CN110524125A - A kind of method for correcting error of laser pipe cutter tubing feeding - Google Patents
A kind of method for correcting error of laser pipe cutter tubing feeding Download PDFInfo
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- CN110524125A CN110524125A CN201911033999.9A CN201911033999A CN110524125A CN 110524125 A CN110524125 A CN 110524125A CN 201911033999 A CN201911033999 A CN 201911033999A CN 110524125 A CN110524125 A CN 110524125A
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- tubing
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- chuck mechanism
- clamping jaw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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Abstract
The invention discloses a kind of method for correcting error of laser pipe cutter tubing feeding.The section that the method for correcting error is suitable for the tubing is at least two figures for being mutually perpendicular to symmetry axis, which includes S1: tubing feeding, is clamped to front end, the rear end of clamping tubing；S1-1: auxiliary judgment operation, whether the front end for detecting tubing clamps steadily；S2: tubing is supported；S3: unclamping the clamping to tubing rear end, adjusts the clamping to tubing front end, carries out stable holding to the front end of tubing；S4: tubing rear end is clamped again；S5: tubing is conveyed from the front to the back.In tubing feeding process, tubing back-end realization is clamped twice, between clamping twice, after being supported to tubing, clamping adjustment is carried out in the front end of tubing, clamp the front end of tubing steady, machining accuracy is improved, and effectively reduces the phenomenon that tubing is distorted, is conducive to improve the quality of production, and the correction process of tubing is continuous, easy, is conducive to production efficiency.
Description
Technical field
The present invention relates to tubing feeding fields, and in particular to a kind of method for correcting error of laser pipe cutter tubing feeding.
Background technique
Traditional tube stock loading device can solve the problem of tubing automation feeding.As in the prior art, publication No. is
The Chinese invention patent application of CN109434274A discloses a kind of tube sheet one laser cutting device comprising tubing feeding dress
It sets, tubing feed device includes tubing rack, tubing mobile mechanism, rotation clamp system, tubing clamp system, rotates clamping machine
Structure is positioned close to the side of cutting equipment, and rotation clamp system and tubing clamp system are separated by setting, rotates clamping machine
Structure, tubing clamp system clamp the front end of tubing, rear end respectively, drive rotation clamp system mobile by tubing mobile mechanism, should
Tube sheet one laser cutting device further includes material supporting rack, and material supporting rack is for lifting tubing.
But in tubing feeding, there is the case where conveying noncircular cross section tubing, when conveying this tubing, because of pipe
The length of material is generally longer, thus when the front and rear ends to tubing clamp, it may appear that steadily manages to the back end grip of tubing
The front end of material certain angle rotation occurs and cause the front end of tubing to clamp clamping is not in place or jiggly situation, with reference to Fig. 2,
When clamping square tube, the front end of square tube may be rotated, if clamping by force to the front end reinforcing of tubing to it, make it with nature
State feeding, i.e. the shortest state of spacing of the mass center of tubing and lower clamping jaw certainly will lead to tubing to the front end reinforcing of tubing
Front and back ends twist relative occurs, deformed so as to cause tubing, and if the clamping of tubing is not adjusted, can be because
Pipe clamping is unstable, and biggish mismachining tolerance is easily caused in clamping process, influences the quality of production.
Therefore, it is necessary to a kind of reliable, effective tubing correction scheme is proposed for the such case occurred in feeding process.
Summary of the invention
In order to solve the above-mentioned technical problem, the purpose of the present invention is to provide a kind of corrections of laser pipe cutter tubing feeding
Method is adjusted the clamp position of tubing in feeding process, conveys it with stable clamp position.The laser is cut
The method for correcting error of pipe machine tubing feeding have the advantages that it is easy to operate, effectively reduce tubing front end and clamp unstable problem, protect
The stability and reliability of tubing feeding are held.
For achieving the above object, the technical solution adopted by the present invention is as follows:
A kind of method for correcting error of laser pipe cutter tubing feeding, the section of the tubing, which is rectangular, or section is has two to be mutually perpendicular to
Symmetry axis figure, which completes on feeding device, and the feeding device includes front chuck mechanism, rear chuck machine
Supporting mechanism, the front chuck mechanism, rear chuck mechanism and branch is arranged in structure between the front chuck mechanism and rear chuck mechanism
Support mechanism passes through PLC controller control；
The front chuck mechanism, rear chuck mechanism include the drive of upper and lower, the two pairs of clamping jaws in left and right and corresponding each clamping jaw setting
Moving part, the actuator driving is upper and lower, controls two clamping jaws in being arranged in pairs while moving towards or being moved away from；
Detection components are additionally provided in front chuck mechanism, the detection components include that at least one set is communicated with the PLC controller
The distance measuring sensor group of connection, each distance measuring sensor group include two ranging sensing elements, same group of distance measuring sensor group
Two ranging sensing elements be both secured to the direction of the clamping jaw on the same clamping jaw of front chuck mechanism and towards opposite side
Setting, the ranging sensing element of two of same group of distance measuring sensor group is positioned at the flat of the conveying direction perpendicular to the tubing
Center line on face and about clamping jaw is symmetrical；
The measurement end of ranging sensing element to clamping jaw clamping face spacing be D, clamp tubing after, the folder up and down of front chuck mechanism
Spacing between pawl clamping face is a, and the spacing between the left and right clamping jaw clamping face of front chuck mechanism is b；
The method for correcting error includes:
S1: on tubing feeding to front chuck mechanism, rear chuck mechanism；
S2: front chuck mechanism, rear chuck mechanism respectively clamp front end, the rear end of clamping tubing, and measurement or calculating obtain
Take a, b；
S3: judging pipe clamping state, and whether the front end for detecting tubing clamps steadily；
If tubing is that section is rectangular tubing, two ranging sensing elements measurement of the distance measuring sensor group on clamping jaw is judged
It is whether equal to the spacing between tubing, if the data of two ranging sensing elements measurement differ, execute S4；If two rangings
Sensing element measurement data are equal and the data value of the measurement is equal to D, then the front end of tubing is clamping steady state, skips S4
~ 6, execute S7；If the measurement of two ranging sensing elements data are equal and the data value of the measurement is greater than D, tubing is extreme
The unstable state of clamping, return execute S2；
If tubing is that section is non-square and section is tool there are two the tubing for the figure for being mutually perpendicular to symmetry axis, judge to press from both sides
Whether two ranging sensing elements of the distance measuring sensor group on pawl measure the spacing between tubing equal, if two rangings pass
The data of sensing unit measurement differ, then execute S4；If the measurement of two ranging sensing elements data are equal and b is equal to the length of tubing
Axis, a are equal to the short axle of tubing, then the front end of tubing is clamping steady state, skips S4 ~ 6, execute S7；If two ranging sensings
The data of element measurement are equal and a is equal to the long axis of tubing, b is equal to the short axle of tubing, then tubing is that extreme clamping is unstable
State returns and executes S2；
S4: tubing is supported by supporting mechanism；
S5: making rear chuck mechanism unclamp the clamping to tubing rear end, and front chuck mechanism carries out clamping adjustment to the front end of tubing；
S6: clamping rear chuck mechanism again to tubing volume rear end, returns and executes S3；
S7: tubing is conveyed from the front to the back.
It is arranged in this way, the front and rear ends of tubing is clamped first after tubing feeding, are clamped in advance, then to pipe
Material is supported, and is unclamped the clamping of tubing rear end, is adjusted to the clamping of tubing front end, clamps the front end of tubing steady
Afterwards, then to the rear end of tubing it clamps, because the rear end of tubing is as clout, so that the clamping to it is of less demanding, thus real
The correction process for having showed tubing feeding process is fed forward the front end of tubing to clamp stable state, ensure that processing
Quality, and avoid tubing from being distorted and the possibility that tubing is scrapped occur；
Before the correction step for carrying out S4 ~ S6, auxiliary judgment operation is carried out, because of the clamping of the tubing of each pair of one new feeding
Difference, increase auxiliary judgment operation can reduce and carry out unnecessary tune to the pipe clamping for meeting processing request situation
It is whole, improve the efficiency of production；
Ranging sensing element by being set to clamping jaw center line two sides respectively detects tubing, and current chuck mechanism is to pipe
When material steadily clamps, the process for skipping correction, directly feeding forward；And if tubing is clamping unstable state, needs to adjust, and is increased
Add this auxiliary judgment process, judge the whether stable automatic detection of pipe clamping to can realize, reduces and need artificial participate in
The trouble of judgement；
The clamping to the front and rear ends of tubing is realized by front chuck mechanism, rear chuck mechanism, by being set to front chuck mechanism
Supporting mechanism between rear chuck mechanism realizes the support to tubing, front chuck mechanism, rear chuck mechanism and supporting mechanism
It is controlled by a PLC controller, the automation for being advantageously implemented correction process carries out, and improves production efficiency.
Preferably, the supporting mechanism includes supporting part, supports actuator and support to place detecting element, the branch
It supports actuator and drives the supporting part lifting, the detecting element that supports to place is set on the supporting part, for detecting
State whether supporting part supports tubing in place, the support actuator and the detecting element that supports to place are controlled with the PLC
Device connection.
It is arranged in this way, support actuator movement is controlled by PLC controller, so that actuator be supported to drive supporting part
Lifting, by supporting that detecting element can detect whether supporting part has supported tubing in place in place, when tubing supports to place, support
Detecting element sends detection signal to PLC controller in place, thus PLC controller control support actuator stopping movement, thus
It avoids the occurrence of supporting part to rise so high the case where by tubing bending, or to avoid the occurrence of supporting part raised position insufficient and cause
Tubing falls the possibility for smashing supporting mechanism after unclamping the rear end of tubing.
Preferably, the detecting element that supports to place is travel switch, it is provided on the supporting part and accommodates tubing
Holding groove, the travel switch are fixed on the supporting part, and the triggering end of the travel switch is arranged upward and is higher than described
The bottom surface of holding groove, when tubing contacts and compresses the triggering end of the travel switch, the travel switch sends tubing support
Signal in place.
It is arranged in this way, the triggering end of stroke trigger switch is arranged to upward and is made it higher than the bottom surface of holding groove, from
And after tubing is contacted with the bottom surface of holding groove, tubing contacts and compresses the triggering end of travel switch, thus travel switch sending tube
The signal that material supports to place reaches so that PLC controller may be in response to this detection signal and control and support actuator stopping movement
The purpose accurately controlled.
Preferably, being provided with the holding groove for accommodating tubing on the supporting part, the detecting element that supports to place is light
Electricity is to pipe or infrared sensor, the bottom for supporting to place detecting element and being set to the two sidewalls of holding groove and leaning on the holding groove
The setting of portion side, when the bottom of tubing contact holding groove, the detecting element transmission tubing that supports to place supports to place signal.
It is arranged in this way, detecting element is supported to place by be set to holding groove two sides, when tubing touches support
It when the bottom of slot, supports to place detecting element and detects tubing barrier, so that sending tubing supports to place signal, and then PLC
Controller may be in response to this detection signal and control and support actuator stopping movement, achieve the purpose that accurately to control.
Preferably, the surface that all clamping jaws are contacted with the tubing is smooth surface.
It is arranged in this way, is exerted a force simultaneously by upper and lower, the two pairs of clamping jaws in left and right to tubing, realize the clamping to tubing, lead to
The smooth contact surface being arranged on clamping jaw is crossed, so that the clamping jaw of front chuck mechanism can retaining clip after the clamping of release tubing rear end
Clamp force exerts a force to the surface of tubing, so that tubing can occur relative movement or be rolled along the smooth surface of claw, realizes adaptive
Adjustment, adjustment is easy, reduces the possibility scratched to tubing, and reduction needs to clamp the release of front chuck mechanism again to be adjusted
Trouble.
Preferably, the distance measuring sensor group in the upper and lower clamping jaw of front chuck mechanism is respectively arranged one group and/or in preceding card
Respectively it is arranged one group on the left and right clamping jaw of disc mechanism.
It is arranged in this way, one group of distance measuring sensor group is respectively set in the upper and lower clamping jaw of front chuck mechanism, or in preceding card
One group of distance measuring sensor group is respectively arranged in the left and right clamping jaw of disc mechanism, thus upper and lower two groups of distance measuring sensor groups or a left side, two groups of surveys
The result of measurement judgement away from sensor can be used as reference, and reduction accidentally the situation of DATA REASONING mistake occurs, or both preceding
The upper and lower clamping jaw of chuck mechanism is respectively arranged one group of distance measuring sensor group and is respectively arranged one group in the left and right clamping jaw of front chuck mechanism again
Distance measuring sensor group can be used upper and lower clamping jaw as subsidiary, further decrease detection after left and right clamping jaw measures misalignment
The possibility of misalignment improves the accuracy and reliability of judgement.
Preferably, being provided with regulating mechanism on the clamping jaw, the regulating mechanism is passed for adjusting two rangings
The spacing and ranging sensing element of sensing unit are along the position of the centerline direction of the clamping jaw.
It is arranged in this way, by the way that regulating mechanism is arranged, the spacing of two ranging sensing elements is adjusted, thus suitable
The feeding process of tubing for different cross section size.
Preferably, the regulating mechanism include first adjust sliding rail, second adjust sliding rail, the first sliding block, the second sliding block,
First adjusts screw and the second adjusting screw, and the first adjusting sliding rail is fixed on institute along the direction perpendicular to clamping jaw center line
It states on clamping jaw, the second adjusting sliding rail, the first sliding block, the second sliding block correspond to each ranging sensing element and are respectively arranged one,
First sliding block is slideably positioned on the first adjusting sliding rail, it is described second adjusting sliding rail be fixedly connected with the first sliding block and with folder
The centerline parallel of pawl is arranged, and second sliding block is slideably positioned in described second and adjusts on sliding rail, the ranging sensing element
It is fixed on second sliding block, the first adjusting screw, the second adjusting screw are arranged in first sliding block, second respectively
Sliding block, described first, which adjusts screw and described first, adjusts sliding rail abutting with fixation first sliding block, the second adjusting spiral shell
Nail adjusts sliding rail with described second and pushes against with fixation second sliding block.
It is arranged in this way, by unscrewing the first adjusting screw, sliding rail can be adjusted along first and slide the first sliding block, to adjust
The spacing of two whole ranging sensing elements, with adapt to different cross section size tubing use demand by unscrewing the second adjusting
Screw, can along second adjust sliding rail slide the second sliding block, so as to adjust ranging sensing element along the position of clamping jaw centerline direction
It sets.
Preferably, being provided with adjustment along respective extending direction on the first adjusting sliding rail, the second adjusting sliding rail
Graduation mark.
Be arranged in this way, adjustment graduation mark can junior range sensing element spacing adjustment, convenient for accurate adjustment, also just
The ranging sensing element of two sides is symmetrical after making adjustment.
Compared with the existing technology, the present invention achieves beneficial technical effect:
1, in tubing feeding process, tubing back-end realization is clamped twice, between clamping twice, tubing is supported
Afterwards, clamping adjustment is carried out in the front end of tubing, clamps the front end of tubing steady, improves machining accuracy, and effectively reduce tubing
The phenomenon that being distorted is conducive to improve the quality of production, and the correction process of tubing is continuous, easy, is conducive to production efficiency.
2, before the correction step for executing tubing, the clamp position of tubing is detected, carries out auxiliary judgment, is reduced not
Necessary correction process improves loading efficiency, improves production efficiency.
3, front chuck mechanism is passed through respectively to the clamping of tubing front end, rear end, rear chuck mechanism is completed, the support to tubing
It completing by supporting mechanism, front chuck mechanism, rear chuck mechanism and supporting mechanism pass through PLC controller control, thus
It is easy to implement automation control, is easy to implement the automation of correction.
4, by supporting to place detecting element, tubing is detected whether to detect in place, so as to accurately detect
Whether supporting mechanism supports to tubing, avoids the occurrence of supporting mechanism and supports excessively high or underbraced.
5, by the way that smooth surface is arranged on the clamping jaw of front chuck mechanism, rear chuck mechanism is made to unclamp the folder to tubing rear end
After holding, the clamping jaw of front chuck applies clamping force to tubing, and tubing can be moved or be rotated along the smooth surface of clamping jaw, adjust to stabilization
Clamp position on.
6, by being arranged distance measuring sensor group on clamping jaw, two ranging sensing elements by distance measuring sensor group are to arriving
The spacing of tubing measures, and judges whether pipe clamping is stable clamp position according to the result of measurement, and it is unnecessary to reduce
Adjustment process, improve production efficiency.
7, by setting regulating mechanism, the spacing and survey of two ranging sensing elements in same distance measuring sensor group are adjusted
Away from sensing element along the position of clamping jaw centerline direction, to be applicable in the correction of the tubing of different cross section size.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of feeding device in the embodiment of the present invention 1；
Fig. 2 is the schematic diagram of the clamping jaw clamping tubing unstable state of the front chuck mechanism in the embodiment of the present invention 1；
Fig. 3 is that the clamping jaw of the front chuck mechanism in the embodiment of the present invention 1 adjusts to the schematic diagram of stable state the clamping of tubing；
Fig. 4 is the extreme case of the clamping jaw square shaped pipe clamping unstable state of the front chuck mechanism in the embodiment of the present invention 1
Schematic diagram；
Fig. 5 is that method for correcting error in the embodiment of the present invention 1 applies to the schematic diagram before the tubing correction of oval cross section；
Fig. 6 is that method for correcting error in the embodiment of the present invention 1 applies to the schematic diagram after the tubing correction of oval cross section；
Fig. 7 is pole of the clamping jaw to the pipe clamping unstable state of oval cross section of the front chuck mechanism in the embodiment of the present invention 1
Hold situation schematic diagram；
Fig. 8 is that method for correcting error in the embodiment of the present invention 1 applies to the schematic diagram before the tubing correction in oval section；
Fig. 9 is that method for correcting error in the embodiment of the present invention 1 applies to the schematic diagram after the tubing correction in oval section；
Figure 10 is pole of the clamping jaw to the pipe clamping unstable state in oval section of the front chuck mechanism in the embodiment of the present invention 1
Hold situation schematic diagram；
Figure 11 is installation site relation schematic diagram of the ranging sensing element on supporting part in the embodiment of the present invention 1；
Figure 12 is installation site relation schematic diagram of the ranging sensing element on supporting part in the embodiment of the present invention 2.
Wherein, the technical characteristic that each appended drawing reference is referred to is as follows:
1, tubing；2, front chuck mechanism；201, clamping jaw；3, rear chuck mechanism；4, supporting mechanism；401, supporting part；4011, it holds
Access slot；402, actuator is supported；403, detecting element is supported to place；5, PLC controller；6, distance measuring sensor group；601, ranging
Sensing element；7, regulating mechanism；701, first sliding rail is adjusted；702, second sliding rail is adjusted；703, the first sliding block；704, second is sliding
Block；705, first screw is adjusted；706, second screw is adjusted.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments to the present invention
It is further elaborated, but the scope of protection of present invention is not limited to following specific embodiments.
Embodiment 1
Present embodiment discloses a kind of method for correcting error of laser pipe cutter tubing feeding, and with reference to Fig. 1, which fills in feeding
Middle progress is set, feeding device includes front chuck mechanism 2, rear chuck mechanism 3 and supporting mechanism 4, and front chuck mechanism 2 is located at feeding
The front end of device, for clamping the front end of tubing 1, rear chuck mechanism 3 is used to clamp the rear end of tubing 1, and supporting mechanism 4 is set to
Between front chuck mechanism 2 and rear chuck mechanism 3, supporting mechanism 4 be arranged several, front chuck mechanism 2, rear chuck mechanism 3 and
Supporting mechanism 4 is connect with a PLC controller 5, and PLC controller 5 controls front chuck mechanism 2, rear chuck mechanism 3 and support machine
Structure 4 acts.
With reference to Fig. 1 and Figure 11, supporting mechanism 4 includes supporting part 401, support actuator 402 and supports to place detection
Element 403, supporting part 401 are used for support tubing 1, and support actuator 402 is telescopic cylinder or telescopic oil cylinder, support actuator
402 driving supporting parts 401 are gone up and down along the vertical direction, are supported to place detecting element 403 and are set on supporting part 401, for detecting
Whether supporting part 401 supports tubing 1 in place, support actuator 402 and support to place detecting element 403 with PLC controller 5 connect
It connects.
With reference to Figure 11, in the present embodiment, supporting to place detecting element 403 is travel switch, and travel switch is fixed on support
In portion 401, the holding groove 4011 for accommodating tubing 1 is offered on supporting part 401, the triggering end of travel switch is arranged and is higher than upward
The bottom surface of holding groove 4011, thus when tubing 1 is accepted in supporting part 401, and when the bottom surface of tubing 1 and holding groove 4011 contacts, pipe
Material 1 contacts and compresses the triggering end of travel switch, and travel switch sends tubing and supports to place signal to PLC controller 5, thus
PLC controller 5 may be in response to the tubing and support to place signal, with control support 402 stopping of actuator movement, stop supporting part
401 continue to increase, avoid the occurrence of supporting part 401 increase and the case where by 1 bending of tubing.
With reference to Fig. 1, Fig. 2, front chuck mechanism 2, rear chuck mechanism 3 include at least up and down, the two pairs of clamping jaws 201 in left and right and
The actuator (not shown) that corresponding each clamping jaw 201 is arranged, actuator driving up and down, the clamping jaw 201 that is arranged in pairs of left and right
Moving towards or being moved away from for two sides is driven simultaneously, and the surface that all clamping jaws 201 are contacted with tubing 1 is smooth surface.
It is provided in front chuck mechanism detection components (being not marked in figure), detection components include that at least one set of and PLC is controlled
Device communication connection distance measuring sensor group 6, distance measuring sensor group 6 and PLC controller communication connection refer to distance measuring sensor group 6 with
PLC controller can mutually transmit data and control signal, and each distance measuring sensor group 6 includes two ranging sensing elements
601, two ranging sensing elements 601 are both secured on the same clamping jaw 201 of front chuck mechanism 2 and ranging sensing element 601
The clamping jaw 201 of measurement end towards opposite side be arranged, two ranging sensing elements 601 are located at the conveying direction perpendicular to tubing 1
Center line in plane and about clamping jaw 201 is symmetrical, when tubing 1 steadily clamps, across the vertical line and clamping jaw of the mass center of tubing 1
201 center line is overlapped.
It is rectangular or the figure of section orthogonal symmetry axis for there are two that this method for correcting error, which is suitable for the section of tubing,
Shape, such as: section is the tubing (with reference to Fig. 2, Fig. 3, Fig. 4) of rectangle, tubing that section be ellipse (refer to Fig. 5, Fig. 6 and
Fig. 7), section is the tubing (referring to Fig. 8, Fig. 9 and Figure 10) of oval.
With reference to Fig. 3, Fig. 6, Fig. 9, when the section of tubing 1 is not rectangular, the section of tubing 1 includes a long axis, one short
Axis, in tubing section, the spacing between two farthest along its length points of outer pipe wall is long axis, and outer pipe wall is along width side
It is short axle to the spacing between two farthest points；Clamp stable state are as follows: long axis is parallel to the horizontal plane；If tubing 1 is side
Shape, the stable state of pipe clamping are as follows: when then four sides of tubing are bonded completely with the surface of four clamping jaws.
In the present embodiment, ranging sensing element 601 is infrared sensor.
The detectable signal of ranging sensing element 601 can wirelessly (such as bluetooth, WiFi) be transmitted to PLC controller
Inductive signal, to reduce the trouble of circuit-line laying.
With reference to Fig. 2, distance measuring sensor group 6 is respectively arranged one group in the upper and lower clamping jaw 201 of front chuck mechanism 2, or in preceding card
Respectively it is arranged one group on the left and right clamping jaw 201 of disc mechanism 2, or both in respectively one group of the setting of the upper and lower clamping jaw 201 of front chuck mechanism 2
Respectively it is arranged one group on the left and right clamping jaw 201 of front chuck mechanism 2 again.
In the present embodiment, not only in each one group of setting of the upper and lower clamping jaw 201 of front chuck mechanism 2 but also in front chuck mechanism 2
Respectively it is arranged one group on left and right clamping jaw 201, wherein the distance measuring sensor group 6 that upper gripper jaw is arranged in is main measurement sensor,
Distance measuring sensor group 6 on lower clamping jaw 201 is the control of the measurement judgement of the distance measuring sensor group 6 on upper gripper jaw, and is arranged
Distance measuring sensor group 6 on left and right clamping jaw then judges the alternative after misalignment as upper and lower clamping jaw distance measuring sensor group 6.
Resulting judging result is inconsistent after PLC controller 5 receives the data of the distance measuring sensor group 6 on the clamping jaw of two sides
When, the secondary measurement result can be abandoned and re-measured, if being still unable to unified result, then PLC controller 5 can be defeated after executing repeatedly
Fault message is detected out, is overhauled and is debugged for field personnel.
With reference to Fig. 2, regulating mechanism 7 is provided on clamping jaw 201, regulating mechanism 7 is for adjusting same group of distance measuring sensor group 6
Two ranging sensing elements 601 spacing and ranging sensing element 601 along the position of 201 center line of clamping jaw, regulating mechanism
Including first adjust sliding rail 701, second adjust sliding rail 702, the first sliding block 703, the second sliding block 704, first adjust screw 705 with
And second adjust screw 706, first adjusting sliding rail 701 is fixed on clamping jaw along the direction perpendicular to clamping jaw center line, second adjust
Section sliding rail 702, the first sliding block 703, the second sliding block 704 correspond to each respectively setting one of ranging sensing element 601, the first sliding block
703 are slideably positioned on the first adjusting sliding rail 701, second adjusting sliding rail 702 be fixedly connected with the first sliding block 703 and in clamping jaw
Heart line is arranged in parallel, and the second sliding block 704 is slideably positioned on the second adjusting sliding rail 702, and ranging sensing element 601 is fixed on second
On sliding block 704, the first adjusting screw 705, second adjusts screw 706 and is arranged in the first sliding block 703, the second sliding block 704 respectively, the
One adjusting screw 705 and the first adjusting sliding rail 701 are pushed against to fix the first sliding block 703, and second, which adjusts screw 706 and second, is adjusted
Sliding rail 702 is pushed against to fix the second sliding block 704.
First adjusting sliding rail 701, second, which is adjusted, is provided with adjustment graduation mark along respective extending direction on sliding rail 702,
With the accurate adjustment of junior range sensing element 601.
Regulating mechanism 7 can also be rack-and-pinion regulating mechanism and regulating mechanism similar in the prior art.
With reference to Fig. 1 and Fig. 2, the spacing of the clamping face of the measurement end of ranging sensing element to clamping jaw is D, distance measuring sensor
After adjustment is fixed, D is to determine value；After clamping tubing, the spacing between the clamping face of clamping jaw up and down of front chuck mechanism is a, preceding card
Spacing between the left and right clamping jaw clamping face of disc mechanism is b, and chuck body has the process to automatically reset before clamping, up and down
There is initial spacing X1, X2 between the clamping face of clamping jaw and the clamping face of left and right clamping jaw respectively, chuck body is pressed from both sides mobile
Can record the moving distance of each claw during pawl, the moving distance of such as upper and lower clamping jaw, left and right clamping jaw is respectively Y1, Y2,
A, b, i.e. a=X1-Y1, b=X2-Y2 can be calculated according to initial spacing and the moving distance of claw；
In the present embodiment, the program of calculating can be stored in PLC controller, front chuck mechanism is by initial spacing X1, X2 or more
Lower clamping jaw, left and right clamping jaw moving distance be respectively that Y1, Y2 are transmitted to PLC controller, PLC controller can according to X1, X2, Y1 with
And a, b is calculated in Y2.
In other embodiments, the spacing of measuring device real-time measurement up and down, between two clamping jaws in left and right can also be set,
Measuring device can be laser range finder or ultrasonic range finder.
The method for correcting error includes:
S1: tubing feeding, by manually or by manipulator carrying out feeding,
S2: front chuck mechanism, rear chuck mechanism respectively clamp front end, the rear end of clamping tubing, and measurement or calculating obtain
Take a, b；
S3: judging pipe clamping state, and whether the front end for detecting tubing clamps steadily；
If tubing is that section is rectangular tubing, two ranging sensing elements measurement of the distance measuring sensor group on clamping jaw is judged
It is whether equal to the spacing between tubing, if the data of two ranging sensing elements measurement do not wait and (refer to Fig. 2), execute S4；
If the measurement of two ranging sensing elements data are equal and the data value of the measurement is equal to D, the front end of tubing is that clamping is steady
State (refers to Fig. 3), skips S4 ~ 6, executes S7；If the measurement of two ranging sensing elements data are equal and the data of the measurement
Value is greater than D, then tubing is the extreme unstable state of clamping (referring to Fig. 4), returns and executes S2；
If tubing be section be non-square and section be tool there are two be mutually perpendicular to symmetry axis figure tubing (with reference to Fig. 5 ~
Figure 10), then judge two ranging sensing elements of the distance measuring sensor group on clamping jaw measure the spacing between tubing whether phase
Deng executing S4 if the data of two ranging sensing elements measurement are not equal (referring to Fig. 5, Fig. 8)；If two ranging sensing elements
The data of measurement are equal and b is equal to the long axis of tubing, a equal to the short axle (referring to Fig. 6, Fig. 9) of tubing, then the front end of tubing is folder
Steady state is held, S4 ~ 6 are skipped, executes S7；If the measurement of two ranging sensing elements data are equal and a be equal to tubing long axis,
B is equal to the short axle (referring to Fig. 7, Figure 10) of tubing, then tubing is the extreme unstable state of clamping, returns and executes S2；
S4: tubing is supported by supporting mechanism；
S5: making rear chuck mechanism unclamp the clamping to tubing rear end, and front chuck mechanism carries out clamping adjustment to the front end of tubing；
S6: clamping rear chuck mechanism again to tubing volume rear end, returns and executes S3；
S7: tubing is conveyed from the front to the back.
The clamping process of the front chuck institutional adjustment tubing of the S5 of the embodiment of the present invention 1 are as follows:
With reference to Fig. 2, when square tube of rectifying a deviation, before correction, the clamping jaw of front chuck mechanism and the surface of tubing are point contact, up and down, left and right
The power (i.e. F1, F2, F3, F4) that clamping jaw applies tubing not by the mass center of tubing, thus, the folder up and down of front chuck mechanism
Pawl, left and right clamping jaw generate two torques, i.e. M1, M2 to the power that tubing applies, and M1 is in the same direction with M2, unclamps the clamping to tubing rear end
Afterwards, under the action of M1, M2, tubing is rotated, thus adaptively adjust tubing to stable state (with reference to Fig. 3),
Complete the correction of tubing.
Fig. 5 and Fig. 8, before correction, the clamping jaw of front chuck mechanism and the surface of tubing are point contact, upper and lower, left and right clamping jaw
To tubing apply power (i.e. F1, F2, F3, F4) not by the mass center of tubing, thus, the clamping jaw up and down of front chuck mechanism, a left side
Right clamping jaw generates two torques, i.e. M1, M2 to the power that tubing applies, after unclamping to the clamping of tubing rear end, in the effect of M1, M2
Under, M1 and M2's is contrary, and the arm of force of F1, F2 are d1, and the arm of force of F3, F4 are d2, when F1, F2, F3 and F4 are equal, d1
> d2, because of M1=F1*d1=F2*d1；M2=F3*d2=F4*d2, so, M1 > M2, tubing is in the work that torque is Δ M=M1-M2
It is rotated under, to adaptively adjust tubing to stable state (with reference to Fig. 6 and Fig. 9), completes entangling for tubing
Partially.
Embodiment 2
With reference to Figure 12, present embodiment discloses the method for correcting error that another kind is applicable in the laser pipe cutter tubing feeding of above-described embodiment
Feeding device, be based on embodiment 1, and be with area's otherwise of embodiment 1:
In the present embodiment, detecting element 403 is supported to place for photoelectric tube or infrared sensor, on the two sidewalls of holding groove 4011
It offers mounting hole (being not marked in figure), mounting hole is arranged close to the side of 4011 bottom of holding groove, supports to place detecting element
403 are set in mounting hole, when tubing 1 contacts the bottom of holding groove 4011, support to place detecting element 403 and detect obstacle
Object supports to place signal to PLC controller 5, so that PLC controller 5 can be rung to support to place detecting element 403 and send tubing
Signal should be supported to place in the tubing, with control support 402 stopping of actuator movement, stop supporting part 401 and continue to increase, avoid
Occur supporting part 401 increase and the case where by 1 bending of tubing.
According to the disclosure and teachings of the above specification, those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula is changed and is modified.Therefore, the invention is not limited to the specific embodiments disclosed and described above, to the one of invention
A little modifications and changes should also be as falling into the scope of the claims of the present invention.In addition, although being used in this specification
Some specific terms, these terms are merely for convenience of description, does not constitute any restrictions to invention.
Claims (9)
1. a kind of method for correcting error of laser pipe cutter tubing feeding, which is characterized in that the section of the tubing is rectangular or section is
There is the figure of two orthogonal symmetry axis, which completes on feeding device, and the feeding device includes preceding card
Disc mechanism, rear chuck mechanism, are arranged supporting mechanism between the front chuck mechanism and rear chuck mechanism, the front chuck mechanism,
Rear chuck mechanism and supporting mechanism pass through PLC controller control；
The front chuck mechanism, rear chuck mechanism include the drive of upper and lower, the two pairs of clamping jaws in left and right and corresponding each clamping jaw setting
Moving part, the actuator driving is upper and lower, controls two clamping jaws in being arranged in pairs while moving towards or being moved away from；
Detection components are additionally provided in front chuck mechanism, the detection components include that at least one set is communicated with the PLC controller
The distance measuring sensor group of connection, each distance measuring sensor group include two ranging sensing elements, same group of distance measuring sensor group
Two ranging sensing elements be both secured to the direction of the clamping jaw on the same clamping jaw of front chuck mechanism and towards opposite side
Setting, the ranging sensing element of two of same group of distance measuring sensor group is positioned at the flat of the conveying direction perpendicular to the tubing
Center line on face and about clamping jaw is symmetrical；
The measurement end of ranging sensing element to clamping jaw clamping face spacing be D, clamp tubing after, the folder up and down of front chuck mechanism
Spacing between pawl clamping face is a, and the spacing between the left and right clamping jaw clamping face of front chuck mechanism is b；
The method for correcting error includes:
S1: on tubing feeding to front chuck mechanism, rear chuck mechanism；
S2: front chuck mechanism, rear chuck mechanism respectively clamp front end, the rear end of clamping tubing, and measurement or calculating obtain
Take a, b；
S3: judging pipe clamping state, and whether the front end for detecting tubing clamps steadily；
If tubing is that section is rectangular tubing, two ranging sensing elements measurement of the distance measuring sensor group on clamping jaw is judged
It is whether equal to the spacing between tubing, if the data of two ranging sensing elements measurement differ, execute S4；If two rangings
Sensing element measurement data are equal and the data value of the measurement is equal to D, then the front end of tubing is clamping steady state, skips S4
~ 6, execute S7；If the measurement of two ranging sensing elements data are equal and the data value of the measurement is greater than D, tubing is extreme
The unstable state of clamping, return execute S2；
If tubing is that section is non-square and section is tool there are two the tubing for the figure for being mutually perpendicular to symmetry axis, judge to press from both sides
Whether two ranging sensing elements of the distance measuring sensor group on pawl measure the spacing between tubing equal, if two rangings pass
The data of sensing unit measurement differ, then execute S4；If the measurement of two ranging sensing elements data are equal and b is equal to the length of tubing
Axis, a are equal to the short axle of tubing, then the front end of tubing is clamping steady state, skips S4 ~ 6, execute S7；If two ranging sensings
The data of element measurement are equal and a is equal to the long axis of tubing, b is equal to the short axle of tubing, then tubing is that extreme clamping is unstable
State returns and executes S2；
S4: tubing is supported by supporting mechanism；
S5: making rear chuck mechanism unclamp the clamping to tubing rear end, and front chuck mechanism carries out clamping adjustment to the front end of tubing；
S6: clamping rear chuck mechanism again to tubing volume rear end, returns and executes S3；
S7: tubing is conveyed from the front to the back.
2. the method for correcting error of laser pipe cutter tubing feeding according to claim 1, which is characterized in that the supporting mechanism
It including supporting part, supports actuator and supports to place detecting element, the support actuator drives the supporting part lifting, institute
It states and supports to place detecting element and be set on the supporting part, it is described for detecting whether the supporting part supports tubing in place
Support actuator supports to place detecting element and connect with the PLC controller with described.
3. the method for correcting error of laser pipe cutter tubing feeding according to claim 2, which is characterized in that described to support to place
Detecting element is travel switch, and the holding groove for accommodating tubing is provided on the supporting part, and the travel switch is fixed on described
On supporting part, the triggering end of the travel switch is arranged upward and is higher than the bottom surface of the holding groove, when tubing contacts and compresses
When the triggering end of the travel switch, the travel switch sends tubing and supports to place signal.
4. the method for correcting error of laser pipe cutter tubing feeding according to claim 2, which is characterized in that on the supporting part
It is provided with the holding groove for accommodating tubing, the detecting element that supports to place is described to support to for photoelectric tube or infrared sensor
Position detecting element is set to the two sidewalls of holding groove and is arranged by the bottom side of the holding groove, when tubing contact holding groove
When bottom, the detecting element transmission tubing that supports to place supports to place signal.
5. the method for correcting error of laser pipe cutter tubing feeding according to claim 1-4, which is characterized in that all
The surface that is contacted with the tubing of the clamping jaw be smooth surface.
6. the method for correcting error of laser pipe cutter tubing feeding according to claim 1-4, which is characterized in that described
Distance measuring sensor group the upper and lower clamping jaw of front chuck mechanism be respectively arranged one group and/or on the left and right clamping jaw of front chuck mechanism it is each
It is arranged one group.
7. the method for correcting error of laser pipe cutter tubing feeding according to claim 1-4, which is characterized in that described
Regulating mechanism is provided on clamping jaw, the regulating mechanism is used to adjust the spacing of two ranging sensing elements and ranging passes
Sensing unit is along the position of the centerline direction of the clamping jaw.
8. the method for correcting error of laser pipe cutter tubing feeding according to claim 7, which is characterized in that the regulating mechanism
Sliding rail, the second adjusting sliding rail, the first sliding block, the second sliding block, the first adjusting screw and the second adjusting screw are adjusted including first,
The first adjusting sliding rail is fixed on the clamping jaw along the direction perpendicular to clamping jaw center line, and the second adjusting sliding rail, first are slided
Block, the second sliding block correspond to each ranging sensing element and are respectively arranged one, and first sliding block is slideably positioned in the first tune
It saves on sliding rail, the second adjusting sliding rail is fixedly connected with the first sliding block and is arranged with the centerline parallel of clamping jaw, described second
Sliding block is slideably positioned in described second and adjusts on sliding rail, and the ranging sensing element is fixed on second sliding block, and described the
One adjusting screw, the second adjusting screw are arranged in first sliding block, the second sliding block respectively, described first adjust screw with it is described
First, which adjusts sliding rail, pushes against with fixation first sliding block, and described second, which adjusts screw, pushes against with the second adjusting sliding rail with solid
Fixed second sliding block.
9. the method for correcting error of laser pipe cutter tubing feeding according to claim 8, which is characterized in that described first is adjusted
Adjustment graduation mark is provided with along respective extending direction on sliding rail, the second adjusting sliding rail.
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| CN201911033999.9A CN110524125B (en) | 2019-10-29 | 2019-10-29 | Deviation rectifying method for pipe feeding of laser pipe cutting machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911033999.9A CN110524125B (en) | 2019-10-29 | 2019-10-29 | Deviation rectifying method for pipe feeding of laser pipe cutting machine |
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| CN110524125B CN110524125B (en) | 2020-02-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113414640A (en) * | 2021-08-24 | 2021-09-21 | 马拉兹(江苏)电梯导轨有限公司 | Laser positioning tool and positioning method for chamfering elevator guide rail |
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| CN110524125B (en) | 2020-02-21 |
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Address after: 528311 Beijiao Town, Shunde District, Foshan, Guangdong, Beijiao, 8, two Pearl River Road, industrial park, Patentee after: Guangdong Hongshi Laser Technology Co.,Ltd. Address before: 528311 Beijiao Town, Shunde District, Foshan, Guangdong, Beijiao, 8, two Pearl River Road, industrial park, Patentee before: FOSHAN BEYOND LASER TECHNOLOGY Co.,Ltd. |
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Address after: 528311 No. 4 Anye Road, Shunjiang Community Industrial Park, Beijiao Town, Shunde District, Foshan City, Guangdong Province Patentee after: Guangdong Hongshi Laser Technology Co.,Ltd. Address before: 528311 Beijiao Town, Shunde District, Foshan, Guangdong, Beijiao, 8, two Pearl River Road, industrial park, Patentee before: Guangdong Hongshi Laser Technology Co.,Ltd. |
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