CN114378880B - Automatic pipeline processing method and system - Google Patents
Automatic pipeline processing method and system Download PDFInfo
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- CN114378880B CN114378880B CN202111527067.7A CN202111527067A CN114378880B CN 114378880 B CN114378880 B CN 114378880B CN 202111527067 A CN202111527067 A CN 202111527067A CN 114378880 B CN114378880 B CN 114378880B
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- 238000003672 processing method Methods 0.000 title claims abstract description 16
- 238000003825 pressing Methods 0.000 claims abstract description 119
- 238000005520 cutting process Methods 0.000 claims abstract description 102
- 230000007246 mechanism Effects 0.000 claims abstract description 70
- 238000012545 processing Methods 0.000 claims abstract description 51
- 238000000034 method Methods 0.000 claims abstract description 21
- 238000003754 machining Methods 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 13
- 238000007789 sealing Methods 0.000 claims description 11
- 238000013519 translation Methods 0.000 claims description 8
- 238000007599 discharging Methods 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 7
- 238000012938 design process Methods 0.000 abstract description 2
- 238000010276 construction Methods 0.000 description 24
- 238000004590 computer program Methods 0.000 description 13
- 230000006872 improvement Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000003860 storage Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 210000000080 chela (arthropods) Anatomy 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000012466 permeate Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
- B26D1/01—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work
- B26D1/12—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis
- B26D1/14—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis with a circular cutting member, e.g. disc cutter
- B26D1/157—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis with a circular cutting member, e.g. disc cutter rotating about a movable axis
- B26D1/18—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis with a circular cutting member, e.g. disc cutter rotating about a movable axis mounted on a movable carriage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/01—Means for holding or positioning work
- B26D7/02—Means for holding or positioning work with clamping means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/27—Means for performing other operations combined with cutting
- B26D7/32—Means for performing other operations combined with cutting for conveying or stacking cut product
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
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- Life Sciences & Earth Sciences (AREA)
- Forests & Forestry (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Jigs For Machine Tools (AREA)
- Sawing (AREA)
Abstract
The invention discloses an automatic processing method and system for a pipeline, wherein the method comprises the steps of responding to a received automatic processing control instruction, controlling a feeding mechanism to convey a pipe to be clamped and pressed to a pipe cutting station; the automatic processing control instruction comprises pipe dimension parameters of the pipe to be clamped and pressed; controlling the pipe cutting mechanism to carry out rotary cutting processing operation on the pipe to be clamped according to the pipe dimension parameters; according to the pipe dimension parameters, controlling a mechanical arm to grasp a pipe fitting matched with the pipe to be clamped from the pipe fitting pool, and placing the pipe fitting on a clamping station; the pipe fitting and the pipe to be clamped are positioned on the same axis; when the pipe to be clamped and pressed after the rotary cutting processing operation is identified to be conveyed and spliced on the pipe fitting, a clamping clamp corresponding to the pipe dimension parameter is called to carry out clamping and pressing operation on the pipe to be clamped and pressed and the pipe fitting. The invention solves the problem that the existing pipeline clamping and pressing process can not realize automatic production, realizes the automatic flow of pipeline clamping and pressing through the mechanization of the design process, and can improve the efficiency and shorten the manufacturing period of clamping and pressing.
Description
Technical Field
The invention relates to the technical field of automation, in particular to an automatic pipeline processing method and system.
Background
At present, the pipe is widely applied to urban houses, public buildings, high-grade hotels, hospital engineering and the like. The traditional production construction relies on manual operation, and needs to carry out operations such as pipe cutting, burr grinding, pipe clamping and pressing, and the like, so that the efficiency is low, the labor intensity is high, and the automatic production cannot be realized.
Disclosure of Invention
The invention provides an automatic clamping and pressing device, which solves the problem that the conventional pipeline clamping and pressing process can not realize automatic production, realizes the automatic flow of pipeline clamping and pressing through the mechanization of a design process, and can improve the efficiency and shorten the clamping and pressing manufacturing period.
In order to solve the above technical problems, an embodiment of the present invention provides an automated processing method for a pipeline, including the following steps:
Responding to the received automatic processing control instruction, and controlling a feeding mechanism to convey the pipe to be clamped and pressed to a pipe cutting station; wherein the automatic processing control instruction comprises pipe dimension parameters of the pipe to be clamped and pressed;
controlling a pipe cutting mechanism to carry out rotary cutting processing operation on the pipe to be clamped according to the pipe dimension parameters;
according to the pipe dimension parameters, controlling a mechanical arm to grasp a pipe fitting matched with the pipe to be clamped from a pipe fitting pool, and placing the pipe fitting on a clamping station; wherein the pipe fitting and the pipe to be clamped are positioned on the same axis;
When the pipe to be clamped and pressed after the rotary cutting processing operation is identified to be conveyed and spliced on the pipe fitting, a clamping clamp corresponding to the pipe dimension parameter is called to carry out clamping operation on the pipe to be clamped and pressed and the pipe fitting.
As a further improvement, the method further comprises:
Performing tightness detection on the clamping pipeline obtained after the clamping operation is completed;
When judging that the tightness detection result of the clamping pipeline does not reach the preset sealing quality condition, starting a re-clamping program, and controlling clamping pliers corresponding to the pipe dimension parameters to clamp the pipe to be clamped and the pipe piece;
And when judging that the sealing performance detection result of the clamping pipeline reaches the preset sealing quality condition, controlling a discharging mechanism to convey the clamping pipeline to a discharging station.
As a further improvement, when the pipe to be clamped and pressed after the rotary cutting processing operation is identified to be conveyed and spliced on the pipe fitting, the clamping and pressing pliers corresponding to the pipe dimension parameter are called to carry out clamping and pressing operation on the pipe to be clamped and pressed and the pipe fitting, specifically:
acquiring images of the pipe to be clamped and pressed and the pipe fitting in real time;
when judging that the pipe fitting to be clamped is spliced on the pipe fitting according to the identification result of the image, sending a clamping starting instruction to the clamping mechanism; the clamping instruction comprises clamping clamp control parameters matched with the pipe size parameters, which are obtained after a preset clamping parameter database is queried;
And calling the corresponding clamping pliers according to the clamping pliers control parameters to carry out clamping operation on the pipe to be clamped and the pipe fitting.
As a further improvement, the method further comprises:
Acquiring an automatic processing control instruction input by a user through a control panel or a cloud server; the control panel is a mechanical key panel or a touch panel.
The invention further provides a pipeline automatic processing system suitable for the pipeline automatic processing method, which comprises a controller, a feeding mechanism, a pipe cutting mechanism, a clamping mechanism and a manipulator;
The controller responds to the received automatic processing control instruction and controls the feeding mechanism to convey the pipe to be clamped and pressed to the pipe cutting station; the automatic processing control instruction comprises pipe dimension parameters of the pipe to be clamped and pressed, and the feeding mechanism comprises a pipe translation conveying device and a pipe positioning device, wherein the pipe to be clamped and pressed is arranged on the pipe translation conveying device and the pipe positioning device;
The controller controls the pipe cutting mechanism to carry out rotary cutting processing operation on the pipe to be clamped according to the pipe size parameter; the pipe cutting mechanism comprises a pipe cutting device and a rotary cutting rotating shaft device, the rotary cutting rotating shaft device is positioned at one side of the pipe positioning device, which is close to the clamping mechanism, and a cutting knife of the pipe cutting device is positioned above a rotating shaft of the rotary cutting rotating shaft device;
The controller controls the manipulator to grasp a pipe fitting matched with the pipe to be clamped from the pipe fitting pool according to the pipe dimension parameter, and the pipe fitting is placed on a clamping station; wherein the pipe fitting and the pipe to be clamped are positioned on the same axis;
When the controller identifies that the pipe to be clamped and pressed after the rotary cutting processing operation is conveyed and spliced on the pipe fitting, the clamping and pressing mechanism is controlled to call clamping and pressing pliers corresponding to the pipe dimension parameters to carry out clamping and pressing operation on the pipe to be clamped and pressed and the pipe fitting; the clamping and pressing mechanism comprises a clamping and pressing driving device and a plurality of clamping and pressing clamps with different jaw sizes, the clamping and pressing clamps are controlled by the clamping and pressing driving device, and the tail end of the pipe to be clamped and pressed faces to the jaw of one clamping and pressing clamp.
As a further improvement, the pipe translational conveying device comprises a feeding support, a feeding roller arranged on the feeding support and a motor assembly for driving the feeding roller; the feeding support is provided with a channel for the pipe to be clamped to pass through, and the feeding roller is arranged on the side wall of the channel.
As a further improvement, a plurality of clamping and pressing pliers are arranged at intervals and are arranged side by side from small to large/from large to small according to the jaw size;
the clamping and pressing driving device comprises a driving motor and a clamp arm opening and closing mechanism for driving the corresponding clamping and pressing clamp, and a driving gear of the clamp arm opening and closing mechanism is meshed and connected with a gear of the driving motor.
As a further improvement, the clamping and pressing driving device comprises a base, a pressing plate and a telescopic cylinder for controlling the pressing plate to move up and down;
The lower clamp arm of the clamping clamp is arranged on the base, and the upper clamp arm of the clamping clamp is arranged on the lower side wall of the pressing plate;
The pressing plate is fixedly connected with the telescopic cylinder and is positioned right above the base.
As a further improvement, the clamping and pressing driving device comprises a base, a pressing plate, a rotating motor and a telescopic cylinder for controlling the pressing plate to move up and down;
the base is provided with a lower rotating disc, the pressing plate is provided with an upper rotating disc, and the upper rotating disc and the lower rotating disc are controlled by the rotating motor;
The lower clamp arm of the clamping clamp is arranged on the lower rotating disc, and the upper clamp arm of the clamping clamp is arranged on the upper rotating disc of the pressing plate.
As a further improvement, the automatic pipeline processing system further comprises an operation table, and the feeding mechanism, the pipe cutting mechanism and the clamping mechanism are sequentially arranged on the operation table.
The embodiment of the invention also provides a computer readable storage medium, which comprises a stored computer program; wherein the computer program, when run, controls the device in which the computer readable storage medium is located to perform any one of the automated pipe machining methods described above.
The embodiment of the invention also provides a terminal device, which comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the processor realizes the pipeline automatic processing method according to any one of the above when executing the computer program.
Compared with the prior art, the automatic processing method for the pipeline, provided by the embodiment of the invention, responds to the received automatic processing control instruction and controls the feeding mechanism to convey the pipe to be clamped and pressed to the pipe cutting station; wherein the automatic processing control instruction comprises pipe dimension parameters of the pipe to be clamped and pressed; controlling a pipe cutting mechanism to carry out rotary cutting processing operation on the pipe to be clamped according to the pipe dimension parameters; according to the pipe dimension parameters, controlling a mechanical arm to grasp a pipe fitting matched with the pipe to be clamped from a pipe fitting pool, and placing the pipe fitting on a clamping and pressing station; wherein the pipe fitting and the pipe to be clamped are positioned on the same axis; when the pipe to be clamped and pressed is identified to be conveyed and spliced on the pipe fitting through rotary cutting processing operation, clamping and pressing pliers corresponding to the pipe dimension parameters are called to carry out clamping and pressing operation on the pipe to be clamped and pressed and the pipe fitting, and the automation and the high efficiency of pipe clamping and pressing construction can be greatly improved through integrating functions of pipe feeding, pipe cutting and burr flattening, pipe clamping and pressing and the like. According to the embodiment of the invention, a rotary pipe cutting mode is adopted, when the pipe moves to a pipe cutting station, the pipe length is identified and determined through manual operation or machinery, the pipe cutting operation is carried out by matching the pipe cutting device with the rotary cutting rotating shaft device, burrs can be avoided, the manual pipe cutting and deburring operations are not required as in the traditional process, and the efficiency of pipe clamping construction operation is greatly improved; the automatic processing method for the pipeline overcomes the defect that a plurality of construction workers are required to be configured in the traditional technology due to pipe conveying, pipe cutting, clamping and pressing, realizes integration and mechanization of clamping and pressing construction operation, can realize digital and full-automatic operation on the basis, can greatly improve the pipe clamping and pressing construction efficiency, reduces the labor cost, and is a great breakthrough in the pipe clamping and pressing technology.
Drawings
FIG. 1 is a flow chart of steps of a method for automated pipe machining in an embodiment of the present invention;
FIG. 2 is a flow chart of steps of a method for automated pipe machining in an embodiment of the present invention;
FIG. 3 is a control panel block diagram of an automated pipe machining method in an embodiment of the present invention;
FIG. 4 is a control logic diagram of an automated pipe machining method in an embodiment of the present invention;
FIG. 5 is a control schematic diagram of an automated pipe machining method in an embodiment of the invention;
FIG. 6 is a block diagram of an automated pipe machining system in accordance with an embodiment of the present invention;
FIG. 7 is a block diagram of an automated pipe machining system in accordance with an embodiment of the present invention;
FIG. 8 is a block diagram of an automated pipe machining system in accordance with an embodiment of the present invention;
FIG. 9 is a block diagram of an automated pipe machining system in accordance with an embodiment of the present invention;
Wherein, the reference numerals in the specification and the drawings are as follows:
1. A pipe translational conveying device; 2. a pipe positioning device; 3. a pipe cutting device; 4. rotary cutting shaft device;
5. A clamping and pressing driving device; 6. clamping and pressing pliers; 7. a controller; 8. a manipulator; 9. a control panel;
10. an operation table; 11. a grating detection sensor; 12. a tightness detection sensor.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings, in which it is evident that the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments, based on the embodiments of the invention, which a person of ordinary skill in the art would obtain without inventive faculty, are within the scope of the invention.
Referring to fig. 1 to 3, an embodiment of the present invention provides an automatic processing method for a pipeline, which includes the following steps:
S1, responding to a received automatic processing control instruction, and controlling a feeding mechanism to convey a pipe to be clamped and pressed to a pipe cutting station; wherein the automatic processing control instruction comprises pipe dimension parameters of the pipe to be clamped and pressed;
In this embodiment, an automatic processing control instruction input by a user is obtained through a control panel or a cloud server; the control panel is a mechanical key panel or a touch panel. For example, as shown in fig. 3, when the mechanical key panel is adopted, the oil pump power is started first by pressing the "on" key, and then the oil pump power lamp is turned on; then, starting a clamping mode (a manual debugging mode and a pedal clamping working mode), manually debugging, then operating in the pedal clamping working mode, and automatically recovering to the original position when a pedal switch is required to be continuously pressed in place; the control panel is provided with station operation keys, and operators perform key program design and control according to specific industrial control requirements.
S2, controlling a pipe cutting mechanism to carry out rotary cutting processing operation on the pipe to be clamped according to the pipe dimension parameter; in this embodiment, the controller may input in advance rotary cutting processing control parameters corresponding to different pipe size parameters (such as inner diameter of the steel pipe), so as to control the pipe cutting mechanism to cut the pipe according to the pipe size parameters, and control cutting speed, cutting time, etc., thereby effectively controlling the pipe cutting effect and realizing the deburring effect after pipe cutting.
S3, controlling a manipulator to grasp a pipe fitting matched with the pipe to be clamped from the pipe fitting pool according to the pipe dimension parameter, and placing the pipe fitting on a clamping station; wherein the pipe fitting and the pipe to be clamped are positioned on the same axis;
S4, when the pipe to be clamped and pressed after the rotary cutting processing operation is identified to be conveyed and spliced on the pipe fitting, a clamping clamp corresponding to the pipe dimension parameter is called to clamp and press the pipe to be clamped and pressed and the pipe fitting.
Specifically, in the step S4, when it is identified that the pipe to be clamped and pressed after the rotary cutting processing operation is conveyed and plugged on the pipe fitting, a clamping and pressing clamp corresponding to the pipe dimension parameter is called to perform clamping and pressing operation on the pipe to be clamped and pressed and the pipe fitting, specifically:
s41, acquiring images of the pipe to be clamped and pressed and the pipe in real time;
S42, sending a clamping starting instruction to the clamping mechanism when judging that the pipe fitting to be clamped is spliced on the pipe fitting according to the identification result of the image; the clamping instruction comprises clamping clamp control parameters matched with the pipe size parameters, which are obtained after a preset clamping parameter database is queried;
S43, calling corresponding clamping pliers according to the clamping pliers control parameters to carry out clamping operation on the pipe to be clamped and the pipe piece.
In this embodiment, there is another method for identifying the pipe inserted on the pipe fitting, the scales are drawn at the same time of cutting the pipe, the machine vision detection is adopted by the camera, when the scales are identified to be exposed, the pipe is determined not to be inserted on the pipe fitting, and if the scales are not identified, the insertion is described to be in place, so that the clamping function can be started.
As a further improvement, the method further comprises:
S5, detecting tightness of the clamping pipeline obtained after the clamping operation is completed; in this embodiment, in order to ensure the clamping quality of the pipeline, the clamping tightness may be detected by means of a hydrostatic test, an airtight test, or the like, for example, an opening at one end of the clamping pipeline is sealed and placed in water, and if water is found to permeate through the clamping portion, the sealing is determined to be poor, and the clamping and sealing are required again.
S6, when judging that the tightness detection result of the clamping pipeline does not reach the preset sealing quality condition, starting a re-clamping program, and controlling clamping pliers corresponding to the pipe dimension parameters to clamp the pipe to be clamped and the pipe;
and S7, when judging that the sealing performance detection result of the clamping pipeline reaches the preset sealing quality condition, controlling a discharging mechanism to convey the clamping pipeline to a discharging station.
According to the automatic pipeline processing method provided by the embodiment of the invention, the functions of pipe feeding, pipe cutting, burr grinding, pipeline clamping and the like are integrated, so that the automation and the high efficiency of pipeline clamping construction can be greatly improved. According to the pipe cutting device, a rotary pipe cutting mode is adopted, when the pipe moves to a pipe cutting station, the pipe cutting operation is carried out by matching the pipe cutting device and the rotary cutting rotating shaft device through manual operation or mechanical identification determination of the length of the pipe, burrs can be avoided, the pipe cutting and deburring operations are not needed as in the traditional process, and the efficiency of pipe clamping construction operation is greatly improved; the automatic processing method for the pipeline overcomes the defect that a plurality of construction workers are required to be configured in the traditional technology due to pipe conveying, pipe cutting, clamping and pressing, realizes integration and mechanization of clamping and pressing construction operation, can realize digital and full-automatic operation on the basis, can greatly improve the pipe clamping and pressing construction efficiency, reduces the labor cost, and is a great breakthrough in the pipe clamping and pressing technology.
Referring to fig. 6 to 9, another embodiment of the present invention provides an automatic processing system for a pipeline, which is suitable for the automatic processing method of a pipeline, and includes a controller 7, a feeding mechanism, a pipe cutting mechanism, a clamping mechanism, and a manipulator 8;
The controller 7 responds to the received automatic processing control instruction and controls the feeding mechanism to convey the pipe to be clamped and pressed to the pipe cutting station; the automatic processing control instruction comprises pipe dimension parameters of the pipe to be clamped and pressed, the feeding mechanism comprises a pipe translation conveying device 1 and a pipe positioning device 2, and the pipe to be clamped and pressed is erected on the pipe translation conveying device 1 and the pipe positioning device 2; the pipe translation conveying device 1 and the pipe positioning device 2 play a supporting role of 'two points and one line' for the pipe, so that the pipe is stably pushed in the transportation process and is not easy to shift, the construction time is prevented from being wasted because of manual repeated calibration positions, the pipe cutting device 3 can be conveniently and directly operated on a pipe cutting station, the smoothness and the editability of pipe feeding and pipe cutting operation are realized, and the production efficiency is greatly improved.
The controller 7 controls the pipe cutting mechanism to carry out rotary cutting processing operation on the pipe to be clamped according to the pipe dimension parameter; the pipe cutting mechanism comprises a pipe cutting device 3 and a rotary cutting rotating shaft device 4, wherein the rotary cutting rotating shaft device 4 is positioned at one side of the pipe positioning device 2, which is close to the clamping mechanism, and a cutting knife of the pipe cutting device 3 is positioned above a rotating shaft of the rotary cutting rotating shaft device;
the controller 7 controls the manipulator to grasp a pipe fitting matched with the pipe to be clamped from the pipe fitting pool according to the pipe dimension parameter, and places the pipe fitting on a clamping station; wherein the pipe fitting and the pipe to be clamped are positioned on the same axis;
When the controller 7 recognizes that the pipe to be clamped and pressed after the rotary cutting processing operation is conveyed and spliced on the pipe fitting, the clamping and pressing mechanism is controlled to call clamping and pressing pliers corresponding to the pipe dimension parameters to carry out clamping and pressing operation on the pipe to be clamped and pressed and the pipe fitting; the clamping and pressing mechanism comprises a clamping and pressing driving device 5 and a plurality of clamping and pressing clamps 6 with different jaw sizes, the clamping and pressing clamps 6 are controlled by the clamping and pressing driving device 5, and the tail end of the pipe to be clamped and pressed faces to the jaw of one clamping and pressing clamp 6. It should be noted that the clamping and pressing mechanism comprises a plurality of clamping and pressing pliers 6 with different jaw sizes, and the clamping and pressing mechanism can be adapted to pipes with different inner diameter sizes, so that the construction progress is not delayed by searching for and replacing the clamping and pressing pliers 6 with corresponding sizes due to different inner diameters of the pipes as in the traditional construction, the clamping and pressing pliers 6 with corresponding jaws are selected according to the inner diameter sizes of the pipes to be clamped and pressed, and the clamping and pressing pliers 6 with different sizes can be called to sequentially clamp and press the pipes and the pipes in the same production process.
In the embodiment of the invention, the automatic pipeline processing system integrates the feeding mechanism, the pipe cutting mechanism and the clamping and pressing mechanism, so that the pipe conveying and pipe cutting can be realized, the pipe and the pipe fitting can be clamped and pressed conveniently, and the construction convenience and efficiency can be greatly improved.
According to the embodiment of the invention, a rotary pipe cutting mode is adopted, when the pipe moves to a pipe cutting station, the pipe cutting operation is carried out by matching the pipe cutting device 3 and the rotary cutting rotating shaft device 4 through the identification and determination of the length of the pipe by manual operation or machinery, burrs can be avoided, the manual pipe cutting and deburring operations are not required as in the traditional process, and the efficiency of pipe clamping construction operation is greatly improved.
The automatic pipeline processing system provided by the embodiment of the invention overcomes the defect that a plurality of construction workers are required to be configured in the traditional technology due to pipe conveying, pipe cutting, clamping and pressing, realizes the integration and mechanization of the clamping and pressing construction operation, can realize the digital and full-automatic operation on the basis, can greatly improve the clamping and pressing Shi Gongxiao rate of the pipeline, reduces the labor cost and is a great breakthrough in the pipeline clamping and pressing technology.
In addition, the embodiment can realize the semi-automatic operation of the pipeline automatic processing system by adopting a controller to automatically control, wherein the controller can adopt a singlechip, a PLC and the like. And a control program is designed in the controller 7 according to the processes of feeding, pipe cutting, chamfering and the like, and the controller 7 sequentially carries out construction operation on the pipe and the pipe fitting according to the control program until a qualified pipeline is obtained. When the controller 7 detects that the pipe is aligned and sleeved on the pipe gripped by the manipulator 8 through the grating detection sensor 11 and the like, the clamping and pressing pliers 6 with corresponding jaw sizes are controlled to perform clamping and pressing operation.
In combination with fig. 3, in order to implement digital automatic control, the automatic pipeline processing system is further configured with a control panel 9, where the control panel 9 is connected with the controller 7, and an operator inputs control parameters, pipe parameters and the like through the control panel 9, and performs tightness detection results of the releasing and clamping pipeline through a display interface of the control panel 9, so as to timely control and clamp the construction quality.
In order to rationalize the structure, the pipe translational conveying device 1 comprises a feeding support, a feeding roller arranged on the feeding support and a motor assembly for driving the feeding roller; the feeding support is provided with a channel for the pipe to be clamped to pass through, and the feeding roller is arranged on the side wall of the channel.
In this embodiment, the feeding support may be designed into a square structure with a diamond-shaped channel as shown in fig. 6, the diamond-shaped channel is used for the pipe to pass through, and the feeding roller on the side wall of the channel drives the pipe to move towards the clamping and pressing pliers 6 through the rotation motion in the same direction. It can be understood that the feeding roller has a larger friction force, can be matched with the outer wall of the pipe in a fitting way, can realize a better clamping effect on the pipe through a plurality of feeding rollers, and stably clamps and conveys the pipe.
Of course, the pipe translational conveying device 1 can also be designed into a motor screw rod linear pushing structure, a sliding guide rail type feeding structure, a roller conveying structure and the like, which are all within the protection scope of the invention.
In addition, the feeding support can be designed into a surrounding square structure shown in fig. 6, and also can be designed into a semi-surrounding structure by considering that the pipes with different inner diameters are suitable for being placed through the middle groove body.
In order to adapt to the pipes with different inner diameters, the pipe clamping and pressing operation is efficiently performed, and the clamping and pressing mechanism is exemplified as follows:
example one: horizontal clamping structure
Referring to fig. 6, a plurality of the clamping pincers 6 are arranged at intervals and are arranged side by side from small to large (from left to right) according to the jaw size. When the pipeline is clamped, all the clamps are in an open-close state, and the sleeving part of the pipe and the pipe fitting is placed at the jaw of the proper clamping clamp 6 according to construction requirements, so that the clamping clamp 6 is controlled to carry out clamping construction. Of course, it is also possible to arrange side by side in terms of jaw size from large to small (left to right).
The clamping and pressing driving device 5 comprises a driving motor and a clamp arm opening and closing mechanism for driving the corresponding clamping and pressing clamp 6, and a driving gear of the clamp arm opening and closing mechanism is meshed and connected with a gear of the driving motor.
It can be understood that the driving gear of the clamp arm opening and closing mechanism mainly comprises an opening and closing driving gear, a forward rotation clutch gear and a reverse rotation clutch gear, and the corresponding gears are driven by a motor to drive the clamp arms to move, so that the opening and closing movement of the clamping and pressing clamp 6 can be realized, and the pipeline clamping and pressing operation is realized.
In addition, the clamping and pressing pliers can also adopt hydraulic power pliers.
Example two: vertical type clamping structure
Referring to fig. 7, the clamping driving device 5 includes a base, a pressing plate, and a telescopic cylinder for controlling the pressing plate to move up and down; the lower clamp arm of the clamping clamp 6 is arranged on the base, and the upper clamp arm of the clamping clamp 6 is arranged on the lower side wall of the pressing plate; the pressing plate is fixedly connected with the telescopic cylinder and is positioned right above the base.
In the embodiment, the vertical clamping and pressing design is adopted, the air cylinder is adopted as power drive, and the pipeline clamping and pressing operation is performed in an up-down meshing mode. In addition, in order to facilitate the clamping operation, the interval between the clamping pincers 6 can be designed to be larger, so that the pipe fitting can be placed conveniently.
Example three: rotary clamping structure
Referring to fig. 8, the clamping and pressing driving device 5 includes a base, a pressing plate, a rotating motor, and a telescopic cylinder for controlling the pressing plate to move up and down; the base is provided with a lower rotating disc, the pressing plate is provided with an upper rotating disc, and the upper rotating disc and the lower rotating disc are controlled by the rotating motor; the lower clamp arm of the clamping clamp 6 is arranged on the lower rotating disc, and the upper clamp arm of the clamping clamp 6 is arranged on the upper rotating disc of the pressing plate.
The clamping and pressing pliers 6 are arranged at the position aligned with the feeding mechanism by adopting a clamping and pressing pliers 6 rotation selection mode and controlling the upper rotating disk and the lower rotating disk through the rotating motor, so that the pipe is conveniently connected and sleeved on the pipe fitting to carry out clamping and pressing construction operation.
As a further improvement, in order to realize the integrated design and construction operation, the automatic pipeline processing system further comprises an operation table 10, and the feeding mechanism, the pipe cutting mechanism and the clamping mechanism are sequentially arranged on the operation table 10.
The embodiment of the invention also provides a computer readable storage medium, which comprises a stored computer program; the computer program controls the device where the computer readable storage medium is located to execute the method for automatically processing a pipeline according to any one of the above embodiments when running.
The embodiment of the invention also provides a terminal device, which comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the processor realizes the pipeline automatic processing method according to any embodiment when executing the computer program.
Preferably, the computer program may be partitioned into one or more modules/units (e.g., computer program 1, computer program 2, & gtthe & lt- & gt) that are stored in the memory and executed by the processor to complete the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing the specified functions, which instruction segments are used for describing the execution of the computer program in the terminal device.
The Processor may be a central processing unit (Central Processing Unit, CPU), other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application Specific Integrated Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic, discrete hardware components, etc., or the Processor may be a microprocessor, or the Processor may be any conventional Processor, which is a control center of the terminal device, connected to various parts of the terminal device using various interfaces and lines.
The memory mainly includes a program storage area, which may store an operating system, an application program required for at least one function, and the like, and a data storage area, which may store related data and the like. In addition, the memory may be a high-speed random access memory, a nonvolatile memory such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), or the like, or the memory may be other volatile solid-state memory devices.
It should be noted that the terminal device may include, but is not limited to, a processor and a memory.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (9)
1. An automatic pipeline processing method is characterized by comprising the following steps of:
Responding to the received automatic processing control instruction, and controlling a feeding mechanism to convey the pipe to be clamped and pressed to a pipe cutting station; wherein the automatic processing control instruction comprises pipe dimension parameters of the pipe to be clamped and pressed;
controlling a pipe cutting mechanism to carry out rotary cutting processing operation on the pipe to be clamped according to the pipe dimension parameters;
According to the pipe dimension parameters, controlling a mechanical arm to grasp a pipe fitting matched with the pipe to be clamped from a pipe fitting pool, and placing the pipe fitting on a clamping station; wherein the pipe fitting and the pipe to be clamped are positioned on the same axis;
When the pipe to be clamped and pressed after the rotary cutting processing operation is identified to be conveyed and spliced on the pipe fitting, a clamping clamp corresponding to the pipe dimension parameter is called to carry out clamping operation on the pipe to be clamped and pressed and the pipe fitting;
when the pipe to be clamped and pressed after the rotary cutting processing operation is identified to be conveyed and spliced on the pipe fitting, a clamping clamp corresponding to the pipe dimension parameter is called to clamp and press the pipe to be clamped and pressed and the pipe fitting, specifically:
acquiring images of the pipe to be clamped and pressed and the pipe fitting in real time;
When judging that the pipe to be clamped is spliced on the pipe fitting according to the identification result of the image, sending a clamping starting instruction to a clamping mechanism; the clamping and starting instruction comprises clamping and pressing clamp control parameters matched with the pipe size parameters, which are obtained after a preset clamping and pressing parameter database is queried;
And calling the corresponding clamping pliers according to the clamping pliers control parameters to carry out clamping operation on the pipe to be clamped and the pipe fitting.
2. The automated pipe machining method of claim 1, further comprising:
Performing tightness detection on the clamping pipeline obtained after the clamping operation is completed;
When judging that the tightness detection result of the clamping pipeline does not reach the preset sealing quality condition, starting a re-clamping program, and controlling clamping pliers corresponding to the pipe dimension parameters to clamp the pipe to be clamped and the pipe fitting;
And when judging that the sealing performance detection result of the clamping pipeline reaches the preset sealing quality condition, controlling a discharging mechanism to convey the clamping pipeline to a discharging station.
3. The automated pipe machining method of claim 1, further comprising:
Acquiring an automatic processing control instruction input by a user through a control panel or a cloud server; the control panel is a mechanical key panel or a touch panel.
4. An automatic pipeline processing system suitable for the automatic pipeline processing method according to any one of claims 1 to 3, which is characterized by comprising a controller, a feeding mechanism, a pipe cutting mechanism, a clamping mechanism and a manipulator;
The controller responds to the received automatic processing control instruction and controls the feeding mechanism to convey the pipe to be clamped and pressed to the pipe cutting station; the automatic processing control instruction comprises pipe dimension parameters of the pipe to be clamped and pressed, and the feeding mechanism comprises a pipe translation conveying device and a pipe positioning device, wherein the pipe to be clamped and pressed is erected on the pipe translation conveying device and the pipe positioning device;
the controller controls the pipe cutting mechanism to carry out rotary cutting processing operation on the pipe to be clamped according to the pipe size parameter; the pipe cutting mechanism comprises a pipe cutting device and a rotary cutting rotating shaft device, the rotary cutting rotating shaft device is positioned at one side of the pipe positioning device, which is close to the clamping mechanism, and a cutting knife of the pipe cutting device is positioned above a rotating shaft of the rotary cutting rotating shaft device;
the controller controls the manipulator to grasp a pipe fitting matched with the pipe to be clamped from the pipe fitting pool according to the pipe dimension parameter, and the pipe fitting is placed on a clamping station; wherein the pipe fitting and the pipe to be clamped are positioned on the same axis;
When the controller identifies that the pipe to be clamped and pressed after the rotary cutting processing operation is conveyed and spliced on the pipe fitting, the clamping and pressing mechanism is controlled to call clamping and pressing pliers corresponding to the pipe dimension parameters to carry out clamping and pressing operation on the pipe to be clamped and pressed and the pipe fitting; the clamping and pressing mechanism comprises a clamping and pressing driving device and a plurality of clamping and pressing clamps with different jaw sizes, the clamping and pressing clamps are controlled by the clamping and pressing driving device, and the tail end of the pipe to be clamped and pressed faces to the jaw of one clamping and pressing clamp.
5. The automated pipe machining system of claim 4, wherein the pipe translation conveying device comprises a feed support, a feed roller provided on the feed support, and a motor assembly for driving the feed roller; the feeding support is provided with a channel for the pipe to be clamped to pass through, and the feeding roller is arranged on the side wall of the channel.
6. The automated pipe machining system of claim 4, wherein a plurality of said clamping jaws are spaced apart and arranged side-by-side with a jaw size from small to large/from large to small;
The clamping and pressing driving device comprises a driving motor and a clamp arm opening and closing mechanism for driving the corresponding clamping and pressing clamp, and a driving gear of the clamp arm opening and closing mechanism is meshed and connected with a gear of the driving motor.
7. The automated pipe machining system of claim 4, wherein the clamping and pressing drive device comprises a base, a pressing plate and a telescopic cylinder for controlling the pressing plate to move up and down;
the lower clamp arm of the clamping clamp is arranged on the base, and the upper clamp arm of the clamping clamp is arranged on the lower side wall of the pressing plate;
The pressing plate is fixedly connected with the telescopic cylinder and is positioned right above the base.
8. The automated pipe machining system of claim 4, wherein the clamping and pressing driving device comprises a base, a pressing plate, a rotating motor and a telescopic cylinder for controlling the pressing plate to move up and down;
The base is provided with a lower rotating disc, the pressing plate is provided with an upper rotating disc, and the upper rotating disc and the lower rotating disc are controlled by the rotating motor;
The lower clamp arm of the clamping clamp is arranged on the lower rotating disc, and the upper clamp arm of the clamping clamp is arranged on the upper rotating disc of the pressing plate.
9. The automated pipe machining system of claim 4, further comprising an operation table, wherein the feed mechanism, the pipe cutting mechanism, and the clamp pressing mechanism are disposed in sequence on the operation table.
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| CN114378880A (en) | 2022-04-22 |
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