CN115055759A - Full-automatic steel pipe chamfering machine - Google Patents
Full-automatic steel pipe chamfering machine Download PDFInfo
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- CN115055759A CN115055759A CN202210666237.8A CN202210666237A CN115055759A CN 115055759 A CN115055759 A CN 115055759A CN 202210666237 A CN202210666237 A CN 202210666237A CN 115055759 A CN115055759 A CN 115055759A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D79/00—Methods, machines, or devices not covered elsewhere, for working metal by removal of material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D7/00—Planing or slotting machines characterised only by constructional features of particular parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/08—Control or regulation of cutting velocity
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/248—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves using special electromagnetic means or methods
- B23Q17/249—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves using special electromagnetic means or methods using image analysis, e.g. for radar, infrared or array camera images
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Abstract
The invention discloses a full-automatic steel pipe chamfering machine, which comprises a transverse moving vehicle for radially moving a steel pipe; lifting mechanisms symmetrically arranged on two sides of the transverse moving vehicle to lift the steel pipes; the chamfering mechanism is arranged corresponding to the lifting mechanism and comprises a carriage, a clamping device and a cutter disc, wherein the carriage is symmetrically arranged by taking the center line of a travelling channel of the cross sliding vehicle as the center, the clamping device is arranged at one end, close to the lifting mechanism, of the carriage so as to clamp the end part of the steel pipe, the cutter disc is arranged on the main shaft and is driven to rotate by the main shaft box, and a cutter for cutting the steel pipe is arranged on the cutter disc; the automatic stop mechanism is arranged on the feeding side of the chamfering machine; the control system is connected with the cross sliding vehicle, the lifting mechanism, the chamfering mechanism and the automatic stopping mechanism and controls the operation of the cross sliding vehicle, the lifting mechanism, the chamfering mechanism and the automatic stopping mechanism; this application is through setting up control system and controlling sideslip car, elevating system, automatic off-position mechanism and chamfering mechanism's operation, has realized the automation of steel pipe chamfering, has improved steel pipe chamfering efficiency, has reduced the cost of labor.
Description
Technical Field
The invention relates to the technical field of steel pipe processing, in particular to a full-automatic steel pipe chamfering machine.
Background
In a steel pipe production line, large-diameter steel pipes for oil and gas transmission need to be simultaneously subjected to flat head and chamfering on end faces at two ends of the steel pipes by adopting a chamfering machine. Specifically, a flat head cutting tool and a chamfering tool on the cutter head are driven to rotate through a main shaft of the chamfering machine, and flat head and chamfering are carried out on the end face of the steel pipe. In the chamfering process, manual control is needed, chamfering efficiency is low, and labor cost is high.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a full-automatic steel pipe chamfering machine.
The technical scheme adopted by the invention is as follows:
a full-automatic steel pipe chamfering machine, which comprises a chamfering machine,
comprises a transverse moving vehicle for radially moving the steel pipe;
lifting mechanisms symmetrically arranged on two sides of the transverse moving vehicle to lift the steel pipes;
the chamfering mechanism is arranged corresponding to the lifting mechanism and comprises a dragging plate, a clamping device and a cutter disc, wherein the dragging plate is arranged corresponding to the lifting mechanism and used for driving the clamping mechanism, the cutter disc and the spindle box to move axially, the clamping device is arranged at one end, close to the lifting mechanism, of the dragging plate and used for clamping the end part of the steel pipe, the cutter disc is installed on a spindle of the spindle box and driven by the spindle to rotate, and a cutter for cutting the steel pipe is installed on the cutter disc;
and the control system is connected with the cross sliding vehicle, the lifting mechanism, the chamfering mechanism and the automatic stop mechanism and controls the cross sliding vehicle, the lifting mechanism, the chamfering mechanism and the automatic stop mechanism to operate.
Further, the control system comprises a programmable controller, and a spindle drive control unit, a carriage drive control unit, a spindle box feed servo drive control unit and a traverse car drive control unit which are connected with the programmable controller.
Further, the spindle driving unit comprises a spindle frequency converter unit and an encoder, and the encoder is used for speed closed-loop control.
Further, the carriage driving control unit comprises a frequency converter driving unit, a steel pipe end detection sensor and a second pull rope encoder; the steel pipe end detection sensor is arranged on the clamping device, and the output end of the steel pipe end detection sensor is connected with the programmable controller; the second pull rope encoder is connected with the carriage, and a communication port of the second pull rope encoder is connected with the programmable controller; and the communication port of the frequency converter driving unit is connected with the programmable controller.
Further, the spindle box feeding servo drive control unit controls and drives the spindle box to carry out fast forward, fast backward and working forward movements.
Further, the driving control unit of the traverse car comprises a frequency converter unit and an encoder, and the frequency converter drives the traverse car to move forward and backward and controls the speed; the encoder is used for measuring the walking distance of the traverse vehicle, and transmitting encoder information to the programmable controller for controlling the walking distance of the traverse vehicle.
Further, the control system further comprises a visual detection unit; the visual detection unit comprises a 3D visual sensor and a visual system, wherein the 3D visual sensor is arranged on a cutter head to scan the end of the steel pipe in real time in the cutting process, obtain a point cloud picture of a cutting groove of the end of the steel pipe and send the data of the point cloud picture to the visual system; and the vision system is used for calculating the point cloud pictures to obtain the parameters of the groove at the end of the steel pipe and sending the processing result to the programmable controller. And the programmable controller judges the cutting condition of the end face of the steel pipe during cutting according to the parameter information and gives a control instruction.
Furthermore, the control system also comprises an automatic stop unit, wherein the automatic stop unit comprises a multipoint laser sensor, a time unit, a welding line searching unit, a timing unit and a control unit; the multipoint laser sensor is arranged right below the steel pipe and is vertical to the central shaft of the steel pipe, and the output end of the multipoint laser sensor is connected with the input end of the welding line searching unit; the time unit is used for determining the time required by the steel pipe to rotate to a preset stop position from a laser projection point of the multi-point laser sensor, and setting the time as preset time; the weld searching unit is used for judging whether a laser projection point of the multi-point laser sensor is projected at the weld position of the steel pipe or not according to the height data of the surface of the steel pipe; the timing unit is used for starting timing when the welding line searching unit determines that the laser projection point of the laser sensor is projected at the welding line position of the steel pipe; the control unit is used for controlling the rotating roller to stop rotating when the timing amount of the timing unit is equal to the preset time.
Further, the time unit comprises an angular speed acquisition module, an angle acquisition module and a time calculation module; the angular velocity acquisition module is used for acquiring the rotational angular velocity of the steel pipe; the angle acquisition module is used for acquiring an included angle between a laser projection point of the multi-point laser sensor and a preset parking position; and the time calculation module calculates the time required for the steel pipe to rotate to a preset stop position from the laser projection point of the multi-point laser sensor according to the angular speed and the included angle.
Further, the timing unit comprises a corner acquisition module and a timing module; the corner acquisition module is used for acquiring the rotation angle of the steel pipe; the timing module is used for recording the time for the corner acquisition module to acquire the rotation angle of the steel pipe; the angular velocity acquisition module calculates the angular velocity of the rotation of the steel pipe according to the rotation angle and the timing time of the timing module.
Further, the control system also comprises an anti-collision sensor which is arranged on the side surface of the chamfering machine clamping device, detects the distance between the steel pipe carried by the traverse vehicle and the chamfering machine body in real time and sends the detection information to the programmable controller.
Furthermore, the control system also comprises a main spindle box operation monitoring unit; the operation monitoring unit of the spindle box comprises a vibration sensor and a vibration information processing system, the vibration sensor is arranged on the outer surface of the rear box wall of the spindle box, the sensing surface of the vibration sensor is closely attached to the wall of the spindle box, the vibration information of the spindle box is monitored in real time, and the vibration information is sent to the vibration information processing system; the vibration information processing system processes the vibration information and sends the processing result to the programmable controller. The programmable controller judges the running state of the chamfering machine according to the information, and processes the abnormality such as overload in time once the abnormality occurs.
Further, the chamfering mechanism further comprises a magnetic chip removal machine.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a schematic structural view of a full-automatic steel tube chamfering machine provided in an embodiment of the present application;
fig. 2 is a schematic top view of a structure of a full-automatic steel tube chamfering machine provided in an embodiment of the present application;
FIG. 3 is a block diagram of a control system according to an embodiment of the present disclosure;
FIG. 4 is a block diagram of an automatic parking system according to an embodiment of the present disclosure;
FIG. 5 is a schematic structural diagram of an automatic parking unit according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a mounting position of a laser sensor provided in an embodiment of the present application;
fig. 7 is a schematic structural diagram of a rotation angle detecting device according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of another side surface of the rotation angle detecting device according to the embodiment of the present application.
The device comprises a rotating roller 1, a multi-point laser sensor 2, a corner detection device 3, a second upright column 31, a swinging sheet 32, a roller 33, a spring 34, a connecting shaft 35, an encoder 36, a lifting mechanism 4, a planker 5, a clamping device 6, a steel pipe 7, a welding seam 71, a second pull rope encoder 8, a cutter head 9, a cross sliding vehicle 10, a steel pipe end detection sensor 11, a main shaft 12, a 3D vision sensor 13, a cutter 14, a spindle box 15 and a first pull rope encoder 16.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
Referring to fig. 1 to 8, the full-automatic steel pipe chamfering machine of the present application includes a traverse car 10 for radially moving a steel pipe 7; lifting mechanisms 4 symmetrically arranged on both sides of the traverse carriage 10 to lift the steel pipes 7; the chamfering mechanism is arranged corresponding to the lifting mechanism 4 and comprises a carriage 5, a clamping device 6 and a cutter head 9, wherein the carriage 5 is symmetrically arranged by taking the center line of a running channel of the traverse vehicle 10 as the center, the clamping device 6 is arranged at one end, close to the lifting mechanism 4, of the carriage 5 so as to clamp the end part of the steel pipe 7, the cutter head 9 is arranged on a main shaft 12 and is driven to rotate by a main shaft box 15, and a cutter 14 for cutting the steel pipe 7 is arranged on the cutter head 9; and a control system which is connected with the cross sliding vehicle 10, the lifting mechanism 4 and the chamfering mechanism and controls the operation of the cross sliding vehicle.
This application is through setting up control system to sideslip car 10, elevating system 4 and the operation of chamfering machine and control, has realized the automation of 7 chamfers of steel pipe, has improved 7 chamfers of steel pipe efficiency, has reduced the cost of labor.
The control system comprises a programmable controller, a main shaft driving control unit, a carriage 5 driving control unit, a servo driving control unit and a cross sliding vehicle driving control unit, wherein the main shaft driving control unit, the carriage 5 driving control unit, the servo driving control unit and the cross sliding vehicle driving control unit are connected with the programmable controller; the main shaft driving control unit is connected with a main shaft motor to drive a main shaft box 15 to run, the carriage 5 driving control unit is connected with a carriage 5 motor to drive a carriage 5 to run, the servo driving control unit is connected with a main shaft box servo motor to drive the main shaft box and a cutter head to move back and forth, the cross sliding vehicle driving control unit is connected with a cross sliding vehicle 10 to control and drive the cross sliding vehicle to run, and the lifting mechanism is controlled by a hydraulic system to lift and run.
The programmable controller adopts Siemens S7-1500 series, is provided with an industrial Ethernet communication interface and is used for communicating with other control units, a bus encoder and a remote IO substation. A large number of operating programs for different process parameters can be preset in the programmable controller. According to different process requirements of the steel pipe 7, the programmable controller automatically determines the optimal equipment operation parameters, and makes real-time modification according to the operation parameters read by the system so as to ensure that the equipment operates in the optimal process state.
The traverse carriage 10 is used to move the steel pipe 7 horizontally and radially (in the radial direction, the movement direction is perpendicular to the axis of the steel pipe 7 in the radial direction of the steel pipe 7) onto the lifting mechanism 4, and the lifting mechanism 4 drives the steel pipe 7 to ascend or descend. The lifting mechanism 4 and the chamfering mechanism are symmetrically arranged on two sides of the traverse vehicle 10, and the center line of the traveling channel of the traverse vehicle 10 is taken as a symmetrical line.
In order to ensure that the steel pipe 7 can stop at a proper position in the lifting process, a first pull rope encoder 16 is installed on the lifting mechanism 4, and the output end of the first pull rope encoder 16 is connected with a programmable controller and used for measuring the stroke of the lifting mechanism 4 and sending the stroke of the lifting mechanism 4 to the programmable controller; the programmable controller generates a control command according to the monitoring result of the first rope encoder 16 and sends the control command to the lifting hydraulic system, and the lifting hydraulic system controls the lifting mechanism 4 according to the control command.
Specifically, when the lifting mechanism 4 operates, the programmable controller automatically determines the lifting position of the lifting mechanism 4 according to the diameter value of the steel pipe 7 input in advance, and in the lifting process of the lifting mechanism 4, the programmable controller receives the information of the first pull rope encoder 16 in real time, and controls the lifting mechanism 4 to stop through the hydraulic system when the lifting mechanism 4 is lifted to a preset position point; after the pipe end of the steel pipe 7 enters the clamping device 6, the lifting mechanism 4 is controlled by the hydraulic system to drive the steel pipe 7 to descend.
The carriage 5 is controlled by a carriage 5 drive control unit for dragging the headstock, cutting tool and clamping device 6 forward or backward.
In order to facilitate the control of the steel pipe 7 to enter the clamping device 6, the carriage 5 driving control unit comprises a frequency converter driving unit, a steel pipe end detection sensor and a second pull rope encoder 8; the steel pipe end detection sensor is arranged on the clamping device 6 and used for detecting the end of the steel pipe 7, and the output end of the steel pipe end detection sensor is connected with the programmable controller; the steel pipe end detection sensor can adopt a photoelectric sensor, such as an infrared sensor and the like; the second pull rope encoder 8 is connected with the carriage 5 and used for detecting the stroke of the carriage 5, and the output end of the second pull rope encoder is connected with the programmable controller; the communication port of the frequency converter driving unit is connected with the programmable controller, and the output end of the frequency converter driving unit is connected with the carriage 5 power source. The programmable controller generates a control instruction according to the monitoring results of the steel pipe end detection sensor 7 and the second pull rope encoder 8 and sends the control instruction to the frequency converter driving unit, and the frequency converter driving unit drives the carriage 5 to operate according to the control instruction, such as fast forward, backward, speed reduction, stop and the like.
Specifically, after the steel pipe 7 is driven by the lifting mechanism 4 to rise to a preset position point, the frequency converter driving unit drives the carriage 5 mechanism to drag the clamping device 6 towards the steel pipe 7; in the process that the clamping device 6 is dragged, a steel pipe end detection sensor arranged on the clamping device 6 detects the pipe end of a steel pipe 7 in real time, a second pull rope encoder 8 detects the stroke of the carriage 5 in real time, and a detection signal is sent to the programmable controller in real time; the pipe end of the steel pipe 7 enters the clamping device, when the pipe end detection sensor of the steel pipe 7 detects the pipe end of the steel pipe 7, the programmable controller controls the frequency converter driving unit to drive the carriage 5 to decelerate, calculates the length of the pipe end of the steel pipe 7 entering the clamping device 6 according to the detection information of the second pull rope encoder 8, and controls the carriage 5 to stop when the length of the pipe end of the steel pipe 7 entering the clamping device 6 reaches the preset length; then the lifting mechanism 4 drives the steel pipe 7 to descend, and the clamping mechanism clamps the steel pipe 7.
The moving operation of the spindle box 15, such as advancing and retreating, is controlled by a spindle box servo drive control unit, such as driving the spindle box 15 to move toward or away from the clamping device 6;
the spindle rotation control unit comprises a spindle 12 frequency converter and encoder 36. The Siemens G120 control module and the drive module are adopted, and the encoder 36 is configured for speed detection and closed-loop control of the speed, so that the operation characteristics of the spindle 12 motor are more excellent.
After the clamping device 6 clamps the steel tube 7, under the control of the headstock servo drive control unit, the headstock 15 moves towards the clamping device 6, namely the end face of the steel tube 7, and the cutter 14 on the cutter head 9 of the headstock 15 stops moving when approaching the tube end of the steel tube 7; then, the main shaft 12 on the main shaft box 15 is controlled by the main shaft rotation control unit to rotate, so that the cutter disc 9 and a cutter 14 on the cutter disc 9 are driven to rotate, and the pipe end of the steel pipe 7 is cut; after cutting, the spindle box 15 is controlled to retreat away from the end of the steel tube 7, and the spindle 12 stops rotating.
In order to automatically monitor the chamfered end face of the steel pipe 7, the control system further comprises a visual detection unit. The visual detection unit comprises a 3D visual sensor 13 and a visual system, wherein the 3D visual sensor 13 is installed on the cutter head 9 and used for scanning the pipe end of the steel pipe 7 in real time in the cutting process, acquiring a point cloud picture of a cutting groove at the pipe end of the steel pipe 7 and sending the data of the point cloud picture to the visual system; the vision system is used for calculating and processing the point cloud pictures to obtain the pipe end groove parameters of the steel pipe 7, and sending the processing result to the programmable controller, the programmable controller judges whether the cutting of the steel pipe 7 is qualified according to the processing result of the vision system, if the cutting is qualified, the main shaft box 15 is controlled to rapidly retreat in place, the main shaft 12 stops rotating, the clamping device 6 is loosened in place, the lifting mechanism 4 is lifted up again to support the steel pipe, the carriage 5 is rapidly retreated, the cross sliding vehicle 10 transports the cut steel pipe 7 away, and the chamfering of the pipe end of the steel pipe 7 is completed.
The 3D vision sensor 13 adopts a 3D vision sensor 13 of German SICK Ruler X70, the 3D vision sensor 13 is installed on a cutter head 9, an external device protection device is arranged on the cutter head, the protection device and the 3D vision sensor 13 rotate together with the cutter head 9, during cutting, the 3D vision sensor 13 obtains a three-dimensional point cloud picture of the end surface of the steel pipe 7 through surface scanning, the three-dimensional point cloud picture is sent to a vision system, the vision system carries out real-time processing on the received image, the end surface groove parameters of the cut steel pipe 7 are obtained and sent to a programmable controller in real time, the groove parameters comprise the width and the angle of a cutting groove and the information of the flaw and the like of the end surface of the cut steel pipe 7, the programmable controller judges whether the steel pipe 7 is cut to be qualified or not according to the information, and once the steel pipes 7 at two ends are qualified, the cutting is stopped and the next procedure is immediately carried out.
The vision system is used for reconstructing the three-dimensional point cloud image and projecting the three-dimensional point cloud image into an image coordinate, and image parameters are obtained through fitting, which is the prior art and is not repeated herein.
The 3D vision sensor 13 and the protection device thereof are arranged on the cutter head 9 and rotate along with the cutter head 9. In order to meet the conductive requirement of the 3D vision sensor 13, the main shaft 12 is provided with a hollow structure, a conductive slip ring is installed on one end of the main shaft 12, which is far away from the cutter head 9, and a cable of the 3D vision sensor 13 passes through a center hole of the main shaft 12 and is connected with the conductive slip ring.
The conductive slip ring is provided with cable interfaces such as Ethernet, power supply and signals, and can meet the information transmission requirement of the 3D vision sensor 13. The cable of the 3D vision sensor 13 penetrates into the center hole of the main shaft 12 and penetrates out from the tail end of the main shaft to be connected with a cable interface of the conductive slip ring, the conductive slip ring is connected with the vision system through the cable, data collected by the 3D vision sensor 13 are sent to the vision system, and the data are sent to the programmable controller after being processed by the vision system.
The 3D vision sensor 13 is arranged on the cutter head 9 to monitor the end face of the steel pipe 7 in real time, a point-like graph of the end face of the steel pipe 7 can be obtained in real time, data of the end face of the steel pipe 7 can be obtained through real-time processing, automatic control of chamfering of the end face of the steel pipe 7 can be achieved, the situation that the base metal of the steel pipe 7 is changed into scrap iron is avoided, production efficiency is improved, and the situation that an operator conducts repeated cutting due to visual inspection on a cutting result is avoided.
The protection device is made of a stainless steel plate through bending, the 3D vision sensor 13 and the lens thereof are installed in the protection device, and a protection sheet is installed on the protection device and corresponds to the front side of the lens, and the protection sheet is made of optical glass. In order to reduce the damage of the cutting vibration of the spindle 12 to the 3D vision sensor 13, the protection device takes a shock absorption measure.
The steel pipe 7 in the present application is a straight-seam steel pipe 7, and the weld 71 of the steel pipe 7 needs to be stopped at a preset stop position before the steel pipe 7 is moved in the radial direction, and the preset stop position is 3 o 'clock or 9 o' clock in the present application.
In order to realize the automatic stop of the welding seam 71 of the steel pipe 7 at the preset position, the control system further comprises an automatic stop unit, and the automatic stop unit is used for searching the welding seam 71 on the steel pipe 7 and automatically stopping the welding seam 71 at the preset stop position (in the application, the preset stop position is 3 o 'clock or 9 o' clock).
And rotary rollers 1 for driving the steel pipe 7 to rotate are arranged on two sides of the traveling channel of the cross sliding vehicle, and the steel pipe 7 is driven by the rotary rollers 1 to rotate until a welding seam 71 on the steel pipe 7 stops at a preset stop position.
The automatic parking unit comprises a multi-point laser sensor 2, a time unit, a weld searching 71 unit, a timing unit and a control unit. The multipoint laser sensor 2 is arranged right below the steel pipe 7 and is perpendicular to the central shaft of the steel pipe 7, and the output end of the multipoint laser sensor 2 is connected with the input end of the unit for searching the welding seam 71. The time unit is used for determining the time required for the steel pipe 7 to rotate to the preset stop position from the laser projection point of the multi-point laser sensor 2, and setting the time as the preset time; the weld joint 71 searching unit is used for judging whether a laser projection point of the multipoint laser sensor 2 is projected at the position of the weld joint 71 of the steel pipe 7 according to the height data of the surface of the steel pipe 7; the timing unit is used for starting timing when the welding seam 71 searching unit determines that the laser projection point of the laser sensor is projected at the position of the welding seam 71 of the steel pipe 7; and the control unit is used for controlling the rotating roller 1 to stop rotating when the timing amount of the timing unit is equal to the preset time, so that the welding seam 71 of the steel pipe 7 stops at the preset stop position.
Specifically, a first upright column can be fixedly arranged right below the steel pipe 7, the multipoint laser sensor 2 is mounted on the first upright column, height data of the surface of the steel pipe 7 is tracked and detected, the detected height data of the steel pipe 7 is sent to the programmable controller, the programmable controller positions the position of the welding seam 71 of the steel pipe 7 and controls the rotating roller 1 to stop rotating when the welding seam 71 of the steel pipe 7 rotates to a preset stop position, and the welding seam 71 of the steel pipe 7 automatically stops at the preset stop position.
For the convenience of calculation, the multipoint laser sensor 2 can be fixedly arranged at the position of a 6-point of a clock; when the rotating roller 1 drives the steel pipe 7 to rotate clockwise, the welding seam 71 is stopped at the 9 o' clock position after the welding seam 71 is detected; when the rotating roller 1 rotates counterclockwise, the bead 71 is stopped at the 3 o' clock position after the bead 71 is detected.
The multipoint laser sensor 2 can adopt the IX-150 of Keynes, which can detect a plurality of position points simultaneously and has higher detection efficiency.
When the steel pipe 7 is driven by the rotating roller 1 to rotate, the multi-point laser sensor 2 arranged below the steel pipe 7 scans the surface of the steel pipe 7 in real time to obtain height data information of the surface of the steel pipe 7 corresponding to each laser projection point, the height data information is sent to a weld searching unit 71, each height data of the surface of the steel pipe 7 is compared by the weld searching unit 71, when the difference value between a certain height data and the adjacent height data is larger than a threshold value, the position corresponding to the height data is determined to be the position of the weld 71 of the steel pipe 7, and timing is started by a timing unit. The threshold value may be set based on practical experience.
At this time, the position of the weld 71 corresponds to the laser projection point of the multipoint laser sensor 2, and the included angle between the position of the weld 71 and the preset parking position is equal to the included angle between the laser projection point of the multipoint laser sensor 2 and the preset parking position. The time required by the position of the welding line 71 of the steel pipe 7 to rotate to the preset stop position can be obtained by calculating the time required by the steel pipe 7 to rotate to the preset stop position from the laser projection point of the multi-point laser sensor 2. The timing unit starts timing when the position of the welding seam 71 is determined, and when the timing amount is equal to the preset time (the time required for the steel pipe 7 to rotate from the laser projection point of the multi-point laser sensor 2 to the preset stop position), the steel pipe 7 is controlled to stop rotating, and at the moment, the position of the welding seam 71 of the steel pipe 7 just rotates to 3 o 'clock or 9 o' clock.
In order to more accurately control the stop position of the steel pipe 7, in the present application, the preset time is calculated and obtained according to the real-time acquired angular velocity of the rotation of the steel pipe 7 and the included angle between the laser projection point of the multi-point laser sensor 2 and the stop position.
Specifically, the time unit further comprises an angular velocity acquisition module, an angle acquisition module and a time calculation module; and the angular velocity acquisition module is used for acquiring the rotational angular velocity of the steel pipe 7. And the angle acquisition module is used for acquiring an included angle between a laser projection point of the multi-point laser sensor 2 and a preset parking position. And the time calculation module is used for calculating the time required for the steel pipe 7 to rotate to a preset stop position from the laser projection point of the multi-point laser sensor 2 according to the angular speed and the included angle.
The rotating angular speed of the steel pipe 7 is obtained in real time through the angular speed obtaining module, the included angle between the laser projection point of the multi-point laser sensor 2 and the preset parking position is obtained through the angle obtaining module, the included angle can be measured in the field by a craftsman and input into the angular speed obtaining module, and the time required for the steel pipe 7 to rotate at the current angular speed and the laser projection point of the multi-point laser sensor 2 to rotate to the preset parking position can be calculated according to the angular speed and the included angle.
Assuming that an included angle between a laser projection point and a stop position of the multipoint laser sensor 2 is alpha and an angular speed of the steel pipe 7 is omega/second, then: from the laser projection point to the stop position, the rotating time of the steel pipe 7 is as follows: and t is alpha/omega.
In order to obtain the real-time angular velocity of the steel pipe 7, the timing unit comprises a corner obtaining module and a timing module, wherein the corner obtaining module is used for obtaining the rotation angle of the steel pipe 7; the timing module is used for recording the time for the corner acquisition module to acquire the rotation angle of the steel pipe 7; the angular velocity obtaining module calculates the angular velocity of the rotation of the steel pipe 7 according to the rotation angle and the timing time of the timing module.
In a certain time period, the rotation angle acquisition module acquires the rotation angle of the steel pipe 7 in real time, the timing module records the rotation time of the steel pipe 7, and the angular velocity acquisition module calculates the rotation angular velocity of the steel pipe 7 according to the rotation angle and the timing time.
In this embodiment, the rotation angle of the steel pipe 7 is obtained in real time by the rotation angle detection device 3. The corner detection device 3 comprises an encoder 36, wherein the encoder 36 rotates synchronously with the steel pipe 7 and outputs pulse signals, and the corner acquisition module calculates the rotation angle of the steel pipe 7 according to the accumulated pulse signals of the encoder 36.
Specifically, the rotation angle detecting device 3 further includes a second pillar 31, a swinging piece 32, a spring 34, a connecting shaft 35, and a roller 33. The second upright column 31 is fixed below the steel pipe 7, one end of the swinging piece 32 is rotatably installed at the upper end of the first upright column, and the other end of the swinging piece extends towards the direction forming a certain included angle with the first upright column. The connecting shaft 35 penetrates through both sides of the swing piece 32 and is rotatably installed at the other end of the swing piece 32, the roller 33 is fixed at one end of the connecting shaft 35, which is located at one side of the swing piece 32, and the encoder 36 is fixed at the other end of the connecting shaft 35, which is located at the other side of the swing piece 32. One end of the spring 34 is fixed to the upper end of the second upright 31 at a position close to one end of the swing piece 32, and the other end is fixed to the other end of the swing piece 32 and located at one side of the roller 33. The roller 33 is made of polyurethane material, and the center line of the roller 33 is right below the steel pipe 7 and corresponds to the position of the point of the watch 6.
During detection, the position of the swinging piece 32 fixed on the second upright post 31 is adjusted to enable the height of the roller 33 to be slightly higher than that of the steel pipe 7 in a natural state, then the swinging piece 32 is rotated downwards, the roller 33 rotates downwards to the position below the steel pipe 7 along with the upper end of the second upright post 31, the swinging piece 32 is released to enable the swinging piece 32 to drive the roller 33 to reset under the restoring force action of the spring 34, the roller 33 is enabled to cling to the outer arc surface of the steel pipe 7 under the restoring force action of the spring 34, the roller 33 is enabled to rotate along with the steel pipe 7 without slipping, the encoder 36 installed at the other end of the connecting post rotates along with the roller 33, and a pulse signal is output. The rotation angle acquisition module calculates the rotation angle of the steel pipe 7 according to the accumulated pulse signal of the encoder 36, and the angular velocity acquisition module acquires the rotation angular velocity of the steel pipe 7 according to the rotation angle and the time.
In order to prevent the steel pipe 7 from colliding with the equipment accidentally, the control system also comprises an anti-collision sensor which is arranged on the side surface of the chamfering machine clamping device 6, detects the distance between the traverse car and the chamfering machine in real time and sends the detection information to the programmable controller; the programmable controller carries out corresponding processing according to the information, the accident that the steel pipe carried by the traverse vehicle impacts the body of the chamfering machine is prevented, once the traverse vehicle 10 runs abnormally, the programmable controller starts an anti-collision program immediately, and the safety of equipment is protected.
In order to monitor the main spindle box 15, the main spindle box 15 operation monitoring device further comprises a main spindle box 15 operation monitoring unit, wherein the main spindle box 15 operation monitoring unit comprises a vibration sensor and a vibration information processing system, the vibration sensor is installed on the outer side of the rear box wall of the main spindle box 15, the sensing surface of the vibration sensor is tightly attached to the wall of the main spindle box 15, vibration information of the main spindle box 15 is monitored in real time and sent to the vibration information processing system, and the vibration information processing system processes the vibration information; when monitoring that the spindle box 15 is overloaded, the overload information is sent to the programmable controller through the RS485 interface, and the programmable controller judges and processes the running state of the spindle box 15 accordingly, which specifically includes the following two contents:
1. if the load is judged to exceed the allowable value, namely the load exceeds 150% and the time exceeds 2 minutes, immediately alarming and stopping the machine, and prompting an operator and maintenance personnel to search for overload reasons;
2. if the load is judged to exceed 100% and be less than 150%, and the time exceeds 5 seconds, the control center starts a process modification program, reduces the feeding amount and reduces the cutting load; and meanwhile, giving an early warning to prompt an operator, equipment maintenance personnel, process management personnel and production management personnel to search reasons.
In order to realize automatic chip removal of the scrap iron cut by the chamfering machine, the magnetic chip removal machine further comprises a magnetic chip removal machine, the magnetic chip removal machine utilizes the magnetic field effect to adsorb the cut and fallen scrap iron on the surface of the chip removal machine and conveys the scrap iron to the scrap iron box along with the surface of the chip removal machine, and the operation of the automatic chip removal machine is controlled.
The full-automatic chamfering process of the steel pipe 7 chamfering machine comprises the following steps:
the technologist inputs parameters such as the diameter, the length, the wall thickness, the steel material and the like of the steel pipe 7 into the programmable controller in advance, and the programmable controller controls the operation of the traverse carriage 10, the lifting mechanism 4 and the chamfering mechanism according to the input parameters and the control program. The two ends of the steel pipe 7 are placed on the rotating roller 1 and driven to rotate by the rotating roller 1, and the automatic stop system detects the welding seam 71 of the rotating steel pipe 7 and drives the welding seam 71 of the steel pipe 7 to rotate to 3 or 9 points of a clock to stop; then, the steel pipe 7 is conveyed to the lifting mechanism 4 through the transverse moving vehicle 10, and the lifting mechanism 4 drives the steel pipe 7 to ascend to a preset position; the carriage of the chamfering mechanism drives the spindle box, the cutter head and the clamping device to drag towards the end face of the steel pipe, when a steel pipe end detection sensor arranged on the clamping device detects the end of the steel pipe 7, the carriage 5 slows down to advance, and controls the end of the steel pipe 7 to enter the clamping mechanism for 180 millimeters according to the information of a second pull rope encoder 8, and the carriage stops; then the lifting mechanism 4 descends, the clamping device clamps the steel pipe 7, the spindle box 15 moves forwards until the steel pipe 7 is close to the pipe end and stops, the spindle 12 on the spindle box 15 drives the cutter head 9 to rotate, and the cutter 14 arranged on the cutter head 9 performs cutting chamfering on the steel pipe 7; the 3D vision sensor 13 arranged on the cutter head 9 scans the pipe end of the steel pipe 7 in real time, when chamfering is qualified, the spindle box 15 retreats, the spindle 12 stops rotating, the clamping device is opened, the carriage 5 drags the clamping device, the cutter head and the spindle box to move away from the end face direction of the steel pipe, namely, the carriage moves backwards, so that the end face of the steel pipe is separated from the clamping device, the lifting mechanism 4 drives the steel pipe 7 to descend after the carriage retreats in place, the steel pipe is transported by the cross sliding vehicle 10, and chamfering is completed.
By adopting the technical scheme, the chamfering machine can be used for conveying the steel pipe 7 to finish cutting the steel pipe 7, the steel pipe 7 after cutting is finally moved out of the chamfering machine, the whole process is completely automatic, unmanned operation is realized, and control is accurate.
In this application, unless expressly stated or limited otherwise, the terms "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral combinations thereof; may be an electrical connection; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, systems, and techniques have not been shown in detail in order not to obscure an understanding of this description.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, system, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, systems, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (10)
1. The full-automatic steel tube chamfering machine is characterized in that,
comprises a transverse moving vehicle for radially moving the steel pipe;
lifting mechanisms symmetrically arranged on two sides of the transverse moving vehicle to lift the steel pipes;
the chamfering mechanism is arranged corresponding to the lifting mechanism and comprises a carriage, a clamping device and a cutter disc, wherein the carriage is symmetrically arranged by taking the center line of a travelling channel of the traverse vehicle as the center, the clamping device is arranged at one end, close to the lifting mechanism, of the carriage so as to clamp the end part of the steel pipe, the cutter disc is arranged on the main shaft 12 and is driven to rotate by the main shaft, and a cutter for cutting the steel pipe is arranged on the cutter disc;
and the control system is connected with the cross sliding vehicle, the lifting mechanism and the chamfering mechanism and controls the operation of the cross sliding vehicle, the lifting mechanism and the chamfering mechanism.
2. The full-automatic steel tube chamfering machine according to claim 1, wherein the control system comprises a programmable controller, and a spindle drive control unit, a carriage drive control unit and a servo drive control unit which are connected with the programmable controller.
3. The full-automatic steel pipe chamfering machine according to claim 2, wherein the carriage drive control unit comprises a frequency converter drive unit, a steel pipe end detection sensor and a second pull rope encoder; the steel pipe end detection sensor is arranged on the clamping device, and the output end of the steel pipe end detection sensor is connected with the programmable controller; the second pull rope encoder is connected with the carriage, and the output end of the second pull rope encoder is connected with the programmable controller; and the communication end of the frequency converter driving unit is connected with the programmable controller.
4. The fully automatic steel tube chamfering machine according to claim 1, wherein the control system further comprises a visual detection unit; the visual detection unit comprises a 3D visual sensor and a visual system, wherein the 3D visual sensor is arranged on a cutter head to scan the end of the steel pipe in real time in the cutting process, obtain a point cloud picture of a cutting groove of the end of the steel pipe and send the data of the point cloud picture to the visual system; and the vision system is used for calculating the point cloud pictures to obtain the parameters of the groove at the end of the steel pipe and sending the processing result to the programmable controller.
5. The full-automatic steel pipe chamfering machine according to claim 1, wherein the control system further comprises an automatic parking unit, the automatic parking unit comprises a multi-point laser sensor, a time unit, a welding line searching unit, a timing unit and a control unit; the multipoint laser sensor is arranged right below the steel pipe and is vertical to the central shaft of the steel pipe, and the output end of the multipoint laser sensor is connected with the input end of the welding line searching unit; the time unit is used for determining the time required by the steel pipe to rotate to a preset stop position from a laser projection point of the multi-point laser sensor, and setting the time as preset time; the weld searching unit is used for judging whether a laser projection point of the multi-point laser sensor is projected at the weld position of the steel pipe or not according to the height data of the surface of the steel pipe; the timing unit is used for starting timing when the welding line searching unit determines that the laser projection point of the laser sensor is projected at the welding line position of the steel pipe; the control unit is used for controlling the rotating roller to stop rotating when the timing amount of the timing unit is equal to the preset time.
6. The full-automatic steel pipe chamfering machine according to claim 5, wherein the time unit comprises an angular velocity acquisition module, an angle acquisition module and a time calculation module; the angular velocity acquisition module is used for acquiring the rotational angular velocity of the steel pipe; the angle acquisition module is used for acquiring an included angle between a laser projection point of the multi-point laser sensor and a preset parking position; and the time calculation module calculates the time required for the steel pipe to rotate to a preset stop position from a laser projection point of the multi-point laser sensor according to the angular speed and the included angle.
7. The full-automatic steel pipe chamfering machine according to claim 6, wherein the timing unit comprises a corner acquisition module and a timing module; the corner acquisition module is used for acquiring the rotation angle of the steel pipe; the timing module is used for recording the time for the corner acquisition module to acquire the rotation angle of the steel pipe; the angular velocity acquisition module calculates the angular velocity of the rotation of the steel pipe according to the rotation angle and the timing time of the timing module.
8. The fully automatic steel pipe chamfering machine according to claim 1, wherein the control system further comprises a collision prevention sensor installed at a side of the chamfering machine clamping device, detecting a distance between the traverse car and the chamfering machine in real time, and transmitting the detected information to the programmable controller.
9. The full-automatic steel tube chamfering machine according to claim 1, wherein the control system further comprises a headstock operation monitoring unit; the operation monitoring unit of the spindle box comprises a vibration sensor and a vibration information processing system, the vibration sensor is arranged on the outer side of the rear box wall of the spindle box, the sensing surface of the vibration sensor is closely attached to the wall of the spindle box, the vibration information of the spindle box is monitored in real time, and the vibration information is sent to the vibration information processing system; the vibration information processing system processes the vibration information and sends the processing result to the programmable controller, and according to the information, when the spindle load has abnormal conditions such as overload and the like, the programmable controller carries out corresponding processing.
10. The fully automatic steel tube chamfering machine according to claim 1, wherein the chamfering mechanism further comprises a magnetic chip removal machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210666237.8A CN115055759A (en) | 2022-06-14 | 2022-06-14 | Full-automatic steel pipe chamfering machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210666237.8A CN115055759A (en) | 2022-06-14 | 2022-06-14 | Full-automatic steel pipe chamfering machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115446392A (en) * | 2022-10-13 | 2022-12-09 | 芜湖行健智能机器人有限公司 | Intelligent chamfering system and method for disordered plate |
| CN116060702A (en) * | 2023-03-07 | 2023-05-05 | 江苏赛迪新能源科技有限公司 | Chamfering device for steel rolling bar |
-
2022
- 2022-06-14 CN CN202210666237.8A patent/CN115055759A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115446392A (en) * | 2022-10-13 | 2022-12-09 | 芜湖行健智能机器人有限公司 | Intelligent chamfering system and method for disordered plate |
| CN115446392B (en) * | 2022-10-13 | 2023-08-04 | 芜湖行健智能机器人有限公司 | Intelligent chamfering system and method for unordered plates |
| CN116060702A (en) * | 2023-03-07 | 2023-05-05 | 江苏赛迪新能源科技有限公司 | Chamfering device for steel rolling bar |
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