Full-automatic pipe shrinking machine and shrinking control method

Abstract

This invention relates to a fully automatic pipe spinning machine and spinning control method, belonging to the field of metal pipe spinning processing. It employs dual-motor independent drives for pipe rotation and mold rotation, achieving a dual-active spinning mode. The pipe rotates at a constant speed while being fed axially, ensuring uniform pressure along the circumference within the mold's arc groove, avoiding swaying and uneven wall thickness caused by unilateral force. The coordinated process of axial feeding and circumferential rotation eliminates passive slippage, improving product forming stability and yield. The mandrel is elastically supported at the mold center by a spring seat and moves axially synchronously with the pipe during spinning, providing support and shaping for the inner diameter while it deforms radially, effectively preventing pipe end collapse. Simultaneous operation of direct and spinning stations significantly shortens the production cycle time per piece compared to sequential methods. Combined with vibratory feeder loading, pneumatic gripper transfer, online air blowing detection, and automatic demagnetization unloading, the overall yield and production line efficiency are simultaneously improved.

Description

Technical Field

[0001] This invention relates to the field of metal pipe shrinking technology, and particularly to a fully automatic pipe shrinking machine and shrinking control method. Background Technology

[0002] In the field of metal pipe processing, pipe diameter reduction is a common forming process for obtaining specific taper, step, or reduced diameter structures. Industrial production typically employs a combination of direct reduction and rotary reduction: the direct reduction process uses a die to axially compress the pipe to achieve rapid reduction in diameter and control the axial length of the reduced section; the rotary reduction process uses a rotating die to apply radial rotary pressure to the pipe to ensure the accuracy of the inner diameter of the reduced section and the surface forming quality.

[0003] Currently, the two processes mentioned above are mostly completed by separate equipment, and the pipe fittings are transferred between the two processes by manual labor or simple handling devices. In the spinning process, the existing equipment generally adopts a structure in which a single motor drives the mold to rotate. The pipe fittings themselves do not have an independent drive source and are passively rotated by the friction between them and the inner wall of the mold while being fed axially.

[0004] However, the existing solutions mentioned above have the following drawbacks in actual production: First, direct shrinking and spin shrinking are placed in different equipment, and the connection between processes depends on manual operation, resulting in low overall automation, limited production cycle, and large space occupation and high overall cost for multiple sets of equipment; Second, in the single motor drive structure, the speed ratio between the mold speed and the pipe speed is determined by the friction transmission relationship and cannot be adjusted independently. When the material, wall thickness or specifications of the pipe change, it is impossible to adjust the relative linear speed between the mold and the pipe accordingly, resulting in insufficient process adaptability; Third, the rotation of the pipe depends entirely on the passive drive of the mold friction. When the spinning pressure is large or there is a lubricating medium on the surface of the pipe, relative slippage is likely to occur between the pipe and the mold, resulting in forming defects such as excessive ovality of the pipe opening, uneven wall thickness distribution and surface scratches, making it difficult to guarantee product consistency. Summary of the Invention

[0005] The purpose of this invention is to provide a fully automatic pipe spinning machine and a spinning control method to solve the problems existing in the prior art.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a fully automatic tube spinning machine, including a bed component, the fully automatic tube spinning machine further comprising: A tube shrinking component includes a first servo slide, a first drive cylinder, a first hydraulic chuck, and a tube shrinking mold assembly. The first servo slide and the tube shrinking mold assembly are mounted on the bed component. The first drive cylinder and the first hydraulic chuck are mounted on the moving end of the first servo slide. The first hydraulic chuck is driven by the first drive cylinder to clamp the tube. The first servo slide is used to push the first hydraulic chuck and the tube to feed axially, so that the tube enters the tube shrinking mold assembly to complete the tube shrinking forming. A tube retraction and compression assembly includes a head assembly, a second servo slide, a second drive cylinder, a frequency converter motor, a second hydraulic chuck, and a spindle motor. The head assembly, the second servo slide, and the spindle motor are mounted on the bed assembly. The second drive cylinder, the frequency converter motor, and the second hydraulic chuck are mounted on the moving end of the second servo slide. The second hydraulic chuck is driven by the second drive cylinder to clamp the tube. The frequency converter motor is driven by the second hydraulic chuck and is used to drive the clamped tube to rotate around its axis. The head assembly includes a drive spindle, a tube retraction and compression mold, a mandrel, and a spring seat. The tube retraction and compression mold is mounted on the drive spindle, and the spindle motor is driven by the drive spindle to drive the tube retraction and compression mold to rotate. The mandrel is elastically mounted in the head assembly via the spring seat and is located in the central hole of the tube retraction and compression mold. The front end of the mandrel is used to elastically abut against the end of the tube during the retraction and compression process. A control cabinet, located on one side of the bed component, is used to control the coordinated operation of the straight tube component and the rotary tube component.

[0007] In some embodiments, the fully automatic pipe spinning machine further includes: The feeding component includes a support frame disposed on one side of the bed component and a vibrating feeder mechanism disposed on the support frame; the vibrating feeder mechanism includes a vibrating base, a spiral track disposed on the inner wall of the vibrating base, and a linear feeder connected to the outlet of the spiral track, for orderly arranging and conveying the pipe fittings to the picking station; The material gripping component includes a horizontal reciprocating cylinder, a vertical reciprocating cylinder, a gripping claw, a pipe positioning rod, a sensor switch, and a pipe positioning block. The horizontal reciprocating cylinder and the pipe positioning block are mounted on the bed component. The vertical reciprocating cylinder is located at the telescopic end of the horizontal reciprocating cylinder, and the gripping claw is located at the telescopic end of the vertical reciprocating cylinder, used to grip and transfer the pipe at the picking station to the straight-tube component. The pipe positioning rod and the sensor switch are mounted on the pipe positioning block. The pipe positioning block is used to support the pipe conveyed by the linear feeder, the pipe positioning rod is used to axially position the pipe, and the sensor switch is used to sense the pipe's arrival and trigger the gripping claw to perform a gripping action.

[0008] In some embodiments, the fully automatic pipe spinning machine further includes: The conveying component includes a support base, a horizontal reciprocating cylinder, a first pneumatic gripper, a second pneumatic gripper, and a third pneumatic gripper. The support base is mounted on the bed component, and the horizontal reciprocating cylinder is mounted on the support base. The first pneumatic gripper, the second pneumatic gripper, and the third pneumatic gripper are arranged sequentially along the stroke direction of the horizontal reciprocating cylinder. Each of the horizontal reciprocating cylinder, the first pneumatic gripper, the second pneumatic gripper, and the third pneumatic gripper is equipped with a magnetic switch for detecting the endpoint's position. The conveying component is configured such that: the third pneumatic gripper receives the tube to be processed transferred by the gripping pneumatic gripper and transfers the tube to be processed to the first hydraulic chuck of the straightening tube component; the second pneumatic gripper transfers the tube that has completed straightening from the straightening tube component to the spinning tube component for loading; the first pneumatic gripper transfers the tube that has completed spinning in the previous processing cycle from the spinning tube component to the detection component; during one stroke of the conveying horizontal reciprocating cylinder, the loading action of the second pneumatic gripper and the unloading action of the first pneumatic gripper are executed in parallel to realize the parallel operation of the straightening process and the spinning process.

[0009] In some embodiments, the spin-shrinking mold is a four-lobed mold structure with an arc groove on its inner wall; the variable frequency motor is connected to the second hydraulic chuck via a belt; the main spindle motor is located below the head assembly and is connected to the drive spindle via a belt; the speed of the variable frequency motor and the speed of the main spindle motor are independently adjustable. The head assembly also includes a pull rod and a guide shaft. The spring seat is connected to the pull rod. The coaxiality of the mandrel and the transmission main shaft is constrained by the guide shaft. The second hydraulic chuck and the spin-shrinking mold are coaxially aligned. The tube shrinking mold assembly includes a tube shrinking mold and a proximity switch disposed at the entrance of the tube shrinking mold. The proximity switch is used to detect the tube in place and send a signal back to the control cabinet. The control cabinet controls the first servo slide to stop feeding according to the signal. The tube shrinking mold is made of tungsten steel.

[0010] In some embodiments, the fully automatic pipe spinning machine further includes: The detection component includes an air blowing detection assembly and a demagnetizing assembly disposed on the bed component. The air blowing detection assembly includes an air pipe, an air nozzle communicating with the air pipe, and an air blowing detection cylinder for driving the air nozzle to move forward and backward, for blowing air into the inside of the pipe to detect whether the inner diameter of the pipe is blocked. The demagnetizing assembly includes a demagnetizing coil, a demagnetizing gripper, and an axial movement cylinder. The axial movement cylinder is used to drive the demagnetizing gripper to clamp the pipe and move it axially through the demagnetizing coil to complete the demagnetization.

[0011] In some embodiments, the control cabinet is configured as follows: When the air blowing detection component detects a blockage in the inner diameter of the pipe, it controls the fully automatic pipe spinning machine to stop and issues an alarm signal. When the inspection is qualified, the axial motion cylinder is controlled to drive the demagnetizing gripper to hold the tube through the demagnetizing coil to complete the demagnetization, and then the demagnetizing gripper is controlled to release the material.

[0012] Secondly, the present invention provides a fully automatic pipe spinning control method, applied to the fully automatic pipe spinning machine as described above, comprising the following steps: S1: Arrange the pipe fittings in an orderly manner and transport them to the material handling station; S2: The pipe fitting at the material picking station is clamped and transferred to the shrinking station. The pipe fitting is clamped by the first hydraulic chuck and the first servo slide pushes the pipe fitting axially into the shrinking mold assembly to complete the shrinking molding. S3: The straightened tube is transferred to the spinning station, where the second hydraulic chuck clamps the tube, and the second servo slide pushes the tube to feed axially. At the same time, the main spindle motor drives the spinning die to rotate, and the frequency converter motor drives the tube to rotate around its own axis. The tube is spun and formed in the arc groove of the spinning die. The mandrel elastically abuts against the end of the tube under the spring force of the spring seat and moves axially synchronously with the tube to ensure the inner diameter of the tube is formed. S4: Inner diameter inspection is performed on the tube after spin forming. If the inspection is qualified, the material is unloaded. If an inner diameter blockage is detected, the machine is stopped and an alarm is triggered.

[0013] In some embodiments, in step S2, a proximity switch located at the inlet of the tube shrinking mold assembly is used to detect the tube's arrival. When the tube triggers the proximity switch, the control cabinet controls the first servo slide to stop feeding, and the shrinkage length is adjusted by setting the stroke parameters of the first servo slide.

[0014] In some embodiments, in step S3, the rotational speed of the tube shrinking die, the rotational speed of the tube fitting, and the axial feed speed of the tube fitting are each adjusted independently. Step S2 and step S3 are executed in parallel by the conveying component: while the current pipe is being formed by direct shrinking at the shrinking station, the previous pipe is being formed by spin shrinking at the spin shrinking station. The parallel execution is achieved by the first and second pneumatic grippers of the conveying component simultaneously transferring the pipe in the same stroke of the horizontal reciprocating cylinder.

[0015] In some implementations, the specific method for detecting the inner diameter in step S4 is as follows: Airflow is blown into the fitting through a trachea to check if the airflow is unobstructed. If the airflow is unobstructed, the inner diameter is determined to be unobstructed. The drive pipe passes through the demagnetizing coil to complete the demagnetization, and then the pipe is released to fall into the finished product collection box. If the airflow is obstructed, the inner diameter is determined to be blocked, an alarm is triggered, and the pipe is sorted into the waste bin.

[0016] The beneficial effects of the technical solution provided by this invention include at least the following: This solution employs dual-motor independent drives for both pipe rotation and mold rotation, achieving a dual-active spinning mode. The pipe rotates at a constant speed while being fed axially, ensuring uniform circumferential pressure within the mold's arc groove, effectively preventing swaying and uneven wall thickness caused by unilateral force. The coordinated process of axial feed and circumferential rotation eliminates passive slippage, improving product forming stability and yield. The mold speed, pipe speed, and axial feed speed are independently adjustable, allowing for flexible matching of relative linear speeds based on pipe material, wall thickness, and specifications. This provides a wide process window; during changeovers, only the hydraulic chuck and spinning mold need to be replaced for adaptation. The mandrel is elastically supported at the mold center by a spring seat and moves axially synchronously with the pipe during spinning, providing support and shaping for the inner diameter while it deforms radially, effectively preventing pipe end collapse and ensuring inner diameter roundness. The dual-station operation of direct compression and rotary compression significantly shortens the production cycle time per piece compared to the sequential serial method. With the addition of vibratory feeder feeding, pneumatic gripper transfer, online air blowing detection, and automatic demagnetization unloading, the entire process requires no manual intervention, resulting in minimal dimensional fluctuations between batches and a simultaneous improvement in overall yield and production line efficiency. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0018] Figure 1 A schematic diagram of the structure of a fully automatic pipe spinning machine provided in an exemplary embodiment of the present invention is shown.

[0019] Figure 2 A schematic diagram of the feeding component of a fully automatic pipe spinning machine provided in an exemplary embodiment of the present invention is shown.

[0020] Figure 3A schematic diagram of the material gripping component of a fully automatic pipe spinning machine provided in an exemplary embodiment of the present invention is shown.

[0021] Figure 4 A schematic diagram of the straight tube component of a fully automatic tube spinning machine provided in an exemplary embodiment of the present invention is shown.

[0022] Figure 5 A schematic diagram of the tube shrinking mold assembly of a fully automatic tube shrinking machine provided in an exemplary embodiment of the present invention is shown.

[0023] Figure 6 A schematic diagram of the conveying component of a fully automatic pipe spinning machine provided in an exemplary embodiment of the present invention is shown.

[0024] Figure 7 A schematic diagram of the tube compression component of a fully automatic tube compression machine provided in an exemplary embodiment of the present invention is shown.

[0025] Figure 8 A schematic diagram of the head assembly of a fully automatic pipe spinning machine provided in an exemplary embodiment of the present invention is shown.

[0026] Figure 9 A schematic diagram of the detection component of a fully automatic pipe spinning machine provided in an exemplary embodiment of the present invention is shown.

[0027] In the picture: 10. Bed components; 11. Feeding component; 1111. Support frame; 1112. Vibrating feeder mechanism; 1112-1. Vibrating chassis; 1112-2. Spiral track; 1112-3. Linear feeder; 30. Control cabinet; 40. Material gripping component; 4011. Horizontal reciprocating cylinder; 4012. Vertical reciprocating cylinder; 4013. Material gripping pneumatic claw; 4014. Pipe positioning rod; 4015. Sensor switch; 4016. Pipe positioning block; 41. Straightening tube assembly; 4101. First servo slide; 4102. First drive cylinder; 4103. First hydraulic chuck; 4104. Tube shrinking mold assembly; 4104-1. Tube shrinking mold; 4104-2. Proximity switch; 42. Conveying component; 4211. Support base; 4212. Horizontal reciprocating cylinder; 4213. First pneumatic gripper; 4214. Second pneumatic gripper; 4215. Third pneumatic gripper; 43. Spin compression tube assembly; 4301. Head assembly; 4301-1. Drive spindle; 4301-2. Spin compression tube mold; 4301-3. Mandrel; 4301-4. Spring seat; 4301-5. Tie rod; 4301-6. Guide shaft; 4302. Second servo slide; 4303. Second drive cylinder; 4304. Variable frequency motor; 4305. Second hydraulic chuck; 4306. Spindle motor; 44. Detection components; 4401. Demagnetizing assembly; 4401-1. Demagnetizing coil; 4401-2. Demagnetizing gripper; 4401-3. Axial motion cylinder; 4402. Air blowing detection assembly; 4402-1. Air pipe; 4402-2. Air nozzle; 4402-3. Air blowing detection cylinder. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] In this specification, identical components are represented by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to directions in the accompanying drawings, while the terms "bottom surface," "top surface," "inner," and "outer" refer to directions towards or away from a specific component. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this specification, "multiple" means two or more.

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0031] Example 1 Please see Figure 1 This embodiment provides a fully automatic pipe spinning machine, including a bed component 10, a feeding component 11, a gripping component 40, a straightening pipe component 41, a conveying component 42, a spinning compression pipe component 43, a detection component 44, and a control cabinet 30. The bed component 10 provides the installation reference and structural support for the whole machine. Each functional component is arranged on the bed component 10 according to the process flow, so that the pipes flow in a single direction from feeding to unloading, reducing reciprocating handling and shortening the overall layout size.

[0032] Please see Figure 1 and Figure 2 The feeding component 11 is located on one side of the bed component 10, and includes a support frame 1111 and a vibrating feeder mechanism 1112 mounted on the support frame 1111. The vibrating feeder mechanism 1112 includes a vibrating base 1112-1, a spiral track 1112-2 disposed on the inner wall of the vibrating base 1112-1, and a linear feeder 1112-3 connected to the outlet of the spiral track 1112-2. When the vibrating base 1112-1 is energized, it generates directional vibration, causing the scattered pipes to climb up the spiral track 1112-2 step by step and automatically align into a single posture, and then be conveyed to the picking station by the linear feeder 1112-3. This structure eliminates the need for manual placement of each piece, realizing the automatic supply of pipes from disorder to order, and providing stable material feeding conditions for subsequent automatic picking.

[0033] Please see Figure 1 and Figure 3 The material gripping component 40 is located between the feeding component 11 and the conveying component 42, and includes a horizontal reciprocating cylinder 4011, a vertical reciprocating cylinder 4012, a gripping gripper 4013, a pipe positioning rod 4014, a sensor switch 4015, and a pipe positioning block 4016. The horizontal reciprocating cylinder 4011 and the pipe positioning block 4016 are fixed to the bed component 10. The vertical reciprocating cylinder 4012 is installed at the telescopic end of the horizontal reciprocating cylinder 4011, and the gripping gripper 4013 is installed at the telescopic end of the vertical reciprocating cylinder 4012. The pipe positioning block 4016 is used to support the pipes fed by the linear feeder 1112-3, and the pipe positioning rod 4014 axially positions the pipes to ensure consistent gripping position each time. Sensor switch 4015 is installed on the pipe positioning block 4016. When the pipe reaches the positioning position, sensor switch 4015 triggers a signal to control cabinet 30, and control cabinet 30 then controls gripper 4013 to perform a gripping action. Through the linkage between sensor switch 4015 and gripper 4013, gripping is prevented from being performed before the pipe is in position, thus preventing gripping failure or the pipe from falling.

[0034] Please see Figure 1 , Figure 4 and Figure 5The tube shrinking component 41 is located downstream of the material gripping component 40 and includes a first servo slide 4101, a first drive cylinder 4102, a first hydraulic chuck 4103, and a tube shrinking mold assembly 4104. The first servo slide 4101 and the tube shrinking mold assembly 4104 are fixed on the bed component 10, and the first drive cylinder 4102 and the first hydraulic chuck 4103 are mounted on the moving end of the first servo slide 4101. The first drive cylinder 4102 drives the first hydraulic chuck 4103 to clamp the tube, and the first servo slide 4101 pushes the first hydraulic chuck 4103 and the tube along the axial direction, so that the end of the tube enters the tube shrinking mold assembly 4104 to complete the tube shrinking forming. The servo slide drives the feeding, and the feeding speed and stroke can be precisely set by the program to ensure that the shrinking length of each tube is consistent and the dimensional fluctuation between batches is small. The tube shrinking die assembly 4104 includes a tube shrinking die 4104-1 and a proximity switch 4104-2 located at the entrance of the tube shrinking die 4104-1. The proximity switch 4104-2 detects whether the tube has reached a predetermined position. When the tube triggers the proximity switch 4104-2, the proximity switch 4104-2 sends a signal to the control cabinet 30, which then controls the first servo slide 4101 to stop feeding, preventing overfeeding from crushing the tube or damaging the die. The tube shrinking die 4104-1 is made of tungsten steel, which has high hardness and high wear resistance. Under repeated extrusion conditions, the die cavity dimensions change little, extending the die's service life and reducing the frequency of die changes.

[0035] Please see Figure 1 and Figure 6The conveying component 42 is mounted above the straight-tube component 41 and the rotary-tube component 43, and includes a support base 4211, a horizontal reciprocating cylinder 4212, a first pneumatic gripper 4213, a second pneumatic gripper 4214, and a third pneumatic gripper 4215. The support base 4211 is fixed to the bed component 10, and the horizontal reciprocating cylinder 4212 is mounted on the support base 4211. The first pneumatic gripper 4213, the second pneumatic gripper 4214, and the third pneumatic gripper 4215 are arranged sequentially along the stroke direction of the horizontal reciprocating cylinder 4212. The horizontal reciprocating cylinder 4212, the first pneumatic gripper 4213, the second pneumatic gripper 4214, and the third pneumatic gripper 4215 are all equipped with magnetic switches to detect the end position status of each cylinder, ensuring that each action is completed before triggering the next step, thus avoiding erroneous actions. The conveying unit 42 operates as follows: the third pneumatic gripper 4215 receives the pipe fitting to be processed from the gripping pneumatic gripper 4013 and transfers it to the first hydraulic chuck 4103 at the straightening station; the second pneumatic gripper 4214 transfers the straightened pipe fitting from the straightening station to the spinning compression pipe component 43 for loading; simultaneously, the first pneumatic gripper 4213 transfers the spinning pipe fitting from the spinning compression pipe component 43 in the previous processing cycle to the detection unit 44. Since the three pneumatic grippers share a single horizontal reciprocating cylinder 4212, the pipe fitting transfer between different stations is completed simultaneously in one stroke, allowing the straightening and spinning processes to operate in parallel. The production cycle time for a single piece depends on the longer of the two processes, rather than the sum of the two processes, thus significantly shortening the overall cycle time.

[0036] Please see Figure 1 , Figure 7 and Figure 8The rotary compression tube assembly 43 includes a head assembly 4301, a second servo slide 4302, a second drive cylinder 4303, a variable frequency motor 4304, a second hydraulic chuck 4305, and a spindle motor 4306. The head assembly 4301, the second servo slide 4302, and the spindle motor 4306 are fixed to the bed assembly 10. The second drive cylinder 4303, the variable frequency motor 4304, and the second hydraulic chuck 4305 are mounted on the moving end of the second servo slide 4302. The second drive cylinder 4303 drives the second hydraulic chuck 4305 to clamp the tube. The variable frequency motor 4304 is connected to the second hydraulic chuck 4305 via a belt, driving the clamped tube to rotate around its own axis. The second servo slide 4302 pushes the tube axially. The head assembly 4301 includes a drive spindle 4301-1, a tube shrinking mold 4301-2, a mandrel 4301-3, and a spring seat 4301-4. The tube shrinking mold 4301-2 is mounted on the drive spindle 4301-1. The spindle motor 4306 is connected to the drive spindle 4301-1 via a belt, driving the tube shrinking mold 4301-2 to rotate. The mandrel 4301-3 is elastically positioned within the head assembly 4301 via the spring seat 4301-4 and is located in the center hole of the tube shrinking mold 4301-2. The front end of the mandrel 4301-3 elastically abuts against the end of the tube during the shrinking process.

[0037] In the above structure, the spindle motor 4306 drives the spinning die 4301-2 to rotate, and the variable frequency motor 4304 drives the tube to rotate, forming a dual-active spinning mode. The tube rotates at a set speed while being fed axially, ensuring uniform circumferential pressure within the arc groove of the spinning die 4301-2, avoiding swaying and uneven wall thickness caused by unilateral force. Because the tube has independent rotational driving force, it no longer passively follows the die's friction, eliminating relative slippage between the tube and the die and preventing defects such as elliptical tube ends, uneven wall thickness, and surface scratches. The speed of the variable frequency motor 4304 and the spindle motor 4306 are independently adjustable. The operator can set the die speed and tube speed separately according to the tube material, wall thickness, and specifications, thereby precisely matching the relative linear velocity between them to meet the spinning requirements under different process conditions. The mandrel 4301-3 is elastically supported within the head assembly 4301 via a spring seat 4301-4. During retraction, the axial feed of the pipe pushes the mandrel 4301-3 backward against the spring force. The front end of the mandrel 4301-3 always elastically abuts against the pipe end and moves axially synchronously with the pipe. The mandrel 4301-3 provides radial support to the inner wall of the pipe, ensuring that the inner diameter is simultaneously shaped when the pipe is radially compressed and deformed, guaranteeing the accuracy and roundness of the inner diameter and preventing the pipe end from collapsing due to lack of internal support. The elastic connection of the spring seat 4301-4 allows the mandrel 4301-3 to adapt to the axial displacement of the pipe without the need for an additional servo following mechanism, resulting in a simple structure and reliable response.

[0038] Please see Figure 1 and Figure 9 The detection component 44 is located downstream of the rotary compression tube component 43 and includes an air blowing detection assembly 4402 and a demagnetizing assembly 4401, both of which are mounted on the bed component 10. The air blowing detection assembly 4402 includes an air pipe 4402-1, an air nozzle 4402-2 connected to the air pipe 4402-1, and an air blowing detection cylinder 4402-3 that drives the air nozzle 4402-2 to move forward and backward. During detection, the air blowing detection cylinder 4402-3 drives the air nozzle 4402-2 to insert into the tube port, and airflow is blown into the tube through the air pipe 4402-1. If the airflow is unobstructed, the inner diameter is determined to be qualified; if the airflow is obstructed, the inner diameter is determined to be blocked. This detection method utilizes the inner diameter deformation or debris blockage that may occur after the tube is spun to perform online screening. It does not require contact measuring tools, has a fast detection speed, and is suitable for online full inspection. The demagnetizing assembly 4401 includes a demagnetizing coil 4401-1, a demagnetizing gripper 4401-2, and an axial motion cylinder 4401-3. The axial motion cylinder 4401-3 drives the demagnetizing gripper 4401-2 to clamp the tubing and move it axially through the demagnetizing coil 4401-1 to complete demagnetization. During the shrinking process, friction between the tubing and the mold may generate residual magnetism. This residual magnetism can attract iron filings, affecting subsequent assembly or use. The demagnetizing coil 4401-1 eliminates this residual magnetism, ensuring product cleanliness.

[0039] Please see Figure 1 The control cabinet 30 is located on one side of the bed component 10 and is electrically connected to the feeding component 11, the gripping component 40, the straightening tube component 41, the conveying component 42, the rotary compression tube component 43, and the detection component 44. It is used to coordinate the action sequence of each component. The control cabinet 30 receives signals from each sensor and issues control commands to realize fully automatic control of the entire process from feeding, straightening, conveying, rotary compression, detection, and unloading. No manual intervention is required throughout the process, reducing labor costs and human error.

[0040] Example 2 This embodiment, based on Embodiment 1, further describes the structure of the head assembly 4301 of the spin compressor component 43. Please refer to... Figure 1 , Figure 7 and Figure 8The head assembly 4301 also includes a pull rod 4301-5 and a guide shaft 4301-6. A spring seat 4301-4 is connected to the pull rod 4301-5, which extends axially along the head assembly 4301, providing axial limiting and guidance for the spring seat 4301-4. The coaxiality of the mandrel 4301-3 and the transmission main shaft 4301-1 is constrained by the guide shaft 4301-6. The guide shaft 4301-6 is parallel to the transmission main shaft 4301-1. During axial movement, the mandrel 4301-3 slides along the guide shaft 4301-6, preventing radial displacement of the mandrel 4301-3 under spring force and ensuring that the mandrel 4301-3 is always located on the axis of the central hole of the rotary shrinking mold 4301-2. The mandrel 4301-3 and the tube shrinking mold 4301-2 are kept coaxial, so that the inner wall of the tube can obtain uniform radial support during the shrinking process, avoiding the problem that the inner diameter of the tube is too thin on one side and too thick on the other side due to the eccentricity of the mandrel 4301-3.

[0041] In this embodiment, the spin-shrinking mold 4301-2 is a four-lobed mold structure with an arc groove on its inner wall. The four-lobed mold structure gives the spin-shrinking mold 4301-2 a certain degree of elasticity in the radial direction. When the tube enters, the four lobes open slightly, and during the spin-shrinking process, they close and hug the tube under external constraints, making the outer wall of the tube fit evenly with the arc groove. The spin-shrinking pressure is evenly distributed along the circumferential direction, which is beneficial to improving the roundness and surface quality of the tube.

[0042] In this embodiment, the second hydraulic chuck 4305 and the shrinking mold 4301-2 are coaxially aligned. After the pipe is clamped by the second hydraulic chuck 4305, its axis coincides with the axis of the shrinking mold 4301-2, ensuring that the pipe does not deviate when entering the shrinking mold 4301-2 and the shrinking process is stable.

[0043] In this embodiment, the spindle motor 4306 is located below the head assembly 4301 and is connected to the drive spindle 4301-1 via a belt. Positioning the spindle motor 4306 below the head assembly 4301 lowers the center of gravity of the head assembly 4301, reducing the impact of vibrations generated during high-speed rotation on machining accuracy, and also facilitating belt tension adjustment and routine maintenance.

[0044] In this embodiment, the variable frequency motor 4304 is connected to the second hydraulic chuck 4305 via a belt to drive the pipe to rotate. The belt drive has a buffering and vibration absorption function, which can absorb the impact load generated by the contact between the pipe and the mold during the shrinking process, and protect the transmission components of the variable frequency motor 4304 and the chuck assembly.

[0045] In this embodiment, the rotational speed of the tube shrinking die 4301-2, the rotational speed of the tube, and the axial feed speed of the tube are all independently adjustable. The operator can set the rotational speed of the main spindle motor 4306, the rotational speed of the frequency converter motor 4304, and the feed speed of the second servo slide 4302 according to the tube material (e.g., carbon steel, stainless steel, copper alloy), wall thickness, and target diameter reduction, ensuring the relative linear velocity between the die and the tube is within the optimal process range. For materials with higher hardness, the die rotational speed can be appropriately increased while the tube rotational speed is decreased to increase the spinning pressure; for thin-walled tubes, the tube rotational speed can be increased while the axial feed speed is decreased to make the deformation more uniform and avoid excessive thinning in certain areas.

[0046] Example 3 This embodiment provides a fully automatic pipe spinning control method, applied to the fully automatic pipe spinning machine described in Embodiment 1 or Embodiment 2, combined with... Figures 1 to 9 The fully automatic pipe retraction control method includes the following steps: Step S1: Arrange the pipe fittings in an orderly manner and transport them to the material handling station.

[0047] Specifically, the pipe fittings to be processed are poured in batches into the vibratory chassis 1112-1. The vibratory chassis 1112-1 is then activated, and the pipe fittings, under the action of directional vibration, gradually ascend and automatically align along the spiral track 1112-2. Upon reaching the top of the spiral track 1112-2, they enter the linear feeder 1112-3, which transports each pipe fitting individually to the pipe fitting positioning block 4016. The pipe fitting positioning rod 4014 axially positions the pipe fitting, and the sensor switch 4015 sends a signal to the control cabinet 30 upon detecting the pipe fitting's arrival. This step achieves automatic supply and precise positioning of the pipe fittings, providing a reliable prerequisite for subsequent automatic gripping.

[0048] Step S2: Clamp the pipe fittings at the material picking station and transfer them to the shrinking station to complete the shrinking process.

[0049] Specifically, after receiving the position signal from the sensor switch 4015, the control cabinet 30 controls the horizontal reciprocating cylinder 4011 and the vertical reciprocating cylinder 4012 to move the gripping pneumatic claw 4013 above the pipe and clamp it. The pipe is then transferred to the third pneumatic claw 4215 of the conveying component 42. The third pneumatic claw 4215 clamps the pipe and transfers it to the shrinking station. The first drive cylinder 4102 drives the first hydraulic chuck 4103 to clamp the pipe, and the first servo slide 4101 pushes the pipe axially. The end of the pipe enters the shrinking mold 4104-1 to complete the shrinking process. When the pipe triggers the proximity switch 4104-2 located at the entrance of the shrinking mold 4104-1, the proximity switch 4104-2 sends a signal to the control cabinet 30, which then controls the first servo slide 4101 to stop feeding. The shortening length is adjusted by setting the stroke parameters of the first servo slide 4101. When changing to different specifications of pipe fittings, only the stroke parameters need to be modified in the control cabinet 30. There is no need to change the mold or make mechanical adjustments, resulting in high changeover efficiency.

[0050] Step S3: Transfer the straightened pipe to the spinning station to complete the spinning process.

[0051] Specifically, the second pneumatic gripper 4214 clamps the straightened tube and moves it to the spinning station under the drive of the horizontal reciprocating cylinder 4212. The second drive cylinder 4303 drives the second hydraulic chuck 4305 to clamp the tube. The main spindle motor 4306 starts and drives the main spindle 4301-1 and the spinning die 4301-2 to rotate via belt. The variable frequency motor 4304 starts and drives the second hydraulic chuck 4305 and the tube to rotate around their own axis via belt. The second servo slide 4302 pushes the tube to feed axially. The end of the tube enters the arc groove of the spinning die 4301-2 to complete the spinning. During the spinning process, the mandrel 4301-3 elastically abuts against the end of the tube under the spring force of the spring seat 4301-4 and moves axially synchronously with the tube, providing radial support to the inner wall of the tube. This ensures that the inner diameter of the tube is shaped while it is being spun and deformed, preventing the tube end from collapsing. The rotational speed of the 4301-2 tube shrinking mold, the rotational speed of the tube, and the axial feed speed of the tube are all independently adjustable. The operator sets each parameter according to the material, wall thickness, and specifications of the tube to match the relative linear speed between the mold and the tube to the process requirements.

[0052] While step S3 is being executed, the conveying component 42 performs a synchronous transfer action: during one stroke of the horizontal reciprocating cylinder 4212, the third gripper 4215 transfers the new pipe to be processed to the straightening station, the second gripper 4214 transfers the previously straightened pipe to the spinning station for loading, and the first gripper 4213 simultaneously transfers the spun pipe from the previous processing cycle to the inspection component 44. The three grippers share one stroke, completing the pipe transfer between different stations, enabling the straightening and spinning processes to operate in parallel. The cycle time per piece depends on the longer of the two processes, rather than the sum of the two processes' times.

[0053] Step S4: Inspect the inner diameter of the spun tubing and demagnetize it before cutting.

[0054] Specifically, the shrunk tube is transferred to the detection unit 44 by the first pneumatic gripper 4213. The air-blowing detection cylinder 4402-3 drives the air nozzle 4402-2 to insert into the tube port, blowing airflow into the tube through the air pipe 4402-1. If the airflow is unobstructed, the control cabinet 30 determines that the inner diameter is qualified. Then, it controls the axial movement cylinder 4401-3 to drive the demagnetizing gripper 4401-2 to clamp the tube and move it axially through the demagnetizing coil 4401-1 to complete demagnetization. After demagnetization, the demagnetizing gripper 4401-2 releases, and the tube falls into the finished product collection box. If the airflow is obstructed, the control cabinet 30 determines that the inner diameter is blocked, controls the demagnetizing gripper 4401-2 to transfer the tube to the waste bin for sorting, and issues an alarm signal to prompt the operator to investigate the abnormality. Online air blowing detection enables full screening, intercepting defective products within the production line and preventing them from flowing into subsequent processes; demagnetization treatment eliminates residual magnetism generated during the spinning process, preventing iron filings from adsorbing and affecting product cleanliness and subsequent use.

[0055] In the embodiments disclosed in this invention, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments disclosed in this invention according to the specific circumstances.

[0056] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A fully automatic tube spinning machine, comprising a bed component (10), characterized in that, The fully automatic pipe shrinking machine also includes: The tube shrinking component (41) includes a first servo slide (4101), a first drive cylinder (4102), a first hydraulic chuck (4103), and a tube shrinking mold assembly (4104). The first servo slide (4101) and the tube shrinking mold assembly (4104) are mounted on the bed component (10). The first drive cylinder (4102) and the first hydraulic chuck (4103) are mounted on the moving end of the first servo slide (4101). The first hydraulic chuck (4103) is driven by the first drive cylinder (4102) to clamp the tube. The first servo slide (4101) is used to push the first hydraulic chuck (4103) and the tube to feed axially, so that the tube enters the tube shrinking mold assembly (4104) to complete the tube shrinking process. The rotary compression tube assembly (43) includes a head assembly (4301), a second servo slide (4302), a second drive cylinder (4303), a variable frequency motor (4304), a second hydraulic chuck (4305), and a spindle motor (4306). The head assembly (4301), the second servo slide (4302), and the spindle motor (4306) are mounted on the bed assembly (10). The second drive cylinder (4303), the variable frequency motor (4304), and the second hydraulic chuck (4305) are mounted on the moving end of the second servo slide (4302). The second hydraulic chuck (4305) is driven by the second drive cylinder (4303) to clamp the tube. The variable frequency motor (4304) is connected to the second hydraulic chuck (4305) via a transmission link. The machine head assembly (4301) is used to drive the clamped pipe to rotate around its axis. The machine head assembly (4301) includes a transmission spindle (4301-1), a tube shrinking mold (4301-2), a mandrel (4301-3), and a spring seat (4301-4). The tube shrinking mold (4301-2) is mounted on the transmission spindle (4301-1). The spindle motor (4306) is connected to the transmission spindle (4301-1) and is used to drive the tube shrinking mold (4301-2) to rotate. The mandrel (4301-3) is elastically mounted in the machine head assembly (4301) through the spring seat (4301-4) and is located in the center hole of the tube shrinking mold (4301-2). The front end of the mandrel (4301-3) is used to elastically abut against the end of the pipe during the shrinking process. A control cabinet (30) is located on one side of the bed component (10) and is used to control the coordinated operation of the straight tube component (41) and the rotary tube component (43).

2. The fully automatic pipe spinning machine according to claim 1, characterized in that, The fully automatic pipe shrinking machine also includes: The feeding component (11) includes a support frame (1111) disposed on one side of the bed component (10) and a vibrating feeder mechanism (1112) disposed on the support frame (1111); the vibrating feeder mechanism (1112) includes a vibrating base (1112-1), a spiral track (1112-2) disposed on the inner wall of the vibrating base (1112-1) and a linear feeder (1112-3) connected to the outlet of the spiral track (1112-2), for orderly arranging and conveying the pipe fittings to the picking station; The material gripping component (40) includes a horizontal reciprocating cylinder (4011), a vertical reciprocating cylinder (4012), a gripping gripper (4013), a pipe positioning rod (4014), a sensor switch (4015), and a pipe positioning block (4016). The horizontal reciprocating cylinder (4011) and the pipe positioning block (4016) are mounted on the bed component (10). The vertical reciprocating cylinder (4012) is mounted on the extension end of the horizontal reciprocating cylinder (4011), and the gripping gripper (4013) is mounted on the extension end of the horizontal reciprocating cylinder (4011). The telescopic end of the cylinder (4012) is used to clamp and transfer the pipe fittings at the material handling station to the straight-tube component (41); the pipe fitting positioning rod (4014) and the sensor switch (4015) are disposed on the pipe fitting positioning block (4016), the pipe fitting positioning block (4016) is used to carry the pipe fittings conveyed by the linear feeder (1112-3), the pipe fitting positioning rod (4014) is used to axially position the pipe fittings, and the sensor switch (4015) is used to sense the pipe fittings in place and trigger the gripping pneumatic claw (4013) to perform the gripping action.

3. The fully automatic pipe spinning machine according to claim 2, characterized in that, The fully automatic pipe shrinking machine also includes: The conveying component (42) includes a support base (4211), a horizontal reciprocating cylinder (4212), a first pneumatic gripper (4213), a second pneumatic gripper (4214), and a third pneumatic gripper (4215). The support base (4211) is mounted on the bed component (10), and the horizontal reciprocating cylinder (4212) is mounted on the support base (4211). The first pneumatic gripper (4213), the second pneumatic gripper (4214), and the third pneumatic gripper (4215) are arranged sequentially along the stroke direction of the horizontal reciprocating cylinder (4212). The horizontal reciprocating cylinder (4212), the first pneumatic gripper (4213), the second pneumatic gripper (4214), and the third pneumatic gripper (4215) are all equipped with magnetic switches for detecting the endpoint position. The conveying component (42) is configured such that: the third pneumatic gripper (4215) receives the pipe to be processed transferred by the gripping pneumatic gripper (4013) and transfers the pipe to be processed to the first hydraulic chuck (4103) of the straightening pipe component (41); the second pneumatic gripper (4214) transfers the pipe that has completed straightening from the straightening pipe component (41) to the spinning pipe component (43) for loading; the first pneumatic gripper (4213) transfers the pipe that has completed spinning in the previous processing cycle from the spinning pipe component (43) to the detection component (44); in one stroke of the conveying horizontal reciprocating cylinder (4212), the loading action of the second pneumatic gripper (4214) and the unloading action of the first pneumatic gripper (4213) are executed in parallel to realize the parallel operation of the straightening process and the spinning process.

4. The fully automatic pipe spinning machine according to claim 1, characterized in that, The rotary tube mold (4301-2) has a four-lobed structure with an arc groove on its inner wall; the variable frequency motor (4304) is connected to the second hydraulic chuck (4305) via a belt; the main spindle motor (4306) is located below the head assembly (4301) and is connected to the drive spindle (4301-1) via a belt; the speed of the variable frequency motor (4304) and the speed of the main spindle motor (4306) are independently adjustable; The head assembly (4301) also includes a pull rod (4301-5) and a guide shaft (4301-6). The spring seat (4301-4) is connected to the pull rod (4301-5). The coaxiality of the mandrel (4301-3) and the transmission main shaft (4301-1) is constrained by the guide shaft (4301-6). The second hydraulic chuck (4305) and the rotary shrinking mold (4301-2) are coaxially aligned. The tube shrinking mold assembly (4104) includes a tube shrinking mold (4104-1) and a proximity switch (4104-2) disposed at the entrance of the tube shrinking mold (4104-1). The proximity switch (4104-2) is used to detect the tube in place and send a signal back to the control cabinet (30). The control cabinet (30) controls the first servo slide (4101) to stop feeding according to the signal. The tube shrinking mold (4104-1) is made of tungsten steel.

5. The fully automatic pipe spinning machine according to claim 1, characterized in that, The fully automatic pipe shrinking machine also includes: The detection component (44) includes an air blowing detection assembly (4402) and a demagnetizing assembly (4401) disposed on the bed component (10). The air blowing detection assembly (4402) includes an air pipe (4402-1), an air nozzle (4402-2) communicating with the air pipe (4402-1), and an air blowing detection cylinder (4402-3) for driving the air nozzle (4402-2) to move forward and backward. It is used to blow air into the inside of the pipe to detect whether the inner diameter of the pipe is blocked. The demagnetizing assembly (4401) includes a demagnetizing coil (4401-1), a demagnetizing gripper (4401-2), and an axial movement cylinder (4401-3). The axial movement cylinder (4401-3) is used to drive the demagnetizing gripper (4401-2) to clamp the pipe and move it axially through the demagnetizing coil (4401-1) to complete the demagnetization.

6. The fully automatic pipe spinning machine according to claim 5, characterized in that, The control cabinet (30) is configured as follows: When the air blowing detection component (4402) detects a blockage in the inner diameter of the pipe fitting, it controls the fully automatic pipe spinning machine to stop and issues an alarm signal. When the inspection is qualified, the axial motion cylinder (4401-3) is controlled to drive the demagnetizing gripper (4401-2) to clamp the pipe through the demagnetizing coil (4401-1) to complete the demagnetization. Then, the demagnetizing gripper (4401-2) is controlled to release the material.

7. A fully automatic pipe spinning control method, applied to the fully automatic pipe spinning machine as described in any one of claims 1 to 6, characterized in that, Includes the following steps: S1: Arrange the pipe fittings in an orderly manner and transport them to the material handling station; S2: The pipe fitting at the material picking station is clamped and transferred to the shrinking station. The pipe fitting is clamped by the first hydraulic chuck (4103), and the first servo slide (4101) pushes the pipe fitting to feed axially into the shrinking mold assembly (4104) to complete the shrinking process. S3: The straight-shrink tube is transferred to the spinning station, where the second hydraulic chuck (4305) clamps the tube, and the second servo slide (4302) pushes the tube to feed axially. At the same time, the main spindle motor (4306) drives the spinning tube mold (4301-2) to rotate, and the frequency conversion motor (4304) drives the tube to rotate around its own axis. The tube is spun and formed in the arc groove of the spinning tube mold (4301-2). The mandrel (4301-3) elastically abuts against the end of the tube under the spring force of the spring seat (4301-4) and moves axially synchronously with the tube to ensure the inner diameter of the tube is formed. S4: Inner diameter inspection is performed on the tube after spin forming. If the inspection is qualified, the material is unloaded. If an inner diameter blockage is detected, the machine is stopped and an alarm is triggered.

8. The fully automatic pipe retraction control method according to claim 7, characterized in that, In step S2, the tube is detected to be in place by a proximity switch (4104-2) set at the entrance of the tube shrinking mold (4104-1) of the tube shrinking mold assembly (4104). When the tube triggers the proximity switch (4104-2), the control cabinet (30) controls the first servo slide (4101) to stop feeding. The shrinkage length is adjusted by setting the stroke parameters of the first servo slide (4101).

9. The fully automatic pipe retraction control method according to claim 7, characterized in that, In step S3, the rotational speed of the tube shrinking mold (4301-2), the rotational speed of the tube fitting, and the axial feed speed of the tube fitting are adjusted independently. Step S2 and step S3 are executed in parallel by the conveying component (42): while the current pipe is being formed by straight reduction at the straight reduction station, the previous pipe is being formed by spin reduction at the spin reduction station. The parallel execution is achieved by the first pneumatic gripper (4213) and the second pneumatic gripper (4214) of the conveying component (42) simultaneously transferring the pipe in the same stroke of the horizontal reciprocating cylinder (4212).

10. The fully automatic pipe retraction control method according to claim 7, characterized in that, In step S4, the specific method for detecting the inner diameter is as follows: Airflow is blown into the fitting through the trachea (4402-1) to check if the airflow is unobstructed; If the airflow is unobstructed, the inner diameter is determined to be unobstructed. The drive pipe passes through the demagnetizing coil (4401-1) to complete the demagnetization, and then the pipe is released to fall into the finished product collection box. If the airflow is obstructed, the inner diameter is determined to be blocked, an alarm is triggered, and the pipe is sorted into the waste bin.

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