CN116020921A - Real-time angle detection device and control method for seamless steel pipe bending machine - Google Patents
Real-time angle detection device and control method for seamless steel pipe bending machine Download PDFInfo
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- CN116020921A CN116020921A CN202310315276.8A CN202310315276A CN116020921A CN 116020921 A CN116020921 A CN 116020921A CN 202310315276 A CN202310315276 A CN 202310315276A CN 116020921 A CN116020921 A CN 116020921A
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Abstract
The invention relates to the technical field of angle measurement, in particular to a real-time angle detection device and a control method of a seamless steel tube bending machine. The two displacement sensors respectively detect a numerical value, and the 1 st recovery angle R1 is recovered after the first bending; the 1 st actual bending angle A1 is not enough, the clamping bending mechanism drives the bending section to rotate until the 2 nd executing bending angle A+K2, if the 2 nd actual bending angle A2 is not less than the lower limit Al of the range of the qualified interval, the bending of the seamless steel pipe is marked as 'qualified', and the small procedure is ended; otherwise, the 2 nd actual bending angle A2 is not enough, still not qualified, and the bending is continued. The invention can timely measure the bending angle of the seamless steel pipe and feed back the measurement result, so that the seamless steel pipe bender can timely correct the insufficient bending angle; the automation and intelligence level of the pipe bending machine are improved, the production efficiency is improved, the labor intensity and the labor cost are reduced, and the yield is improved.
Description
Technical Field
The invention relates to the technical field of angle measurement, in particular to an angle real-time detection device and a control method of a seamless steel pipe bending machine.
Background
The existing seamless steel tube bending machine comprises a clamping and bending mechanism, a bending servo driving mechanism, a translation clamping mechanism, a tube feeding mechanism and a frame;
the clamping and bending mechanism comprises a bending disc, a rotary clamp holder and a rotary shaft; the bending disc comprises a grooved wheel, the edge of the grooved wheel is provided with an arc-shaped groove, and the grooved wheel is fixedly connected with the rotating shaft; the rim of the grooved pulley is provided with a protrusion, the protrusion part is provided with a straight groove, and the extending direction of the straight groove is along a straight line; the direction of the straight groove is tangential with the direction of the circular arc groove;
the rotary clamp holder comprises a translation clamping groove, an upper groove, two connecting rods with equal length, a lower groove and a rotary clamping hydraulic cylinder; the lower groove is fixedly connected with the rotating shaft; the upper groove is right above the lower groove, two ends of the two connecting rods are respectively connected between the upper groove and the lower groove through hinges, and the centers of four hinges between the upper groove and the lower groove are connected into a parallelogram; the upper groove and the lower groove are respectively connected with two ends of the rotary clamping hydraulic cylinder through hinges; the translation clamping groove is fixedly connected with the upper groove; the rotary clamping hydraulic cylinder drives the combination of the translation clamping groove and the upper groove to translate along the circular arc path, when the translation is carried out until the two connecting rods are in a vertical state, the opening of the translation clamping groove is opposite to the opening of the straight groove, and the seamless steel tube in the middle can be clamped;
the rotating shaft is connected with the frame through a revolute pair, and is fixedly connected with an output shaft of the bending servo driving mechanism;
the front end of the pipe conveying mechanism is provided with a clamping jaw, the center of a pipe of the pipe conveying mechanism is hollow, a straight seamless steel pipe passes through the space in the center of the pipe conveying mechanism, and the pipe conveying mechanism clamps the seamless steel pipe and can digitally control forward accurate conveying or accurate rotation;
the translation clamping mechanism comprises a translation groove pressing plate, a longitudinal driving device and a transverse driving device; the longitudinal driving device preferably uses an electric cylinder as a power mechanism so as to control the longitudinal driving device and the bending disc to move at the same linear speed;
when the pipe feeding mechanism is in operation, the seamless steel pipe is conveyed forwards, the rotary clamping hydraulic cylinder drives the translation clamping groove to clamp the front end of the seamless steel pipe, the clamped part is a bending section, then the front end of the translation pressing groove plate and the rear end of the straight groove jointly compress the seamless steel pipe, and the part controlled by the translation pressing groove plate and the clamping jaw is called a clamping section; the bending servo driving mechanism drives the clamping bending mechanism to rotate clockwise, the bending section keeps a straight shape, the clamping bending mechanism drives the bending section to rotate around the rotating shaft, the clamping section is clamped by the clamping jaw, the holding direction is unchanged, the combination of the translation groove pressing plate and the circular arc groove can also clamp the clamping section, the holding direction is unchanged, and then the front end of the clamping section is gradually forced to wind on the circular arc groove and is bent into a circular arc shape; the clamping jaw and the translation groove pressing plate synchronously follow forward, and the forward moving speed of the clamping jaw and the translation groove pressing plate is the same as the forward pulling linear speed of the seamless steel tube, so that the seamless steel tube is ensured not to slip in the clamping jaw and the translation groove pressing plate; until the clamping and bending mechanism bends to a desired angle, then stopping, removing the compression of the translation clamping groove, removing the compression of the translation pressing groove plate, returning to the initial position backwards, pushing the seamless steel tube forwards by the pipe conveying mechanism and rotating the seamless steel tube by an angle, and turning the clamping and bending mechanism anticlockwise to the straight groove along the front-rear direction to carry out the bending work of the next round. The existing PLC programmable logic controller of the seamless steel tube bending machine is electrically connected with the tube feeding mechanism, the longitudinal driving device, the transverse driving device, the rotary clamping hydraulic cylinder and the bending servo driving mechanism respectively.
Compared with the early manual pipe bending, the existing seamless steel pipe bending machine has great progress, can preset the bending angle and is accurately executed by a bending servo driving mechanism. However, the device has some defects, lack of feedback information on the actual bending angle, and the bending is considered to reach the expected angle after the bending is completed, but the steel has elasticity and plasticity at the same time, and the steel can recover and rebound after elastic deformation, so that the actual bending angle is smaller than the expected bending angle. Through multiple experiments, a bending angle is found, namely the expected bending angle and the sum of the bending angles are obtained, so that the actual bending angle after rebound is relatively close to the expected bending angle, a certain positive effect can be achieved, but the manufacturing of the seamless steel pipes is also error, the wall thickness and physical indexes of each batch of seamless steel pipes are all changed within the national standard allowable range, the bending angle is not a constant value, the recovery angle after each bending is 1.5-3 degrees, randomness and uncertainty are provided within the range, the actual bending angle is also larger error, and the rejection rate of the produced bent pipe products is higher. The biggest defect of the existing seamless steel pipe bender is that a method capable of measuring and feeding back the actual bending angle is lacking, so that bending errors cannot be automatically corrected, full automation cannot be realized, only later manual measurement and correction can be realized, production efficiency is low, labor intensity is high, and the biggest bottleneck in seamless steel pipe bending is formed.
Disclosure of Invention
The invention aims at the defects in the prior art, and provides a real-time angle detection device and a control method for a seamless steel pipe bender, which can timely measure the bending angle of a seamless steel pipe and feed back the measurement result so that the seamless steel pipe bender can timely correct the insufficient bending angle; the automation and intelligence level of the pipe bending machine are improved, the production efficiency is improved, the labor intensity and the labor cost are reduced, and the yield is improved.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the real-time angle detection device of the seamless steel pipe bender comprises a bending disc and two displacement sensors; the bottom of the straight groove of the bending disc is provided with two sensor holes, two displacement sensors are respectively arranged in the two sensor holes, the detection probes of the two displacement sensors are respectively positioned in the straight groove, and the axial lead of the detection probes is horizontal and vertically crossed with the axial lead of the straight groove.
The distance between the axial lines of the two displacement sensors is L millimeters; when the bending section recovers and rebounds to leave the bottom of the straight groove for a small distance after bending, the detection probe of the displacement sensor extends out to keep abutting on the outer contour of the bending section, and the distance is detected, wherein the value detected by one displacement sensor close to the tangent point of the bending section and the clamping section is Di millimeter, the value detected by one displacement sensor far away from the tangent point of the bending section and the clamping section is Ci millimeter, and then the recovery angle Ri of the bending section is:
ri=arctan ((Ci-Di)/L), the unit is angle. Where i is a positive integer, indicating that the identified parameter is an ith duty cycle related parameter.
Wherein arctan () is an arctangent function in a mathematical formula.
After the recovery angle Ri is detected, the recovery angle Ri can be fed back to the system, and then automatic correction is carried out, so that later manual correction is avoided, and the full-automatic bending of the seamless steel tube bending machine is realized.
In actual operation, the problem that the bending section leaves the straight groove after recovery and rebound, and meanwhile, the free end of the bending section sags due to gravity, so that the axial lead of the detection probe of the displacement sensor and the axial lead of the bending section are not in a crossed position relation, and the detected numerical value is inevitably deviated; in order to avoid the deviation, a supporting tooth is further arranged at one end, far away from the tangent point of the bending section and the clamping section, of the lower edge of the straight groove, the upper surface of the supporting tooth is a horizontal plane and tangent to the straight groove, the lower contour surface of the bending section is supported, the section is prevented from sagging, the detection probe axial lead of the displacement sensor is ensured to be intersected with the axial lead of the bending section, the detection accuracy of the displacement sensor is ensured, and the accuracy of the detected recovery angle Ri is ensured. Meanwhile, a supporting tooth avoiding groove is further formed in the corresponding position of the translation clamping groove, and the supporting tooth is inserted into the supporting tooth avoiding groove to prevent the straight groove from interfering with the translation clamping groove.
The last section of a bent pipe part can be relatively short in size, the forward pushing of the clamping jaw can interfere with the translation groove pressing plate, or the following stroke of the clamping jaw is not long enough, the clamping jaw is often required to be released in advance and retreated backwards before bending is finished, so that the translation groove pressing plate and the circular arc groove clamp the seamless steel pipe in a detection state and are also supported by the supporting teeth, in a less stable state, the seamless steel pipe is extruded at a point, a gap is sometimes formed between the clamping section and the rear end of the translation groove pressing plate, the whole seamless steel pipe is deflected anticlockwise, and the detected recovery angle Ri is larger than the actual recovery angle Ri; in order to prevent the occurrence of the situation, the invention further comprises a pipe tail clamping mechanism, wherein the pipe tail clamping mechanism comprises a pipe tail clamping groove plate, a pipe tail sliding block, a pipe tail guide rail, a pipe tail hydraulic cylinder and a pipe tail clamping base; the pipe tail clamping base is fixedly connected with the frame; the pipe tail guide rail is fixedly connected with the pipe tail clamping base; the pipe tail sliding block and the pipe tail guide rail are combined into a linear guide rail pair; the pipe tail clamping groove plate is fixedly connected with the pipe tail sliding block, one end of the pipe tail hydraulic cylinder is connected with the pipe tail clamping groove plate, and the other end is connected with the pipe tail clamping base; the pipe tail hydraulic cylinder drives the pipe tail clamp groove plate to horizontally translate right, the notch of the pipe tail clamp groove plate and the rear end of the translational groove plate notch jointly clamp the clamping section, a gap is prevented from being generated between the clamping section and the rear end of the translational groove plate, the whole seamless steel pipe is prevented from deflecting in the anticlockwise direction, and the accuracy of the detected recovery angle Ri is ensured.
The invention also comprises a PLC programmable logic controller, which preferably shares the existing PLC programmable logic controller in the seamless steel pipe bender in the prior art, and can also be provided with a new PLC programmable logic controller if the number of sockets is insufficient in the later reconstruction project, so that the new PLC programmable logic controller is communicated with the existing PLC programmable logic controller; the two displacement sensors and the pipe tail hydraulic cylinder are respectively and electrically connected with a new PLC programmable logic controller.
The invention also comprises a correction rod, wherein the diameter of the correction rod is equal to that of a standard seamless steel pipe, the correction rod is clamped between the straight groove and the translation clamping groove, the correction rod presses the detection probes of the two displacement sensors to be level with the inner cylindrical surface of the straight groove, and the detection readings of the two displacement sensors are defined as 0 mm; based on this, the value detected when the detection probe extends out of the sensor hole is a positive number.
The invention and the existing seamless steel pipe bender work together in a coordinated way.
1. And clamping the correction rod between the straight groove and the translation clamping groove, and pressing the detection probes of the two displacement sensors to be level with the inner cylindrical surface of the straight groove by the correction rod to define the detection readings of the two displacement sensors to be 0 mm.
2. The pipe conveying mechanism forwards conveys the seamless steel pipe to an accurate length, the rotary clamping hydraulic cylinder drives the translation clamping groove to clamp the bending section of the seamless steel pipe, and the bending section is clamped between the straight groove and the translation clamping groove.
3. The front end of the translation grooved plate and the rear end of the straight groove jointly compress the seamless steel tube.
4. The rotary clamping hydraulic cylinder drives the translational clamping groove to clamp the bending section, the bending servo driving mechanism drives the clamping bending mechanism to rotate clockwise, the bending section is pressed and kept in a straight shape, the clamping bending mechanism drives the bending section to rotate around the rotating shaft, sliding does not occur, the clamping section is clamped by the clamping jaw, the holding direction is unchanged, the combination of the translational clamping groove plate and the circular arc groove can also clamp the clamping section, the holding direction is unchanged, then the front end of the clamping section is gradually forced to wind on the circular arc groove and is bent into a circular arc shape until the 1 st execution bending angle A+K1 is reached, the unit is an angle, and the bending servo driving mechanism stops rotating; wherein A is the expected bending angle, K is the excessive bending angle, and the value of K is generally in the range of 1.5 to 5 degrees.
Predefining an interval range [ Al, au ] with qualified actual bending angles, and considering that the bending is qualified when the actual bending angles fall into the range.
5. After the steel is kept for one second, the rotary clamping hydraulic cylinder drives the translation clamping groove to leave the bending section, the clamping section is still clamped by the combination of the circular arc groove and the translation clamping groove, and is also clamped by the clamping jaw, meanwhile, the supporting tooth supports the lower profile surface of the bending section to prevent the section from sagging, the axial lead of the detection probe of the displacement sensor and the axial lead of the bending section are ensured to vertically intersect, at the moment, the bending section is in a free state in the horizontal direction, and the two displacement sensors respectively detect a numerical value due to the angle recovery phenomenon after the steel is bent; r1=arctan ((C1-D1)/L);
i.e. the 1 st recovery angle R1 is recovered after the first bending, the unit is angle;
the 1 st actual bending angle is a1=a+k1-R1;
if the 1 st actual bending angle A1 is larger than the upper limit Au of the qualified interval range, the bending of the seamless steel tube is marked as over-bending, the small procedure is ended, the bending is ended, the correction technology for over-bending is not adopted, but the seamless steel tube part is not required to be wasted, the next bending work is continued until all bending parts of the seamless steel tube are completed, and the manual correction is carried out.
Otherwise, if the 1 st actual bending angle A1 is not smaller than the lower limit Al of the range of the qualified interval, the bending of the seamless steel pipe is marked as 'qualified', and the small procedure is ended;
the 1 st actual bending angle A1 is not enough, still is unqualified, and is continuously bent, and the following steps are continuously executed;
the difference between the expected bending angle and the actual bending angle is defined as the rebound angle S, the 1 st rebound angle s1=A-A 1 of the first rebound.
6. Taking an increment coefficient m between 0.2 and 0.9, adding m times of the 1 st rebound angle S1 to the 1 st excessive bending angle K1 to obtain a2 nd excessive bending angle, namely K2=K1+m.s1, and executing a bending angle A+K2; namely, the 2 nd execution bending angle a+k2=a+k1+m s1=a+k1+m (A-A 1);
the rotary clamping hydraulic cylinder drives the translation clamping groove to clamp the bending section, the bending servo driving mechanism drives the clamping bending mechanism to rotate clockwise, the bending section keeps a straight shape, the clamping bending mechanism drives the bending section to rotate around the rotating shaft, the clamping section is clamped by the clamping jaw, the holding direction is unchanged, the combination of the translation clamping groove plate and the circular arc groove can also clamp the clamping section to keep the direction unchanged until the 2 nd execution bending angle A+K2, and the bending servo driving mechanism stops rotating.
7. After the steel is kept for one second, the rotary clamping hydraulic cylinder drives the translation clamping groove to leave the bending section, the clamping section is still clamped by the combination of the circular arc groove and the translation clamping groove, and is also clamped by the clamping jaw, and meanwhile, the supporting teeth support the lower profile surface of the bending section, and as the angle recovery phenomenon exists after the steel is bent, the 2 nd recovery angle R2 is recovered after the second bending, the measuring and calculating method is the same as R1, and the description is not repeated; the 2 nd actual bending angle is a2=a+k2-R2;
if the 2 nd actual bending angle A2 is larger than the upper limit Au of the qualified interval range, the bending of the seamless steel tube is marked as over-bending, the small procedure is ended, the next bending operation is continued until all bending parts of the seamless steel tube are completed, and the manual correction is switched to.
Otherwise, if the 2 nd actual bending angle A2 is not smaller than the lower limit Al of the range of the qualified interval, the bending of the seamless steel pipe is marked as 'qualified', and the small procedure is ended;
otherwise, the 2 nd actual bending angle A2 is not enough, still is not qualified, and continues to be bent, and the following steps are continuously executed;
the second rebound is rebound by the 2 nd rebound angle s2=A-A 2.
8. Adding m times of the ith rebound angle S (i-1) to the ith overstock angle Ki to obtain an ith overstock angle Ki=K (i-1) +m×S (i-1), wherein the ith execution bending angle is A+Ki.
The rotary clamping hydraulic cylinder drives the translation clamping groove to clamp the bending section, the bending servo driving mechanism drives the clamping bending mechanism to rotate clockwise, the bending section keeps a straight shape, the clamping bending mechanism drives the bending section to rotate around the rotating shaft, the clamping section is clamped by the clamping jaw, the holding direction is unchanged, the combination of the translation clamping groove plate and the circular arc groove can also clamp the clamping section to keep the direction unchanged until the ith execution bending angle A+Ki, and the bending servo driving mechanism stops rotating.
9. After the steel is kept for one second, the rotary clamping hydraulic cylinder drives the translation clamping groove to leave the bending section, the clamping section is still clamped by the combination of the circular arc groove and the translation clamping groove, and is also clamped by the clamping jaw, meanwhile, the supporting tooth supports the lower profile surface of the bending section, and as the angle recovery phenomenon exists after the steel is bent, the ith recovery angle Ri is recovered after the steel is bent for the third time, the measuring and calculating method is the same as R1, and the description is not repeated; the i-th actual bending angle is ai=A+Ki-Ri, if Ai falls into the range of qualified interval [ Al, au ], the bending angle is qualified, the measurement and correction are finished, the small procedure is finished, otherwise, the steps are required to be repeated continuously.
The program is only a small program inserted into the main program of the seamless steel pipe bender, is inserted into the back of each bending procedure, completes the measuring function, feeds back the measuring result to the main program, and generates the result of repeatedly measuring and correcting the bending angle. If the actual bending angle exceeds the upper limit of the interval range, namely the bending is performed, the measurement is ended, no measures are taken for the condition of the bending, and the later stage is corrected manually; in order to prevent this, it is necessary to adjust the parameters and properly reduce the values of the 1 st excessive bending angle K1 and the increment coefficient m; if the actual bending angle is smaller than the lower limit of the interval range, the bending angle is insufficient, the ith execution bending angle A+Ki is appropriately increased and then continues to be bent, and the small program is ended until the ith actual bending angle Ai falls into the qualified interval range; it is desirable to detect and correct three to five bends back to the proper angle.
A control method of an angle real-time detection device of a seamless steel pipe bender comprises the following steps:
s1, inputting an expected bending angle A, wherein the angle A is larger than 30 degrees and smaller than 150 degrees, and defining an interval range [ Al, au ] with a qualified actual bending angle;
s2, defining an integer i, wherein i=1;
s3, inputting a numerical value of a1 st excessive bending angle K1, wherein K1 is in a range of 1.5-5 degrees;
s4, inputting an increment coefficient m, wherein m is between 0.2 and 0.9;
s5, transmitting the bending angle A+K1 degree of the 1 st execution to a bending servo driving mechanism;
s5-5, driving the translation clamping groove to clamp the bending section by the rotary clamping hydraulic cylinder, and driving the clamping bending mechanism to rotate clockwise to the 1 st execution bending angle A+K1 degree by the bending servo driving mechanism; (this step is not within the scope of the invention)
S6, acquiring measurement values Ci and Di through two displacement sensors;
s7, calculating an ith recovery angle Ri, ri=arctan ((Ci-Di)/L);
s8, calculating an ith actual bending angle ai=A+Ki-Ri;
s9, if Ai is larger than Au, the bending of the seamless steel tube is marked as over-bending, and the step S14 is carried out; manual correction at the later stage of the// waiting;
s10, if Ai is not less than Al, marking the bending of the seamless steel tube as qualified, and turning to the step S14;
s11, assigning i+1 to i;
s12, calculating an ith execution bending angle: a+ki=a+k (i-1) +m (A-A (i-1)) and is sent to the bending servo drive mechanism;
s12-5, driving the translation clamping groove to clamp the bending section by the rotary clamping hydraulic cylinder, and driving the clamping bending mechanism to rotate clockwise by the bending servo driving mechanism to an ith executing bending angle A+Ki degree; after one second of holding, the rotary clamping hydraulic cylinder drives the translational clamping groove to leave the bending section;
s13, executing a step S6;
s14, ending the program.
The beneficial effects of the invention are as follows: the bending angle of the seamless steel pipe can be measured in time and the measurement result can be fed back, so that the seamless steel pipe bender can correct the insufficient bending angle in time; the automation and intelligence level of the pipe bending machine are improved, the production efficiency is improved, the labor intensity and the labor cost are reduced, and the yield is improved.
Drawings
FIG. 1 is a front view of a seamless steel pipe after bending;
FIG. 2 is a schematic view of a three-dimensional structure in a bending of a seamless steel pipe bender equipped with embodiment 1 of the present invention;
FIG. 3 is a schematic view showing a three-dimensional structure of a seamless steel pipe bender equipped with embodiment 1 of the present invention before bending;
FIG. 4 is a cross-sectional top view of a seamless steel tube bender equipped with embodiment 1 of the present invention;
FIG. 5 is a partial enlarged view at B in FIG. 4;
FIG. 6 is a schematic of a three-dimensional structure of a translational clamping mechanism;
FIG. 7 is a schematic three-dimensional view of a clamping and bending mechanism;
FIG. 8 is an enlarged view of a portion of F in FIG. 7;
FIG. 9 is a schematic three-dimensional view of a rotary gripper;
FIG. 10 is a schematic three-dimensional view of a pipe end clamping mechanism;
FIG. 11 is a cross-sectional top view of the pipe tail clamping mechanism clamping a seamless steel pipe;
FIG. 12 is a schematic three-dimensional view of a correction rod sandwiched between a straight slot and a translational clamping slot;
FIG. 13 is a schematic diagram showing the control relationship of the control system according to embodiment 1 of the present invention;
fig. 14 is a schematic process flow diagram of the control method of embodiment 2 of the present invention.
In the figure:
1-seamless steel tube; 11-bending sections; 12-clamping sections; 121-a deflected gripping section; 2-clamping and bending mechanisms; 21-a bending disc; 211-arc-shaped grooves; 212-a straight groove; 213-supporting teeth; 214-sensor holes; 22-rotating the gripper; 221-translating the clamping groove; 2211-tooth supporting and avoiding groove; 222-upper groove; 223-link; 224-lower groove; 225-rotating a clamping hydraulic cylinder; 23-rotating shaft; 24-displacement sensor; 3-bending servo drive mechanism; 4-a translational clamping mechanism; 41-translating the grooved plate; 42-longitudinal drive means; 43-transverse driving means; 5-a tube tail clamping mechanism; 51-tube tail slot plates; 52-a tube end slider; 53-tube tail guide rail; 54-a pipe tail hydraulic cylinder; 55-clamping the base by the pipe tail; 6-a pipe feeding mechanism; 61-clamping jaw; 7-a frame; 8-correcting bar.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments and the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment 1, a real-time angle detection device of a seamless steel pipe bender, as shown in fig. 1-13, comprises a bending disc 21 and two displacement sensors 24; the bottom of the straight groove 212 of the bending disc 21 is provided with two sensor holes 214, the two displacement sensors 24 are respectively arranged in the two sensor holes 214, the detection probes of the two displacement sensors 24 are respectively positioned in the straight groove 212, and the axial lines of the detection probes are horizontal and vertically crossed with the axial lines of the straight groove 212.
The distance of the axes of the two displacement sensors 24 is L millimeters; when the bending section 11 is restored and rebounded away from the bottom of the straight groove 212 by a small distance after bending, the detecting probe of the displacement sensor 24 extends to be kept against the outer contour of the bending section 11, and the distance is detected, wherein the value detected by one displacement sensor 24 near the tangent point of the bending section 11 and the clamping section 12 is Di millimeter, the value detected by one displacement sensor 24 far from the tangent point of the bending section 11 and the clamping section 12 is Ci millimeter, and as shown in fig. 5, the restoring angle Ri of the bending section 11 is:
ri=arctan ((Ci-Di)/L), the unit is angle. Where i is a positive integer, indicating that the identified parameter is an ith duty cycle related parameter.
L=120 mm in this example.
Wherein arctan () is an arctangent function in a mathematical formula.
After the recovery angle Ri is detected, the recovery angle Ri can be fed back to the system, and then automatic correction is carried out, so that later manual correction is avoided, and the full-automatic bending of the seamless steel tube bending machine is realized.
In actual operation, there is a problem that the bending section 11 leaves the straight groove 212 after being recovered and rebounded, and meanwhile, the free end of the bending section 11 sags due to gravity, so that the movement direction of the detection probe of the displacement sensor 24 and the axial line direction of the bending section 11 are not in a crossed position relation, and the detected numerical value is inevitably deviated; in order to avoid such deviation, as shown in fig. 8, a supporting tooth 213 is further disposed at one end of the lower edge of the straight groove 212, which is far away from the tangent point of the bending section 11 and the clamping section 12, and the upper surface of the supporting tooth 213 is a horizontal plane and tangent to the straight groove 212, so as to support the lower contour surface of the bending section 11, prevent the section from sagging, ensure the intersection of the axis of the detection probe of the displacement sensor 24 and the axis of the bending section 11, ensure the accuracy of the detection of the displacement sensor 24, and ensure the accuracy of the detected recovery angle Ri. Meanwhile, a supporting tooth avoiding groove 2211 is also arranged at the corresponding position of the translation clamping groove 221, as shown in fig. 9, the supporting tooth 213 is inserted into the supporting tooth avoiding groove 2211, and the interference between the straight groove 212 and the translation clamping groove 221 is prevented.
The last section of a bent pipe part may be relatively short in size, the forward pushing of the clamping jaw 61 may interfere with the translational groove plate 41, or the following stroke of the clamping jaw 61 is not long enough, at this time, before the bending is finished, the clamping jaw 61 is often required to be released in advance and to retract backwards, as shown in fig. 11, so that the translational groove is separated from the bending section 11 in the detection state, the seamless steel pipe 1 is clamped by the translational groove plate 41 and the circular arc groove 211, and is also supported by the supporting tooth 213, in a less stable state, the seamless steel pipe 1 is extruded at a point, and sometimes a gap is generated between the clamping section 12 and the rear end of the translational groove plate 41, so that the whole seamless steel pipe 1 deflects in a counterclockwise direction, and the detected recovery angle Ri is larger than the actual deflection, as shown by the deflected clamping section 121 in fig. 11; to prevent this, the present embodiment further includes a pipe tail clamping mechanism 5, the pipe tail clamping mechanism 5 including a pipe tail clamping groove plate 51, a pipe tail slider 52, a pipe tail guide 53, a pipe tail hydraulic cylinder 54, and a pipe tail clamping base 55; the pipe tail clamping base 55 is fixedly connected with the frame 7; the pipe tail guide rail 53 is fixedly connected with the pipe tail clamping base 55; the pipe tail sliding block 52 and the pipe tail guide rail 53 are combined into a linear guide rail pair; the pipe tail clamping groove plate 51 is fixedly connected with the pipe tail sliding block 52, one end of the pipe tail hydraulic cylinder 54 is connected with the pipe tail clamping groove plate 51, and the other end is connected with the pipe tail clamping base 55; the pipe tail hydraulic cylinder 54 drives the pipe tail groove clamping plate 51 to horizontally translate rightward, the notch of the pipe tail groove clamping plate 51 and the rear end of the notch of the translation groove pressing plate 41 jointly clamp the clamping section 12, a gap is prevented from being generated between the clamping section 12 and the rear end of the translation groove pressing plate 41, the whole seamless steel pipe 1 is prevented from deflecting in the anticlockwise direction, and the accuracy of the detected recovery angle Ri is ensured.
The embodiment also comprises a PLC programmable logic controller, which preferably shares the existing PLC programmable logic controller in the prior art, and can be provided with a new PLC programmable logic controller if the number of the sockets is insufficient in the later reconstruction project, so that the new PLC programmable logic controller is communicated with the existing PLC programmable logic controller; the two displacement sensors 24 and the tail hydraulic cylinder 54 are each electrically coupled to a new PLC programmable logic controller, as shown in fig. 13.
The present embodiment further includes a calibration rod 8, the diameter of the calibration rod 8 is equal to the diameter of the standard seamless steel pipe 1, the calibration rod 8 is clamped between the straight groove 212 and the translational clamping groove 221, as shown in fig. 12, the calibration rod 8 presses the detection probes of the two displacement sensors 24 to be flush with the inner cylindrical surface of the straight groove 212, and the detection readings of the two displacement sensors 24 are defined as 0 mm; based on this, the value detected when the detection probe protrudes from the sensor hole 214 is a positive number.
The process of the embodiment and the existing seamless steel pipe bending machine which are coordinated together is the same.
1. The correction lever 8 is sandwiched between the straight groove 212 and the translational clamping groove 221, and the correction lever 8 presses the detection probes of the two displacement sensors 24 to be flush with the inner cylindrical surface of the straight groove 212, defining the detection readings of the two displacement sensors 24 as 0 mm.
2. The pipe feeding mechanism 6 feeds the seamless steel pipe 1 forward to a precise length dimension, and the rotary clamping hydraulic cylinder 225 drives the translational clamping groove 221 to clamp the bending section 11 of the seamless steel pipe 1, and the bending section 11 is clamped between the straight groove 212 and the translational clamping groove 221.
3. The front end of the translational indent 41 and the rear end of the straight slot 212 are pressed together against the seamless steel pipe 1.
4. The rotary clamping hydraulic cylinder 225 drives the translational clamping groove 221 to clamp the bending section 11, the bending servo driving mechanism 3 drives the clamping bending mechanism 2 to rotate clockwise, the bending section 11 is pressed and kept in a straight shape, the clamping bending mechanism 2 drives the bending section 11 to rotate around the rotating shaft 23, sliding does not occur, the clamping section 12 is clamped by the clamping jaw 61, the maintaining direction is unchanged, the combination of the translational clamping groove plate 41 and the circular arc-shaped groove 211 can also clamp the clamping section 12 to keep the direction unchanged, then the front end of the clamping section 12 is gradually forced to wind on the circular arc-shaped groove 211 and is bent into a circular arc shape until the 1 st execution bending angle A+K1=45+2=47 degrees, and the bending servo driving mechanism 3 stops rotating; wherein a is an expected bending angle, a=45 degrees, K is an excessive bending angle, the value of K is generally in the range of 1.5 to 5 degrees, and the value of the 1 st excessive bending angle K1 of the first bending is 2 degrees.
An interval range [ Al, au ] with a qualified actual bending angle is predefined, and when the actual bending angle falls within the range, the bending is considered to be qualified, and in the embodiment, the interval range [44.8 degrees, 45.3 degrees ] is taken.
5. After one second of holding, the rotary clamping hydraulic cylinder 225 drives the translational clamping groove 221 to leave the bending section 11, the clamping section 12 is still clamped by the circular arc-shaped groove 211 and the translational clamping groove 221, and is also clamped by the clamping jaw 61, and the supporting teeth 213 support the lower profile surface of the bending section 11 to prevent the section from sagging, so that the detection probe axis of the displacement sensor 24 and the axis of the bending section 11 are ensured to intersect, and the bending section 11 is in a free state in the horizontal direction, and two displacement sensors 24 respectively detect a numerical value due to the angle recovery phenomenon after steel bending, wherein C1= 11.5813 mm and D1= 6.1321 mm;
r1=arctan ((C1-D1)/L) =arctan ((11.5813-6.1321)/120) =2.6 degrees;
i.e. the 1 st recovery angle r1=2.6 degrees is recovered after the first bending;
the 1 st actual bending angle is a1=a+k1-r1=47-2.6 degrees=44.4, which is smaller than the lower limit of the range of the qualified section of the actual bending angle; the difference between the expected bending angle and the actual bending angle is defined as the rebound angle S, the 1 st rebound angle s1=A-A1=45-44.4 degrees=0.6 degrees of the first rebound.
6. Taking an increment coefficient m between 0.2 and 0.9, taking m=0.3, adding m times of the 1 st rebound angle S1 to the 1 st overstock angle K1 to obtain a2 nd overstock angle k2=k1+ms1=2+0.3×0.6=2.18 degrees, and executing a2 nd bending angle a+k2=45+2.18= 47.18 degrees; namely, the 2 nd execution bending angle a+k2=a+k1+m s1=a+k1+m (A-A 1);
the rotary clamping hydraulic cylinder 225 drives the translational clamping groove 221 to clamp the bending section 11, the bending servo driving mechanism 3 drives the clamping bending mechanism 2 to rotate clockwise, the bending section 11 is kept in a straight shape, the clamping bending mechanism 2 drives the bending section 11 to rotate around the rotating shaft 23, the clamping section 12 is clamped by the clamping jaw 61, the direction is kept unchanged, the combination of the translational clamping groove plate 41 and the circular arc-shaped groove 211 can also clamp the clamping section 12 to keep the direction unchanged until the 2 nd execution bending angle A+K2= 47.18 degrees, and the bending servo driving mechanism 3 stops rotating.
7. After one second of holding, the rotary clamping hydraulic cylinder 225 drives the translational clamping groove 221 to leave the bending section 11, while the clamping section 12 is still clamped by the circular arc-shaped groove 211 and the translational clamping groove 221, and is also clamped by the clamping jaw 61, and meanwhile, the supporting teeth 213 support the lower profile surface of the bending section 11, and due to the angle recovery phenomenon existing after the steel is bent, the 2 nd recovery angle r2=2.6 degrees are recovered after the second bending, and the measuring and calculating methods are the same as those of R1, and are not repeated; the 2 nd actual bending angle is A2=A+K2-R2= 47.18-2.6 degrees= 44.58 degrees, which is smaller than the lower limit of the range of the qualified section of the actual bending angle and still is unqualified; the second rebound has a2 nd rebound angle s2=A-A2=45-44.58 degrees=0.42 degrees.
8. Adding m times of the 2 nd rebound angle S2 to the 2 nd excessive bending angle K2, to obtain a3 rd excessive bending angle k3=k2+m×s2=2.18+0.3×0.6=2.36 degrees, and a3 rd execution bending angle a+k3=45+2.36= 47.36 degrees.
The rotary clamping hydraulic cylinder 225 drives the translational clamping groove 221 to clamp the bending section 11, the bending servo driving mechanism 3 drives the clamping bending mechanism 2 to rotate clockwise, the bending section 11 is kept in a straight shape, the clamping bending mechanism 2 drives the bending section 11 to rotate around the rotating shaft 23, the clamping section 12 is clamped by the clamping jaw 61, the direction is kept unchanged, the combination of the translational clamping groove plate 41 and the circular arc-shaped groove 211 can also clamp the clamping section 12 to keep the direction unchanged until the 3 rd execution bending angle A+K3= 47.36 degrees, and the bending servo driving mechanism 3 stops rotating.
9. After one second of holding, the rotary clamping hydraulic cylinder 225 drives the translational clamping groove 221 to leave the bending section 11, while the clamping section 12 is still clamped by the circular arc-shaped groove 211 and the translational clamping groove 221, and is also clamped by the clamping jaw 61, and meanwhile, the supporting teeth 213 support the lower profile surface of the bending section 11, and as the steel is bent and has an angle recovery phenomenon, the 3 rd recovery angle r3=2.6 degrees is recovered after the third bending, and the measuring and calculating method is the same as R1, and the description is not repeated; the 3 rd actual bending angle is A3=A+K3-R3= 47.36-2.5 degrees= 44.86 degrees, the 3 rd actual bending angle A3 falls into a preset interval range [44.8 degrees, 45.3 degrees ], the angle is qualified, and the measurement and correction are finished.
If the actual bending angle exceeds the upper limit of the interval range, the measurement and correction are finished, and the later stage of manual correction is finished; in order to prevent this, it is necessary to adjust the parameters and properly reduce the values of the 1 st excessive bending angle K1 and the increment coefficient m; it is desirable to detect and correct three to five bends back to the proper angle.
The embodiment is suitable for the case that the bending angle a is greater than 30 degrees and less than 150 degrees, and the working process of a=45 degrees is described in the embodiment.
In this embodiment, the direction in which the seamless steel pipe is fed out by the pipe feeding mechanism 6 is the front direction, and the opposite direction is the rear direction, and the clockwise and counterclockwise directions refer to directions as viewed from the top.
Embodiment 2, a control method of an angle real-time detection device of a seamless steel pipe bender, as shown in fig. 14, comprises the following steps:
s1, inputting an expected bending angle A, wherein A=45 degrees, and defining the interval range of qualified actual bending angles as [44.8 degrees, 45.3 degrees ];
s2, defining an integer i, wherein i=1;
s3, inputting a numerical value of a1 st excessive bending angle K1, wherein K1=2 degrees;
s4, inputting an increment coefficient m, wherein m=0.3;
s5, transmitting the bending angle A+K1 degree of the 1 st execution to a bending servo driving mechanism 3;
s5-5, driving the translation clamping groove 221 to clamp the bending section 11 by the rotary clamping hydraulic cylinder 225, and driving the clamping and bending mechanism 2 to rotate clockwise by the bending servo driving mechanism 3 to 1 st execution bending angle A+K1 degree;
s6, acquiring measurement values Ci and Di through two displacement sensors 24;
s7, calculating an ith recovery angle Ri, ri=arctan ((Ci-Di)/L);
s8, calculating an ith actual bending angle ai=A+Ki-Ri;
s9, if Ai is larger than Au, the bending of the seamless steel tube is marked as over-bending, and the step S14 is carried out; manual correction at the later stage of the// waiting;
s10, if Ai is not less than Al, marking the bending of the seamless steel tube as qualified, and turning to the step S14;
s11, assigning i+1 to i;
s12, calculating an ith execution bending angle: a+ki=a+k (i-1) +m (A-A (i-1)) and is sent to the bending servo drive mechanism 3;
s12-5, a rotary clamping hydraulic cylinder 225 drives a translation clamping groove 221 to clamp the bending section 11, and a bending servo driving mechanism 3 drives a clamping bending mechanism 2 to rotate clockwise to an ith executing bending angle A+Ki degree; after one second of hold, the rotary clamping cylinder 225 drives the translating clamping groove 221 away from the bending section 11;
s13, executing a step S6;
s14, ending the program.
The program is only a small program inserted into the main program of the seamless steel pipe bender, is inserted into the back of each bending procedure, completes the measuring function, feeds back the measuring result to the main program, and generates the result of repeatedly measuring and correcting the bending angle.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the present invention and the equivalent techniques thereof, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The real-time angle detection device of the seamless steel pipe bender comprises a bending disc (21) and two displacement sensors (24); the method is characterized in that: the bottom of the straight groove (212) of the bending disc (21) is provided with two sensor holes (214), two displacement sensors (24) are respectively arranged in the two sensor holes (214), and detection probes of the two displacement sensors (24) are respectively positioned in the straight groove (212), and the axial lead of the detection probes is horizontal and vertically crossed with the axial lead of the straight groove (212).
2. The real-time angle detection device of a seamless steel pipe bender according to claim 1, wherein: the distance between the axes of the two displacement sensors (24) is L millimeters; when the bending section (11) recovers and rebounds to leave the bottom of the straight groove (212) for a distance after bending, the detection probe of the displacement sensor (24) stretches out to keep abutting on the outer contour of the bending section (11) and detects the distance away, wherein the value detected by one displacement sensor (24) close to the tangent point of the bending section (11) and the clamping section (12) is Di millimeter, the value detected by one displacement sensor (24) far away from the tangent point of the bending section (11) and the clamping section (12) is Ci millimeter, and then the recovery angle Ri of the bending section (11) is as follows:
r=arctan ((Ci-Di)/L), the unit is angle.
3. The real-time angle detection device of a seamless steel pipe bender according to claim 2, wherein: and a supporting tooth (213) is further arranged at one end, far away from the tangent point of the bending section (11) and the clamping section (12), of the lower edge of the straight groove (212), and the upper surface of the supporting tooth (213) is a horizontal plane and tangent with the straight groove (212).
4. A real-time angle detection device for a seamless steel pipe bender as claimed in claim 3, wherein: the pipe tail clamping mechanism (5) comprises a pipe tail clamping groove plate (51), a pipe tail sliding block (52), a pipe tail guide rail (53), a pipe tail hydraulic cylinder (54) and a pipe tail clamping base (55); the pipe tail clamping base (55) is fixedly connected with the frame (7); the pipe tail guide rail (53) is fixedly connected with the pipe tail clamping base (55); the pipe tail sliding block (52) and the pipe tail guide rail (53) are combined into a linear guide rail pair; the pipe tail clamping groove plate (51) is fixedly connected with the pipe tail sliding block (52), one end of the pipe tail hydraulic cylinder (54) is connected with the pipe tail clamping groove plate (51), and the other end is connected with the pipe tail clamping base (55); the pipe tail hydraulic cylinder (54) drives the pipe tail clamping groove plate (51) to horizontally translate right, and the rear ends of the notch of the pipe tail clamping groove plate (51) and the notch of the translation groove pressing plate (41) jointly clamp the clamping section (12).
5. The real-time angle detection device of a seamless steel pipe bender according to claim 4, wherein: the system also comprises a PLC programmable logic controller; two displacement sensors (24) are respectively electrically coupled with the new PLC programmable logic controller.
6. A real-time angle detection apparatus for a seamless steel pipe bender according to any one of claims 2 to 5, wherein: the device also comprises a correction rod (8), wherein the diameter of the correction rod (8) is equal to that of the standard seamless steel tube (1), the correction rod (8) is clamped between the straight groove (212) and the translational clamping groove (221), the correction rod (8) presses the detection probes of the two displacement sensors (24) to be level with the inner cylindrical surface of the straight groove (212), and the detection readings of the two displacement sensors (24) are defined as 0 mm at the moment; based on this, the value detected when the detection probe protrudes from the sensor hole (214) is a positive number.
7. A real-time angle detection apparatus for a seamless steel pipe bender according to any one of claims 3 to 5, wherein: the corresponding position of the translation clamping groove (221) is also provided with a supporting tooth avoiding groove (2211), and the supporting tooth (213) is inserted into the supporting tooth avoiding groove (2211).
8. The real-time angle control method of the seamless steel pipe bender is characterized by comprising the following steps of:
s1, inputting an expected bending angle A, and defining an interval range [ Al, au ] with a qualified actual bending angle;
s2, defining an integer i, wherein i=1;
s3, inputting a numerical value of a1 st excessive bending angle K1, wherein K1 is in a range of 1.5-5 degrees;
s4, inputting an increment coefficient m;
s5, transmitting the bending angle A+K1 degree of the 1 st execution to a bending servo driving mechanism (3);
s6, acquiring measurement values Ci and Di through two displacement sensors (24);
s7, calculating an ith recovery angle Ri, ri=arctan ((Ci-Di)/L);
s8, calculating an ith actual bending angle ai=A+Ki-Ri;
s9, if Ai is larger than Au, the bending of the seamless steel tube is marked as over-bending, and the step S14 is carried out;
s10, if Ai is not less than Al, marking the bending of the seamless steel tube as qualified, and turning to the step S14;
s11, assigning i+1 to i;
s12, calculating an ith execution bending angle: a+ki=a+k (i-1) +m (A-A (i-1)) and is sent to the bending servo drive mechanism (3);
s13, executing a step S6;
s14, ending the program.
9. The method for controlling the angle of the seamless steel pipe bender in real time according to claim 8, wherein the method comprises the following steps: the input delta coefficient m is between 0.2 and 0.9.
10. The method for controlling the angle of the seamless steel pipe bender in real time according to claim 8 or 9, wherein the method comprises the following steps: the bending angle a is expected to be greater than 30 degrees and less than 150 degrees.
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| CN202310315276.8A CN116020921A (en) | 2023-03-29 | 2023-03-29 | Real-time angle detection device and control method for seamless steel pipe bending machine |
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| CN202310315276.8A CN116020921A (en) | 2023-03-29 | 2023-03-29 | Real-time angle detection device and control method for seamless steel pipe bending machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1987001625A1 (en) * | 1985-09-19 | 1987-03-26 | Gardner R F | Pipe bending machine |
| US4979385A (en) * | 1988-04-21 | 1990-12-25 | Eaton Leonard Picot S.A. | Process and apparatus for monitoring backspringing when bending an elongated element such as a pipe |
| CN106984671A (en) * | 2017-05-16 | 2017-07-28 | 大连理工大学 | A kind of device and method for measuring bend pipe processing extension and resilience |
| CN109108120A (en) * | 2018-06-26 | 2019-01-01 | 中国工程物理研究院材料研究所 | A kind of full servo digital control bending machine |
| CN109482673A (en) * | 2018-11-19 | 2019-03-19 | 郑丽丽 | A kind of angle measurement unit based on slope |
| CN208787268U (en) * | 2018-08-06 | 2019-04-26 | 安吉县聚源家具有限公司 | A kind of swan neck system |
-
2023
- 2023-03-29 CN CN202310315276.8A patent/CN116020921A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1987001625A1 (en) * | 1985-09-19 | 1987-03-26 | Gardner R F | Pipe bending machine |
| US4979385A (en) * | 1988-04-21 | 1990-12-25 | Eaton Leonard Picot S.A. | Process and apparatus for monitoring backspringing when bending an elongated element such as a pipe |
| CN106984671A (en) * | 2017-05-16 | 2017-07-28 | 大连理工大学 | A kind of device and method for measuring bend pipe processing extension and resilience |
| CN109108120A (en) * | 2018-06-26 | 2019-01-01 | 中国工程物理研究院材料研究所 | A kind of full servo digital control bending machine |
| CN208787268U (en) * | 2018-08-06 | 2019-04-26 | 安吉县聚源家具有限公司 | A kind of swan neck system |
| CN109482673A (en) * | 2018-11-19 | 2019-03-19 | 郑丽丽 | A kind of angle measurement unit based on slope |
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Application publication date: 20230428 |