CN113118266A - Numerical control pipe bender capable of dynamically correcting hole positions through visual detection and pipe bending method - Google Patents
Numerical control pipe bender capable of dynamically correcting hole positions through visual detection and pipe bending method Download PDFInfo
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- CN113118266A CN113118266A CN202110392947.1A CN202110392947A CN113118266A CN 113118266 A CN113118266 A CN 113118266A CN 202110392947 A CN202110392947 A CN 202110392947A CN 113118266 A CN113118266 A CN 113118266A
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- 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
- B21D11/00—Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
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Abstract
The invention relates to the technical field of pipe bending machines, in particular to a numerical control pipe bending machine and a pipe bending method for dynamically correcting hole positions through visual detection, wherein the numerical control pipe bending machine comprises a pipe bending machine servo trolley, a trolley rotating mechanism arranged on the pipe bending machine servo trolley, a self-centering clamping mechanism connected to the trolley rotating mechanism and used for clamping a flanged pipeline, and a visual identification device arranged beside the self-centering clamping mechanism and used for detecting the flange hole positions on the flanged pipeline; the vision identification device comprises a camera and a vision identification system connected with the camera, and the vision identification system and the camera are respectively connected with a control system of the numerical control pipe bender. The invention improves the bending precision of the flanged pipeline.
Description
Technical Field
The invention relates to the technical field of pipe bending machines, in particular to a numerical control pipe bending machine capable of dynamically correcting hole positions through visual detection and a pipe bending method.
Background
The numerical control pipe bender is an automatic device for manufacturing a bent pipe from a pipe in a bending deformation mode.
In the prior art, a typical numerical control pipe bender comprises a pipe bender main unit (servo trolley), wherein the pipe bender main unit is integrally arranged on a movable guide rail and is driven by a servo motor to move on the guide rail; the main machine of the pipe bender mainly comprises a numerical control rotating mechanism driven by a speed reduction transmission mechanism, and a chuck used for clamping a pipe is arranged on the numerical control rotating mechanism. When bending, the tube is clamped by the chuck, and the rotation angle and the movement distance are controlled by a numerical control system under the coordination of a bending die, so that the three-dimensional bending of the tube is realized.
The bending of pipes is classified into bending of pipes without flanges and bending of pipes with flanges according to the bending process. The pipe without the flange has no flange at the end part of the pipe, and the pipe is directly bent by clamping the pipe part by a chuck during bending; the flange is arranged at the end part of the pipe with the flange, and the outer circle of the pipe flange is clamped by a chuck for bending during bending.
The numerical control pipe bender is commonly used in shipyards. At present, most of units of a shipyard adopt a process of bending a pipe firstly and welding a flange secondly. The process has low efficiency, more labor and higher requirement on workers. A small part of shipyards adopt a process of welding before bending after accumulating the bending experience of the pipes for many years, but are influenced by factors such as the rotation precision of a numerical control pipe bender, unreliable clamping outside a clamping flange of a servo trolley, large error of positioning the flange by a pin shaft, errors of welding the flange on a straight pipe, non-fit between the end face of the flange and the end face of the trolley, deformation of welding the flange and the straight pipe and the like, so that the error ratio is large, the flange cannot rotate to a required position, and the bent flange pipe has large deviation and cannot be used.
In the prior art, for bending a pipe with a flange, in order to make the circumferential position of a bolt hole on the flange accurate relative to the three-dimensional bent shape position of the pipe, a positioning pin shaft is usually arranged on a chuck, and one bolt hole on the flange is sleeved in the positioning pin shaft during clamping to realize single-hole positioning of the flange, so as to improve the positioning precision of the circumferential position of the flange.
However, the single-hole positioning method with flange pipe has the following problems:
first, due to a large gap between the flange and the pipe, the flange and the pipe are liable to be eccentric and inclined at the time of assembly, so that the bolt hole positions on the flange, particularly the circumferential positions, are largely deviated from the center of the pipe; if the circumferential position of the flange is determined by only single-hole positioning, a large circumferential position error of another single hole arranged at 180 degrees relative to the single hole can be caused, and the subsequent pipeline butt joint assembly after the three-dimensional bending of the pipe is difficult or even cannot be assembled.
Secondly, the rotating mechanism of the servo trolley of the pipe bender also has a certain rotating error, which can cause the circumferential error of the bolt hole position on the flange relative to the three-dimensional bent pipe, thus causing the pipeline butt joint assembly to be difficult and even causing the phenomenon of incapability of assembling.
Disclosure of Invention
In order to solve the problems, the invention provides a numerical control pipe bender for dynamically correcting hole positions through visual detection and a pipe bending method, aiming at improving the bending precision of a flanged pipeline. The specific technical scheme is as follows:
a numerical control pipe bender for dynamically correcting hole sites through visual detection comprises a pipe bender servo trolley, a trolley rotating mechanism arranged on the pipe bender servo trolley, a self-centering clamping mechanism connected to the trolley rotating mechanism and used for clamping a flanged pipeline, and a visual identification device arranged beside the self-centering clamping mechanism and used for detecting the flange hole sites on the flanged pipeline; the vision identification device comprises a camera and a vision identification system connected with the camera, and the vision identification system and the camera are respectively connected with a control system of the numerical control pipe bender.
Preferably, the camera is arranged on a lifting mechanism, and the lifting mechanism is connected with a control system of the numerical control pipe bender.
A pipe bending method of a numerical control pipe bender for dynamically correcting hole positions through visual detection comprises the following steps:
step one, clamping a flanged pipeline: clamping the flanged pipeline through a self-centering clamping mechanism of a servo trolley of the pipe bender;
step two, the dynamic correction of the initial position of the flange hole site after clamping comprises the following steps in sequence:
(1) identifying a single hole of the flange: setting a camera coordinate system, and setting and identifying one of the single holes A and the positions on the pipe flange of the flanged pipeline through a visual identification device;
(2) the rotation center position is set: the trolley rotating mechanism rotates to drive a flanged pipeline on the self-centering clamping mechanism to rotate together, the single hole A on the pipe flange is rotated to a plurality of different positions, coordinates of the single hole A at different positions are obtained through detection of a vision identification device, the position of a rotating center is calculated according to the coordinates of the single hole A at the different positions, and then an X-Y coordinate system with the rotating center as an origin is established;
(3) calculating the correction value of the hole position angle: taking the single hole A and another single hole B which is arranged on the pipe flange and forms an angle of 180 degrees with the single hole A, and calculating an included angle alpha between the single hole A and a Y axis according to the position of the single hole A in an X-Y coordinate system; then the trolley rotating mechanism rotates 180 degrees, the single hole B is rotated to a corresponding position, the position of the single hole B in the X-Y coordinate system after the single hole B rotates is set by the vision setting device, and the included angle beta between the single hole B and the Y axis is calculated; taking the average value of alpha and beta, namely (alpha + beta)/2 as the hole site angle correction quantity;
(4) hole site correction: the trolley rotating mechanism rotates in the reverse direction for 180 degrees, so that the original single hole B rotating for 180 degrees is reset, and then the trolley rotating mechanism rotates to enable the single hole A to be positioned at a position which has an included angle (alpha + beta)/2 with the Y axis and is used as a correction position of the single hole A;
(5) setting a bending initial angle: and the trolley rotating mechanism of the pipe bender rotates to rotate the position of the single hole A to the initial angle set by the program, and then the pipe is bent automatically according to the bending program of the pipe bender.
Theoretically, the position of the center of rotation can be calculated by knowing the coordinates of the three positions of the single hole a. However, in order to improve the accuracy of the identification of the position of the rotation center, the following further improvements may be adopted: and (3) in the step (2) of setting the rotation center position, rotating the single hole A on the pipe flange to seven different positions, and calculating the rotation center position according to the coordinates of the single hole A at the seven different positions.
In order to improve the bending precision, the scheme of the invention is further improved as follows: before bending the flanged pipelines in batches, performing a bending test in advance, scanning the flanged pipelines manufactured by the bending test by using a three-dimensional laser scanner to form a three-dimensional solid model of the flanged pipelines, guiding the scanned solid model into three-dimensional design software, comparing the scanned solid model with a three-dimensional design theoretical model of the flanged pipelines to obtain actual bending errors of all bending parts on the flanged pipelines, and writing the actual bending errors into a bending program by using the actual bending errors as compensation quantities to form the bending program with bending error compensation; and when the flanged pipeline is formally bent, the bending procedure with the bending error compensation is used for bending.
During actual test, the bending test can be performed section by section according to the number of sections of the bent pipeline, and after the bending test and program compensation of the previous section are completed, the bending test and program compensation for the next section are performed until all the bending part tests and program compensation are completed. Its advantages are high correctness, and more tests.
In order to take the correction precision and reduce the test times into consideration, the preferable scheme is that after a one-time bending test is adopted, local comparison is carried out on each bending node; when the flanged pipeline has a plurality of bending nodes, the bending nodes are respectively taken from the three-dimensional design software to be compared to obtain the bending error of each bending node position, and then the bending error of each bending node position is written into a bending program as a compensation quantity to form the bending program with the bending error compensation.
In the invention, the self-centering clamping mechanism adopts a large-opening self-centering powerful clamping device to avoid a flange and directly clamp a pipe part of a pipeline with the flange; the large-opening self-centering powerful clamping device comprises a rotary sleeve arranged on a servo trolley of the pipe bender, a hollow seat ring fixed at the front end of the rotary sleeve, a plurality of L-shaped clamping jaws arranged at the front end of the hollow seat ring and distributed at intervals along the circumferential direction and used for clamping flanged pipelines, and a push-pull sleeve arranged on the outer circle of the rotary sleeve and capable of moving along the central axis direction of the rotary sleeve to clamp the L-shaped clamping jaws, the L-shaped clamping jaw comprises a rotating arm and a clamping block connected to the front end of the rotating arm, the rotating arm is rotatably connected with the front end of the rotating sleeve through a pin shaft, the push-pull sleeve is provided with an inner taper hole, the outer side part of the rotating arm far away from the central axis is provided with an outer conical surface matched with the inner conical hole on the push-pull sleeve, and the clamping block is positioned on the inner side part of the rotating arm close to the central axis; and the rotating arm is connected with a spring for automatically opening the L-shaped clamping jaw.
Preferably, the clamping block of the L-shaped clamping jaw is provided with an arc surface matched with the excircle of the pipe.
According to the invention, the front end of the hollow seat ring is provided with the front flange, a plurality of positioning grooves parallel to the central axis are formed in the outer circle of the front flange along the circumferential direction, and the rotating arms of the L-shaped clamping jaws are matched with the positioning grooves and are rotatably connected through the pin shafts.
Preferably, the number of the L-shaped clamping jaws is four, and the L-shaped clamping jaws are uniformly arranged at intervals in the circumferential direction.
The L-shaped clamping jaw has a large rotation range, can be opened and closed in a large opening degree, and can be well suitable for shaking during hoisting of flanged pipelines, so that pipes are not easy to damage and touch hairs on one hand, and the efficiency of clamping flanged pipelines on the other hand is improved.
The large-opening self-centering powerful clamping device also realizes the clamping of the L-shaped clamping jaw by utilizing the conical surface of the push-pull sleeve, and the clamping of the L-shaped clamping jaw is realized by the mutual cooperation of the large-opening self-centering powerful clamping device, the push-pull sleeve, the push-pull oil cylinder and the lever type shifting fork, so that the powerful clamping under a compact structure is realized; the push-pull oil cylinder can meet the requirement of clamping force by using a small oil cylinder, and compared with the traditional clamping mode that a large-tonnage oil cylinder is matched with a chuck, the manufacturing cost of the push-pull oil cylinder can be greatly reduced.
As a preferred scheme for realizing automatic opening of the L-shaped jaws, a clamping groove is formed in the outer side part of the rear end of the rotating arm and far away from the central axis, the spring is a tension spring, and the tension spring is encircled into a ring shape and then is simultaneously sleeved on the clamping grooves of the rotating arms of the L-shaped jaws for clamping the flanged pipelines.
Preferably, an inner flange is arranged at the inner hole part at the front end of the rotating sleeve, a rear flange is arranged at the rear end of the hollow seat ring, and the rear flange of the hollow seat ring is fixedly connected with the inner flange of the rotating sleeve through bolts.
In the invention, the rotary sleeve is connected with the output end of a worm gear transmission box of the servo trolley of the pipe bender.
According to the pipe bender servo trolley, an annular groove is formed in the outer circle of the push-pull sleeve, a first support is arranged on the worm gear transmission box, the first support is rotatably connected with a lever type shifting fork through a first hinge shaft, a roller matched with the annular groove is rotatably arranged at the front end of the lever type shifting fork, a push-pull oil cylinder is further arranged on the pipe bender servo trolley, and a telescopic head of the push-pull oil cylinder is rotatably connected with the rear end of the lever type shifting fork through a second hinge shaft.
According to the invention, a second support is arranged on the servo trolley of the pipe bender, and an oil cylinder shell of the push-pull oil cylinder is rotatably connected to the second support through a third hinge shaft.
In the invention, the axes of the first hinge shaft, the second hinge shaft, the third hinge shaft and the roller are parallel to each other.
In the invention, the pipe bender servo trolley is arranged on the movable guide rail and moves on the movable guide rail through the linear driving mechanism.
Preferably, in order to further expand the clamping range of the flanged pipeline, a large chamfer is arranged on the inner side of the clamping block of the L-shaped clamping jaw.
During bending, an auxiliary mandrel can be inserted from the inner hole at the tail end of the servo trolley of the pipe bender to the inner hole of the rotary sleeve of the clamping device, and the auxiliary mandrel is positioned in the inner hole of the pipe so as to realize auxiliary bending of the pipe.
It should be pointed out that the bolt holes on the pipe flange of the flanged pipeline used in reality are basically even holes (such as four-hole uniform distribution, six-hole uniform distribution, eight-hole uniform distribution and the like) which are uniformly distributed. Therefore, when the hole positions are corrected, two holes A and B which are 180 degrees relative to each other are adopted, and the holes A and B are rotated by 180 degrees to perform visual identification detection and correction. If odd holes or other non-uniform special distribution holes occur, two holes with the farthest distance on the pipe flange can be selected, a corresponding theoretical design included angle is rotated when hole position correction is carried out according to the theoretical design included angles of the two holes, corresponding alpha and beta angle values are obtained through visual identification detection, and then hole position correction is carried out.
The invention has the beneficial effects that:
firstly, according to the numerical control pipe bender and the pipe bending method for dynamically correcting hole sites through visual detection, the hole site flange is arranged through the visual recognition system, and then the optimal position arrangement of the circumferential hole sites on the flange relative to a three-dimensional bent pipeline is realized by combining with a double-hole positioning algorithm for dynamic correction of the hole sites, so that the pipe bending precision is improved, and the defect that the installation is difficult due to large circumferential errors of the hole sites on the flange formed by single-hole positioning in the traditional flange-provided pipeline bending process is overcome.
Secondly, the numerical control pipe bender and the pipe bending method for dynamically correcting the hole position through visual detection adopt a large-opening self-centering powerful clamping device to clamp a pipeline, the large-opening self-centering powerful clamping device can avoid a flange to directly clamp the outer diameter of a pipe, the clamping force is large, the clamping is reliable, and the defect that the pipe flange is damaged due to the fact that the traditional numerical control pipe bender clamps the pipe flange is overcome; compared with the traditional mode of clamping the outer circle of the flange, the mode of directly clamping the outer diameter of the pipe does not generate clamping deflection, so that the quality of three-dimensional bending of the pipe can be improved.
Thirdly, the numerical control pipe bender and the pipe bending method for dynamically correcting the hole position through visual detection adopt the visual identification system for identification and detection, and can not affect the detection after the replacement of the flanges with different specifications at the same position (the flanges with different specifications have different hole diameters, different hole circumferential diameters and different flange thicknesses).
Fourthly, the numerical control pipe bender and the pipe bending method for dynamically correcting hole positions through visual detection can avoid the problem of inaccurate pipe bending precision caused by errors generated in the actual production process, can enable the pipeline processing technology of a shipyard to be more optimized, realize zero-allowance accurate blanking, automatic coding of pipes, automatic welding of flanges of straight pipes and automatic pipe bending of the numerical control pipe bender, can realize intelligent production in a workshop, greatly save labor and improve production efficiency. The visual identification system is not influenced by different flange specifications, and the system can be completely covered.
Drawings
FIG. 1 is a schematic diagram of dynamic hole position correction in a pipe bending method of a CNC pipe bender for dynamically correcting hole position by visual inspection according to the present invention;
FIG. 2 is a schematic structural view of a large-opening self-centering power clamp;
FIG. 3 is a cross-sectional view of FIG. 2;
fig. 4 is a schematic structural view of the clamping device in fig. 3 after the L-shaped jaws are opened (in the figure, large chamfers are arranged on the inner sides of the clamping blocks of the L-shaped jaws).
In the figure: 1. a pipe bender servo trolley, 2, a rotary sleeve, 3, a hollow seat ring, 4, an L-shaped clamping jaw, 5, a push-pull sleeve, 6, a rotating arm, 7, a clamping block, 8, a pin shaft, 9, an inner taper hole, 10, an outer taper surface, 11, a spring, 12, a front flange, 13, a positioning groove, 14, a clamping groove, 15, an inner flange, 16, a rear flange, 17, a bolt, 18, a worm gear transmission box, 19, an annular groove, 20, the device comprises a first support, 21, a first hinge shaft, 22, a lever type shifting fork, 23, a roller, 24, a push-pull oil cylinder, 25, a telescopic head, 26, a second hinge shaft, 27, a second support, 28, an oil cylinder shell, 29, a third hinge shaft, 30, a moving guide rail, 31, a pipe, 32, a pipe flange, 33, a linear driving mechanism, 34, a lifting mechanism, 35, a camera, 36, a trolley rotating mechanism, 37, a self-centering clamping mechanism, 38 and a flanged pipeline.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Example 1:
fig. 1 to 4 show an embodiment of a numerical control pipe bender for dynamically correcting hole locations through visual inspection according to the present invention, which includes a pipe bender servo trolley 1, a trolley rotating mechanism 36 disposed on the pipe bender servo trolley 1, a self-centering clamping mechanism 37 connected to the trolley rotating mechanism 36 for clamping a flanged pipe, and a visual identification device disposed beside the self-centering clamping mechanism 37 for detecting flange hole locations on the flanged pipe; the visual identification device comprises a camera 35 and a visual identification system connected with the camera 35, and the visual identification system and the camera 35 are respectively connected with a control system of the numerical control pipe bender.
Preferably, the camera 35 is disposed on the lifting mechanism 34, and the lifting mechanism 34 is connected to a control system of the numerically controlled pipe bender.
Example 2:
a pipe bending method using the numerical control pipe bender for dynamically correcting hole locations through visual inspection according to embodiment 1 includes the following steps:
step one, clamping a flanged pipeline: clamping the flanged pipeline 38 through a self-centering clamping mechanism 37 of the pipe bender servo trolley 1;
step two, the dynamic correction of the initial position of the flange hole site after clamping comprises the following steps in sequence:
(1) identifying a single hole of the flange: setting a coordinate system of a camera 35, and setting one of the single holes A and the positions on the pipe flange 32 of the flanged pipeline 38 through a visual identification device;
(2) the rotation center position is set: the trolley rotating mechanism 36 rotates to drive the flanged pipeline 38 on the self-centering clamping mechanism 37 to rotate together, the single hole A on the pipe flange 32 is rotated to a plurality of different positions, coordinates of the single hole A at different positions are obtained through detection of a vision identification device, the position of a rotating center is calculated according to the coordinates of the single hole A at the different positions, and then an X-Y coordinate system with the rotating center as an origin is established;
(3) calculating the correction value of the hole position angle: taking the single hole A and another single hole B which is arranged on the pipe flange 32 and forms an angle of 180 degrees with the single hole A, and calculating an included angle alpha between the single hole A and a Y axis according to the position of the single hole A in an X-Y coordinate system; then the trolley rotating mechanism 36 rotates 180 degrees, the single hole B is rotated to a corresponding position, the position of the single hole B in the X-Y coordinate system after the single hole B rotates is set by the vision setting device, and the included angle beta between the single hole B and the Y axis is calculated; taking the average value of alpha and beta, namely (alpha + beta)/2 as the hole site angle correction quantity;
(4) hole site correction: the trolley rotating mechanism 36 rotates in the reverse direction for 180 degrees, so that the original single hole B rotating for 180 degrees is reset, and then the trolley rotating mechanism 36 rotates to enable the single hole A to be positioned at a position which has an included angle (alpha + beta)/2 with the Y axis and is used as a correction position of the single hole A;
(5) setting a bending initial angle: the trolley rotating mechanism 36 of the pipe bender rotates to rotate the position of the single hole A to the initial angle set by the program, and then the bending of the pipeline is automatically carried out according to the bending program of the pipe bender.
Theoretically, the position of the center of rotation can be calculated by knowing the coordinates of the three positions of the single hole a. However, in order to improve the accuracy of the identification of the position of the rotation center, the following further improvements may be adopted: in the step (2), the rotation center position is set, the single hole a on the pipe flange 32 is rotated to seven different positions, and the rotation center position is calculated according to the coordinates of the single hole a at the seven different positions.
In order to improve the bending precision, the scheme of further improvement as the embodiment is as follows: before bending the flanged pipelines 38 in batches, performing a bending test in advance, scanning the flanged pipelines 38 manufactured by the bending test by using a three-dimensional laser scanner to form a three-dimensional solid model of the flanged pipelines 38, introducing the scanned solid model into three-dimensional design software, comparing the scanned solid model with a three-dimensional design theoretical model of the flanged pipelines 38 to obtain actual bending errors of all bending parts on the flanged pipelines 38, and writing the actual bending errors into a bending program by using the actual bending errors as compensation quantities to form the bending program with bending error compensation; in the bending of the flanged pipe 38, the bending is performed by using the bending process with the bending error compensation.
During actual test, the bending test can be performed section by section according to the number of sections of the bent pipeline, and after the bending test and program compensation of the previous section are completed, the bending test and program compensation for the next section are performed until all the bending part tests and program compensation are completed. Its advantages are high correctness, and more tests.
In order to take the correction precision and reduce the test times into consideration, the preferable scheme is that after a one-time bending test is adopted, local comparison is carried out on each bending node; that is, when there are a plurality of bending nodes in the flanged pipeline 38, the bending nodes are respectively compared in the three-dimensional design software to obtain the bending error of each bending node position, and then the bending error of each bending node position is written into the bending program as a compensation amount to form the bending program with bending error compensation.
In this embodiment, the self-centering clamping mechanism 37 adopts a large-opening self-centering powerful clamping device to avoid the flange and directly clamp the pipe 31 part of the flanged pipeline 38; the large-opening self-centering powerful clamping device comprises a rotary sleeve 2 arranged on a servo trolley 1 of the pipe bender, a hollow seat ring 3 fixed at the front end of the rotary sleeve 2, a plurality of L-shaped claws 4 arranged at the front end of the hollow seat ring 3 and distributed at intervals along the circumferential direction and used for clamping flanged pipelines, and a push-pull sleeve 5 arranged on the excircle of the rotary sleeve 2 and capable of moving along the central axis direction of the rotary sleeve 2 to clamp the L-shaped claws 4, wherein the L-shaped claws 4 comprise rotary arms 6 and clamping blocks 7 connected to the front ends of the rotary arms 6, the rotary arms 6 are rotatably connected with the front end of the rotary sleeve 2 through pin shafts 8, inner conical holes 9 are arranged on the push-pull sleeve 5, outer conical surfaces 10 matched with the inner conical holes 9 on the push-pull sleeve 5 are arranged on the outer side parts, far away from the central axis, of the rotary arms 6, the clamping block 7 is positioned on the inner side part of the rotating arm 6 close to the central axis; and a spring 11 for automatically opening the L-shaped clamping jaw 4 is connected to the rotating arm 6.
Preferably, the clamping block 7 of the L-shaped clamping jaw 4 is provided with a cambered surface matched with the outer circle of the pipe 31.
In this embodiment, the front end of hollow seat circle 3 is provided with front flange 12, a plurality of quantity is on a parallel with along circumference on the excircle of front flange 12 the constant head tank 13 of the central axis, the rotor arm 6 of L type jack catch 4 with constant head tank 13 looks adaptation and through round pin axle 8 realizes rotating the connection.
Preferably, the number of the L-shaped claws 4 is four and the L-shaped claws are evenly arranged at intervals along the circumferential direction.
The L-shaped clamping jaw 4 is large in rotation range and can be opened and closed in a large opening degree, so that the L-shaped clamping jaw can be well adapted to shaking of the flanged pipeline 38 during hoisting, the flanged pipeline 38 is not prone to being damaged and broken on one hand, and the clamping efficiency of the flanged pipeline 38 is improved on the other hand.
The large-opening self-centering powerful clamping device also utilizes the conical surface of the push-pull sleeve 5 to clamp the L-shaped clamping jaw 4, and the clamping device is mutually cooperated with the push-pull oil cylinder 24 and the lever type shifting fork 22 to realize powerful clamping under a compact structure; the push-pull oil cylinder 24 can meet the requirement of clamping force by using a small oil cylinder, and compared with the traditional clamping mode of matching a large-tonnage oil cylinder with a chuck, the manufacturing cost can be greatly reduced.
As an optimal scheme for realizing the automatic opening of the L-shaped jaws in this embodiment, a clamping groove 14 is formed in the rear end of the rotating arm 6 and the outer side part far away from the central axis, the spring 11 is a tension spring, and the tension spring is surrounded into a ring shape and then sleeved outside the clamping grooves 14 of the rotating arms 6 of the L-shaped jaws 4 for clamping the flanged pipelines in quantity.
Preferably, an inner flange 15 is arranged at an inner hole part at the front end of the rotating sleeve 2, a rear flange 16 is arranged at the rear end of the hollow seat ring 3, and the rear flange 16 of the hollow seat ring 3 is fixedly connected with the inner flange 15 of the rotating sleeve 2 through bolts 17.
In this embodiment, the rotary sleeve 2 is connected to an output end of a worm gear box 18 of the pipe bender servo trolley 1.
In this embodiment, an annular groove 19 is formed in an outer circle of the push-pull sleeve 5, a first support 20 is arranged on the worm gear transmission case 18, the first support 20 is rotatably connected with a lever-type shifting fork 22 through a first hinge shaft 21, a roller 23 matched with the annular groove 19 is rotatably arranged at the front end of the lever-type shifting fork 22, a push-pull oil cylinder 24 is further arranged on the pipe bender servo trolley 1, and a telescopic head 25 of the push-pull oil cylinder 24 is rotatably connected with the rear end of the lever-type shifting fork 22 through a second hinge shaft 26.
In this embodiment, the servo trolley 1 of the pipe bender is provided with a second support 27, and the cylinder housing 28 of the push-pull cylinder 24 is rotatably connected to the second support 27 through a third hinge shaft 29.
In this embodiment, the axes of the first hinge shaft 21, the second hinge shaft 26, the third hinge shaft 29 and the roller 23 are parallel to each other.
In this embodiment, the bending machine servo trolley 1 is disposed on the moving rail 30 and is moved on the moving rail 30 by the linear driving mechanism 33.
Preferably, in order to further expand the clamping range of the flanged pipeline, a large chamfer is arranged inside the clamping block 7 of the L-shaped clamping jaw 4.
During bending, an auxiliary mandrel can be inserted from the inner hole of the tail end of the servo trolley 1 of the pipe bending machine to the inner hole of the rotary sleeve 2 of the clamping device, and the auxiliary mandrel is positioned in the inner hole of the pipe 31, so that auxiliary bending of the pipe 31 is realized.
It should be noted that the bolt holes on the pipe flanges of the flanged pipeline 38 used in the actual implementation are basically even holes (such as four holes, six holes, eight holes, etc.) which are uniformly distributed. Therefore, when the hole positions are corrected, two holes A and B which are 180 degrees relative to each other are adopted, and the holes A and B are rotated by 180 degrees to perform visual identification detection and correction. If odd holes or other non-uniform special distribution holes occur, two holes with the farthest distance on the pipe flange 32 can be selected, a corresponding theoretical design included angle is rotated when hole position correction is carried out according to the theoretical design included angles of the two holes, corresponding alpha and beta angle values are obtained through visual identification detection, and then hole position correction is carried out.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A numerical control pipe bender for dynamically correcting hole sites through visual detection is characterized by comprising a pipe bender servo trolley, a trolley rotating mechanism arranged on the pipe bender servo trolley, a self-centering clamping mechanism connected to the trolley rotating mechanism and used for clamping a flanged pipeline, and a visual identification device arranged beside the self-centering clamping mechanism and used for detecting the flange hole sites on the flanged pipeline; the vision identification device comprises a camera and a vision identification system connected with the camera, and the vision identification system and the camera are respectively connected with a control system of the numerical control pipe bender.
2. The CNC tube bender with dynamic hole position correction through visual inspection as claimed in claim 1, wherein said camera is mounted on a lift mechanism, said lift mechanism being connected to a control system of the CNC tube bender.
3. A pipe bending method using the numerical control pipe bender for dynamically correcting hole position through visual inspection according to any one of claims 1 to 2, comprising the following steps:
step one, clamping a flanged pipeline: clamping the flanged pipeline through a self-centering clamping mechanism of a servo trolley of the pipe bender;
step two, the dynamic correction of the initial position of the flange hole site after clamping comprises the following steps in sequence:
(1) identifying a single hole of the flange: setting a camera coordinate system, and setting and identifying one of the single holes A and the positions on the pipe flange of the flanged pipeline through a visual identification device;
(2) the rotation center position is set: the trolley rotating mechanism rotates to drive a flanged pipeline on the self-centering clamping mechanism to rotate together, the single hole A on the pipe flange is rotated to a plurality of different positions, coordinates of the single hole A at different positions are obtained through detection of a vision identification device, the position of a rotating center is calculated according to the coordinates of the single hole A at the different positions, and then an X-Y coordinate system with the rotating center as an origin is established;
(3) calculating the correction value of the hole position angle: taking the single hole A and another single hole B which is arranged on the pipe flange and forms an angle of 180 degrees with the single hole A, and calculating an included angle alpha between the single hole A and a Y axis according to the position of the single hole A in an X-Y coordinate system; then the trolley rotating mechanism rotates 180 degrees, the single hole B is rotated to a corresponding position, the position of the single hole B in the X-Y coordinate system after the single hole B rotates is set by the vision setting device, and the included angle beta between the single hole B and the Y axis is calculated; taking the average value of alpha and beta, namely (alpha + beta)/2 as the hole site angle correction quantity;
(4) hole site correction: the trolley rotating mechanism rotates in the reverse direction for 180 degrees, so that the original single hole B rotating for 180 degrees is reset, and then the trolley rotating mechanism rotates to enable the single hole A to be positioned at a position which has an included angle (alpha + beta)/2 with the Y axis and is used as a correction position of the single hole A;
(5) setting a bending initial angle: and the trolley rotating mechanism of the pipe bender rotates to rotate the position of the single hole A to the initial angle set by the program, and then the pipe is bent automatically according to the bending program of the pipe bender.
4. The pipe bending method of the CNC pipe bender capable of dynamically correcting hole positions through visual inspection according to claim 3, wherein the rotation center position of step (2) is determined by rotating the single hole A on the pipe flange to seven different positions, and the rotation center position is calculated according to the coordinates of the single hole A at the seven different positions.
5. The pipe bending method of the numerical control pipe bender for dynamically correcting hole sites through visual inspection according to claim 3, characterized in that, before bending the flanged pipes in batches, a bending test is performed in advance, the flanged pipes manufactured by the bending test are scanned by a three-dimensional laser scanner to form a three-dimensional solid model of the flanged pipes, the scanned solid model is introduced into three-dimensional design software and compared with a three-dimensional design theoretical model of the flanged pipes to obtain actual bending errors of each bending part on the flanged pipes, and the actual bending errors are written into a bending program as compensation quantities to form the bending program with bending error compensation; and when the flanged pipeline is formally bent, the bending procedure with the bending error compensation is used for bending.
6. The pipe bending method of the CNC pipe bender with dynamic hole position correction through visual inspection according to claim 5, wherein when said flanged pipe has a plurality of bending nodes, said comparison is performed on each bending node in the three-dimensional design software to obtain the bending error of each bending node position.
7. The pipe bending method of the CNC pipe bender with dynamic hole position correction through visual inspection according to claim 3, wherein said self-centering clamping mechanism employs a large-opening self-centering powerful clamping device to avoid the flange and directly clamp the pipe portion of the flanged pipe; the large-opening self-centering powerful clamping device comprises a rotary sleeve arranged on a servo trolley of the pipe bender, a hollow seat ring fixed at the front end of the rotary sleeve, a plurality of L-shaped clamping jaws arranged at the front end of the hollow seat ring and distributed at intervals along the circumferential direction and used for clamping flanged pipelines, and a push-pull sleeve arranged on the outer circle of the rotary sleeve and capable of moving along the central axis direction of the rotary sleeve to clamp the L-shaped clamping jaws, the L-shaped clamping jaw comprises a rotating arm and a clamping block connected to the front end of the rotating arm, the rotating arm is rotatably connected with the front end of the rotating sleeve through a pin shaft, the push-pull sleeve is provided with an inner taper hole, the outer side part of the rotating arm far away from the central axis is provided with an outer conical surface matched with the inner conical hole on the push-pull sleeve, and the clamping block is positioned on the inner side part of the rotating arm close to the central axis; and the rotating arm is connected with a spring for automatically opening the L-shaped clamping jaw.
8. The method according to claim 7, wherein the rotary sleeve is connected to an output end of a worm gear transmission box of the servo trolley of the pipe bender, an annular groove is formed in an outer circle of the push-pull sleeve, a first support is arranged on the worm gear transmission box, the first support is rotatably connected with a lever-type shifting fork through a first hinge shaft, a roller matched with the annular groove is rotatably arranged at a front end of the lever-type shifting fork, a push-pull oil cylinder is further arranged on the servo trolley of the pipe bender, and a telescopic head of the push-pull oil cylinder is rotatably connected with a rear end of the lever-type shifting fork through a second hinge shaft.
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