Intelligent accurate control equipment and method for bent head end of metal conduit

Abstract

The invention discloses intelligent and accurate control equipment and method for the bent head end of a metal conduit. The control equipment comprises a numerical control pipe bending machine and an automatic feeding machine. The automatic feeding machine comprises a feeding mechanism, a detection mechanism and a clamping mechanism, the feeding mechanism is used for storing and feeding metal conduits, and the detection mechanism is used for obtaining parameter information of the metal conduits and comparing the parameter information with standard parameters to judge whether the metal conduits are qualified or not; the clamping mechanism is used for clamping the metal guide pipe which is detected to be qualified, adjusting the posture and conveying the metal guide pipe into the numerical control pipe bending machine; and the numerical control pipe bending machine enters a bending preparation state according to the parameters of the metal guide pipe, the end position of the metal guide pipe is determined by combining compensation amount calculation, and then bending operation is conducted. According to the scheme, the end length can be accurately controlled in the automatic feeding and guide pipe bending forming process, and meanwhile the machining efficiency, accuracy and the intelligent level are improved.

Description

Technical Field

[0001] This invention relates to the field of pipe bending technology, specifically to an intelligent and precise control device and method for bending the head end of a metal conduit. Background Technology

[0002] In recent years, with the rapid development of China's aviation industry, the quality of duct forming has become a key focus for major aircraft manufacturers. Aircraft structures contain thousands of duct components, the vast majority of which are bent pipes. The bending precision of these ducts directly affects the overall quality of aircraft assembly and has a significant impact on flight safety and system performance. Especially in critical areas of the aircraft, such as the engine nacelle, vertical tail, and left and right tail booms—areas with complex vibration environments—hydraulic system ducts must meet extremely high manufacturing precision requirements. Specifically, the bending precision and end length control of the ducts have a decisive impact on their subsequent assembly quality.

[0003] Currently, in some domestic aerospace mainframe manufacturers, the production of tubing still mainly relies on a traditional processing method combining manual loading and a single CNC tube bending machine. In actual operation, workers must manually select the appropriate clamping die and place the tubing to be bent into the machine, then manually input the relevant bending parameters to complete the processing. This traditional process has significant limitations: First, manual loading and unloading of materials on the production line is not only time-consuming but can easily become a bottleneck restricting production efficiency; second, traditional CNC tube bending machines usually leave allowances at both ends after processing, requiring additional cutting operations later, which not only increases manufacturing costs but also reduces overall processing efficiency.

[0004] In response to the growing demand for high-performance, high-precision components in the aerospace field, promoting the application of integrated and automated technologies in the processing of conduits has become one of the key issues that urgently need to be addressed. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent and precise control device and method for bending the head end of a metal conduit, which aims to achieve precise control of the end length during automatic feeding and conduit bending forming, while improving processing efficiency, accuracy and intelligence.

[0006] To achieve the above objectives, the present invention employs the following technical solution: A smart and precise control device for bending the head end of a metal conduit includes a CNC pipe bending machine and an automatic feeding machine; The automatic feeding machine includes a feeding mechanism, a detection mechanism, and a clamping mechanism, wherein: The feeding mechanism includes a horizontal slide rail mounted on a base for storing and transporting metal conduits. The metal conduit to be processed is placed on the horizontal slide rail, which drives the metal conduit to move horizontally. The detection mechanism is located above the detection area at the end of the feeding mechanism and includes a detection element integrating multiple types of sensors for omnidirectional acquisition and detection of the parameter information of the metal conduit. The detection element acquires the parameter information of the metal conduit and compares it with the standard parameters stored in the system to determine whether the currently detected metal conduit is qualified. For qualified metal conduits, the horizontal slide rail continues to transport the metal conduit through the detection area and enters a set of V-grooves located at the front end of the detection area to wait for clamping. The clamping mechanism is located at the front end of the base and includes a sliding rail, a drive seat, and a gripper assembly. A pair of drive seats are mounted on the sliding rail, and a set of gripper assemblies is mounted between the pair of drive seats via a drive rod. The gripper assembly can rotate under the drive of the drive rod. The end of the gripper assembly is a biomimetic gripper, which can flexibly grasp the metal conduit using a human hand gripping action and automatically adjust its spatial posture. The sliding rail can move relative to the base, thereby driving the gripper assembly to adjust the distance between itself and the V-groove.

[0007] Furthermore, the automatic feeder is linked with the CNC pipe bending machine. The detection mechanism in the automatic feeder transmits the collected parameter information of the metal conduit to the CNC pipe bending machine, so that the CNC pipe bending machine can enter the bending preparation state according to the parameter information.

[0008] Furthermore, the CNC pipe bending machine includes a feeding carriage, a clamping sleeve, a guide rail, a pressing die, a bending die, and a clamping die, wherein: The feeding carriage is mounted on a guide rail and is equipped with a clamping sleeve for clamping the metal conduit. A pressing die is set at the front of the guide rail, and a bending die and a clamping die are installed at the end of the pressing die. The clamping die is used to clamp and fix the end of the metal conduit. The bending die is driven by a motor, and the clamping die is set on the side of the bending die. Together with the bending die, they drive the end of the metal conduit to rotate, so that the metal conduit is wrapped around the wheel die on the outer circumference of the bending die to achieve the bending and forming of the metal conduit. The side of the pressing die is used to provide reaction force during the bending and forming process, and its side is a curved surface adapted to the outer wall of the metal conduit.

[0009] Furthermore, for substandard metal conduits, an alarm will be triggered to stop the transport of that metal conduit.

[0010] Furthermore, a positioning pin is provided at the end of the V-groove to position and fix the metal conduit.

[0011] A method for intelligent and precise control of the bending tip of a metal conduit includes: Step 1: First, the metal conduit is manually placed onto the horizontal slide rail of the automatic feeder. The horizontal slide rail transports the metal conduit horizontally. When it passes through the detection area, the detection element collects and detects parameter information. If no abnormalities are found, it is transported into the V-groove. Then, the position of the gripper on the gripper assembly is adjusted. The control unit calculates the gripping position and rotation angle of the gripper based on the parameter information and the current position of the gripper assembly and gripper. Then, the control unit controls the gripper to clamp the metal conduit. After that, the control unit drives the sliding rail to move along the direction closer to the CNC pipe bending machine. The gripper assembly is used to align the axis of the held metal conduit with the center of the clamp on the feeding trolley and to feed the front end of the metal conduit into the clamping mold. Step 2: During the process of the gripper assembly clamping the metal conduit and feeding its front end into the clamping mold, the gripper stops feeding when the distance between the front end of the metal conduit and the center line of the bending mold is set to a preset length A. Subsequently, the feeding carriage moves forward along the guide rail and uses the clamping sleeve to clamp the metal conduit. The feeding carriage continues to move forward while clamping the metal conduit. When the rear end of the metal conduit is aligned with the center line of the bending mold, the feeding carriage stops moving. Then, the feeding trolley, holding the metal conduit, moved backward. When the length of the straight segment of the bent part is At that time, the feeding distance of the feeding car for , For compensation amount; Metal conduit moves backward Then, the pre-configured clamping mold and bending mold are invoked. The clamping mold fixes the metal conduit and begins the bending process on the rear end of the metal conduit. After bending is completed, the material is discharged and the feeding car retreats to its original position to wait for the next bending.

[0012] Furthermore, the amount of compensation The calculation formula is:

[0013] in The diameter of the metal conduit. The bending angle is denoted by t, and the wall thickness of the metal conduit is t. This is a preset empirical coefficient, with a value ranging from 0.2 to 1.

[0014] Furthermore, the forward travel length of the feeding car is , This refers to the total length of the metal conduit before it is bent.

[0015] Furthermore, after the clamping sleeve secures the metal conduit, the gripper assembly releases the metal conduit and drives the sliding track to reset in order to facilitate the clamping and feeding of the next metal conduit.

[0016] Compared with the prior art, the present invention has the following technical features: This invention provides a linkage processing method for bending and forming metal conduits, which combines an automatic feeding system with an intelligent CNC pipe bending device. This method can precisely control the length of the conduit's head end, reduce subsequent operations, and greatly improve production efficiency and quality through automatic feeding and high-precision automatic bending. Attached Figure Description

[0017] Figure 1 This is a structural diagram of the automatic feeder in an intelligent and precise control device for bending the head end of a metal conduit. Figure 2 This is a structural diagram of a CNC pipe bending machine used in intelligent and precise control equipment for bending the head of metal conduits.

[0018] Explanation of reference numerals in the attached drawings: 1. Horizontal slide rail; 2. Detection element; 3. V-groove; 4. Positioning pin; 5. Gripper assembly; 6. Base; 7. Sliding rail; 8. Feeding trolley; 9. Jacket; 10. Slide rail; 11. Pressing die; 12. Bending die; 13. Clamping die. Detailed Implementation

[0019] To address these problems in traditional processes, this invention proposes a combined processing method that integrates an automatic feeding system with a CNC pipe bending machine. This innovative approach not only significantly improves the efficiency and precision of conduit bending and forming but also effectively reduces the difficulty of subsequent processing, thereby comprehensively enhancing the overall manufacturing quality of the conduit.

[0020] See Figure 1 and Figure 2 The present invention first provides an intelligent and precise control device for bending the head end of a metal conduit. The control device includes a CNC pipe bending machine and an automatic feeding machine. The automatic feeding machine and the CNC pipe bending machine are linked to complete the storage, transportation, precise detection, stable clamping and bending forming of the metal conduit.

[0021] The automatic feeding machine includes a feeding mechanism, a detection mechanism, and a clamping mechanism, wherein: The feeding mechanism includes a horizontal slide rail 1 mounted on the base for storing and transporting metal conduits; the metal conduit to be processed is placed on the horizontal slide rail 1, and the horizontal slide rail 1 drives the metal conduit to move horizontally; when a feeding instruction is received, the metal conduit stored on the horizontal slide rail 1 will be transported from the left to the right by the horizontal slide rail 1 to prepare for subsequent inspection and clamping.

[0022] The detection mechanism is located above the detection area at the end of the feeding mechanism. It includes multiple detection elements 2, such as an integrated laser rangefinder and a high-precision vision sensor, for comprehensive collection and detection of parameters such as the diameter, length, wall thickness, and surface integrity of the metal conduit. When the horizontal slide rail 1 transports the metal conduit to the detection area at its end, the scanning program is initiated. The detection element 2 acquires the parameter information of the metal conduit and compares it with the standard parameters stored in the system to determine whether the currently detected metal conduit is qualified. For unqualified metal conduits, an alarm will be triggered to stop the transport of the metal conduit. For qualified metal conduits, the horizontal slide rail 1 continues to transport the metal conduit through the detection area and enters a set of V-grooves 3 located at the front end of the detection area to wait for clamping. Since the metal conduit will undergo a certain degree of displacement after entering the V-grooves 3, which will affect the accuracy of the subsequent clamping position, a positioning pin 4 is provided at the end of the V-grooves 3 to position the metal conduit in a fixed position.

[0023] The clamping mechanism, the core execution unit, is located at the front end of the base and includes a sliding rail 7, a drive seat 6, and a gripper assembly 5. A pair of drive seats 6 are mounted on the sliding rail 7, and a set of gripper assemblies 5 is mounted between the pair of drive seats 6 via a drive rod. The gripper assembly 5 can rotate under the drive of the drive rod. The end of the gripper assembly 5 is a biomimetic gripper. The gripper can flexibly grasp the metal conduit using a human hand gripping action according to the characteristics of the metal conduit, and automatically adjust its spatial posture. It has 360-degree rotation capability and adaptive adjustment function. The sliding rail 7 can move relative to the base, thereby driving the gripper assembly 5 to adjust the distance between itself and the V-groove 3.

[0024] This automatic feeding machine can be linked with a CNC pipe bending machine; the structure of the CNC pipe bending machine is as follows: Figure 2 As shown; the detection mechanism in the automatic feeding machine transmits the collected parameter information of the metal conduit to the CNC pipe bending machine, so that the CNC pipe bending machine can enter the bending preparation state according to the parameter information; the CNC pipe bending machine includes a feeding carriage 8, a jacket 9, a guide rail 10, a pressing die 11, a bending die 12, and a clamping die 13, wherein: A feeding carriage 8 is mounted on a guide rail 10, and a clamping sleeve 9 is provided on the feeding carriage 8 for clamping the metal conduit. A pressing die 11 is provided at the front of the guide rail 10, and a bending die 12 and a clamping die 13 are installed at the end of the pressing die 11. The clamping die 13 is used to clamp and fix the end of the metal conduit. The bending die 12 is driven by a motor, and the clamping die 13 is located on the side of the bending die 12. Together with the bending die 12, they drive the end of the metal conduit to rotate, so that the metal conduit is wound around the wheel mold on the outer circumference of the bending die 12 to achieve the bending and forming of the metal conduit. The side of the pressing die 11 is used to provide reaction force during the bending and forming process, and its side is a curved surface adapted to the outer wall of the metal conduit. The CNC pipe bending machine is equipped with pressing dies 11 of different specifications to adapt to metal conduits with different outer diameters.

[0025] Based on the above technical solutions, the present invention further provides a method for intelligent and precise control of the bending tip of a metal conduit, comprising: Step 1: The gripper assembly 5 transports the metal conduit to the bending area.

[0026] To avoid interference between the gripper assembly 5 and the CNC pipe bending machine, a step-by-step control strategy is adopted during the feeding of the metal conduit into the CNC pipe bending machine: First, the metal conduit is manually placed onto the horizontal slide rail 1 of the automatic feeder. The horizontal slide rail 1 then transports the metal conduit horizontally. When it passes through the detection area, the detection element collects and detects parameter information. If no abnormalities are found, it is transported into the V-groove 3. Then, the position of the gripper on the gripper assembly 5 is adjusted. The control unit of the automatic feeder calculates the gripping position and rotation angle of the gripper based on the parameter information and the current position of the gripper assembly 5 and the gripper. Then, it controls the gripper to grip the metal conduit. After that, the control unit drives the sliding rail 7 to move towards the CNC pipe bending machine and uses the gripper assembly 5 to place the gripped metal conduit onto the feeding carriage 8, so that the axis of the metal conduit is aligned with the center of the clamp 9 on the feeding carriage 8. The front end of the metal conduit is then fed into the clamping mold 13, and the clamp 9 is used to reliably fix the metal conduit. After that, the gripper assembly 5 releases the metal conduit, and the sliding rail 7 is driven to reset to facilitate the gripping and feeding of the next metal conduit.

[0027] This operating procedure fully considers the factors of motion interference between equipment, and ensures the safety and reliability of the feeding process through precise angle adjustment and orderly action coordination.

[0028] Step 2, bending process.

[0029] After the CNC pipe bending machine clamps the metal conduit to be bent using the clamp 9, the CNC pipe bending machine will perform the bending operation of the metal conduit according to the parameter information of the metal conduit transmitted by the automatic feeder. In this process, the precise control of the length of the first end is one of the key steps, and the core of this process lies in the determination of the first bending point.

[0030] Because metal conduits undergo tensile deformation during bending, resulting in a change in length, a compensation amount must be introduced when determining the first bending point. This is to compensate for the deviation caused by stretching. The positioning of the bending point is mainly achieved by the feeding carriage 8 driving the metal guide tube to move back and forth, and the specific process is as follows: To enable the feeding carriage 8 to better clamp the metal guide tube, the front end of the metal guide tube is set to exceed ( ) during the feeding action of the gripper. Figure 2When the distance between the center lines of the bending die 12 and the axis is A (to the right), the gripper stops feeding; then, the feeding carriage 8 moves forward along the guide rail 10 and uses the clamp 9 to hold the metal guide tube.

[0031] The feeding carriage 8 continues to move forward, holding the metal guide tube. When the rear end of the metal guide tube aligns with the center line of the bending die 12, the feeding carriage 8 stops moving. At this point, the forward travel length of the feeding carriage 8 is... , This refers to the total length of the metal conduit before it is bent.

[0032] Subsequently, the feeding trolley 8, holding the metal guide tube, moved backward. When the length of the straight segment of the bent part is At that time, the feeding distance of the feeding car 8 Should be The calculation method for C is as follows:

[0033] in For compensation amount, The diameter of the metal conduit. The bending angle is denoted by t, and the wall thickness of the metal conduit is t. This is a preset empirical coefficient, typically ranging from 0.2 to 1.

[0034] That is, the backward feed distance of the feed car 8 for: .

[0035] Metal conduit moves backward Then, the length of the rear end of the part exceeding the axis of the bending die 12 is L; the pre-configured clamping die 13 and bending die 12 are called, the clamping die 13 fixes the metal conduit and starts to perform the bending program on the rear end of the metal conduit; after the bending is completed, the material is discharged and the feeding car 8 retreats to the original position to wait for the next bending.

[0036] Through the above process, the CNC pipe bending machine can achieve precise control over the length of the metal conduit tip and ensure the accuracy of the overall bending process.

[0037] Example: The implementation case of 5B02 metal conduit 10X1 is used for detailed explanation.

[0038] (1) Preparation before feeding materials.

[0039] Check the automatic feeding equipment to ensure that all components are operating normally.

[0040] Inspect the CNC pipe bending machine and install the corresponding bending dies, clamping dies, pressing dies, and anti-wrinkle plates into the appropriate positions on the pipe bending machine.

[0041] Inspect the metal conduit to be bent. The inner and outer surfaces of the metal conduit should be smooth and clean. Defects such as cracks, peeling, foreign inclusions, corrosion spots, rough scratches, bubbles, delamination, and folds are not allowed.

[0042] The bending theoretical parameters are extracted based on the theoretical model, as shown in Figure 1.

[0043] Table 1 Part Bending Data

[0044] According to the bending requirements of the CNC pipe bending machine, add a process allowance of at least 200mm. For ease of operation, the blank material size is 300mm. Input the bending data into the automatic feeder.

[0045] (2) Bending process.

[0046] First, place the metal conduit to be bent in the loading area, ensuring that the bottom of the conduit is precisely aligned with the reference surface of the loading area. Once the conduit is in place, start the loading program; the conduit will move to the right along the horizontal slide rail.

[0047] During this process, the detection element monitors the status of the metal conduit in real time and collects information, comparing and analyzing the acquired data with the system's preset parameters. If no abnormalities are found, the metal conduit is automatically moved to the V-groove to await the next operation. Simultaneously, the equipment transmits the metal conduit bending information to the CNC pipe bending machine to prepare for subsequent bending.

[0048] Subsequently, the grippers precisely position themselves according to the stored metal conduit parameters and clamp the metal conduit. After clamping, the grippers drive the metal conduit to rotate around its central axis for precise alignment, ensuring that the centerline of the metal conduit coincides with the center of the clamping sleeve on the feeding trolley. After adjustment, the drive slide rail slides towards the CNC pipe bending machine. A stop signal is triggered when the front end of the metal conduit is detected to have crossed the centerline of the bending die by 20mm.

[0049] At this point, the feeding vehicle performs a forward movement and clamps the metal guide tube, then proceeds along a predetermined path to the designated position; the forward distance of this step... for:

[0050] Subsequently, the feeding vehicle reversed again, and the reversing distance was... for:

[0051] The feeding trolley travels backward 31.17mm and then stops. The system then calls the pre-configured clamping and bending die components, with the clamping die fixing the metal guide tube and initiating the bending procedure. The entire operation is intelligently controlled to ensure coordinated and precise movements.

[0052] (3) Cleaning.

[0053] Use CEE-BEE A-918 cleaning agent to remove oil from the pipe ends.

[0054] (4) Inspection.

[0055] The inner and outer surfaces of the metal conduit are permitted to have: single longitudinal scratches with a depth not exceeding 0.03 mm (not exceeding the minimum deviation of the wall thickness), oxide color, and transverse annular and spiral machining marks that do not affect the wall thickness, with a surface roughness not less than Ra3.2. For metal conduits bent on different planes, the gap between the conduit and the template is ≤2 mm; the deviation between the axis of the metal conduit and the template is ±1 mm; the gap between the metal conduit and the flat template or fixture is not greater than ≤1.5 mm.

[0056] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A smart and precise control device for the bending tip of a metal conduit, characterized in that, This includes CNC pipe bending machines and automatic feeding machines; The automatic feeding machine includes a feeding mechanism, a detection mechanism, and a clamping mechanism, wherein: The feeding mechanism includes a horizontal slide rail (1) mounted on the base for storing and transporting metal conduits; the metal conduit to be processed is placed on the horizontal slide rail (1), and the horizontal slide rail (1) drives the metal conduit to move horizontally; the detection mechanism is set above the detection area at the end of the feeding mechanism, including a detection element (2) that integrates multiple types of sensors for all-round acquisition and detection of the parameter information of the metal conduit; the detection element (2) acquires the parameter information of the metal conduit and compares it with the standard parameters stored in the system to determine whether the metal conduit being detected is qualified; for qualified metal conduits, the horizontal slide rail (1) continues to transport the metal conduit through the detection area and enters a set of V-grooves (3) located at the front end of the detection area to wait for clamping; The clamping mechanism is located at the front end of the base and includes a sliding rail (7), a drive seat (6), and a gripper assembly (5). A pair of drive seats (6) are installed on the sliding rail (7), and a set of gripper assemblies (5) is installed between the pair of drive seats (6) via a drive rod. The gripper assembly (5) can rotate under the drive of the drive rod. The end of the gripper assembly (5) is a biomimetic gripper. The gripper can use a human hand gripping action to flexibly grasp the metal conduit and automatically adjust its spatial posture. The sliding rail (7) can move relative to the base, thereby driving the gripper assembly (5) to adjust the distance between itself and the V-groove (3).

2. The intelligent and precise control device for the bending end of a metal conduit according to claim 1, characterized in that, The automatic feeder is linked with the CNC pipe bending machine. The detection mechanism in the automatic feeder transmits the collected parameter information of the metal conduit to the CNC pipe bending machine, so that the CNC pipe bending machine can enter the bending preparation state according to the parameter information.

3. The intelligent and precise control device for the bending end of a metal conduit according to claim 1, characterized in that, The CNC pipe bending machine includes a feeding trolley (8), a jacket (9), a guide rail (10), a pressing die (11), a bending die (12), and a clamping die (13), wherein: The feeding carriage (8) is mounted on the guide rail (10), and a clamping sleeve (9) is provided on the feeding carriage (8) for clamping the metal conduit; a pressing mold (11) is provided at the front of the guide rail (10), and a bending mold (12) and a clamping mold (13) are installed at the end of the pressing mold (11); the clamping mold (13) is used to clamp and fix the end of the metal conduit; the bending mold (12) is driven by a motor, and the clamping mold (13) is set on the side of the bending mold (12), and together with the bending mold (12), it drives the end of the metal conduit to rotate, so that the metal conduit is wrapped around the wheel mold on the outer circumference of the bending mold (12) to realize the bending and forming of the metal conduit; the side of the pressing mold (11) is used to provide reaction force during the bending and forming process, and its side is a curved surface adapted to the outer wall of the metal conduit.

4. The intelligent and precise control device for the bending end of a metal conduit according to claim 1, characterized in that, For substandard metal conduits, an alarm will be triggered to stop the transport of that metal conduit.

5. The intelligent and precise control device for bending the head end of a metal conduit according to claim 1, characterized in that, A positioning pin (4) is provided at the end of the V-groove (3) to fix the metal conduit.

6. A method for intelligent and precise control of the bending tip of a metal conduit, characterized in that, include: Step 1: First, manually place the metal conduit onto the horizontal slide rail (1) of the automatic feeder. The horizontal slide rail (1) will then transport the metal conduit horizontally. When it passes through the detection area, the detection element will collect and detect the parameter information. If there are no abnormalities, it will be transported into the V-groove (3). The position of the gripper on the gripper assembly (5) is then adjusted; the control unit calculates the gripping position and rotation angle of the gripper based on the parameter information and the current position of the gripper assembly (5) and the gripper, and then controls the gripper to grip the metal conduit; then the control unit drives the sliding rail (7) to move in the direction close to the CNC pipe bending machine; The gripper assembly (5) is used to align the axis of the metal conduit being gripped with the center of the sleeve (9) on the feeding cart (8) and to feed the front end of the metal conduit into the clamping mold (13). Step 2, during the process of the gripper assembly (5) clamping the metal conduit and feeding its front end into the clamping mold (13), the gripper stops feeding when the distance between the front end of the metal conduit and the axis of the bending mold (12) is set to a preset length A; then, the feeding carriage (8) moves forward along the guide rail (10) and clamps the metal conduit using the clamp (9); the feeding carriage (8) continues to move forward while clamping the metal conduit, and stops moving when the rear end of the metal conduit is aligned with the axis of the bending mold (12); Subsequently, the feeding trolley (8) moves backward while holding the metal conduit. When the length of the straight segment of the bent part is At that time, the feeding distance of the feeding car (8) for , For compensation amount; Metal conduit moves backward Then, the pre-configured clamping mold (13) and bending mold (12) are called. The clamping mold (13) fixes the metal conduit and begins to perform the bending process on the rear end of the metal conduit. After the bending is completed, the material is discharged and the feeding car (8) retreats to the original position to wait for the next bending.

7. The intelligent and precise control method for the bending tip of a metal conduit according to claim 6, characterized in that, Compensation amount The calculation formula is: in The diameter of the metal conduit. The bending angle is denoted by t, and the wall thickness of the metal conduit is t. This is a preset empirical coefficient, with a value ranging from 0.2 to 1.

8. The intelligent and precise control method for the bending tip of a metal conduit according to claim 6, characterized in that, The forward travel length of the feeding car (8) is , This refers to the total length of the metal conduit before it is bent.

9. The intelligent and precise control method for the bending tip of a metal conduit according to claim 6, characterized in that, After the clamp (9) fixes the metal conduit, the gripper assembly (5) releases the metal conduit and drives the sliding rail (7) to reset so as to clamp and feed the next metal conduit.

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