CN113548463A - Automatic pipe connecting grabbing control system and control method - Google Patents
Automatic pipe connecting grabbing control system and control method Download PDFInfo
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- CN113548463A CN113548463A CN202111045564.3A CN202111045564A CN113548463A CN 113548463 A CN113548463 A CN 113548463A CN 202111045564 A CN202111045564 A CN 202111045564A CN 113548463 A CN113548463 A CN 113548463A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/02—Belt- or chain-engaging elements
- B65G23/04—Drums, rollers, or wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/22—Arrangements or mountings of driving motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/908—Devices for picking-up and depositing articles or materials with inflatable picking-up means
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06M—COUNTING MECHANISMS; COUNTING OF OBJECTS NOT OTHERWISE PROVIDED FOR
- G06M1/00—Design features of general application
- G06M1/27—Design features of general application for representing the result of count in the form of electric signals, e.g. by sensing markings on the counter drum
- G06M1/272—Design features of general application for representing the result of count in the form of electric signals, e.g. by sensing markings on the counter drum using photoelectric means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Specific Conveyance Elements (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of material conveying, in particular to a system and a method for controlling automatic pipe connection grabbing, wherein the system comprises a pipe connection transmission assembly, and the pipe connection transmission assembly is used for transmitting a pipe connection; the device comprises a plurality of transmission assemblies, a plurality of control modules and a plurality of pipeline connecting devices, wherein the plurality of transmission assemblies are used for controlling the grabbing assemblies to move along a plurality of directions; the control module is used for controlling the plurality of transmission assemblies to control the grabbing assemblies to grab the connecting pipes after controlling the movement speed and the movement direction of the grabbing assemblies according to the transmission speed and the transmission direction of the connecting pipe placing disc. By adopting the scheme, the technical problems that the grabbing efficiency of the connecting pipe is lower and the grabbing stability is lower in the prior art can be solved.
Description
Technical Field
The invention relates to the technical field of material conveying, in particular to a control system and a control method for automatic pipe connection grabbing.
Background
The union pipe is formed by connecting a plurality of single pipes in sequence to form a PCR consumable material and is generally divided into eight union pipes and twelve union pipes. The use of the union tube is very wide, especially in molecular biology research, such as fluorescent quantitative PCR detection. The existing connecting pipe is used, automatic management is achieved, the clamping jaws are used for achieving feeding and discharging of the connecting pipe, the existing clamping jaw structure is not prone to grabbing the connecting pipe, and grabbing error rate is high. For the rate of accuracy that snatchs of improvement clamping jaw, when the antithetical couplet pipe moved to the assigned position, need the stop motion snatch again, adopt this kind of mode for can constantly start, stop in the antithetical couplet pipe transmission course, firstly influence production efficiency, secondly can add corresponding reagent in the antithetical couplet pipe, intermittent type starts and leads to the reagent in the antithetical couplet pipe to splash easily, snatchs the stability of antithetical couplet pipe and is lower.
Disclosure of Invention
One of the objectives of the present invention is to provide an automatic pipe grabbing control system, so as to solve the technical problems of low pipe grabbing efficiency and low grabbing stability in the prior art.
The invention provides a basic scheme I: the automatic pipe connecting grabbing control system comprises a pipe connecting transmission assembly, a pipe connecting transmission assembly and a control system, wherein the pipe connecting transmission assembly is used for transmitting a pipe connecting; the method is characterized in that: the device comprises a plurality of transmission assemblies, a plurality of control modules and a plurality of pipeline connecting devices, wherein the plurality of transmission assemblies are used for controlling the grabbing assemblies to move along a plurality of directions;
the control module is used for controlling the plurality of transmission assemblies to control the grabbing assemblies to grab the connecting pipe after controlling the movement speed and the movement direction of the grabbing assemblies according to the transmission speed and the transmission direction of the connecting pipe.
The beneficial effects of the first basic scheme are as follows: the setting of a plurality of transmission subassemblies can control and snatch the subassembly and move on a plurality of directions to through the cooperation of a plurality of direction motions, the subassembly can be moved to optional position to the control is snatched, thereby snatchs the union coupling on the optional position.
When the connecting pipe is grabbed, the movement direction and the movement speed of the grabbing assembly are consistent with those of the connecting pipe through the control module, and the fact that resistance in the movement direction does not exist in the follow-up process of grabbing the connecting pipe is guaranteed, so that the error rate when the connecting pipe is grabbed is reduced, and the stability of grabbing the connecting pipe is improved. Meanwhile, the connecting pipes are uninterruptedly transmitted in the process, so that the grabbing efficiency of the connecting pipes can be effectively improved under the condition that a large number of connecting pipes are subjected to blanking, and the production efficiency is improved.
Further, the number of the transmission assemblies is three, and the three transmission assemblies are used for controlling the grabbing assembly to move along three directions which are mutually perpendicular.
Has the advantages that: the three directions perpendicular to each other are adopted, the grabbing component can move to any position by the aid of the transmission components with the minimum quantity, and equipment cost and control difficulty are reduced.
Further, any one of the three directions is parallel to the conveying direction of the header.
Has the advantages that: when the grabbing component needs to move to any position, the calculation difficulty of calculating the required movement distance is reduced, so that the control reaction speed is improved, and the quick and accurate movement of the grabbing component is realized.
Further, snatch the subassembly and include anchor clamps, anchor clamps include first clamping jaw and second clamping jaw, and the arc hole has been seted up to one side that first clamping jaw and second clamping jaw are relative, and when first clamping jaw and second clamping jaw offset, the pore wall in arc hole offsets with the lateral wall of antithetical couplet pipe.
Has the advantages that: the setting in arc hole when snatching the yoke pipe, in the laminating of yoke pipe lateral wall, improves the stability of snatching the subassembly centre gripping yoke pipe.
The control module is also used for starting the plurality of transmission assemblies after clamping the connecting pipe and controlling the grabbing assembly to move to the position above the blanking box; the device is also used for controlling the grabbing component to loosen the connecting pipe after the grabbing component moves above the blanking box; and the conveying assemblies are also used for starting the plurality of conveying assemblies to control the grabbing assemblies to reset after the grabbing assemblies release the connecting pipes.
Has the advantages that: the control module controls the transmission assembly to move to any position, controls the grabbing assembly to clamp and loosen the connecting pipe, and moves the connecting pipe in transmission to the blanking box to realize automatic blanking of the connecting pipe.
The second objective of the present invention is to provide a control method for automatic pipeline grabbing.
The invention provides a second basic scheme: the automatic pipe connection grabbing control method comprises the following steps:
detecting a connecting pipe placing disc in transmission, and controlling the movement speed and the movement direction of the grabbing assembly according to the transmission speed and the transmission direction when the connecting pipe placing disc is detected;
and when a preset condition is reached, controlling the grabbing assembly to clamp the connecting pipe, wherein the preset condition is that the movement speed is equal to the transmission speed.
The second basic scheme has the beneficial effects that: when the union pipe is grabbed, the movement direction and the movement speed of the grabbing assembly are consistent with those of the union pipe, and the follow-up resistance in the movement direction in the process of grabbing the union pipe is ensured, so that the error rate in grabbing the union pipe is reduced, and the stability of grabbing the union pipe is improved. Meanwhile, the connecting pipes are uninterruptedly transmitted in the process, so that the grabbing efficiency of the connecting pipes can be effectively improved under the condition that a large number of connecting pipes are subjected to blanking, and the production efficiency is improved.
Further, the following contents are included: after the connecting pipe is clamped, the grabbing component is controlled to move to the upper part of the blanking box, and the grabbing component is controlled to loosen the connecting pipe, so that the connecting pipe falls onto the blanking box.
Has the advantages that: through the motion of snatching the subassembly and snatching, in removing the antithetical couplet pipe in the transmission to the blanking box, realize the automatic unloading of antithetical couplet pipe.
Further, the subassembly motion is grabbed in control to the unloading box top, specifically includes following content: controlling the grabbing component to move vertically upwards; after the grabbing component is controlled to move vertically upwards, the grabbing component is controlled to move to the upper side of the blanking box along the direction vertical to the vertical direction.
Has the advantages that: after the connecting pipes are grabbed, the grabbing components are controlled to move upwards, so that the influence on the movement of other connecting pipes is avoided; and then moving along the direction vertical to the vertical direction to move the connecting pipe to the upper part of the blanking box, thereby carrying out blanking.
Further, the following contents are included: and counting the blanking number of the connecting pipes, counting once after the connecting pipes are loosened by the fixture, and generating a reminding signal when the blanking number of the connecting pipes reaches a preset number.
Has the advantages that: the preset number is the number of the connecting pipes which can be placed in the blanking box, the blanking number of the connecting pipes is counted, and when the blanking box is filled with the connecting pipes, a worker is reminded to replace the connecting pipes.
Drawings
FIG. 1 is a top view of an automatic pipe-joining gripping control system and method of the present invention;
FIG. 2 is an enlarged schematic view of the control system and method for automatic pipe-joining gripping of the present invention at the A-position in FIG. 1;
FIG. 3 is a rear view of the automatic pipe-joining grasping control system and the control method according to the present invention;
FIG. 4 is a left side view of the automatic pipe-joining grasping control system and the control method according to the present invention;
FIG. 5 is a schematic structural diagram of an automatic pipe-connecting grasping control system and method according to the present invention;
fig. 6 is a schematic structural diagram of a clamping mechanism, a pipe connecting mechanism and a flattening device of the automatic pipe connecting grabbing control system and the control method of the invention.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: the device comprises a transmission base 1, a union transmission component 2, a first guide block 3, a second guide block 4, a connecting block 5, a clamping block 6, a first transmission component 7, a second transmission component 8, a third transmission component 9, a parallel gas claw 10, a clamp 11, a blanking box 12, a union placing disc 13, a feeding base 14, a workbench 15, a feeding box 16, a containing hole 17, a fourth transmission component 18, a guide block 19, a fifth transmission component 20, a pushing and pressing component 21, a telescopic block 22, a sixth transmission component 23, a fixed clamp 24, a movable clamp 25, a first parallel gas claw 26, a second parallel gas claw 27, a pressing plate 28 and a seventh transmission component 29.
Example one
The automatic pipe connecting grabbing control system comprises a first detection terminal, a control module, a transmission base 1, a pipe connecting transmission assembly 2, a grabbing assembly, a discharging assembly and a plurality of transmission assemblies. The plurality of transmission assemblies are used for controlling the grabbing assemblies to move along a plurality of directions, in the embodiment, the number of the transmission assemblies is three, the three transmission assemblies are used for controlling the grabbing assemblies to move along three directions, and the three directions are perpendicular to each other and are respectively defined as a first transmission assembly 7, a second transmission assembly 8 and a third transmission assembly 9 for distinguishing.
As shown in the attached drawing 1, the header transmission assembly 2 is arranged on the transmission base 1, the header transmission assembly 2 is used for transmitting the header placing disc 13, the header placing disc 13 comprises a sliding block and a fixing plate, a first placing groove used for placing the header is formed in the upper surface of the fixing plate, the first placing groove is matched with the shape of the header, the header refers to consumables which are sequentially connected with a plurality of reaction tubes, and the number of the first placing groove is multiple and sequentially distributed. The fixed plate is detachably connected with the sliding block, and particularly, the fixed plate and the sliding block are detachably connected through the fixing screws.
The connecting pipe transmission assembly 2 comprises a driving wheel, a driven wheel and a conveying belt in transmission connection with the driving wheel and the driven wheel, and the axial directions of the driving wheel and the driven wheel are parallel to the vertical direction. The transmission device also comprises a power supply and a transmission motor, wherein the power supply provides a power source, and an output shaft of the transmission motor is connected with the driving wheel key.
As shown in fig. 2, the side surfaces of the driving wheel and the driven wheel are provided with first guide blocks 3 which are uniformly distributed, the inner side of the conveyor belt is provided with second guide blocks 4 which are matched with the first guide blocks 3 for use, specifically, the distance between adjacent first guide blocks 3 is equal to the width of the second guide blocks 4 in the horizontal direction, and the distance between adjacent second guide blocks 4 is equal to the width of the first guide blocks 3 in the horizontal direction.
The first guide block 3 and the second guide block 4 are both vertically arranged, that is, the length direction of the first guide block 3 and the second guide block 4 is parallel to the vertical direction, and in other embodiments, the first guide block 3 and the second guide block 4 are obliquely arranged, that is, the length direction of the first guide block 3 and the second guide block 4 intersects with the vertical direction.
The connecting pipe transmission assembly 2 further comprises a connecting piece, the connecting piece comprises a connecting block 5 and two clamping blocks 6, limiting grooves are formed in two sides of the connecting block 5, opposite sides of the two clamping blocks 6 extend to form protruding portions, and the two protruding portions are respectively in contact with the two limiting grooves. Connecting block 5 and the outside fixed connection of conveyer belt, grip block 6 all places the side fixed connection of dish 13 with the yoke pipe, and the side fixed connection of screw and slider is passed through to one side that spacing groove was kept away from to grip block 6 promptly.
The union pipe transmission assembly 2 further comprises a sliding part and a guide rail, the guide rail is identical to the conveyor belt in shape in the horizontal direction, the guide rail is located on the outer side of the conveyor belt, the outer side of the conveyor belt is one side, away from the driving wheel, of the conveyor belt, and the sliding part is used for enabling the union pipe placing disc 13 to move along the guide rail. The sliding part comprises a plurality of rollers, the mounting shafts of the rollers are fixedly connected with the sliding block, the side surfaces of the rollers are abutted against the side surfaces of the guide rails, and the rollers are respectively positioned on two sides of the guide rails. Specifically, the number of the rollers is four, that is, the left side and the right side of the guide rail are respectively abutted against the side surfaces of the two rollers.
The transmission base 1 is provided with a tool supporting frame, the tool supporting frame is provided with a blanking assembly, the blanking assembly comprises a blanking box 12, the upper surface of the blanking box 12 is provided with a plurality of uniformly distributed second placing grooves, the second placing grooves are used for placing the connecting pipes, and the second placing grooves are matched with the connecting pipes in shape. In this embodiment, the blanking box 12 is located outside the conveyor belt.
The transmission base 1 is further provided with a transmission support frame, as shown in fig. 3 and fig. 4, the transmission support frame is fixedly connected with the first transmission assembly 7, the first transmission assembly 7 is movably connected with the second transmission assembly 8, the second transmission assembly 8 is movably connected with the third transmission assembly 9, the third transmission assembly 9 is fixedly connected with the grabbing assembly, and the first transmission assembly 7, the second transmission assembly 8 and the third transmission assembly 9 are used for controlling the grabbing assembly to move along three mutually perpendicular directions. Specifically, the method comprises the following steps:
the first transmission assembly 7 is used for controlling the grabbing assembly to move along a first direction, and the first direction is a direction perpendicular to the transmission direction of the header placing plate 13 on the horizontal plane. First transmission assembly 7 includes first lead screw pair, first guide arm, first base and first motor, the both ends of first guide arm respectively with first base fixed connection, the one end and the first base swing joint of lead screw in the first lead screw pair, the output shaft fixed connection of the other end and first motor, the one end and the first base fixed connection of lead screw are kept away from to first motor, the one end of first nut in the first lead screw pair cup joints on first guide arm, the other end and the 8 fixed connection of second transmission assembly of first nut, first base and transmission support frame fixed connection, first nut drives second transmission assembly 8 and moves along the first direction, thereby the drive snatchs the subassembly and moves along the first direction.
The second transmission assembly 8 is used for controlling the grabbing assembly to move along a second direction, and the second direction is a direction parallel to the transmission direction of the header placing plate 13 on the horizontal plane. The second transmission assembly 8 comprises a second screw pair, a second guide rod, a second base and a second motor, two ends of the second guide rod are fixedly connected with the second base respectively, one end of the screw in the second screw pair is movably connected with the second base, the other end of the screw is fixedly connected with an output shaft of the second motor, one end of the second motor, far away from the screw, is fixedly connected with the second base, one end of a second nut in the second screw pair is sleeved on the second guide rod, the other end of the second nut is fixedly connected with a third transmission assembly 9, the second base is fixedly connected with a first nut of the first screw pair, the second nut drives the third transmission assembly 9 to move along a second direction, and therefore the grabbing assembly is driven to move along the second direction.
The third transmission assembly 9 is used for controlling the grabbing assembly to move along a third direction, the first direction, the second direction and the third direction are mutually perpendicular, and the third direction is a vertical direction. In this embodiment, the third transmission assembly 9 adopts a pneumatic sliding table, the pneumatic sliding table includes a sliding table base and a sliding end, the sliding end can slide on the sliding table base, the sliding table base of the pneumatic sliding table is fixedly connected with the second nut of the second screw rod pair, and the sliding end of the pneumatic sliding table is fixedly connected with the grabbing assembly. In other embodiments, the third transmission assembly 9 employs a lead screw slide.
The grabbing assembly comprises a parallel pneumatic claw 10 and a clamp 11, the parallel pneumatic claw 10 comprises a pneumatic claw base and two pneumatic fingers, the two pneumatic fingers can slide on the pneumatic claw base in opposite directions, the pneumatic claw base of the parallel pneumatic claw 10 is fixedly connected with the sliding end of the pneumatic sliding table, and the pneumatic fingers of the parallel pneumatic claw 10 are fixedly connected with the clamp 11. Anchor clamps 11 include first clamping jaw and second clamping jaw, first clamping jaw and second clamping jaw respectively with two pneumatic finger fixed connection, the arc hole has been seted up to one side that first clamping jaw and second clamping jaw are relative, when first clamping jaw and second clamping jaw offset, the pore wall in arc hole offsets with the lateral wall of antithetical couplet pipe, 11 centre gripping antithetical couplet pipes of anchor clamps this moment.
The first transmission assembly 7, the second transmission assembly 8, the third transmission assembly 9 and the grabbing assembly are all positioned above the union transmission assembly 2. In the initial state, the clamp 11 is in a released state, and the clamp 11 is in the same plane as the top of the header in the header placing tray 13.
First detection terminal locates on transmission base 1, and first detection terminal is used for detecting the antithetical couplet and places dish 13, when detecting the antithetical couplet and place dish 13, generates unloading start signal.
The control module is used for calling the transmission speed and the transmission direction of the conveyor belt according to the blanking starting signal, starting the second transmission assembly 8, and controlling the movement speed and the movement direction of the clamp 11 moving along the second direction according to the transmission speed and the transmission direction.
The control module is also used for timing when the second transmission assembly 8 is started, and when the timing reaches preset time (at the moment, the clamp 11 and the connecting pipe on the connecting pipe placing disc 13 move in the same direction and at the same speed), the parallel gas claw 10 is started, the first clamping jaw and the second clamping jaw of the clamp 11 are controlled to move in opposite directions to clamp the connecting pipe, and at the moment, the clamp 11 is in a clamping state. The preset time is the time required for the jaws to accelerate to the transport speed.
The control module is also used for starting the third transmission assembly 9 after the union pipe is clamped, and controlling the clamp 11 to move along the third direction according to the preset distance, namely controlling the clamp 11 to move vertically upwards. The preset distance is the distance between the bottom end of the upper connecting pipe of the connecting pipe placing disc 13 and the upper surface of the blanking box 12 in the vertical direction, and for avoiding the blanking box 12 from blocking the movement of the connecting pipe, the preset distance is 2 to 5 millimeters larger than the distance between the bottom end of the upper connecting pipe of the connecting pipe placing disc 13 and the upper surface of the blanking box 12 in the vertical direction.
The control module is also used for starting the first transmission assembly 7 and the second transmission assembly 8 after the clamp 11 moves for a preset distance along the third direction (at the moment, the connecting pipe is separated from the connecting pipe placing disc 13), and controlling the clamp 11 to move to the position above the blanking box 12 according to a preset position. The preset position is the position of the second placing groove in the blanking box 12 and comprises a distance X in the first direction and a distance Y in the second direction, and the distance X is the distance between the connecting pipe clamped by the clamp 11 and the second placing groove in the second direction after the clamp 11 moves along the third direction for the preset distance. The distance X is increased along with the placing times, and the distance X 'is increased every time, wherein the distance X' is the distance between the adjacent second placing grooves in the second direction until the lower material box 12 is full of the connecting pipes, and then the process is started again from the distance X. The distance Y is the distance between the header and the second placing groove which are clamped by the clamp 11 in the first direction after the clamp 11 moves along the third direction by a preset distance.
The control module is also used for starting the parallel gas claw 10 after the clamp 11 moves to the preset position, controlling the first clamping jaw and the second clamping jaw of the clamp 11 to move back to back, loosening the connecting pipe, enabling the clamp 11 to be in a loosening state at the moment, and enabling the connecting pipe to fall into the second placing groove to complete one-time blanking.
The control module is also used for starting the first transmission assembly 7, the second transmission assembly 8 and the third transmission assembly 9 after the clamp 11 releases the union pipe, and controlling the clamp 11 to move to the initial position.
The control module is also used for counting the blanking quantity of the connecting pipes, after the clamps 11 loosen the connecting pipes, the counting is carried out once, when the blanking quantity of the connecting pipes reaches the preset quantity, the connecting pipes are fully placed on the blanking box 12, and the preset quantity is the number of the connecting pipes which can be placed in the blanking box 12. In other embodiments, the control module is further configured to generate a warning signal when the discharge box 12 is full of the union pipe.
The automatic pipe connection grabbing control method comprises the following steps of:
and detecting the pipe connecting placing disc 13 in transmission, and generating a blanking starting signal when detecting the pipe connecting placing disc 13.
And starting the second transmission assembly 8 according to the blanking starting signal, and controlling the movement speed and the movement direction of the clamp 11 moving along the second direction according to the transmission speed and the transmission direction.
The timing is carried out when the second transmission assembly 8 is started, when the timing reaches preset time (at the moment, the clamp 11 and the connecting pipe on the connecting pipe placing disc 13 move in the same direction and at the same speed to start the parallel gas claw 10), the first clamping jaw and the second clamping jaw of the clamp 11 are controlled to move in opposite directions to clamp the connecting pipe, and at the moment, the clamp 11 is in a clamping state. The preset time is the time required for the jaws to accelerate to the transport speed.
After the union pipe is clamped, the third transmission assembly 9 is started, and the clamp 11 is controlled to move along the third direction according to the preset distance, namely the clamp 11 is controlled to move vertically upwards. The preset distance is the distance between the bottom end of the upper connecting pipe of the connecting pipe placing disc 13 and the upper surface of the blanking box 12 in the vertical direction, and for avoiding the blanking box 12 from blocking the movement of the connecting pipe, the preset distance is 2 to 5 millimeters larger than the distance between the bottom end of the upper connecting pipe of the connecting pipe placing disc 13 and the upper surface of the blanking box 12 in the vertical direction.
After the clamp 11 moves for a preset distance along the third direction (at the moment, the connecting pipe is separated from the connecting pipe placing disc 13), the first transmission assembly 7 and the second transmission assembly 8 are started, and the clamp 11 is controlled to move to the position above the blanking box 12 according to the preset position. The preset position is the position of the second placing groove in the blanking box 12 and comprises a distance X in the first direction and a distance Y in the second direction, and the distance X is the distance between the connecting pipe clamped by the clamp 11 and the second placing groove in the second direction after the clamp 11 moves along the third direction for the preset distance. The distance X is increased along with the placing times, and the distance X 'is increased every time, wherein the distance X' is the distance between the adjacent second placing grooves in the second direction until the lower material box 12 is full of the connecting pipes, and then the process is started again from the distance X. The distance Y is the distance between the header and the second placing groove which are clamped by the clamp 11 in the first direction after the clamp 11 moves along the third direction by a preset distance.
After the clamp 11 moves to the preset position, the parallel pneumatic claw 10 is started, the first clamping jaw and the second clamping jaw of the clamp 11 are controlled to move back to back, the union pipe is loosened, the clamp 11 is in a loosening state at the moment, and the union pipe falls into the second placing groove to complete one-time blanking.
After the clamp 11 releases the union, the first transmission assembly 7, the second transmission assembly 8 and the third transmission assembly 9 are started, and the clamp 11 is controlled to move to the initial position.
The blanking quantity of the connecting pipes is counted, after the connecting pipes are loosened by the clamp 11, the counting is carried out once, when the blanking quantity of the connecting pipes reaches the preset quantity, the connecting pipes are fully placed on the blanking box 12, and the preset quantity is the connecting pipe quantity which can be placed by the blanking box 12. In other embodiments, a warning signal is generated when the blanking box 12 is full of the union pipe.
Example two
The difference between the present embodiment and the first embodiment is:
the automatic pipe connecting grabbing control system further comprises a feeding base 14, a feeding device and a flattening device.
The feeding base 14 is arranged on the transmission base 1, the feeding device is arranged on the feeding base 14, and the feeding device is positioned above the connecting pipe transmission device. The material loading base 14 includes workstation 15, has seted up the bar hole on the workstation 15, and the bar hole is just to the header transmission device, places when the header and coils 13 and transmit to bar hole below, and the bar hole is just to the header and places dish 13, and the length direction in bar hole is parallel with the distribution direction that the header placed the standing groove on the dish 13.
As shown in fig. 5, the feeding device is used for placing the connecting pipes in the feeding box 16 on the connecting pipe placing tray 13, and the feeding device comprises a feeding transmission mechanism, a feeding auxiliary mechanism, a clamping mechanism, a pipe connecting mechanism and the feeding box 16. Go up magazine 16 and be used for depositing the antithetical couplet pipe of treating the material loading, go up magazine 16 and include the box body, seted up a plurality of vertical holes 17 of accomodating on the box body, accomodate hole 17 and stack a plurality of antithetical couplet pipes in the hole 17 along perpendicular bar hole length direction evenly distributed.
The feeding transmission mechanism is used for transmitting a feeding box 16, the feeding transmission mechanism is arranged on the upper surface of the workbench 15 and comprises a fourth transmission assembly 18 and a tray, the fourth transmission assembly 18 is used for transmitting the tray, and the transmission direction of the tray is perpendicular to the length direction of the strip-shaped holes. Fourth transmission assembly 18 includes the fourth screw pair, the fourth guide arm, fourth base and fourth motor, the both ends of fourth guide arm respectively with fourth base fixed connection, the one end and the fourth base swing joint of lead screw in the fourth screw pair, the output shaft fixed connection of the other end and fourth motor, the one end and the fourth base fixed connection of lead screw are kept away from to the fourth motor, the one end of nut cup joints on the fourth guide arm in the screw pair, the other end and the tray fixed connection of nut, tray and last magazine 16 fixed connection, the upper surface fixed connection of base and workstation 15. The nut drives the feeding box 16 to move on the workbench 15 through the tray, so that the accommodating hole 17 of the feeding box 16 is just opposite to the strip-shaped hole on the workbench 15, and the moving direction of the feeding box 16 is vertical to the length direction of the strip-shaped hole.
The workbench 15 is further provided with two parallel guide blocks 19, the two guide blocks 19 are respectively contacted with two opposite sides of the tray, the length direction of the guide blocks 19 is parallel to the moving direction of the feeding box 16, the tray moves along a channel between the two guide blocks 19, namely, the feeding transmission mechanism is used for transmitting the feeding box 16 along the two guide blocks 19.
The feeding auxiliary mechanism is used for pushing out the union pipe in the feeding box 16 when the accommodating hole 17 is opposite to the strip-shaped hole, the feeding auxiliary mechanism is located above the feeding transmission mechanism, the feeding auxiliary mechanism comprises a fifth transmission assembly 20 and a pushing and pressing piece 21, the pushing and pressing piece 21 is fixedly connected with the free end of the fifth transmission assembly 20, the fifth transmission assembly 20 is used for moving the pushing and pressing piece 21, and the pushing and pressing piece 21 is used for pushing out the union pipe in the accommodating hole 17 from the strip-shaped hole. The pushing part 21 comprises a connecting block, an elastic part and a pressing block which are connected in sequence, the pressing block is matched with the accommodating hole 17 in shape, and in the embodiment, the elastic part is a spring. The elastic piece prevents the connecting pipe from being pressed too tightly.
As shown in fig. 6, the pipe connecting mechanism includes a telescopic block 22 and a sixth transmission assembly 23, in this embodiment, the sixth transmission assembly 23 employs a first air cylinder, and in other embodiments, the sixth transmission assembly 23 may employ a lead screw sliding table module. The free end of first cylinder and flexible piece 22 fixed connection, flexible piece 22 is located the bar hole below, and the upper surface of flexible piece 22 offsets with the union coupling of pushing out in the material loading box 16. In the initial state, the telescopic block 22 is in the extended state, and at this time, the telescopic block 22 is located below the strip-shaped hole, when the connecting pipe is pushed out from the upper material box 16, the upper surface of the telescopic block 22 abuts against the bottom end of the connecting pipe, and the extended telescopic block 22 is used for blocking the falling connecting pipe. When the union is not required to be blocked, the first cylinder drives the telescopic block 22 to retract, and the union can move downwards.
The clamping mechanism comprises a movable clamp 25, a fixed clamp 24, a first parallel gas claw 26, a second parallel gas claw 27 and a seventh transmission assembly 29, wherein the movable clamp 25 and the fixed clamp 24 are used for clamping two adjacent connecting pipes, the seventh transmission assembly 29 is fixedly connected with the movable clamp 25, and the seventh transmission assembly 29 is used for moving the movable clamp 25 to separate the two adjacent connecting pipes. In this embodiment, the seventh transmission assembly 29 employs a second cylinder, and in other embodiments, the seventh transmission assembly 29 may employ a screw sliding table module. The pneumatic fingers of the first parallel pneumatic claw 26 are fixedly connected with the movable clamp 25, the pneumatic fingers of the second parallel pneumatic claw 27 are fixedly connected with the fixed clamp 24, and the fixed clamp 24 and the movable clamp 25 are sequentially arranged from top to bottom. The free end of the second cylinder is fixedly connected with the first parallel air claw 26, the second cylinder is used for driving the first parallel air claw 26 to move in the vertical direction, and the first parallel air claw 26 drives the movable clamp 25 to move in the vertical direction.
Specifically, but first parallel gas claw 26 and the parallel gas claw 27 of second all include two pneumatic fingers of relative motion, decide anchor clamps 24 including the first fixed clamping jaw and the second fixed clamping jaw of relative motion, the one end of the first fixed clamping jaw and the second fixed clamping jaw respectively with two pneumatic fingers fixed connection, the arc hole has been seted up to the relative one side of first fixed clamping jaw and second fixed clamping jaw, when first fixed clamping jaw and second fixed clamping jaw offset, the pore wall in arc hole offsets with the lateral wall that allies oneself with the pipe, decide anchor clamps 24 centre gripping allies oneself with the pipe this moment. Move anchor clamps 25 and move the clamping jaw including the first clamping jaw and the second that move in opposite directions, the one end that clamping jaw and second were moved to first clamping jaw and second respectively with two pneumatic finger fixed connection, the arc hole has been seted up to the first clamping jaw and the second one side that moves the clamping jaw relative, when first fixed clamping jaw and second were decided the clamping jaw and offset, the pore wall in arc hole and the lateral wall of yoke pipe offset, move anchor clamps 25 centre gripping yoke pipe this moment.
In the initial state, the movable clamp 25 and the fixed clamp 24 are both in a loose state, the second air cylinder is in a contraction state, when the connecting pipes abut against the pipe connecting mechanism, the movable clamp 25 is used for clamping the last to last connecting pipe of the last connecting pipe from top to bottom in a stacked mode, and the fixed clamp 24 is used for clamping the last to last connecting pipe adjacent to the last to last connecting pipe. When the fixed clamp 24 and the movable clamp 25 clamp the connecting pipes, the connecting pipes do not need to be blocked, at the moment, the first cylinder drives the telescopic block 22 to retract, the second cylinder extends out to drive the movable clamp 25 to move downwards, the penultimate connecting pipe and the penultimate connecting pipe are separated, and when the second cylinder extends out completely, the distance between the second cylinder and the upper surface of the connecting pipe transmission disc is close. In this embodiment, when the second cylinder is fully extended, the distance from the upper surface of the manifold transfer plate to the bottom end of the manifold is less than a predetermined distance threshold, for example, 5 mm. When the header placing disc 13 moves to the lower part of the header clamped by the movable clamp 25, the movable clamp 25 releases the header, and the header falls into the placing groove of the header placing disc 13, so that the loading of the header is realized.
In other embodiments, the sixth and seventh transmission assemblies 23, 29 are pre-set to retract or extend a predetermined distance, and are considered to be retracted or extended into position when retracted or extended a corresponding predetermined distance. For example, the seventh transfer assembly 29 is used to move the movable clamp 25, and when the movable clamp 25 moves a preset distance, at which time the bottom end of the pipe coupling held by the movable clamp 25 is less than a preset distance threshold from the pipe coupling placing tray 13, the seventh transfer assembly 29 stops moving the movable clamp 25.
The flattening device is positioned above the header conveying device and used for pressing the headers falling onto the header placing disc 13. Specifically, flattening device includes flattening board 28 and eighth transmission subassembly, and in this embodiment, the eighth transmission subassembly adopts the third cylinder, and in other embodiments, the eighth transmission subassembly can adopt lead screw slip table module. The free end and the dull and stereotyped 28 fixed connection of clamp plate of third cylinder, the free end and the dull and stereotyped 28 fixed connection of clamp plate 28 of eighth transmission subassembly promptly, the lower surface of clamp plate 28 can offset with the top of antithetical couplet pipe, and the third cylinder is used for controlling clamp plate 28 to move down and presses the antithetical couplet pipe on antithetical couplet pipe placing tray 13 for antithetical couplet pipe and standing groove in close contact with.
The system also comprises a second detection terminal, a third detection terminal and a fourth detection terminal. The control module comprises a feeding transmission submodule, an auxiliary feeding submodule, a connecting pipe and clamping submodule, a connecting pipe transmission submodule and a flattening submodule.
The second detection terminal is arranged on the workbench 15 and is used for detecting the feeding box 16, when the feeding box 16 is detected, a feeding starting signal is generated, and the feeding box 16 is located at an initial position at the moment.
The loading transport submodule serves to transport the loading magazine 16 to a loading level, so that the stacked tubes in the loading magazine 16 fall from the loading level. Specifically, after the material loading transmission submodule is used for receiving a material loading starting signal, the fourth transmission assembly 18 is started, the control tray drives the material loading box 16 to move to the material loading position, and when the material loading box 16 moves to the material loading position, the accommodating hole 17 in the material loading box 16 is just opposite to the strip-shaped hole in the workbench 15.
Supplementary material loading submodule for after last magazine 16 transmits to the material level, push out the union coupling in the last magazine 16, it is specific, supplementary material loading submodule is arranged in after receiving hole 17 on last magazine 16 is just to the bar hole on workstation 15, start fifth transmission assembly 20, control bulldozes piece 21 and moves down predetermined second distance Y, push out the union coupling in the hole 17 from the bar hole, when second distance Y offsets for the union coupling bottom that stacks and take-over mechanism, the distance on initial state's bulldozes piece 21 and the union coupling top that stacks. And is also used for activating the fifth transmission assembly 20 again to control the pushing element 21 to move downwards by a preset third distance Y ', wherein the third distance Y' is the distance between two adjacent stacked connecting pipes.
Specifically, still include first count sensor for the number of times of the union pipe whereabouts is counted, when the number of times of the union pipe whereabouts reaches and predetermines the union pipe number, represents that the union pipe in the hole 17 has fallen, starts fourth transmission assembly 18 this moment, predetermines the union pipe number and is the union pipe number that stacks in the single hole 17 of accomodating.
The auxiliary feeding sub-module is also used for starting the fifth transmission assembly 20 to reset after the connecting pipe in the accommodating hole 17 falls off, and the pushing piece 21 moves out of the accommodating hole 17 at the moment.
The feeding transmission submodule is also used for starting the fourth transmission assembly 18 after the auxiliary feeding submodule is reset, controlling the tray to move a preset first distance X, and at the moment, another accommodating hole 17 on the feeding box 16 is just opposite to the strip-shaped hole on the workbench 15, and the first distance X is the distance between the adjacent accommodating holes 17 in the feeding box 16.
Specifically, the first counting sensor is further configured to count the number of the connected pipe falling groups, and when the number of the connected pipe falling groups reaches the preset number of holes, the fourth transmission assembly 18 is started to reset and the feeding box 16 is replaced, which represents that all the connected pipes in the accommodating holes 17 have fallen completely. When the falling times reach the preset number of the connecting pipes, the number of the falling groups of the connecting pipes is counted, and the preset number of the holes is the number of the receiving holes 17 in the feeding box 16.
The connecting pipe and clamping submodule are used for separating the stacked connecting pipes and transmitting the separated connecting pipes to a falling position. When the connecting pipes abut against the pipe connecting mechanism, the clamping mechanism is controlled to respectively clamp a first connecting pipe which is reciprocal from top to bottom and a second connecting pipe which is reciprocal from top to bottom; after clamping, the penultimate connecting pipe is moved. Specifically, the method comprises the following steps:
the connecting pipe and clamping submodule is used for controlling the clamping mechanism to respectively clamp the first to last connecting pipe and the second to last connecting pipe from top to bottom after the bottom end of the connecting pipe abuts against the telescopic block 22. Specifically, the first parallel pneumatic gripper 26 is controlled to contract, so that the brake clamp 25 is controlled to clamp the penultimate union pipe; the second parallel gas claw 27 is controlled to contract, so that the fixed clamp 24 is controlled to clamp the penultimate union pipe.
The connecting pipe and clamping sub-module is also used for controlling the sixth transmission assembly 23 to contract after the clamping mechanism clamps the connecting pipe, the telescopic block 22 moves towards the sixth transmission assembly 23, and when the sixth transmission assembly 23 contracts in place, the telescopic block 22 does not block the connecting pipe from falling.
The connecting pipe and clamping sub-module is further used for controlling the seventh transmission assembly 29 to extend out after the sixth transmission assembly 23 is contracted to the proper position, so as to control the movable clamp 25 to move downwards, so that the penultimate pipe connector clamped by the movable clamp 25 moves downwards, when the seventh transmission assembly 29 extends to the proper position, the penultimate pipe connector is located at a falling position, and the distance from the bottom end of the penultimate pipe connector to the upper surface of the pipe connector transmission disc is smaller than a preset distance threshold value. In other embodiments, the sixth and seventh transmission assemblies 23, 29 are pre-set to retract or extend a predetermined distance, and are considered to be retracted or extended into position when retracted or extended a corresponding predetermined distance.
And the union pipe transmission submodule is used for starting a transmission motor after receiving a feeding starting signal and controlling a transmission belt to move at a constant speed to transmit the union pipe placing disc 13. The third detection terminal is arranged on the transmission base 1, is used for detecting the header placing tray 13, and generates a falling signal when detecting that the header placing tray 13 is placed.
The connecting pipe and clamping sub-module is also used for controlling the separated connecting pipes to fall, and when the connecting pipe placing disc 13 is conveyed to the position below the falling position, the falling connecting pipes fall into the connecting pipe placing disc 13. Specifically, the connecting pipe and clamping sub-module is further used for controlling the brake clamp 25 to release the connecting pipe according to the falling signal when the falling signal is received, and the falling connecting pipe just falls into the connecting pipe placing disc 13 and moves along with the connecting pipe placing disc 13.
Specifically, the connecting pipe and clamping submodule is used for predicting transmission time according to the transmission speed of the connecting pipe placing disc 13 and the distance from the third detection terminal to the falling position in the horizontal direction, predicting falling time according to the distance from the falling position to the upper surface of the connecting pipe placing disc 13 in the vertical direction, calculating the time interval between the transmission time and the falling time, and controlling the connecting pipe to fall from the falling position according to the time interval when the third detection terminal detects that the connecting pipe placing disc 13 exists. For example, the distance from the third inspection terminal to the falling position in the horizontal direction is a, the distance from the falling position to the upper surface of the pipe connecting placing tray 13 in the vertical direction is B, the required transport time T1 is predicted from the distance a and the transport speed of the transport belt, the required falling time T2 is predicted from the distance B, T2 is smaller than T1, and the time interval is T2 to T1; the connecting pipe and clamping sub-module is also used for starting timing when receiving a falling signal, controlling the movable clamp 25 to release the connecting pipe when the timing reaches a time interval, and enabling the falling connecting pipe to just fall into the connecting pipe placing disc 13 when the connecting pipe placing disc 13 moves to the position below the falling position.
The connecting pipe and clamping sub-module is also used for sequentially starting the seventh transmission assembly 29, the sixth transmission assembly 23 and the second parallel gas claw 27 to reset after the movable clamp 25 loosens the connecting pipe, so that the fixed clamping jaw loosens the connecting pipe, the connecting pipe falls to abut against the telescopic block 22, at the moment, the fifth transmission assembly 20 is started again to push the connecting pipe in the accommodating hole 17, the first parallel gas claw 26 and the second parallel gas claw 27 are started to enable the movable clamp 25 and the fixed clamp 24 to clamp the connecting pipe, and the feeding of the connecting pipe is executed again.
The fourth detection terminal sets up on transmission base 1, and the fourth detection terminal is used for detecting the header and places dish 13, when detecting the header and place dish 13, generates the signal of flattening. The flattening submodule is used for pressing the connecting pipes on the connecting pipe placing disc 13 after the connecting pipes fall into the connecting pipe placing disc 13. Specifically, when the flattening submodule is used for receiving a flattening signal, the eighth transmission assembly is controlled to stretch out, so that the flattening plate 28 is controlled to move downwards, the header on the header placing disc 13 is pressed, the header and the header placing disc 13 are in close contact, and a header blanking process is completed.
In other embodiments, the system further comprises a neglected loading terminal, which is used for detecting the header on the header placing disc 13 and counting the loading quantity of the header; and the neglected loading judging module is used for generating the number of the connected tube emptying according to the number of the connected tube falling times, the number of the connected tube falling groups and the falling signal, judging whether the number of the connected tube emptying is consistent with the number of the connected tube feeding, and giving an alarm when the number of the connected tube emptying is inconsistent with the number of the connected tube feeding.
The automatic pipe connection grabbing control method using the automatic pipe connection grabbing control system further comprises the following steps:
the feeding box 16 is detected, and when the feeding box 16 is detected, a feeding start signal is generated, and the feeding box 16 is located at the initial position. The transfer manifold placing tray 13.
The feeding box 16 is transmitted to the feeding position through the feeding transmission mechanism, so that the connecting pipes stacked in the feeding box 16 fall from the feeding position, and after the feeding box 16 is transmitted to the feeding position, the connecting pipes in the feeding box 16 are pushed out through the feeding auxiliary mechanism. The method specifically comprises the following steps:
after a feeding starting signal is generated, the fourth transmission assembly 18 is started, the tray is controlled to drive the feeding box 16 to move to a feeding position, and when the feeding box 16 moves to the feeding position, the accommodating hole 17 in the feeding box 16 is over against the strip-shaped hole in the workbench 15.
After the accommodating hole 17 on the feeding box 16 is over against the strip-shaped hole on the workbench 15, the fifth transmission assembly 20 is started, the pushing part 21 is controlled to move downwards by a preset second distance Y, the connecting pipe in the accommodating hole 17 is pushed out from the strip-shaped hole, and the second distance Y is the distance between the pushing part 21 in the initial state and the top end of the stacked connecting pipe when the bottom end of the stacked connecting pipe is abutted against the pipe connecting mechanism. And the fifth transmission assembly 20 is started again, and the pushing element 21 is controlled to move downwards by a preset third distance Y ', wherein the third distance Y' is the distance between two adjacent stacked connecting pipes.
Separating the stacked headers falling from the loading level and transporting the separated headers to the falling level. When the falling connecting pipe abuts against the pipe connecting mechanism, the clamping mechanism clamps a first connecting pipe and a second connecting pipe which are arranged from top to bottom in a reciprocal manner respectively; after clamping, the penultimate connecting pipe is moved.
The method specifically comprises the following steps:
when the bottom end of the connecting pipe abuts against the telescopic block 22, the clamping mechanism is controlled to clamp the first connecting pipe to the last and the second connecting pipe to the last from top to bottom respectively. Specifically, the first parallel pneumatic gripper 26 is controlled to contract, so that the brake clamp 25 is controlled to clamp the penultimate union pipe; the second parallel gas claw 27 is controlled to contract, so that the fixed clamp 24 is controlled to clamp the penultimate union pipe.
After the clamping mechanism clamps the connecting pipe, the sixth transmission assembly 23 is controlled to contract, the telescopic block 22 moves towards the sixth transmission assembly 23, and after the sixth transmission assembly 23 contracts to the proper position, the telescopic block 22 does not block the falling of the connecting pipe.
And after the sixth transmission assembly 23 is contracted to the proper position, the seventh transmission assembly 29 is controlled to extend out, so that the movable clamp 25 is controlled to move downwards, the penultimate pipe connector clamped by the movable clamp 25 moves downwards, when the seventh transmission assembly 29 extends to the proper position, the penultimate pipe connector is positioned at a falling position, and the distance from the bottom end of the penultimate pipe connector to the upper surface of the pipe connector transmission disc is smaller than a preset distance threshold value.
In other embodiments, the sixth and seventh transmission assemblies 23, 29 are pre-set to retract or extend a predetermined distance, and are considered to be retracted or extended into position when retracted or extended a corresponding predetermined distance.
And controlling the separated connecting pipes to fall, and when the connecting pipe placing disc 13 is conveyed to the position below the falling position, the falling connecting pipes fall into the connecting pipe placing disc 13. The method specifically comprises the following steps:
the transport time is predicted from the transport speed of the union placement table 13 and the distance in the horizontal direction from the designated position to the drop position, the drop time is predicted from the distance in the vertical direction from the drop position to the upper surface of the union placement table 13, and the time interval between the transport time and the drop time is calculated. Specifically, the position of the detection union placement plate 13 is a designated position, the distance from the designated position to the falling position in the horizontal direction is a, the distance from the falling position to the upper surface of the union placement plate 13 in the vertical direction is B, the required conveying time T1 is predicted according to the distance a and the conveying speed of the conveying belt, the required falling time T2 is predicted according to the distance B, T2 is smaller than T1, and the time interval is T2-T1.
Detecting the conveyed union placing plate 13 at a specified position; when the header placing tray 13 is detected, the headers are controlled to fall from the falling position according to time intervals, so that the falling headers fall into the header placing tray 13 when the header placing tray 13 is conveyed below the falling position. Specifically, when the manifold placing tray 13 is detected at a specified position, a drop signal is generated, timing is started, when the timing reaches a time interval, the movable clamp 25 is controlled to release the manifold, and when the manifold placing tray 13 moves to below the drop position, the dropped manifold just falls into the manifold placing tray 13.
When the header falls into the header placing tray 13, the header on the header placing tray 13 is pressed to make the header closely contact with the header placing tray 13. The method specifically comprises the following steps:
when detecting that the header of placing the header places dish 13, generate the signal of flattening, control eighth transmission assembly and stretch out to control pressure flat board 28 moves down, presses the header on the tray 13 is placed to the header, makes header and header place dish 13 in close contact with, accomplishes a header unloading process.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (9)
1. The automatic pipe connecting grabbing control system comprises a pipe connecting transmission assembly, a pipe connecting transmission assembly and a control system, wherein the pipe connecting transmission assembly is used for transmitting a pipe connecting; the method is characterized in that: the device comprises a plurality of transmission assemblies, a plurality of control modules and a plurality of pipeline connecting devices, wherein the plurality of transmission assemblies are used for controlling the grabbing assemblies to move along a plurality of directions;
the control module is used for controlling the plurality of transmission assemblies to control the grabbing assemblies to grab the connecting pipe after controlling the movement speed and the movement direction of the grabbing assemblies according to the transmission speed and the transmission direction of the connecting pipe.
2. The automatic pipe-connecting grabbing control system according to claim 1, characterized in that: the number of the transmission assemblies is three, and the three transmission assemblies are used for controlling the grabbing assembly to move along three directions which are mutually perpendicular.
3. The automatic pipe-joining gripping control system according to claim 2, characterized in that: any one of the three directions is parallel to the transmission direction of the union.
4. The automatic pipe-connecting grabbing control system according to claim 1, characterized in that: the grabbing assembly comprises a clamp, the clamp comprises a first clamping jaw and a second clamping jaw, an arc-shaped hole is formed in one side, opposite to the first clamping jaw, of the second clamping jaw, and when the first clamping jaw and the second clamping jaw are abutted, the hole wall of the arc-shaped hole is abutted to the side wall of the connecting pipe.
5. The automatic pipe-connecting grabbing control system according to claim 1, characterized in that: the control module is also used for starting the plurality of transmission assemblies after clamping the connecting pipes and controlling the grabbing assemblies to move to the upper part of the blanking box; the device is also used for controlling the grabbing component to loosen the connecting pipe after the grabbing component moves above the blanking box; and the conveying assemblies are also used for starting the plurality of conveying assemblies to control the grabbing assemblies to reset after the grabbing assemblies release the connecting pipes.
6. The automatic pipe connecting grabbing control method is characterized by comprising the following steps:
detecting a connecting pipe placing disc in transmission, and controlling the movement speed and the movement direction of the grabbing assembly according to the transmission speed and the transmission direction when the connecting pipe placing disc is detected;
and when a preset condition is reached, controlling the grabbing assembly to clamp the connecting pipe, wherein the preset condition is that the movement speed is equal to the transmission speed.
7. The automatic pipe-connecting grabbing control method according to claim 6, characterized by further comprising the following steps:
after the connecting pipe is clamped, the grabbing component is controlled to move to the upper part of the blanking box, and the grabbing component is controlled to loosen the connecting pipe, so that the connecting pipe falls onto the blanking box.
8. The automatic pipe connecting grabbing control method according to claim 7, wherein the grabbing component is controlled to move above the blanking box, and the method specifically comprises the following steps:
controlling the grabbing component to move vertically upwards;
after the grabbing component is controlled to move vertically upwards, the grabbing component is controlled to move to the upper side of the blanking box along the direction vertical to the vertical direction.
9. The automatic pipe-connecting grabbing control method according to claim 8, characterized by further comprising the following steps:
and counting the blanking number of the connecting pipes, counting once after the connecting pipes are loosened by the fixture, and generating a reminding signal when the blanking number of the connecting pipes reaches a preset number.
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