CN110524125B - Deviation rectifying method for pipe feeding of laser pipe cutting machine - Google Patents
Deviation rectifying method for pipe feeding of laser pipe cutting machine Download PDFInfo
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- CN110524125B CN110524125B CN201911033999.9A CN201911033999A CN110524125B CN 110524125 B CN110524125 B CN 110524125B CN 201911033999 A CN201911033999 A CN 201911033999A CN 110524125 B CN110524125 B CN 110524125B
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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 deviation rectifying method for pipe feeding of a laser pipe cutting machine. The deviation rectifying method is suitable for the pipe with the section of a graph with at least two mutually perpendicular symmetrical axes, and comprises the following steps of S1: feeding the pipe, and clamping the front end and the rear end of the clamping pipe; s1-1: auxiliary judgment operation is carried out, and whether the front end of the pipe is clamped stably or not is detected; s2: supporting the pipe; s3: loosening the clamping on the rear end of the pipe, adjusting the clamping on the front end of the pipe, and stably clamping the front end of the pipe; s4: clamping the rear end of the pipe again; s5: the pipe is conveyed from back to front. In the pipe feeding process, the rear end of the pipe is clamped twice, and after the pipe is supported between the two clamping times, the front end of the pipe is clamped and adjusted, so that the front end of the pipe is clamped stably, the machining precision is improved, the phenomenon that the pipe is twisted is effectively reduced, the production quality is improved, the deviation rectifying process of the pipe is continuous and simple, and the production efficiency is improved.
Description
Technical Field
The invention relates to the field of pipe feeding, in particular to a deviation rectifying method for pipe feeding of a laser pipe cutting machine.
Background
The traditional pipe feeding device can solve the problem of automatic pipe feeding. In the prior art, the chinese patent application with publication number CN109434274A discloses a tube sheet integrated laser cutting device, which includes a tube feeding device, the tube feeding device includes a tube rack, a tube moving mechanism, a rotary clamping mechanism, a tube clamping mechanism, the rotary clamping mechanism is disposed at a side close to a cutting working device, the rotary clamping mechanism and the tube clamping mechanism are disposed at a distance, the rotary clamping mechanism and the tube clamping mechanism respectively clamp the front end and the rear end of a tube, the tube moving mechanism drives the rotary clamping mechanism to move, the tube sheet integrated laser cutting device further includes a material supporting frame, and the material supporting frame is used for supporting the tube.
However, when feeding a pipe, there is a situation of feeding a pipe with a non-circular cross section, when feeding such a pipe, because the length of the pipe is generally long, when clamping the front and rear ends of the pipe, the situation that the clamping of the front end of the pipe is not in place or stable due to the stable clamping of the rear end of the pipe and the certain angle rotation of the front end of the pipe occurs, referring to fig. 2, when clamping a square pipe, the front end of the square pipe may rotate, if the front end of the pipe is forced to clamp, the pipe is fed in a natural state, i.e. the state where the distance between the center of mass of the pipe and the lower clamping jaw is shortest, the forcing of the front end of the pipe will tend to cause the relative distortion of the front and rear ends of the pipe, thereby causing the deformation of the pipe, and if the clamping of the pipe is not adjusted, the clamping of the pipe will be unstable, and a large processing error is easily caused in the clamping process, affecting the quality of production.
Therefore, a reliable and effective pipe deviation rectifying scheme needs to be provided for the situation occurring in the feeding process.
Disclosure of Invention
In order to solve the above technical problems, an object of the present invention is to provide a deviation rectifying method for feeding a tube of a laser tube cutting machine, which adjusts a clamping state of the tube during feeding so that the tube is conveyed in a stable clamping state. The deviation rectifying method for pipe feeding of the laser pipe cutting machine has the advantages of being simple and convenient to operate, effectively reducing the problem that clamping of the front end of the pipe is unstable, and keeping stability and reliability of pipe feeding.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a deviation rectifying method for feeding a pipe of a laser pipe cutting machine is characterized in that the cross section of the pipe is square or the cross section of the pipe is a graph with two mutually perpendicular symmetrical axes, the deviation rectifying method is completed on a feeding device, the feeding device comprises a front chuck mechanism and a rear chuck mechanism, a supporting mechanism is arranged between the front chuck mechanism and the rear chuck mechanism, and the front chuck mechanism, the rear chuck mechanism and the supporting mechanism are all controlled by a PLC (programmable logic controller);
the front chuck mechanism and the rear chuck mechanism respectively comprise an upper pair of clamping jaws, a lower pair of clamping jaws, a left pair of clamping jaws and a right pair of clamping jaws and a driving piece arranged corresponding to each clamping jaw, and the driving pieces drive the two clamping jaws arranged in pairs of the upper pair, the lower pair, the left pair and the right pair to simultaneously move in opposite directions or move back to back;
the front chuck mechanism is also provided with a detection assembly, the detection assembly comprises at least one group of distance measuring sensor groups in communication connection with the PLC, each distance measuring sensor group comprises two distance measuring sensing elements, the two distance measuring sensing elements of the same group of distance measuring sensor group are fixed on the same clamping jaw of the front chuck mechanism and are arranged towards the direction of the clamping jaw at the opposite side, and the two distance measuring sensing elements of the same group of distance measuring sensor group are positioned on a plane perpendicular to the conveying direction of the pipe and are symmetrical about the center line of the clamping jaw;
the distance between the measuring end of the distance measuring sensing element and the clamping surface of the clamping jaw is D, after the pipe is clamped, the distance between the clamping surfaces of the upper clamping jaw and the lower clamping jaw of the front chuck mechanism is a, and the distance between the clamping surfaces of the left clamping jaw and the right clamping jaw of the front chuck mechanism is b;
the deviation rectifying method comprises the following steps:
s1: feeding the pipe to the front chuck mechanism and the rear chuck mechanism;
s2: the front chuck mechanism and the rear chuck mechanism respectively clamp the front end and the rear end of the clamped pipe, and a and b are obtained through measurement or calculation;
s3: judging the clamping state of the pipe, and detecting whether the front end of the pipe is stably clamped or not;
if the pipe is the pipe with the square section, judging whether the distance between the two distance measurement sensing elements of the distance measurement sensor group on the clamping jaw and the pipe is equal, and if the data measured by the two distance measurement sensing elements are not equal, executing S4; if the data measured by the two distance measuring sensing elements are equal and the measured data value is equal to D, the front end of the pipe is in a stable clamping state, S4-6 is skipped, and S7 is executed; if the data measured by the two distance measuring sensing elements are equal and the measured data value is greater than D, the pipe is in an extreme unstable clamping state, and the step of executing S2 is returned;
if the section of the pipe is non-square and the section of the pipe is a graph with two mutually perpendicular symmetry axes, judging whether the distance between the pipe measured by two distance measuring sensing elements of the distance measuring sensor group on the clamping jaw is equal or not, and if the data measured by the two distance measuring sensing elements are not equal, executing S4; if the data measured by the two distance measurement sensing elements are equal, b is equal to the long axis of the pipe, a is equal to the short axis of the pipe, the front end of the pipe is in a stable clamping state, S4-6 is skipped, and S7 is executed; if the data measured by the two distance measuring sensing elements are equal, a is equal to the long axis of the pipe, b is equal to the short axis of the pipe, the pipe is in an extreme unstable clamping state, and the step returns to execute S2;
s4: supporting the pipe through a supporting mechanism;
s5: the rear chuck mechanism is enabled to release the clamping of the rear end of the pipe, and the front chuck mechanism is enabled to clamp and adjust the front end of the pipe;
s6: the rear chuck mechanism clamps the rear end of the pipe again and returns to execute S3;
s7: the pipe is conveyed from back to front.
Through the arrangement, after the pipe is fed, the front end and the rear end of the pipe are clamped firstly to be pre-clamped, then the pipe is supported, the clamping of the rear end of the pipe is released, the clamping of the front end of the pipe is adjusted, the front end of the pipe is clamped stably, then the rear end of the pipe is clamped, and the rear end of the pipe is used as excess material, so that the clamping requirement on the pipe is not high, the deviation rectifying process of the pipe feeding process is realized, the front end of the pipe is conveyed forwards in a stable clamping state, the processing quality is ensured, and the possibility that the pipe is scrapped due to the fact that the pipe is twisted is avoided;
before the deviation rectifying steps of S4-S6 are carried out, auxiliary judgment operation is carried out, and because the clamping conditions of each pair of newly-fed pipes are different, the auxiliary judgment operation is added, so that unnecessary adjustment of pipe clamping meeting the processing requirements can be reduced, and the production efficiency is improved;
the pipe is detected by the ranging sensing elements arranged on the two sides of the central line of the clamping jaw respectively, and when the pipe is stably clamped by the current chuck mechanism, the deviation rectifying process is skipped, and the pipe is directly fed forwards; if the pipe is in an unstable clamping state, adjustment is needed, and the auxiliary judgment process is added, so that automatic detection for judging whether the pipe is clamped stably can be realized, and the trouble of manual judgment is reduced;
the pipe clamping device has the advantages that clamping of the front end and the rear end of a pipe is achieved through the front chuck mechanism and the rear chuck mechanism, supporting of the pipe is achieved through the supporting mechanism arranged between the front chuck mechanism and the rear chuck mechanism, the front chuck mechanism, the rear chuck mechanism and the supporting mechanism are all controlled through the PLC, automation of the deviation rectifying process is facilitated, and production efficiency is improved.
Preferably, the supporting mechanism comprises a bearing part, a supporting driving part and a supporting in-place detection element, the supporting driving part drives the bearing part to lift, the supporting in-place detection element is arranged on the bearing part and used for detecting whether the bearing part supports the pipe in place, and the supporting driving part and the supporting in-place detection element are connected with the PLC.
Through setting up like this, support the driving piece action through PLC controller control, thereby support driving piece drive supporting portion and go up and down, whether can already support tubular product to target in place through supporting the detection component detectable supporting portion that targets in place, when tubular product supports to target in place, support the detection component that targets in place and send detected signal to the PLC controller, thereby PLC controller control supports the driving piece stop motion, thereby avoid appearing supporting portion and rise too high and with the curved condition in tubular product top, perhaps avoid appearing supporting portion and rise the position not enough and lead to loosening behind the rear end of tubular product the tubular product drop and smash the possibility of bad supporting mechanism.
Preferably, the support in-place detection element is a travel switch, a bearing groove for accommodating a pipe is arranged on the bearing part, the travel switch is fixed on the bearing part, the trigger end of the travel switch is upwards arranged and higher than the bottom surface of the bearing groove, and when the pipe contacts and presses against the trigger end of the travel switch, the travel switch sends a pipe support in-place signal.
Through setting up like this, set up stroke trigger switch's trigger end up and make it be higher than the bottom surface of accepting the groove to tubular product and the bottom surface of accepting the groove back of contacting, tubular product contact and support stroke trigger switch's trigger end, thereby stroke switch sends tubular product and supports the signal that targets in place, thereby the PLC controller can respond to this detected signal and control and support driving piece stop motion, reaches accurate control's purpose.
Preferably, the supporting part is provided with a receiving groove for receiving the pipe, the in-position supporting detection element is a photoelectric geminate transistor or an infrared sensor, the in-position supporting detection element is arranged on two side walls of the receiving groove and is arranged close to one side of the bottom of the receiving groove, and when the pipe contacts the bottom of the receiving groove, the in-position supporting detection element sends a pipe supporting in-position signal.
Through the arrangement, the supporting in-place detection elements arranged on the two sides of the bearing groove detect the pipe obstacles when the pipes contact the bottom of the supporting groove, so that pipe supporting in-place signals are sent, and the PLC can respond to the detection signals to control the supporting driving piece to stop acting, thereby achieving the purpose of accurate control.
Preferably, the surfaces of all the clamping jaws which are in contact with the pipe are smooth surfaces.
Through setting up like this, through upper and lower, the left and right sides two pairs of clamping jaws is to tubular product application of force simultaneously, realize pressing from both sides tight to tubular product, through the smooth contact surface who sets up on the clamping jaw, make after the centre gripping of unclamping the tubular product rear end, the clamping jaw of preceding chuck mechanism can keep the clamp force, to the surface application of force of tubular product, make tubular product can take place relative movement or roll along the smooth surface of jack catch, realize self-adaptation adjustment, the adjustment is simple and convenient, reduce the possibility to the tubular product fish tail, it is troublesome to reduce to need make preceding chuck mechanism unclamp again and.
Preferably, the distance measuring sensor group is respectively arranged on the upper clamping jaw and the lower clamping jaw of the front clamping disc mechanism and/or is respectively arranged on the left clamping jaw and the right clamping jaw of the front clamping disc mechanism.
Through the arrangement, the upper clamping jaw and the lower clamping jaw of the front clamping disc mechanism are respectively provided with one group of distance measuring sensor group, or the left clamping jaw and the right clamping jaw of the front clamping disc mechanism are respectively provided with one group of distance measuring sensor group, so that the results of measurement judgment of the upper distance measuring sensor group and the lower distance measuring sensor group or the left distance measuring sensor group and the right distance measuring sensor group can be used as reference, the situation that data measurement errors happen occasionally is reduced, or the upper clamping jaw and the lower clamping jaw of the front clamping disc mechanism are respectively provided with one group of distance measuring sensor group, and the left clamping jaw and the right clamping jaw of the front clamping disc mechanism are respectively provided with one group of distance measuring sensor group.
Preferably, an adjusting mechanism is arranged on the clamping jaw and used for adjusting the distance between the two distance measuring sensing elements and the position of the distance measuring sensing element along the central line direction of the clamping jaw.
Through setting up like this, through setting up adjustment mechanism, adjust two distance measuring sensing element's interval to be applicable to the material loading process of the tubular product of different cross-section sizes.
Preferably, the adjusting mechanism includes a first adjusting slide rail, a second adjusting slide rail, a first slider, a second slider, a first adjusting screw, and a second adjusting screw, the first adjusting slide rail is fixed on the clamping jaw along a direction perpendicular to a central line of the clamping jaw, the second adjusting slide rail, the first slider, and the second slider are respectively disposed corresponding to each distance measuring sensing element, the first slider is slidably disposed on the first adjusting slide rail, the second adjusting slide rail is fixedly connected with the first slider and is disposed parallel to the central line of the clamping jaw, the second slider is slidably disposed on the second adjusting slide rail, the distance measuring sensing element is fixed on the second slider, the first adjusting screw and the second adjusting screw are respectively inserted into the first slider and the second slider, the first adjusting screw and the first adjusting slide rail are tightly abutted to fix the first slider, the second adjusting screw is tightly abutted to the second adjusting slide rail to fix the second slide block.
Through setting up like this, through unscrewing first adjusting screw, can follow first regulation slide rail and slide first slider to two range finding sensing element's of adjustment interval to the second adjusting screw can be followed to the second through unscrewing to the user demand of the tubular product of adaptation different cross-section sizes, and slide second slider is adjusted to the second, thereby the range finding sensing element of adjustment is along the position of clamping jaw central line direction.
Preferably, the first adjusting slide rail and the second adjusting slide rail are provided with adjusting scale marks along the extending direction of the first adjusting slide rail and the second adjusting slide rail.
Through setting up like this, the interval adjustment of range finding sensing element can be assisted to the adjustment scale mark, and the accurate adjustment of being convenient for is still convenient for make the range finding sensing element symmetry of adjustment back both sides.
Compared with the prior art, the invention has the beneficial technical effects that:
1. in the pipe feeding process, the rear end of the pipe is clamped twice, and after the pipe is supported between the two clamping times, the front end of the pipe is clamped and adjusted, so that the front end of the pipe is clamped stably, the machining precision is improved, the phenomenon that the pipe is twisted is effectively reduced, the production quality is improved, the deviation rectifying process of the pipe is continuous and simple, and the production efficiency is improved.
2. Before the step of rectifying deviation of carrying out tubular product, detect the clamping state of tubular product, carry out the auxiliary judgement, reduce the unnecessary process of rectifying deviation, improve material loading efficiency, improve production efficiency.
3. The front end and the rear end of the pipe are clamped respectively by the front chuck mechanism and the rear chuck mechanism, the pipe is supported by the supporting mechanism, and the front chuck mechanism, the rear chuck mechanism and the supporting mechanism are all controlled by the PLC controller, so that automatic control and correction automation are realized.
4. Through supporting the detecting element that targets in place, whether target in place to the detection of tubular product detects to can detect accurately whether supporting mechanism supports tubular product, avoid appearing that supporting mechanism supports too high or support not enough.
5. The smooth surface is arranged on the clamping jaw of the front chuck mechanism, so that after the rear chuck mechanism loosens the clamping to the rear end of the pipe, the clamping jaw of the front chuck exerts clamping force on the pipe, and the pipe can move or rotate along the smooth surface of the clamping jaw and is adjusted to a stable clamping state.
6. Through set up range sensor group on the clamping jaw, measure the interval to tubular product through two range sensor component of range sensor group, judge whether tubular product centre gripping is stable clamping state according to the measuring result, reduce the unnecessary adjustment process, improve production efficiency.
7. The distance between two distance measuring sensing elements in the same distance measuring sensor group and the position of the distance measuring sensing elements along the direction of the central line of the clamping jaw are adjusted by arranging the adjusting mechanism, so that the device is suitable for correcting the deviation of pipes with different cross sections.
Drawings
FIG. 1 is a schematic structural view of a charging device in example 1 of the present invention;
FIG. 2 is a schematic view showing an unstable state of the clamping jaw of the front chuck mechanism in the embodiment 1 of the present invention for clamping the pipe;
fig. 3 is a schematic view of the clamping of the pipe by the clamping jaws of the front chuck mechanism in embodiment 1 of the present invention adjusted to a stable state;
FIG. 4 is a schematic view of the clamping instability of the clamping jaws of the front chuck mechanism for clamping square pipes in the embodiment 1 of the present invention;
FIG. 5 is a schematic diagram of the deviation rectifying method in embodiment 1 of the present invention before being applied to the pipe with an elliptical cross section;
FIG. 6 is a schematic diagram of the deviation rectifying method in embodiment 1 of the present invention after being applied to the deviation rectification of a pipe with an elliptical cross section;
FIG. 7 is an extreme schematic view of the front chuck mechanism of example 1 of the present invention showing unstable clamping of a pipe of elliptical cross-section by the jaws;
FIG. 8 is a schematic diagram of the deviation rectifying method in embodiment 1 of the present invention before being applied to rectifying a pipe with a waist-round cross section;
FIG. 9 is a schematic diagram of the deviation rectifying method in embodiment 1 of the present invention after being applied to rectifying a pipe with a waist-round cross section;
FIG. 10 is a schematic view of the front chuck mechanism of example 1 of the present invention showing the extreme case of unstable clamping of a pipe material with a waisted cross-section by the jaws;
fig. 11 is a schematic view showing the installation position relationship of the distance measuring sensor element on the support part in embodiment 1 of the present invention;
fig. 12 is a schematic view of the installation position relationship of the distance measuring sensor element on the support portion in embodiment 2 of the present invention.
Wherein, the technical characteristics that each reference numeral refers to are as follows:
1. a pipe; 2. a front chuck mechanism; 201. a clamping jaw; 3. A rear chuck mechanism; 4. a support mechanism; 401. a bearing part; 4011. a receiving groove; 402. supporting the driving member; 403. supporting the in-position detection element; 5. a PLC controller; 6. a ranging sensor group; 601. a ranging sensing element; 7. an adjustment mechanism; 701. a first adjusting slide rail; 702. a second adjusting slide rail; 703. a first slider; 704. a second slider; 705. a first adjusting screw; 706. a second adjusting screw.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments, but the scope of the present invention is not limited to the following embodiments.
Example 1
The embodiment discloses a deviation rectifying method for pipe feeding of a laser pipe cutting machine, refer to fig. 1, the deviation rectifying method is carried out in a feeding device, the feeding device comprises a front chuck mechanism 2, a rear chuck mechanism 3 and a supporting mechanism 4, the front chuck mechanism 2 is located at the front end of the feeding device and used for clamping the front end of a pipe 1, the rear chuck mechanism 3 is used for clamping the rear end of the pipe 1, the supporting mechanism 4 is arranged between the front chuck mechanism 2 and the rear chuck mechanism 3, the supporting mechanism 4 is provided with a plurality of parts, the front chuck mechanism 2, the rear chuck mechanism 3 and the supporting mechanism 4 are all connected with a PLC (programmable logic controller) 5, and the PLC 5 controls the front chuck mechanism 2, the rear chuck mechanism 3 and the supporting mechanism 4 to act.
Referring to fig. 1 and 11, the supporting mechanism 4 includes a supporting portion 401, a supporting driving member 402, and a supporting in-place detecting element 403, the supporting portion 401 is used for supporting the pipe 1, the supporting driving member 402 is a telescopic cylinder or a telescopic cylinder, the supporting driving member 402 drives the supporting portion 401 to move up and down along a vertical direction, the supporting in-place detecting element 403 is disposed on the supporting portion 401 and is used for detecting whether the supporting portion 401 supports the pipe 1 in place, and both the supporting driving member 402 and the supporting in-place detecting element 403 are connected to the PLC controller 5.
Referring to fig. 11, in this embodiment, the in-place supporting detecting element 403 is a travel switch, the travel switch is fixed on the supporting portion 401, the supporting portion 401 is provided with a receiving groove 4011 for receiving the tube 1, and a trigger end of the travel switch is upward disposed and higher than a bottom surface of the receiving groove 4011, so that when the supporting portion 401 receives the tube 1 and the tube 1 contacts with the bottom surface of the receiving groove 4011, the tube 1 contacts and presses the trigger end of the travel switch, and the travel switch sends a tube supporting in-place signal to the PLC controller 5, so that the PLC controller 5 can respond to the tube supporting in-place signal to control the supporting driving member 402 to stop, stop the supporting portion 401 from continuing to rise, and avoid a situation that the supporting portion 401 rises to bend the tube 1.
Referring to fig. 1 and 2, each of the front chuck mechanism 2 and the rear chuck mechanism 3 includes at least two pairs of upper, lower, left, and right clamping jaws 201 and a driving member (not shown in the figure) corresponding to each clamping jaw 201, the driving member drives the two clamping jaws 201 disposed in pairs, which are arranged in pairs, to move toward or away from each other, and the surfaces of all the clamping jaws 201 contacting the tube 1 are smooth surfaces.
The front chuck mechanism is provided with a detection assembly (not marked in the figure), the detection assembly comprises at least one distance measuring sensor group 6 in communication connection with the PLC, the distance measuring sensor group 6 is in communication connection with the PLC, namely the distance measuring sensor group 6 and the PLC can mutually transmit data and control signals, each distance measuring sensor group 6 comprises two distance measuring sensing elements 601, the two distance measuring sensing elements 601 are fixed on the same clamping jaw 201 of the front chuck mechanism 2, the measuring ends of the distance measuring sensing elements 601 face the clamping jaw 201 on the opposite side, the two distance measuring sensing elements 601 are located on a plane perpendicular to the conveying direction of the pipe 1 and are symmetrical about the center line of the clamping jaw 201, and when the pipe 1 is stably clamped, the vertical line passing through the center of mass of the pipe 1 coincides with the center line of the clamping jaw 201.
The deviation rectifying method is suitable for the pipe with a square section or a figure with two mutually perpendicular symmetrical axes in the section, for example: a pipe material having a rectangular cross section (see fig. 2, 3, and 4), a pipe material having an oval cross section (see fig. 5, 6, and 7), and a pipe material having a waisted cross section (see fig. 8, 9, and 10).
Referring to fig. 3, 6 and 9, when the cross section of the pipe 1 is not square, the cross section of the pipe 1 includes a major axis and a minor axis, in the cross section of the pipe, the distance between the two points of the outer wall of the pipe farthest along the length direction is the major axis, and the distance between the two points of the outer wall of the pipe farthest along the width direction is the minor axis; the stable clamping state is as follows: the long axis is parallel to the horizontal plane; if the pipe 1 is square, the stable state of pipe clamping is as follows: the four sides of the tubing are fully engaged with the surfaces of the four jaws.
In this embodiment, the distance measuring sensor 601 is an infrared sensor.
The detection signal of the ranging sensing element 601 can transmit the sensing signal to the PLC controller in a wireless manner (e.g., bluetooth or WiFi), so as to reduce the trouble of circuit wiring.
Referring to fig. 2, the distance measuring sensor group 6 is provided in one group on each of the upper and lower jaws 201 of the front chuck mechanism 2, in one group on each of the left and right jaws 201 of the front chuck mechanism 2, or in both of the one group on each of the upper and lower jaws 201 of the front chuck mechanism 2 and the one group on each of the left and right jaws 201 of the front chuck mechanism 2.
In this embodiment, a group is respectively disposed on the upper and lower clamping jaws 201 of the front chuck mechanism 2, and a group is respectively disposed on the left and right clamping jaws 201 of the front chuck mechanism 2, wherein the distance measuring sensor group 6 disposed on the upper clamping jaw is a main measuring sensor, the distance measuring sensor group 6 on the lower clamping jaw 201 is a comparison of the measurement judgment of the distance measuring sensor group 6 on the upper clamping jaw, and the distance measuring sensor groups 6 disposed on the left and right clamping jaws are alternatives after the judgment of misalignment by the distance measuring sensor groups 6 of the upper and lower clamping jaws.
When the judgment results obtained after the PLC controller 5 receives the data of the distance measuring sensor groups 6 on the clamping jaws on the two sides are inconsistent, the measurement result can be abandoned and remeasured, if the result can not be unified after the PLC controller 5 executes for many times, the PLC controller 5 can output detection fault information for field workers to overhaul and debug.
Referring to fig. 2, an adjusting mechanism 7 is disposed on the clamping jaw 201, the adjusting mechanism 7 is used for adjusting the distance between two distance measuring sensing elements 601 of the same distance measuring sensor group 6 and the position of the distance measuring sensing element 601 along the center line of the clamping jaw 201, the adjusting mechanism includes a first adjusting slide rail 701, a second adjusting slide rail 702, a first slide block 703, a second slide block 704, a first adjusting screw 705 and a second adjusting screw 706, the first adjusting slide rail 701 is fixed on the clamping jaw along the direction perpendicular to the center line of the clamping jaw, the second adjusting slide rail 702, the first slide block 703 and the second slide block 704 are respectively disposed corresponding to each distance measuring sensing element 601, the first slide block 703 is slidably disposed on the first adjusting slide rail 701, the second adjusting slide rail 702 is fixedly connected with the first slide block 703 and is disposed parallel to the center line of the clamping jaw, the second slide block 704 is slidably disposed on the second adjusting slide rail 702, the distance measuring sensing element 601 is fixed on the second slide block 704, the first adjusting screw 705 and the second adjusting screw 706 are respectively inserted into the first slider 703 and the second slider 704, the first adjusting screw 705 is tightly abutted with the first adjusting slide rail 701 to fix the first slider 703, and the second adjusting screw 706 is tightly abutted with the second adjusting slide rail 702 to fix the second slider 704.
The first adjusting slide rail 701 and the second adjusting slide rail 702 are provided with adjusting scale marks along their extending directions to assist in the precise adjustment of the distance measuring sensor 601.
The adjustment mechanism 7 may also be a rack and pinion adjustment mechanism as well as similar adjustment mechanisms known in the art.
Referring to fig. 1 and 2, the distance from the measuring end of the distance measuring sensing element to the clamping surface of the clamping jaw is D, and after the distance measuring sensor is adjusted and fixed, D is a determined value; after a pipe is clamped, the distance between the clamping surfaces of the upper clamping jaw and the lower clamping jaw of the front chuck mechanism is a, the distance between the clamping surfaces of the left clamping jaw and the right clamping jaw of the front chuck mechanism is b, the chuck body has an automatic resetting process before clamping, an initial distance X1 and an initial distance X2 are respectively arranged between the clamping surfaces of the upper clamping jaw and the lower clamping jaw and between the clamping surfaces of the left clamping jaw and the right clamping jaw, the moving distance of each clamping jaw can be recorded in the process of moving the clamping jaw by the chuck body, for example, the moving distances of the upper clamping jaw, the lower clamping jaw and the left clamping jaw and the right clamping jaw are respectively Y1 and Y2, and a and b can be calculated according to the initial distances and the moving distances of the clamping;
in this embodiment, the calculated program may be stored in the PLC controller, the front chuck mechanism transmits the initial distances X1 and X2 to the PLC controller, and the moving distances of the upper and lower jaws and the left and right jaws are Y1 and Y2, respectively, and the PLC controller may calculate a and b from X1, X2, Y1, and Y2.
In other embodiments, a measuring device can be further arranged to measure the distance between the upper clamping jaw, the lower clamping jaw, the left clamping jaw and the right clamping jaw in real time, and the measuring device can be a laser distance meter or an ultrasonic distance meter.
The deviation rectifying method comprises the following steps:
s1: the tube is fed manually or by a manipulator,
s2: the front chuck mechanism and the rear chuck mechanism respectively clamp the front end and the rear end of the clamped pipe, and a and b are obtained through measurement or calculation;
s3: judging the clamping state of the pipe, and detecting whether the front end of the pipe is stably clamped or not;
if the pipe is a pipe with a square section, judging whether the distance between the two distance measurement sensing elements of the distance measurement sensor group on the clamping jaw and the pipe is equal, and if the data measured by the two distance measurement sensing elements are not equal (refer to fig. 2), executing S4; if the measured data of the two distance measuring sensing elements are equal and the measured data value is equal to D, the front end of the pipe is in a clamping stable state (refer to FIG. 3), S4-6 is skipped, and S7 is executed; if the measured data of the two distance measuring sensing elements are equal and the measured data value is greater than D, the pipe is in an extreme unstable clamping state (refer to FIG. 4), and the step returns to execute S2;
if the pipe is a pipe with a non-square cross section and a cross section of a graph with two mutually perpendicular symmetry axes (refer to fig. 5-10), judging whether the distance between the two distance measuring sensing elements of the distance measuring sensor group on the clamping jaw and the pipe is equal, and if the data measured by the two distance measuring sensing elements are not equal (refer to fig. 5 and 8), executing S4; if the data measured by the two distance measuring sensing elements are equal, b is equal to the long axis of the pipe, a is equal to the short axis of the pipe (refer to fig. 6 and 9), the front end of the pipe is in a stable clamping state, S4-6 is skipped, and S7 is executed; if the measured data of the two distance measuring sensing elements are equal, and a is equal to the long axis of the pipe and b is equal to the short axis of the pipe (refer to fig. 7 and 10), the pipe is in an extreme unstable clamping state, and the process returns to execute S2;
s4: supporting the pipe through a supporting mechanism;
s5: the rear chuck mechanism is enabled to release the clamping of the rear end of the pipe, and the front chuck mechanism is enabled to clamp and adjust the front end of the pipe;
s6: the rear chuck mechanism clamps the rear end of the pipe again and returns to execute S3;
s7: the pipe is conveyed from back to front.
The clamping process of the front chuck mechanism of S5 of the embodiment 1 of the invention for adjusting the pipe is as follows:
referring to fig. 2, when the square tube is rectified, before the square tube is rectified, the clamping jaws of the front chuck mechanism are in point contact with the surface of the tube, and the forces applied to the tube by the upper clamping jaw, the lower clamping jaw, the left clamping jaw and the right clamping jaw (namely, F1, F2, F3 and F4) do not pass through the center of mass of the tube, so that the upper clamping jaw, the lower clamping jaw, the left clamping jaw and the right clamping jaw of the front chuck mechanism generate two moments to the force applied to the tube, namely, M1, M2 and M1 are in the same direction as M2, after the clamping to the rear end of the tube is released, the tube rotates under the action of M1 and M2, so that the.
Fig. 5 and 8, before deviation correction, the clamping jaws of the front chuck mechanism are in point contact with the surface of the pipe, and the forces (i.e., F1, F2, F3 and F4) applied to the pipe by the upper, lower, left and right clamping jaws do not pass through the center of mass of the pipe, so that the upper, lower, left and right clamping jaws of the front chuck mechanism generate two moments, i.e., M1 and M2, on the force applied to the pipe, after the clamping on the rear end of the pipe is released, under the action of M1 and M2, the directions of M1 and M2 are opposite, the moment arms of F1 and F2 are d1, the moment arms of F3 and F4 are d2, and F1, F2, F3 and F4 are equal, d1> d2, and M1= F1 d1= F2 d 1; m2= F3 × d2= F4 × d2, so that M1> M2, the pipe rotates under the action of the moment Δ M = M1-M2, so that the pipe is adjusted to a stable state in a self-adaptive manner (refer to fig. 6 and 9), and the deviation of the pipe is corrected.
Example 2
Referring to fig. 12, the present embodiment discloses another feeding device applicable to the deviation rectifying method for feeding pipes of a laser pipe cutting machine according to the foregoing embodiment, which is based on embodiment 1 and is different from embodiment 1 in that:
in this embodiment, the in-place supporting detecting element 403 is a photoelectric geminate transistor or an infrared sensor, mounting holes (not labeled in the drawing) are formed in two side walls of the receiving groove 4011, the mounting holes are arranged near one side of the bottom of the receiving groove 4011, the in-place supporting detecting element 403 is arranged in the mounting holes, when the pipe 1 contacts the bottom of the receiving groove 4011, the in-place supporting detecting element 403 detects an obstacle, the in-place supporting detecting element 403 sends a pipe supporting in-place signal to the PLC controller 5, the PLC controller 5 can respond to the pipe supporting in-place signal to control the supporting driving element 402 to stop acting, the supporting portion 401 stops rising, and the situation that the supporting portion 401 rises to bend the pipe 1 is avoided.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (9)
1. A deviation rectifying method for pipe feeding of a laser pipe cutting machine is characterized in that the cross section of a pipe is square or the cross section of the pipe is a graph with two mutually perpendicular symmetry axes, the deviation rectifying method is completed on a feeding device, the feeding device comprises a front chuck mechanism and a rear chuck mechanism, a supporting mechanism is arranged between the front chuck mechanism and the rear chuck mechanism, and the front chuck mechanism, the rear chuck mechanism and the supporting mechanism are all controlled by a PLC (programmable logic controller);
the front chuck mechanism and the rear chuck mechanism respectively comprise an upper pair of clamping jaws, a lower pair of clamping jaws, a left pair of clamping jaws and a right pair of clamping jaws and a driving piece arranged corresponding to each clamping jaw, and the driving pieces drive the two clamping jaws arranged in pairs of the upper pair, the lower pair, the left pair and the right pair to simultaneously move in opposite directions or move back to back;
the front chuck mechanism is also provided with a detection assembly, the detection assembly comprises at least one group of distance measuring sensor groups in communication connection with the PLC, each distance measuring sensor group comprises two distance measuring sensing elements, the two distance measuring sensing elements of the same group of distance measuring sensor group are fixed on the same clamping jaw of the front chuck mechanism and are arranged towards the direction of the clamping jaw at the opposite side, and the two distance measuring sensing elements of the same group of distance measuring sensor group are positioned on a plane perpendicular to the conveying direction of the pipe and are symmetrical about the center line of the clamping jaw;
the distance between the measuring end of the distance measuring sensing element and the clamping surface of the clamping jaw is D, after the pipe is clamped, the distance between the clamping surfaces of the upper clamping jaw and the lower clamping jaw of the front chuck mechanism is a, and the distance between the clamping surfaces of the left clamping jaw and the right clamping jaw of the front chuck mechanism is b;
the deviation rectifying method comprises the following steps:
s1: feeding the pipe to the front chuck mechanism and the rear chuck mechanism;
s2: the front chuck mechanism and the rear chuck mechanism respectively clamp the front end and the rear end of the clamped pipe, and a and b are obtained through measurement or calculation;
s3: judging the clamping state of the pipe, and detecting whether the front end of the pipe is stably clamped or not;
if the pipe is the pipe with the square section, judging whether the distance between the two distance measurement sensing elements of the distance measurement sensor group on the clamping jaw and the pipe is equal, and if the data measured by the two distance measurement sensing elements are not equal, executing S4; if the data measured by the two distance measuring sensing elements are equal and the measured data value is equal to D, the front end of the pipe is in a stable clamping state, S4-6 is skipped, and S7 is executed; if the data measured by the two distance measuring sensing elements are equal and the measured data value is greater than D, the pipe is in an extreme unstable clamping state, and the step of executing S2 is returned;
if the section of the pipe is non-square and the section of the pipe is a graph with two mutually perpendicular symmetry axes, judging whether the distance between the pipe measured by two distance measuring sensing elements of the distance measuring sensor group on the clamping jaw is equal or not, and if the data measured by the two distance measuring sensing elements are not equal, executing S4; if the data measured by the two distance measurement sensing elements are equal, b is equal to the long axis of the pipe, a is equal to the short axis of the pipe, the front end of the pipe is in a stable clamping state, S4-6 is skipped, and S7 is executed; if the data measured by the two distance measuring sensing elements are equal, a is equal to the long axis of the pipe, b is equal to the short axis of the pipe, the pipe is in an extreme unstable clamping state, and the step returns to execute S2;
s4: supporting the pipe through a supporting mechanism;
s5: the rear chuck mechanism is enabled to release the clamping of the rear end of the pipe, and the front chuck mechanism is enabled to clamp and adjust the front end of the pipe;
s6: the rear chuck mechanism clamps the rear end of the pipe again and returns to execute S3;
s7: the pipe is conveyed from back to front.
2. The method for correcting the deviation of the pipe feeding of the laser pipe cutting machine according to claim 1, wherein the supporting mechanism comprises a bearing portion, a supporting driving member and a supporting in-place detecting element, the supporting driving member drives the bearing portion to ascend and descend, the supporting in-place detecting element is arranged on the bearing portion and used for detecting whether the bearing portion supports the pipe in place, and the supporting driving member and the supporting in-place detecting element are both connected with the PLC.
3. The deviation rectifying method for pipe feeding of the laser pipe cutting machine according to claim 2, wherein the in-position supporting detection element is a travel switch, a bearing groove for accommodating a pipe is formed in the bearing portion, the travel switch is fixed on the bearing portion, a trigger end of the travel switch is arranged upward and higher than a bottom surface of the bearing groove, and when the pipe contacts and presses against the trigger end of the travel switch, the travel switch sends a pipe supporting in-position signal.
4. The method for correcting the deviation of the pipe feeding of the laser pipe cutting machine according to claim 2, wherein a receiving groove for receiving the pipe is formed in the receiving portion, the in-position supporting detecting element is a photoelectric pair pipe or an infrared sensor, the in-position supporting detecting element is disposed on two side walls of the receiving groove and is disposed by one side of the bottom of the receiving groove, and when the pipe contacts the bottom of the receiving groove, the in-position supporting detecting element sends a pipe in-position supporting signal.
5. The method for correcting the feeding error of the pipe material of the laser pipe cutting machine according to any one of claims 1 to 4, wherein the surfaces of all the clamping jaws, which are in contact with the pipe material, are smooth surfaces.
6. The method for rectifying deviation of tube feeding of the laser tube cutting machine according to any one of claims 1 to 4, wherein the distance measuring sensors are respectively arranged on one group of upper and lower clamping jaws of the front chuck mechanism and/or one group of left and right clamping jaws of the front chuck mechanism.
7. The deviation rectifying method for pipe feeding of the laser pipe cutting machine according to any one of claims 1 to 4, wherein an adjusting mechanism is arranged on the clamping jaw, and the adjusting mechanism is used for adjusting the distance between the two distance measuring sensing elements and the position of the distance measuring sensing elements along the central line direction of the clamping jaw.
8. The method for correcting the deviation of the tube feeding of the laser tube cutting machine according to claim 7, wherein the adjusting mechanism comprises a first adjusting slide rail, a second adjusting slide rail, a first slide block, a second slide block, a first adjusting screw and a second adjusting screw, the first adjusting slide rail is fixed on the clamping jaw along a direction perpendicular to a central line of the clamping jaw, the second adjusting slide rail, the first slide block and the second slide block are respectively arranged on the first adjusting slide rail in a corresponding manner, the first slide block is slidably arranged on the first adjusting slide rail, the second adjusting slide rail is fixedly connected with the first slide block and is parallel to the central line of the clamping jaw, the second slide block is slidably arranged on the second adjusting slide rail, the distance measuring sensing element is fixed on the second slide block, and the first adjusting screw and the second adjusting screw are respectively arranged on the first slide block in a penetrating manner, The first adjusting screw is tightly abutted with the first adjusting slide rail to fix the first slide block, and the second adjusting screw is tightly abutted with the second adjusting slide rail to fix the second slide block.
9. The pipe feeding deviation rectifying method of the laser pipe cutting machine according to claim 8, wherein the first adjusting slide rail and the second adjusting slide rail are provided with adjusting scale marks along respective extending directions.
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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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| DE102010003807B4 (en) * | 2010-04-09 | 2013-01-31 | Trumpf Werkzeugmaschinen Gmbh + Co. Kg | Tube processing machine chuck and monitoring method therefor |
| CN103659006B (en) * | 2013-11-27 | 2015-01-28 | 武汉法利莱切割系统工程有限责任公司 | Center frame of square tube laser cutting machine |
| CN104708210B (en) * | 2015-01-30 | 2016-09-07 | 大族激光科技产业集团股份有限公司 | The aligning method of a kind of elliptical tube and laser cutting device |
| DE102015103653A1 (en) * | 2015-03-12 | 2016-09-15 | Lang Technik Gmbh | Automation-capable clamping system |
| US10416647B1 (en) * | 2016-04-27 | 2019-09-17 | Beneficial Machine Tools Llc | Apparatus for determining axes for the computer assisted setup of a machine tool table |
| US9903699B2 (en) * | 2016-04-27 | 2018-02-27 | Beneficial Photonics, Inc. | Apparatus for the computer assisted setup of a machine tool table |
| CN107790904A (en) * | 2017-11-15 | 2018-03-13 | 佛山市宏石激光技术有限公司 | A kind of drive device and clamping device of laser pipe cutter claw |
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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. |