CN113753487A - Automatic pipe connection placing control system and control method - Google Patents
Automatic pipe connection placing control system and control method Download PDFInfo
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- CN113753487A CN113753487A CN202111045562.4A CN202111045562A CN113753487A CN 113753487 A CN113753487 A CN 113753487A CN 202111045562 A CN202111045562 A CN 202111045562A CN 113753487 A CN113753487 A CN 113753487A
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- Prior art keywords
- connecting pipe
- pipe
- falling
- header
- placing disc
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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
- B65G15/58—Belts or like endless load-carriers with means for holding or retaining the loads in fixed position, e.g. magnetic
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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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
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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
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
Abstract
The invention relates to the technical field of material conveying, in particular to a control system and a control method for automatically placing a connecting pipe, wherein the system comprises: the material box transmission subsystem is used for transmitting the material boxes to the loading level so that the connecting pipes stacked in the material boxes fall from the loading level; the connecting pipe and clamping subsystem is used for separating the stacked connecting pipes and transmitting the separated connecting pipes to a falling position; the connecting pipe transmission subsystem is used for transmitting the connecting pipe placing disc; the connecting pipe and clamping subsystem is used for separating the stacked connecting pipes and transmitting the separated connecting pipes to a falling position; still be used for controlling the antithetical couplet pipe whereabouts after the separation, when the antithetical couplet pipe is placed the dish and is transmitted to the position below that falls, the antithetical couplet pipe of whereabouts falls into the antithetical couplet pipe and places the dish. By adopting the scheme, the technical problem that the connecting pipe placing efficiency 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 placement.
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 needs to be added with corresponding reagents in the connecting pipe in the using process, and the connecting pipe needs to be fed to a production line or a processing line for realizing automatic management. Present automatic feeding mechanism generally is the clamping jaw, snatchs single work piece through the clamping jaw and places on production line and the processing line, but the antithetical couplet pipe is in the transportation with deposit, usually for stacking, adopts clamping jaw material loading still to need the manual work to separate the antithetical couplet pipe, and the clamping jaw structure is difficult for snatching the antithetical couplet pipe simultaneously, consequently has the antithetical couplet pipe still to adopt the manual work to place the mode of antithetical couplet pipe, leads to the efficiency of placing of antithetical couplet pipe lower.
Disclosure of Invention
One of the objectives of the present invention is to provide an automatic pipe laying control system to solve the technical problem of low pipe laying efficiency in the prior art.
The invention provides a basic scheme I: automatic control system that places of tubulation includes:
the material box transmission subsystem is used for transmitting the material boxes to the loading level so that the connecting pipes stacked in the material boxes fall from the loading level;
the connecting pipe and clamping subsystem is used for separating the stacked connecting pipes and transmitting the separated connecting pipes to a falling position;
the connecting pipe transmission subsystem is used for transmitting the connecting pipe placing disc;
the connecting pipe and clamping subsystem is used for separating the stacked connecting pipes and transmitting the separated connecting pipes to a falling position; still be used for controlling the antithetical couplet pipe whereabouts after the separation, when the antithetical couplet pipe is placed the dish and is transmitted to the position below that falls, the antithetical couplet pipe of whereabouts falls into the antithetical couplet pipe and places the dish.
The beneficial effects of the first basic scheme are as follows:
the material box is specially used for storing the connecting pipes to be loaded, and the connecting pipes stored in the material box are stacked. The material box transmission subsystem is used for transmitting the material box to the upper material level and transmitting the material box to the designated position so as to be convenient for executing the subsequent feeding operation. And the arrangement of the connecting pipe transmission subsystem realizes the transmission of the connecting pipe placing disc. The arrangement of the connecting pipe and the clamping subsystem separates the stacked connecting pipes, transmits the separated connecting pipes to a falling position, prepares to allow the connecting pipes to fall onto a transmitted connecting pipe placing plate, and controls the falling of the connecting pipes to allow the falling connecting pipes to fall into the connecting pipe placing plate.
Through the cooperation control of magazine transmission subsystem, takeover and centre gripping subsystem, realize the antithetical couplet and place of coil, the coil incessant transmission is placed to the antithetical couplet at this in-process antithetical couplet, under the condition that places facing a large amount of antithetical couplets, can effectively improve the efficiency of placing of antithetical couplet.
Further, still include: and the auxiliary feeding subsystem is used for pushing out the connecting pipe in the material box after the material box is transmitted to the feeding position.
Has the advantages that: friction may exist between the connecting pipes stacked in the material box and the material box, or the connecting pipes are adhered to the material box after a long time of storage, so that the connecting pipes cannot fall freely. The auxiliary feeding subsystem is arranged to push the connecting pipe out of the material box by controlling the corresponding mechanism, so that the connecting pipe falls down.
Further, still include: and the flattening subsystem is used for pressing the connecting pipe on the connecting pipe placing disc after the connecting pipe falls into the connecting pipe placing disc.
Has the advantages that: follow-up antithetical couplet pipe that will place on the dish to the antithetical couplet pipe adds reagent, can accurately add to the antithetical couplet in the pipe for guaranteeing reagent, require to add reagent device bottom to the distance on antithetical couplet pipe top very near, if there is the gap between antithetical couplet pipe and the antithetical couplet pipe are placed the dish, then in transmission process, add reagent device bottom will with antithetical couplet pipe top contact, influence the interpolation of reagent to and the transmission of antithetical couplet pipe. The setting of the subsystem that flattens presses the union pipe on the dish is placed to the union pipe, firstly adjusts the gesture of union pipe in the dish is placed to the union pipe, secondly makes the contact that dish was placed to union pipe and union pipe more inseparable to be convenient for the accurate execution of follow-up other links.
Further, the connecting pipe and clamping subsystem is used for controlling the clamping mechanism to respectively clamp the first connecting pipe to be inverted from top to bottom and the second connecting pipe to be inverted from top to bottom after the connecting pipes are abutted to the connecting pipe mechanism; after clamping, the penultimate connecting pipe is moved.
Has the advantages that: because the connecting pipes are stacked, two adjacent connecting pipes are in a connecting state. The adjacent two headers are clamped through the clamping mechanism, namely the first header to the last and the second header to the last are respectively clamped from top to bottom, and the distance between the two headers is increased by moving the first header, so that the first header to the last and the second header to the last are separated.
Further, still include: the second detection terminal is used for detecting the header placing disc; the connecting pipe and clamping subsystem is used for predicting transmission time according to the transmission speed of the connecting pipe placing disc and the distance between the second detection terminal and the falling position in the horizontal direction, predicting falling time according to the distance between the falling position and the upper surface of the connecting pipe placing disc 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 second detection terminal detects that the connecting pipe placing disc.
Has the advantages that: the prediction union coupling is placed the transmission time of dish from the position that second detection terminal can detect to the position below of falling to and the prediction union coupling falls from the position of falling to the time of falling on the dish is placed to the union coupling, through transmission time and time of falling, the whereabouts moment of control union coupling, thereby guarantee when the union coupling is placed the dish and is transmitted to the position below of falling, the union coupling of whereabouts can fall into the union coupling and place in the dish, realize the accurate material loading of union coupling.
The second purpose of the present invention is to provide a method for controlling the automatic placement of the pipe.
The invention provides a second basic scheme: the automatic pipe connection placement control method comprises the following steps:
the material box is transmitted to the material loading position through the material loading transmission mechanism, so that the connecting pipes stacked in the material box fall from the material loading position; a transmission connecting pipe placing disc;
separating the stacked headers falling from the loading position and conveying the separated headers to the falling position;
and controlling the separated connecting pipe to fall, and when the connecting pipe placing plate is conveyed to the lower part of the falling position, the falling connecting pipe falls into the connecting pipe placing plate.
The second basic scheme has the beneficial effects that:
the material box is specially used for storing the connecting pipes to be loaded, and the connecting pipes stored in the material box are stacked. The material box is conveyed to the feeding position, so that the subsequent feeding operation is conveniently executed. And the continuous feeding of the connecting pipes is realized by matching with the transmission of the connecting pipe placing disc. The antithetical couplet pipe is owing to stack, and two adjacent antithetical couplets can be in connected state, separates the antithetical couplet pipe that stacks, transmits the antithetical couplet pipe after will separating to the position of whereabouts, prepares on dropping the antithetical couplet pipe of antithetical couplet pipe transmission places the dish, when the control antithetical couplet pipe whereabouts for the antithetical couplet pipe of whereabouts falls into antithetical couplet pipe and places the dish. Through separation, whereabouts of antithetical couplet pipe to and the transmission of antithetical couplet pipe transmission dish, realize the automation of antithetical couplet pipe and place the incessant transmission of dish at this in-process antithetical couplet pipe, in the face of a large amount of antithetical couplet pipes carry out the circumstances of placing under, can effectively improve the efficiency of placing of antithetical couplet pipe.
Further, the method for enabling the stacked connecting pipes in the material box to fall from the material loading position comprises the following steps: after the material box is transmitted to the feeding position, the connecting pipe in the material box is pushed out through the feeding auxiliary mechanism.
Has the advantages that: friction may exist between the connecting pipes stacked in the material box and the material box, or the connecting pipes are adhered to the material box after a long time of storage, so that the connecting pipes cannot fall freely. The connecting pipe is pushed out from the material box by controlling the corresponding feeding auxiliary mechanism, so that the connecting pipe falls down.
Further, the following contents are included: after the connecting pipe falls into the connecting pipe placing disc, the connecting pipe on the connecting pipe placing disc is pressed, so that the connecting pipe is in close contact with the connecting pipe placing disc.
Has the advantages that: follow-up antithetical couplet pipe that will place on the dish to the antithetical couplet pipe adds reagent, can accurately add to the antithetical couplet in the pipe for guaranteeing reagent, require to add reagent device bottom to the distance on antithetical couplet pipe top very near, if there is the gap between antithetical couplet pipe and the antithetical couplet pipe are placed the dish, then in transmission process, add reagent device bottom will with antithetical couplet pipe top contact, influence the interpolation of reagent to and the transmission of antithetical couplet pipe. Therefore, the connecting pipe on the connecting pipe placing disc is pressed, firstly, the posture of the connecting pipe in the connecting pipe placing disc is adjusted, and secondly, the connecting pipe and the connecting pipe placing disc are in closer contact, so that the follow-up accurate execution of other links is facilitated.
Further, separating the stacked headers falling from the loading level comprises the following: 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.
Has the advantages that: the adjacent two headers are clamped through the clamping mechanism, namely the first header to the last and the second header to the last are respectively clamped from top to bottom, and the distance between the two headers is increased by moving the first header, so that the first header to the last and the second header to the last are separated.
Further, the union pipe whereabouts after the control separation, when the union pipe placed the dish and transmit to the position below that falls, the union pipe of whereabouts falls into the union pipe and places the dish, including following content: predicting transmission time according to the transmission speed of the connecting pipe placing disc and the distance from the designated position 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 in the vertical direction, and calculating the time interval between the transmission time and the falling time; detecting the transmitted connecting pipe placing disc at a specified position; when detecting that the header places the dish, control the header according to time interval and follow the whereabouts position whereabouts for when the header is placed the dish and is transmitted to the whereabouts position below, the header of whereabouts falls into the header and places in the dish.
Has the advantages that: the designated position is preset in advance, and a detection terminal can be arranged at the designated position and used for detecting whether the header placing disc is transmitted to the designated position. The prediction union coupling is placed the transmission time of dish from assigned position to whereabouts position below to and the prediction union coupling falls from whereabouts position to the whereabouts time that the plate was placed to the union coupling, through transmission time and whereabouts time, the whereabouts moment of control union coupling, thereby guarantee when the union coupling is placed the dish and is transmitted to whereabouts position below, the union coupling of whereabouts can fall into the union coupling and place the dish in, realize the accurate material loading of union coupling.
Drawings
FIG. 1 is a top view of an embodiment of an automatic pipe laying control system and method of the present invention;
FIG. 2 is an enlarged schematic view of the automatic pipe laying control system and method of the present invention at A in FIG. 1;
FIG. 3 is a schematic structural diagram of a feeding device according to an embodiment of the automatic pipe connection placement control system and control method of the present invention;
fig. 4 is a schematic structural diagram of a clamping mechanism, a pipe connecting mechanism and a flattening device in the embodiments of the automatic pipe connecting placement control system and the control method of the present 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 connecting pipe placing disc 2, a conveyor belt 3, a first guide block 4, a second guide block 5, a feeding base 6, a workbench 7, a material box 8, a containing hole 9, a first transmission assembly 10, a guide block 11, a second transmission assembly 12, a pushing and pressing piece 13, a telescopic block 14, a third transmission assembly 15, a fixed clamp 16, a movable clamp 17, a first parallel air claw 18, a second parallel air claw 19, a pressing plate 20 and a fifth transmission assembly 21.
Examples
The automatic laying control system for the connecting pipes comprises a transmission base 1, a connecting pipe transmission device, a feeding base 6, a feeding device and a flattening device.
As shown in the attached drawing 1, the header transmission device is arranged on the transmission base 1 and is used for transmitting a header placing disc 2, the header placing disc 2 comprises a sliding block and a fixing plate, a placing groove used for placing a header is formed in the upper surface of the fixing plate, the placing groove is matched with the shape of the header, the header indicates consumables which are sequentially connected with a plurality of reaction tubes, and the number of the placing grooves is multiple and is 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 union pipe transmission device comprises a driving wheel, a driven wheel and a conveyor belt 3 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 4 which are uniformly distributed, the inner side of the conveyor belt 3 is provided with second guide blocks 5 which are matched with the first guide blocks 4 for use, specifically, the distance between adjacent first guide blocks 4 is equal to the width of the second guide blocks 5 in the horizontal direction, and the distance between adjacent second guide blocks 5 is equal to the width of the first guide blocks 4 in the horizontal direction.
The first guide block 4 and the second guide block 5 are both vertically arranged, that is, the length direction of the first guide block 4 and the second guide block 5 is parallel to the vertical direction, and in other embodiments, the first guide block 4 and the second guide block 5 are obliquely arranged, that is, the length direction of the first guide block 4 and the second guide block 5 intersects with the vertical direction.
The connecting pipe transmission device further comprises a connecting piece, the connecting piece comprises a connecting block and two clamping blocks, limiting grooves are formed in two sides of the connecting block, one side, opposite to the two clamping blocks, of each clamping block extends to form a protruding portion, and the two protruding portions are respectively in contact with the two limiting grooves. The connecting block is fixedly connected with the outer side of the conveying belt 3, the clamping blocks are fixedly connected with the side face of the header containing disc 2, namely, one side of each clamping block, far away from the limiting groove, is fixedly connected with the side face of the sliding block through a screw.
The pipe joint transmission device further comprises a sliding part and a guide rail, the guide rail is the same as the conveyor belt 3 in shape in the horizontal direction, the guide rail is located on the outer side of the conveyor belt 3, and the sliding part is used for enabling the pipe joint placing disc 2 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 feeding base 6 is arranged on the transmission base 1, the feeding device is arranged on the feeding base 6, and the feeding device is positioned above the connecting pipe transmission device. The material loading base 6 includes workstation 7, has seted up the bar hole on the workstation 7, and the bar hole is just to the antithetical couplet pipe transmission device, and when the antithetical couplet pipe was placed set 2 and is transmitted to bar hole below, the length direction in bar hole was parallel with the distribution direction that the antithetical couplet pipe was placed the standing groove on the dish 2.
As shown in the attached drawing 3, the feeding device comprises a feeding transmission mechanism, a feeding auxiliary mechanism, a clamping mechanism, a pipe connecting mechanism and a material box 8, the material box 8 comprises a box body, a plurality of vertical accommodating holes 9 are formed in the box body, the accommodating holes 9 are uniformly distributed along the length direction of the vertical strip-shaped holes, and a plurality of connecting pipes are stacked in the accommodating holes 9.
The feeding transmission mechanism is used for transmitting the material box 8, the feeding transmission mechanism is arranged on the upper surface of the workbench 7 and comprises a first transmission assembly 10 and a tray, the first transmission assembly 10 is used for transmitting the tray, and the transmission direction of the tray is perpendicular to the length direction of the strip-shaped hole. First transmission assembly 10 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 nut cup joints on first guide arm in the lead screw pair, the other end and the tray fixed connection of nut, tray and magazine 8 fixed connection, the upper surface fixed connection of base and workstation 7. The nut drives the material box 8 to move on the workbench 7 through the tray, so that the accommodating holes 9 of the material box 8 are right aligned to the strip-shaped holes in the workbench 7, and the moving direction of the material box 8 is vertical to the length direction of the strip-shaped holes.
The workbench 7 is also provided with two guide blocks 11, the two guide blocks 11 are respectively contacted with two opposite sides of the tray, the length direction of the guide blocks 11 is parallel to the moving direction of the material box 8, and the tray moves along a channel between the two guide blocks 11.
The feeding auxiliary mechanism is used for pushing out the connecting pipe in the material box 8, the feeding auxiliary mechanism is located above the feeding transmission mechanism, and the feeding auxiliary mechanism comprises a second transmission assembly 12 and a pushing piece 13. The pushing member 13 is used to push out the union inside the housing hole 9 from the bar hole. The pushing and pressing member 13 includes a connecting block, an elastic member and a pressing block connected in sequence, the pressing block is matched with the receiving hole 9 in shape, and in the embodiment, the elastic member is a spring. The elastic piece prevents the connecting pipe from being pressed too tightly.
The second transmission assembly 12 comprises a second screw pair, a second guide rod, a second base and a second motor, two ends of the second guide rod are respectively fixedly connected with the second base, 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 screw is far away from the second motor, the second base is fixedly connected with the second motor, one end of a nut in the screw pair is sleeved on the second guide rod, the other end of the nut is fixedly connected with a pushing and pressing piece 13, and the connecting block is fixedly connected with the nut. The second transmission assembly 12 is located above the first transmission device, and a support frame is fixedly connected to the workbench 7 and fixedly connected with the second base. The nut drives the pushing piece 13 to move in the vertical direction, and the inner connecting pipe of the material box 8 is pushed out from the strip-shaped hole.
As shown in fig. 4, the pipe connecting mechanism includes a telescopic block 14 and a third transmission assembly 15, in this embodiment, the third transmission assembly 15 employs a first cylinder, and in other embodiments, the third transmission assembly 15 may employ a lead screw sliding table module. The free end of first cylinder and flexible piece 14 fixed connection, flexible piece 14 is located the bar hole below, and the upper surface of flexible piece 14 offsets with the union coupling that pushes out in the magazine 8. Under initial condition, flexible piece 14 is in the state of stretching out, and flexible piece 14 is located the bar hole below this moment, and when the yoke pipe was released from magazine 8, the upper surface of flexible piece 14 supported with the yoke pipe bottom, and the flexible piece 14 that stretches out is used for blockking the yoke pipe of whereabouts. When the union pipe does not need to be blocked, the first cylinder drives the telescopic block 14 to retract, and the union pipe can move downwards.
The clamping mechanism comprises a movable clamp 17, a fixed clamp 16, a first parallel air claw 18, a second parallel air claw 19 and a fourth transmission assembly, wherein in the embodiment, the fourth transmission assembly adopts a second air cylinder, and in other embodiments, the fourth transmission assembly can adopt a lead screw sliding table module. The pneumatic fingers of the first parallel pneumatic claw 18 are fixedly connected with the movable clamp 17, the pneumatic fingers of the second parallel pneumatic claw 19 are fixedly connected with the fixed clamp 16, and the fixed clamp 16 and the movable clamp 17 are sequentially arranged from top to bottom. The free end of the second cylinder is fixedly connected with the first parallel air claw 18, the second cylinder is used for driving the first parallel air claw 18 to move in the vertical direction, and the first parallel air claw 18 drives the movable clamp 17 to move in the vertical direction.
Specifically, first parallel gas claw 18 and second parallel gas claw 19 all include two pneumatic fingers that can move in opposite directions, decide anchor clamps 16 including the first fixed clamping jaw and the second fixed clamping jaw that can move in opposite directions, the one end of the first fixed clamping jaw and 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 the first fixed clamping jaw offsets with the second fixed clamping jaw, the pore wall in arc hole offsets with the lateral wall of antithetical couplet pipe, decide anchor clamps 16 centre gripping antithetical couplet pipe this moment. Move anchor clamps 17 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 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 17 centre gripping yoke pipe this moment.
In the initial state, the movable clamp 17 and the fixed clamp 16 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 17 is used for clamping the last to last connecting pipe of the last connecting pipe which is stacked from top to bottom, and the fixed clamp 16 is used for clamping the last to last connecting pipe which is adjacent to the last to last connecting pipe. When deciding anchor clamps 16 and moving anchor clamps 17 and pressing from both sides tight antithetical couplet pipe, need not block the antithetical couplet pipe, first cylinder drives flexible piece 14 withdrawal this moment, and the second cylinder stretches out to drive moves anchor clamps 17 and moves down, separates the first to last antithetical couplet pipe and the second to last antithetical couplet pipe, when the second cylinder stretches out completely, and it is nearer apart from the upper surface of antithetical couplet pipe transmission dish, in this embodiment, when the second cylinder stretches out completely, the upper surface of antithetical couplet pipe transmission dish is less than predetermined apart from the threshold value to the distance of antithetical couplet pipe bottom, for example apart from the threshold value to be 5 millimeters. When the header placing disc 2 moves to the lower part of the header clamped by the movable clamp 17, the movable clamp 17 releases the header, and the header falls into the placing groove of the header placing disc 2, so that the loading of the header is realized.
The flattening device is positioned above the connecting pipe conveying device and used for pressing the connecting pipe falling onto the connecting pipe placing disc 2. Specifically, the flattening device includes the flattening plate 20 and the fifth transmission assembly 21, in this embodiment, the fifth transmission assembly 21 adopts a third cylinder, and in other embodiments, the fifth transmission assembly 21 can adopt a lead screw sliding table module. The free end of third cylinder and dull and stereotyped 20 fixed connection of pressure, the lower surface of pressure flat board 20 can offset with the top of antithetical couplet pipe, and the third cylinder is used for controlling pressure flat board 20 to move down and presses the antithetical couplet pipe on antithetical couplet pipe placing tray 2 for antithetical couplet pipe and standing groove in close contact with.
The automatic feeding device further comprises a first detection terminal, a material box transmission subsystem, an auxiliary feeding subsystem, a connecting pipe and clamping subsystem, a connecting pipe transmission subsystem, a second detection terminal, a third detection terminal and a flattening subsystem.
The first detection terminal is arranged on the workbench 7 and used for detecting the material box 8, when the material box 8 is detected, a starting signal is generated, and the material box 8 is located at an initial position.
The magazine transport subsystem is used to transport the magazines 8 to a loading level, so that the stacked manifolds in the magazines 8 fall from the loading level. Specifically, the magazine transmission subsystem is used for receiving behind the start signal, starts first transmission assembly 10, and the control tray drives magazine 8 and moves to the material loading position, and when magazine 8 moved to the material loading position, the hole 9 of accomodating on the magazine 8 just was to the bar hole on the workstation 7.
Supplementary material loading subsystem for after magazine 8 transmits to the material level, release the union coupling in magazine 8, it is concrete, supplementary material loading subsystem is arranged in after taking in hole 9 on magazine 8 just to the bar hole on workstation 7, start second transmission subassembly 12, control bulldozes piece 13 and moves down predetermined second distance Y, the union coupling in the hole 9 will be taken in and is released from the bar hole, when the second distance Y offsets for the union coupling bottom that stacks and takeover mechanism, initial state's bulldozes piece 13 and the distance on the union coupling top that stacks. And is also used for activating the second transfer assembly 12 again to control the pushing element 13 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 statistics union coupling whereabouts number of times, when the union coupling whereabouts number of times reaches and predetermines the union coupling number, the union coupling that represents in the storage hole 9 has fallen, starts first transmission subassembly 10 this moment, predetermines the union coupling number and is the union coupling quantity that stacks in the single storage hole 9.
The auxiliary feeding subsystem is also used for starting the second transmission assembly 12 to reset after the connecting pipe in the accommodating hole 9 falls off, and the pushing piece 13 moves out of the accommodating hole 9.
The material box transmission subsystem is also used for starting the first transmission component 10 after the auxiliary feeding subsystem is reset, controlling the tray to move a preset first distance X, wherein at the moment, the other accommodating hole 9 on the material box 8 is just opposite to the strip-shaped hole on the workbench 7, and the first distance X is the distance between the adjacent accommodating holes 9 in the material box 8.
Specifically, the first counting sensor is also used for counting the number of the descending groups of the connecting pipes, when the number of the descending groups of the connecting pipes reaches the preset number of the holes, all the connecting pipes which contain the holes 9 fall off, the first transmission assembly 10 is started to reset, and the material box 8 is replaced. When the falling times reach the preset number of the connecting pipes, counting the number of the falling groups of the connecting pipes at one time, wherein the preset number of the holes is the number of the accommodating holes 9 in the material box 8.
The connecting pipe and clamping subsystem is 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 subsystem 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 14. Specifically, the first parallel gas claw 18 is controlled to contract, so that the movable clamp 17 is controlled to clamp the penultimate connecting pipe; the second parallel gas claw 19 is controlled to contract, so that the fixed clamp 16 is controlled to clamp the penultimate union pipe.
The connecting pipe and clamping subsystem is also used for controlling the third transmission assembly 15 to contract after the clamping mechanism clamps the connecting pipe, the telescopic block 14 moves towards the direction of the third transmission assembly 15, and when the third transmission assembly 15 contracts in place, the telescopic block 14 does not block the falling of the connecting pipe.
The connecting pipe and clamping subsystem is also used for controlling the fourth transmission assembly to extend out after the third transmission assembly 15 is contracted to the right position, so as to control the movable clamp 17 to move downwards, so that the penultimate connecting pipe clamped by the movable clamp 17 moves downwards, when the fourth transmission assembly extends to the right position, the penultimate connecting pipe is located at a falling position, and the distance from the bottom end of the penultimate connecting pipe to the upper surface of the connecting pipe transmission disc is smaller than a preset distance threshold value. In other embodiments, the third and fourth transmission assemblies 15, 15 are pre-set to retract or extend a distance, and are considered to retract or extend into position when retracted or extended a corresponding pre-set distance.
The union transmission subsystem is used for starting the transmission motor after receiving the starting signal and controlling the transmission belt to move at a constant speed to transmit the union placing disc 2. The second detection terminal is arranged on the transmission base 1 and used for detecting the header placing disc 2, and when the header placing disc 2 is detected, a falling signal is generated.
The connecting pipe and clamping subsystem is also used for controlling the separated connecting pipes to fall, and when the connecting pipe placing disc 2 is transmitted to the position below the falling position, the falling connecting pipes fall into the connecting pipe placing disc 2. Specifically, the connecting pipe and clamping subsystem is also used for controlling the movable clamp 17 to loosen 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 2 and moves along with the connecting pipe placing disc 2.
Specifically, the connecting pipe and clamping subsystem is used for predicting transmission time according to the transmission speed of the connecting pipe placing disc 2 and the distance from the second 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 2 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 second detection terminal detects the connecting pipe placing disc 2. For example, the distance from the second inspection terminal to the drop position in the horizontal direction is a, the distance from the drop position to the upper surface of the manifold placement tray 2 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 drop 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 subsystem is also used for starting timing when receiving a falling signal, controlling the movable clamp 17 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 2 when the connecting pipe placing disc 2 moves to the position below the falling position.
The connecting pipe and clamping subsystem is also used for sequentially starting the fourth transmission assembly, the third transmission assembly 15 and the second parallel air claw 19 to reset after the movable clamp 17 loosens the connecting pipe, so that the fixed clamping jaw loosens the connecting pipe, the connecting pipe falls to abut against the telescopic block 14, at the moment, the second transmission assembly 12 is started again to push the connecting pipe in the accommodating hole 9, the first parallel air claw 18 and the second parallel air claw 19 are started to enable the movable clamp 17 and the fixed clamp 16 to clamp the connecting pipe, and the connecting pipe is charged again.
The third detection terminal sets up on transmission base 1, and the third detection terminal is used for detecting the antithetical couplet and places dish 2, when detecting the antithetical couplet and place dish 2, generates the signal of flattening. The flattening subsystem is used for pressing the connecting pipe on the connecting pipe placing disc 2 after the connecting pipe falls into the connecting pipe placing disc 2. Specifically, when the flattening subsystem is used for receiving a flattening signal, the fifth transmission assembly 21 is controlled to stretch out, so that the flattening plate 20 is controlled to move downwards, the header on the header placing disc 2 is pressed, the header and the header placing disc 2 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 2 and counting the feeding 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 placement control method comprises the following steps of:
s1: detect cartridge 8, and when cartridge 8 is detected, generate an activation signal when cartridge 8 is in the initial position. The transfer manifold placing tray 2.
S2: the feed box 8 is transmitted to the upper material level through the feeding transmission mechanism, so that the connecting pipes stacked in the feed box 8 fall from the upper material level, and after the feed box 8 is transmitted to the upper material level, the connecting pipes in the feed box 8 are pushed out through the feeding auxiliary mechanism. The method specifically comprises the following steps:
after generating start signal, start first transmission assembly 10, the control tray drives magazine 8 and moves to the material loading position, and when magazine 8 moved to the material loading position, the hole 9 of accomodating on the magazine 8 just was to the bar hole on workstation 7.
After the accommodating hole 9 on the material box 8 is over against the strip-shaped hole on the workbench 7, the second transmission assembly 12 is started, the pushing part 13 is controlled to move downwards for a preset second distance Y, the connecting pipe in the accommodating hole 9 is pushed out from the strip-shaped hole, and when the second distance Y is that the bottom end of the stacked connecting pipe is abutted to the pipe connecting mechanism, the pushing part 13 in an initial state is away from the top end of the stacked connecting pipe. And the second transmission assembly 12 is started again, and the pushing element 13 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.
S3: 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 14, the clamping mechanism is controlled to clamp the first connecting pipe to the last but one and the second connecting pipe to the last but one from top to bottom respectively. Specifically, the first parallel gas claw 18 is controlled to contract, so that the movable clamp 17 is controlled to clamp the penultimate connecting pipe; the second parallel gas claw 19 is controlled to contract, so that the fixed clamp 16 is controlled to clamp the penultimate union pipe.
After the clamping mechanism clamps the connecting pipe, the third transmission assembly 15 is controlled to shrink, the telescopic block 14 moves towards the direction of the third transmission assembly 15, and after the third transmission assembly 15 shrinks in place, the telescopic block 14 does not block the falling of the connecting pipe.
And when the fourth transmission assembly extends to the proper position, the last connecting pipe is positioned at a falling position, and the distance from the bottom end of the last connecting pipe to the upper surface of the connecting pipe transmission disc is smaller than a preset distance threshold value.
In other embodiments, the third and fourth transmission assemblies 15, 15 are pre-set to retract or extend a distance, and are considered to retract or extend into position when retracted or extended a corresponding pre-set distance.
S4: and controlling the separated connecting pipe to fall, and when the connecting pipe placing plate 2 is transmitted to the lower part of the falling position, the falling connecting pipe falls into the connecting pipe placing plate 2. The method specifically comprises the following steps:
the transmission time is predicted according to the transmission speed of the connecting pipe placing plate 2 and the distance from the designated position to the falling position in the horizontal direction, the falling time is predicted according to the distance from the falling position to the upper surface of the connecting pipe placing plate 2 in the vertical direction, and the time interval between the transmission time and the falling time is calculated. Specifically, the position of the detection union placing plate 2 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 placing plate 2 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 connecting pipe placing disc 2 at a specified position; when detecting that the coil is placed to the header, 2, control the coil to fall from the position of whereabouts according to time interval for when coil is placed to the header 2 and transmits to the position of whereabouts below, the coil of whereabouts falls into in the coil is placed to the header 2. Specifically, when the header placing tray 2 is detected at a specified position, a drop signal is generated, timing is started, when the timing reaches a time interval, the movable clamp 17 is controlled to release the header, and when the header placing tray 2 moves to the lower side of the drop position, the dropped header just falls into the header placing tray 2.
S5: after the union falls into the union placing disc 2, the union on the union placing disc 2 is pressed, so that the union is in close contact with the union placing disc 2. The method specifically comprises the following steps:
when detecting that the header of placing the header places dish 2, the signal that flattens is generated, and control fifth transmission assembly 21 stretches out to control pressure flat board 20 moves down, presses the header on the tray 2 is placed to the header, makes header and header place dish 2 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 (10)
1. Automatic control system that places of union pipe, its characterized in that includes:
the material box transmission subsystem is used for transmitting the material boxes to the loading level so that the connecting pipes stacked in the material boxes fall from the loading level;
the connecting pipe transmission subsystem is used for transmitting the connecting pipe placing disc;
the connecting pipe and clamping subsystem is used for separating the stacked connecting pipes and transmitting the separated connecting pipes to a falling position; still be used for controlling the antithetical couplet pipe whereabouts after the separation, when the antithetical couplet pipe is placed the dish and is transmitted to the position below that falls, the antithetical couplet pipe of whereabouts falls into the antithetical couplet pipe and places the dish.
2. The automatic pipe laying control system of claim 1, further comprising:
and the auxiliary feeding subsystem is used for pushing out the connecting pipe in the material box after the material box is transmitted to the feeding position.
3. The automatic pipe laying control system of claim 1, further comprising:
and the flattening subsystem is used for pressing the connecting pipe on the connecting pipe placing disc after the connecting pipe falls into the connecting pipe placing disc.
4. The automatic laying control system of the union pipe according to claim 1, characterized in that:
the connecting pipe and clamping subsystem is used for controlling the clamping mechanism to respectively clamp a first connecting pipe and a second connecting pipe which are arranged from top to bottom after the connecting pipes are abutted against the connecting pipe mechanism; after clamping, the penultimate connecting pipe is moved.
5. The automatic pipe laying control system of claim 1, further comprising:
the second detection terminal is used for detecting the header placing disc;
the connecting pipe and clamping subsystem is used for predicting transmission time according to the transmission speed of the connecting pipe placing disc and the distance between the second detection terminal and the falling position in the horizontal direction, predicting falling time according to the distance between the falling position and the upper surface of the connecting pipe placing disc 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 second detection terminal detects that the connecting pipe placing disc.
6. The automatic pipe connection placement control method is characterized by comprising the following steps:
the material box is transmitted to the material loading position through the material loading transmission mechanism, so that the connecting pipes stacked in the material box fall from the material loading position; a transmission connecting pipe placing disc;
separating the stacked headers falling from the loading position and conveying the separated headers to the falling position;
and controlling the separated connecting pipe to fall, and when the connecting pipe placing plate is conveyed to the lower part of the falling position, the falling connecting pipe falls into the connecting pipe placing plate.
7. The method of claim 6, wherein the step of dropping the stack of tubes from the magazine comprises the steps of:
after the material box is transmitted to the feeding position, the connecting pipe in the material box is pushed out through the feeding auxiliary mechanism.
8. The automatic pipe laying control method according to claim 6, further comprising:
after the connecting pipe falls into the connecting pipe placing disc, the connecting pipe on the connecting pipe placing disc is pressed, so that the connecting pipe is in close contact with the connecting pipe placing disc.
9. The automatic pipe-connecting placement control method according to claim 6, characterized in that: separating a stacked header falling from a loading level, comprising:
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.
10. The automatic header placement control method according to claim 6, wherein the separated headers are controlled to fall, and when the header placement tray is conveyed below the drop position, the falling headers fall into the header placement tray, including the following:
predicting transmission time according to the transmission speed of the connecting pipe placing disc and the distance from the designated position 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 in the vertical direction, and calculating the time interval between the transmission time and the falling time;
detecting the transmitted connecting pipe placing disc at a specified position; when detecting that the header places the dish, control the header according to time interval and follow the whereabouts position whereabouts for when the header is placed the dish and is transmitted to the whereabouts position below, the header of whereabouts falls into the header and places in the dish.
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| CN202111045562.4A CN113753487B (en) | 2021-09-07 | 2021-09-07 | Automatic tube connecting placement control system and control method |
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