CN109277439A - It is a kind of to move material system, material-distributing system, discharge frame and the production line for manufacturing D connection - Google Patents
It is a kind of to move material system, material-distributing system, discharge frame and the production line for manufacturing D connection Download PDFInfo
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- CN109277439A CN109277439A CN201811025782.9A CN201811025782A CN109277439A CN 109277439 A CN109277439 A CN 109277439A CN 201811025782 A CN201811025782 A CN 201811025782A CN 109277439 A CN109277439 A CN 109277439A
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- lubricating substance
- pipe
- curved pipe
- unit
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- 239000000463 material Substances 0.000 title claims abstract description 141
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 77
- 230000001050 lubricating effect Effects 0.000 claims abstract description 113
- 239000000126 substance Substances 0.000 claims abstract description 113
- 238000007664 blowing Methods 0.000 claims abstract description 71
- 239000011265 semifinished product Substances 0.000 claims description 121
- 238000012545 processing Methods 0.000 claims description 77
- 238000005452 bending Methods 0.000 claims description 69
- 238000012546 transfer Methods 0.000 claims description 51
- 238000000034 method Methods 0.000 claims description 28
- 230000008569 process Effects 0.000 claims description 27
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 16
- 230000009471 action Effects 0.000 claims description 10
- 238000007373 indentation Methods 0.000 claims description 4
- 238000004378 air conditioning Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 abstract 1
- 239000000047 product Substances 0.000 description 19
- 230000007246 mechanism Effects 0.000 description 16
- 238000009415 formwork Methods 0.000 description 11
- 230000007704 transition Effects 0.000 description 11
- 238000009434 installation Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 6
- 238000004080 punching Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000005057 refrigeration Methods 0.000 description 2
- 238000009987 spinning Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 1
- 208000002925 dental caries Diseases 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
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- 239000004744 fabric Substances 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D7/00—Bending rods, profiles, or tubes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/003—Positioning devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/20—Storage arrangements; Piling or unpiling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/02—Ejecting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D28/00—Shaping by press-cutting; Perforating
- B21D28/24—Perforating, i.e. punching holes
- B21D28/28—Perforating, i.e. punching holes in tubes or other hollow bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D41/00—Application of procedures in order to alter the diameter of tube ends
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The present invention relates to a kind of shifting material system, material-distributing system, discharge frame and the production lines for manufacturing D connection, belong to tubular object extruding field.Moving material system includes discharge frame, pose adjustment unit, the first sub-material manipulator unit and the second sub-material manipulator unit；Discharge frame includes mounting rack and the tilting lubricating substance bar being mounted on the mounting rack and blowing bar；Along glide direction of the curved pipe on lubricating substance bar, pose adjustment unit is located at the downstream of lubricating substance bar end, is configured as accepting the curved pipe skidded off from the end of lubricating substance bar, and its pose is adjusted to state to be held；First sub-material manipulator unit is configured as synchronously being suspended on more curved pipes on the blowing bar at lateral bridging position；Second sub-material manipulator unit is configured as to be offed normal appearance adjustment unit by the curved pipe clamp of posture adjustment to state to be held.The D connection production line not only high degree of automation constructed with the shifting material system, and production efficiency is also high with flexibility, can be widely used in the manufacturing technology fields such as air-conditioning.
Description
Technical field
Equipment is shaped the present invention relates to a kind of pipe fitting, specifically, being related to a kind of manufacture four-way reversing valve D connection
Production line and shifting material system, material-distributing system and discharge frame for constructing the production line.
Background technique
Main element one of of the four-way reversing valve as refrigeration equipment is usually used in controlling cutting between thermal cycle and refrigeration cycle
Change, have E adapter tube, S adapter tube, C adapter tube and D connection, specific structure such as notification number by the patent documents such as CN201391635Y public affairs
The four-way valve opened, as shown in its attached drawing 1 and attached drawing 2, D connection has for the arc-shaped transition pipe portion with main valve installation connection.
Since D connection has arc-shaped transition pipe portion, in the fabrication process, needing first will be as shown in Figure 1 using bending machine
Straight pipe 01 be bent into as shown in Figure 2 with arc-shaped transition pipe portion 021 semi-finished product adapter tube 02, that is, semi-finished product adapter tube 02
Including the long tube end 022 connected by transition pipe portion 021 and short tube end 023；Then, necking machine, pipe-expanding machine or punching are utilized
Machine pipe end processing equipment carries out pipe end processing to the corresponding end of semi-finished product adapter tube 02, to obtain finished product adapter tube, for example, to long tube
The end of end 022 carries out flaring processing, and carries out necking processing and punching processing to the end of short tube end 023, to obtain
As shown in Figure 3 with flared end 031, necking end 032 and the other D connection 03 for connecing hole 033.
A kind of production for manufacturing four-way reversing valve D connection is disclosed in the patent document that publication No. is CN107756039A
Line, the production line include feeding system and shape system；Feeding system includes long tube feeding unit material, sawing unit and cleaning
Unit；The system of shaping include it is more than two to short sections carry out it is separately machined forming processing shape unit；Processing
Forming unit includes Pipe Elbow Element and multiple tube end unit；Production line is equipped with pipe mover tool hand system, pipe mover tool hand system
Including the first manipulator for the short sections sawed out to be moved to cleaning unit and are sequentially transferred between subelement in cleaning unit
Unit and for being shaped by cleaned treated pipe fitting sequentially distributes to circulation each group shapes unit and at this
The second manipulator unit sequentially transferred between subelement in unit.The production line more than two shapes unit by being arranged
It is matched with same feeding system, to improve whole processing efficiency, but in use, there are still the bend pipe efficiency of bending machine
With the unmatched problem of pipe end treatment effeciency of pipe end processing unit, and there is a problem of that the overall processing efficiency of equipment is relatively low.
Summary of the invention
The main object of the present invention is to provide a kind of shifting material system that can be used for constructing the higher D connection production line of production efficiency
System；
The D connection production line for moving the building of material system is stated, it is a further object of the present invention to provide more than one to improve the life of adapter tube
Produce processing efficiency；
It is a further object of the present invention to provide a kind of material-distributing systems that can be used for constructing above-mentioned production line；
Another object of the present invention is to provide a kind of discharge frame that can be used for constructing above-mentioned production line.
In order to achieve the above-mentioned main objectives, shifting material system provided by the invention is used to transfer curved with hook structure
Pipe, including discharge frame, pose adjustment unit, the first sub-material manipulator unit and the second sub-material manipulator unit；Discharge frame includes
Mounting rack, the lubricating substance bar being installed in being in tilted layout on mounting rack, fixing end can be mounted on mounting rack with rotating around the axis
Blowing bar, and the swing of reciprocally swinging activates between lateral bridging position and tilting lubricating substance position around the shaft for driving blowing bar
Device；Along glide direction of the curved pipe on lubricating substance bar, pose adjustment unit is located at the downstream of lubricating substance bar end, is configured as accepting
The curved pipe skidded off from the end of lubricating substance bar, and the pose of the curved pipe is adjusted to state to be held；First sub-material manipulator
Unit is configured as synchronously being suspended on more curved pipes on the blowing bar at lateral bridging position；Second sub-material is mechanical
Hand unit is configured as to be offed normal appearance adjustment unit by the curved pipe clamp of posture adjustment to state to be held.
According to direction of travel of curved pipe during moving material, the first sub-material manipulator unit, discharge frame, position is set in sequence
Appearance adjustment unit and the second sub-material manipulator unit can synchronously be hung more curved pipes using the first sub-material manipulator unit
In discharge frame, the pose of the single curved pipe skidded off from the end of discharge bar is adjusted followed by pose adjustment unit,
So as to isolate single curved pipe in more curved pipes, recycle the second sub-material manipulator unit single curved by what is isolated
Pipe, which is transferred, gives following process equipment.If the shifting material system is mounted on the production line of manufacture D connection, using multitube bending
The synchronous bending of machine goes out more semi-finished product adapter tubes, and sub-material carries out pipe end processing to more sleeve end processing units, so that D can be improved
The production efficiency of adapter tube.
Specific scheme is to be installed with the limited support bar being disposed below on blowing bar, is suspended on blowing bar for forcing
On curved pipe be maintained at predetermined position and posture；It is installed on mounting rack and slides limition orientation slot by lubricating substance bar side,
For being limited to wobbling action of the curved pipe in lubricating substance bar sliding process, and the limit bounce-proof above lubricating substance bar
Bar, for carrying out backstop limit to bounce movement of curved pipe during sliding along lubricating substance bar, to force curved pipe energy edge
Lubricating substance bar sequentially slides and sequentially and seriatim skids off the end of lubricating substance bar.By the way that limited support bar is arranged, can effectively ensure that
It, can be with preferably sliding on lubricating substance bar during semi-finished product are taken over along blowing bar lubricating substance；Limit is slided by setting to lead
To slot and limit bounce-proof bar, to ensure that semi-finished product adapter tube sequentially and can be slided to seriatim on posture adjustment transfer unit.
It includes pedestal, adjustment unit and positioning unit that preferred scheme, which is pose adjustment unit,；Positioning unit is used for warp
The position of the hook structure of curved pipe after pose adjustment is positioned, so that the second sub-material manipulator unit is in predetermined position
The hanging pipe portion of place's crawl curved pipe；Adjustment unit includes the card for accepting the single curved pipe skidded off by the end of lubricating substance bar
Block is held, so that hook structure is fastened on blocked block；Adjustment unit includes attitude-adjusting unit, including for drive blocked block to rotate with
The curved pipe rotation on clamping blocked block is driven, to carry out the posture adjustment actuator of pose adjustment.
Preferred scheme is that adjustment unit includes transfer unit, and pedestal is equipped with transfer guide rail and clamping notch；Transfer
Unit includes pushing block, and pushing block is driven by transfer actuator, to force the curved pipe being held on blocked block to be moved away from along transfer guide rail
Blocked block, and clamping indentation, there is moved to, and be decoupled hook structure and blocked block；Along curved pipe along the side of being moved away from of transfer guide rail
To the positioning anchor that, positioning unit includes positioned at transfer guide rail downstream, for curved pipe be moved away from blocked block be moved away from act into
Whereabouts gear positioning.
Further embodiment is that posture adjustment actuator includes cylinder, with the affixed rotation driving to drive it to rotate of blocked block
Axis, the connected rack gear with the piston rod of cylinder, and the gear being engaged with rack；Gear is coaxially fixed in rotation drive shaft.
Gear & rack structure is arranged in the rotary drive mechanism of blocked block, can preferably optimize integrally-built layout.
Another preferred scheme is that the first sub-material manipulator unit includes mounting base, the material folding being mounted in mounting base
Pawl, for driving the circle mould of the relatively more tube bending machine of mounting base to do the mobile three-dimensional walking mechanism of three-dimensional space, and for driving
Material folding pawl is with respect to mounting base around the rotary drive mechanism of vertical axis and transverse axes；Material folding pawl includes upper clamp formwork, lower clamp formwork, use
Actuator is opened and closed and for carrying out backstop to the closure spacing between two clampings with opening and closing movement in driving two clampings to relatively move
The limit backer of limit；Material folding pawl is equipped with M to above material folding die cavity up and down, and M is rolled in single batch by multitube bending machine
The quantity of the semi-finished product adapter tube bowed out.First sub-material manipulator unit is arranged to the manipulator at least having there are five freedom degree,
To be adjusted to the pose of semi-finished product adapter tube, so as to preferably before taking over semi-finished product on placement semi-finished product discharge frame
Sub-material is carried out to multiple material-distributing systems using same first sub-material manipulator unit.
Preferred scheme is that the material folding die cavity in upper clamp formwork and lower clamp formwork, in one is to connect for being held in semi-finished product
Anti-down guide groove on the long tube end of pipe, the material folding die cavity in another one are the short tube end for being held in semi-finished product adapter tube
On holding card slot；Keeping card slot is in soft groove seat；Folding actuator is pneumatic clamper cylinder, and rotary drive mechanism includes cylinder
The first rotary cylinder and cylinder body that body is installed in mounting base are installed in the second rotary pneumatic on the turntable of the first rotary cylinder
Cylinder, the cylinder body of pneumatic clamper cylinder are fixed on the turntable of the second rotary cylinder；In the rotary shaft of the turntable of two rotary cylinders,
One vertically arrange by axis, and another one transversely arrange by axis.
To realize above-mentioned another object, the production line that the present invention provides manufacture D connection includes multitube bending machine, pipe end processing
Unit and for will by multitube bending machine institute's bending go out semi-finished product adapter tube transfer to pipe end processing unit shifting material system；Move material
System, which is that any of the above-described technical solution is described, moves material system, and the circle mold of multitube bending machine has three or more bending dies
Slot；N sleeve end processing unit is arranged in by the head side of multitube bending machine, and N is more than or equal to 2；First sub-material manipulator unit with
More set material-distributing systems ordinatedly carry out shifting material, and material-distributing system includes discharge frame, pose adjustment unit and the second sub-material manipulator list
Member；Every set material-distributing system and single sleeve end processing unit are ordinatedly that pipe end processing unit carries out feeding；The circle of multitube bending machine
Mould is the horizontal round mould axially along the first lateral arrangement；N sleeve end processing unit is configured to be arranged in the machine of multitube bending machine
Two groups of pipe end processing units of the both lateral sides of head end, both lateral sides are along the two sides of the first lateral arrangement.
Using multitube bending machine by more straight pipes be synchronously bent into semi-finished product adapter tube, with single bend pipe processing in,
More semi-finished product adapter tubes can be synchronously obtained in same batch bend pipe；Recycle the first sub-material manipulator unit by single batch
Semi-finished product adapter tube transfer to same semi-finished product discharge frame, recycle pose adjustment unit and discharge frame cooperate and by half thereon at
Product adapter tube carries out sub-material process, seriatim moves the semi-finished product adapter tube after sub-material followed by the second sub-material manipulator unit
It gives pipe end processing unit and carries out pipe end processing, so as to effectively match the speed of the processing between Pipe Elbow Element and pipe end processing unit
Rate difference effectively improves whole production efficiency；It is automatic to be established between each unit and by the cooperation of manipulator unit
Change linking, reduces the processes such as manual handling, effectively improve the production efficiency of the production line.
Specific scheme is the both lateral sides at the head end that N sleeve end processing unit is configured to be arranged in multitube bending machine
Two groups of pipe end processing units, both lateral sides be along the two sides of the first lateral arrangement, to be arranged to convex with multitube bending machine
Structure；There are the installation space in front of the head of multitube bending machine, the first sub-material manipulator between two groups of pipe end processing units
Unit, discharge frame and pose adjustment unit are laid in installation space；The sub-material system of feeding is carried out for one group of pipe end processing unit
System constitutes one group, and the mobile evacuation for having the clamping end for accommodating the first sub-material manipulator unit between two component material systems is empty
Between；Installation space is at the head that the lower section for being located at discharge frame and the first sub-material manipulator unit has the multitube bending machine that can go directly
Maintenance space.
In order to achieve the above-mentioned another object, material-distributing system provided by the invention includes discharge frame and pose adjustment unit；Row
Expect that frame includes mounting rack, the lubricating substance bar being installed in being in tilted layout on mounting rack, fixing end can be mounted on rotating around the axis
The blowing bar shelved, and for driving the blowing bar reciprocally swinging between lateral bridging position and tilting lubricating substance position around the shaft
Swing actuator；Along glide direction of the curved pipe on lubricating substance bar, pose adjustment unit is located at the downstream of lubricating substance bar end, is matched
It is set to the curved pipe accepted and skidded off from the end of lubricating substance bar, and the pose of the curved pipe is adjusted.
It includes pedestal, adjustment unit and positioning unit that specific scheme, which is pose adjustment unit,；Positioning unit is used for warp
The position of the hook structure of curved pipe after pose adjustment is positioned；Adjustment unit includes for accepting by the end of lubricating substance bar
The blocked block for holding the single curved pipe skidded off, so that hook structure is fastened on blocked block；Adjustment unit includes attitude-adjusting unit, packet
It includes for driving blocked block to rotate to drive the curved pipe on clamping blocked block to rotate to carry out the posture adjustment actuator of pose adjustment；
Adjustment unit includes transfer unit, and pedestal is equipped with transfer guide rail and clamping notch；Transfer unit includes pushing block, and pushing block is transferred
Actuator drives, and to force the curved pipe being held on blocked block to be moved away from blocked block along transfer guide rail, and moves to clamping indentation, there,
And it is decoupled hook structure and blocked block；Along curved pipe along the direction that is moved away from of transfer guide rail, positioning unit includes being located at transfer to lead
The positioning anchor in the downstream of rail, the movement that is moved away from for being moved away from blocked block to curved pipe carry out backstop positioning.
More specific scheme is to be installed with the limited support bar being disposed below on blowing bar, is suspended on blowing for forcing
Curved pipe on bar is maintained at predetermined position and posture；It is installed on mounting rack and slides limition orientation by lubricating substance bar side
Slot, for limiting to wobbling action of the curved pipe in lubricating substance bar sliding process, and the limit above lubricating substance bar is anti-
Material bar is jumped, for carrying out backstop limit to bounce movement of curved pipe during sliding along lubricating substance bar, to force curved pipe
The end of lubricating substance bar can be sequentially slided and sequentially and seriatim skidded off along lubricating substance bar.
In order to achieve the above-mentioned further object, discharge frame provided by the invention includes mounting rack, lubricating substance bar, blowing bar and swing
Actuator；Lubricating substance bar is mounted on mounting rack with being in tilted layout, for hanging more curved pipes；The fixing end of blowing bar can rotate
Axis is rotatably mounted on mounting rack；Swing actuator is for driving blowing bar around the shaft in lateral bridging position and tilting lubricating substance
The swing actuator of reciprocally swinging between position.
Specific scheme is that the fixing end of blowing bar can be mounted on the upper end of lubricating substance bar with rotating around the axis, with indirect
Ground is mounted on mounting rack；It is installed with the limited support bar being disposed below on blowing bar, is suspended on blowing bar for forcing
Curved pipe be maintained at predetermined position and posture；It is installed on mounting rack and slides limition orientation slot by lubricating substance bar side, used
It is limited in wobbling action of the curved pipe in lubricating substance bar sliding process, and the limit bounce-proof above lubricating substance bar
Bar, for carrying out backstop limit to bounce movement of curved pipe during sliding along lubricating substance bar, to force curved pipe energy edge
Lubricating substance bar sequentially slides and sequentially and seriatim skids off the end of lubricating substance bar.
Detailed description of the invention
Fig. 1 is existing a kind of for processing the structural schematic diagram of the straight pipe of D connection；
Fig. 2 is a kind of structural schematic diagram of existing semi-finished product adapter tube；
Fig. 3 is a kind of existing structural schematic diagram of D connection；
Fig. 4 is the structural principle block diagram of production line embodiment 1 of the present invention；
Fig. 5 is the top view of production line embodiment 1 of the present invention；
Fig. 6 is the perspective view of production line embodiment 1 of the present invention；
Fig. 7 is the perspective view of five tube bending machines in production line embodiment 1 of the present invention；
Fig. 8 is B partial enlarged view in Fig. 7；
Fig. 9 is A partial enlarged view in Fig. 6；
Figure 10 is the vertical of the partial structurtes that material system is moved in production line embodiment 1 of the present invention, pipe end processing unit and discharge unit
Body figure；
Figure 11 is the perspective view of the first sub-material manipulator unit in production line embodiment 1 of the present invention；
Figure 12 is the perspective view of the material folding pawl end partial structurtes of the first sub-material manipulator unit in production line embodiment 1 of the present invention；
Figure 13 is the perspective view of semi-finished product discharge frame in production line embodiment 1 of the present invention；
Figure 14 be using production line embodiment 1 of the present invention manufacture D connection during, using five axis robots from five tube bending machines
The original state structural schematic diagram of upper crawl semi-finished product adapter tube；
Figure 15 be using production line embodiment 1 of the present invention manufacture D connection during, using five axis robots from five tube bending machines
The process schematic of upper crawl semi-finished product adapter tube；
Figure 16 be using production line embodiment 1 of the present invention manufacture D connection during, using five axis robots to crawl partly at
Product adapter tube carries out the process schematic of pose adjustment；
Figure 17 be using production line embodiment 1 of the present invention manufacture D connection during, using five axis robots by crawl partly at
Product take over the process schematic being placed on the blowing bar of semi-finished product discharge frame；
Figure 18 is to hang on the semi-finished product adapter tube on blowing bar during manufacturing D connection using production line embodiment 1 of the present invention
The process schematic of adjust automatically pose under the effect of gravity；
Figure 19 is that during manufacturing D connection using production line embodiment 1 of the present invention, the semi-finished product being suspended on blowing bar are fallen
Expect to the process schematic on lubricating substance bar；
Figure 20 is to take over progress pose rotation during manufacturing D connection using production line embodiment 1 of the present invention to semi-finished product and adjust
Whole original state schematic diagram；
Figure 21 is that during manufacturing D connection using production line embodiment 1 of the present invention, the pose that semi-finished product are taken over is rotated by 90 °
Process schematic；
Figure 22 is the semi-finished product after being adjusted in place pose during manufacturing D connection using production line embodiment 1 of the present invention
Adapter tube is elapsed to the process schematic at position to be held；
Figure 23 is the C partial enlarged view in Figure 22；
Figure 24 is that during manufacturing D connection using production line embodiment 2 of the present invention, the pose that semi-finished product are taken over is rotated by 90 °
Process schematic；
Figure 25 be using production line embodiment 3 of the present invention manufacture D connection during, the semi-finished product blanking that is suspended on blowing bar
Process schematic to lubricating substance bar.
Specific embodiment
With reference to embodiments and its attached drawing the invention will be further described.
Production line embodiment 1
Referring to fig. 4 to Figure 23, the production line 1 that the present invention manufactures D connection includes control unit, five tube bending machines 2, for managing to five
Bending machine 2 carries out the pipe feeding unit material 11 of feeding, Quadruplet pipe end processing unit 3, four sets of discharge units 4, for that will be managed by five
Shifting material system 10 and hydraulic station 15 of the transfer of semi-finished product adapter tube 02 that 2 bending of bending machine goes out to pipe end processing unit 3.Wherein, five
Tube bending machine 2 constitutes the Pipe Elbow Element in the present embodiment with pipe feeding unit material 11 together.
Wherein, five tube bending machines 2, pipe feeding unit material 11, pipe end processing unit 3, discharge unit 4 and shifting material system are pacified
In rack 13；For the specific structure of rack 13, integral structure rack can be used, split type structure machine can also be used
Frame adopts a split structure rack in the present embodiment, i.e., each unit is fixed using multiple relatively independent sub-frames
Installation, of courses, also there is unit and the same sub-frame of other units shareds.And safe grating 14 is installed in periphery, with
Safety during ensuring to manufacture.Control unit includes processor, memory and control flow 12, and control flow 12 is for receiving
The control instruction of operator's input, processor execute program corresponding with the control instruction in memory, sequentially carry out more
Pipe bending step, sub-material step, pipe end processing step and discharge step.
Referring to Fig. 7 and Fig. 8, pipe feeding unit material 11 includes storage hopper 110 for storing straight pipe 01 and for will be straight
Separate hopper 111 in pipeline section sub-material to the guide groove 23 being disposed below, separate hopper 111 is located at the lower section of storage hopper 110, to hold
Connect the straight pipe 01 released by storage hopper 110.Storage hopper 110 is including hopper 1101 and is mounted on 1101 discharge outlet of hopper
Striker plate 1102 and actuator for driving the reciprocating action between discharge position and backgauge position of striker plate 1102, the actuator
It is specific to select cylinder or motor, the quantity of release to the straight pipe in separate hopper 111 is controlled by the movement of striker plate 1102；
Separate hopper 111 includes V-type hopper 1110, is equipped with a plurality of parallel and falling along Y-axis arrangement in the discharge outlet of V-type hopper 1110
Hopper 1111, the quantity of charging conduit 1111 be configured as it is identical as the single bend pipe quantity of multitube bending machine, as five.
Five tube bending machines 2 include the clamping for having the horizontal round mould 20 of five die cavitys 200 and matching with horizontal round mould 20
21 guide grooves 23 being oriented to guided mode 22, the straight pipe 01 for being arranged in parallel to five, being used for will be by charging conduit 1111
Straight pipe 01 in blanking to the guide groove 23 along Y-axis arrangement is pushed away along Y-axis towards what the direction close to horizontal round mould 20 elapsed
Expect mechanism, and positioned at horizontal round mould 20 away from the stop positioning mechanism 24 of the side of pusher.Pusher includes five pieces points
Straight line not with the matched charging ram of guide groove 23 and for driving five charging rams to move along the axial reciprocating of guide groove 23
It is displaced output device.
In the present embodiment, guided mode 22 is located at the lower section of horizontal round mould 20, i.e. its die cavity is arranged axially along Y-axis, clamping
21 under the driving of horizontal swing arm 25, around the axis oscillating of horizontal round mould 20, i.e., rotates around the axis for being parallel to X axis.Backgauge
Positioning mechanism 24 includes striker plate 240 and the gear for driving striker plate 240 to move back and forth between position location and evacuation position
Expect actuator 241, in the present embodiment, backgauge actuator 241 is cylinder, and striker plate 240 is pushed to move back and forth along X axis.Five
Tube bending machine 2 constitutes the multitube bending machine in the present embodiment, and in the present invention, multitube bending machine is configured as to two or more
Straight pipe 01 synchronizes bending, can be configured as synchronizing three or more straight pipes 01 bending, i.e. its mould for justifying mould
Slot number is three or more, and specific Synchronous Bending pipe number is configured according to actual needs.
During the work time, the straight pipe in hopper 1101 is stored under the control of striker plate 1102, predetermined quantity model
Straight pipe 01 in enclosing enters in V-type hopper 1110, and under the effect of gravity, straight pipe 01 is at least filled under V-type hopper 1110
End and make an at least straight pipe 01 in every charging conduit 1111；Due to the charging conduit 1111 and guiding arranged along Y-axis
Slot 23 parallelly be located at its right above, if guide groove 23 be located at charging conduit 1111 following position directly without straight pipe 02, and
Charging ram is not also located at the position, then the straight pipe 01 in charging conduit 1111 under the effect of gravity, is fallen into guide groove 23.
Before carrying out pusher to the straight pipe 01 fallen into guide groove 23, swing arm 25 drives clamping 21 around being parallel to X axis
Shaft axis turn to the lower section positioned at horizontal round mould 20, and be located at the side that horizontal round mould 20 deviates from guided mode 22.Backgauge causes
Dynamic device 241 drives striker plate 240 to move to position location along X-axis negative sense, that is, is located at five 01 front positions of straight pipe, and five straight
Pipeline section 01 moves under the action of charging ram is along Y-axis thrust and along corresponding guide groove 23, until its front end is resisted against striker plate
On 240, at this point, the front end of straight pipe 01 between horizontal round mould 20 and the die cavity of clamping 22, is completed to five straight tubes
After the end positioning of section 01, backgauge actuator 241 drives striker plate 240 to move to the evacuation for avoiding bend pipe process along X-axis forward direction
Position.
Then, clamping driver 210 drives clamping 210 to synchronize clamping to five straight pipes 01, and in swing arm 25
Driving is lower and carries out bending processing to five straight pipes 01 are synchronous, goes out five semi-finished product as shown in Figure 2 with synchronously bending and connects
Pipe 02, after completing bending, horizontal round mould 20, clamping 21 and 22 relative tertiary location of guided mode are as shown in Figure 8.
As shown in Fig. 9 to Figure 23, moving material system 10 includes the material-distributing system with single 3 cooperation of sleeve end processing unit, and is used
In synchronously transferring five tube bending machines 2 in the same batch semi-finished product adapter tube 02 that single bending obtains to same set of material-distributing system
First sub-material manipulator unit 5；I.e. in the present embodiment, moving material system includes four sets of points matched with pipe end processing unit 3
Material system, every set material-distributing system include semi-finished product discharge frame 6, posture adjustment transfer unit 7 and the second sub-material manipulator unit 8.Half at
Product discharge frame 6 is used to accept the semi-finished product adapter tube 02 of a batch or more, and posture adjustment transfer unit 7 is used for will be on semi-finished product discharge frame 6
Semi-finished product adapter tube seriatim carries out pose adjustment and being transferred at position to be held, and the second sub-material manipulator unit 8 is for will be by
Posture adjustment transfer unit 7 is transferred to the transfer of the semi-finished product adapter tube 02 at position to be held to corresponding pipe end processing unit 3, and according to
The sequence of pipe end processing is sequentially transferred between each subelement in pipe end processing unit 3, sequentially to carry out corresponding pipeline section
Processing.
As shown in FIG. 11 and 12, the first sub-material manipulator unit 5 includes mounting base 50, the folder being mounted in mounting base 50
Pawl 51 is expected, for driving the horizontal round mould 20 of the relatively more tube bending machine 2 of mounting base 50 to do the mobile three-dimensional vehicle with walking machine of three-dimensional space
Structure 52, and the rotary drive mechanism 53 for driving material folding pawl 51 to rotate about the z axis with Y-axis relative to mounting base, i.e., in the present embodiment
In, the first sub-material manipulator unit 5 is five axis robot clamping jaws.Wherein, three-dimensional walking mechanism 52 for drive mounting base 50 with
It drives material folding pawl 51 to do three-dimensional space movement in XYZ space, in particular includes arranging and being fixed on the rack along X axis
X-axis guide rail 520, along the Y-axis guide rail 521 of Y-axis arrangement, along Z axis to the Z axis guide rail 522 of arrangement, for driving Y-axis guide rail 521
The X axis actuator 523 moved back and forth along X-axis guide rail 520, the slide 524 that can be moved back and forth along Y-axis guide rail 521, for driving
The Y-axis actuator 525 that slide 524 is moved back and forth along Y-axis guide rail 521, for driving Z axis guide rail 522 with respect to slide 524 along Z
The mobile Z axis of axial reciprocating is to actuator 526.In the present embodiment, X axis actuator 523 is set with by servo motor, coaxially
It gear on the armature spindle of the servo motor and engages and is constituted along the rack gear of X axis arrangement, the servo motor with the gear
Stator be fixedly connected with Y-axis guide rail 521；Z axis is to actuator 525 and Z axis to actuator 526 by servo motor and screw rod spiral shell
Parent agency is constituted.In the present embodiment, mounting base 50 is the lower end of Z axis direction guiding rail 522.Rotary drive mechanism 53 includes cylinder body
5310 the first rotary cylinders 531 being installed in mounting base 50 and cylinder body 5320 are installed in the turntable of the first rotary cylinder 531
The second rotary cylinder 532 on 5311；Wherein, the rotary shaft of turntable 5311 is along Z axis to arrangement, the rotary shaft of turntable 5321
It is arranged along Y-axis axis.Three-dimensional walking mechanism 52 is fixedly supported in rack by two root posts 5200.
Material folding pawl 51 includes lower clamp formwork 510, upper clamp formwork 511, for driving two clampings to relatively move opening with opening and closing movement
Close actuator 512, and the limit backer 513 for carrying out backstop limit to the closure spacing between two clampings；In the present embodiment,
Folding actuator 512 is pneumatic clamper cylinder, and the cylinder body of the pneumatic clamper cylinder is fixed on the turntable 5321 of the second rotary cylinder 532,
Two clampings are respectively in fixed corresponding pneumatic clamper, and can carry out opening and closing movement being parallel in XOZ plane, limit backer 513 is located at
It is fixed on the cylinder body of the pneumatic clamper cylinder between two clampings, so that in clamping, the closure spacing of process is carried out to two clampings
Limit, to prevent from pressing from both sides bad semi-finished product adapter tube 02.The material folding die cavity of lower clamp formwork 510 is the long tube for being held in semi-finished product adapter tube 02
Anti-down guide groove 5101 on end, specifically, making the groove depth of anti-down guide groove 5101 greater than the pipe diameter of semi-finished product adapter tube 02
Greatly, usually 2 centimetres to 3 centimetres big, it is fallen down when no upper clamp formwork 511 clamps with to prevent from being held in the semi-finished product adapter tube 02 in it
Problem, and push-and-pull move can be carried out along its flute length direction simultaneously, the material folding die cavity on upper clamp formwork 511 is for being held in half
Holding card slot on the short tube end of finished product adapter tube 02, the holding card slot are in soft groove seat 5110, thus in material folding pawl 51
It is equipped with five pairs of material folding die cavity pair, is synchronized with going out five semi-finished product adapter tubes 02 in same batch bending to five tube bending machines 2
Ground clamping crawl；By being arranged the material folding die cavity in a clamping in soft groove seat, elastic clip can be provided to semi-finished product adapter tube 02
It holds, to prevent from pressing from both sides bad semi-finished product adapter tube 02.
Semi-finished product discharge frame 6 includes mounting rack 60, is installed in inclined arrangement on mounting rack 60 by high low trestle 600
Lubricating substance bar 61, fixing end 621 can be rotatably mounted at the blowing bar 62 on mounting rack 60 around pin shaft 63, and for driving blowing
Bar 62 is around the swing actuator 64 of the reciprocally swinging between lateral bridging position and tilting lubricating substance position of pin shaft 63, and the composition of pin shaft 63 is originally
The shaft of blowing bar 62 in embodiment.Specific structure is that the fixing end of blowing bar 62 is hinged on the upper end of lubricating substance bar 61,
I.e. in the present embodiment, blowing bar 62 is to be indirectly mounted on mounting rack 60 by lubricating substance bar 61, is of coursed, can also be straight
Connector was connected to be fixed on mounting rack；In the present embodiment, the fixing end 621 of blowing bar 62 is breeches joint, and lubricating substance bar
61 upper end is that inserted sheet connector compatible with the breeches joint, breeches joint and inserted sheet connector are realized hingedly by pin shaft 63,
Blowing bar 62 is constructed with lubricating substance bar 61 using the roughly the same body of rod of top half cross-sectional structure, so that the two is in blowing
When the rotation of bar 62 to the position being parallel to each other, the part bar side face being in contact with the transition pipe portion 021 of semi-finished product adapter tube 02 can be right
Arrangement is connect, the upside end edge portion in the upper end of lubricating substance bar 61 is equipped with lead-in angle 610, so that semi-finished product adapter tube 02 is in blowing bar 62
Swing process, can successfully slide on lubricating substance bar 61；It is equipped on the yoke of breeches joint axially along perpendicular to 63 axis of pin shaft
To screw hole, the holding screw 65 with screw hole cooperation is for being fixed on the positioning the position of pin shaft 63, so that it is guaranteed that blowing
The surface energy smooth connection of bar 62 and lubricating substance bar 61 at tilting lubricating substance position, effectively ensures semi-finished product adapter tube 02 in the two
Between sliding action continuity.
Swing actuator 64 is linear-motion actuator, such as linear motor, cylinder or by rotating electric machine and leading screw and nut mechanism
It constitutes, specifically selects cylinder, the piston rod of the cylinder is connect by Y-shaped connector 641 with the inserted sheet being installed on 62 swinging end of blowing bar
Head is hinged by hinged shaft, and it is hinged that cylinder body by Y-shaped connector 640 passes through hinged shaft with the inserted sheet connector that is installed on mounting rack 60.
By connecting plate 660, it is installed with the limited support bar 66 being disposed below on blowing bar 62, is used to force outstanding
The long tube end holding for hanging over the semi-finished product adapter tube 02 on blowing bar 62 is substantially vertically arranged, and semi-finished product can be effectively prevented
Shaking of the adapter tube 02 in 62 swing process of blowing bar.It is installed on mounting rack 60 and slides limit by 61 side of lubricating substance bar
Guide groove 67 is limited with the long tube end to semi-finished product adapter tube 02 in its wobbling action in 61 sliding process of lubricating substance bar
Position, and the limit bounce-proof bar 68 above lubricating substance bar 61, for semi-finished product adapter tube 02 in the mistake slided along lubricating substance bar 61
Vertical bounce movement in journey carries out backstop limit, to force semi-finished product adapter tube 02 that can sequentially slide along lubricating substance bar 61 and sequentially simultaneously
Seriatim skid off the end of lubricating substance bar 61.Full material inductive pick-up 69 is installed below the upper end of lubricating substance bar 61, for detecting
Whether semi-finished product adapter tube 02 is overworked on blowing bar 61, to control the sub-material movement of the first sub-material manipulator unit 5.
In the present embodiment, limition orientation slot 67 selects the gag lever post guide rod 671 and 672 of two parallel arrangements to carry out
Building, is respectively adopted connector and is fixed on mounting rack 60, limit of the two to the long tube end of semi-finished product adapter tube 02, to force
Its long tube end is substantially vertically arranged in sliding process.In Y-axis, the support surface and gag lever post of limited support bar 66
The support surface of guide rod 672 maintains an equal level, or between gag lever post guide rod 671 and 672 supporting plane, and limited support
Spacing between the support surface of bar 66 and the support surface of gag lever post guide rod 671 is greater than the caliber of semi-finished product adapter tube 02.Limit
Bounce-proof bar 68 is fixed on mounting rack 60 by connector, to arrange along the direction for being parallel to lubricating substance bar 61, and is laid in cunning
Expect above the middle part of bar 61 or above side.It of courses, limition orientation slot 67 can be constructed directly with U-type groove.
Posture adjustment transfer unit 7 includes pedestal 70, attitude-adjusting unit and transfer unit.In the present embodiment, pedestal 7 is with portion
The frame structure of part installation cavity 702, equipped with the transfer guide rail 700 arranged along Y-axis and positioned at moving guide rail 700 on pedestal 70
The clamping notch 701 of top.
Attitude-adjusting unit includes the spill spin block 71 that upper end is installed in rotation on pedestal 70 by rotating drive shaft 73,
It is in the present embodiment to revolve for driving spill spin block 71 at least rotate 90 degree of posture adjustment actuator around the axis of rotation drive shaft 73
It turn 90 degrees, of courses, can be arranged to rotate less than 90 degree according to the actual situation.Spill spin block 71 is shape and semi-finished product adapter tube 02
The compatible block structure of inner surface be in the present embodiment vertically cloth when spill spin block 71 is rotated into filling position
It sets, outer surface is rotated into be adapted with the lubricating substance face of lubricating substance bar 61, so as to skid off the semi-finished product adapter tube of 61 end of lubricating substance bar
It is held on spill spin block 71, i.e., spill spin block 71 is used to accept the single semi-finished product adapter tube skidded off from the end of semi-finished product discharge frame
02, and 02 pair of semi-finished product adapter tube be located on spill spin block 71 is located at the semi-finished product adapter tube 02 on 62 end of lubricating substance bar and carries out backstop；
The semi-finished product adapter tube 02 on spill spin block 71 is fastened under the driving of revolving actuator, to carry out pose adjustment.In the present embodiment
In, posture adjustment actuator includes cylinder 72, with the affixed rotation drive shaft 73 to drive it to rotate of spill spin block 71, work with cylinder 72
The connected rack gear 73 of stopper rod, and with 73 meshed gears 74 of rack gear；Gear 74 is coaxially fixed in rotation drive shaft 73, in work
Make in engineering, the axial movement of cylinder is converted into the rotation of shaft using gear and rack teeth mechanism, so as to make posture adjustment actuator
Overall structure along Y-axis arrange, to optimize integrally-built layout.
Transfer unit includes pushing block 75, the shifting for driving pushing block to move back and forth along the direction for being parallel to transfer guide rail 700
Actuator 76 is sent, i.e., is moved back and forth along Y-axis.Positioned at the end of transfer guide rail 700, positioning anchor is installed on pedestal 70
77。
As shown in Figure 10, pipe end processing unit 3 includes being mounted on the rack pipe-expanding machine, necking machine, beveler and perforating press,
The subelement for respectively constituting pipeline section processing unit 3 is mounted on the rack to the parallel arrangement of main shaft, and main shaft is equal along X-axis forward direction
It is arranged along Y-axis.In the present embodiment, it is disposed with scalable mouth all-in-one machine 31 and perforating press 32 on the rack, first to semi-finished product
The both ends of adapter tube, which synchronize, carries out flaring and necking processing, and is transferred on punching station by the second sub-material manipulator unit 8
It is punched out processing, to obtain finished product adapter tube 03 as shown in Figure 3.
As shown in fig. 4 to fig. 6 and Fig. 9, Figure 10,4 sleeve end processing units 3 are arranged in multitube bending machine 2 with being divided into two groups
Head end side, i.e. the head side that two sleeve end processing unit 3 one groups arranges multitube bending machine 2, every group of pipe end processing unit 3
Positioned at the lateral side at head end, that is, it is located at the X axis side at head end, to constitute substantially convex structure.And in two groups of pipes
There is the installation space 100 in front of the head of multitube bending machine 2 between the processing unit 3 of end；First sub-material manipulator unit 5,
Semi-finished product discharge frame 6 and posture adjustment transfer unit 7 are laid in installation space 100；The processing of one group of pipe end on ipsilateral will be located at
The material-distributing system that unit 3 carries out feeding constitutes one group, i.e., every component material system includes two sets of semi-finished product discharge framves 6, posture adjustment transfer
Unit 7 and the second sub-material manipulator unit 8 have the folder for accommodating the first sub-material manipulator unit 5 between two component material systems
Hold the mobile avoiding space 101 at end.
For the ease of safeguarding to multitube bending machine 2, installation space 100 is being located at material-distributing system and the first sub-material machinery
The lower section of hand unit 5 has the maintenance space 102 at the head for the multitube bending machine 2 that can go directly；It safeguards in space 102 movably
It is laid with waste collection box 17, is write for collecting to give up caused by punching and chamfered, pipe end processing unit 3 is equipped with and will give up
Bits are guided to the guiding groove 16 in waste collection box.
Deviate from the side of installation space 100 in every sleeve end processing unit 3, is mounted on for collecting finished product adapter tube 03
Finished product discharge frame 4, in the present embodiment, the lubricating substance bar that finished product discharge frame is arranged parallel by two are constituted, and two cunnings
Expect the not contour arranged for interval of bar, is resisted against low level lubricating substance so as to hang to the long tube end of the finished product adapter tube 03 on high-order lubricating substance bar
On bar, to make its long inclined arrangement of tube end.
As shown in Figure 10, in the present embodiment, the second sub-material manipulator unit 8 has the be equally spaced along X axis
One manipulator 81, the second manipulator 82 and third manipulator 83, and for driving three manipulators synchronously past along X axis guide rail
That moves again synchronizes traversing driver；Spacing between two manipulators is equal to the position to be held, scalable of posture adjustment transfer unit 7
Spacing between mouth station, punching station and unloading station, i.e., be equally spaced, once from first three between these stations
Being transferred on next station for pipe fitting and synchronization is clamped on a station, i.e. the second sub-material manipulator unit 8 is used for from position to be held
Place's clamping semi-finished product adapter tube is set, is transferred in order with the sequence handled according to pipe end and carries out pipe end processing to corresponding subelement, and
Finished product adapter tube is hung to finished product discharge frame 4.For each manipulator 81,82,83 in the upward movement of Z axis by itself Z axis gas
Cylinder is driven, and settable rotary cylinder rotates clamping workpiece on it, turns around and posture adjustment, and pneumatic clamper is specifically used
Cylinder constructs three manipulators to the clamping device of semi-finished product adapter tube 02.
Specific work process the following steps are included:
Multitube bending step S1, using multitube bending machine 2, synchronously bending goes out five semi-finished product adapter tubes 02 in single batch.
Sub-material step S2, (1) as shown in figure 14, by the spinning movement of rotary cylinder 531,532, to drive material folding pawl 51
Clamping opening towards multitube bending machine, i.e., along Y-axis forward direction arrange；Then, three-dimensional walking mechanism 52 drives material folding pawl 51 to proceed to
The material folding die cavity of lower clamp formwork 510 is matched with the long tube end of semi-finished product adapter tube 02；(2) as shown in figure 15, in the effect of charging ram
Under, five semi-finished product adapter tubes 02 are synchronously promoted in material folding pawl 51, and is existed in the driving of pneumatic clamper cylinder, two clampings clamp half at
Product adapter tube 02；(3) as shown in figure 16, by the spinning movement of rotary cylinder 531,532, make the long tube end of semi-finished product adapter tube 02
It is located above, and makes the arc port of semi-finished product adapter tube 02 towards the blowing bar 62 for preparing blowing；(4) as shown in figure 17, will half at
Product adapter tube 02 is discharged on a wherein blowing bar 62；(5) as shown in figure 18, pneumatic clamper cylinder drives upper lower clamp formwork to open, and
Evacuation position is retreated under the driving of three-dimensional walking mechanism 52, meanwhile, semi-finished product adapter tube 02 rotates extremely under gravity
Its long tube end is resisted against on limited support bar 66, at this point, when blowing bar 62 is in lateral bridging position, i.e., at this location partly
Finished product adapter tube 02 can be still suspended on blowing bar 62；(6) as shown in figure 19, swing actuator 64 drives blowing bar 62 to swing
At to the position substantially parallel with lubricating substance bar 61, semi-finished product adapter tube 02 slides to lubricating substance bar 61 under gravity, this
When, when blowing bar 62 is in tilting lubricating substance position, i.e., the position enables 02 edge of the semi-finished product adapter tube being suspended on blowing bar 62 to put
Material bar 62 slides on lubricating substance bar 62；If completely material inductive pick-up 69 detects on lubricating substance bar 61 to be full material, no longer to blowing bar
62 carry out sub-material；(7) as shown in figure 20, under gravity, the semi-finished product adapter tube 02 on 61 end of lubricating substance bar slides into
Spill spin block 71 is simultaneously held on spill spin block 71, at this point, the semi-finished product adapter tube 02 being held on spill spin block 71 is installed in pedestal 70
On have material detection sensor 79 detected by；Under the driving of posture adjustment actuator, spill spin block rotates clockwise 90 degree to semi-finished product
The long tube end of adapter tube 02 is arranged along Y-axis, that is, is arranged along the horizontal, position is as shown in figure 21 at this time；(8) as shown in figure 21, it pushes away
Block 75 is driven by transfer actuator 76, to move along Y-axis, to force the semi-finished product adapter tube 02 being held on spill spin block 71 along Y
Axial movement, and under the guiding of transfer guide rail 700, it is moved away from spill spin block 71, and by 77 backstops of positioning anchor, be also installed in
Arriving detected by level detection sensor 78 by 77 side of positioning anchor, and move at position to be held, at this point, being located at position to be held
The short tube end and spill spin block 71 for setting the semi-finished product adapter tube 02 at place are decoupled, and long tube end has outstanding at clamping notch 701
Blank pipe portion；I.e. positioning anchor 77 is used to carry out backstop positioning to the movement that is moved away from of semi-finished product adapter tube 02.
Pipe end processing step S3, the second sub-material manipulator unit 8 are moved the semi-finished product adapter tube 02 at position to be held is located at
It send to pipe end processing is sequentially carried out on pipe end processing unit 3, to obtain finished product adapter tube 03 as shown in Figure 3.
Discharge step S4, the second sub-material manipulator unit 8 hang the finished product adapter tube 03 being processed into finished product discharge frame 4
On.
In the present embodiment, positioning anchor 77 is constituted for the arc-shaped to the semi-finished product adapter tube 02 after adjusting through pose
The position of transition pipe portion is positioned, so that the second sub-material manipulator unit 8 is in pre-position crawl semi-finished product adapter tube 02
Hanging pipe portion；Wherein, posture adjustment transfer unit constitutes the pose adjustment unit in the present embodiment, is applied not only to semi-finished product adapter tube
Posture carries out rotation adjustment, separates so that semi-finished product adapter tube carries out position with the semi-finished product adapter tube 02 being located on lubricating substance bar 61,
Traversing adjustment also is carried out to the position of semi-finished product adapter tube 02, so that the short tube end of semi-finished product adapter tube and spill spin block 71 are detached from coupling
It closes, and semi-finished product adapter tube 02 can be made to be moved away from from spill spin block 71 by the first manipulator 81 in the second manipulator unit 8.
Production line embodiment 2
As the explanation to production line embodiment 2 of the present invention, only change below to the difference in above-described embodiment 1
Into predominantly being improved to the structure of pose adjustment unit and the second sub-material manipulator unit in above-described embodiment.
Referring to fig. 24, transformation is improved to the structure of spill spin block 71, so that semi-finished product adapter tube 02 is clamped in spill spin block 71
When upper, the part pipe portion 0200 in long tube end can stretch out except spill spin block 71 and form hanging pipe portion structure, and cancellation is used for
To the positioning anchor that the position of the arc-shaped transition pipe portion of semi-finished product adapter tube 02 is positioned, and positioning actuator is used to constitute this
Positioning unit in embodiment is positioned with the position of the arc-shaped transition pipe portion to semi-finished product adapter tube 02, and specific structure is
Determine on mover including the straight-line displacement output device 77 and the fixed straight-line displacement output device 77 that are installed on pedestal 70
Position block 770, during the work time, cylinder 72 drive spill spin block 71 that the semi-finished product spill spin block of clamping on it is rotated predetermined angular
When arranging in the horizontal direction to long tube end, the usual predetermined angular is 90 degree, and other angles, straight-line displacement also can be selected certainly
Output device 77 drives locating piece 770 towards the mobile preset distance of Y-axis negative sense, is carried out with the position of the arc-shaped transition pipe portion to 02
Positioning, and clamp semi-finished product adapter tube 02 in the second sub-material manipulator unit and then discharge the positioning to semi-finished product adapter tube 02, directly
Cylinder, oil cylinder and linear motor can be selected in the specific structure of displacement of the lines output device 77, specifically uses cylinder in the present embodiment
Structure.
I.e. in the present embodiment, pose adjustment unit is only used for carrying out rotation adjustment to the posture that semi-finished product are taken over, in order to
The short tube end and spill spin block 71 for making semi-finished product adapter tube 02 are decoupled, to the knot of the second sub-material manipulator unit 8 as shown in Figure 10
Structure improves, i.e., by adding guide rail and driving cylinder along Y-axis arrangement, can at least drive the first manipulator 81 can edge
Y-axis moves preset distance, to clamp the pipe portion 7100 of semi-finished product adapter tube 02 in manipulator 81, and moves first along Y-axis forward direction
The short tube end of preset distance to semi-finished product adapter tube 02 is coupled with the disengaging of spill spin block 71, is moving preset distance extremely along Z axis forward direction
The position of semi-finished product adapter tube is higher than spill spin block 71, then drive that the manipulator 81 moves aforementioned first preset distance along Y-axis negative sense and
It resets, in subsequent pipe end process flow, three manipulators are synchronous along the reciprocal stepping preset space length of X axis.
Production line embodiment 3
As the explanation to production line embodiment 3 of the present invention, below only to the difference with above-described embodiment 1 or embodiment 2
It is illustrated, predominantly the structure of semi-finished product discharge frame and the second sub-material manipulator unit 8 in above-described embodiment is changed
Into.
Referring to fig. 25, cancel the blowing bar and corresponding swing actuator of swinging structure setting in above-described embodiment, and put
It is tilting rod segment composition of the lubricating substance bar 61 towards the direction definite length extended away from posture adjustment mobile unit 7, blowing bar that material bar, which is 62,
72 can form an angle with lubricating substance bar 61, be arranged substantially in parallel in the present embodiment for the two, it is specific using with the root body of rod into
Row building, limited support bar 66 are that the same root body of rod is built-up with gag lever post guide rod 672.
More semi-finished product adapter tubes 02 can be placed successfully tiltedly in order to enable the first sub-material manipulator unit 1 well
It puts on material bar 62, the structure of the first sub-material manipulator unit 1 is improved, in the present embodiment for for using servo electricity
Machine substitutes rotary cylinder and constructs rotary drive mechanism, to drive more semi-finished product adapter tubes 02 rotation of synchronous clamping to arrangement position
It is substantially parallel with tilting blowing bar 62, i.e., plane and blowing bar 62 where the axis of the long tube end of more semi-finished product adapter tubes 02
It is substantially parallel, so that 02 whereabouts spacing of semi-finished product adapter tube is roughly equal when blowing.
Production line embodiment 4
As the explanation to production line embodiment 4 of the present invention, only change below to the difference in above-described embodiment 1
Into predominantly being improved to the structure of pose adjustment unit and the second sub-material manipulator unit in above-described embodiment.
Referring to structure as shown in figure 20, opposite base does not rotate spill spin block 71, to constitute blocked block, and pushing block 75 is arranged
Along Z axis to moving under the driving of cylinder 76, positioned at the lower section of blocked block, and altitude location backer is set above blocked block,
To constitute the positioning unit in the present embodiment, so that the position of the arc-shaped transition pipe portion of semi-finished product adapter tube is positioned, and will
Displacement guide rail 700 is arranged to deviate from the side of blocked block, during the work time, pushing block positioned at the long tube end of semi-finished product adapter tube 02
It pushes semi-finished product adapter tube towards Z axis to movement, is positioned at top by the backstop of positioning anchor, while making its short tube end and clamping
Block is detached from coupling, so that the part pipe portion in its long tube end of semi-finished product adapter tube 02 can be stretched out except spill spin block 71 and be formed hanging
Pipe portion structure, i.e., in the present embodiment, pose adjustment unit are only used for carrying out translation adjustment to the displacement that semi-finished product are taken over, in order to
The direction that the pose adjustment of semi-finished product adapter tube 02 to pipe end is handled, to the second sub-material manipulator unit 8 as shown in Figure 10
Structure improves, i.e., rotary cylinder is arranged on it, and the posture taken over to the semi-finished product clamped by it is adjusted.
In the above-described embodiments, semi-finished product adapter tube 02 constitutes a kind of special case of " curved pipe " in the present embodiment, to this hair
Bright design is described in detail, and the pose of curved pipe is configured as posture and/or position, i.e. pose adjustment unit is configured as pair
The position of the semi-finished product adapter tube skidded off from discharge frame end and/or posture are adjusted, to realize it and be hung on discharge frame
Semi-finished product adapter tube is separated；Further, pose adjustment unit is additionally configured to the second sub-material manipulator unit institute of waiting
The position of the hook structure of the curved pipe of clamping is positioned, if there are two the above hook structures in a curved pipe, can be selected
Non- suspension to the hook structure on lubricating substance bar is positioned, is in the above-described embodiments specially the arc-shaped that semi-finished product are taken over
The position of transition pipe portion is positioned.By being installed with the limited support bar being disposed below on blowing bar, although above-mentioned
It is specifically configured as the long tube end that semi-finished product are taken over keeping substantially vertical position in embodiment, but can be according to setting
Meter processing needs and is maintained at the predetermined position and posture of non-perpendicular state or plumbness.Attitude-adjusting unit is configured as to curved pipe
Posture be adjusted, and " transfer unit " is configured as being adjusted the position coordinates of curved pipe, on the two is constituted together
The adjustment unit in embodiment is stated, is of coursed, other function module can be added on adjustment unit, to realize desired function, example
Such as detection unit；Pedestal and adjustment unit mounted thereto constitute the adjustment of the pose in above-described embodiment together with transfer unit
Unit of courses, and other function unit can be added on pose adjustment unit, to realize desired function, such as detection unit.Rotation
Switch block is a kind of exceptional structure of blocked block in the present invention, i.e. blocked block can be designed to rotatable according to practical structures or can not revolve
The structure turned, blocked block are configurable for accepting the curved pipe individually skidded off from lubricating substance bar end.Blowing bar is configured as
Drive down to swing actuator, can between lateral bridging position and tilting lubricating substance position reciprocally swinging, wherein " lateral bridging position
Set " it is configured as curved pipe and can still be suspended on the blowing bar in lateral bridging position, " tilting lubricating substance position " is matched
The curved pipe energy blowing bar being suspended on blowing bar is set to slide on lubricating substance bar.
Move material system, separation system and discharge frame embodiment
In above-mentioned production line embodiments, material system, material-distributing system and discharge frame embodiment are moved to the present invention and are illustrated,
Details are not described herein.
The main idea of the present invention is in the production line of manufacture D connection, bending machine is arranged to multitube bending machine, and
The shifting material system that setting is carried out to expect between multitube bending machine and more casing section processing units, to match processing speed between the two
Rate, to improve whole processing efficiency and the degree of automation.According to this design, the knot of multitube bending machine, pipeline section processing unit
Also there are many obvious variations for structure, do not limit to the specific structure in above-described embodiment.
The main idea of the present invention is in the production line of manufacture D connection, bending machine is arranged to multitube bending machine, and
The shifting material system that setting is carried out to expect between multitube bending machine and more casing section processing units, to match processing speed between the two
Rate, to improve whole processing efficiency and the degree of automation.According to this design, the knot of multitube bending machine, pipeline section processing unit
Also there are many obvious variations for structure, do not limit to the specific structure in above-described embodiment, for example, (1) can be according to design need
It wants and processing object, two sets or more of pipe end processing unit is configured to same multitube bending machine；(2) for same set of sub-material system
System, can be configured to be fed for two sets or more of pipe end processing unit, at this point, the second sub-material manipulator unit can be opposite
Along the main axle moving for being parallel to pipe end processing unit；Five shaft mechanicals of other structures can be used in (3) first sub-material manipulator units
Hand or six axis robot are constructed.In addition, the fixing end of discharging frame can be directly hinged on mounting rack in discharge frame,
At this point, hinge joint is the position of the close end adjacent with lubricating substance bar, to constitute a laborsaving lever structure, thus in blowing bar
Both when inclination arrangement, the end of the resistance arm of the laborsaving lever structure is docked with the upper end of lubricating substance bar, specifically can be set to
End face is inclination interface.
Claims (11)
1. a kind of shifting material system, for transferring the curved pipe with hook structure characterized by comprising
Discharge frame, including mounting rack, the lubricating substance bar being installed in being in tilted layout on the mounting rack, fixing end can rotate around the axis
Ground is mounted on the blowing bar on the mounting rack, and for drive the blowing bar around the shaft in lateral bridging position and tiltedly
Set the swing actuator of reciprocally swinging between lubricating substance position；
Pose adjustment unit, along glide direction of the curved pipe on the lubricating substance bar, positioned at the downstream of lubricating substance bar end, quilt
It is configured to accept the curved pipe skidded off from the end of the lubricating substance bar, and the pose of the curved pipe is adjusted to state to be held；
First sub-material manipulator unit is configured as synchronously being suspended on more curved pipes at the lateral bridging position
Blowing bar on；
Second sub-material manipulator unit, be configured as by by the curved pipe clamp of posture adjustment to the state to be held from the pose tune
Whole unit.
2. shifting material system according to claim 1, it is characterised in that:
The limited support bar being disposed below is installed on the blowing bar, for force be suspended on it is curved on the blowing bar
Pipe is maintained at predetermined position and posture；
It is installed on the mounting rack and slides limition orientation slot by the lubricating substance bar side, be used for curved pipe along the cunning
Wobbling action in material bar sliding process is limited, and the limit bounce-proof bar above the lubricating substance bar, for song
Bounce movement of shape pipe during along lubricating substance bar sliding carries out backstop limit, to force curved pipe can be along the lubricating substance
Bar sequentially slides and sequentially and seriatim skids off the end of the lubricating substance bar.
3. shifting material system according to claim 1 or 2, it is characterised in that:
The pose adjustment unit includes pedestal, adjustment unit and positioning unit；The positioning unit to through pose for adjusting
The position of the hook structure of curved pipe later is positioned, so that the second sub-material manipulator unit is grabbed in pre-position
Take the hanging pipe portion of curved pipe；
The adjustment unit includes the blocked block for accepting the single curved pipe skidded off by the end of the lubricating substance bar, so that institute
Hook structure is stated to be fastened on the blocked block；The adjustment unit includes attitude-adjusting unit, including for driving the blocked block
Rotation is to drive the curved pipe on blocked block described in clamping to rotate, to carry out the posture adjustment actuator of pose adjustment.
4. shifting material system according to claim 3, it is characterised in that:
The adjustment unit includes transfer unit, and the pedestal is equipped with transfer guide rail and clamping notch；
The transfer unit includes pushing block, and the pushing block is driven by transfer actuator, is held on the blocked block with forcing
Curved pipe is moved away from the blocked block along the transfer guide rail, and moves to the clamping indentation, there, and make the hook structure and institute
State blocked block decoupling；
Along curved pipe along the direction that is moved away from of the transfer guide rail, the positioning unit includes determining positioned at the transfer guide rail downstream
Position backer, the movement that is moved away from for being moved away from the blocked block to curved pipe carry out backstop positioning.
5. shifting material system according to claim 3 or 4, it is characterised in that:
The posture adjustment actuator includes cylinder, with the blocked block it is affixed with drive its rotate rotation drive shaft, with the gas
The connected rack gear of the piston rod of cylinder, and with the rack gear meshed gears；The gear is coaxially fixed in the rotation driving
On axis.
6. a kind of production line for manufacturing D connection, including multitube bending machine, pipe end processing unit and for will be by the multitube bending
Shifting material system of the semi-finished product adapter tube transfer that machine institute's bending goes out to the pipe end processing unit, it is characterised in that:
The shifting material system is shifting material system described in any one of claim 1 to 5 claim；It is single that N covers the pipe end processing
Member is arranged in by the head side of the multitube bending machine, and N is more than or equal to 2；
The first sub-material manipulator unit and more set material-distributing systems ordinatedly carry out shifting material, and the material-distributing system includes the row
Expect frame, the pose adjustment unit and the second sub-material manipulator unit；Material-distributing system described in every set and single set pipe end
Processing unit is ordinatedly that the pipe end processing unit carries out feeding；
The circle mould of the multitube bending machine is the horizontal round mould axially along the first lateral arrangement；N covers the pipe end processing unit quilt
It is configured to be arranged in pipe end processing unit described in two groups of the both lateral sides at the head end of the multitube bending machine, the transverse direction two
Side is along the two sides of first lateral arrangement.
7. a kind of material-distributing system characterized by comprising
Discharge frame, including mounting rack, the lubricating substance bar being installed in being in tilted layout on the mounting rack, fixing end can rotate around the axis
Ground is mounted on the blowing bar on the mounting rack, and for drive the blowing bar around the shaft in lateral bridging position and tiltedly
Set the swing actuator of reciprocally swinging between lubricating substance position；
Pose adjustment unit, along glide direction of the curved pipe on the lubricating substance bar, positioned at the downstream of lubricating substance bar end, quilt
It is configured to accept the curved pipe skidded off from the end of the lubricating substance bar, and the pose of the curved pipe is adjusted.
8. material-distributing system according to claim 7, it is characterised in that:
The pose adjustment unit includes pedestal, adjustment unit and positioning unit；The positioning unit to through pose for adjusting
The position of the hook structure of curved pipe later is positioned；
The adjustment unit includes the blocked block for accepting the single curved pipe skidded off by the end of the lubricating substance bar, so that institute
Hook structure is stated to be fastened on the blocked block；
The adjustment unit includes attitude-adjusting unit, including for driving the blocked block rotation to drive blocked block described in clamping
Curved pipe rotation to carry out the posture adjustment actuator of pose adjustment；
The adjustment unit includes transfer unit, and the pedestal is equipped with transfer guide rail and clamping notch；
The transfer unit includes pushing block, and the pushing block is driven by transfer actuator, is held on the blocked block with forcing
Curved pipe is moved away from the blocked block along the transfer guide rail, and moves to the clamping indentation, there, and make the hook structure and institute
State blocked block decoupling；
Along curved pipe along the direction that is moved away from of the transfer guide rail, the positioning unit includes positioned at the downstream of the transfer guide rail
Positioning anchor, the movement that is moved away from for being moved away from the blocked block to curved pipe carry out backstop positioning.
9. material-distributing system according to claim 7 or 8, it is characterised in that:
The limited support bar being disposed below is installed on the blowing bar, for force be suspended on it is curved on the blowing bar
Pipe is maintained at predetermined position and posture；
It is installed on the mounting rack and slides limition orientation slot by the lubricating substance bar side, be used for curved pipe along the cunning
Wobbling action in material bar sliding process is limited, and the limit bounce-proof bar above the lubricating substance bar, for song
Bounce movement of shape pipe during along lubricating substance bar sliding carries out backstop limit, to force curved pipe can be along the lubricating substance
Bar sequentially slides and sequentially and seriatim skids off the end of the lubricating substance bar.
10. a kind of discharge frame characterized by comprising
Mounting rack；
Lubricating substance bar is mounted on the mounting rack, for hanging more curved pipes with being in tilted layout；
Blowing bar, fixing end can be mounted on the mounting rack with rotating around the axis；
Swing actuator, for driving the blowing bar reciprocal between lateral bridging position and tilting lubricating substance position around the shaft
The swing actuator of swing.
11. discharge frame according to claim 10, it is characterised in that:
The fixing end of the blowing bar can be rotatably mounted on the upper end of the lubricating substance bar around the shaft, to pacify indirectly
On the mounting rack；
The limited support bar being disposed below is installed on the blowing bar, for force be suspended on it is curved on the blowing bar
Pipe is maintained at predetermined position and posture；
It is installed on the mounting rack and slides limition orientation slot by the lubricating substance bar side, be used for curved pipe along the cunning
Wobbling action in material bar sliding process is limited, and the limit bounce-proof bar above the lubricating substance bar, for song
Bounce movement of shape pipe during along lubricating substance bar sliding carries out backstop limit, to force curved pipe can be along the lubricating substance
Bar sequentially slides and sequentially and seriatim skids off the end of the lubricating substance bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811025782.9A CN109277439B (en) | 2018-09-04 | 2018-09-04 | Material moving system, material distributing system, material discharging frame and production line for manufacturing D connecting pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811025782.9A CN109277439B (en) | 2018-09-04 | 2018-09-04 | Material moving system, material distributing system, material discharging frame and production line for manufacturing D connecting pipe |
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| Publication Number | Publication Date |
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| CN109277439A true CN109277439A (en) | 2019-01-29 |
| CN109277439B CN109277439B (en) | 2024-05-28 |
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| CN201811025782.9A Active CN109277439B (en) | 2018-09-04 | 2018-09-04 | Material moving system, material distributing system, material discharging frame and production line for manufacturing D connecting pipe |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110605610A (en) * | 2019-08-22 | 2019-12-24 | 南京康尼精密机械有限公司 | Double-arm manipulator mechanism for one-by-one feeding of parts |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109277439B (en) | 2024-05-28 |
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