Tube manufacturing usually requires thefollowing multiple processes for automatic distribution to achieve intelligentmanufacturing :1. Raw material feeding; 2.2. Cutting and blanking;3. Trim endand remove burrs;4. Tube end forming;5. Nut sleeve assembly;6. Bending pipeloading and unloading;7. Digital bend;8. Precision test;9. Trimming and cuttingof surplus materials;10. There are many kinds of pipes, such as welding, whichhave different shapes after bending, which brings great challenges to theautomatic transmission between the pipe processes

Zhejiang King-Mazon Machinery Co., Ltd., afterforeign introduction, comprehend, applied, re-innovation, has studied thefollowing technology, looking forward to friends from all walks of life visitnegotiations.

1.Research on digital control system of information productionmanagement for flexible manufacturing of tube
          Tube has variety specification, high accuracy,process heavy and complicated, the production process more involved processparameters of tube of flexible production line processes all robots can workwith the single machine, but more need for effective online, this need byinformation into a platform of CNC system production management to realizeinformation management system through the network platform, each moduleimplements dynamic information collection and processing of production linetransfer storage, provide data basis for intelligent flexible production,realize data sharing, raise the level of production managementThe informationproduction management system has the following functions :(1) pipe processplanning and simulation based on model;(2) automatic robot motion pathplanning;(3) real-time information collection of production status;(4) based onthe algorithm technology of d-s evidence theory and BP neural network, realizethe quality monitoring function of tube by information fusion (5) based on theautomatic feeding of multi-sensor feedback signals and the sound-light alarmfunction (6) database technology, etc

2.Research on multi - sensor fusion and machine vision technology

There are many kinds of airplane tubes withdifferent shapes after bending, which brings great challenges to thetransmission between the catheter processes. Robot will catheter on accuratetransmission in each process, to achieve automatic replacement processingprocess, this project aims to study various sensors and machine vision system,a multiple sensor fusion and machine vision technology, in the case of withouthuman intervention, to guide the robot, automatic call orbit to onlineprogramming combined with flexible fetching the robot, different pipe diameter,length, bending shape of plane catheter intelligent change process steps,realize the intellisense and perform the function of production equipment.

3. 3 Multi-manipulator cooperative working path and flexible controltechnology

The project include too much of switchingbetween the manipulator implementation process more and more varieties oftooling and automatic replacement, in order to achieve flexible automationfunction, this project intends to through the catheter to analog analysis ofdata, realize the manipulator without interference in motor function, from themovement of the manipulator path, moving distance and speed, motor starting,etc, the research of mobile manipulator given the initial position and targetposition of the end of manipulator, requirements in generalized coordinateswithin the scope of work for the mobile manipulator a collision free path, formobile manipulator dynamic nonuniformity and redundancy, refer to the behaviorof human to complete the task, A hierarchical coordinated path planning methodand a dynamic optimization strategy are proposed for off-line path planning ofmobile manipulator.

The different product path planning of the same manipulator isdetermined by the variety and specification of the tube. Flexible controltechnology is to study the adaptive grasping of the manipulator in differentkinds and specifications of catheter, and to study how to ensure the optimalperformance of the mobile manipulator under the premise of avoiding obstacles.Research on each mobile manipulator according to different aircraft ductmanufacturing process to match the required distance, speed, time and othertechnical indicators, can achieve the optimal path from the initial state tothe target state.