CN109277439B

CN109277439B - Material moving system, material distributing system, material discharging frame and production line for manufacturing D connecting pipe

Info

Publication number: CN109277439B
Application number: CN201811025782.9A
Authority: CN
Inventors: 饶梅贵; 张良; 杨正法; 王元宾
Original assignee: Zhengjiang Changxing Heliang Intelligent Equipment Co Ltd
Current assignee: Zhengjiang Changxing Heliang Intelligent Equipment Co Ltd
Priority date: 2018-09-04
Filing date: 2018-09-04
Publication date: 2024-05-28
Anticipated expiration: 2038-09-04
Also published as: CN109277439A

Abstract

The invention relates to a material moving system, a material distributing system, a material discharging frame and a production line for manufacturing a D connecting pipe, and belongs to the field of pipe machining. The material moving system comprises a material discharging frame, a pose adjusting unit, a first material distributing manipulator unit and a second material distributing manipulator unit; the discharging frame comprises a mounting frame, and an inclined sliding rod and a discharging rod which are arranged on the mounting frame; the position and posture adjusting unit is positioned at the downstream of the tail end of the sliding rod along the sliding direction of the curved pipe on the sliding rod and is configured to receive the curved pipe sliding out of the tail end of the sliding rod and adjust the position and posture of the curved pipe to a state to be clamped; the first distributing manipulator unit is configured to synchronously suspend a plurality of curved pipes on a discharging rod at a transverse material suspending position; the second material separating mechanical arm unit is configured to separate the curved tube clamp which is adjusted to the state to be clamped from the position adjusting unit. The D-connection pipe production line constructed by the material moving system has high automation degree, high production efficiency and flexibility, and can be widely applied to the technical field of manufacturing of air conditioners and the like.

Description

Material moving system, material distributing system, material discharging frame and production line for manufacturing D connecting pipe

Technical Field

The invention relates to a pipe fitting machining and forming device, in particular to a production line for manufacturing a four-way reversing valve D connecting pipe, and a material moving system, a material distributing system and a material discharging frame for constructing the production line.

Background

The four-way reversing valve is used as one of main elements of refrigeration equipment and is commonly used for controlling the switching between the thermal cycle and the refrigeration cycle, and comprises an E connecting pipe, an S connecting pipe, a C connecting pipe and a D connecting pipe, and the four-way reversing valve has a specific structure as disclosed in patent documents with publication numbers CN201391635Y and the like, and the D connecting pipe is provided with an arc transition pipe part for being installed and connected with a main valve as shown in the accompanying figures 1 and 2.

Because the D-type connecting pipe has the arc-shaped transition pipe portion, in the manufacturing process, the straight pipe section 01 shown in fig. 1 needs to be bent into the semi-finished connecting pipe 02 with the arc-shaped transition pipe portion 021 shown in fig. 2 by using a pipe bender, that is, the semi-finished connecting pipe 02 comprises a long pipe end 022 and a short pipe end 023 which are connected by the transition pipe portion 021; then, the corresponding end of the semi-finished adapter tube 02 is subjected to tube end processing using a necking machine, a flaring machine or a punching machine tube end processing equipment to obtain a finished adapter tube, for example, the end of the long tube end 022 is subjected to flaring processing, and the end of the short tube end 023 is subjected to necking processing and punching processing to obtain a D adapter tube 03 having a flared end 031, a necked end 032 and a bypass hole 033 as shown in fig. 3.

Patent document CN107756039a discloses a production line for manufacturing a four-way reversing valve D connecting pipe, which comprises a feeding system and a processing and forming system; the feeding system comprises a long tube feeding unit, a sawing unit and a cleaning unit; the processing and forming system comprises more than two groups of processing and forming units for independently processing and forming the short pipe sections; the processing and forming unit comprises a bent pipe unit and a composite pipe end unit; the pipe transfer manipulator system comprises a first manipulator unit and a second manipulator unit, wherein the first manipulator unit is used for moving sawed short pipe sections to the cleaning unit and sequentially transferring the pipe sections among the subunits in the cleaning unit, and the second manipulator unit is used for sequentially and circularly distributing the pipe fittings subjected to cleaning to each group of processing forming units and sequentially transferring the pipe fittings among the subunits in the processing forming units. The production line is matched with the same feeding system by arranging more than two groups of processing forming units, so that the overall processing efficiency is improved, but in the using process, the problem that the pipe bending efficiency of the pipe bending machine is not matched with the pipe end processing efficiency of the pipe end processing unit still exists, and the problem that the overall processing efficiency of equipment is lower exists.

Disclosure of Invention

The invention mainly aims to provide a material moving system which can be used for constructing a D-connection pipe production line with higher production efficiency;

Another object of the present invention is to provide a D-connection pipe production line constructed with the above-mentioned material transfer system, so as to improve the production and processing efficiency of connection pipes;

Another object of the invention is to provide a dispensing system that can be used to construct the above-mentioned production line;

It is a further object of the present invention to provide a discharge rack that can be used to construct the above-described production line.

In order to achieve the main purpose, the material moving system provided by the invention is used for moving a curved pipe with a hook structure and comprises a discharging frame, a pose adjusting unit, a first material distributing manipulator unit and a second material distributing manipulator unit; the discharging frame comprises a mounting frame, a sliding rod which is obliquely arranged and fixedly arranged on the mounting frame, a discharging rod which is rotatably arranged on the mounting frame around a rotating shaft at a fixed end, and a swinging actuator which is used for driving the discharging rod to swing back and forth between a transverse material hanging position and an oblique sliding position around the rotating shaft; the position and orientation adjusting unit is positioned at the downstream of the tail end of the sliding rod along the sliding direction of the curved pipe on the sliding rod and is configured to receive the curved pipe sliding out from the tail end of the sliding rod and adjust the position and orientation of the curved pipe to a state to be clamped; the first distributing manipulator unit is configured to synchronously suspend a plurality of curved pipes on a discharging rod at a transverse material suspending position; the second material separating mechanical arm unit is configured to separate the curved tube clamp which is adjusted to the state to be clamped from the position adjusting unit.

According to the advancing direction of curved pipes in the material moving process, a first material distributing manipulator unit, a material discharging frame, a pose adjusting unit and a second material distributing manipulator unit are sequentially arranged, a plurality of curved pipes can be synchronously hung on the material discharging frame by the aid of the first material distributing manipulator unit, the pose of a single curved pipe sliding out of the tail end of a material discharging rod is adjusted by the aid of the pose adjusting unit, accordingly single curved pipes can be separated from the plurality of curved pipes, and the separated single curved pipes are moved to subsequent processing equipment by the aid of the second material distributing manipulator unit. If the material moving system is arranged on a production line for manufacturing the D connecting pipe, a plurality of semi-finished connecting pipes can be synchronously bent by utilizing a multi-pipe bending machine, and the semi-finished connecting pipes are distributed to a multi-sleeve end processing unit for pipe end processing, so that the production efficiency of the D connecting pipe can be improved.

The specific scheme is that a limit supporting rod is fixedly arranged on the discharging rod and positioned below the discharging rod, and the limit supporting rod is used for forcing a curved pipe hung on the discharging rod to be kept in a preset pose state; the mounting frame is fixedly provided with a sliding limiting guide groove beside the sliding rod, and is used for limiting the swing motion of the curved tube in the sliding process of the sliding rod, and a limiting anti-jump rod above the sliding rod, and is used for limiting the jump motion of the curved tube in the sliding process of the sliding rod, so that the curved tube can be forced to slide along the sliding rod in sequence and slide out of the tail end of the sliding rod one by one in sequence. By arranging the limit supporting rods, the semi-finished product connecting pipe can be effectively ensured to slide onto the material sliding rod better in the process of sliding along the material discharging rod; by arranging the sliding limiting guide groove and the limiting anti-jump rod, the semi-finished product connecting pipes can be ensured to sequentially and gradually slide onto the gesture adjusting transfer unit.

The preferable proposal is that the pose adjusting unit comprises a base, an adjusting unit and a positioning unit; the positioning unit is used for positioning the position of the hook structure of the curved pipe after pose adjustment so as to enable the second distributing manipulator unit to grasp the suspended pipe part of the curved pipe at a preset position; the adjusting unit comprises a clamping block for receiving a single curved pipe sliding out from the tail end of the sliding rod so as to clamp the hook structure on the clamping block; the adjusting unit comprises an attitude adjusting unit and an attitude adjusting actuator, wherein the attitude adjusting unit comprises an attitude adjusting actuator which is used for driving the clamping block to rotate so as to drive the curved pipe on the clamping block to rotate, so that the attitude is adjusted.

The more preferable scheme is that the adjusting unit comprises a transferring unit, and a transferring guide rail and a clamping notch are arranged on the base; the transfer unit comprises a push block, and the push block is driven by a transfer actuator to force the curved pipe clamped on the clamping block to move away from the clamping block along the transfer guide rail and move to the clamping notch, and the hook structure is decoupled from the clamping block; along the moving direction of the curved tube along the transfer guide rail, the positioning unit comprises a positioning backup located at the downstream of the transfer guide rail and used for stopping and positioning the moving action of the curved tube moving away from the clamping block.

The further proposal is that the gesture adjusting actuator comprises an air cylinder, a rotary driving shaft fixedly connected with the clamping block to drive the clamping block to rotate, a rack fixedly connected with a piston rod of the air cylinder, and a gear meshed with the rack; the gear is coaxially fixed on the rotary driving shaft. The rotary driving mechanism of the clamping block is provided with a gear rack structure, so that the layout of the whole structure can be better optimized.

The other preferable scheme is that the first material distributing manipulator unit comprises a mounting seat, a material clamping claw arranged on the mounting seat, a three-dimensional travelling mechanism for driving the mounting seat to move in a three-dimensional space relative to a round die of the multi-tube bending machine, and a rotary driving mechanism for driving the material clamping claw to rotate around a vertical shaft and a transverse shaft relative to the mounting seat; the clamping claw comprises an upper clamping die, a lower clamping die, an opening and closing actuator for driving the two clamping dies to move relatively to open and close, and a limiting backer for limiting the closing distance between the two clamping dies; m pairs of upper and lower clamping die grooves are arranged on the clamping claw, wherein M is the number of semi-finished product connecting pipes bent by the multi-pipe bending machine in a single batch. The first material distributing manipulator unit is arranged into a manipulator with at least five degrees of freedom so as to adjust the pose of the semi-finished product connecting pipe before the semi-finished product connecting pipe is placed on the semi-finished product discharging frame, and therefore the same first material distributing manipulator unit can be better utilized to distribute materials to a plurality of material distributing systems.

The more preferable scheme is that in the upper clamping die and the lower clamping die, a clamping die groove on one is an anti-falling guide groove used for clamping on the long pipe end part of the semi-finished product connecting pipe, and a clamping die groove on the other is a retaining clamping groove used for clamping on the short pipe end part of the semi-finished product connecting pipe; the retaining clamping groove is arranged on the soft groove seat; the opening and closing actuator is an air claw cylinder, the rotary driving mechanism comprises a first rotary cylinder with a cylinder body fixedly arranged on the mounting seat and a second rotary cylinder with a cylinder body fixedly arranged on a rotary table of the first rotary cylinder, and the cylinder body of the air claw cylinder is fixedly arranged on the rotary table of the second rotary cylinder; one of the rotation shafts of the rotary table of the two rotary cylinders is arranged along the vertical shaft, and the other is arranged along the lateral shaft.

In order to achieve the other object, the invention provides a production line for manufacturing a D-shaped connecting pipe, which comprises a multi-pipe bending machine, a pipe end processing unit and a material moving system, wherein the material moving system is used for moving a semi-finished connecting pipe bent by the multi-pipe bending machine to the pipe end processing unit; the material moving system is the material moving system described in any one of the technical schemes, and the round die of the multi-tube bending machine is provided with more than three bending die grooves; the N sleeve end processing unit is arranged beside the machine head of the multi-pipe bending machine, and N is more than or equal to 2; the first material distributing manipulator unit and the multiple sets of material distributing systems are matched to carry out material moving, and the material distributing system comprises a material discharging frame, a pose adjusting unit and a second material distributing manipulator unit; each set of material distribution system and the single sleeve end processing unit cooperatively feed the pipe end processing units; the round die of the multi-tube bending machine is a horizontal round die axially arranged along the first transverse direction; the N-tube end processing units are configured as two sets of tube end processing units arranged on lateral sides of the nose end of the multi-tube bending machine, the lateral sides being the sides arranged along the first lateral direction.

Synchronously bending the plurality of straight pipe sections into semi-finished product connecting pipes by adopting a multi-pipe bending machine so as to synchronously obtain the plurality of semi-finished product connecting pipes in the same batch of bent pipes in single bent pipe treatment; then the first material distributing manipulator unit is used for transferring the single-batch semi-finished product connecting pipes to the same semi-finished product discharging frame, the pose adjusting unit is matched with the discharging frame to conduct material distributing treatment on the semi-finished product connecting pipes, and then the second material distributing manipulator unit is used for transferring the semi-finished product connecting pipes after material distributing to the pipe end processing unit one by one to conduct pipe end processing, so that the processing speed difference between the pipe bending unit and the pipe end processing unit can be effectively matched, and the overall production efficiency is effectively improved; and through the cooperation of manipulator unit to establish automatic linking between each unit, reduce processes such as manual handling, improved the production efficiency of this production line effectively.

The specific scheme is that the N sleeve end processing units are configured into two groups of pipe end processing units which are arranged on two transverse sides of the head end of the multi-pipe bending machine, wherein the two transverse sides are two sides which are arranged along the first transverse direction so as to be arranged into a convex structure with the multi-pipe bending machine; an installation space positioned in front of a machine head of the multi-pipe bending machine is reserved between the two groups of pipe end processing units, and the first material distributing manipulator unit, the material discharging frame and the pose adjusting unit are arranged in the installation space; a group of material distribution systems for feeding materials for a group of pipe end processing units is formed, and a movable avoiding space for accommodating the clamping end part of the first material distribution manipulator unit is reserved between the two groups of material distribution systems; the installation space is provided with a maintenance space which can directly reach the machine head of the multi-pipe bending machine below the discharging frame and the first material distributing manipulator unit.

In order to achieve the other purpose, the material distributing system provided by the invention comprises a material discharging frame and a pose adjusting unit; the discharging frame comprises a mounting frame, a sliding rod which is obliquely arranged and fixedly arranged on the mounting frame, a discharging rod which is rotatably arranged on the mounting frame around a rotating shaft at a fixed end, and a swinging actuator which is used for driving the discharging rod to swing back and forth between a transverse material hanging position and an oblique sliding position around the rotating shaft; the position and orientation adjusting unit is positioned at the downstream of the tail end of the sliding rod along the sliding direction of the curved pipe on the sliding rod and is configured to receive the curved pipe sliding out of the tail end of the sliding rod and adjust the position and orientation of the curved pipe.

The specific scheme is that the pose adjusting unit comprises a base, an adjusting unit and a positioning unit; the positioning unit is used for positioning the position of the hook structure of the curved pipe after pose adjustment; the adjusting unit comprises a clamping block for receiving a single curved pipe sliding out from the tail end of the sliding rod so as to clamp the hook structure on the clamping block; the adjusting unit comprises an attitude adjusting unit and an attitude adjusting actuator, wherein the attitude adjusting unit comprises an attitude adjusting actuator which is used for driving the clamping block to rotate so as to drive a curved pipe on the clamping block to rotate so as to adjust the attitude; the adjusting unit comprises a transferring unit, and a transferring guide rail and a clamping notch are arranged on the base; the transfer unit comprises a push block, and the push block is driven by a transfer actuator to force the curved pipe clamped on the clamping block to move away from the clamping block along the transfer guide rail and move to the clamping notch, and the hook structure is decoupled from the clamping block; along the moving direction of the curved tube along the transfer guide rail, the positioning unit comprises a positioning backer positioned at the downstream of the transfer guide rail and used for stopping and positioning the moving action of the curved tube moving away from the clamping block.

The more specific scheme is that a limit supporting rod is fixedly arranged on the discharging rod and positioned below the discharging rod, and the limit supporting rod is used for forcing a curved pipe hung on the discharging rod to be kept in a preset position state; the mounting frame is fixedly provided with a sliding limiting guide groove beside the sliding rod, and is used for limiting the swing motion of the curved tube in the sliding process of the sliding rod, and a limiting anti-jump rod above the sliding rod, and is used for limiting the jump motion of the curved tube in the sliding process of the sliding rod, so that the curved tube can be forced to slide along the sliding rod in sequence and slide out of the tail end of the sliding rod one by one in sequence.

In order to achieve the above object, the present invention provides a discharging rack comprising a mounting frame, a sliding rod, a discharging rod and a swing actuator; the sliding rod is obliquely arranged on the mounting frame and is used for hanging a plurality of curved pipes; the fixed end of the discharging rod is rotatably arranged on the mounting frame around the rotating shaft; the swing actuator is used for driving the discharging rod to swing back and forth around the rotating shaft between a transverse material hanging position and an oblique material sliding position.

The fixed end of the discharging rod is rotatably arranged on the upper end part of the sliding rod around a rotating shaft so as to be indirectly arranged on the mounting frame; the material discharging rod is fixedly provided with a limit supporting rod positioned below the material discharging rod and used for forcing the curved pipe hung on the material discharging rod to be kept in a preset pose state; the mounting frame is fixedly provided with a sliding limiting guide groove beside the sliding rod, and is used for limiting the swing motion of the curved tube in the sliding process of the sliding rod, and a limiting anti-jump rod above the sliding rod, and is used for limiting the jump motion of the curved tube in the sliding process of the sliding rod, so that the curved tube can be forced to slide along the sliding rod in sequence and slide out of the tail end of the sliding rod one by one in sequence.

Drawings

FIG. 1 is a schematic view of a conventional straight pipe section for machining a D-adapter;

FIG. 2 is a schematic view of a semi-finished adapter tube according to the prior art;

FIG. 3 is a schematic diagram of a conventional D-adapter;

FIG. 4 is a schematic block diagram of an embodiment 1 of the production line of the present invention;

FIG. 5 is a top view of example 1 of the production line of the present invention;

FIG. 6 is a perspective view of example 1 of the production line of the present invention;

fig. 7 is a perspective view of a five-tube bending machine in example 1 of the production line of the present invention;

FIG. 8 is an enlarged view of part of B in FIG. 7;

FIG. 9 is an enlarged view of part of A in FIG. 6;

FIG. 10 is a perspective view showing a partial structure of a material handling system, a pipe end processing unit and a discharging unit in embodiment 1 of a production line according to the present invention;

FIG. 11 is a perspective view of a first dispensing robot unit in line embodiment 1 of the present invention;

FIG. 12 is a perspective view showing a partial structure of a gripper end of the first dispensing robot unit in example 1 of the production line of the present invention;

FIG. 13 is a perspective view of a semi-finished product discharge rack in example 1 of the production line of the present invention;

Fig. 14 is a schematic view showing an initial state structure of a five-axis manipulator for gripping a semi-finished product pipe from a five-pipe bending machine in the process of manufacturing a D pipe according to embodiment 1 of the production line of the present invention;

Fig. 15 is a schematic view showing a process of grabbing a semi-finished product connection pipe from a five-pipe bending machine by using a five-axis manipulator in the process of manufacturing a D connection pipe by using the production line embodiment 1 of the present invention;

FIG. 16 is a schematic view showing the process of adjusting the pose of the gripped semi-finished product pipe by using a five-axis manipulator in the process of manufacturing the D pipe by using the production line embodiment 1 of the present invention;

FIG. 17 is a schematic view showing a process of placing a gripped semi-finished product connection pipe on a discharging rod of a semi-finished product discharging frame by using a five-axis manipulator in the process of manufacturing a D connection pipe by using the production line embodiment 1 of the present invention;

FIG. 18 is a schematic view showing the process of automatically adjusting the position of a semi-finished product connecting pipe hung on a discharging rod under the action of gravity in the process of manufacturing a D connecting pipe by using the production line embodiment 1 of the invention;

FIG. 19 is a schematic view showing a process of blanking a semi-finished product suspended on a blanking rod onto a slide rod in the process of manufacturing a D-connection pipe using the production line example 1 of the present invention;

FIG. 20 is a schematic view showing an initial state of performing posture rotation adjustment on a semi-finished product connection pipe in the process of manufacturing a D connection pipe by using the production line embodiment 1 of the invention;

FIG. 21 is a schematic view showing a process of rotating the posture of the semi-finished adapter tube by 90 degrees during the process of manufacturing the D-adapter tube by using the production line embodiment 1 of the present invention;

FIG. 22 is a schematic view showing a process of pushing a semi-finished adapter tube to a position to be clamped after the posture is adjusted in place in the process of manufacturing the D adapter tube by using the production line embodiment 1 of the present invention;

Fig. 23 is a partial enlarged view of C in fig. 22;

FIG. 24 is a schematic view showing a process of rotating the posture of the semi-finished adapter tube by 90 degrees during the process of manufacturing the D-adapter tube by using the production line embodiment 2 of the present invention;

fig. 25 is a schematic diagram showing a process of blanking a semi-finished product suspended on a blanking rod onto a slide rod in the process of manufacturing a D-connection pipe using the production line of example 3 of the present invention.

Detailed Description

The invention is further described below with reference to examples and figures thereof.

Production line example 1

Referring to fig. 4 to 23, the production line 1 for manufacturing a D-pipe according to the present invention includes a control unit, a five-pipe bending machine 2, a tube blank feeding unit 11 for feeding the five-pipe bending machine 2, four-pipe end processing units 3, four sets of discharging units 4, a transfer system 10 for transferring the semi-finished product pipe 02 bent by the five-pipe bending machine 2 to the pipe end processing units 3, and a hydraulic station 15. Wherein the five-tube bending machine 2 constitutes a tube bending unit in the present embodiment together with the tube blank feeding unit 11.

Wherein, the five-tube bending machine 2, the tube blank feeding unit 11, the tube end processing unit 3, the discharging unit 4 and the material moving system are all arranged on the frame 13; for the specific structure of the rack 13, an integral structure rack may be adopted, or a split structure rack may be adopted, in this embodiment, a split structure rack is adopted, that is, a plurality of relatively independent sub-racks are adopted to fixedly mount each unit, and of course, some units and other units share the same sub-rack. And a safety grating 14 is installed at the periphery to secure safety during the manufacturing process. The control unit comprises a processor, a memory and a control screen 12, wherein the control screen 12 is used for receiving control instructions input by operators, and the processor executes programs corresponding to the control instructions in the memory to sequentially perform multi-pipe bending steps, material dividing steps, pipe end processing steps and unloading steps.

Referring to fig. 7 and 8, the tube blank feeding unit 11 includes a storage hopper 110 for storing the straight tube sections 01 and a distribution hopper 111 for distributing the straight tube sections onto the guide grooves 23 located therebelow, the distribution hopper 111 being located below the storage hopper 110 to receive the straight tube sections 01 released from the storage hopper 110. The storage hopper 110 comprises a hopper 1101, a baffle 1102 arranged at the discharge hole of the hopper 1101, and an actuator for driving the baffle 1102 to reciprocate between a discharging position and a blocking position, wherein the actuator specifically adopts an air cylinder or a motor, and the number of straight pipe sections released into the distributing hopper 111 is controlled through the action of the baffle 1102; the distributing hopper 111 comprises a V-shaped hopper 1110, a plurality of parallel blanking grooves 1111 are arranged at the discharge port of the V-shaped hopper 1110 along the Y-axis direction, and the number of the blanking grooves 1111 is configured to be the same as the number of single bent pipes of the multi-pipe bending machine, namely five.

The five-tube bending machine 2 comprises a horizontal round die 20 with five die grooves 200, a clamping die 21 and a guide die 22 matched with the horizontal round die 20, a guide groove 23 for guiding five straight tube sections 01 which are arranged in parallel, a pushing mechanism for pushing the straight tube sections 01 which are blanked by the blanking groove 1111 into the guide groove 23 which is arranged along the Y axis towards the direction close to the horizontal round die 20 along the Y axis, and a material blocking positioning mechanism 24 positioned on one side of the horizontal round die 20 away from the pushing mechanism. The pushing mechanism comprises five pushing rods which are respectively matched with the guide groove 23, and a linear displacement output device for driving the five pushing rods to reciprocate along the axial direction of the guide groove 23.

In this embodiment, the guide die 22 is located below the horizontal round die 20, that is, the die groove thereof is axially arranged along the Y-axis, and the clamping die 21 swings about the axis of the horizontal round die 20, that is, rotates about an axis parallel to the X-axis, under the drive of the horizontal swing arm 25. The stop positioning mechanism 24 includes a stop plate 240 and a stop actuator 241 for driving the stop plate 240 to reciprocate between a positioning position and an avoiding position, in this embodiment, the stop actuator 241 is an air cylinder, and pushes the stop plate 240 to reciprocate along the X axis. The five-tube bending machine 2 forms a multi-tube bending machine in the embodiment, and in the invention, the multi-tube bending machine is configured to synchronously bend more than two straight tube sections 01, and can also be configured to synchronously bend more than three straight tube sections 01, namely, the number of the die grooves of the round dies is more than three, and the number of the specific synchronous bending tubes is set according to actual needs.

In the working process, under the control of the baffle 1102, the straight pipe sections 01 in a preset number range enter the V-shaped hopper 1110, and under the action of gravity, the straight pipe sections 01 at least fill the lower end part of the V-shaped hopper 1110 so that at least one straight pipe section 01 exists in each blanking groove 1111; since the blanking groove 1111 arranged in the Y-axis direction is located directly above the guide groove 23 in parallel, if the guide groove 23 is located directly below the blanking groove 1111 without the straight pipe section 02 and the pushing rod is not located at this position, the straight pipe section 01 in the blanking groove 1111 falls into the guide groove 23 under the action of gravity.

Before pushing the straight pipe section 01 falling into the guide groove 23, the swing arm 25 drives the clamping die 21 to rotate around the rotating shaft axis parallel to the X-axis to be positioned below the horizontal round die 20 and to be positioned on one side of the horizontal round die 20 away from the guide die 22. The blocking actuator 241 drives the blocking plate 240 to move to the positioning position along the negative direction of the X-axis, namely, is located at the position right in front of the five straight pipe sections 01, the five straight pipe sections 01 move along the corresponding guide grooves 23 under the action of the pushing rod along the axial direction Y until the front end parts of the pushing rod abut against the blocking plate 240, at this time, the front end parts of the straight pipe sections 01 are located between the horizontal round mold 20 and the mold cavity of the clamping mold 22, and after the end parts of the five straight pipe sections 01 are positioned, the blocking actuator 241 drives the blocking plate 240 to move to the avoiding position in the process of avoiding the bent pipe along the positive direction of the X-axis.

Next, the clamping driver 210 drives the clamping die 210 to synchronously clamp the five straight pipe sections 01, and synchronously bend the five straight pipe sections 01 under the driving of the swing arm 25 to synchronously bend five semi-finished product connecting pipes 02 as shown in fig. 2, and after bending is completed, the relative spatial positions of the horizontal round die 20, the clamping die 21 and the guide die 22 are as shown in fig. 8.

As shown in fig. 9 to 23, the material transferring system 10 comprises a material distributing system matched with the single-sleeve end processing unit 3, and a first material distributing manipulator unit 5 for synchronously transferring the same batch of semi-finished product connection pipes 02 obtained by single bending of the five-tube bending machine 2 to the same material distributing system; that is, in this embodiment, the material transferring system includes four sets of material distributing systems matched with the pipe end processing unit 3, and each set of material distributing system includes a semi-finished product discharging frame 6, an attitude adjusting transfer unit 7 and a second material distributing manipulator unit 8. The semi-finished product discharging frame 6 is used for receiving more than one batch of semi-finished product connecting pipes 02, the gesture adjusting and transferring unit 7 is used for carrying out gesture adjustment on the semi-finished product connecting pipes on the semi-finished product discharging frame 6 one by one and transferring the semi-finished product connecting pipes to a position to be clamped, the second distributing manipulator unit 8 is used for transferring the semi-finished product connecting pipes 02 transferred to the position to be clamped by the gesture adjusting and transferring unit 7 to the corresponding pipe end processing units 3, and the semi-finished product connecting pipes 02 are sequentially transferred among all sub units in the pipe end processing units 3 according to the pipe end processing sequence so as to sequentially carry out corresponding pipe section processing.

As shown in fig. 11 and 12, the first material-dividing manipulator unit 5 includes a mounting base 50, a material clamping claw 51 mounted on the mounting base 50, a three-dimensional travelling mechanism 52 for driving the mounting base 50 to move in three-dimensional space relative to the horizontal round die 20 of the multi-tube bending machine 2, and a rotation driving mechanism 53 for driving the material clamping claw 51 to rotate relative to the mounting base around the Z axis and the Y axis, that is, in this embodiment, the first material-dividing manipulator unit 5 is a five-axis manipulator clamping claw. The three-dimensional travelling mechanism 52 is used for driving the mounting seat 50 to drive the clamping claw 51 to move in three-dimensional space in an XYZ space, and specifically comprises an X-axis guide rail 520 which is arranged along the X-axis and fixed on the frame, a Y-axis guide rail 521 which is arranged along the Y-axis, a Z-axis guide rail 522 which is arranged along the Z-axis, an X-axis actuator 523 which is used for driving the Y-axis guide rail 521 to reciprocate along the X-axis guide rail 520, a slide seat 524 which can reciprocate along the Y-axis guide rail 521, a Y-axis actuator 525 which is used for driving the slide seat 524 to reciprocate along the Y-axis guide rail 521, and a Z-axis actuator 526 which is used for driving the Z-axis guide rail 522 to reciprocate along the Z-axis relative to the slide seat 524. In the present embodiment, the X-axis actuator 523 is composed of a servo motor, a gear coaxially sleeved on a rotor shaft of the servo motor, and a rack meshed with the gear and arranged along the X-axis, and a stator of the servo motor is fixedly connected with the Y-axis guide rail 521; the Z-axis actuator 525 and the Z-axis actuator 526 are each composed of a servo motor and a lead screw nut mechanism. In the present embodiment, the mount 50 is a lower end portion of the Z-axis rail 522. The rotation driving mechanism 53 includes a first rotary cylinder 531 having a cylinder 5310 fixed to the mount 50 and a second rotary cylinder 532 having a cylinder 5320 fixed to a rotary table 5311 of the first rotary cylinder 531; wherein the rotation axis of the rotation stage 5311 is arranged along the Z-axis, and the rotation axis of the rotation stage 5321 is arranged along the Y-axis. The three-dimensional travelling mechanism 52 is fixedly supported on the frame by two upright posts 5200.

The clamping claw 51 comprises a lower clamping die 510, an upper clamping die 511, an opening and closing actuator 512 for driving the two clamping dies to move relatively to open and close, and a limiting backer 513 for limiting the closing distance between the two clamping dies; in this embodiment, the opening and closing actuator 512 is a pneumatic claw cylinder, the cylinder body of the pneumatic claw cylinder is fixed on the rotary table 5321 of the second rotary cylinder 532, the two clamping molds are respectively fixed on the corresponding pneumatic claws so as to perform opening and closing actions in a plane parallel to the XOZ, and the limiting rest 513 is positioned between the two clamping molds and fixed on the cylinder body of the pneumatic claw cylinder, so that the closing space of the two clamping molds during clamping is limited, and the semi-finished product connecting pipe 02 is prevented from being damaged by clamping. The clamping groove of the lower clamping die 510 is an anti-falling guide groove 5101 for clamping on the long pipe end of the semi-finished product connecting pipe 02, specifically, the groove depth of the anti-falling guide groove 5101 is larger than the pipe diameter of the semi-finished product connecting pipe 02, and is usually 2 cm to 3 cm, so that the problem that the semi-finished product connecting pipe 02 clamped therein falls down when being clamped by the upper clamping die 511 is avoided, and simultaneously the clamping groove on the upper clamping die 511 can push and pull along the groove length direction, is a holding clamping groove for clamping on the short pipe end of the semi-finished product connecting pipe 02, and is arranged on a soft groove seat 5110, so that five pairs of clamping groove pairs are arranged on the clamping claw 51 for synchronously clamping and grabbing five semi-finished product connecting pipes 02 bent by five pipe bending machines 2 in the same batch; by arranging the clamping die groove on the clamping die on the soft groove seat, the semi-finished product connecting pipe 02 can be elastically clamped, so that the semi-finished product connecting pipe 02 is prevented from being clamped.

The semi-finished product discharging frame 6 comprises a mounting frame 60, a sliding rod 61 which is obliquely arranged through a high-low bracket 600 fixedly arranged on the mounting frame 60, a discharging rod 62 which is rotatably arranged on the mounting frame 60 around a pin shaft 63 at a fixed end 621, and a swinging actuator 64 for driving the discharging rod 62 to swing reciprocally around the pin shaft 63 between a transverse hanging position and an oblique sliding position, wherein the pin shaft 63 forms a rotating shaft of the discharging rod 62 in the embodiment. The specific structure is that the fixed end of the discharging rod 62 is hinged on the upper end of the sliding rod 61, namely in the embodiment, the discharging rod 62 is indirectly installed on the installation frame 60 through the sliding rod 61, and of course, the discharging rod 62 can also be directly fixed on the installation frame through a connecting piece; in this embodiment, the fixed end 621 of the discharging rod 62 is a Y-shaped joint, the upper end of the sliding rod 61 is an insert joint adapted to the Y-shaped joint, the Y-shaped joint and the insert joint are hinged through the pin 63, the discharging rod 62 and the sliding rod 61 are constructed by adopting a rod body with approximately the same upper half cross-section structure, so that when the discharging rod 62 rotates to a position parallel to each other, the side surfaces of the partial rods contacted with the transition pipe 021 of the semi-finished product connecting pipe 02 can be in butt joint arrangement, and an introducing angle 610 is arranged at the upper end edge of the upper end of the sliding rod 61, so that the semi-finished product connecting pipe 02 can smoothly slide onto the sliding rod 61 in the swinging process of the discharging rod 62; the fork arm of the Y-shaped connector is provided with a screw hole which is axially perpendicular to the axial direction of the pin shaft 63, and a set screw 65 matched with the screw hole is used for positioning and fixing the position of the pin shaft 63, so that smooth butt joint of the surface of the discharging rod 62 and the surface of the sliding rod 61 in the inclined sliding position is ensured, and the continuity of sliding action of the semi-finished product connecting pipe 02 between the discharging rod and the sliding rod is effectively ensured.

The swing actuator 64 is a linear actuator, such as a linear motor, a cylinder, or a mechanism composed of a rotary motor and a screw nut, and specifically, a cylinder is selected, a piston rod of the cylinder is hinged with a tab connector fixed on a swing end of the discharging rod 62 through a Y connector 641, and the cylinder is hinged with a tab connector fixed on the mounting frame 60 through a Y connector 640.

Through the connecting plate 660, a limit support rod 66 is fixedly arranged below the discharging rod 62 and is used for forcing the long pipe end of the semi-finished product connecting pipe 02 hung on the discharging rod 62 to be arranged approximately vertically, and the semi-finished product connecting pipe 02 can be effectively prevented from shaking in the swinging process of the discharging rod 62. The mounting frame 60 is fixedly provided with a sliding limit guide groove 67 beside the sliding rod 61 so as to limit the swing motion of the long pipe end of the semi-finished product connecting pipe 02 in the sliding process along the sliding rod 61, and a limit anti-jump rod 68 above the sliding rod 61 so as to limit the vertical jump motion of the semi-finished product connecting pipe 02 in the sliding process along the sliding rod 61, thereby forcing the semi-finished product connecting pipe 02 to slide along the sliding rod 61 sequentially and slide out of the tail end of the sliding rod 61 one by one. A full material induction sensor 69 is installed below the upper end part of the sliding material rod 61 and is used for detecting whether the semi-finished product connecting pipe 02 is hung on the discharging rod 61 or not so as to control the material distributing action of the first material distributing manipulator unit 5.

In this embodiment, the limiting guide groove 67 is constructed by two parallel limiting rod guide rods 671 and 672, which are respectively fixed on the mounting frame 60 by adopting a connecting piece, and limit the long tube end of the semi-finished product adapter tube 02 so as to force the long tube end to be approximately vertically arranged in the sliding process. In the Y-axis direction, the supporting surface of the limit supporting rod 66 is leveled with the supporting surface of the limit rod guide rod 672 or is located between the supporting planes of the limit rod guide rods 671 and 672, and the distance between the supporting surface of the limit supporting rod 66 and the supporting surface of the limit rod guide rod 671 is larger than the pipe diameter of the semi-finished product pipe 02. The limit anti-skip bar 68 is fixed to the mounting frame 60 by a connection member so as to be arranged in a direction parallel to the skip bar 61 and is disposed over the middle or side of the skip bar 61. Of course, the limit guide groove 67 may be constructed directly with a U-shaped groove.

The posture adjustment transfer unit 7 includes a base 70, a posture adjustment unit, and a transfer unit. In the present embodiment, the base 7 has a frame structure having a component mounting chamber 702, and the base 70 is provided with a transfer rail 700 disposed along the Y-axis direction and a clamping notch 701 located above the transfer rail 700.

The attitude adjusting unit includes a rotating block 71 whose upper end is rotatably mounted on a base 70 via a rotating drive shaft 73, and an attitude adjusting actuator for driving the rotating block 71 to rotate at least 90 degrees around the axis of the rotating drive shaft 73, in this embodiment, 90 degrees, which can be set to rotate less than 90 degrees depending on the actual situation. The rotating block 71 is of a block structure with a shape matched with the inner surface of the semi-finished product connecting pipe 02, when the rotating block 71 is rotated to a material receiving position, the outer surface of the rotating block 71 is vertically arranged and is matched with the material sliding surface of the material sliding rod 61, so that the semi-finished product connecting pipe sliding out of the tail end of the material sliding rod 61 is clamped on the rotating block 71, namely the rotating block 71 is used for receiving a single semi-finished product connecting pipe 02 sliding out of the tail end of a semi-finished product discharging frame, and the semi-finished product connecting pipe 02 positioned on the rotating block 71 is stopped on the semi-finished product connecting pipe 02 positioned on the tail end of the material sliding rod 62; the semi-finished product adapter tube 02 clamped on the rotating block 71 is driven by the rotary actuator to adjust the pose. In this embodiment, the posture-adjusting actuator includes an air cylinder 72, a rotation driving shaft 73 fixedly connected with the rotation block 71 to drive the rotation block to rotate, a rack 73 fixedly connected with a piston rod of the air cylinder 72, and a gear 74 meshed with the rack 73; the gear 74 is coaxially fixed to the rotary drive shaft 73, and in the working process, the axial movement of the cylinder is converted into the rotation of the rotary shaft by the rack-and-pinion mechanism, so that the overall structure of the attitude-adjusting actuator can be arranged along the Y-axis, thereby optimizing the layout of the overall structure.

The transfer unit includes a push block 75 for driving a transfer actuator 76 that reciprocates in a direction parallel to the transfer rail 700, i.e., in the Y-axis direction. A positioning backup 77 is fixed to the base 70 at the end of the transfer rail 700.

As shown in fig. 10, the pipe end processing unit 3 includes a flaring machine, a necking machine, a chamfering machine and a punching machine mounted on a frame, sub units respectively constituting the pipe end processing unit 3 are mounted on the frame in a forward direction along an X-axis, main shafts are arranged in parallel, and the main shafts are all arranged along a Y-axis. In this embodiment, an expanding and shrinking integrated machine 31 and a punching machine 32 are arranged on the frame, so that the two ends of the semi-finished product connecting pipe are synchronously subjected to expanding and shrinking treatment, and are transferred to a punching station through a second distributing manipulator unit 8 to be subjected to punching treatment, so as to obtain the finished product connecting pipe 03 shown in fig. 3.

As shown in fig. 4 to 6 and fig. 9 and 10, the 4-tube end processing units 3 are arranged in two groups on the head end side of the multi-tube bending machine 2, that is, the two-tube end processing units 3 are arranged in one group on the head end side of the multi-tube bending machine 2, and each group of tube end processing units 3 is located on the lateral side of the head end, that is, on the X-axis side of the head end, to constitute a substantially convex-shaped structure. And an installation space 100 positioned in front of the machine head of the multi-pipe bending machine 2 is reserved between the two groups of pipe end processing units 3; the first material distributing manipulator unit 5, the semi-finished product discharging frame 6 and the gesture adjusting transfer unit 7 are all arranged in the installation space 100; the material distribution systems for feeding the pipe end processing units 3 positioned on the same side form a group, namely each group of material distribution systems comprises two sets of semi-finished product material discharge frames 6, an attitude adjusting transfer unit 7 and a second material distribution manipulator unit 8, and a moving avoidance space 101 for accommodating the clamping ends of the first material distribution manipulator unit 5 is reserved between the two groups of material distribution systems.

In order to facilitate maintenance of multi-tube bending machine 2, installation space 100 has a maintenance space 102 below the material distribution system and first material distribution manipulator unit 5, which is directly at the nose of multi-tube bending machine 2; a scrap collecting box 17 for collecting scrap generated by punching and chamfering is movably disposed in the maintenance space 102, and a guide groove 16 for guiding the scrap into the scrap collecting box is provided in the pipe end processing unit 3.

At the side of each sleeve end processing unit 3 facing away from the installation space 100, a finished product discharging frame 4 for collecting finished product connection pipes 03 is installed, in this embodiment, the finished product discharging frame is composed of two sliding material rods which are arranged in parallel with each other, and the two sliding material rods are arranged at unequal intervals, so that the long pipe end of the finished product connection pipe 03 hung on the high-position sliding material rod is abutted against the low-position sliding material rod, and the long pipe end of the finished product connection pipe 03 is arranged in an inclined manner.

As shown in fig. 10, in the present embodiment, the second dispensing robot unit 8 has a first robot 81, a second robot 82, and a third robot 83 arranged at equal intervals in the X-axis direction, and a synchronous traverse actuator for driving the three robots to reciprocate along the X-axis guide rail synchronously; the distance between the two manipulators is equal to the distance between the position to be clamped, the expanding and shrinking station, the punching station and the discharging station of the gesture adjusting transfer unit 7, namely, the stations are arranged at equal intervals, so that the pipe fitting is clamped from the first three stations at one time and synchronously transferred to the next station, namely, the second distributing manipulator unit 8 is used for clamping a semi-finished product connecting pipe from the position to be clamped, so that the semi-finished product connecting pipe is sequentially transferred to the corresponding subunit for pipe end processing according to the pipe end processing sequence, and the finished product connecting pipe is hung on the finished product discharging frame 4. The movement of each manipulator 81, 82, 83 in the Z-axis direction is driven by a Z-axis cylinder of the manipulator, and the rotating cylinder can be arranged to rotate, turn around and adjust the gesture of the workpiece clamped on the manipulator, and the pneumatic claw cylinder is specifically adopted to construct a clamping mechanism of the semi-finished product connecting pipe 02 by three manipulators.

The specific working process comprises the following steps:

And a multi-pipe bending step S1, wherein five semi-finished product connecting pipes 02 are synchronously bent in a single batch by utilizing a multi-pipe bending machine 2.

A material-dividing step S2, (1) as shown in fig. 14, the clamping openings of the clamping claws 51 are driven to face the multi-tube bending machine, namely, are arranged along the positive direction of the Y axis by the rotary action of the rotary cylinders 531, 532; then, the three-dimensional travelling mechanism 52 drives the clamping claw 51 to advance to match the clamping die groove of the lower clamping die 510 with the long pipe end part of the semi-finished product connecting pipe 02; (2) As shown in fig. 15, under the action of a pushing rod, five semi-finished product connecting pipes 02 are synchronously pushed into a clamping claw 51, and driven by an air claw cylinder, two clamping dies clamp the semi-finished product connecting pipes 02; (3) As shown in fig. 16, the long tube end of the semi-finished product take-over 02 is positioned above and the arc-shaped opening of the semi-finished product take-over 02 is directed to the discharging rod 62 ready for discharging by the rotary action of the rotary cylinders 531, 532; (4) As shown in fig. 17, the semi-finished adapter tube 02 is discharged onto one of the discharge rods 62; (5) As shown in fig. 18, the air claw cylinder drives the upper and lower clamping dies to open and to retract to the avoiding position under the drive of the three-dimensional travelling mechanism 52, and simultaneously, the semi-finished product connecting pipe 02 rotates under the action of gravity until the long pipe end of the semi-finished product connecting pipe abuts against the limit supporting rod 66, and at this time, when the discharging rod 62 is in the transverse material hanging position, namely, the semi-finished product connecting pipe 02 can be hung on the discharging rod 62 in a static manner at the position; (6) As shown in fig. 19, the swing actuator 64 drives the discharging rod 62 to swing to a position substantially parallel to the slide rod 61, and the half-product connecting pipe 02 slides down onto the slide rod 61 under the action of gravity, and at this time, when the discharging rod 62 is in the inclined slide position, that is, the position enables the half-product connecting pipe 02 suspended from the discharging rod 62 to slide onto the slide rod 62 along the discharging rod 62; if the full charge induction sensor 69 detects that the sliding rod 61 is full, the discharging rod 62 is not separated; (7) As shown in fig. 20, under the action of gravity, the semi-finished product pipe 02 located on the end of the slide bar 61 slides into the rotating block 71 and is clamped on the rotating block 71, and at this time, the semi-finished product pipe 02 clamped on the rotating block 71 is detected by the material detection sensor 79 fixedly arranged on the base 70; the rotary block is driven by the gesture adjusting actuator to rotate clockwise for 90 degrees until the long pipe end part of the semi-finished product connecting pipe 02 is arranged along the Y axial direction, namely along the transverse direction, and the position is shown in figure 21; (8) As shown in fig. 21, the pushing block 75 is driven by the transfer actuator 76 to move along the Y-axis direction, so as to force the semi-finished product connection pipe 02 clamped on the rotating block 71 to move along the Y-axis direction, and move away from the rotating block 71 under the guide of the transfer guide rail 700, and be stopped by the positioning abutment 77, and also be detected by the in-place detection sensor 78 fixed beside the positioning abutment 77, and move to the position to be clamped, at this time, the short pipe end of the semi-finished product connection pipe 02 at the position to be clamped is decoupled from the rotating block 71, and the long pipe end has a suspended pipe part at the clamping notch 701; i.e. the positioning cams 77 are used for stopping the removal of the semifinished tube 02.

In the pipe end processing step S3, the second dispensing robot unit 8 transfers the semi-finished product pipe connection 02 located at the position to be clamped onto the pipe end processing unit 3 to sequentially perform pipe end processing, so as to obtain a finished product pipe connection 03 as shown in fig. 3.

And in the discharging step S4, the second distributing manipulator unit 8 hangs the finished product connecting pipe 03 processed to the finished product discharging frame 4.

In the present embodiment, the positioning backup 77 is configured to position the position of the arc-shaped transition pipe portion of the semi-finished product connection pipe 02 after the pose adjustment, so that the second dispensing manipulator unit 8 grips the suspended pipe portion of the semi-finished product connection pipe 02 at a predetermined position; the gesture adjusting unit is configured to rotate and adjust the gesture of the semi-finished product pipe, so that the semi-finished product pipe is separated from the semi-finished product pipe 02 located on the sliding rod 61, and laterally move and adjust the position of the semi-finished product pipe 02, so that the short pipe end of the semi-finished product pipe is decoupled from the rotating block 71, and the semi-finished product pipe 02 can be moved away from the rotating block 71 by the first manipulator 81 in the second manipulator unit 8.

Production line example 2

As an explanation of embodiment 2 of the production line of the present invention, only the differences from embodiment 1 described above are modified below, mainly in the structures of the pose adjusting unit and the second dispensing robot unit in the above embodiments.

Referring to fig. 24, when the structure of the rotating block 71 is modified so that the semi-finished product adapter tube 02 is clamped on the rotating block 71, a part of the pipe portion 0200 in the end portion of the long pipe extends out of the rotating block 71 to form a suspended pipe portion structure, a positioning backup for positioning the position of the circular arc-shaped transition pipe portion of the semi-finished product adapter tube 02 is omitted, a positioning actuator is adopted to form a positioning unit in the embodiment so as to position the position of the circular arc-shaped transition pipe portion of the semi-finished product adapter tube 02, the positioning unit is specifically configured to include a linear displacement output device 77 fixed on the base 70 and a positioning block 770 fixed on a rotor of the linear displacement output device 77, and in the working process, when the cylinder 72 drives the rotating block 71 to rotate the semi-finished product rotating block clamped on the rotating block by a predetermined angle to the end portion of the long pipe to be arranged in the horizontal direction, the predetermined angle is generally 90 degrees, the linear displacement output device 77 can also be used to drive the positioning block 770 to move a predetermined distance towards the Y axis, the position of the circular arc-shaped transition pipe portion of the semi-finished product adapter tube 02 is naturally positioned, and after the semi-finished product adapter tube 02 is clamped by the second material distributing manipulator unit, the linear displacement device is released, and the cylinder-specific structure can be implemented in the cylinder-specific cylinder structure.

That is, in this embodiment, the position adjustment unit is only used for rotationally adjusting the posture of the semi-finished product pipe, in order to decouple the short pipe end of the semi-finished product pipe 02 from the rotating block 71, the structure of the second dispensing manipulator unit 8 shown in fig. 10 is improved, that is, by adding a guide rail and a driving cylinder which are arranged along the Y axis so as to drive at least the first manipulator 81 to move a predetermined distance along the Y axis, so as to clamp the pipe portion 7100 of the semi-finished product pipe 02 on the manipulator 81, positively move the first predetermined distance along the Y axis until the short pipe end of the semi-finished product pipe 02 is decoupled from the rotating block 71, positively move the predetermined distance along the Z axis until the position of the semi-finished product pipe is higher than the rotating block 71, and then drive the manipulator 81 to negatively move the first predetermined distance along the Y axis to reset, so that in the subsequent pipe end processing flow, the three manipulators synchronously reciprocate a predetermined distance along the X axis.

Production line example 3

As an explanation of embodiment 3 of the production line of the present invention, only the differences from embodiment 1 or embodiment 2 described above will be explained, and mainly the structures of the semi-finished product discharge rack and the second distributing manipulator unit 8 in the above embodiments will be improved.

Referring to fig. 25, the discharging rod and the corresponding swing actuator provided in the swing structure in the above embodiment are omitted, and the discharging rod is formed by a diagonal rod segment 62, in which the sliding rod 61 extends for a predetermined length in a direction away from the gesture adjusting moving unit 7, and the discharging rod 72 may form a certain included angle with the sliding rod 61, in this embodiment, the two may be arranged approximately in parallel, and specifically, the same rod body is used for construction, and the limit support rod 66 and the limit rod guide rod 672 are formed by the same rod body.

In order to make the first material distributing manipulator unit 1 capable of well placing the plurality of semi-finished product connection pipes 02 on the inclined material placing rod 62, the structure of the first material distributing manipulator unit 1 is improved, in this embodiment, a rotation driving mechanism is constructed for replacing a rotary cylinder by a servo motor so as to drive the plurality of semi-finished product connection pipes 02 clamped synchronously to rotate to an arrangement position approximately parallel to the inclined material placing rod 62, that is, the planes of the axes of the long pipe ends of the plurality of semi-finished product connection pipes 02 are approximately parallel to the material placing rod 62, so that the falling intervals of the semi-finished product connection pipes 02 are approximately equal during material placing.

Production line example 4

As an explanation of embodiment 4 of the production line of the present invention, only the differences from embodiment 1 described above are modified below, mainly in the structures of the pose adjusting unit and the second dispensing robot unit in the above embodiments.

Referring to the structure shown in fig. 20, the rotating block 71 does not rotate relative to the base to form a holding block, and the pushing block 75 is set under the driving of the air cylinder 76 to move along the Z-axis direction, and is located below the holding block, and a height positioning backing is set above the holding block to form a positioning unit in this embodiment, so that the position of the arc-shaped transition pipe portion of the semi-finished product take-over 02 is positioned, and the displacement guide rail 700 is set to be located at one side of the long pipe end of the semi-finished product take-over 02 away from the holding block.

In the above-described embodiment, the semi-finished product pipe 02 constitutes a special case of the "curved pipe" in the present embodiment to explain the concept of the present invention in detail, the pose of the curved pipe is configured to be the pose and/or the position, that is, the pose adjusting unit is configured to adjust the position and/or the pose of the semi-finished product pipe slid out from the end of the discharge rack to achieve separation from the semi-finished product pipe hung on the discharge rack; further, the pose adjusting unit is further configured to position the hook structures of the curved tube clamped by the second splitting manipulator unit, and if more than two hook structures are in one curved tube, the hook structures which are not hung on the sliding rod can be optionally positioned, and in the embodiment, the positions of the arc-shaped transition tube parts of the semi-finished product connecting tube are specifically positioned. By fixing the limit support bar below the discharging bar, although the above embodiment is specifically configured to keep the long tube end of the semi-finished product connecting tube in a substantially vertical position, the position can be kept in a non-vertical state or a predetermined pose state of the vertical state according to design and processing requirements. The gesture adjusting unit is configured to adjust the gesture of the curved tube, and the "transferring unit" is configured to adjust the position coordinates of the curved tube, which together form the adjusting unit in the above embodiment, however, other functional modules may be added to the adjusting unit to realize a desired function, for example, a detecting unit; the base and the adjusting unit mounted thereon together with the transfer unit constitute the pose adjusting unit in the above embodiment, and of course, other functional units may be added to the pose adjusting unit to realize a desired function, such as a detecting unit. The rotating block is a special structure of the clamping block in the invention, namely, the clamping block can be designed into a rotatable or non-rotatable structure according to the actual structure, and the clamping block is configured to be used for receiving a single curved pipe sliding out from the tail end of the sliding rod. The discharging rod is configured to swing back and forth between a transverse hanging position and an oblique sliding position under the driving of the swing actuator, wherein the transverse hanging position is configured such that the curved pipe can be suspended on the discharging rod in the transverse hanging position in a static manner, and the oblique sliding position is configured such that the curved pipe suspended on the discharging rod can slide on the sliding rod.

Material moving system, separating system and discharging frame embodiment

In the above-mentioned production line embodiments, the embodiments of the material transferring system, the material distributing system and the material discharging rack of the present invention have been described, and will not be described herein.

The main conception of the invention is that in the production line for manufacturing the D connecting pipe, a pipe bender is arranged as a multi-pipe bending machine, and a material moving system for feeding materials is arranged between the multi-pipe bending machine and a multi-pipe section processing unit so as to match the processing rate between the multi-pipe bending machine and the multi-pipe section processing unit, thereby improving the overall processing efficiency and the automation degree. There are many obvious variations of the construction of the multi-tube bending machine, tube segment handling unit, according to the present concept, and the specific construction in the above embodiments is not limited.

The main conception of the invention is that in the production line for manufacturing the D connecting pipe, a pipe bender is arranged as a multi-pipe bending machine, and a material moving system for feeding materials is arranged between the multi-pipe bending machine and a multi-pipe section processing unit so as to match the processing rate between the multi-pipe bending machine and the multi-pipe section processing unit, thereby improving the overall processing efficiency and the automation degree. According to the present concept, there are also various obvious variations of the structures of the multi-pipe bending machine and the pipe section processing unit, and the present invention is not limited to the specific structures in the above embodiments, for example, (1) more than two sets of pipe section processing units may be configured for the same multi-pipe bending machine according to design requirements and processing objects; (2) For the same set of material distribution system, more than two sets of pipe end processing units can be configured to be fed, and at the moment, the second material distribution manipulator unit can relatively move along a main shaft parallel to the pipe end processing units; (3) The first material distributing manipulator unit can be constructed by adopting a five-axis manipulator or a six-axis manipulator with other structures. In addition, in the discharging frame, the fixed end of the discharging frame can be directly hinged on the mounting frame, at the moment, the hinge point is a position close to the end part adjacent to the sliding rod, so that a labor-saving lever structure is formed, when the discharging rod is obliquely arranged, the end part of the resistance arm of the labor-saving lever structure is in butt joint with the upper end part of the sliding rod, and particularly, the end faces of the two end parts can be obliquely butt joint surfaces.

Claims

1. A material moving system for moving a curved tube having a hook structure, comprising:

The discharging frame comprises a mounting frame, a sliding rod which is obliquely arranged and fixedly arranged on the mounting frame, a discharging rod which is rotatably arranged on the mounting frame by a fixed end around a rotating shaft, and a swinging actuator which is used for driving the discharging rod to swing back and forth around the rotating shaft between a transverse material hanging position and an oblique sliding position;

A position and orientation adjusting unit, which is positioned at the downstream of the tail end of the sliding rod along the sliding direction of the curved pipe on the sliding rod, is configured to receive the curved pipe sliding out from the tail end of the sliding rod and adjust the position and orientation of the curved pipe to a state to be clamped;

a first distributing manipulator unit configured to synchronously suspend a plurality of curved tubes on a discharging rod at the lateral hanging position;

And the second material distributing manipulator unit is configured to separate the curved tube which is adjusted to the state to be clamped from the pose adjusting unit.

2. The pipetting system of claim 1 wherein:

The limiting support rod is fixedly arranged below the discharging rod and used for forcing the curved pipe suspended on the discharging rod to be kept in a preset position state;

The mounting frame is fixedly provided with a sliding limiting guide groove beside the sliding rod, the sliding limiting guide groove is used for limiting swinging motion of the curved pipe in the sliding process of the sliding rod, and the limiting anti-jump rod is arranged above the sliding rod and used for limiting stopping of jumping motion of the curved pipe in the sliding process of the sliding rod, so that the curved pipe can be forced to slide along the sliding rod sequentially and slide out of the tail end of the sliding rod sequentially one by one.

3. The pipetting system according to claim 1 or 2, wherein:

the pose adjusting unit comprises a base, an adjusting unit and a positioning unit; the positioning unit is used for positioning the position of the hook structure of the curved pipe after pose adjustment so that the second distributing manipulator unit can grasp the suspended pipe part of the curved pipe at a preset position;

The adjusting unit comprises a clamping block for receiving a single curved pipe sliding out from the tail end of the sliding rod, so that the hook structure is clamped on the clamping block; the adjusting unit comprises an attitude adjusting unit and an attitude adjusting actuator, wherein the attitude adjusting unit comprises an attitude adjusting actuator which is used for driving the clamping block to rotate so as to drive the curved pipe clamped on the clamping block to rotate, so that the attitude is adjusted.

4. A pipetting system as recited in claim 3 wherein:

The gesture adjusting actuator comprises an air cylinder, a rotary driving shaft fixedly connected with the clamping block to drive the clamping block to rotate, a rack fixedly connected with a piston rod of the air cylinder, and a gear meshed with the rack; the gear is coaxially fixedly connected to the rotary driving shaft.

5. A pipetting system as recited in claim 3 wherein:

The adjusting unit comprises a transferring unit, and a transferring guide rail and a clamping notch are arranged on the base;

The transfer unit comprises a push block, and the push block is driven by a transfer actuator to force a curved pipe clamped on the clamping block to move away from the clamping block along the transfer guide rail and to the clamping notch, and the hook structure is decoupled from the clamping block;

the positioning unit comprises a positioning backer positioned at the downstream of the transfer guide rail along the moving direction of the curved tube along the transfer guide rail and is used for stopping and positioning the moving action of the curved tube away from the clamping block.

6. The pipetting system of claim 5 wherein:

7. The utility model provides a manufacturing line of manufacturing D takeover, includes multitube bender, pipe end processing unit and is used for moving the semi-manufactured goods takeover that is bent out by multitube bender to the material moving system of pipe end processing unit, its characterized in that:

the material moving system is the material moving system according to any one of claims 1 to 6; n sets of pipe end processing units are arranged beside a machine head of the multi-pipe bending machine, and N is more than or equal to 2;

the first material distributing manipulator unit and the plurality of sets of material distributing systems are matched to carry out material moving, and the material distributing system comprises the material discharging frame, the pose adjusting unit and the second material distributing manipulator unit; each set of the material distribution system and a single set of the pipe end processing units cooperatively feed the pipe end processing units;

The round die of the multi-tube bending machine is a horizontal round die axially arranged along a first transverse direction; the N sets of the tube end processing units are configured as two sets of the tube end processing units arranged on lateral sides of a head end of the multi-tube bending machine, the lateral sides being two sides arranged along the first lateral direction.

8. A dispensing system, comprising:

and the pose adjusting unit is positioned at the downstream of the tail end of the sliding rod along the sliding direction of the curved pipe on the sliding rod, is configured to receive the curved pipe sliding out of the tail end of the sliding rod and adjusts the pose of the curved pipe.

9. The dispensing system of claim 8, wherein:

the pose adjusting unit comprises a base, an adjusting unit and a positioning unit; the positioning unit is used for positioning the position of the hook structure of the curved pipe after the pose adjustment;

The adjusting unit comprises a clamping block for receiving a single curved pipe sliding out from the tail end of the sliding rod, so that the hook structure is clamped on the clamping block;

The adjusting unit comprises an attitude adjusting unit and an attitude adjusting actuator, wherein the attitude adjusting unit comprises an attitude adjusting actuator which is used for driving the clamping block to rotate so as to drive a curved pipe clamped on the clamping block to rotate so as to adjust the attitude;

10. The dispensing system of claim 8 or 9, wherein:

the mounting frame is fixedly provided with a sliding limit guide groove positioned beside the sliding rod, and is used for limiting the swing motion of the curved tube in the sliding process of the sliding rod, and a limiting anti-jump rod positioned above the sliding rod, and is used for stopping and limiting the jump motion of the curved tube in the sliding process of the sliding rod so as to force the curved tube to slide along the sliding rod sequentially and slide out of the tail end of the sliding rod sequentially one by one;

the fixed end of the discharging rod is hinged to the upper end of the sliding rod, and an introduction angle is formed in the upper side edge of the upper end of the sliding rod.

11. A discharge rack, comprising:

A mounting frame;

The sliding rod is obliquely arranged on the mounting frame and is used for hanging a plurality of curved pipes;

the fixed end of the discharging rod can be rotatably arranged on the mounting frame around the rotating shaft;

the swing actuator is used for driving the discharging rod to swing back and forth around the rotating shaft between a transverse hanging position and an inclined sliding position;

12. The discharge rack of claim 11, wherein:

The fixed end of the discharging rod can be rotatably arranged on the upper end part of the sliding rod around the rotating shaft so as to be indirectly arranged on the mounting frame.