CN116117302A - Pipe processing apparatus, equipment, method and computer readable storage medium - Google Patents
Pipe processing apparatus, equipment, method and computer readable storage medium Download PDFInfo
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- CN116117302A CN116117302A CN202310161630.6A CN202310161630A CN116117302A CN 116117302 A CN116117302 A CN 116117302A CN 202310161630 A CN202310161630 A CN 202310161630A CN 116117302 A CN116117302 A CN 116117302A
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- pipe
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/03—Observing, e.g. monitoring, the workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
- B23K26/382—Removing material by boring or cutting by boring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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Abstract
The application is applicable to the technical field of pipe machining, and provides a pipe machining device, equipment, a method and a computer readable storage medium, wherein the pipe machining device is used for executing the pipe machining method; the pipe machining device comprises a base, a first chuck, a second chuck, a visual detection assembly and a machining head; the first chuck and the second chuck are both arranged on the base; the visual detection assembly is arranged on the second chuck; the processing head is arranged at one side of the second chuck far away from the first chuck; the pipe processing method comprises the following steps: controlling the first chuck to positively pass through the second chuck to convey the part to be processed of the pipe to a processing area of the processing head, and simultaneously starting the visual detection assembly to detect an electrophoresis hole on the pipe; when the electrophoresis hole is not detected, the first chuck is controlled to convey and/or rotate the pipe; when the electrophoresis hole is detected, the first chuck is controlled to rotate the electrophoresis hole to a preset position, and then the processing head is controlled to process the part to be processed. According to the embodiment of the application, the processing efficiency of the pipe can be improved.
Description
Technical Field
The present disclosure relates to the field of pipe processing technologies, and in particular, to a pipe processing apparatus, a device, a method, and a computer readable storage medium.
Background
In the automotive industry, tubing with electrophoretic holes is often used. After the original pipe with the electrophoresis hole is processed by punching and pipe cutting, the semi-finished pipe which can be used on automobiles can be processed. While processing the original pipe, the electrophoresis holes need to be rotated to a specific direction to use electrophoresis Kong Bikai for the processing head for punching and cutting, so that the holes punched on the pipe by the processing head can be used for the exhaust gas at the time of electroplating. The stability of the processed pipe can be improved, and the welding strength of the pipe can be improved.
At present, the positions of the electrophoresis holes are usually identified manually, then the pipe is rotated to rotate the electrophoresis holes to specific positions, and then the pipe is perforated and cut. Because the efficiency of identifying the electrophoresis hole manually is lower, the processing efficiency of the pipe is reduced.
Disclosure of Invention
The embodiment of the application provides a pipe processing device, equipment, a method and a computer readable storage medium, which can improve the processing efficiency of a pipe.
In order to achieve the above object, in a first aspect, an embodiment of the present application provides a pipe processing method, which is applied to a pipe processing apparatus, the pipe processing apparatus including a base, a first chuck, a second chuck, a visual inspection assembly, and a processing head; the base is provided with a sliding rail, and the first chuck is arranged on the sliding rail in a sliding manner; the second chuck is arranged on the base; the visual detection assembly is arranged on the second chuck; the processing head is arranged on one side of the second chuck far away from the first chuck; the pipe processing method comprises the following steps:
controlling the first chuck to clamp the pipe;
controlling the first chuck to positively pass the pipe through the second chuck so as to convey the part to be processed of the pipe to a processing area of the processing head, and simultaneously starting the visual detection assembly to detect an electrophoresis hole on the pipe;
controlling the first chuck to convey and/or rotate the pipe when the electrophoresis hole is not detected;
when the electrophoresis hole is detected, the first chuck is controlled to rotate the electrophoresis hole to a preset position, and then the processing head is controlled to process the part to be processed.
In some possible implementations of the first aspect, the step of controlling the first chuck to transport and/or rotate the tubing includes:
acquiring a first interval between two adjacent electrophoresis holes and a second interval between a detection center of the visual detection assembly and a processing area of the processing head;
when the first interval is smaller than or equal to the second interval, the first chuck is controlled to rotate the pipe by a preset angle, and then the pipe is conveyed forward by the first interval;
and when the electrophoresis hole is detected, controlling the first chuck to reversely convey the pipe at the first interval, and controlling the first chuck to rotate the electrophoresis hole to a preset position, and then controlling the processing head to process the part to be processed.
In some possible implementations of the first aspect, after the step of controlling the first chuck to rotate the pipe by a preset angle and then forward conveying the pipe by the first interval, the method further includes:
when the electrophoresis hole is not detected, the first chuck is controlled to rotate the pipe by the preset angle, and then the pipe is reversely conveyed by the first interval;
and when the electrophoresis hole is detected, executing the step of controlling the first chuck to rotate the electrophoresis hole to a preset position and then controlling the processing head to process the part to be processed.
In some possible implementations of the first aspect, after the step of controlling the first chuck to rotate the pipe by the preset angle and reversely conveying the pipe by the first interval, the method further includes:
and when the electrophoresis hole is not detected, executing the step of controlling the first chuck to rotate the pipe by the preset angle and then conveying the pipe forward by the first interval.
In some possible implementations of the first aspect, the step of obtaining a first spacing between two adjacent electrophoretic holes and a second spacing between a detection center of the visual detection assembly and a processing region of the processing head further includes:
controlling the first chuck to forward convey the pipe by one first interval when the first interval is larger than the second interval;
and when the electrophoresis hole is detected, controlling the first chuck to reversely convey the pipe at the first interval, and controlling the first chuck to rotate the electrophoresis hole to a preset position, and then controlling the processing head to process the part to be processed.
In some possible implementations of the first aspect, after the step of controlling the first chuck to forward the pipe by one of the first intervals, the method further includes:
and when the electrophoresis hole is not detected, executing the step of controlling the first chuck to rotate the pipe by the preset angle and then reversely conveying the pipe by the first interval.
In some possible implementations of the first aspect, after the step of controlling the first chuck to rotate the pipe by a preset angle and before the step of forward conveying the pipe by the first interval, the method further includes:
acquiring the number of the side surfaces of the pipe;
and determining the preset angle according to the number of the side surfaces of the pipe.
In some possible implementations of the first aspect, after the step of activating the visual inspection assembly to inspect the electrophoretic holes on the tubing, the method further includes:
and when the number of the side surfaces is 2 and the electrophoresis holes are not detected, judging that the electrophoresis holes are positioned opposite to the current detection area of the visual detection assembly.
In some possible implementations of the first aspect, the pipe machining apparatus further includes an auxiliary support and a clamping jaw, the auxiliary support being disposed on the base; the clamping jaw is used for grabbing the pipe and placing the pipe on the auxiliary supporting piece; before the step of controlling the first chuck to clamp the pipe, the method further comprises the following steps:
controlling the clamping jaw to grab the pipe, and controlling the clamping jaw to loosen the pipe after the pipe is fed to the auxiliary supporting piece;
and after the clamping jaw is controlled to move to a preset parking position, executing the step of controlling the first chuck to clamp the pipe.
In a second aspect, embodiments of the present application provide a pipe machining apparatus, including a base, a first chuck, a second chuck, a visual inspection assembly, and a machining head; the base is provided with a sliding rail, and the first chuck is arranged on the sliding rail in a sliding manner; the second chuck is arranged on the base; the visual detection assembly is arranged on the second chuck; the processing head is arranged on one side of the second chuck far away from the first chuck; the pipe processing device is used for executing the pipe processing method according to any one of the technical schemes.
In a third aspect, embodiments of the present application provide a pipe machining apparatus, including: a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor, performs the steps of the pipe machining method according to any one of the above claims.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the pipe machining method according to any one of the above-mentioned claims.
According to the pipe processing device, the equipment, the method and the computer readable storage medium, the first chuck is arranged on the sliding rail of the base in a sliding mode, the second chuck is arranged on the base, the visual detection assembly is arranged on the second chuck, and the processing head is arranged on one side, far away from the first chuck, of the second chuck; the first chuck is controlled to clamp the pipe, then the first chuck is controlled to pass the pipe through the second chuck in the forward direction so as to convey the part to be processed of the pipe to a processing area of the processing head, and meanwhile, the visual detection assembly is started to detect whether an electrophoresis hole exists on the pipe; if not, controlling the first chuck to convey and/or rotate the pipe until the electrophoresis hole is detected by the visual detection assembly; if so, controlling the first chuck to rotate the electrophoresis hole to a preset position, and controlling the processing head to process the part to be processed of the pipe; the position of the electrophoresis hole on the pipe is determined through the visual detection assembly, so that the detection efficiency can be improved, and the processing efficiency of the pipe can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from the structures shown in these drawings without inventive effort to a person of ordinary skill in the art.
Fig. 1 is a schematic diagram of a terminal/device structure of a hardware operating environment according to an embodiment of the present application;
FIG. 2 is a schematic structural view of an embodiment of a pipe processing apparatus according to the present application; the method comprises the steps of carrying out a first treatment on the surface of the
FIG. 3 is a schematic view of another embodiment of a pipe processing apparatus according to the present application;
fig. 4 is a schematic flow chart of the pipe processing method of the present application.
Reference numerals illustrate:
1. a base; 11. a slide rail; 2. a first chuck; 3. a second chuck; 4. a visual detection component; 5. a processing head; 6. an auxiliary support; 7. a light source; 8. a pipe; 81. electrophoresis wells.
The realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments, referring to the attached drawings.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present application and simplify description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.
It should be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The embodiment of the application provides a pipe processing device, equipment, a method and a computer readable storage medium, which are used for solving the technical problem of low pipe processing efficiency.
As shown in fig. 1, fig. 1 is a schematic diagram of a terminal structure of a hardware running environment according to an embodiment of the present application. The terminal of the embodiment of the application can be a pipe machining device.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the terminal structure shown in fig. 1 is not limiting of the terminal and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
In the embodiment of the application, as shown in fig. 2 and 3, the pipe processing device comprises a base 1, a first chuck 2, a second chuck 3, a visual detection assembly 4 and a processing head 5; the base 1 is provided with a sliding rail 11, and the first chuck 2 is arranged on the sliding rail 11 in a sliding way; the second chuck 3 is arranged on the base 1; the visual detection assembly 4 is arranged on the second chuck 3; the processing head 5 is arranged on the side of the second chuck 3 remote from the first chuck 2.
The first chuck 2 may slide on the slide rail 11 to be close to or far from the second chuck 3 when sliding on the slide rail 11, i.e. the second chuck 3 may be disposed on an extension of the slide rail 11. After the first chuck 2 clamps the pipe 8, the first chuck 2 slides in a direction approaching the second chuck 3, and the end of the pipe 8 can pass through the second chuck 3, so that the second chuck 3 can clamp the pipe 8; when the second chuck 3 clamps the pipe 8, a certain gap is reserved, so that the first chuck 2 can continuously push the pipe 8 along the direction of the sliding rail 11, namely, when the second chuck 3 clamps the pipe 8, the pipe 8 can continuously move along the axial direction of the pipe 8 relative to the second chuck 3.
While the first chuck 2 pushes the pipe 8 through the second chuck 3, the visual inspection assembly 4 is simultaneously started to detect whether the electrophoresis hole 81 is formed on the pipe 8 through the visual inspection assembly 4; if yes, the position of the electrophoresis hole 81 can be determined, then the electrophoresis hole 81 on the pipe 8 is rotated to a preset position through the first chuck 2, and then the processing head 5 is controlled to process the pipe 8; if the electrophoresis hole 81 is not detected, the first chuck 2 is controlled to rotate and/or push the pipe 8 along the direction of the slide rail 11 until the electrophoresis hole 81 on the pipe 8 is rotated to a preset position through the first chuck 2 when the position of the electrophoresis hole 81 is determined, and then the processing head 5 is controlled to process the pipe 8. When the first chuck 2 drives the pipe 8 to rotate, the second chuck 3 can synchronously drive the pipe 8 to rotate so as to improve the rotation stability of the pipe 8; the processing mode of the processing head 5 on the pipe 8 comprises punching and cutting.
The visual inspection assembly 4 may be disposed above the second chuck 3 to detect whether the tube 8 has the electrophoresis hole 81 from top to bottom, so that the structure may be simplified, and the detection area of the visual inspection assembly 4 is prevented from being blocked by other structures. The processing head 5 can be arranged on the base 1; the processing head 5 may be a laser processing head 5 for emitting a laser beam for processing a pipe 8.
In an embodiment, as shown in fig. 2, the pipe processing apparatus further includes a light source 7, where the light source 7 is disposed on the second chuck 3, so as to shine towards the pipe 8, improve the detection precision of the visual detection assembly 4, and reduce the false detection probability. Wherein the visual detection component 4 may comprise a camera.
In one embodiment, as shown in fig. 2 and 3, the pipe processing apparatus further includes an auxiliary support 6, where the auxiliary support 6 is disposed on the base 1 for supporting the pipe 8. The pipe 8 may be fed onto the auxiliary support 6 first and then the first chuck 2 is controlled to grip the pipe 8.
The supporting height of the auxiliary supporting member 6 may be flush with the clamping heights of the first chuck 2 and the second chuck 3 to facilitate the clamping of the pipe 8 by the first chuck 2. The auxiliary support 6 can also be arranged on one side of the second chuck 3, which is close to the first chuck 2, after the first chuck 2 clamps the pipe 8, the auxiliary support 6 can play a role in auxiliary support in the process of pushing the pipe 8 towards the second chuck 3, so that the pipe 8 is prevented from bending and deforming due to self gravity.
In an embodiment, the pipe machining device further comprises a clamping jaw for feeding the pipe 8 to the auxiliary support 6.
In an embodiment, the pipe machining apparatus further comprises a displacement sensor for detecting whether the first chuck 2 holds the pipe 8.
After the jaws feed the pipe 8 to the auxiliary support 6, the jaws can be retracted to a preset parking position and then the first chuck 2 is controlled to grip the pipe 8. In this embodiment, the displacement sensor can detect whether the first chuck 2 is used for clamping the pipe 8, so that the pipe machining device can normally machine the pipe 8, and the pipe machining device is prevented from running idle.
Since the tubing 8 is of the same gauge, the tubing 8 is typically of equal length. The length of the tubing 8 may be measured manually at this point so that the length of the tubing 8 becomes a known amount. While the tube 8 is fed onto the auxiliary support 6, the position of the tube 8 near the end of the second chuck 3 is fixed, so that the position of the tube 8 can be determined. After the position of the pipe 8 is determined and the length of the pipe 8 is known, it can be determined whether the first chuck 2 holds the pipe 8 according to the displacement sensor.
In addition, the embodiment of the application also provides a pipe processing method, and the pipe processing device of the embodiment can be used for executing the pipe processing method of the embodiment.
As shown in fig. 4, the pipe processing method in the embodiment of the application includes the following steps:
step S10, controlling a first chuck to clamp the pipe;
step S20, controlling the first chuck to positively pass through the second chuck to convey the part to be processed of the pipe to a processing area of the processing head, and simultaneously starting the visual detection assembly to detect an electrophoresis hole on the pipe;
step S30, judging whether the visual detection assembly detects the electrophoresis hole;
if the electrophoresis hole 81 is not detected, executing step S40, and controlling the first chuck to convey and/or rotate the pipe;
if the electrophoresis hole 81 is detected, step S50 is performed, and after the first chuck is controlled to rotate the electrophoresis hole to the preset position, the processing head is controlled to process the portion to be processed.
Forward movement of the tube 8 means that the tube 8 moves in the direction from the first chuck 2 to the second chuck 3; it is understood that the reverse movement of the tube 8 means that the tube 8 moves in the direction from the second chuck 3 to the first chuck 2. Upon activation of the visual inspection assembly 4, the visual inspection assembly 4 may detect whether the tube 8 has an electrophoretic hole 81.
When the vision detection component 4 detects the electrophoresis hole 81 on the pipe 8, the vision detection component can capture the image information of the pipe 8 and compare the detected image information with preset information to determine whether the pipe 8 is provided with the electrophoresis hole 81.
When the pipe 8 is processed, the first chuck 2 can be controlled to clamp the pipe 8, so that the first chuck 2 can conveniently drive the pipe 8 to be close to or far away from the second chuck 3, and the first chuck 2 can conveniently drive the pipe 8 to rotate. Then the first chuck 2 is controlled to drive the pipe 8 to move forward towards the second chuck 3 so as to pass the pipe 8 through the second chuck 3, thereby facilitating the second chuck 3 to clamp the pipe 8; wherein the tubing 8 can be moved in a forward or reverse direction relative to the second chuck 3. When the pipe 8 is moved forward to move the portion to be machined of the pipe 8 to the machining area of the machining head 5, the movement of the pipe 8 is stopped. At the same time as the pipe 8 is moved forward, the visual inspection assembly 4 is started, that is, the first chuck 2 drives the pipe 8 to move forward towards the second chuck 3, simultaneously with the visual inspection assembly 4 being started.
After the visual inspection unit 4 is started, if the visual inspection unit 4 detects the electrophoresis hole 81, since the set position of the visual inspection unit 4 is known, the inspection area of the visual inspection unit 4 is determined, and thus the position of the electrophoresis hole 81 can be determined according to the set position of the visual inspection unit 4. I.e. the electrophoresis aperture 81 is provided in the side of the tube 8 facing the current visual inspection assembly 4. Then, after the first chuck 2 is controlled to rotate the electrophoresis hole 81 to a preset position, the processing head 5 is controlled to process the part to be processed of the pipe 8, so that the electrophoresis hole 81 and the knife starting position of the processing head 5 when processing the pipe 8 are both at preset positions.
When the vision inspection assembly 4 does not detect the electrophoresis hole 81, it is indicated that the distance the tube 8 is moving forward is too short, or that the electrophoresis hole 81 is on the other side of the tube 8, so that the tube 8 can be correspondingly transported and/or rotated. That is, the pipe 8 is continuously conveyed in the forward direction, or the pipe 8 is conveyed after the pipe 8 is rotated, or the pipe 8 is conveyed after the pipe 8 is conveyed, until the electrophoresis hole 81 is detected by the visual detection assembly 4, so as to determine the position of the electrophoresis hole 81, the electrophoresis hole 81 is rotated to a preset position, and then the processing head 5 is controlled to process the part to be processed.
The first chuck 2 is slidably arranged on the sliding rail 11 of the base 1, the second chuck 3 is arranged on the base 1, the visual detection assembly 4 is arranged on the second chuck 3, and the processing head 5 is arranged on one side, far away from the first chuck 2, of the second chuck 3; the first chuck 2 is controlled to clamp the pipe 8, then the first chuck 2 is controlled to pass the pipe 8 through the second chuck 3 in the forward direction so as to convey the part to be processed of the pipe 8 to the processing area of the processing head 5, and meanwhile, the visual detection assembly 4 is started to detect whether the electrophoresis hole 81 exists on the pipe 8; if not, the first chuck 2 is controlled to convey and/or rotate the pipe 8 until the electrophoresis hole 81 is detected by the visual detection assembly 4; if so, controlling the first chuck 2 to rotate the electrophoresis hole 81 to a preset position, and controlling the processing head 5 to process the part to be processed of the pipe 8; since the position of the electrophoresis hole 81 on the pipe material 8 is determined by the visual inspection assembly 4, the inspection efficiency can be improved, and thus the processing efficiency of the pipe material 8 can be improved.
In the present embodiment, step S40 includes:
acquiring a first interval between two adjacent electrophoresis holes and a second interval between a detection center of a visual detection assembly and a processing area of a processing head;
judging whether the first interval is smaller than or equal to the second interval;
if the first spacing is less than or equal to the second spacing, executing the steps of:
after the first chuck is controlled to rotate the pipe by a preset angle, the pipe is conveyed forward by a first interval;
judging whether the visual detection assembly detects the electrophoresis hole or not;
if the electrophoresis well 81 is detected, the steps are performed: controlling the first chuck to reversely convey the pipe to a first interval;
then returning to execute the step S50;
if no electrophoresis well 81 is detected, the steps are performed:
controlling the first chuck to rotate the pipe by a preset angle, and reversely conveying the pipe by a first interval;
then judging whether the visual detection assembly detects the electrophoresis hole again;
if the electrophoresis hole 81 is detected, the process returns to the step S50;
if the electrophoresis hole 81 is not detected at this time, the process returns to the execution step: and after the first chuck is controlled to rotate the pipe by a preset angle, the pipe is conveyed forward by a first interval.
If the first interval is larger than the second interval, executing the steps of:
controlling the first chuck to forward convey the pipe at a first interval;
judging whether the visual detection assembly detects the electrophoresis hole or not;
if the electrophoresis well 81 is detected, the steps are performed: controlling the first chuck to reversely convey the pipe to a first interval;
then returning to execute the step S50;
if no electrophoresis hole 81 is detected, the process returns to the execution step: and controlling the first chuck to rotate the pipe by a preset angle, and reversely conveying the pipe by a first interval.
It will be appreciated that the first spacing between any adjacent two of the electrophoretic holes 81 on the tubing 8 is equal, typically at 500mm. The vision inspection assembly 4 is disposed on the second chuck 3, and since the vision inspection assembly 4 is stationary with respect to the second chuck 3, the inspection area of the vision inspection assembly 4 is also stationary. When the pipe 8 is processed by the processing head 5, a knife-lifting position is provided, and the knife-lifting position is the processing area of the processing head 5; when the processing head 5 is a laser head, the processing region of the processing head 5 is the focal position of the laser beam. Since the detection area of the visual detection unit 4 is unchanged, and the processing area of the processing head 5 is also unchanged, a second distance between the detection center of the visual detection unit 4 and the processing area of the processing head 5 can be determined. The first spacing and the second spacing may be manually determined and then entered into a memory of the pipe machining apparatus for recall when needed for use.
The first spacing varies according to the specifications of the pipe 8; likewise, the second pitch varies depending on the specifications of the pipe machining apparatus. But typically the first pitch is equal to or greater than the second pitch. The electrophoresis holes 81 on the tube 8 are all arranged on the same surface of the tube 8 and on the same straight line. So that the positions of all the electrophoretic holes 81 can be determined as long as the position of one of the electrophoretic holes 81 is detected.
Specifically, the first pitch and the second pitch may be acquired first, and then the relative magnitudes of the first pitch and the second pitch may be compared to determine the step to be performed next.
When the first pitch is less than or equal to the second pitch: since the vision inspection assembly 4 does not detect the electrophoresis hole 81 during the process of passing the tube 8 through the second chuck 3 by the first chuck 2 to convey the portion to be processed of the tube 8 to the lower side of the processing head 5. And the first spacing being less than or equal to the second spacing, indicating that during this process the visual inspection assembly 4 has inspected at least the distance of the tube 8 by the length of the first spacing, and thus can determine that the face is not being electrophoresed. Then the first chuck 2 is controlled to rotate the pipe 8 by a preset angle so as to change the surface of the pipe 8; the first chuck 2 is controlled to forward convey the tube 8 by a first distance, so that the vision detection assembly 4 detects the tube 8 after the surface is changed to determine whether the electrophoresis hole 81 is detected. When the electrophoresis hole 81 is detected, the position of the electrophoresis hole 81 can be determined; at this time, since the portion to be processed of the pipe 8 is sent forward more by a first distance, it is necessary to control the first chuck 2 to reversely convey the pipe 8 by the first distance, so that the portion to be processed of the pipe 8 is reset below the processing head 5, and then step S50 is performed.
If the electrophoresis hole 81 is not detected, the electrophoresis hole 81 is not positioned on the surface, so that the first chuck 2 is controlled to rotate the pipe 8 by a preset angle again to change the surface of the pipe 8; then the first chuck 2 is controlled to reversely convey the pipe 8 at a first interval, so that the part to be processed of the pipe 8 is reset below the processing head 5. In this process, if the vision inspection assembly 4 detects the electrophoresis hole 81, the position of the electrophoresis hole 81 may be determined, and then the process returns to step S50. If the electrophoresis hole 81 is not detected, the surface replacement detection of the tube 8 needs to be continued, and at this time, the execution step may be returned to: and after the first chuck is controlled to rotate the pipe by a preset angle, the pipe is conveyed forward by a first interval. Thereby realizing the cyclic surface-changing detection of the tube 8 until the electrophoresis hole 81 is detected, so as to perform step S50.
When the first pitch is greater than the second pitch: since the vision inspection assembly 4 does not detect the electrophoresis hole 81 during the process of passing the tube 8 through the second chuck 3 by the first chuck 2 to convey the portion to be processed of the tube 8 to the lower side of the processing head 5. The first spacing being greater than the second spacing, indicates that the visual inspection assembly 4 has not detected the length of one of the first spacings of the tubing 8 during this process, and thus has not been able to determine whether there is an electrophoretic hole 81 in the current surface of the tubing 8. The first chuck 2 can be controlled to forward feed the tube 8 a first distance to determine whether the measured surface has the electrophoretic holes 81. If the electrophoresis hole 81 is detected on the surface to be measured, since the portion to be processed of the pipe 8 is conveyed more forward than a first distance, it is necessary to control the first chuck 2 to convey the pipe 8 in the reverse direction by the first distance, so that the portion to be processed of the pipe 8 is reset to the position below the processing head 5, and then the step S50 is executed.
If the tube 8 does not detect the electrophoresis hole 81 during the forward conveying of the tube by a first interval, it is indicated that the electrophoresis hole 81 is not disposed on the current surface to be measured. It is therefore necessary to rotate the tube 8 and then to continue the feeding of the tube 8 to determine the position of the electrophoresis aperture 81. At this time, the execution step may be returned to: and controlling the first chuck to rotate the pipe by a preset angle, and reversely conveying the pipe by a first interval. So that the position of the electrophoresis hole 81 on the tube 8 is circularly detected until the electrophoresis hole 81 is detected, and after the position of the electrophoresis hole 81 is determined, step S50 is performed.
That is, the above steps are to rotate and/or convey the tube 8 to circularly detect the electrophoresis holes 81 on the tube 8. After determining the position of the electrophoresis hole 81 on the tube 8, step S50 is performed.
In the above embodiment, when the pipe 8 is processed, the first chuck 2 is used for conveying the pipe 8 in the process of determining the position of the electrophoresis hole 81 on the pipe 8, and the to-be-processed part of the pipe 8 always does not exceed a first distance below the processing head 5, so that the pipe 8 can be quickly reset, and the processing efficiency of the pipe 8 is improved.
In the above embodiment, the preset angle may be manually preset, for example, the preset angle is set to 90 °, and the pipe 8 returns to its original position after four rotations.
The preset angle may also be determined by calculation. The number of the side surfaces of the pipe 8 can be obtained by manually observing the pipe 8 or by the specification of the pipe 8, and then the determined number of the side surfaces of the pipe 8 can be stored in a memory of a pipe processing device and then recalled when the pipe processing device is needed. After determining the number of sides of the tube 8, the circumferential angle is equally divided over each side of the tube 8, so that the preset angle is obtained. For example, if the number of sides is 2, the preset angle is 180 °; if the number of the side faces is 3, the preset angle is 120 degrees; if the number of sides is 4, the preset angle is 90 °.
It will be appreciated that after one revolution of the tube 8, if the visual inspection unit 4 does not detect the electrophoresis hole 81, it indicates that there is a deviation in the position of the electrophoresis hole 81 or that no electrophoresis hole 81 is provided in the tube 8. At this time, the program for detecting the electrophoresis hole 81 can be stopped, and an alarm can be started at the same time to give an alarm so as to prompt the user to deal with in time.
In an embodiment, when the number of sides of the tube 8 is determined to be 2 and the electrophoresis hole 81 is not detected, it may be directly determined that the electrophoresis hole 81 is located opposite to the current detection region of the visual inspection assembly 4. Since the number of sides of the tube 8 is 2, such as a D-tube, the electrophoresis holes 81 are generally only provided at the opposite positions of the two sides of the tube 8; i.e. the electrophoretic aperture 81 is not arranged on the current detection plane, which must be arranged opposite to the current detection plane. Therefore, the position of the electrophoresis hole 81 can be quickly determined, and the processing efficiency of the pipe 8 can be improved.
In one embodiment, before step S10, the method further includes:
the control clamping jaw grabs the pipe, and after the pipe is fed to the auxiliary supporting piece, the control clamping jaw loosens the pipe;
controlling the clamping jaw to move to a preset parking position; then step S10 is performed.
After the control jaws grip the pipe 8 to load the pipe 8 onto the auxiliary support 6, the control jaws release the pipe 8. After the control jaw is moved to the preset parking position, it is indicated that the jaw has been moved into position without interfering with the clamping or transporting of the pipe 8 by the first chuck 2, and then step S10 is performed, so that the respective actions can be performed sequentially.
In addition, the embodiment of the application also provides a tubular product processingequipment, tubular product processingequipment includes: a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor, performs the steps of the pipe machining method according to any one of the embodiments described above.
In addition, the embodiment of the application also provides a pipe processing device, including: a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor, performs the steps of the pipe machining method according to any one of the embodiments described above.
In addition, the embodiment of the application further provides a computer readable storage medium, and a computer program is stored on the computer readable storage medium, and the computer program is executed by a processor to implement the steps of the pipe machining method according to any one of the embodiments.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the claims, and all equivalent structural changes made in the present application and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the present application.
Claims (12)
1. The pipe machining method is characterized by being applied to a pipe machining device, and the pipe machining device comprises a base, a first chuck, a second chuck, a visual detection assembly and a machining head; the base is provided with a sliding rail, and the first chuck is arranged on the sliding rail in a sliding manner; the second chuck is arranged on the base; the visual detection assembly is arranged on the second chuck; the processing head is arranged on one side of the second chuck far away from the first chuck; the pipe processing method comprises the following steps:
controlling the first chuck to clamp the pipe;
controlling the first chuck to positively pass the pipe through the second chuck so as to convey the part to be processed of the pipe to a processing area of the processing head, and simultaneously starting the visual detection assembly to detect an electrophoresis hole on the pipe;
controlling the first chuck to convey and/or rotate the pipe when the electrophoresis hole is not detected;
when the electrophoresis hole is detected, the first chuck is controlled to rotate the electrophoresis hole to a preset position, and then the processing head is controlled to process the part to be processed.
2. The pipe machining method of claim 1, wherein the step of controlling the first chuck to convey and/or rotate the pipe comprises:
acquiring a first interval between two adjacent electrophoresis holes and a second interval between a detection center of the visual detection assembly and a processing area of the processing head;
when the first interval is smaller than or equal to the second interval, the first chuck is controlled to rotate the pipe by a preset angle, and then the pipe is conveyed forward by the first interval;
and when the electrophoresis hole is detected, controlling the first chuck to reversely convey the pipe at the first interval, and controlling the first chuck to rotate the electrophoresis hole to a preset position, and then controlling the processing head to process the part to be processed.
3. The method of processing a pipe as claimed in claim 2, wherein said step of controlling said first chuck to rotate said pipe by a predetermined angle and then forward conveying said pipe by said first distance further comprises:
when the electrophoresis hole is not detected, the first chuck is controlled to rotate the pipe by the preset angle, and then the pipe is reversely conveyed by the first interval;
and when the electrophoresis hole is detected, executing the step of controlling the first chuck to rotate the electrophoresis hole to a preset position and then controlling the processing head to process the part to be processed.
4. The pipe machining method of claim 3, wherein after the step of controlling the first chuck to rotate the pipe by the preset angle and reversely conveying the pipe by the first interval, the method further comprises:
and when the electrophoresis hole is not detected, executing the step of controlling the first chuck to rotate the pipe by the preset angle and then conveying the pipe forward by the first interval.
5. A method of processing a tube as set forth in claim 3, wherein the step of obtaining a first spacing between adjacent two of the electrophoretic holes and a second spacing between a detection center of the visual detection assembly and a processing region of the processing head further comprises:
controlling the first chuck to forward convey the pipe by one first interval when the first interval is larger than the second interval;
and when the electrophoresis hole is detected, controlling the first chuck to reversely convey the pipe at the first interval, and controlling the first chuck to rotate the electrophoresis hole to a preset position, and then controlling the processing head to process the part to be processed.
6. The pipe machining method of claim 5, wherein after said step of controlling said first chuck to forward feed said pipe one of said first intervals, further comprising:
and when the electrophoresis hole is not detected, executing the step of controlling the first chuck to rotate the pipe by the preset angle and then reversely conveying the pipe by the first interval.
7. The method of processing a pipe as claimed in claim 2, wherein said step of controlling said first chuck to rotate said pipe by a predetermined angle and then forward conveying said pipe by said first distance further comprises:
acquiring the number of the side surfaces of the pipe;
and determining the preset angle according to the number of the side surfaces of the pipe.
8. The method of processing tubing of claim 7, wherein after said step of activating said visual inspection assembly to inspect an electrophoretic hole in said tubing, further comprising:
and when the number of the side surfaces is 2 and the electrophoresis holes are not detected, judging that the electrophoresis holes are positioned opposite to the current detection area of the visual detection assembly.
9. The pipe machining method according to claim 1, wherein the pipe machining apparatus further comprises an auxiliary support and a jaw, the auxiliary support being provided to the base; the clamping jaw is used for grabbing the pipe and placing the pipe on the auxiliary supporting piece; before the step of controlling the first chuck to clamp the pipe, the method further comprises the following steps:
controlling the clamping jaw to grab the pipe, and controlling the clamping jaw to loosen the pipe after the pipe is fed to the auxiliary supporting piece;
and after the clamping jaw is controlled to move to a preset parking position, executing the step of controlling the first chuck to clamp the pipe.
10. The pipe machining device is characterized by comprising a base, a first chuck, a second chuck, a visual detection assembly and a machining head; the base is provided with a sliding rail, and the first chuck is arranged on the sliding rail in a sliding manner; the second chuck is arranged on the base; the visual detection assembly is arranged on the second chuck; the processing head is arranged on one side of the second chuck far away from the first chuck; the pipe processing apparatus is configured to perform the pipe processing method according to any one of claims 1 to 9.
11. A pipe machining apparatus, characterized in that the pipe machining apparatus comprises: memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the pipe machining method according to any one of claims 1 to 9.
12. A computer-readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, implements the steps of the pipe machining method according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310161630.6A CN116117302A (en) | 2023-02-17 | 2023-02-17 | Pipe processing apparatus, equipment, method and computer readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310161630.6A CN116117302A (en) | 2023-02-17 | 2023-02-17 | Pipe processing apparatus, equipment, method and computer readable storage medium |
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| CN116117302A true CN116117302A (en) | 2023-05-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310161630.6A Pending CN116117302A (en) | 2023-02-17 | 2023-02-17 | Pipe processing apparatus, equipment, method and computer readable storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117584161A (en) * | 2024-01-18 | 2024-02-23 | 北京群源电力科技有限公司 | Auxiliary device for pipeline flaw detection |
-
2023
- 2023-02-17 CN CN202310161630.6A patent/CN116117302A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117584161A (en) * | 2024-01-18 | 2024-02-23 | 北京群源电力科技有限公司 | Auxiliary device for pipeline flaw detection |
| CN117584161B (en) * | 2024-01-18 | 2024-03-19 | 北京群源电力科技有限公司 | Auxiliary device for pipeline flaw detection |
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