CN112981080A - Copper pipe on-line production heat treatment device and process thereof - Google Patents

Copper pipe on-line production heat treatment device and process thereof Download PDF

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Publication number
CN112981080A
CN112981080A CN202110157557.6A CN202110157557A CN112981080A CN 112981080 A CN112981080 A CN 112981080A CN 202110157557 A CN202110157557 A CN 202110157557A CN 112981080 A CN112981080 A CN 112981080A
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copper pipe
temperature
coil
acquisition device
working
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CN112981080B (en
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韩毅
熊培州
张天雄
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Caoxian Ailun Metal Processing Co ltd
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Yanshan University
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    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
    • C21D9/08—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for tubular bodies or pipes
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D1/00—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering
    • C21D1/34—Methods of heating
    • C21D1/42—Induction heating
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D11/00—Process control or regulation for heat treatments
    • C—CHEMISTRY; METALLURGY
    • C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
    • C22F—CHANGING THE PHYSICAL STRUCTURE OF NON-FERROUS METALS AND NON-FERROUS ALLOYS
    • C22F1/00—Changing the physical structure of non-ferrous metals or alloys by heat treatment or by hot or cold working
    • C22F1/08—Changing the physical structure of non-ferrous metals or alloys by heat treatment or by hot or cold working of copper or alloys based thereon
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P10/00—Technologies related to metal processing
    • Y02P10/25—Process efficiency

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • Crystallography & Structural Chemistry (AREA)
  • Mechanical Engineering (AREA)
  • Materials Engineering (AREA)
  • Metallurgy (AREA)
  • Organic Chemistry (AREA)
  • General Induction Heating (AREA)

Abstract

The invention relates to a copper pipe on-line production heat treatment device and a process thereof, the device comprises a central processing unit, an operation platform, a copper pipe straightener and a copper pipe uncoiler, wherein the operation platform is divided into a plurality of working sections by partition plates, each working section is provided with a set of temperature acquisition device, a coil position adjusting device, a cylindrical induction heating coil, a disc-shaped induction heating coil and a manipulator, the first working section is provided with an image acquisition device, and the rest working sections are provided with a surface information acquisition device and a temperature acquisition device; when the device works, the image acquisition device, the surface information acquisition device and the temperature acquisition device acquire real-time data of the copper pipe, and the central processing unit analyzes the data and controls the coil position adjustment device and the manipulator to heat the copper pipe. The induction heating method for the copper pipe provided by the invention effectively solves the problem of uneven surface heating of the copper pipe caused by oscillation in the conveying process, and improves the uniformity of heating of the copper pipe.

Description

Copper pipe on-line production heat treatment device and process thereof
Technical Field
The invention relates to the field of induction heat treatment, in particular to a heat treatment device and a heat treatment process for online production of copper pipes.
Background
The heat treatment of the pipe is one of important processing links which affect the surface hardness, the fatigue strength and the plastic toughness of the pipe. The induction heat treatment of the pipe depends on the skin effect of induction heating, the heating penetration depth is controlled by changing the heating frequency, the pipe is subjected to heat treatment, and the induction heat treatment is widely applied due to the characteristics of high heating efficiency, controllable temperature, easiness in automation and the like. However, in the traditional heat treatment mode of the pipe, the pipe is mostly suspended in the induction coil, vibration is easily generated in the transmission process to enable the pipe to deviate from a heating center, the pipe is heated unevenly, so that the surface temperature difference is increased, and the mechanical property and the durability of the pipe are seriously weakened. Therefore, the problem of uneven heating of the copper tube caused by oscillation of the copper tube needs to be solved urgently in the process of induction heating of the tube.
Disclosure of Invention
The invention aims to provide a copper pipe on-line production heat treatment device and a process thereof, wherein a central processing unit processes and analyzes data collected by an image acquisition device and a surface information acquisition device, a servo motor in a coil position adjustment device is controlled to push a double-cam mechanism to adjust the position of a cylindrical induction heating coil, the distance between the inner surface of the cylindrical induction heating coil and the outer surface of a copper pipe is dynamically adjusted, the temperature acquisition device is used for acquiring the surface temperature of the copper pipe after the first heating is finished, the data is transmitted to the central processing unit, the central processing unit judges the surface temperature difference of the copper pipe and controls a manipulator to carry out secondary heating on the low-temperature part of the copper pipe, and the heating uniformity of the copper pipe is improved by measuring and heating.
Specifically, the technical scheme adopted by the invention is as follows:
the invention provides a copper pipe on-line production heat treatment device which comprises a central processing unit, an operation platform, a copper pipe straightener and a copper pipe uncoiler, wherein the copper pipe uncoiler comprises an uncoiler driving mechanism and an uncoiler driven mechanism, the uncoiler driving mechanism and the uncoiler driven mechanism are respectively arranged on two sides of the operation platform, and the copper pipe straightener is respectively arranged between the uncoiler driving mechanism and the operation platform and between the uncoiler driven mechanism and the operation platform;
the central processing unit is arranged on the front side of the operating platform, the operating platform is divided into a plurality of working sections through a plurality of partition plates, each working section is provided with an induction coil, a coil position adjusting device and a manipulator, a first working section adjacent to a driven mechanism of the uncoiler is provided with an image acquisition device and a temperature acquisition device, and the rest working sections are respectively provided with a surface information acquisition device and a temperature acquisition device;
the image acquisition device comprises a Y-shaped support frame and two vision sensors, the Y-shaped support frame is arranged on the upper end face of the operating platform, and the vision sensors are arranged on the inner side faces of two ends of the Y-shaped support frame;
the surface information acquisition device is arranged on the upper end face of the operating platform and comprises a rectangular support frame, two vision sensors and two infrared thermometers, wherein the two vision sensors are arranged on the inner side faces of two ends of the rectangular support frame, and the two infrared thermometers are arranged on the upper inner side face and the lower inner side face of the rectangular support frame;
the coil position adjusting device is arranged on the upper end surface of the operating platform and comprises two servo motors, a double cam mechanism and a cylindrical induction heating coil, the servo motors are arranged on left partition plates of all working sections on the operating platform, the servo motors are connected with the double cam mechanism through couplers, the double cam mechanism comprises two cams which move independently and a coil circuit module which is connected with the cams in a high pair mode, and the cylindrical induction heating coil is arranged at the front end of the coil circuit module;
the temperature acquisition device is arranged on the upper end surface of the operating platform and comprises an annular support frame and a plurality of temperature sensors, and the plurality of temperature sensors are uniformly distributed around the circle center of the annular support frame;
the bottom of the manipulator is connected with the front end face of the operating platform, the upper end of the manipulator is connected with a disc-shaped induction heating coil, the manipulator can move in a plane vertical to the front end face of the operating platform, the induction coil is used for carrying out primary heating, and the disc-shaped induction heating coil of the manipulator is used for carrying out secondary heating when needed;
starting from the second working interval, the central processing unit collects the data collected by the surface information collection devices in each working interval and analyzes the position and surface temperature distribution of the copper pipe at the same time, when the surface temperature difference of the copper pipe collected by the surface information collection devices in a certain working interval exceeds a system set value, the central processing unit preferentially controls the coil position adjusting device in the interval to move, the distance between the inner surface of the cylindrical induction heating coil and the surface low-temperature part of the copper pipe is reduced, the heating speed of the low-temperature part of the copper pipe is increased, when the surface temperature difference of the copper pipe is lower than the system set value, the working interval repeats the operation of the first working interval, the uncoiler driving mechanism bends and accommodates the processed copper pipe, and the central processing unit judges whether heating is terminated or not by calculating the transmission speed and the.
Preferably, the temperature acquisition device in each working interval detects the temperature of the surface of the copper pipe which is just subjected to heat treatment from the cylindrical induction heating coil, and transmits the acquired data to the central processing unit.
Preferably, the rectangular support frame is of a central symmetry structure.
Preferably, the copper pipe straightener is provided with two pairs of circular concave compression rollers, and axial symmetry lines between each pair of circular concave compression rollers are overlapped.
Preferably, the midpoint of the connecting line of the two vision sensors of the image acquisition device, the rectangular central point of the rectangular support frame, the circle center of the circular ring-shaped support frame and the symmetrical lines of the two pairs of compression roller shafts of the copper pipe straightener are all positioned on the same straight line.
Preferably, the invention provides an online production heat treatment process for copper pipes, which comprises the following steps:
s1, the system presets heating parameters for copper pipes of different specifications and heat treatment modes, and sets the central connecting line of the two vision sensors of the image acquisition device in the first working interval as X1Axis, X1The shaft is forward perpendicular to the front end surface of the operating platform and is perpendicular to the central connectionThe straight line with the middle point vertically upward is Y1Axis, Y1The axis forward direction is vertical to the upper end surface of the operating platform upwards, and the central connecting line of two visual sensors in the upper surface information acquisition device of n working intervals starting from the second working interval is set as Xn(n-2, 3, 4.) axis, XnThe shaft is forward perpendicular to the front end surface of the operating platform, and Y is setn( n 2, 3, 4.) the axis runs through the center of two infrared thermometers, YnThe axis is vertical to the upper end surface of the operating platform in the positive direction and faces upwards, and the X of the theoretical copper pipe center during heat treatment is setn*Yn*(n ═ 1, 2, and 3.) coordinates in the plane are superimposed on the origin of coordinates, and a deviation range R between the actual copper pipe center and the origin of the coordinate system is set during machining0Setting the temperature difference limit T on the surface of the copper pipeHCopper pipe transmission speed V0Length L of copper pipe to be heated0；
S2, introducing the copper tube into the induction heating device in advance, starting the surface information acquisition device, the temperature acquisition device and the copper tube uncoiler on two sides of the operating platform in each working area by using the central processing unit, enabling the uncoiler driving mechanism to pull the copper tube to move, and analyzing the real-time position data X of the axis of the copper tube measured by the image acquisition device in the first working area by using the central processing unit1、Y1And calculate
Figure BDA0002934348000000031
When the coaxiality error R of the induction coil1<R0When the coil position adjusting device behind the first working interval surface information collecting device is static, when R is1>R0Then the CPU controls the two servo motors in the coil position adjusting device in the first working interval to rotate, and the two cams in the driving device rotate by theta respectively11、θ12The coil circuit module and the cylindrical induction coil fixedly connected with the coil circuit module are enabled to translate in a plane vertical to the copper pipe until the coaxiality error R between the central axis of the cylindrical induction coil and the central axis of the copper pipe1<R0；
S3, from the second working interval, the CPU analyzes the surface information collecting device in each working intervalMeasured copper pipe axis real-time position data Xn、Yn(n ═ 2, 3, 4.) and calculated
Figure BDA0002934348000000041
On the basis, the highest temperature T of the surface temperature of the copper pipe is analyzed according to the temperature information collected by the surface information collecting devicen.maxAnd a minimum temperature Tn.minWhen T isn.max-Tn.min>THIn the time, the CPU controls the coil position adjusting device preferentially to reduce the temperature T between the inner surface of the cylindrical induction heating coil and the copper pipen.minDistance of the part, lift Tn.minThe temperature rise rate of the part and the surface temperature uniformity of the copper tube, at the measured Tn.max-Tn.min<THThen, the CPU calculates the coaxiality error RnSize when Rn>R0Then the CPU controls the two servo motors of the coil position adjusting device in the nth working interval to rotate, and the two cams in the driving device respectively rotate thetan1、θn2The coil circuit module and the cylindrical induction coil fixedly connected with the coil circuit module are enabled to translate in a plane vertical to the copper pipe until the coaxiality error R between the central axis of the cylindrical induction coil and the central axis of the copper pipen<R0；
S4, the temperature acquisition device in each working interval detects the temperature of the surface of the copper pipe which is just heat-treated from the cylindrical induction heating coil, transmits the monitoring data to the central processing unit, and analyzes the detected surface temperature Tn1、Tn2、Tn3.., and determining the highest temperature T of the surface temperature of the copper pipen-maxAnd a minimum temperature Tn-minWhen T isn-max-Tn-min<THWhen the temperature is measured, the manipulator behind the temperature acquisition device does not operate; when T isn-max-Tn-min>THThe central processing unit controls the manipulator behind the temperature acquisition device to control the surface temperature of the copper pipe to be Tn-minPerforming secondary induction heating on the part;
s5, CPU according to the transmission speed V of copper tube0And the heating time t is calculatedLength L of heating copper tube is V0X t, when L is L0When so, the heating is terminated.
The invention has the beneficial effects that:
1. according to the vibration condition of the copper pipe in the heating process, the spatial position of the induction coil is adjusted in real time, so that the distance between the outer surface of the copper pipe and the coil is maintained in an ideal range, the uniformity of the heated surface of the copper pipe is improved, temperature measurement and manipulator heat compensation are performed after the cylindrical induction coil is heated, the temperature difference on the surface of the copper pipe is further reduced, multiple times of heating and heat compensation are continuously performed in the heat treatment process of the copper pipe, the heated uniformity of the copper pipe can be improved, the induction heating depth of the copper pipe is more uniform, the mechanical property is obviously improved, and the problem that the copper pipe is heated unevenly due to vibration during suspended induction heating is effectively solved.
2. The invention adopts induction heating in the whole process of heat treatment of the copper pipe, can control the heating efficiency by adjusting the power frequency and power, uses various sensors of different types to monitor the position and the temperature of the surface of the copper pipe in real time, adjusts the position of a coil by a central processing unit in real time, automatically judges and stops heating in the final heating stage, realizes full-automatic control in the whole heating process of the copper pipe, improves the heat treatment quality of the copper pipe, improves the heating efficiency, simultaneously adopts electromagnetic induction heat treatment by taking electric energy as an energy source, has high heating efficiency and good working environment.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a first work area assembly drawing of the present invention;
FIG. 3 is a structural view of a coil position adjusting apparatus of the present invention;
FIG. 4 is a schematic diagram of the motion of the double cam mechanism of the present invention;
FIG. 5 is a structural view of a surface information collecting apparatus of the present invention;
FIG. 6 is a graph of the operating window set by the system;
FIG. 7 is a process flow diagram of the present invention.
Some of the reference numbers in the figures are as follows:
1-a central processing unit; 2-copper pipe; 3-an uncoiler driven mechanism; 4-copper pipe straightening machine; 5-circular concave press rolls; 6-an image acquisition device; 601-a Y-shaped support frame; 602-a vision sensor; 7-an operation table; 8-coil position adjusting means; 801-cylindrical induction heating coil; 802-servo motor; 803-a coupling; 804-bolt; 805-coil circuit module; 806-a camshaft; 807-a cam; 9-a surface information acquisition device; 901-a rectangular support frame; 902-infrared thermometer; 903 — a vision sensor; 10-a temperature acquisition device; 1001-circular ring shaped support frame; 1002-a temperature sensor; 11-a manipulator; 1101-a robot base; 1102-a robot arm; 1103-disc-shaped induction heating coil; 12-active mechanism of uncoiler.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
It should be noted that in the description of the present invention, the terms "upper end face", "front side", "both sides", "left side", "right side", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and the terms "two", "three", "four", etc. indicate that the articles indicating the number of devices and features are drawn based on the drawings only for the convenience of describing the present invention and simplifying the description, and do not mean that the devices or features must have a specific number, a specific orientation, be constructed and operated in a specific orientation.
In the embodiment of the invention, as shown in fig. 1, the invention provides a copper tube on-line production heat treatment device, which is used for carrying out induction heating on a copper tube 2. The copper pipe straightening machine comprises a central processing unit 1, an operation table 7, a copper pipe straightening machine 4, an uncoiler driving mechanism 12 and an uncoiler driven mechanism 3, wherein the uncoiler driving mechanism 12 and the uncoiler driven mechanism 3 are respectively arranged on two sides of the operation table, and the copper pipe straightening machine 4 is respectively arranged between the uncoiler driving mechanism 12 and the operation table 7 and between the uncoiler driven mechanism 3 and the operation table 7.
It should be noted that, in this embodiment, the operation table 7 is divided into three operation areas by the partition plate on the upper end surface thereof, and each operation area operates independently under the control of the central processing unit 1.
In this embodiment, as shown in fig. 1 and 2, a central processing unit 1 is disposed at the front side of an operation table 7, an uncoiler driven mechanism 3 is disposed at the leftmost side of a copper pipe induction heating device, an uncoiler driving mechanism 12 is disposed at the rightmost side of the copper pipe induction heating device, a first set of copper pipe straightener 4 is disposed between the uncoiler driven mechanism 3 and the operation table 7, the copper pipe straightener 4 is provided with two sets of circular concave pressing rollers 5, the central symmetry axis of each set of circular concave pressing rollers 5 coincides with the central axis of a copper pipe 2, an image acquisition device 6 is disposed in a first working zone at the left end of the operation table 7, an i-th coil position adjusting device 8 is disposed at the right side of the image acquisition device 6, two pairs of servo motors 802 in the i-th coil position adjusting device 8 are connected with a left partition plate of the first working zone of the operation table 7 through bolts 804, a cylindrical induction, the right side of the first coil position adjusting device 8 is provided with a first temperature acquisition device 10, a circular ring-shaped support frame 1001 of the first temperature acquisition device 10 is connected with the upper end surface of an operation table 7, the center of the circular ring-shaped support frame 1001 passes through the central axis of a copper pipe 2, the right side of the first temperature acquisition device 10 is provided with a first manipulator 11, a base 1101 of the first manipulator 11 is connected with the front end surface of the operation table 7, a second working area and a third working area on the operation table 7 are provided with a set of same heat treatment device, the left end surfaces of the second working area and the third working area are respectively provided with a first surface information acquisition device 9 and a second surface information acquisition device 9, the right sides of the first surface information acquisition device 9 and the second surface information acquisition device are provided with a second coil position adjusting device and a third coil position adjusting device, two pairs of servo motors 802 in the second coil position adjusting device and the third coil position adjusting device 8 are, the front ends of the II and III coil position adjusting devices 8 are provided with cylindrical induction heating coils 801, the right sides of the II and III coil position adjusting devices 8 are provided with II and III temperature collecting devices 10, circular ring-shaped supporting frames 1001 of the II and III temperature collecting devices 10 are connected with the upper end face of an operating platform 7, the center of a circle of each circular ring-shaped supporting frame 1001 passes through the central axis of a copper pipe 2, the right sides of the II and III temperature collecting devices 10 are provided with II and III manipulators 11, bases 1101 of the II and III manipulators 11 are connected with the front end face of the operating platform 7, a second group of copper pipe straightening machines 4 are arranged between the right side of the operating platform 7 and an uncoiler driving mechanism 12, the copper pipe straightening machines 4 are provided with two groups of circular concave compression rollers 5, and the central symmetry axis of each group of circular concave compression rollers 5 coincides with the central axis of the.
In this embodiment, as shown in fig. 2, the image capturing device 6 includes a Y-shaped support 601 and two vision sensors 602, and the vision sensors 602 are disposed on inner sides of left and right ends of the Y-shaped support.
In this case, as shown in fig. 2, the temperature acquisition device 10 includes an annular support 1001 and four temperature sensors 1002, and the temperature sensors 1002 are uniformly arranged inside an annular of the support around a center of the annular support 1001.
In this embodiment, as shown in fig. 2, the robot 11 includes a base 1101, a robot arm 1102, and a disc-shaped induction heating coil 1103, and the robot 11 is provided with the disc-shaped induction heating coil 1103 at the end and is movable in a plane perpendicular to the copper tubes 2 in a translational manner.
In this embodiment, as shown in fig. 3, the coil position adjusting device 8 includes a cylindrical induction heating coil 801, a servo motor 802, a coupling 803, a bolt 804, a coil circuit module 805, a cam shaft 806, and a cam 807. The motor axes of the two servo motors 802 are parallel to each other and located in the same vertical plane, the servo motors 802 are connected with a cam shaft 806 through a coupling 803, a cam 807 and a coil circuit module 805 form a high pair, and a cylindrical induction heating coil 801 is connected with the front end of the coil circuit module 805.
In this embodiment, as shown in the schematic diagram of the movement of the double cam mechanism in the coil position adjusting device 8 shown in fig. 4, two cams 807 in the double cam mechanism rotate independently from each other and drive the coil circuit module 805 and the cylindrical induction heating coil 801 to move, so as to generate a circular ring movement region with an inner and outer diameter difference h, where a base circle of the cam 807 is an inner diameter of the circular ring, and a working lift distance h of the cam 807 is an inner and outer diameter difference of the circular ring.
In this embodiment, as shown in fig. 5, the surface information collecting device 9 includes a rectangular support 901, two temperature sensors 902, and two visual sensors 903, the two temperature sensors 902 are disposed on the upper and lower inner sides of the rectangular support 901, the two visual sensors 903 are disposed on the left and right inner sides of the rectangular support 901, the rectangular support 901 is disposed on the upper end surface of the console 7, and an intersection point of the central connecting lines of the two temperature sensors 902 and the two visual sensors 903 is located in the center of the rectangular support 901.
When the device works, the driving mechanism 12 of the uncoiler rotates and drags the copper pipe 2 to transmit, the copper pipe 2 is transmitted from the driven mechanism 3 of the uncoiler, enters the copper pipe straightener 4, the copper pipe 2 is straightened by the circular concave compression roller 5 on the copper pipe straightener 4, the copper pipe 2 enters the first working interval at the left side of the operating platform 7 after being straightened by the circular concave compression roller 5, the image of the copper pipe 2 is firstly collected by the image collecting device 6 and transmitted to the central processing unit 1 for analysis, whether the copper pipe 2 is matched with the space coordinate position set by the system is judged, the central processing unit 1 controls the coil position adjusting device 8 to adjust the space position of the cylindrical induction coil 801 in real time, the copper pipe 2 enters the cylindrical induction heating coil 801 for heat treatment after passing through the image collecting device 6, the temperature collecting device 10 measures the surface temperature of the copper pipe 2 transmitted from the cylindrical induction heating coil 801, and the measured data is transmitted to the central processing unit 1, the central processing unit 1 analyzes the surface temperature data of the copper pipe 2, and judges whether the manipulator 11 on the right side of the temperature acquisition device 10 needs to control to carry out secondary induction heating on the surface of the copper pipe 2, from the second working interval, the central processing unit 1 collects the data acquired by the inner surface information acquisition device 9 in each working interval, and simultaneously analyzes the position and the surface temperature distribution of the copper pipe 2, when the surface temperature difference of the copper pipe 2 collected by the inner surface information acquisition device 9 in a certain working interval exceeds the set value of the system, the central processing unit 1 preferentially controls the coil position adjusting device 8 in the working interval to move 801, so as to reduce the distance between the inner surface of the cylindrical induction heating coil and the low-temperature part on the surface of the copper pipe 2, thereby increasing the heating speed of the low-temperature part of the, the operation of the first working interval is repeated in the working interval, the processed copper tube 2 is curled and stored by the uncoiler driving mechanism 12, and the central processing unit 1 judges the heating termination by calculating the transmission speed and the heating time of the copper tube 2.
Referring to fig. 7, a specific flow of the copper tube on-line production heat treatment process provided by the invention is shown, and the process specifically comprises the following steps:
the system presets heating parameters aiming at copper pipes 2 with different specifications and heat treatment modes: as shown in fig. 6, a connection line of central axes of two vision sensors in the image capturing device 6 in the first working interval is set to be X1Axis, X1The shaft is forward perpendicular to the front end surface of the operating platform, and Y is set1The axis passes through the central connecting line, Y, of the two vision sensors 602 in each image acquisition device 61The axial forward direction is vertical to the upper end face of the operating table, and the central connecting line of two visual sensors 903 in the first and second surface information acquisition devices 9 is set as X2、X3The central line of the shaft and the two infrared thermometers 902 is Y2、Y3Axis, X of copper tube 21Y1、X2Y2、X3Y3The desired coordinate in the plane is (0, 0), and the copper tube 2 and the coordinate axis X in the image pickup device 6 are setnYn( n 1, 2, 3.) deviation range R of origin0Setting the surface temperature difference limit T of the copper pipe 2 as 5mmHCopper tube 2 transport speed V at 40 DEG C00.1m/s, length L of copper pipe 2 to be heated0＝200m。
The copper pipe 2 is led into an induction heating device in advance, a central processing unit 1 is used for starting an image acquisition device 6 in each first interval, a surface information acquisition device 9 in each second interval and each third interval, all temperature acquisition devices 10 and an uncoiler driving mechanism 12 on the right side of an operation table 7, the copper pipe 2 is driven by the uncoiler driving mechanism 12 to move, and the central processing unit 1 is used for analyzing data acquired by the image acquisition device 6 and the surface information acquisition device 9 in each working interval, wherein the data are shown in the following table:
coordinate interval First working interval Second working interval Third operating interval
X 4.2 5.0 4.7
Y 3.5 4.1 3.1
Temperature (DEG C) interval First working interval Second working interval Third operating interval
Tmax — 390 450
Tmin — 340 430
Central processing unit 1 calculates
Figure BDA0002934348000000091
Coaxiality error R of copper pipe 2 in first interval1≈5.5mm，R1>R0The servo motor 802 in the driving coil position adjusting device 8 of the central processing unit 1 rotates to drive the two cams 805 in the double cam mechanism to rotate by theta11、θ12The coil circuit module 804 and the cylindrical induction coil 801 fixedly connected with the coil circuit module are enabled to translate in a plane vertical to the copper tube 2, and the central axis of the cylindrical induction coil 801 moves towards the central axis of the copper tube 2 to enable the coaxiality error R to be caused1<5 mm; copper pipe 2 coaxiality error R in second working interval2≈6.5mm，R2>R0At the same time T2.max-T2.min＝50>THThen, the CPU 1 drives the servo motor 802 in the interval coil position adjusting device 8 to rotate, so as to reduce the temperature T between the inner side of the cylindrical induction heating coil 801 and the surface of the copper tube 22.minThe distance between the parts and the temperature T of the copper pipe 2 are increased2.minThe heating efficiency of the part is improved, so that the temperature uniformity of the surface of the copper pipe 2 is improved; copper pipe 2 coaxiality error R in third working interval3≈5.6>5mm, at the same time T3.max-T3.min＝20<THThen, the central processing unit 1 drives the servo motor 802 in the coil position adjusting device 8 in the third working interval to rotate, and drives the two cams 805 in the double cam mechanism to rotate by θ respectively31、θ32The coil circuit module 804 and the cylindrical induction coil 801 fixedly connected with the coil circuit module are enabled to translate in a plane vertical to the copper tube 2, and the central axis of the cylindrical induction coil 801 moves towards the central axis of the copper tube 2 to enable the coaxiality error R to be caused3<5mm。
The temperature acquisition device 10 in each working interval detects the temperature of the surface of the copper tube 2 which has just been heat-treated by the cylindrical induction heating coil 801, and transmits the acquired data to the central processing unit 1, and the acquired data are as follows:
Figure BDA0002934348000000101
t of T1, T2, T3 and T4 of surface temperatures T of copper tube 2 detected by the temperature acquisition device in the first working interval1-max-T1-min＝70>THThen the central processing unit 1 controls the manipulator 11 behind the temperature acquisition device 10 in the first working interval to perform secondary induction heating on the T2 part; t of T1, T2, T3 and T4 of surface temperatures T of copper tube 2 detected by the temperature acquisition device in the second working interval2-max-T2-min＝21<THThe manipulator 11 located behind the temperature acquisition device 10 does not operate; t of T1, T2, T3 and T4 of surface temperatures T of copper tube 2 detected by the temperature acquisition device in the third working interval3-max-T3-min＝14<TH, the robot 11 located behind the temperature collection device 10 does not operate.
When the heating time t is 2000s, the cpu 1 calculates L V0×t＝200m，L＝L0And the heating is finished.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims (6)

1. The utility model provides a copper pipe on-line production heat treatment device which characterized in that: the copper pipe uncoiler comprises an uncoiler driving mechanism and an uncoiler driven mechanism, wherein the uncoiler driving mechanism and the uncoiler driven mechanism are respectively arranged on two sides of the operating platform, and the copper pipe straightener is respectively arranged between the uncoiler driving mechanism and the operating platform and between the uncoiler driven mechanism and the operating platform;
the central processing unit is arranged on the front side of the operating platform, the operating platform is divided into a plurality of working sections through a plurality of partition plates, each working section is provided with an induction coil, a coil position adjusting device and a manipulator, a first working section adjacent to a driven mechanism of the uncoiler is provided with an image acquisition device and a temperature acquisition device, and the rest working sections are respectively provided with a surface information acquisition device and a temperature acquisition device;
the image acquisition device comprises a Y-shaped support frame and two vision sensors, the Y-shaped support frame is arranged on the upper end face of the operating platform, and the vision sensors are arranged on the inner side faces of two ends of the Y-shaped support frame;
the surface information acquisition device is arranged on the upper end face of the operating platform and comprises a rectangular support frame, two vision sensors and two infrared thermometers, wherein the two vision sensors are arranged on the inner side faces of two ends of the rectangular support frame, and the two infrared thermometers are arranged on the upper inner side face and the lower inner side face of the rectangular support frame;
the coil position adjusting device is arranged on the upper end surface of the operating platform and comprises two servo motors, a double cam mechanism and a cylindrical induction heating coil, the servo motors are arranged on left partition plates of all working sections on the operating platform, the servo motors are connected with the double cam mechanism through couplers, the double cam mechanism comprises two cams which move independently and a coil circuit module which is connected with the cams in a high pair mode, and the cylindrical induction heating coil is arranged at the front end of the coil circuit module;
the temperature acquisition device is arranged on the upper end surface of the operating platform and comprises an annular support frame and a plurality of temperature sensors, and the plurality of temperature sensors are uniformly distributed around the circle center of the annular support frame;
the bottom of the manipulator is connected with the front end face of the operating platform, the upper end of the manipulator is connected with a disc-shaped induction heating coil, the manipulator can move in a plane vertical to the front end face of the operating platform, the induction coil is used for carrying out primary heating, and the disc-shaped induction heating coil of the manipulator is used for carrying out secondary heating when needed;
starting from the second working interval, the central processing unit collects the data collected by the surface information collection devices in each working interval and analyzes the position and surface temperature distribution of the copper pipe at the same time, when the surface temperature difference of the copper pipe collected by the surface information collection devices in a certain working interval exceeds a system set value, the central processing unit preferentially controls the coil position adjusting device in the interval to move, the distance between the inner surface of the cylindrical induction heating coil and the surface low-temperature part of the copper pipe is reduced, the heating speed of the low-temperature part of the copper pipe is increased, when the surface temperature difference of the copper pipe is lower than the system set value, the working interval repeats the operation of the first working interval, the uncoiler driving mechanism bends and accommodates the processed copper pipe, and the central processing unit judges whether heating is terminated or not by calculating the transmission speed and the.
2. The on-line copper pipe production heat treatment device according to claim 1, wherein: the temperature acquisition device in each working interval detects the temperature of the surface of the copper pipe which is just subjected to heat treatment from the cylindrical induction heating coil, and transmits acquired data to the central processing unit.
3. The on-line copper pipe production heat treatment device according to claim 1, wherein: the rectangular support frame is of a centrosymmetric structure.
4. The on-line copper pipe production heat treatment device according to claim 1, wherein: the copper pipe straightening machine is provided with two pairs of circular concave compression rollers, and axial symmetry lines between each pair of circular concave compression rollers are overlapped.
5. The on-line copper pipe production heat treatment device according to claim 1, wherein: the middle point of the connecting line of the two vision sensors of the image acquisition device, the rectangular central point of the rectangular support frame, the circle center of the circular support frame and the symmetrical lines of the two pairs of compression roller shafts of the copper pipe straightener are all positioned on the same straight line.
6. An on-line copper tube production heat treatment process of the on-line copper tube production heat treatment device according to any one of claims 1 to 4, characterized in that: which comprises the following steps:
s1, the system presets heating parameters for copper pipes of different specifications and heat treatment modes, and sets the central connecting line of the two vision sensors of the image acquisition device in the first working interval as X1Axis, X1The axis is forward perpendicular to the front end surface of the operating platform, and a straight line which is vertical and upward perpendicular to the midpoint of the central connecting line is Y1Axis, Y1The axis forward direction is vertical to the upper end surface of the operating platform upwards, and the central connecting line of two visual sensors in the upper surface information acquisition device of n working intervals starting from the second working interval is set as Xn(n-2, 3, 4.) axis, XnThe shaft is forward perpendicular to the front end surface of the operating platform, and Y is setn(n 2, 3, 4.) the axis runs through the center of two infrared thermometers, YnThe axis is vertical to the upper end surface of the operating platform in the positive direction and faces upwards, and the X of the theoretical copper pipe center during heat treatment is setn*Yn*(n ═ 1, 2, and 3.) coordinates in the plane are superimposed on the origin of coordinates, and a deviation range R between the actual copper pipe center and the origin of the coordinate system is set during machining0Setting the temperature difference limit T on the surface of the copper pipeHCopper pipe transmission speed V0Length L of copper pipe to be heated0；
S2, introducing the copper tube into the induction heating device in advance, starting the surface information acquisition device, the temperature acquisition device and the copper tube uncoiler on two sides of the operating platform in each working area by using the central processing unit, enabling the uncoiler driving mechanism to pull the copper tube to move, and analyzing the real-time position data X of the axis of the copper tube measured by the image acquisition device in the first working area by using the central processing unit1、Y1And calculate
Figure FDA0002934347990000031
When the coaxiality error R of the induction coil1<R0When the coil position adjusting device behind the first working interval surface information collecting device is static, when R is1>R0Then the central processor controls the coil in the first working intervalTwo servo motors in the position adjusting device rotate, and two cams in the driving device rotate by theta respectively11、θ12The coil circuit module and the cylindrical induction coil fixedly connected with the coil circuit module are enabled to translate in a plane vertical to the copper pipe until the coaxiality error R between the central axis of the cylindrical induction coil and the central axis of the copper pipe1<R0；
S3, from the second working interval, the CPU analyzes the real-time position data X of the copper pipe axis measured by the surface information acquisition device in each working intervaln、Yn(n ═ 2, 3, 4.) and calculated
Figure FDA0002934347990000032
On the basis, the highest temperature T of the surface temperature of the copper pipe is analyzed according to the temperature information collected by the surface information collecting devicen.maxAnd a minimum temperature Tn.minWhen T isn.max-Tn.min>THIn the time, the CPU controls the coil position adjusting device preferentially to reduce the temperature T between the inner surface of the cylindrical induction heating coil and the copper pipen.minDistance of the part, lift Tn.minThe temperature rise rate of the part and the surface temperature uniformity of the copper tube, at the measured Tn.max-Tn.min<THThen, the CPU calculates the coaxiality error RnSize when Rn>R0Then the CPU controls the two servo motors of the coil position adjusting device in the nth working interval to rotate, and the two cams in the driving device respectively rotate thetan1、θn2The coil circuit module and the cylindrical induction coil fixedly connected with the coil circuit module are enabled to translate in a plane vertical to the copper pipe until the coaxiality error R between the central axis of the cylindrical induction coil and the central axis of the copper pipen<R0；
S4, the temperature acquisition device in each working interval detects the temperature of the surface of the copper pipe which is just heat-treated from the cylindrical induction heating coil, transmits the monitoring data to the central processing unit, and analyzes the detected surface temperature T1、T2、T3.., and determining the surface temperature of the copper pipe to be the mostHigh temperature Tn-maxAnd a minimum temperature Tn-minWhen T isn-max-Tn-min<THWhen the temperature is measured, the manipulator behind the temperature acquisition device does not operate; when T isn-max-Tn-min>THThe central processing unit controls the manipulator behind the temperature acquisition device to control the surface temperature of the copper pipe to be Tn-minPerforming secondary induction heating on the part;
s5, CPU according to the transmission speed V of copper tube0And calculating the length L of the heated copper tube as V according to the heating time t0X t, when L is L0When so, the heating is terminated.
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