CN101045400A - Anti-collision method for print device on surface in pipe - Google Patents
Anti-collision method for print device on surface in pipe Download PDFInfo
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- CN101045400A CN101045400A CN 200610025182 CN200610025182A CN101045400A CN 101045400 A CN101045400 A CN 101045400A CN 200610025182 CN200610025182 CN 200610025182 CN 200610025182 A CN200610025182 A CN 200610025182A CN 101045400 A CN101045400 A CN 101045400A
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Abstract
An anti-collision method for the ink-jet print device used to print on the inner surface of a pipe body is disclosed. Several sensors are arranged in the circumferential direction of the maximal cross-section of the ink-jet print device. When the pipe wall is in touch with any two sensors, the end face profile of ink-jet print is not interfered with the pipe wall. The anti-collision sensor is arranged is the front of ink-jet print device. When the pipe wall is in collision with the ink-jet print device, the print job is stopped.
Description
(1) technical field
The present invention relates to metallurgical spray printing technology, relate in particular to a kind of inner surface of tube body axially or the collision-proof method of circumferencial direction jet printing appts.
(2) background technology
The key link that the online spray printing mark of metallurgic product is logistics management in the metallurgical process, it utilizes medium or external force information such as mark steel grade, specification on product surface, is used for the identification of user and later process.The outer surface spray printing of tube product or columnar product can be divided into that product moves, the static dual mode of product, and wherein the spray printing mark of the forms of product movement generally carries out spatterwork by the jet-printing head that is fixed on gantry support in product moves; The then cantilever beam supports that adopt of the spray printing mark of product sleep mode, the spray printing chassis carries jet-printing head and carries out spatterwork more.The outer surface spray printing mainly adopts coating or ink, carries out the spray printing mark along axis direction in steel tube surface.
The inner surface spray printing of big caliber steel pipe has its particularity with respect to the tube outer surface spray printing: 1. the spray printing mode is various, and pipe inner periphery direction multirow spray printing or body axis direction spray printing are arranged; 2. security because of the reason of physical dimension and three dimensions operation, needs to consider to avoid the interference and collision of spray printing equipment and body; 3. complete space multidimensional measure, because spray printing is a job space, equipment need have reliable and stable body size and position detecting function; 4. device space position and detect calibrating function; 5. the in-service monitoring function of spray printing effect.
The spray printing labelling technique generally can be divided into two classes in the existing pipe: a class is artificially to carry out jet printing appts in the pipe of carrier with machine, rely on robot flexibly, space tasks adapts to the mark task that characteristics such as strong can be finished inner axial tube and circumferencial direction; Another kind of is special equipment in conjunction with Demand Design, and such installs bad adaptability, and is with strong points, but can't adapt to the change or the expansion of spatterwork task.
The collision-proof method of jet printing appts has following four kinds in the existing pipe:
1. U.S. Pat 5119109, proposed a kind of dot matrix coating or ink jet-printing head that pipe is interior or other curved surface is interior that be installed in, and this jet-printing head moves by transmission mechanism, at spray printing character pattern in the axis moving process.Spray printing mechanism contacts range finding and guides from the current location spray printing to character late with the outer surface of steel pipe.Transmission mechanism carries jet-printing head and finishes spatterwork in operation process, can be by steel pipe revolution carrying out multirow spray printing.It adapts to the variation of steel pipe specification by manual regulating device, does not have the function of spray printing with the outer spray printing of pipe of pipe inner periphery direction.The mechanical stroke switch is equipped with in the end of this device, jet printing appts and tube end bump when being used to avoid device to stretch into pipe inside.
2. U.S. Pat 4682182, utilize robot actuating mechanism, carry the spatterwork that shower nozzle carries out steel pipe pipe inner periphery direction.This patent is set the robot end path at stationary pipes internal diameter (or obtain specification from host computer), determines the spray printing original position by photoelectric sensor, manages the spatterwork of inner periphery direction single file word.This patent does not have the checkout gear of body position and physical dimension, and underuses the robot characteristics, carries out spatterwork and path planning thereof, causes its device limitation bigger, flexibility and bad adaptability.This patent jet-printing head Front-end Design comprise the anticollision device, collision-prevention device of baffle plate and sensor, stretch into pipe when inner and the collision of steel tube end part to avoid device.But how this device avoids jet printing appts and inner surface of tube body interference and collision when consideration is not carried out job space in body inside.
3. the interior spray printing product of Austrian NUMTek Interstahl company's pipe is artificially to carry out carrier with the industrial machine of standard, possesses the pipe overall diameter and detects and the crashproof detection of head, can carry out the function of pipe inner periphery direction multirow spray printing and the outer axis direction spray printing of pipe.This device by the drive motors installed on the jet-printing head with shower nozzle on horizontal plane half-twist to realize the spray printing of circumferencial direction and axis direction.This crashproof detection in equipment end can't detect in a circumferential direction crashproof with inner surface of tube body; Its outer diameter of steel pipes detection means is installed near end effector of robot one end, and its detection can't be eliminated spray printing section error in the pipe, easily causes spray printing parts and tube wall to be interfered.
4. manage outer spray printing equipment, crashproof mode has: 1. adopt microswitch to carry out Anti-bumping protection; 2. on shower nozzle, install and press wheel, in operation process, press wheel and contact, and play the guiding role with body is outside.This mode is crashproof inapplicable to the spatterwork of body inside.
The limitation that the anti-collision technique of above-mentioned inner surface of tube body spray printing exists is mainly reflected in following 2 points:
1. in body in the spatterwork, have two kinds of errors very big to the operation influence, a kind of is the caliber deviation from circular from, it can reach ± 1.75% (to the steel pipe of 1000mm specification, its diameter deviation is ± 17.5mm); Second kind is body exists horizontal plane and vertical plane both direction on roller-way position deviation.These two kinds of errors will produce accumulated error on the long body of L.Effective spray printing scope of general blackwash sprayer is between 25mm～30mm, if accumulated error exceeds or near effective spray printing range of spray gun, can't guarantee that spray printing quality or spray gun knock inside pipe wall.Body position and size detection thereof are inaccurate also will amplify this accumulated error, be difficult to guarantee jet printing appts safety in this case, and jet printing appts may collide with inner tubal wall, and spray printing weak effect or spatterwork can't be finished.
2. crashproof measure shortcoming, owing to carry out the operation in the pipe, and robot carries that jet printing appts carries out is job space (6 frees degree, three positions and three attitudes), only by end axis to crashproof measure can't avoid and other direction of tube wall is interfered, be difficult to guarantee the safety of equipment.Spray printing equipment is that the over-current and-load of robot stops operation by after colliding with body in the Austria NUMTek_Interstahl company pipe.
(3) summary of the invention
The object of the present invention is to provide a kind of collision-proof method of print device on surface in pipe, the collision-proof method of this jet printing appts can guarantee to prevent jet printing appts collision inboard wall of tube body in operation process, improve device security.
The present invention is achieved in that a kind of collision-proof method of print device on surface in pipe, it is characterized in that: on the circumferencial direction of the jet printing appts maximum cross-section that is connected with robot end's flange, arrange several sensors, when tube wall pressed wherein any two sensors or receive any two sensor signals, the tube wall of jet printing appts end profile and any specification was not interfered; At the jet printing appts leading section obstacle avoidance sensor is set, front end face has a disk baffle, is used to protect the interference and collision from axis direction; In operation process, if when inboard wall of tube body and sensor impact, jet printing appts promptly stops operation.
Under described maximum at known body limit gauge lattice, minimum diameter and the jet-printing head maximum cross-section condition, the jet-printing head maximum cross-section must be less than the internal diameter of minimum gauge body, and sensor is chosen as five, and is positioned on the same circumference uniform.
The determining of described jet-printing head cross section limit range follows these steps to:
(1) establishing tubule inwall radius is R
Min, big inside pipe wall radius is R
Max, adjacent sensors pinch roller and tubule inwall distance was D when the first sensor pinch roller pressed
1, jet-printing head was D with the minimum range of big inside pipe wall when any two adjacent sensor pinch rollers pressed with big inside pipe wall
2, sensor pinch roller radius is r, first sensor pinch roller, the second sensor pinch roller profile circle are respectively C
2, C
3With little tube hub is that to make radius be (R in the center of circle
Min-r-D
1) auxiliary circle C
1, according to the pentagon interior angle be 540 °, the regular pentagon drift angle is 108 °, crosses first sensor pinch roller center A and makes straight line L
1, in vertical direction with 54 °, with auxiliary circle C
1Meet at 1 B, determine the center B of second sensor pinch roller, this moment, the second sensor pinch roller and tubule internal diameter distance was D
1
(2) make the perpendicular bisector of line segment AB, hand over the vertical direction center line in C, C promptly is five sensor symmetrical centre;
(3) be the center with C, determine its excess-three sensor puck position;
(4) be R as radius
MaxCircular arc C
4, tangent with first pinch roller, second pinch roller respectively, represent the situation when first pinch roller, second pinch roller and big inside pipe wall contact; For guaranteeing that this moment, jet-printing head did not collide with big inside pipe wall, a safe distance D should be arranged
2, with circular arc C
4The center is the center, and making radius is (R
Max-D
2) circular arc C
5
(5) according to above-mentioned steps (1) to step (4), make other each section circular arc C successively
5, five sections circular arc C
5The zone that surrounds is the limit range in jet-printing head cross section.
The disk baffle diameter D of described jet printing appts front end face in the axial direction
TopDetermining step is:
(1) with bassoon inner diameter Dmax successively with first pinch roller, second pinch roller, the 3rd pinch roller, the 4th pinch roller in adjacent two sensors tangent;
(2) with three sections Dmax circular arcs of above formation, make inscribed circle, this inscribed circle diameter is D;
(3) disk baffle maximum dimension D
TopBe not more than D.
The present invention is the sensor reasonable Arrangement by jet printing appts circumferencial direction and end, avoids jet printing appts and body internal impact, but not only collision-proof alarm but also can be used for the position SHAPE DETECTION, its multiplexing functions of these sensors.Overcome existing print device on surface in pipe and only adopted the crashproof detection in end; the protection of other direction then is to cause that by collision impact the robot overload flow stops operation, thereby causes the defective of the damage and the homework precision forfeiture of jet printing appts and robot body.Collision-proof method of the present invention can guarantee to prevent jet printing appts collision inboard wall of tube body in operation process, improve device security.
(4) description of drawings
The invention will be further described below in conjunction with the drawings and specific embodiments.
Fig. 1 for jet-printing head at circumferencial direction three the sensor schematic diagrames of arranging;
Fig. 2 for jet-printing head at circumferencial direction four the sensor schematic diagrames of arranging;
Fig. 3 for jet-printing head at circumferencial direction five the sensor schematic diagrames of arranging;
Fig. 4 is that jet-printing head is in circumferencial direction anticollision principle schematic.
Fig. 5 is for determining jet-printing head cross section limit range diagram 1;
Fig. 6 is for determining jet-printing head cross section limit range diagram 2;
Fig. 7 is for determining jet-printing head cross section limit range diagram 3;
Fig. 8 is for determining jet-printing head cross section limit range diagram 4;
Fig. 9 is for determining jet-printing head cross section limit range diagram 5;
Figure 10 is for determining jet-printing head cross section limit range diagram 6;
Figure 11 is the jet printing appts structural representation;
Figure 12 is the jet printing appts structural front view;
Figure 13 is a jet printing appts structure vertical view;
Figure 14 is a jet printing appts structure side view;
Figure 15 be among Figure 12 A-A to cross-sectional schematic.
Among the figure: 1 jet-printing head, 2 detect wheel (sensor, pinch roller), 3 minimum pipe steel pipes, 4 maximum caliber steel pipes, 5 auxiliary circles, 6 shower nozzle limit ranges; 12 carriages, 13 photoelectric sensors, 14 area array CCD cameras, 15 disk baffles, 16 ends are detected and obstacle avoidance sensor, and 21 radially detect and obstacle avoidance sensor (wheel 1), 22,23,24,25 obstacle avoidance sensors (wheel 2, wheel 3, wheel 4, wheel 5) radially.
(5) specific embodiment
A kind of working space of print device on surface in pipe is three-dimensional, and the interference of jet printing appts and inner surface of tube body comprises two aspects: the interference of (1) and body circumferencial direction; (2) interference of jet printing appts end and body.
The collision-proof method of a kind of print device on surface in pipe of the present invention, on the circumferencial direction of the jet printing appts maximum cross-section that is connected with robot end's flange, arrange several sensors, when tube wall pressed wherein any two sensors or receive any two sensor signals, the tube wall of jet printing appts end profile and any specification was not interfered; At the jet printing appts leading section obstacle avoidance sensor is set, front end face has a disk baffle, is used to protect the interference and collision from axis direction; In operation process, if when inboard wall of tube body and sensor impact, jet printing appts promptly stops operation.
(1) with the interference of body circumferencial direction
Under maximum, minimum diameter 4,3 and the jet-printing head 1 maximum cross-section condition of known body limit gauge lattice, how to determine the quantity of obstacle avoidance sensor.At first jet-printing head 1 physical dimension is satisfying under the prerequisite of function as far as possible for a short time, and jet-printing head 1 maximum cross-section must be less than the internal diameter 3 of minimum gauge body.Referring to Fig. 1, Fig. 2, Fig. 3, be respectively under the same terms, the jet-printing head 1 greatest limit scope 6 that adopts three, four, five detection obstacle avoidance sensors 2 to draw is respectively circular triangle, circular arc quadrangle, circular arc pentagon.How many obstacle avoidance sensor 2 quantity have determined effective cross-sectional area from illustrating as can be seen, and the many more effective areas of quantity are big more.If quantity during less than five the jet printing appts structure be difficult to design, quantity can cause too complexity of structure and system during more than five.Select five detection obstacle avoidance sensors 2 proper so adopt, and be positioned on the same circumference uniform.
After selecting five sensors 2, when first sensor pinch roller 21 and tubule 3 inwalls pressed, the second sensor pinch roller 22 was nearest with tubule 3 inwalls, and the easiest and tube wall bumps, therefore need to guarantee that this moment second, sensor pinch roller 22 had certain distance with tubule 3 inwalls, referring to Fig. 4.
For jet-printing head cross section limit range determine follow these steps to:
1) referring to Fig. 5, Fig. 6, establishing tubule inwall radius is R
Min, big inside pipe wall radius is R
Max, adjacent sensors pinch roller 22 was D with tubule inwall distance when first sensor pinch roller 21 pressed
1, jet-printing head 1 was D with the minimum range of bassoon 4 inwalls when any two adjacent sensor pinch rollers 2 pressed with bassoon 4 inwalls
2, sensor pinch roller 2 radiuses are r, first sensor pinch roller 21, the second sensor pinch roller, 22 profile circles are respectively C
2, C
3Referring to Fig. 6, be that to make radius be (R in the center of circle with little tube hub
Min-r-D
1) auxiliary circle C
1, according to the pentagon interior angle be 540 °, the regular pentagon drift angle is 108 °, crosses first sensor pinch roller center A and makes straight line L
1, in vertical direction with 54 °, with auxiliary circle C
1Meet at 1 B, determine the center B of second sensor pinch roller, this moment second, sensor pinch roller 22 was D with tubule internal diameter distance
1
2) referring to Fig. 7, make the perpendicular bisector of line segment AB, hand over the vertical direction center line in C, C promptly is five sensor symmetrical centre;
3) referring to Fig. 8, be the center with C, determine its excess-three sensor puck position;
4), be R as radius referring to Fig. 9
MaxCircular arc C
4, tangent with first pinch roller 21, second pinch roller 22 respectively, represent first pinch roller 21, the situation when second pinch roller 22 contacts with bassoon 4 inwalls; For guaranteeing that this moment, jet-printing head 1 did not collide with bassoon 4 inwalls, a safe distance D should be arranged
2, with circular arc C
4The center is the center, and making radius is (R
Max-D
2) circular arc C
5
5) according to above-mentioned steps 1) to step 4), make other each section circular arc C successively
5, five sections circular arc C
5The zone that surrounds is the limit range in jet-printing head 1 cross section, referring to Figure 10.Five sensors 2 are positioned at the circular arc intersection point of jet-printing head 1 cross section limit range.
(2) interference of jet printing appts end and body.
The disk baffle diameter D of jet printing appts front end face in the axial direction
TopDetermining step is: referring to Fig. 4,
1) with bassoon inner diameter Dmax successively with first pinch roller 21, second pinch roller 22, the 3rd pinch roller 23, the 4th pinch roller 24, the 5th pinch roller 25 in adjacent two sensors tangent;
2) with three sections Dmax circular arcs of above formation, make inscribed circle, this inscribed circle diameter is D;
3) disk baffle maximum dimension D
TopBe not more than D.
Referring to Figure 11, Figure 12, Figure 13, Figure 14, Figure 15, the collision-proof method of print device on surface in pipe of the present invention adopts and arrange five sensors 21,22,23,24,25 on the circumferencial direction of jet printing appts maximum cross-section, at the jet printing appts leading section obstacle avoidance sensor 16 and disk baffle 15 are set, avoid the collision of jet printing appts and inboard wall of tube body, but these sensors are collision-proof alarm but also can be used for the position SHAPE DETECTION not only, can eliminate correlated error influences spatterwork, improves the spray printing quality.
The present invention is applicable to the spatterwork of outer surface of tube body, and the spatterwork of roll coil of strip surfaces externally and internally.
More than by preferred embodiment the specific embodiment of the present invention has been described; but it should be understood that; here concrete description should not be construed as the qualification to the spirit and scope of the invention; the various modifications that the one of ordinary skilled in the art makes the foregoing description after reading this specification, the scope that all belongs to the present invention and protected.
Claims (4)
1. the collision-proof method of a print device on surface in pipe, it is characterized in that: on the circumferencial direction of the jet printing appts maximum cross-section that is connected with robot end's flange, arrange several sensors, when tube wall pressed wherein any two sensors or receive any two sensor signals, the tube wall of jet printing appts end profile and any specification was not interfered; At the jet printing appts leading section obstacle avoidance sensor is set, front end face has a disk baffle, is used to protect the interference and collision from axis direction; In operation process, if when inboard wall of tube body and sensor impact, jet printing appts promptly stops operation.
2. the collision-proof method of print device on surface in pipe according to claim 1, it is characterized in that: under maximum, minimum diameter and the jet-printing head maximum cross-section condition of known body limit gauge lattice, the jet-printing head maximum cross-section must be less than the internal diameter of minimum gauge body, sensor is chosen as five, and is positioned on the same circumference uniform.
3. the collision-proof method of print device on surface in pipe according to claim 2 is characterized in that: the determining of jet-printing head cross section limit range follows these steps to:
(1) establishing tubule inwall radius is R
Min, big inside pipe wall radius is R
Max, adjacent sensors pinch roller and tubule inwall distance was D when the first sensor pinch roller pressed
1, jet-printing head was D with the minimum range of big inside pipe wall when any two adjacent sensor pinch rollers pressed with big inside pipe wall
2, sensor pinch roller radius is r, first sensor pinch roller, the second sensor pinch roller profile circle are respectively C
2, C
3With little tube hub is that to make radius be (R in the center of circle
Min-r-D
1) auxiliary circle C
1, according to the pentagon interior angle be 540 °, the regular pentagon drift angle is 108 °, crosses first sensor pinch roller center A and makes straight line L
1, in vertical direction with 54 °, with auxiliary circle C
1Meet at 1 B, determine the center B of second sensor pinch roller, this moment, the second sensor pinch roller and tubule internal diameter distance was D
1
(2) make the perpendicular bisector of line segment AB, hand over the vertical direction center line in C, C promptly is five sensor symmetrical centre;
(3) be the center with C, determine its excess-three sensor puck position;
(4) be R as radius
MaxCircular arc C
4, tangent with first pinch roller, second pinch roller respectively, represent the situation when first pinch roller, second pinch roller and big inside pipe wall contact; For guaranteeing that this moment, jet-printing head did not collide with big inside pipe wall, a safe distance D should be arranged
2, with circular arc C
4The center is the center, and making radius is (R
Max-D
2) circular arc C
5
(5) according to above-mentioned steps (1) to step (4), make other each section circular arc C successively
5, five sections circular arc C
5The zone that surrounds is the limit range in jet-printing head cross section.
4. the collision-proof method of print device on surface in pipe according to claim 1 is characterized in that: the disk baffle diameter D of jet printing appts front end face in the axial direction
TopDetermining step is:
(1) with bassoon inner diameter Dmax successively with first pinch roller, second pinch roller, the 3rd pinch roller, the 4th pinch roller in adjacent two sensors tangent;
(2) with three sections Dmax circular arcs of above formation, make inscribed circle, this inscribed circle diameter is D:
(3) disk baffle maximum dimension D
TopBe not more than D.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610025182 CN101045400A (en) | 2006-03-29 | 2006-03-29 | Anti-collision method for print device on surface in pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610025182 CN101045400A (en) | 2006-03-29 | 2006-03-29 | Anti-collision method for print device on surface in pipe |
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| Publication Number | Publication Date |
|---|---|
| CN101045400A true CN101045400A (en) | 2007-10-03 |
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ID=38770430
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200610025182 Pending CN101045400A (en) | 2006-03-29 | 2006-03-29 | Anti-collision method for print device on surface in pipe |
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| CN (1) | CN101045400A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110525025A (en) * | 2019-09-25 | 2019-12-03 | 蓝思智能机器人(长沙)有限公司 | Transfer printing mechanism |
| CN112800559A (en) * | 2021-02-02 | 2021-05-14 | 中海石油(中国)有限公司 | Sensor arrangement method and system |
-
2006
- 2006-03-29 CN CN 200610025182 patent/CN101045400A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110525025A (en) * | 2019-09-25 | 2019-12-03 | 蓝思智能机器人(长沙)有限公司 | Transfer printing mechanism |
| CN112800559A (en) * | 2021-02-02 | 2021-05-14 | 中海石油(中国)有限公司 | Sensor arrangement method and system |
| CN112800559B (en) * | 2021-02-02 | 2024-03-08 | 中海石油(中国)有限公司 | Sensor arrangement method and system |
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Open date: 20071003 |