CN108942937A - A kind of copper pipe processing method - Google Patents
A kind of copper pipe processing method Download PDFInfo
- Publication number
- CN108942937A CN108942937A CN201810843084.3A CN201810843084A CN108942937A CN 108942937 A CN108942937 A CN 108942937A CN 201810843084 A CN201810843084 A CN 201810843084A CN 108942937 A CN108942937 A CN 108942937A
- Authority
- CN
- China
- Prior art keywords
- copper pipe
- manipulator
- cpu
- dimensional coordinate
- image information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Injection Moulding Of Plastics Or The Like (AREA)
Abstract
The invention discloses a kind of copper pipe processing methods, comprising the following steps: step S1 acquires image information of the copper pipe in material frame and the image information is sent to CPU；Step S2, CPU obtain the location information of copper pipe from the image information, determine the three-dimensional coordinate of copper pipe；Step S3, CPU export the three-dimensional coordinate of copper pipe to PLC；Step S4, PLC control manipulator according to the three-dimensional coordinate of copper pipe and grab copper pipe, and copper pipe is placed into fixed position by manipulator, then is grabbed screw thread core print and be placed into copper pipe；Step S5, manipulator inject inner membrance oil into copper pipe, and then copper pipe is placed in the external mold of molding machine by manipulator, carries out trombone slide.
Description
Technical field
The present invention relates to a kind of copper pipe processing methods.
Background technique
In current copper pipe processing industry, intelligence degree slowly be applied to various processes, but still have
Some operations need manually to execute, and bring many unstable factors to process in this way, need worker before machine
The operation for completing each step can just be normally carried out disk and draw process, and this also just produces problem, in existing copper pipe process, copper
Pipe is placed in material frame, needs that manually core print is placed into copper pipe.When front-line workers is unfamiliar with the base of operating process and machine
When this state, serious influence can be caused to production process or product quality.
Summary of the invention
In order to overcome the disadvantages and deficiencies of the prior art, the invention discloses a kind of copper pipe processing methods, including following step
Rapid: step S1 acquires image information of the copper pipe in material frame and the image information is sent to CPU；Step S2, CPU are from the figure
As the location information of information acquisition copper pipe, the three-dimensional coordinate of copper pipe is determined；Step S3, CPU by the three-dimensional coordinate of copper pipe export to
PLC；Step S4, PLC control manipulator according to the three-dimensional coordinate of copper pipe and grab copper pipe, and copper pipe is placed into fixed bit by manipulator
It sets, then grabs screw thread core print and be placed into copper pipe；Step S5, manipulator inject inner membrance oil into copper pipe, and then manipulator is by copper
Pipe is placed in the external mold of molding machine, carries out trombone slide.
Further, in step step S1, in, pass through three cameras and acquires image of the copper pipes in material frame.
Further, in step step S1, in, the camera is mounted in material frame.
Copper pipe processing method of the invention is grabbed and is carried to copper pipe by automation control, and production effect is improved
Rate.
In order to better understand and implement, the invention will now be described in detail with reference to the accompanying drawings.
Detailed description of the invention
Fig. 1 is flow chart of the invention.
Specific embodiment
Referring to Fig. 1, the invention discloses a kind of copper pipe processing methods, comprising the following steps: step S1 is pacified by three
The image information of copper pipe in camera acquisition material frame in material frame, and the image information is sent to CPU；Step S2, CPU
The location information that copper pipe is obtained from the image information determines the three-dimensional coordinate of copper pipe；Step S3, CPU are by the three-dimensional coordinate of copper pipe
It exports to PLC；Step S4, PLC control manipulator according to the three-dimensional coordinate of copper pipe and grab copper pipe, and copper pipe is placed into solid by manipulator
Positioning is set, then is grabbed screw thread core print and be placed into copper pipe；Step S5 injects inner membrance oil into copper pipe, and then manipulator is by copper pipe
It is placed in the external mold of molding machine, carries out trombone slide.
In the present embodiment, the image information of copper pipe in material frame is acquired by camera, and acquired image information is passed
CPU is passed, then PLC is communicated to by CPU identification and processing, PLC controls manipulator to complete the execution of instruction, grabs to copper pipe
In the external mold for taking and being carried to molding machine.System enters standby mode after order is completed, and waiting instructs next time.
The present invention by the acquisition of image, handle and export the position data of copper mouth piece, it is artificial to utilize manipulator to replace
It is operated.Acquisition module is the image that copper pipe in material frame is acquired with three cameras, and three cameras are separately fixed at
Different location in material frame, three cameras respectively shoot copper pipe from X-direction, Y direction and Z-direction, each
A camera institute acquired image finds the position of copper pipe End by the processing of CPU, and then utilizes three image datas
Three-dimensional coordinate data is passed to robot by the three-dimensional coordinate for determining copper pipe, executes crawl copper pipe, copper pipe is put into fixed position
It sets, places into screw thread core print, it is oily to add inner membrance, then copper pipe is penetrated in molding machine external mold, trombone slide starts.Then mechanical arm returns to
Original position waits the work of next passage.
The processing technique of CPU uses computer picture Visual analysis techniques in the present embodiment, by by background in scene and
Target separates and then analyzes and track the position of the target in camera scene, is adopted simultaneously in the present embodiment using three cameras
Collect image information, then image information is passed into CPU.After CPU receives image information, by the operation mode set,
It is converted to corresponding location information, and in defined region, the position of copper pipe is converted to a fixed coordinate, this seat
Mark can be identified and be executed by mechanical executive component.
Copper pipe processing method of the invention is grabbed and is carried to copper pipe by automation control, and production effect is improved
Rate.
The invention is not limited to above embodiment, if not departing from the present invention to various changes or deformation of the invention
Spirit and scope, if these changes and deformation belong within the scope of claim and equivalent technologies of the invention, then this hair
It is bright to be also intended to encompass these changes and deformation.
Claims (3)
1. a kind of copper pipe processing method, it is characterised in that: the following steps are included: step S1, acquires image of the copper pipe in material frame
The image information is simultaneously sent to CPU by information；Step S2, CPU obtain the location information of copper pipe from the image information, determine copper pipe
Three-dimensional coordinate；Step S3, CPU export the three-dimensional coordinate of copper pipe to PLC；Step S4, PLC are according to the three-dimensional coordinate control of copper pipe
Manipulator processed grabs copper pipe, and copper pipe is placed into fixed position by manipulator, then is grabbed screw thread core print and be placed into copper pipe；Step
S5, manipulator inject inner membrance oil into copper pipe, and then copper pipe is placed in the external mold of molding machine by manipulator, carries out trombone slide.
2. a kind of copper pipe processing method according to claim 1, it is characterised in that: in step step S1, in, pass through three
Camera acquires image of the copper pipe in material frame.
3. a kind of copper pipe processing method according to claim 2, it is characterised in that: in step step S1, in, the camera shooting
Head is mounted in material frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810843084.3A CN108942937A (en) | 2018-07-27 | 2018-07-27 | A kind of copper pipe processing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810843084.3A CN108942937A (en) | 2018-07-27 | 2018-07-27 | A kind of copper pipe processing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108942937A true CN108942937A (en) | 2018-12-07 |
Family
ID=64465605
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810843084.3A Pending CN108942937A (en) | 2018-07-27 | 2018-07-27 | A kind of copper pipe processing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108942937A (en) |
Citations (11)
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|---|---|---|---|---|
| CN104001836A (en) * | 2014-05-22 | 2014-08-27 | 辽宁省机械研究院有限公司 | Automatic vertical carrying device for heat exchanger core expansion tube and application method |
| CN104148533A (en) * | 2014-08-01 | 2014-11-19 | 徐州德坤电气科技有限公司 | Data bus based automatic copper pipe mouth expanding system of fin assembly |
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| CN105835060A (en) * | 2016-05-23 | 2016-08-10 | 先驱智能机械（深圳）有限公司 | Control method, control device and mechanical arm system |
| JP2016159320A (en) * | 2015-02-27 | 2016-09-05 | 新日鐵住金株式会社 | Manufacturing method and manufacturing apparatus for bent member |
| CN106181700A (en) * | 2016-07-27 | 2016-12-07 | 清华大学 | Bend pipe intelligence polishing system based on image recognition and intelligence polissoir |
| CN106694607A (en) * | 2017-01-06 | 2017-05-24 | 江苏兴荣高新科技股份有限公司 | High-automatic coil pipe feeding method and high-automatic series coil pipe machining equipment |
| CN107062912A (en) * | 2017-05-09 | 2017-08-18 | 湖北恒嘉科技有限公司 | A kind of bar vision positioning method and device |
| CN206622462U (en) * | 2017-03-04 | 2017-11-10 | 上海飞轮有色新材料股份有限公司 | One kind is used for anticorrosion copper pipe drawing die |
| CN107358630A (en) * | 2017-07-10 | 2017-11-17 | 长春工程学院 | A kind of ccd image processing localization method and removable welding fume extractor |
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- 2018-07-27 CN CN201810843084.3A patent/CN108942937A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104001836A (en) * | 2014-05-22 | 2014-08-27 | 辽宁省机械研究院有限公司 | Automatic vertical carrying device for heat exchanger core expansion tube and application method |
| CN104148533A (en) * | 2014-08-01 | 2014-11-19 | 徐州德坤电气科技有限公司 | Data bus based automatic copper pipe mouth expanding system of fin assembly |
| CN204366945U (en) * | 2014-12-01 | 2015-06-03 | 徐州德坤电气科技有限公司 | Based on the fin assembly code fetch manipulator of number bus |
| JP2016159320A (en) * | 2015-02-27 | 2016-09-05 | 新日鐵住金株式会社 | Manufacturing method and manufacturing apparatus for bent member |
| CN204800352U (en) * | 2015-06-17 | 2015-11-25 | 浙江海亮股份有限公司 | Automatic machine tool of pay -off |
| CN105835060A (en) * | 2016-05-23 | 2016-08-10 | 先驱智能机械（深圳）有限公司 | Control method, control device and mechanical arm system |
| CN106181700A (en) * | 2016-07-27 | 2016-12-07 | 清华大学 | Bend pipe intelligence polishing system based on image recognition and intelligence polissoir |
| CN106694607A (en) * | 2017-01-06 | 2017-05-24 | 江苏兴荣高新科技股份有限公司 | High-automatic coil pipe feeding method and high-automatic series coil pipe machining equipment |
| CN206622462U (en) * | 2017-03-04 | 2017-11-10 | 上海飞轮有色新材料股份有限公司 | One kind is used for anticorrosion copper pipe drawing die |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181207 |