signal.

[0006] In some embodiments, the positioning assembly further comprises a guide piece connected to the mounting seat, the guide piece being provided with a first sliding channel through which the positioning piece passes, the first sliding channel extending through to the bottom end of the guide piece in the direction of gravity, and the positioning piece being slidingly arranged in the first sliding channel.

[0007] In some embodiments, the guide member is provided with a mounting cavity in communication with the first sliding channel, the mounting cavity is arranged above the first sliding channel, the positioning member is exposed to the mounting cavity away from one end of the pipe member, and the positioning assembly further comprises an adsorption structure arranged in the mounting cavity, the adsorption structure is located at the top of the positioning member, and the adsorption structure has a first state and a second state, when the adsorption structure is in the first state, the adsorption structure adsorbs the positioning member, and when the adsorption structure is in the second state, the adsorption structure releases the adsorption of the positioning member.

[0008] In some embodiments, the mounting seat is provided with a second sliding channel for the guide member to slide and a first opening in communication with the second sliding channel, the first opening is located at the bottom end of the mounting seat, the guide member is exposed outside the mounting seat through the first opening, the positioning assembly further comprises a lifting driver, the lifting driver is at least partially located in the second sliding channel, the lifting driver is used to drive the guide member to be inserted into the through hole after the pipe member stops rotating, and the outer diameter of the guide member is matched with the hole diameter of the through hole.

[0009] In some embodiments, the guide member is provided with a first avoiding slot in communication with the first sliding channel, the mounting seat is provided with a second avoiding slot in communication with the second sliding channel, the second avoiding slot corresponds to the first avoiding slot, the detection structure comprises a distance sensor connected to the outside of the mounting seat and a sensing sheet connected to the positioning member, the sensing sheet is exposed outside the mounting seat through the first avoiding slot and the second avoiding slot, the sensing sheet is slidingly connected to the first avoiding slot and the second avoiding slot in the vertical direction, and the distance sensor is used to sense the distance between the sensing sheet and the distance sensor to detect whether the positioning member falls into the through hole.

[0010] In some embodiments, the positioning assembly further comprises a first moving structure and a rotating driver connected to the first moving structure, the first moving structure is used to drive the rotating driver to move in a first direction, the first direction is the same as the extending direction of the pipe member, the mounting seat is connected to the output end of the rotating driver, and the rotating driver is used to drive the mounting seat to rotate around a first axis, the first axis extends in the vertical direction.

[0011] In some embodiments, the driving structure comprises a clamping member for clamping the pipe and a driving member for driving the clamping member to rotate around a second axis, the second axis extends along the first direction, the clamping member comprises a clamping driver connected to the driving member and clamping blocks connected to the clamping driver, the clamping blocks are arranged in pairs, and the clamping driver is used to drive the clamping blocks to move towards each other or away from each other.

[0012] In some embodiments, the positioning device further comprises a sliding driver and a lifting structure connected to the sliding driver, the driving structure is connected to the lifting structure, the lifting structure is used to drive the driving structure to move along the vertical direction, and the sliding driver is used to drive the lifting structure to move along the first direction.

[0013] In some embodiments, the positioning device further comprises a second moving structure and a sliding plate connected to the second moving structure, the second moving structure is used to drive the sliding plate to move along the first direction, and the sliding driver is connected to the sliding plate; the support structure comprises a first support seat and a second support seat arranged in pairs with the first support seat, the first support seat and the second support seat are both used to support the pipe, the first support seat is connected to the sliding plate, and the first support seat slides synchronously with the sliding plate to adjust the distance between the first support seat and the second support seat.

[0014] In a second aspect, a pipe bending device is provided, comprising the above positioning device. The positioning device provided by the present application automatically drives the pipe to rotate through the driving structure, when the through hole on the pipe is rotated to be opposite to the positioning member, the positioning member falls into the through hole under the action of gravity, the detection structure detects that the positioning member falls into the through hole and generates a sensing signal, and the driving structure can stop driving the pipe to rotate according to the sensing signal, so as to realize positioning the through hole on the pipe at a preset position, eliminate subjective errors of human eyes, and effectively improve the positioning accuracy; and the present application uses the way that the positioning member falls into the through hole under the action of gravity to physically locate, without a complex active driving mechanism, so that the device structure is simplified, and the manufacturing and maintenance costs are reduced. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or exemplary technical descriptions will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0016] Figure 1 is the overall structure schematic diagram of the positioning device provided by the present application. Figure 2 is a schematic diagram of the overall structure of the positioning assembly provided by the embodiment of the present application; Figure 3 is a schematic diagram of the partial structure of the positioning assembly provided by the embodiment of the present application; Figure 4 is a schematic diagram of the partial structure of the positioning assembly provided by one of the embodiments of the present application; Figure 5 is a schematic diagram of the partial cut structure of the positioning assembly provided by the embodiment of the present application; Figure 6 is a schematic diagram of the partial structure of the positioning assembly provided by another embodiment of the present application; Figure 7 is a schematic diagram of the structure of the driving structure and the supporting structure provided by the embodiment of the present application.

[0017] In the drawings, various reference signs represent: 10, positioning assembly; 11, mounting seat; 111, second sliding channel; 112, first opening; 113, second avoiding groove; 114, second opening; 12, positioning piece; 13, detection structure; 131, distance sensor; 132, inductive sheet; 14, guiding piece; 141, first sliding channel; 142, mounting cavity; 143, first avoiding groove; 15, adsorption structure; 16, lifting driver; 17, pushing piece; 18, spring; 191, first moving structure; 192, rotary driver; 20, supporting structure; 21, first supporting seat; 22, second supporting seat; 23, roller shaft; 30, driving structure; 31, clamping piece; 311, clamping driver; 312, clamping block; 32, driving piece; 40, sliding driver; 50, lifting structure; 61, second moving structure; 62, sliding plate; 70, joint; 200, pipe; 210, through hole. DETAILED DESCRIPTION

[0018] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0019] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0020] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly specified and limited.

[0021] In the present application, unless otherwise explicitly specified and limited, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "above", "over" and "on" of the first feature to the second feature include that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "below", "under" and "under" of the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0022] Please refer to Figures 1 to 7 The embodiment of the present application provides a positioning device for positioning a through hole 210 arranged on a pipe 200, the through hole 210 is arranged on the side wall of the pipe 200, the positioning device comprises a positioning assembly 10, a supporting structure 20 for supporting the pipe 200 and a driving structure 30 for driving the pipe 200 to rotate around the axis thereof, the positioning assembly 10 comprises a mounting seat 11 arranged above the pipe 200, a positioning piece 12 movably mounted on one side of the mounting seat 11 towards the pipe 200 and a detection structure 13 connected to the mounting seat 11, the positioning piece 12 is arranged in sliding mode along the radial direction of the pipe 200, the axis of the positioning piece 12 coincides with the plane where the axis of the through hole 210 is located, the pipe 200 supports the positioning piece 12 during rotation, when the through hole 210 rotates to be opposite to the positioning piece 12, the positioning piece 12 falls into the through hole 210 under the action of gravity, the detection structure 13 detects that the positioning piece 12 falls into the through hole 210 and generates a sensing signal, and the driving structure 30 stops driving the pipe 200 to rotate according to the sensing signal.

[0023] It should be noted that the positioning device of the embodiment of the present application is used in cooperation with the pipe bending machine. Before the pipe 200 is fed to the pipe bending machine for pipe bending, the positioning device of the embodiment of the present application is used to position the through hole 210 on the pipe 200, so as to ensure that the through holes 210 on the pipe 200 have the same orientation, thereby facilitating subsequent processing. Specifically, the pipe 200 has a long strip structure with an inner cavity, and the through hole 210 is arranged on the side wall of the pipe 200 and communicates with the inner cavity of the pipe 200.

[0024] It can be understood that the positioning device can be connected to a mechanical hand, and the mechanical hand feeds the pipe 200 to the support structure 20. The pipe 200 fed to the support structure 20 can have different placement angles, that is, the through holes 210 on the pipe 200 fed to the support structure 20 can have different orientations. The positioning device of the embodiment of the present application can position the through hole 210 arranged on the pipe 200, so as to adjust the through hole 210 on the pipe 200 to a preset position.

[0025] In the embodiment of the present application, as shown in Figure 3 The positioning member 12 is movably mounted on the side of the mounting seat 11 facing the pipe 200, that is, the positioning member 12 is movably mounted on the bottom end of the mounting seat 11. The positioning member 12 can slide along the vertical direction relative to the mounting seat 11, and the positioning member 12 will not be separated from the mounting seat 11. In addition, the positioning member 12 is arranged to slide along the radial direction of the pipe 200, that is, the sliding direction of the positioning member 12 intersects the axis of the pipe 200, and the axis of the positioning member 12 coincides with the plane in which the axis of the through hole 210 lies, so as to ensure that the through hole 210 can be rotated to be opposite to the positioning member 12. It should be noted that the "radial" expression in the present application is for convenience of description, and does not limit the shape of the inner cavity of the pipe 200 to be circular. The inner cavity of the pipe 200 can be of other shapes. Alternatively, the axis of the pipe 200 extends along the first direction a.

[0026] In the embodiment of the present application, during the rotation of the pipe 200, when the position of the through hole 210 is not opposite to the positioning member 12, the positioning member 12 is abutted on the peripheral wall of the pipe 200 under the action of gravity, and the peripheral wall of the pipe 200 supports the positioning member 12 upward. When the through hole 210 is rotated to be opposite to the positioning member 12, the positioning member 12 falls into the through hole 210 under the action of gravity. At this time, the detection structure 13 can detect that the positioning member 12 falls into the through hole 210 and generate a sensing signal. The driving structure 30 stops driving the pipe 200 to rotate according to the sensing signal, so as to keep the through hole 210 at a preset position.

[0027] The positioning device provided in the application drives the pipe 200 to rotate automatically through the driving structure 30, when the through hole 210 on the pipe 200 is rotated to be opposite to the positioning piece 12, the positioning piece 12 falls into the through hole 210 under the action of gravity, the detection structure 13 detects that the positioning piece 12 falls into the through hole 210 and generates a sensing signal, and the driving structure 30 can stop driving the pipe 200 to rotate according to the sensing signal, so that the through hole 210 on the pipe 200 is positioned at a preset position, the subjective error of human eye judgment is eliminated, and the positioning precision is effectively improved; and the application utilizes the physical positioning mode that the positioning piece 12 falls into the through hole 210 under the action of gravity, without a complex active driving mechanism, so that the device structure is simplified, and the manufacturing and maintenance costs are reduced.

[0028] In some embodiments, as shown in Figure 4 and Figure 5 The positioning assembly 10 further includes a guide piece 14 connected to the mounting seat 11, the guide piece 14 is provided with a first sliding channel 141 through which the positioning piece 12 passes, the first sliding channel 141 penetrates to the bottom end of the guide piece 14 along the gravity direction, and the positioning piece 12 is slidingly arranged in the first sliding channel 141. By arranging the first sliding channel 141 and slidingly arranging the positioning piece 12 in the first sliding channel 141, the movable connection of the positioning piece 12 can be realized, and the up and down movement of the positioning piece 12 can be guided.

[0029] In some embodiments, the guide piece 14 is provided with a mounting cavity 142 in communication with the first sliding channel 141, the mounting cavity 142 is arranged above the first sliding channel 141, one end of the positioning piece 12 away from the pipe 200 is exposed to the mounting cavity 142, and the positioning assembly 10 further includes a suction structure 15 arranged in the mounting cavity 142, the suction structure 15 is located at the top of the positioning piece 12, the suction structure 15 has a first state and a second state, when the suction structure 15 is in the first state, the suction structure 15 adsorbs the positioning piece 12, and when the suction structure 15 is in the second state, the suction structure 15 releases the adsorption of the positioning piece 12.

[0030] It should be noted that the inner diameter of the mounting cavity 142 is greater than the inner diameter of the first sliding channel 141, and the outer diameter of the top end of the positioning piece 12 is greater than the inner diameter of the first sliding channel 141, so that the positioning piece 12 cannot fall through the first sliding channel 141 and separate from the guide piece 14, thereby limiting the stroke of the downward sliding of the positioning piece 12.

[0031] By setting the adsorption structure 15, when the pipe fitting 200 is placed on the support structure 20 and starts to be positioned, the adsorption structure 15 is switched to the second state, the adsorption structure 15 releases the adsorption on the positioning piece 12, so that the positioning piece 12 slides downward under the action of gravity and abuts against the peripheral wall of the pipe fitting 200. When the pipe fitting 200 is positioned and needs to be unloaded, the adsorption structure 15 is switched to the first state, the adsorption structure 15 adsorbs the positioning piece 12 upward, so that the positioning piece 12 slides upward and is separated from the through hole 210 of the pipe fitting 200, thereby avoiding interference with the pipe fitting 200. By setting the adsorption structure 15, the positioning piece 12 is prevented from being forcibly pulled out or the pipe fitting 200 is prevented from moving to push the positioning piece 12 hard. The active vertical separation action provided by the adsorption structure 15 is soft and accurate, and the scraping, collision and wear that may occur between the positioning piece 12 and the inner wall of the through hole 210 in the instant of separation are eliminated, not only the precision and surface quality of the positioning piece 12 itself are protected, but also damage to the through hole 210 of the pipe fitting 200 is avoided. Optionally, the positioning piece 12 is a positioning pin, and the cross section of the positioning pin is circular.

[0032] Understandably, the adsorption structure 15 can be connected to a vacuum generating device, so that the adsorption surface of the adsorption structure 15 generates a vacuum adsorption force. Optionally, the adsorption structure 15 is a suction cup.

[0033] In some embodiments, the mounting seat 11 is provided with a second sliding channel 111 for the guide piece 14 to slide, and a first opening 112 in communication with the second sliding channel 111, the first opening 112 is located at the bottom end of the mounting seat 11, the guide piece 14 is exposed outside the mounting seat 11 through the first opening 112, and the positioning assembly 10 further includes a lifting driver 16, the lifting driver 16 is at least partially located in the second sliding channel 111, the lifting driver 16 is used to drive the guide piece 14 to insert into the through hole 210 after the pipe fitting 200 stops rotating, and the outer diameter of the guide piece 14 is matched with the hole diameter of the through hole 210.

[0034] It should be noted that when the positioning piece 12 falls into the through hole 210 and the pipe fitting 200 stops rotating, the driving structure 30 is disconnected with the pipe fitting 200 at this time, and the pipe fitting 200 is in a free rotating state, so when the guide piece 14 is inserted into the through hole 210, the position of the through hole 210 can be further guided since the outer diameter of the guide piece 14 is matched with the hole diameter of the through hole 210. Optionally, the cross section of the guide piece 14 is circular, and the cross section of the through hole 210 is also circular.

[0035] In the embodiment of the present application, the initial positioning member 12 falls into the through hole 210 to complete the preliminary circumferential angle alignment, and on this basis, the lifting driver 16 drives the alignment member 14 to descend, so that the outer cylindrical surface of the alignment member 14 directly inserted into the through hole 210 in precise fitting with the hole diameter of the through hole 210, a higher precision fitting is achieved, the slight residual deviation introduced by the gap between the positioning member 12 and the through hole 210 can be eliminated, thereby the pipe fitting 200 is aligned for the second time, and the final angle precision of the pipe fitting 200 is greatly improved. In addition, the bottom wall of the first opening 112 of the mounting seat 11 is connected with the spring 18, the spring 18 is located in the second sliding channel 111, the spring 18 is sleeved on the alignment member 14, and the two ends of the spring 18 abut against the bottom wall of the first opening 112 of the mounting seat 11 and the side wall of the alignment member 14 respectively, so that the spring 18 can play a buffering role to buffer the vibration generated when the alignment member 14 contacts the pipe fitting 200, thereby avoiding damage to the alignment member 14, and through the spring 18, when the alignment member 14 is withdrawn from the through hole 210, the compressed spring 18 releases energy, and the alignment member 14 can be reliably pushed back to the initial predetermined position, so as to prepare for the next alignment action, that is, the spring 18 can reset the alignment member 14, thereby enhancing the stability and reliability of long-term operation of the equipment.

[0036] In addition, as shown in Figure 5 the direction of insertion of the alignment member 14 into the through hole 210, the radial dimension of the bottom end of the alignment member 14 gradually decreases, that is, the bottom end of the alignment member 14 is a tapered structure, and the end of the tapered structure forms a guide cone surface to avoid direct collision between the alignment member 14 and the inner wall of the through hole 210. At the beginning of the insertion process, the guide cone surface first contacts the pipe fitting 200, disperses the impact force through the gradually tapered slope, and smoothly guides the alignment member 14 into the through hole 210, rather than colliding with the edge of the through hole 210 with a large impact force, which effectively prevents scratches, deformation or burrs caused by collision, and also helps to protect the end face of the alignment member 14 from being damaged. Alternatively, for pipe fittings 200 of different hole diameters, the operator can replace the alignment member 14 and the positioning member 12, thereby improving the applicability of the positioning device.

[0037] In the embodiment of the present application, as shown in Figure 4 and Figure 5As shown, the top end of the mounting base 11 forms a second opening 114 communicating with the second sliding channel 111, the lifting driver 16 is located above the second opening 114, the positioning assembly 10 further comprises a pushing member 17, the pushing member 17 is slidingly arranged in the second sliding channel 111 and the pushing member 17 is located above the guide member 14, the output end of the lifting driver 16 is connected with the pushing member 17 through the second opening 114, the end of the pushing member 17 facing the guide member 14 is connected with the adsorption structure 15, the mounting cavity 142 is formed with an opening at the end of the guide member 14 facing the pushing member 17, the opening corresponds to the adsorption structure 15, so that the adsorption structure 15 is opposite to the positioning member 12 in the mounting cavity 142 and can adsorb the positioning member 12. When the lifting driver 16 drives the pushing member 17 to move downward, since the mounting cavity 142 is formed with an opening at the end of the guide member 14 facing the pushing member 17, the adsorption structure 15 can pass through the opening to enter the mounting cavity 142, that is, the mounting cavity 142 can avoid the adsorption structure 15, so that the edge of the pushing member 17 can abut against the edge of the opening of the guide member 14 and push the guide member 14 to move downward. Optionally, the lifting driver 16 is a pen type cylinder. Optionally, the pushing member 17 is connected with a connector 70, the connector 70 communicates with the adsorption structure 15 through the channel in the pushing member 17, and the connector 70 can be connected with a vacuum generating device, so that the adsorption structure 15 communicates with the vacuum generating device.

[0038] In some embodiments, as shown in Figure 4 and Figure 6 As shown, the guide member 14 is provided with a first avoiding slot 143 communicating with the first sliding channel 141, the mounting base 11 is provided with a second avoiding slot 113 communicating with the second sliding channel 111, the second avoiding slot 113 corresponds to the first avoiding slot 143, the detection structure 13 comprises a distance sensor 131 connected to the outer side of the mounting base 11 and a sensing sheet 132 connected with the positioning member 12, the sensing sheet 132 is exposed outside the mounting base 11 through the first avoiding slot 143 and the second avoiding slot 113, the sensing sheet 132 is slidingly connected with the first avoiding slot 143 and the second avoiding slot 113 along the vertical direction, and the distance sensor 131 is used for sensing the distance between the sensing sheet 132 and the distance sensor 131 to detect whether the positioning member 12 falls into the through hole 210.

[0039] It can be understood that the distance sensor 131 can continuously and accurately measure the gap change between the inductive sheet 132, so that the extremely small vertical displacement of the positioning member 12 supported on the outer wall of the pipe 200 or falling into the through hole 210 can be captured very sensitively, and the different height positions of the inductive sheet 132 correspond, so that whether the positioning member 12 falls into the through hole 210 can be accurately distinguished, the detection accuracy is high, and the response speed is fast. And by setting the first avoiding groove 143 and the second avoiding groove 113, the inductive sheet 132 can be arranged outside the mounting seat 11, avoiding the inductive sheet 132 being installed inside the mounting seat 11 and the pilot 14 with complex structure, and such layout makes the installation, debugging, replacement and maintenance of the detection structure 13 become simple. In addition, the distance sensor 131 and the inductive sheet 132 do not need physical contact for detection, and such non-contact measurement avoids the problems of wear, deformation and failure of the sensor probe or the inductive sheet 132 caused by mechanical contact, repeated collision and friction, greatly improving the service life of the detection structure 13. Optionally, the distance sensor 131 is an optical sensor.

[0040] In some embodiments, as shown in Figure 2 The positioning assembly 10 further includes a first moving structure 191 and a rotary driver 192 connected to the first moving structure 191, the first moving structure 191 is used to drive the rotary driver 192 to move along a first direction a, the first direction a is the same as the extending direction of the pipe 200, the mounting seat 11 is connected to the output end of the rotary driver 192, and the rotary driver 192 is used to drive the mounting seat 11 to rotate around a first axis, the first axis extends along the vertical direction. It can be understood that the first direction a is the extending direction of the pipe 200 when the pipe 200 is placed on the support structure 20.

[0041] By setting the first moving structure 191, the first moving structure 191 can drive the entire positioning assembly 10 to move, so that the mounting seat 11, the guide piece 14 and the positioning piece 12 move above the through hole 210, thereby being able to adapt to the through hole 210 in different positions. And by setting the rotary driver 192 to drive the mounting seat 11 to rotate around the first axis, after completing accurate positioning, the first moving structure 191 can drive the mounting seat 11 to move away from the area above the pipe 200 to a non-working standby position, ensuring that the mechanical hand, clamp or other feeding device has no physical interference with the movement path of the positioning assembly 10 when grabbing and transferring the positioned pipe 200. And by setting the rotary driver 192, the angle of the mounting seat 11 and the positioning piece 12 and the guide piece 14 thereon can be adjusted, so that for different positions of the through hole 210 on the pipe 200 of different models or changes in the production line layout, it is not necessary to physically adjust the installation angle of the entire device, and only by rotating the driver 192 can the positioning assembly 10 quickly align with the pipe 200, greatly improving the versatility of the equipment. Optionally, the rotary driver 192 is a rotary cylinder, and the first moving structure 191 is a linear motor.

[0042] In some embodiments, as shown in Figure 7 The driving structure 30 includes a clamping piece 31 for clamping the pipe 200 and a driving piece 32 for driving the clamping piece 31 to rotate around the second axis, the second axis extending along the first direction a, the clamping piece 31 including a clamping driver 311 connected to the driving piece 32 and a clamping block 312 connected to the clamping driver 311, the clamping block 312 being arranged in two, the clamping driver 311 being used to drive the two clamping blocks 312 to move towards or away from each other. The two clamping blocks 312 simultaneously exert balanced clamping force from both sides, which can improve the stability of the pipe 200 fixation and ensure the stability of the pipe 200 rotation process, avoiding the pipe 200 shaking. And the distance between the two clamping blocks 312 is adjustable, so that the clamping piece 31 can automatically adapt to and reliably clamp pipes 200 of different diameters, greatly improving the adaptability of the equipment to different product specifications.

[0043] In some embodiments, the positioning device further comprises a sliding driver 40 and a lifting structure 50 connected to the sliding driver 40, the driving structure 30 is connected to the lifting structure 50, the lifting structure 50 is used to drive the driving structure 30 to move in the vertical direction, and the sliding driver 40 is used to drive the lifting structure 50 to move in the first direction a. By arranging the lifting structure 50, the clamping center position can be adjusted according to different pipe diameters 200, thereby improving the stability and applicability of clamping. The sliding driver 40 drives the lifting structure 50 to move in the first direction a, thereby driving the clamping piece 31 and the pipe 200 to move in the first direction a, so as to adjust the position of the pipe 200 in the first direction a, thereby improving the adaptability to different layouts. Optionally, the sliding driver 40 is a pneumatic cylinder.

[0044] In some embodiments, the positioning device further comprises a second moving structure 61 and a sliding plate 62 connected to the second moving structure 61, the second moving structure 61 is used to drive the sliding plate 62 to move in the first direction a, and the sliding driver 40 is connected to the sliding plate 62; the support structure 20 comprises a first support seat 21 and a second support seat 22 arranged in a spaced manner with the first support seat 21, both the first support seat 21 and the second support seat 22 are used to support the pipe 200, and the first support seat 21 is connected to the sliding plate 62 and synchronously slides with the sliding plate 62 to adjust the distance between the first support seat 21 and the second support seat 22.

[0045] By adjusting the distance between the first support seat 21 and the second support seat 22, the positioning device can cope with various specifications from short pipes to long pipes, thereby enhancing the compatibility of the positioning device to pipes 200 of different lengths. In addition, by adjusting the distance between the first support seat 21 and the second support seat 22, the pipe 200 can be supported at a position most suitable for its length, for example, for long pipes, increasing the support span can prevent the middle part from sagging; for short pipes, reducing the span can ensure the stability of the center of gravity, and this adjustable support mode ensures that the pipe 200 is always well supported in rigid during the rotation positioning process. Optionally, the top surface of the first support seat 21 and the second support seat 22 is provided with two rows of rotatably arranged roller shafts 23, the two rows of roller shafts 23 are arranged in a spaced manner, the pipe 200 is supported between the two rows of roller shafts 23, the roller shaft 23 forms a rolling friction with the pipe 200, thereby avoiding the jamming phenomenon caused by too large frictional resistance, and ensuring that the pipe 200 can rotate smoothly and smoothly. In addition, the first support seat 21 and the second support seat 22 can slide in the second direction b, and the second direction b is perpendicular to the first direction a, thereby further enhancing the diversity of position adjustment.

[0046] The application further provides a pipe bending device comprising the positioning device, the specific structure of which is referred to the above-mentioned embodiments, and the pipe bending device has all the beneficial effects brought by the technical schemes of the above-mentioned embodiments, which will not be repeated here.

[0047] To sum up, the positioning device provided by the application can automatically drive the pipe 200 to rotate through the driving structure 30, when the through hole 210 on the pipe 200 is aligned with the positioning piece 12, the positioning piece 12 falls into the through hole 210 under the action of gravity, the detection structure 13 detects that the positioning piece 12 has fallen into the through hole 210 and generates a sensing signal, and the driving structure 30 can stop driving the pipe 200 to rotate according to the sensing signal, thereby realizing positioning of the through hole 210 on the pipe 200 at a preset position, eliminating subjective errors of human eyes in judgment, and effectively improving positioning accuracy; and the application uses the physical positioning mode that the positioning piece 12 falls into the through hole 210 under the action of gravity, without a complex active driving mechanism, so that the device structure is simplified, and manufacturing and maintenance costs are reduced.

[0048] The above is only an optional embodiment of the application and is not used to limit the application. The application can have various changes and modifications for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the scope of claims of the application.

Claims

1. A positioning device for positioning a through hole (210) provided on a pipe (200), wherein the through hole (210) is located on a side wall of the pipe (200), characterized in that: The positioning device comprises a positioning assembly (10), a supporting structure (20) for supporting the pipe (200), and a driving structure (30) for driving the pipe (200) to rotate around its axis. The positioning assembly (10) comprises a mounting seat (11) provided above the pipe (200), a positioning member (12) movably mounted on the mounting seat (11) facing the side of the pipe (200), and a detection structure (13) connected to the mounting seat (11). The positioning member (12) is arranged to slide along the radial direction of the pipe (200). The axis of the positioning member (12) coincides with the plane where the axis of the through hole (210) is located. The pipe (200) supports the positioning member (12) during rotation. When the through hole (210) rotates to face the positioning member (12), the positioning member (12) falls into the through hole (210) under the action of gravity. The detection structure (13) senses that the positioning member (12) falls into the through hole (210) and generates a sensing signal. The driving structure (30) stops driving the pipe (200) to rotate according to the sensing signal.

2. The positioning device according to claim 1, wherein: The positioning assembly (10) further includes a guide member (14) connected to the mounting seat (11), the guide member (14) being provided with a first sliding channel (141) for the positioning member (12) to pass through, the first sliding channel (141) extending along the direction of gravity to the bottom end of the guide member (14), and the positioning member (12) being slidably disposed in the first sliding channel (141).

3. The positioning device according to claim 2, wherein: The guiding member (14) is provided with an installation cavity (142) connected to the first sliding channel (141), and the installation cavity (142) is provided above the first sliding channel (141). One end of the positioning member (12) facing away from the pipe (200) is exposed in the installation cavity (142). The positioning assembly (10) also includes an adsorption structure (15) provided in the installation cavity (142). The adsorption structure (15) is located on the top of the positioning member (12). The adsorption structure (15) has a first state and a second state. When the adsorption structure (15) is in the first state, the adsorption structure (15) adsorbs the positioning member (12). When the adsorption structure (15) is in the second state, the adsorption structure (15) releases the adsorption of the positioning member (12).

4. The positioning device according to claim 2, wherein: The mounting seat (11) is provided with a second sliding channel (111) for the guide member (14) to slide, and a first opening (112) connected to the second sliding channel (111), wherein the first opening (112) is located at the bottom end of the mounting seat (11), and the guide member (14) is exposed to the outside of the mounting seat (11) through the first opening (112). The positioning assembly (10) further includes a lifting drive (16), wherein the lifting drive (16) is at least partially located in the second sliding channel (111), and the lifting drive (16) is used to drive the guide member (14) to be inserted into the through hole (210) after the pipe (200) stops rotating, and the outer diameter of the guide member (14) is adapted to the aperture of the through hole (210).

5. The positioning device according to claim 4, wherein: The guiding member (14) is provided with a first avoidance groove (143) connected to the first sliding channel (141), the mounting seat (11) is provided with a second avoidance groove (113) connected to the second sliding channel (111), the second avoidance groove (113) corresponds to the first avoidance groove (143), the detection structure (13) includes a distance sensor (131) connected to the outside of the mounting seat (11) and a sensing sheet (132) connected to the positioning member (12), The sensing piece (132) is exposed outside the mounting seat (11) through the first avoidance groove (143) and the second avoidance groove (113); the sensing piece (132) is slidably connected to the first avoidance groove (143) and the second avoidance groove (113) along the vertical direction; the distance sensor (131) is used to sense the distance between the sensing piece (132) and the distance sensor (131) to detect whether the positioning member (12) falls into the through hole (210).

6. The positioning device according to claim 5, wherein: The positioning assembly (10) further includes a first movable structure (191) and a rotary driver (192) connected to the first movable structure (191), wherein the first movable structure (191) is used to drive the rotary driver (192) to move along a first direction, wherein the first direction is the same as the extension direction of the pipe (200), and the mounting seat (11) is connected to the output end of the rotary driver (192), and the rotary driver (192) is used to drive the mounting seat (11) to rotate around a first axis, wherein the first axis extends in a vertical direction.

7. The positioning device according to any one of claims 1 to 6, characterized in that: The driving structure (30) includes a clamping member (31) for clamping the pipe (200) and a driving member (32) for driving the clamping member (31) to rotate around a second axis, wherein the second axis extends along a first direction, and the clamping member (31) includes a clamping driver (311) connected to the driving member (32) and a clamping block (312) connected to the clamping driver (311), wherein two clamping blocks (312) are arranged at intervals, and the clamping driver (311) is used to drive the two clamping blocks (312) to move toward or away from each other.

8. The positioning device according to claim 7, wherein: The positioning device further comprises a sliding driver (40) and a lifting structure (50) connected to the sliding driver (40), wherein the driving structure (30) is connected to the lifting structure (50), and the lifting structure (50) is used to drive the driving structure (30) to move in a vertical direction, and the sliding driver (40) is used to drive the lifting structure (50) to move in a first direction.

9. The positioning device according to claim 8, wherein: The positioning device also includes a second movable structure (61) and a sliding plate (62) connected to the second movable structure (61), the second movable structure (61) is used to drive the sliding plate (62) to move along a first direction, and the sliding driver (40) is connected to the sliding plate (62); the supporting structure (20) includes a first supporting seat (21) and a second supporting seat (22) spaced apart from the first supporting seat (21), the first supporting seat (21) and the second supporting seat (22) are both used to support the pipe (200), the first supporting seat (21) is connected to the sliding plate (62), and the first supporting seat (21) slides synchronously with the sliding plate (62) to adjust the distance between the first supporting seat (21) and the second supporting seat (22).

10. A pipe bending device, characterized in that: Comprising the positioning device according to any one of claims 1 to 9.

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