CN214054354U - Intelligent processing workshop for steel pipe coupling - Google Patents

Abstract

The utility model relates to a steel pipe coupling intelligence workshop, beat sign indicating number flaw detection device, bonderizing device and finished product storehouse including truss robot and along the material loading cutting device, excircle rough turning device, screw thread processingequipment, coupling that preset material direction of delivery order was arranged. The utility model discloses can realize that long tube coupling blank reaches this process flow of finished product coupling warehouse entry fast high-efficiently, realize intelligent unmanned operation, improve production machining efficiency, greatly reduced intensity of labour.

Description

Intelligent processing workshop for steel pipe coupling

Technical Field

The utility model relates to a steel pipe coupling processing technology field especially relates to a steel pipe coupling intelligence workshop.

Background

The steel pipe coupling is a component for connecting a steel pipe and a steel pipe, the end head of the steel pipe is connected with the inner wall of the coupling body in a threaded mode during connection, and the coupling buckle type comprises a buckle type (a round thread buckle and a buttress buckle) in an API standard, a VAM special buckle and the like. The steel pipe coupling commonly used in the petroleum field is mainly divided into an oil pipe coupling, a casing coupling, an oil pipe short joint and a casing short joint.

The current processing workshop of the steel pipe coupling can be divided into four parts according to functions: the raw material saw cuts unloading and rough machining district, screw thread processing inspection district and flaw detection coding district, screw thread processing district and finished product coupling storehouse district, and the workshop possesses the ability of processing production becomes awl, variable pitch, ladder face seal, the sealed type special knot of conical surface sphere. The coupling machining workshop process flow specifically comprises the following steps: feeding a blank of a long pipe coupling, blanking by a cutting machine, performing overall dimension sampling inspection, roughly turning and processing an excircle, performing overall dimension sampling inspection, boring, processing a thread, inspecting, coding, performing magnetic powder inspection, bagging and phosphating, and warehousing a finished product.

In the prior art, generally, each procedure of coupling processing is discretely distributed in a processing workshop, and each process equipment is connected through a forklift or a crane, so that the process flow of the coupling processing workshop is met. Each working procedure is provided with a plurality of workers for shift operation, and stock preparation production is carried out by task arrangement. However, in the method, all process equipment (machine tools, devices or unit sets) are distributed discretely, the connection of the process flows is ensured by a large amount of manpower, the labor intensity is high, the material tracking is very random, the processing efficiency is low, and the production cost is high. And because the prior art at home and abroad is limited, the coupling screw thread inspection, the magnetic powder inspection and the like can only adopt a local semi-automatic and manual operation mode, and the working environment is severe.

There are also more common ways in the prior art, including manual clamping and disassembling of the coupling during machining by a machine tool. The mode is more scattered, belongs to artificial tracking materials, and basically cannot be tracked by operators from the beginning to the end of the process flow. The scheme is slowly eliminated, repeated tasks are trivial and heavy, production efficiency is low, and yield is poor.

Therefore, how to realize intelligent unmanned operation of a steel pipe processing workshop, improve the production and processing efficiency and reduce the labor intensity becomes a problem which needs to be solved urgently at present.

Therefore, the inventor provides an intelligent processing workshop for steel pipe coupling by virtue of experience and practice of related industries for many years so as to overcome the defects in the prior art.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a steel pipe coupling intelligence workshop can realize that long tube coupling blank reaches this process flow of finished product coupling warehouse entry fast high-efficiently, has realized the unmanned operation of intelligence, has improved production machining efficiency, greatly reduced intensity of labour.

The utility model aims at realizing the intelligent processing workshop for the steel pipe coupling, which comprises a truss robot, a feeding and cutting device, an excircle rough turning device, a thread processing device, a coupling code marking and flaw detecting device, a phosphating treatment device and a finished product warehouse which are sequentially arranged along the preset material conveying direction; the truss robot can convey the coupling short blank obtained at the outlet end of the feeding and cutting device to the inlet end of the outer circle rough turning device so as to realize rough turning and outer circle processing on the coupling short blank; the truss robot can convey a coupling turning blank obtained at the outlet end of the outer circle rough turning device to the inlet end of the thread machining device so as to realize boring and thread machining of the coupling turning blank; the truss robot can convey the steel pipe coupling obtained at the outlet end of the thread machining device to the inlet end of the coupling code marking and flaw detecting device so as to realize code marking and magnetic particle flaw detection on the steel pipe coupling; the truss robot can convey the steel pipe coupling subjected to code printing and flaw detection and obtained at the outlet end of the coupling code printing and flaw detection device to the inlet end of the phosphating device so as to realize phosphating treatment on the steel pipe coupling subjected to code printing and flaw detection; the truss robot can convey the finished coupling obtained at the outlet end of the phosphating device to a finished product warehouse.

The utility model discloses an among the preferred embodiment, truss robot includes a plurality of trusses and can establish a plurality of robots on each truss with sliding, and each truss corresponds material loading cutting device, excircle rough turning device, screw thread processingequipment, coupling respectively and beats sign indicating number flaw detection device, bonderizing device and finished product storehouse setting.

In a preferred embodiment of the present invention, the truss includes a first longitudinal truss, a first transverse truss, a second transverse truss and a third transverse truss are vertically disposed on a first side of the first longitudinal truss at intervals along a length direction thereof, and the feeding and cutting device, the outer circle rough turning device and the thread processing device are respectively disposed corresponding to the first transverse truss, the second transverse truss and the third transverse truss; a first displacement bin, a second displacement bin and a third displacement bin are respectively arranged at the bottom of the first longitudinal truss and at positions corresponding to the first transverse truss, the second transverse truss and the third transverse truss; a first transverse robot, a second transverse robot and a third transverse robot are respectively arranged on the first transverse truss, the second transverse truss and the third transverse truss, and a first longitudinal moving robot and a second longitudinal moving robot are respectively arranged on the first longitudinal truss corresponding to the area between the first shifting bin and the second shifting bin and the difference between the second shifting bin and the third shifting bin; a fourth transverse truss, a second longitudinal truss, a third longitudinal truss and a fifth transverse truss are sequentially arranged on the second side of the first longitudinal truss along the preset material conveying direction, the fourth transverse truss is arranged corresponding to the third shifting bin, the coupling code printing and flaw detection device is arranged corresponding to the fourth transverse truss, the phosphating device is arranged between the second longitudinal truss and the third longitudinal truss, and the finished product warehouse is arranged corresponding to the fifth transverse truss; a fourth transverse moving robot, a first longitudinal moving basket grabbing robot, a second longitudinal moving basket grabbing robot and a transverse moving basket grabbing robot are respectively arranged on the fourth transverse truss, the second longitudinal truss, the third longitudinal truss and the fifth transverse truss; and a first charging basket storage mechanism is arranged at the butt joint of the fourth transverse truss and the second longitudinal truss, and a second charging basket storage mechanism is arranged at the butt joint of the third longitudinal truss and the fifth transverse truss.

The present invention provides a preferred embodiment, the first longitudinal truss includes two first longitudinal single trusses arranged side by side at intervals, and a first longitudinal moving robot and a second longitudinal moving robot are respectively disposed on each first longitudinal single truss corresponding to the region between the first displacement bin and the second displacement bin and the difference between the second displacement bin and the third displacement bin.

In a preferred embodiment of the present invention, the feeding and cutting device comprises a long pipe blank rack and a pipe cutting machine which are butted with each other, the long pipe blank rack is a double-side long pipe blank rack, and two outlet ends of the double-side long pipe blank rack are respectively provided with a pipe cutting machine correspondingly; the first shifting bin comprises a first front shifting bin and a first rear shifting bin which are arranged at intervals along the length direction of the first longitudinal truss, the first transverse truss comprises two first transverse single trusses which are arranged side by side at intervals, and the two first transverse single trusses are respectively arranged between the outlet ends of the two pipe cutters and the first front shifting bin and the first rear shifting bin; and a third longitudinal moving robot is arranged on each first longitudinal single truss and between the first front shifting bin and the first rear shifting bin.

In a preferred embodiment of the present invention, the second transverse truss includes at least two second transverse single trusses arranged side by side at intervals, and each second transverse single truss is provided with a second traverse robot; at least two outer circle rough turning devices are arranged on one side of each second transverse single truss at intervals along the length direction of the second transverse single truss, the inlet ends and the outlet ends of the outer circle rough turning devices are located on the same side, and the inlet ends of the outer circle rough turning devices are perpendicular to the length direction of the second transverse single truss.

In a preferred embodiment of the present invention, the third transverse truss includes at least two third transverse single trusses arranged side by side at intervals, and each third transverse single truss is provided with a third traverse robot; and a plurality of thread processing devices are arranged on one side of each third transverse single truss at intervals along the length direction of the third transverse single truss, the inlet ends and the outlet ends of the thread processing devices are positioned on the same side, and the inlet ends of the thread processing devices are arranged perpendicular to the length direction of the third transverse single truss.

In a preferred embodiment of the present invention, the third transverse truss includes three third transverse single trusses, and the third shift bin includes a third front shift bin and a third rear shift bin arranged at intervals along the length direction of the first longitudinal truss; the second longitudinal movement robot is arranged between the second movement bin and the third front movement bin, a fourth longitudinal movement robot is arranged on each first longitudinal single truss and between the third front movement bin and the third rear movement bin, and the fourth transverse truss is arranged right opposite to the third rear movement bin; one third transverse single truss is arranged right opposite to the third front shifting bin, and at least two thread machining devices are arranged on one side, close to the outer circle rough turning device, of the third transverse single truss; the other two third transverse single trusses are arranged right opposite to the third rear shifting bin, and at least two thread machining devices are respectively arranged on the opposite outer sides of the other two third transverse single trusses at intervals along the length direction of the third transverse single trusses.

In a preferred embodiment of the present invention, the first front shifting bin, the first rear shifting bin, the second shifting bin, the third front shifting bin and the third rear shifting bin are all multi-directional belts.

In a preferred embodiment of the present invention, the fourth transverse truss comprises a front transverse single truss and a rear transverse single truss arranged side by side at intervals, and a fourth traverse robot is respectively disposed on the front transverse single truss and the rear transverse single truss; the front transverse single truss is arranged right opposite to the third shifting bin, and the rear transverse single truss is arranged right opposite to the first basket storage mechanism; a plurality of coupling code-printing flaw detection devices are arranged between the front transverse single truss and the rear transverse single truss at intervals along the length direction of the front transverse single truss, the inlet ends of the coupling code-printing flaw detection devices are arranged right opposite to the front transverse single truss, and the outlet ends of the coupling code-printing flaw detection devices are arranged right opposite to the rear transverse single truss.

In a preferred embodiment of the present invention, a first automatic detector is disposed on an arm of the first traverse robot, and is used for performing overall dimension sampling inspection on the coupling short blanks output by the feeding and cutting device; a second automatic detector is arranged on an arm of the second traverse robot and is used for performing overall dimension sampling inspection on the coupling turning blank output by the outer circle rough turning device after rough turning; and a third automatic detector is arranged on an arm of the third traverse robot and used for performing thread appearance sampling inspection on the steel pipe coupling output by the thread machining device.

In a preferred embodiment of the present invention, the first basket storing mechanism includes a basket returning longitudinal moving chain, a first support and a longitudinal moving frame, the basket returning longitudinal moving chain is disposed at the bottom of the second longitudinal truss and can be conveyed along the length direction of the second longitudinal truss, an inlet end and an outlet end of the basket returning longitudinal moving chain are respectively disposed near the fifth transverse truss and the fourth transverse truss, and the transverse moving basket grabbing robot can convey empty baskets of the finished product warehouse to the inlet end of the basket returning longitudinal moving chain; the first support is provided with a lifting plate capable of moving up and down, and the lifting plate comprises two sub lifting plates which are symmetrically arranged at two sides of the basket returning longitudinal movement chain and can be flush with the upper surface of the basket returning longitudinal movement chain; the longitudinal shifting frame is arranged above the outlet end of the basket returning longitudinal shifting chain and can longitudinally move along the length direction of the second longitudinal truss, and the longitudinal shifting frame can be aligned with the upper surface of the lifting plate after moving on the lifting plate; and a first driving mechanism for driving the lifting plate to move up and down is arranged on the first support, and a second driving mechanism for driving the longitudinal displacement frame to move longitudinally is arranged at the bottom of the second longitudinal truss.

In a preferred embodiment of the present invention, the first support comprises two sets of guide pillars symmetrically disposed at two sides of the back basket longitudinal movement chain, and the two sub-lifting plates are slidably connected to the two sets of guide pillars respectively; the first driving mechanism comprises two groups of first hydraulic cylinders, the cylinder bodies of the two groups of first hydraulic cylinders are fixedly connected with the two groups of guide pillars respectively, and the piston rods of the two groups of first hydraulic cylinders are fixedly connected with the two sub-lifting plates respectively.

In a preferred embodiment of the present invention, the second longitudinal truss includes two second longitudinal single trusses arranged in parallel at intervals, and the first longitudinally moving basket grabbing robot can be slidably installed between the two second longitudinal single trusses; and a cross beam is connected between the bottoms of the two second longitudinal single trusses, and the longitudinal displacement frame can be arranged on the cross beam in a sliding manner.

In a preferred embodiment of the present invention, the longitudinal displacement frame is a flat car with rollers; or

The longitudinal displacement frame is a longitudinal displacement flat plate, a first slide rail is arranged on the cross beam, and the second driving mechanism can drive the longitudinal displacement flat plate to reciprocate along the first slide rail;

the second driving mechanism is a second hydraulic cylinder, a cylinder body of the second hydraulic cylinder is fixedly connected with the cross beam, and a piston rod of the second hydraulic cylinder is fixedly connected with the longitudinal shifting frame.

The utility model discloses a in a preferred embodiment, second charging basket storage mechanism includes lateral shifting frame and third actuating mechanism, and lateral shifting erects in the bottom of third longitudinal truss and just to the position of fifth transverse truss to can follow the length direction lateral shifting of fifth transverse truss, third actuating mechanism establishes in the bottom of third longitudinal truss and can drive lateral shifting frame lateral shifting.

In a preferred embodiment of the present invention, a fixing plate extending into the bottom of the fifth transverse truss is disposed at the bottom of the third longitudinal truss, the length direction of the fixing plate extends along the length direction of the fifth transverse truss, and the transverse displacement frame is slidably disposed on the fixing plate; the third driving mechanism is a third hydraulic cylinder, the cylinder body of the third hydraulic cylinder is fixedly connected with the fixed plate, and the piston rod of the third hydraulic cylinder is fixedly connected with the transverse shifting frame;

the transverse displacement frame is a flat car with rollers; or

The transverse displacement frame is a transverse moving flat plate, a second sliding rail is arranged on the fixed plate, and the third driving mechanism can drive the transverse moving flat plate to reciprocate along the second sliding rail.

In a preferred embodiment of the present invention, the second basket storing mechanism includes a storing plate, the storing plate is disposed at the bottom of the third longitudinal truss and faces the fifth transverse truss, and the transverse basket grabbing robot includes a sliding body slidably disposed on the fifth transverse truss and a clamping jaw disposed below the sliding body; the bottom end of the sliding main body is provided with an offset plate, one end, far away from the second longitudinal truss, of the offset plate is fixedly connected with the bottom of the sliding main body, one end, close to the second longitudinal truss, of the offset plate extends out of the outer side of the sliding main body, and the clamping jaw is fixed to the bottom of one end, close to the second longitudinal truss, of the offset plate.

In a preferred embodiment of the present invention, a plurality of product longitudinal movement chains are arranged in parallel at intervals in the finished product warehouse, and the length direction of each product longitudinal movement chain is perpendicular to the length direction of the fifth transverse truss; the transverse moving basket grabbing robot can convey steel pipe couplings in the second basket storage mechanism to each product longitudinal moving chain, and can take down empty baskets from the product longitudinal moving chains and convey the empty baskets to the first basket storage mechanism.

From the above, the processing workshop of the utility model realizes unmanned intelligent manufacturing by linking the technological process of 'loading long pipe coupling blank, blanking by a cutting machine, roughly turning excircle processing, boring, thread processing, coding, magnetic particle inspection, phosphating and finished product warehousing' through the truss robot. Except that the materials need manual operation in getting in and out of the workshop, namely the loading rack of the long-tube crane and finished products are manually transported out of the warehouse, the processes in the workshop realize fully intelligent processing, are linked up and communicated, are simple, convenient and quick, greatly reduce the labor intensity, improve the production efficiency and have obvious economic benefit.

Drawings

The drawings are only intended to illustrate and explain the present invention and do not limit the scope of the invention. Wherein:

FIG. 1: do the utility model provides a steel pipe coupling intelligence workshop's plan.

FIG. 2: is a plan view of a first side portion of the first longitudinal girder of fig. 1.

FIG. 3: is a plan view of the second side portion of the first longitudinal girder of fig. 1.

FIG. 4: do the utility model provides a thread processing device's entry end and third sideslip robot complex schematic structure.

FIG. 5: do the utility model provides a thread processing device's exit end and third sideslip robot complex schematic structure.

FIG. 6: do the utility model provides a coupling is beaten sign indicating number and is detected a flaw device's schematic structure diagram.

FIG. 7: do the utility model provides a single-claw robot and truss complex schematic structure.

FIG. 8: do the utility model provides a double claw robot and truss complex schematic structure.

FIG. 9: do the utility model provides a grab basket robot and truss complex schematic structure.

FIG. 10: do the utility model provides a mechanism complex schematic structure is deposited with first charging basket to second longitudinal truss. Wherein the arrows in fig. 1, 2, 3 and 10 all represent the material conveying direction.

FIG. 11: which is a partial enlarged view at a in fig. 10.

FIG. 12: is a structural schematic diagram along the direction B in FIG. 11.

FIG. 13: a partial enlarged view at D in fig. 12.

FIG. 14: is a cross-sectional view taken along the direction C-C in fig. 11.

FIG. 15: for the utility model provides a second charging basket storage mechanism indulges with the second when adopting first kind of structure and moves and grab basket robot and sideslip and grab basket robot complex schematic structure.

FIG. 16: for the utility model provides a second charging basket storage mechanism indulges with the second when adopting second kind of structure and moves and grab basket robot and sideslip and grab basket robot complex schematic structure.

The reference numbers illustrate:

101. a feeding and cutting device; 1011. a long pipe billet rack; 1012. a pipe cutting machine;

102. roughly turning the excircle;

103. a thread machining device;

104. a coupling code marking flaw detection device; 1041. a coding machine; 1042. a conveying device; 1043. a magnetic powder flaw detector;

105. a phosphating device;

106. a finished product warehouse; 1061. longitudinally moving the product;

20. a truss robot; 201. a truss; 202. a single-claw robot; 203. a double-claw robot; 204. a basket grabbing robot;

21. a first longitudinal truss; 210. a first longitudinal single truss; 211. a first longitudinal movement robot; 212. a second longitudinal movement robot; 213. a third longitudinal movement robot; 214. a fourth longitudinal movement robot;

22. a first transverse truss; 220. a first transverse single truss; 221. a first traverse robot;

23. a second transverse truss; 230. a second transverse single truss; 231. a second traverse robot;

24. a third transverse truss; 240. a third transverse single truss; 241. a third traverse robot;

25. a fourth transverse truss; 2501. a front transverse single truss; 2502. a rear transverse single truss; 251. a fourth traverse robot;

26. a second longitudinal truss; 260. a second longitudinal single truss; 261. a first longitudinally-moving basket grabbing robot;

27. a third longitudinal truss; 271. a second longitudinally-moving basket grabbing robot;

28. a fifth transverse truss; 281. a basket grabbing robot is transversely moved; 2811. a sliding body; 2812. a bias plate; 2813. a clamping jaw;

30. a first shift bin; 31. a first forward shift bin; 32. a first post-shift bin;

40. a second shift bin;

50. a third shift bin; 51. a third forward shift bin; 52. a third rear shift bin;

60. a first basket storage mechanism; 61. returning the basket to longitudinally move the chain; 62. a first bracket; 621. a guide post; 622. pier seats; 63. a longitudinal displacement frame; 64. a lifting plate; 641. a sub-lifting plate; 65. a first drive mechanism; 66. a second drive mechanism; 67. a cross beam;

70. a second basket storage mechanism; 71. a transverse displacement frame; 72. a third drive mechanism; 73. a fixing plate; 74. and (5) storing the board.

Detailed Description

In order to clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will be described with reference to the accompanying drawings.

Implementation mode one

As shown in fig. 1 to 16, the present embodiment provides an intelligent steel pipe coupling processing workshop, which includes a truss robot 20, and a feeding and cutting device 101, an outer circle rough turning device 102, a thread processing device 103, a coupling code marking and flaw detection device 104, a phosphating device 105 and a finished product warehouse 106, which are sequentially arranged along a preset material conveying direction. The truss robot 20 can convey the coupling short blank obtained at the outlet end of the feeding and cutting device 101 to the inlet end of the outer circle rough turning device 102, so as to realize rough turning and outer circle processing of the coupling short blank. Truss robot 20 can convey the coupling lathe blank obtained at the outlet end of outer circle rough turning device 102 to the inlet end of thread machining device 103 to realize boring and thread machining of the coupling lathe blank. Truss robot 20 can carry the steel pipe coupling that the exit end of thread machining device 103 obtained to the entry end of coupling code marking flaw detection device 104 to the realization beats sign indicating number and magnetic particle inspection to the steel pipe coupling. The truss robot 20 can convey the steel pipe coupling subjected to code printing and flaw detection obtained at the outlet end of the coupling code printing and flaw detection device 104 to the inlet end of the phosphating device 105 so as to realize phosphating treatment on the steel pipe coupling subjected to code printing and flaw detection. The truss robot 20 can transfer the finished coupling obtained at the outlet end of the phosphating device 105 to a finished product warehouse 106.

The feeding cutting device 101, the outer circle rough turning device 102, the thread machining device 103, the coupling code marking and flaw detection device 104, the phosphating device 105 and the finished product warehouse 106 are connected through the truss robot 20. The truss robot 20 can sequentially convey coupling short billets obtained by cutting through the feeding cutting device 101 to the outer circle rough turning device 102, the thread machining device 103, the coupling code marking and flaw detection device 104 and the phosphating device 105 to respectively carry out rough turning outer circle machining, thread boring and thread machining, code marking and magnetic powder flaw detection and phosphating processes, and then convey finished coupling obtained after phosphating to the finished product warehouse 106.

Therefore, the processing workshop in the embodiment realizes unmanned intelligent manufacturing by the process flow of 'long pipe coupling blank feeding-cutting machine blanking-rough turning excircle processing-boring hole-thread processing-code printing-magnetic powder inspection-phosphorization-finished product warehousing' through the truss robot 20. Except that the materials need manual operation in getting in and out of the workshop, namely the loading rack of the long-tube crane and finished products are manually transported out of the warehouse, the processes in the workshop realize fully intelligent processing, are linked up and communicated, are simple, convenient and quick, greatly reduce the labor intensity, improve the production efficiency and have obvious economic benefit.

In a specific implementation manner, the truss robot 20 includes a plurality of trusses 201 and a plurality of robots slidably disposed on each truss 201, and each truss 201 is disposed corresponding to the feeding and cutting device 101, the outer circle rough turning device 102, the thread machining device 103, the collar coding and flaw detection device 104, the phosphating device 105 and the finished product warehouse 106. Each robot is used for conveying short coupling billets to the inlet end of the outer circle rough turning device 102, conveying the coupling billets to the inlet end of the thread machining device 103 from the outlet end of the outer circle rough turning device 102, conveying steel pipe couplings to the inlet end of the coupling code marking and flaw detecting device 104 from the outlet end of the thread machining device 103, conveying the steel pipe couplings subjected to code marking and flaw detection to the inlet end of the phosphating device 105 from the outlet end of the coupling code marking and flaw detecting device 104, and conveying finished coupling to the inlet end of the finished product warehouse 106 by sliding on the corresponding truss 201.

In detail, in order to facilitate the truss robot 20 to smoothly connect the respective processes, as shown in fig. 1 to 3, the truss 201 includes a first longitudinal truss 21, a first transverse truss 22, a second transverse truss 23, and a third transverse truss 24 are vertically provided on a first side of the first longitudinal truss 21 at intervals along a length direction thereof, and the feeding and cutting device 101, the outer rough turning device 102, and the thread processing device 103 are provided corresponding to the first transverse truss 22, the second transverse truss 23, and the third transverse truss 24, respectively. A first displacement bin 30, a second displacement bin 40 and a third displacement bin 50 are respectively arranged at the bottom of the first longitudinal truss 21 and at positions corresponding to the first transverse truss 22, the second transverse truss 23 and the third transverse truss 24. A first traverse robot 221, a second traverse robot 231, and a third traverse robot 241 are provided on the first lateral truss 22, the second lateral truss 23, and the third lateral truss 24, respectively, and a first vertical transfer robot 211 and a second vertical transfer robot 212 are provided on the first vertical truss 21 corresponding to the area between the first transfer bin 30 and the second transfer bin 40 and the difference between the second transfer bin 40 and the third transfer bin 50, respectively.

A fourth transverse truss 25, a second longitudinal truss 26, a third longitudinal truss 27 and a fifth transverse truss 28 are sequentially arranged on the second side of the first longitudinal truss 21 along the preset material conveying direction, the fourth transverse truss 25 is arranged corresponding to the third shifting bin 50, the coupling coding and flaw detection device 104 is arranged corresponding to the fourth transverse truss 25, the phosphating device 105 is arranged between the second longitudinal truss 26 and the third longitudinal truss 27, and the finished product warehouse 106 is arranged corresponding to the fifth transverse truss 28. A fourth traverse robot 251, a first vertical basket grasping robot 261, a second vertical basket grasping robot 271, and a traverse basket grasping robot 281 are provided on the fourth transverse girder 25, the second longitudinal girder 26, the third longitudinal girder 27, and the fifth transverse girder 28, respectively. A first basket storage mechanism 60 is arranged at the joint of the fourth transverse truss 25 and the second longitudinal truss 26, and a second basket storage mechanism 70 is arranged at the joint of the third longitudinal truss 27 and the fifth transverse truss 28.

The first traverse robot 221 can convey the coupling billets output by the feeding and cutting device 101 into the first shift bin 30, and the first longitudinal robot 211 can convey the coupling billets in the first shift bin 30 into the second shift bin 40. The second traverse robot 231 can convey the coupling billets in the second shift bin 40 to the inlet end of the rough turning device 102, and can convey the coupling billets output from the outlet end of the rough turning device 102 back to the second shift bin 40. The second vertical-movement robot 212 can convey coupling blanks in the second displacement bin 40 into the third displacement bin 50, and the third horizontal-movement robot 241 can convey coupling blanks in the third displacement bin 50 to the inlet end of the thread machining device 103 and can convey steel pipe couplings output from the outlet end of the thread machining device 103 back into the third displacement bin 50.

The fourth traverse robot 251 can convey the steel pipe couplings in the third shift bin 50 to the inlet end of the coupling coding and flaw detection device 104, and can convey the steel pipe couplings output by the outlet end of the coupling coding and flaw detection device 104 to the first basket storage mechanism 60. The first longitudinally-moving basket grabbing robot 261 can convey the steel pipe coupling in the first basket storage mechanism 60 to the inlet end of the phosphating device 105, and the second longitudinally-moving basket grabbing robot 271 can convey the finished coupling output by the outlet end of the phosphating device 105 to the second basket storage mechanism 70. The traverse basket grasping robot 281 can transfer the finished product collars in the second basket storage mechanism 70 to the finished product warehouse 106, and can transfer the empty baskets in the finished product warehouse 106 to the first basket storage mechanism 60.

It will be appreciated that the loading and cutting device 101, the outer rough turning device 102 and the thread forming device 103 are located on a first side of the first longitudinal girder 21, the fourth transverse girder 25 and the fifth transverse girder 28 are perpendicular to the length direction of the first longitudinal girder 21, and the second longitudinal girder 26 and the third longitudinal girder 27 are parallel to the length direction of the first longitudinal girder 21. The direction of the first transverse girder 22 pointing towards the third transverse girder 24 is generally opposite to the direction of the fourth transverse girder 25 pointing towards the fifth transverse girder 28, and the components are distributed on both side areas of the first longitudinal girder 21 to make the structure more compact. Of course, the layout can be carried out according to other modes according to the needs so as to save the occupied space. Each truss and each robot form the truss robot 20, each truss comprises an upright post and a truss beam, each truss is provided with a corresponding linear guide rail, a servo motor and the like, each robot can move on the corresponding truss and mainly can realize lifting movement, opening and closing of a clamping jaw and linear reciprocating movement, and the specific structures of each robot and the truss are the prior art and are not described again.

In practical application, in order to avoid that materials of a certain process are in a waiting state for a long time after being conveyed to each shift bin, as shown in fig. 2, the first longitudinal truss 21 includes two first longitudinal single trusses 210 arranged in parallel at intervals, and a first longitudinal robot 211 and a second longitudinal robot 212 are respectively arranged on each first longitudinal single truss 210 corresponding to the region between the first shift bin 30 and the second shift bin 40 and the difference between the second shift bin 40 and the third shift bin 50.

Like this, whole first longitudinal truss 21 adopts double-truss, can have two parallel first to indulge and move the robot 211 and snatch the material in the first storehouse 30 that shifts respectively, has two parallel second to indulge and moves the robot 212 and can snatch the material in the second storehouse 40 that shifts respectively, guarantees that the material in each storehouse that shifts can in time be taken away, has improved production efficiency.

Further, in order to make the production rhythm of the feeding and cutting process more compact and further improve the production efficiency, as shown in fig. 2, the feeding and cutting device 101 includes a long pipe blank rack 1011 and a pipe cutting machine 1012 which are butted with each other, the long pipe blank rack 1011 is a double-side long pipe blank rack, and two outlet ends of the double-side long pipe blank rack are respectively and correspondingly provided with one pipe cutting machine 1012. The first shift bin 30 comprises a first front shift bin 31 and a first rear shift bin 32 which are arranged at intervals along the length direction of the first longitudinal truss 21, the first transverse truss 22 comprises two first transverse single trusses 220 which are arranged side by side at intervals, and the two first transverse single trusses 220 are respectively arranged between the outlet ends of the two pipe cutters 1012 and the first front shift bin 31 and the first rear shift bin 32. A first traverse robot 221 is respectively arranged on each first transverse single truss 220, a first longitudinal robot 211 is arranged between the first rear shifting bin 32 and the second shifting bin 40, and a third longitudinal robot 213 is respectively arranged on each first longitudinal single truss 210 and between the first front shifting bin 31 and the first rear shifting bin 32.

The outlet ends of the two sides of the double-side long pipe blank rack are respectively arranged opposite to the inlet ends of the two pipe cutters 1012, the inlet ends of the pipe cutters 1012 are perpendicular to the outlet ends of the pipe cutters 1012, and the outlet direction of the pipe cutters 1012 is perpendicular to the length direction of the first longitudinal truss 21. The specific structures of the double-sided long pipe blank rack and the pipe cutting machine 1012 are the prior art and are not described in detail herein. The third longitudinal transfer robot 213 moves only on the corresponding first longitudinal single-truss 210 between the first front transfer bin 31 and the first rear transfer bin 32, and the first longitudinal transfer robot 211 moves only on the corresponding first longitudinal single-truss 210 between the first rear transfer bin 32 and the second transfer bin 40, and the movements of the two do not interfere with each other.

During operation, long steel pipes are fully loaded on long pipe blank racks on two sides by using a crane (the process can be coordinated manually), single pipe blank can be transversely conveyed to pipe cutters 1012 on two sides through outlet ends on two sides respectively, the long pipe is cut into short coupling blanks with fixed length after entering the pipe cutters 1012, the short coupling blanks in the first front shifting bin 31 are transferred into the first rear shifting bin 32 through a third longitudinal moving robot 213 after the outlet ends of the pipe cutters 1012 are moved into the first front shifting bin 31 or the first rear shifting bin 32 through a corresponding first transverse moving robot 221, and the short coupling blanks in the first rear shifting bin 32 are transferred into the second shifting bin 40 through the first longitudinal moving robot 211.

Further, in order to make the production rhythm of the rough turning outer circle machining process more compact and further improve the production efficiency, as shown in fig. 2, the second transverse truss 23 includes at least two second transverse single trusses 230 arranged side by side at intervals, and a second traverse robot 231 is respectively arranged on each second transverse single truss 230. At least two outer rough turning devices 102 are arranged on one side of each second transverse single truss 230 at intervals along the length direction of the second transverse single truss, the inlet ends and the outlet ends of the outer rough turning devices 102 are located on the same side, and the inlet ends of the outer rough turning devices are perpendicular to the length direction of the second transverse single truss 230.

Wherein, each second horizontal single truss 230 is arranged corresponding to the second shift bin 40. In order to simplify and compact the structure, the second transverse girder 23 includes two second transverse mono-girders 230, and each of the outer rough turning devices 102 is disposed on opposite outer sides of the two second transverse mono-girders 230 and is arranged in mirror symmetry.

The excircle rough turning device 102 is mainly used for rough turning excircle processing of coupling short blanks and comprises a six-axis robot, two lathes and two sets of stepping circulating chains, wherein the six-axis robot is responsible for taking and placing couplings and installing and clamping the couplings before and after lathe processing, and the stepping circulating chains are used for circularly transporting the couplings to be processed and the processed couplings respectively. The specific structure and processing procedure of the outer rough turning device 102 are the prior art, and are not described herein again.

During operation, after the first longitudinal moving robot 211 loads the coupling billets in the first rear shifting bin 32 into the second shifting bin 40, the second transverse moving robot 231 transfers the coupling billets in the second shifting bin 40 to the inlet end of each cylindrical rough turning device 102 for rough turning, the processed coupling billets are conveyed to the outlet end of the cylindrical rough turning device 102, then are transferred back to the second shifting bin 40 by the second transverse moving robot 231, and then are transferred into the third shifting bin 50 by the second longitudinal moving robot 212.

Further, in order to make the production rhythm of the boring and thread processing steps more compact and further improve the production efficiency, as shown in fig. 2, 4 and 5, the third transverse truss 24 includes at least two third transverse single trusses 240 arranged side by side at intervals, and a third traverse robot 241 is respectively disposed on each third transverse single truss 240. A plurality of thread processing devices 103 are arranged at intervals along the length direction of each third transverse single truss 240 on one side of the third transverse single truss, the inlet ends and the outlet ends of the thread processing devices 103 are positioned on the same side, and the inlet ends of the thread processing devices are arranged perpendicular to the length direction of the third transverse single truss 240.

The thread machining device 103 is a threading machine, and is mainly used for threading, boring and thread machining of coupling turning blanks, and the specific structure and machining process of the thread machining device are the prior art and are not described herein again. During operation, after the second longitudinal moving robot 212 transfers coupling blanks in the second moving bin 40 to the third moving bin 50, the third traverse robot 241 transfers the coupling blanks in the third moving bin 50 to the inlet end (i.e. feeding position) of each thread machining device 103, the coupling blanks automatically enter the thread machining devices 103 to be subjected to thread boring and thread machining, and the machined couplings are output to the outlet end (i.e. discharging position) of the thread machining devices 103 and then transferred back to the third moving bin 50 by the third traverse robot 241.

In practical use, the threading machine is divided into a domestic threading machine (generally called a threading machine tool) and an imported threading machine (generally called a threading unit), and the domestic threading machine is low in price and low in efficiency, and the imported threading machine is high in price and high in efficiency, so that the thread machining devices 103 used in most steel mills are matched with domestic and imported ones for use.

Since the domestic threading machine has a small volume and the import threading machine has a large volume, in order to facilitate the arrangement and compactness of the two threading machines, as shown in fig. 2, the third transverse truss 24 includes three third transverse single trusses 240, and the third shift bin 50 includes third front shift bins 51 and third rear shift bins 52 arranged at intervals along the length direction of the first longitudinal truss 21. The second longitudinal moving robot 212 is arranged between the second moving bin 40 and the third front moving bin 51, a fourth longitudinal moving robot 214 is arranged on each first longitudinal single truss 210 and between the third front moving bin 51 and the third rear moving bin 52, and the fourth transverse truss 25 is arranged right opposite to the third rear moving bin 52. One of the third transverse single trusses 240 is disposed opposite to the third front shift bin 51, and at least two thread machining devices 103 are disposed on one side of the third transverse single truss 240 close to the outer rough turning device 102. The other two third transverse single trusses 240 are arranged opposite to the third rear shifting bin 52, and at least two thread machining devices 103 are respectively arranged on the opposite outer sides of the other two third transverse single trusses 240 at intervals along the length direction of the third transverse single trusses.

Specifically, the thread machining device 103 on one side of the third transverse single truss 240, which is arranged right opposite to the third front shift bin 51, adopts a domestic threading machine, and the thread machining devices 103 on the outer sides of the other two third transverse single trusses 240 adopt an imported threading machine. In operation, the second longitudinal robot 212 transfers coupling blanks in the second transfer bin 40 to the third front transfer bin 51, and the fourth longitudinal robot 214 transfers a part of coupling blanks in the third front transfer bin 51 to the third rear transfer bin 52. Each third traverse robot 241 can transfer the coupling blanks in the third forward shift magazine 51 or the third backward shift magazine 52 to the entrance end of each thread processing device 103 to perform threading and boring and thread processing, and the finished couplings are transferred back to the third forward shift magazine 51 or the third backward shift magazine 52 by the third traverse robot 241. After that, the fourth longitudinal transfer robot 214 can transfer the processed coupling in the third front transfer bin 51 to the third rear transfer bin 52, and the fourth traverse robot 251 can transfer the processed coupling in the third rear transfer bin 52 to the coupling marking inspection device 104.

Further, in order to avoid interfering with the movement of each robot, each transverse truss cannot cross the first longitudinal truss 21, so each transverse truss can only extend to one side of the first longitudinal truss 21, and each transverse robot can move to the position of one side of the first longitudinal truss 21 at most, so that each material needs to be transversely shifted to the position right below the first longitudinal truss 21 through each shifting bin to be convenient for the longitudinal shifting robot to take materials. At the same time, the third transfer robot 213 moves only in the area between the first front transfer bin 31 and the first rear transfer bin 32, the first transfer robot 211 moves only in the area between the first rear transfer bin 32 and the second transfer bin 40, the second transfer robot 212 moves only in the area between the second transfer bin 40 and the third front transfer bin 51, and the fourth transfer robot 214 moves only in the area between the third front transfer bin 51 and the third rear transfer bin 52, so that some transfer bins should also have a longitudinal displacement effect to transfer the material to a position where the corresponding transfer robot can grab.

In order to facilitate the lateral and/or longitudinal transfer function of each shift bin, the first front shift bin 31, the first rear shift bin 32, the second shift bin 40, the third front shift bin 51 and the third rear shift bin 52 are all multi-directional conveyor belts to transfer the materials to the corresponding positions.

Among them, the multidirectional Conveyor belt can be a german multidirectional Conveyor belt (Cellular Conveyor, also called a honeycomb Conveyor for short), which is a highly flexible modular conveying and positioning system. The multidirectional transmission belt is composed of hexagonal modules, each module comprises three universal wheels, a small motor is arranged below each wheel, each wheel can independently move, the central combined speed and direction of a motion system can be controlled by changing the linear combination of the speed of each wheel hub, so that the goods can freely move on the transmission platform in 360 degrees in all directions, different goods sorting routes can be set, and the specific moving route can be set by a computer program. The specific structure, operation principle and degree setting of the moving route of the german multidirectional transmission belt are the prior art, and are not described in detail herein.

In detail, each shift bin in this embodiment adopts a multi-directional conveyor belt and sets a corresponding moving route program, so that the following conveying routes can be realized: the first front shifting bin 31 and the first rear shifting bin 32 mainly have a transverse conveying function, and after the first front shifting bin 31 or the first rear shifting bin 32 receives the coupling short blanks conveyed by the corresponding first traverse robots 221, the coupling short blanks can be moved transversely to the positions right below the two first longitudinal single trusses 210 to be distributed, so that the two third longitudinal robots 213 and the two first longitudinal robots 211 can take materials conveniently. The second shift bin 40 has both functions of transverse transmission and longitudinal transmission, and after the second shift bin 40 receives the coupling short billets conveyed by the two first longitudinal transfer robots 211, the coupling short billets can be conveyed to the first side of the first longitudinal truss 21 through transverse transmission and/or longitudinal transmission and are opposite to the positions of the two second transverse single trusses 230, so that the two second transverse transfer robots 231 can take materials conveniently; meanwhile, the second shift bin 40 can also receive the coupling car blanks conveyed by the two second traverse robots 231 after rough turning, and transversely convey and/or longitudinally convey the coupling car blanks to the positions right below the two first longitudinal single trusses 210, so that the two second longitudinal robots 212 can conveniently take materials.

The third front shifting bin 51 mainly has a transverse transmission function, and after receiving the coupling car blanks transmitted by the two second longitudinal transfer robots 212, the third front shifting bin 51 can transmit the coupling car blanks to the first side of the first longitudinal truss 21 through transverse transmission so as to facilitate the corresponding third longitudinal transfer robot 241 to take materials; meanwhile, the third front shifting bin 51 can also receive the steel pipe coupling which is conveyed by the corresponding third traverse robot 241 and is subjected to wire turning processing, and the steel pipe coupling is transversely conveyed to the position right below the two first longitudinal single trusses 210, so that the two fourth longitudinal robots 214 can conveniently take materials. The third rear shifting bin 52 has the functions of transverse transmission and longitudinal transmission, the third rear shifting bin 52 receives the un-threaded coupling car blanks and the threaded steel pipe couplings which are transmitted by the two fourth longitudinal transfer robots 214, and can transmit the coupling car blanks to the first side of the first longitudinal truss 21 through transverse transmission and/or longitudinal transmission so as to conveniently take materials by the corresponding two third transverse transfer robots 241; meanwhile, the third rear shifting bin 52 can also receive the steel pipe couplings which are conveyed by the two corresponding third traverse robots 241 and are subjected to wire turning processing, and transversely convey and/or longitudinally convey all the steel pipe couplings to the second side of the first longitudinal truss 21 and the position corresponding to the fourth transverse truss 25, so that the fourth traverse robot 251 can conveniently take materials.

Of course, each shift bin can also adopt other structural forms besides a multidirectional conveying belt as required, and each material can be conveniently conveyed to a corresponding material taking position. For example, each shifting bin can also adopt a moving vehicle which comprises a platform and can be slidably arranged on the platform, the moving vehicle can bear materials grabbed by the transverse moving robot or the longitudinal moving robot, and the materials can be moved to different positions for waiting through setting a route for the movement of the moving vehicle (the setting program is the prior art), so that the materials can be grabbed by other robots. In addition, stacking storage units can be added on each shifting bin according to needs to play a role of buffering.

Further, in order to make the production rhythm of the code marking and flaw detection process more compact and further improve the production efficiency, as shown in fig. 3, the fourth transverse truss 25 includes a front transverse single truss 2501 and a rear transverse single truss 2502 which are arranged side by side at intervals, and a fourth transverse robot 251 is respectively arranged on the front transverse single truss 2501 and the rear transverse single truss 2502. The front transverse single-truss 2501 is disposed opposite to the third transfer bin 50, and the rear transverse single-truss 2502 is disposed opposite to the first basket storing mechanism 60. A plurality of coupling coding flaw detection devices 104 are arranged between the front transverse single truss 2501 and the rear transverse single truss 2502 at intervals along the length direction of the front transverse single truss, the inlet ends of the coupling coding flaw detection devices 104 are arranged right opposite to the front transverse single truss 2501, and the outlet ends of the coupling coding flaw detection devices 104 are arranged right opposite to the rear transverse single truss 2502.

The front transverse single-truss 2501 is specifically arranged opposite to the third rear shifting bin 52. As shown in fig. 6, the general collar code-printing flaw detection device 104 includes a code-printing machine 1041 and a magnetic particle flaw detector 1043, the code-printing machine 1041 is connected with the magnetic particle flaw detector 1043 through a conveying device 1042, the code-printing machine 1041 is arranged near the front transverse single truss 2501, and the magnetic particle flaw detector 1043 is arranged near the rear transverse single truss 2502. The specific structures of the code printer 1041, the magnetic particle flaw detector 1043 and the conveying device 1042 are the prior art, and are not described herein again.

During operation, the machined coupling in the third rear shifting bin 52 is conveyed to the coding machine 1041 through the fourth traverse robot 251 on the front transverse single truss 2501, after coding operation, the steel pipe coupling is conveyed to the magnetic particle flaw detector 1043 through the conveying device 1042 for magnetic particle flaw detection, and the steel pipe coupling after flaw detection is taken away by the fourth traverse robot 251 on the rear transverse single truss 2502 and conveyed to the first material basket storage mechanism 60.

In an optional embodiment, the magnetic particle flaw detector 1043 has a self-detection function, and an automatic detection device (prior art) may be installed on the magnetic particle flaw detector 1043 to check whether the steel pipe coupling after flaw detection is qualified. A material turning device (prior art) can be added on the magnetic particle flaw detector 1043, and can be driven by a hydraulic cylinder to turn over unqualified couplings to a waste basket placed below, the waste basket can be periodically carried away by an automatic forklift, and qualified couplings for flaw detection are taken away by a fourth traverse robot 251 on the rear transverse single truss 2502.

In a preferred embodiment, a first automatic detector is provided on an arm of the first traverse robot 221, and is used to perform a profile sampling of the coupling billets output from the loading and cutting apparatus 101. And a second automatic detector is arranged on the arm of the second traverse robot 231 and is used for performing overall dimension sampling inspection on the rough-turned coupling turning blank output by the outer circle rough-turning device 102. A third automatic detector is provided on an arm of the third traverse robot 241, and is used for performing thread appearance sampling inspection on the steel pipe coupling output from the thread machining device 103.

The first automatic detector and the second automatic detector can be automatic appearance measuring instruments (in the prior art) for automatically detecting the outer diameter, the length and the like of the butt joint short blank or the joint vehicle blank; the third automatic detector can be a thread comprehensive measuring machine (in the prior art), and can automatically detect the pitch diameter, the pitch, the thread form angle and the like of the steel pipe coupling. If necessary, the second automatic detecting instrument may also be disposed at the outlet end of the rough outer circle turning device 102 to achieve the purpose of spot check. When sampling inspection is carried out, a system can send out an extraction signal, circulation is temporary, each detector carries out detection, the signal is sent out after the detection is finished, and the circulation is continued; or the workpiece can be taken out from the circulating workpiece and put in after detection is finished, so that sampling inspection is realized; the specific sampling inspection process is the prior art.

Thus, through the connection of the truss robot 20 and the arrangement of respective dynamic detectors, the whole intelligent unmanned operation of the process flow of 'loading of the blank of the long pipe coupling, unloading of a cutting machine, overall dimension sampling inspection, rough turning and external circle machining, overall dimension sampling inspection, boring, thread machining, inspection, code printing, magnetic powder inspection, basket filling and phosphorization and finished product warehousing' can be realized, the material tracking is convenient, the manual coordination of the loading rack of a long pipe crane and the manual shipment of the finished product from the warehouse to the warehouse of the finished product coupling is realized, the processing and the detection of each process from the blank of the long pipe coupling to the warehouse of the finished product coupling do not need manual participation, and the production efficiency is greatly improved.

Further, as shown in fig. 7 to 9, the robot in the present embodiment is mainly classified into three types: the robot comprises a single-claw robot 202, a double-claw robot 203 and a basket grabbing robot 204, wherein each robot can horizontally slide on a truss 201, and the specific structures are all the prior art. The basket grabbing robot 204 is adopted for the first longitudinal basket grabbing robot 261, the second longitudinal basket grabbing robot 271 and the transverse basket grabbing robot 281 to grab the basket connected with the hoop conveniently, and the single-claw robot 202 or the double-claw robot 203 can be adopted for the rest robots according to the production rhythm. For example, the first traverse robot 221 and the fourth traverse robot 251 in the present embodiment each employ a single-claw robot 202; the second traverse robot 231 and the third traverse robot 241 each employ the double-claw robot 203 to grasp the material to be processed and the processed material at the same time. The number of the devices such as the outer circle rough turning device 102, the thread machining device 103, the collar code printing and flaw detection device 104 is determined according to the production rhythm and the moving speed of each robot, so that the production efficiency is ensured.

Further, since the rear transverse single truss 2502 and the second longitudinal truss 26 cannot intersect each other, the fourth traverse robot 251 can only convey steel pipe couplings to the outside of the inlet end of the second longitudinal truss 26, and the first basket storage mechanism 60 is mainly used for realizing the displacement of baskets, so that the first longitudinal basket grabbing robot 261 can grab the baskets, and empty baskets can be conveyed to the position of the first basket storage mechanism 60 for containing the couplings.

Specifically, as shown in fig. 10 to 14, the first basket storing mechanism 60 includes a basket returning vertical movement chain 61, a first support 62, and a vertical movement support 63, the basket returning vertical movement chain 61 is disposed at the bottom of the second vertical girder 26 and can be conveyed along the length direction of the second vertical girder 26, an inlet end and an outlet end of the basket returning vertical movement chain 61 are respectively disposed near the fifth horizontal girder 28 and the fourth horizontal girder 25, and the horizontal moving basket grabbing robot 281 can convey the empty basket of the finished product warehouse 106 to the inlet end of the basket returning vertical movement chain 61. A lifting plate 64 capable of moving up and down is disposed on the first bracket 62, and the lifting plate 64 includes two sub lifting plates 641 symmetrically disposed at both sides of the basket returning vertical movement chain 61 and capable of being flush with the upper surface of the basket returning vertical movement chain 61. The longitudinal shift frame 63 is provided above the outlet end of the basket returning longitudinal shift chain 61 and can be longitudinally shifted in the length direction of the second longitudinal girder 26, and the longitudinal shift frame 63 can be flush with the upper surface of the lifting plate 64 after the lifting plate 64 is moved up. A first driving mechanism 65 for driving the lifting plate 64 to move up and down is provided on the first support 62, and a second driving mechanism 66 for driving the longitudinal displacement frame 63 to move longitudinally is provided on the bottom of the second longitudinal girder 26.

It will be appreciated that the above-described basket returning vertical movement chain 61 is moved by a driving device, which may include a driving sprocket, a driven sprocket and a motor, and the basket returning vertical movement chain 61 is connected between the driving sprocket and the driven sprocket and is driven to move by the motor, and the structure and installation manner of the specific driving device are the prior art. The structure of the phosphating device 105 is the prior art, and comprises a phosphating pool, wherein a conveying chain is arranged in the phosphating pool, and the coupling can be subjected to phosphating treatment on the coupling in the process of conveying the coupling through the conveying chain.

The longitudinal shift frame 63 may have a loading position located outside the end of the second longitudinal girder 26 and a basket catching position located at the bottom of the second longitudinal girder 26 when moving in the longitudinal direction, so as to facilitate the loading of the fourth traverse robot 251 and the loading of the first longitudinal basket catching robot 261, respectively.

When the longitudinal shifting frame 63 is at a loading position during work, steel pipe couplings subjected to code marking and flaw detection can be conveyed into a coupling basket through the fourth transverse robot 251 on the rear transverse single truss 2502; then, under the driving of the second driving mechanism 66, the longitudinal shifting frame 63 pushes the coupling basket filled with coupling from the loading position to the basket grabbing position, the coupling basket filled with coupling is grabbed and conveyed to the inlet end of the phosphating device 105 by the first longitudinal shifting basket grabbing robot 261, and the coupling basket filled with coupling passes through the phosphating pool of the phosphating device 105 and then moves to the outlet end of the phosphating device 105, so that the phosphating process is completed. After the second vertical moving basket grabbing robot 271 conveys the coupling baskets filled with the phosphated couplings to the finished product warehouse 106, after the finished product couplings are manually and coordinately packed and shipped, the remaining empty baskets are conveyed to the inlet end of the basket returning vertical moving chain 61 through the horizontal moving basket grabbing robot 281, and are conveyed to the outlet end of the basket returning vertical moving chain 61 through the basket returning vertical moving chain 61, namely, the lower part of the loading position waits. When a collar basket on the longitudinal displacement rack 63 is filled with material and moved to the basket grabbing position, an empty basket waiting below the filling position is raised for filling a new collar.

The process of the empty basket ascending specifically comprises the following steps: before the empty basket ascends, the upper surfaces of the two sub-lifting plates 641 are flush with the upper surface of the basket returning vertical movement chain 61, at this time, the middle part of the empty basket is positioned on the basket returning vertical movement chain 61, and the two sides of the empty basket are respectively positioned on the two sub-lifting plates 641; and at this time, the high position above the empty basket is already left by the longitudinal displacement frame 63 at the basket-grabbing position. Then, the lifting plate 64 is driven by the first driving mechanism 65 to drive the empty basket to move up to the high position, at this time, the second driving mechanism 66 drives the longitudinal shifting frame 63 to extend outwards, and the longitudinal shifting frame 63 moves between the two sub lifting plates 641 and is flush with the upper surfaces of the two sub lifting plates 641, so that basket receiving is realized; after the baskets are received, the longitudinal shifting frame 63 is at a loading position, and after the fourth traverse robot 251 on the rear transverse single truss 2502 fills the baskets with the collars, the second driving mechanism 66 drives the longitudinal shifting frame 63 to move to a basket grabbing position to wait for the first longitudinal basket grabbing robot 261 to take away; the basket-receiving rear lifting plate 64 moves downward again to be flush with the upper surface of the basket returning longitudinal movement chain 61 under the driving of the first driving mechanism 65 to wait for the next empty basket.

In practical applications, in order to facilitate the movement of the lifting plate 64, as shown in fig. 12 and 13, the first bracket 62 includes two sets of guide posts 621 symmetrically disposed on both sides of the basket returning vertical movement chain 61, and the two sub lifting plates 641 are slidably connected to the two sets of guide posts 621 respectively. The first driving mechanism 65 includes two sets of first hydraulic cylinders, the cylinder bodies of the two sets of first hydraulic cylinders are respectively and fixedly connected to the two sets of guide pillars 621, and the piston rods of the two sets of first hydraulic cylinders are respectively and fixedly connected to the two sub-lifting plates 641.

Wherein, each group of guide pillars 621 may include two guide pillars 621, and each group of first hydraulic cylinders includes two first hydraulic cylinders, and the specific number is determined according to the requirement, and this embodiment is only an example. Generally, a pier seat 622 is installed at the bottom of each guide post 621, the cylinder body of the first hydraulic cylinder is fixedly connected with the corresponding pier seat 622, and each guide post 621 plays a role in guiding the lifting plate 64 to move up and down. When the empty basket is in place during operation, the piston rod of the first hydraulic cylinder extends out, so that the empty basket can be lifted to a loading position; after the longitudinal displacement frame 63 finishes receiving the basket, the piston rod of the first hydraulic cylinder retracts, and the lifting plate 64 descends to the low position to wait for the next empty basket.

Further, in order to facilitate installation of the longitudinal displacement frame 63, the second longitudinal girder 26 includes two second longitudinal single girders 260 arranged in parallel at intervals, and the first longitudinal basket grasping robot 261 is slidably installed between the two second longitudinal single girders 260. As shown in fig. 14, a cross member 67 is connected between the bottoms of the two second longitudinal single girders 260, and the longitudinal displacement frame 63 is slidably provided on the cross member 67. In the above, the first vertical-movement basket-grasping robot 261, the second vertical-movement basket-grasping robot 271 and the horizontal-movement basket-grasping robot 281 are all used for grasping baskets, and therefore, the robot is relatively large, and the second longitudinal truss 26, the third longitudinal truss 27 and the fifth transverse truss 28 all adopt a double-truss structure.

The longitudinal displacement frame 63 is a flat car with rollers; or the longitudinal displacement frame 63 is a longitudinal displacement flat plate, the cross beam 67 is provided with a first slide rail, and the second driving mechanism 66 can drive the longitudinal displacement flat plate to reciprocate along the first slide rail. In order to facilitate driving the longitudinal displacement frame 63 to move, the second driving mechanism 66 is a second hydraulic cylinder, a cylinder body of the second hydraulic cylinder is fixedly connected with the cross beam 67, and a piston rod of the second hydraulic cylinder is fixedly connected with the longitudinal displacement frame 63.

When the vertical shifting frame works, after the empty basket is lifted to a loading position, a piston rod of the second hydraulic cylinder extends out to drive the vertical shifting frame 63 to move vertically to receive the empty basket; after the basket is connected and the basket is filled with the coupling, the piston rod of the second hydraulic cylinder retracts, the coupling basket filled with the coupling is moved to the basket grabbing position, and the first longitudinal-moving basket grabbing robot 261 is waited to take away the coupling basket.

Of course, the first basket storing mechanism 60 may also adopt other structural forms as long as it is convenient to longitudinally shift the steel pipe coupling conveyed by the fourth traverse robot 251 to a position where the first longitudinal basket grabbing robot 261 can grab the steel pipe coupling, and convey the empty basket back, and this embodiment is only an example.

Further, since the third longitudinal girder 27 and the fifth transverse girder 28 cannot intersect each other, and the traverse basket-grasping robot 281 can only move to one side of the third longitudinal girder 27, the second basket-storing mechanism 70 in this embodiment may adopt the following two structures to facilitate the traverse basket-grasping robot 281 to take materials, specifically as follows:

the first method comprises the following steps: the second basket storing mechanism 70 adopts a shifting structure

As shown in fig. 15, the second basket storing mechanism 70 includes a lateral shift rack 71 and a third driving mechanism 72, the lateral shift rack 71 is disposed at the bottom of the third longitudinal girder 27 and opposite to the fifth longitudinal girder 28 and can move laterally along the length direction of the fifth longitudinal girder 28, and the third driving mechanism 72 is disposed at the bottom of the third longitudinal girder 27 and can drive the lateral shift rack 71 to move laterally.

Thus, when the transverse displacement frame 71 is positioned right below the third longitudinal truss 27, the coupling basket filled with the phosphated coupling and conveyed by the second longitudinal movement basket grabbing robot 271 can be received; then, the third driving mechanism 72 drives the traverse frame 71 to move transversely to a position right below the end of the fifth traverse truss 28, so that the traverse basket grabbing robot 281 can grab a coupling basket conveniently.

More specifically, in order to facilitate the installation of the lateral shift bracket 71 and to facilitate the driving of the lateral shift thereof, a fixing plate 73 extending into the bottom of the fifth lateral girder 28 is provided at the bottom of the third longitudinal girder 27, the fixing plate 73 has a length direction extending in a length direction of the fifth lateral girder 28, and the lateral shift bracket 71 is slidably provided on the fixing plate 73. The third driving mechanism 72 is a third hydraulic cylinder, a cylinder body of the third hydraulic cylinder is fixedly connected with the fixed plate 73, and a piston rod of the third hydraulic cylinder is fixedly connected with the transverse displacement frame 71.

Wherein, the transverse displacement frame 71 is a flat car with rollers; or the transverse displacement frame 71 is a transverse moving flat plate, a second slide rail is arranged on the fixed plate 73, and the third driving mechanism 72 can drive the transverse moving flat plate to reciprocate along the second slide rail. During working, when a piston rod of the third hydraulic cylinder retracts, the transverse displacement frame 71 is positioned under the third longitudinal truss 27 to wait for receiving materials; the piston rod of the third hydraulic cylinder is then extended, so that the transverse displacement frame 71 can be displaced transversely to just below the end of the fifth transverse girder 28.

And the second method comprises the following steps: the second basket storing mechanism 70 has no displacement function, and improves the position of the clamping jaw 2813 of the traverse basket grabbing robot 281

As shown in fig. 16, the second basket storing mechanism 70 includes a storing plate 74, the storing plate 74 is disposed at the bottom of the third longitudinal girder 27 and opposite to the fifth transverse girder 28, and the traverse basket grabbing robot 281 includes a sliding body 2811 slidably disposed on the fifth transverse girder 28 and a clamping jaw 2813 disposed below the sliding body 2811. An offset plate 2812 is arranged at the bottom end of the sliding body 2811, one end of the offset plate 2812, which is away from the second longitudinal truss 26, is fixedly connected with the bottom of the sliding body 2811, one end of the offset plate 2812, which is close to the second longitudinal truss 26, extends out of the sliding body 2811, and a clamping jaw 2813 is fixed at the bottom of one end of the offset plate 2812, which is close to the second longitudinal truss 26.

Thus, the whole traverse basket grabbing robot 281 adopts a special-shaped structure and adopts a mode that the clamping jaws 2813 are offset to take materials, when the traverse basket grabbing robot 281 moves to the end part of the fifth transverse truss 28, the clamping jaws 2813 can be just positioned right above the storage plate 74, and can grab directly; the second structure omits a shift structure, and the structure is simplified.

Of course, the second basket storing mechanism 70 may also adopt other structural forms as needed, as long as it is convenient for the traverse basket grabbing robot 281 to take out materials, and this embodiment is only an example.

Further, in order to facilitate the finished goods warehouse 106 to receive finished goods couplings and return empty baskets, as shown in fig. 3, a plurality of product longitudinal shift chains 1061 are arranged in the finished goods warehouse 106 at intervals in parallel, and the length direction of each product longitudinal shift chain 1061 is perpendicular to the length direction of the fifth transverse truss 28. The basket-gripping robot 281 is capable of transferring steel pipe couplings in the second basket storing mechanism 70 to the respective product transfer chains 1061, and is capable of taking out empty baskets from the product transfer chains 1061 and transferring them to the first basket storing mechanism 60. The installation manner of each product vertical shift chain 1061 in the finished product warehouse 106 is prior art and will not be described herein.

In operation, the traverse basket grabbing robot 281 places a coupling basket with a finished coupling on a product transfer chain 1061 until the product transfer chain 1061 is full of coupling baskets, and then the traverse basket grabbing robot 281 takes an empty basket from each product transfer chain 1061 and conveys the empty basket to the inlet of the return basket transfer chain 61.

Specifically, each product longitudinal moving chain 1061 can be driven bidirectionally, and after one product longitudinal moving chain 1061 is full of coupling baskets, the transverse moving basket grabbing robot 281 continues to place coupling baskets on the next product longitudinal moving chain 1061 until all the product longitudinal moving chains 1061 are full of coupling baskets. When the finished product warehouse 106 needs to be transported by manual coordination at the warehouse-out position, and is packed and transported, and then is cleaned, the product longitudinal moving chain 1061 is conveyed in the reverse direction, the cleaning of the basket is started from the side where the transverse basket grabbing robot 281 starts to discharge the basket, and the empty basket is grabbed and conveyed to the inlet of the basket returning longitudinal moving chain 61 when the empty basket is emptied. Of course, the empty basket in the product storage 106 may be conveyed by another structure, and for example, the empty basket may be directly returned to the entrance of the basket transfer chain 61 by using a crane.

In summary, the processing workshop in this embodiment links up the process equipment through the truss robot 20, and has the following advantages: the workshop is compact, and the occupied space is small; each shifting bin is adjustable in width and length; the coupling is provided by the independent shifting bin and can be freely configured according to the position of machine tool processing equipment; each shifting bin can store a large number of couplings; the coupling basket can be recycled, the identification code can be unique, and the coupling is arranged in the charging basket without manual operation; the collar basket exchange does not need to be stopped; directly integrating each processing station of a workshop production line; the process cycle and storage and latency are freely defined.

Second embodiment

Referring to fig. 1, the present embodiment provides an intelligent processing method for a steel pipe coupling, including the following steps:

s1, cutting the long pipe coupling blank through the feeding cutting device 101 to obtain a coupling short blank with a fixed length;

s2, conveying the coupling short blank to the inlet end of the outer circle rough turning device 102 through the first truss robot, and performing rough turning and outer circle processing on the coupling short blank through the outer circle rough turning device 102 to obtain a coupling turning blank;

s3, conveying the coupling turning blank from the outlet end of the outer circle rough turning device 102 to the inlet end of the thread machining device 103 through the second truss robot, and boring and thread machining the coupling turning blank through the thread machining device 103 to obtain a steel pipe coupling;

s4, conveying the steel pipe coupling to the inlet end of the coupling code marking and flaw detecting device 104 from the outlet end of the thread machining device 103 through the third truss robot, and performing code marking and magnetic particle flaw detection on the steel pipe coupling through the coupling code marking and flaw detecting device 104;

s5, conveying the steel pipe coupling subjected to code marking and flaw detection to the inlet end of a phosphating device 105 from the outlet end of the coupling code marking and flaw detection device 104 through a fourth truss robot, and carrying out phosphating on the steel pipe coupling subjected to code marking and flaw detection through the phosphating device 105 to obtain a finished coupling;

and S6, conveying the finished product coupling to the inlet end of the finished product warehouse 106 from the outlet end of the phosphating device 105 through the fifth truss robot, and finishing warehousing the finished product coupling through the finished product warehouse 106.

The first truss robot, the second truss robot, the third truss robot, the fourth truss robot, and the fifth truss robot may be the same type of truss robot or different types of truss robots. The intelligent processing method in this embodiment may be specifically implemented by using the intelligent processing workshop in the first embodiment, and the specific processing implementation process is described in detail in the first embodiment and is not described herein again.

Thus, the intelligent processing method in the embodiment realizes unmanned intelligent manufacturing by connecting the process flows of 'long pipe coupling blank feeding-cutting machine blanking-rough turning excircle processing-boring hole-thread processing-code printing-magnetic powder inspection-phosphorization-finished product warehousing' through the truss robot. Except that the materials need manual operation in getting in and out of the workshop, namely the loading rack of the long-tube crane and finished products are manually transported out of the warehouse, the processes in the workshop realize fully intelligent processing, are linked up and communicated, are simple, convenient and quick, greatly reduce the labor intensity, improve the production efficiency and have obvious economic benefit.

Further preferably, in order to facilitate the sampling of the obtained coupling short billet, coupling car billet and steel pipe coupling, the following steps are further included between step S1 and step S2: and S15, performing overall dimension sampling inspection on the short butt-joint hoop blank. The following steps are also included between step S2 and step S3: and S25, performing overall dimension sampling inspection on the hoop turning blank. The following steps are also included between step S3 and step S4: and S35, performing sampling inspection on the appearance of the threads of the steel pipe coupling.

The specific detection process may be implemented by using the first automatic detector, the second automatic detector, and the third automatic detector in the first embodiment, and the specific implementation process is described in detail in the first embodiment, and is not described herein again.

Further preferably, in order to facilitate recycling of the coupling basket, in step S5, the steel pipe coupling subjected to code marking and flaw detection is loaded into the coupling basket by the fourth truss robot, and the coupling basket filled with the coupling is conveyed to the inlet end of the phosphating device.

In step S6, the coupling basket filled with the finished coupling is conveyed from the outlet end of the phosphating device to the inlet end of the finished product warehouse by the fifth truss robot, the coupling basket filled with the finished coupling is conveyed to the outlet end of the finished product warehouse by the finished product warehouse, and then the empty basket is conveyed back to the inlet end of the finished product warehouse; and then the fifth truss robot conveys the empty basket to the outlet end of the coupling code-printing flaw detection device, so that the steel pipe coupling subjected to code-printing flaw detection is loaded into the empty basket through the fourth truss robot.

The specific implementation process can be implemented by using the first basket storing mechanism 60 in the first embodiment, and the specific operation process is described in detail in the first embodiment and is not described herein again.

The above are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention. Any person skilled in the art should also realize that such equivalent changes and modifications can be made without departing from the spirit and principles of the present invention.

Claims (19)

1. An intelligent processing workshop for steel pipe couplings is characterized by comprising a truss robot, a feeding cutting device, an excircle rough turning device, a thread processing device, a coupling code marking and flaw detecting device, a phosphating treatment device and a finished product warehouse, wherein the feeding cutting device, the excircle rough turning device, the thread processing device, the coupling code marking and flaw detecting device, the phosphating treatment device and the finished product warehouse are sequentially arranged in the preset material conveying direction;

the truss robot can convey the coupling short blank obtained at the outlet end of the feeding and cutting device to the inlet end of the outer circle rough turning device so as to realize rough turning and outer circle processing on the coupling short blank;

the truss robot can convey a coupling turning blank obtained at the outlet end of the outer circle rough turning device to the inlet end of the thread machining device so as to realize boring and thread machining of the coupling turning blank;

the truss robot can convey the steel pipe coupling obtained at the outlet end of the thread machining device to the inlet end of the coupling code marking and flaw detecting device so as to realize code marking and magnetic particle flaw detection on the steel pipe coupling;

the truss robot can convey the steel pipe coupling subjected to code printing and flaw detection and obtained at the outlet end of the coupling code printing and flaw detection device to the inlet end of the phosphating device so as to realize phosphating treatment on the steel pipe coupling subjected to code printing and flaw detection;

the truss robot can convey the finished coupling obtained at the outlet end of the phosphating device to the finished product warehouse.

2. The steel pipe coupling intelligent process plant of claim 1,

the truss robot comprises a plurality of trusses and a plurality of robots which can be slidably arranged on the trusses, and each truss corresponds to the feeding cutting device, the outer circle rough turning device, the thread machining device, the coupling code printing and flaw detection device, the phosphating treatment device and the finished product warehouse respectively.

3. The intelligent steel pipe coupling processing plant of claim 2,

the truss comprises a first longitudinal truss, a first transverse truss, a second transverse truss and a third transverse truss are vertically arranged on the first side of the first longitudinal truss at intervals along the length direction of the first longitudinal truss, and the feeding and cutting device, the outer circle rough turning device and the thread machining device are respectively arranged corresponding to the first transverse truss, the second transverse truss and the third transverse truss; a first displacement bin, a second displacement bin and a third displacement bin are respectively arranged at the bottom of the first longitudinal truss and at positions corresponding to the first transverse truss, the second transverse truss and the third transverse truss; a first transverse robot, a second transverse robot and a third transverse robot are respectively arranged on the first transverse truss, the second transverse truss and the third transverse truss, and a first longitudinal moving robot and a second longitudinal moving robot are respectively arranged on the first longitudinal truss corresponding to the area between the first shifting bin and the second shifting bin and the difference between the second shifting bin and the third shifting bin;

a fourth transverse truss, a second longitudinal truss, a third longitudinal truss and a fifth transverse truss are sequentially arranged on the second side of the first longitudinal truss along a preset material conveying direction, the fourth transverse truss is arranged corresponding to the third shifting bin, the coupling code printing and flaw detection device is arranged corresponding to the fourth transverse truss, the phosphating device is arranged between the second longitudinal truss and the third longitudinal truss, and the finished product warehouse is arranged corresponding to the fifth transverse truss; a fourth transverse moving robot, a first longitudinal moving basket grabbing robot, a second longitudinal moving basket grabbing robot and a transverse moving basket grabbing robot are respectively arranged on the fourth transverse truss, the second longitudinal truss, the third longitudinal truss and the fifth transverse truss; and a first charging basket storage mechanism is arranged at the butt joint of the fourth transverse truss and the second longitudinal truss, and a second charging basket storage mechanism is arranged at the butt joint of the third longitudinal truss and the fifth transverse truss.

4. The intelligent steel pipe coupling processing plant of claim 3,

the first longitudinal truss comprises two first longitudinal single trusses which are arranged in parallel at intervals, and one first longitudinal moving robot and one second longitudinal moving robot are respectively arranged on each first longitudinal single truss corresponding to the area between the first shifting bin and the second shifting bin and the difference between the second shifting bin and the third shifting bin.

5. The intelligent steel pipe coupling processing plant of claim 4,

the feeding and cutting device comprises a long pipe blank rack and pipe cutters which are mutually butted, the long pipe blank rack is a double-side long pipe blank rack, and the two outlet ends of the double-side long pipe blank rack are respectively and correspondingly provided with one pipe cutter; the first shifting bin comprises a first front shifting bin and a first rear shifting bin which are arranged at intervals along the length direction of the first longitudinal truss, the first transverse truss comprises two first transverse single trusses which are arranged side by side at intervals, and the two first transverse single trusses are respectively arranged between the outlet ends of the two pipe cutters and the first front shifting bin and the first rear shifting bin;

the first transverse moving robot is arranged on each first transverse single truss, the first longitudinal moving robot is arranged between the first rear shifting bin and the second shifting bin, and the third longitudinal moving robot is arranged on each first longitudinal single truss and between the first front shifting bin and the first rear shifting bin.

6. The intelligent steel pipe coupling processing plant of claim 4,

the second transverse trusses comprise at least two second transverse single trusses which are arranged side by side at intervals, and each second transverse single truss is provided with one second transverse robot;

at least two outer circle rough turning devices are arranged on one side of each second transverse single truss at intervals along the length direction of the second transverse single truss, the inlet ends and the outlet ends of the outer circle rough turning devices are located on the same side, and the inlet ends of the outer circle rough turning devices are perpendicular to the length direction of the second transverse single truss.

7. The steel pipe coupling intelligent process plant of claim 5,

the third transverse trusses comprise at least two third transverse single trusses which are arranged side by side at intervals, and each third transverse single truss is provided with one third transverse robot;

and a plurality of thread machining devices are arranged on one side of each third transverse single truss at intervals along the length direction of the third transverse single truss, the inlet ends and the outlet ends of the thread machining devices are positioned on the same side, and the inlet ends of the thread machining devices are arranged perpendicular to the length direction of the third transverse single truss.

8. The intelligent steel pipe coupling processing plant of claim 7,

the third transverse truss comprises three third transverse single trusses, and the third displacement bin comprises a third front displacement bin and a third rear displacement bin which are arranged at intervals along the length direction of the first longitudinal truss; the second longitudinal movement robot is arranged between the second movement bin and the third front movement bin, a fourth longitudinal movement robot is arranged on each first longitudinal single truss and between the third front movement bin and the third rear movement bin, and the fourth transverse truss is arranged right opposite to the third rear movement bin;

one of the third transverse single trusses is arranged right opposite to the third front shifting bin, and at least two thread machining devices are arranged on one side, close to the outer circle rough turning device, of the third transverse single truss; the other two third transverse single trusses are arranged right opposite to the third rear shifting bin, and at least two thread machining devices are respectively arranged on the opposite outer sides of the other two third transverse single trusses at intervals along the length direction of the third transverse single trusses.

9. The intelligent steel pipe coupling processing plant of claim 8,

the first front shifting bin, the first rear shifting bin, the second shifting bin, the third front shifting bin and the third rear shifting bin are all multi-directional conveyor belts.

10. The intelligent steel pipe coupling processing plant of claim 3,

the fourth transverse truss comprises a front transverse single truss and a rear transverse single truss which are arranged side by side at intervals, and the front transverse single truss and the rear transverse single truss are respectively provided with one fourth transverse robot; the front transverse single truss is arranged over against the third shifting bin, and the rear transverse single truss is arranged over against the first charging basket storage mechanism; the coupling code printing and flaw detection device is characterized in that a plurality of coupling code printing and flaw detection devices are arranged between the front transverse single truss and the rear transverse single truss at intervals along the length direction of the front transverse single truss, the inlet end of each coupling code printing and flaw detection device is arranged right opposite to the front transverse single truss, and the outlet end of each coupling code printing and flaw detection device is arranged right opposite to the rear transverse single truss.

11. The intelligent steel pipe coupling processing plant of claim 3,

a first automatic detector is arranged on an arm of the first traverse robot and used for performing overall dimension sampling inspection on the coupling short billets output by the feeding and cutting device;

a second automatic detector is arranged on an arm of the second traverse robot and is used for performing overall dimension sampling inspection on the coupling lathe blank output by the outer circle rough turning device after rough turning;

and a third automatic detector is arranged on an arm of the third traverse robot and used for performing thread appearance sampling inspection on the steel pipe coupling output by the thread machining device.

12. The intelligent steel pipe coupling processing plant of claim 3,

the first basket storage mechanism comprises a basket returning longitudinal moving chain, a first support and a longitudinal moving frame, the basket returning longitudinal moving chain is arranged at the bottom of the second longitudinal truss and can be conveyed along the length direction of the second longitudinal truss, the inlet end and the outlet end of the basket returning longitudinal moving chain are respectively close to the fifth transverse truss and the fourth transverse truss, and the transverse basket grabbing robot can convey empty baskets of the finished product warehouse to the inlet end of the basket returning longitudinal moving chain;

the first support is provided with lifting plates capable of moving up and down, and the lifting plates comprise two sub lifting plates which are symmetrically arranged on two sides of the basket returning longitudinal movement chain and can be flush with the upper surface of the basket returning longitudinal movement chain; the longitudinal displacement frame is arranged above the outlet end of the basket returning longitudinal displacement chain and can longitudinally move along the length direction of the second longitudinal truss, and the longitudinal displacement frame can be flush with the upper surface of the lifting plate after moving on the lifting plate; and a first driving mechanism for driving the lifting plate to move up and down is arranged on the first support, and a second driving mechanism for driving the longitudinal displacement frame to move longitudinally is arranged at the bottom of the second longitudinal truss.

13. The steel pipe coupling intelligent process plant of claim 12,

the first support comprises two groups of guide posts symmetrically arranged on two sides of the basket returning longitudinal moving chain, and the two sub-lifting plates are respectively connected to the two groups of guide posts in a sliding manner; the first driving mechanism comprises two groups of first hydraulic cylinders, the cylinder bodies of the two groups of first hydraulic cylinders are fixedly connected with the two groups of guide pillars respectively, and the piston rods of the two groups of first hydraulic cylinders are fixedly connected with the two sub-lifting plates respectively.

14. The steel pipe coupling intelligent process plant of claim 12,

the first longitudinal truss comprises two first longitudinal single trusses which are arranged in parallel at intervals, and the first longitudinal basket grabbing robot can be slidably arranged between the two first longitudinal single trusses; and a cross beam is connected between the bottoms of the two second longitudinal single trusses, and the longitudinal displacement frame can be arranged on the cross beam in a sliding manner.

15. The steel pipe coupling intelligent process plant of claim 14,

the longitudinal displacement frame is a flat car with rollers; or

The longitudinal displacement frame is a longitudinal displacement flat plate, the cross beam is provided with a first slide rail, and the second driving mechanism can drive the longitudinal displacement flat plate to reciprocate along the first slide rail;

the second driving mechanism is a second hydraulic cylinder, a cylinder body of the second hydraulic cylinder is fixedly connected with the cross beam, and a piston rod of the second hydraulic cylinder is fixedly connected with the longitudinal shifting frame.

16. The intelligent steel pipe coupling processing plant of claim 3,

the second charging basket storage mechanism comprises a transverse shifting frame and a third driving mechanism, the transverse shifting frame is arranged at the bottom of the third longitudinal truss and is just opposite to the position of the fifth transverse truss, the transverse shifting frame can transversely move along the length direction of the fifth transverse truss, and the third driving mechanism is arranged at the bottom of the third longitudinal truss and can drive the transverse shifting frame to transversely move.

17. The steel pipe coupling intelligent process plant of claim 16,

a fixing plate extending into the bottom of the fifth transverse truss is arranged at the bottom of the third longitudinal truss, the length direction of the fixing plate extends along the length direction of the fifth transverse truss, and the transverse displacement frame can be slidably arranged on the fixing plate; the third driving mechanism is a third hydraulic cylinder, a cylinder body of the third hydraulic cylinder is fixedly connected with the fixed plate, and a piston rod of the third hydraulic cylinder is fixedly connected with the transverse shifting frame;

the transverse displacement frame is a flat car with rollers; or

The transverse displacement frame is a transverse displacement flat plate, a second sliding rail is arranged on the fixed plate, and the third driving mechanism can drive the transverse displacement flat plate to reciprocate along the second sliding rail.

18. The intelligent steel pipe coupling processing plant of claim 3,

the second basket storage mechanism comprises a storage plate, the storage plate is arranged at the bottom of the third longitudinal truss and is opposite to the fifth transverse truss, and the transverse basket grabbing robot comprises a sliding main body which can be slidably arranged on the fifth transverse truss and a clamping jaw which is arranged below the sliding main body;

the bottom end of the sliding main body is provided with an offset plate, one end, far away from the second longitudinal truss, of the offset plate is fixedly connected with the bottom of the sliding main body, one end, close to the second longitudinal truss, of the offset plate extends out of the outer side of the sliding main body, and the clamping jaw is fixed to the bottom of one end, close to the second longitudinal truss, of the offset plate.

19. The intelligent steel pipe coupling processing plant of claim 3,

a plurality of product longitudinal movement chains which are arranged in parallel at intervals are arranged in the finished product warehouse, and the length direction of each product longitudinal movement chain is perpendicular to the length direction of the fifth transverse truss; the transverse moving basket grabbing robot can convey steel pipe couplings in the second basket storage mechanism to each product longitudinal moving chain, can take off empty baskets from the product longitudinal moving chains and convey the empty baskets to the first basket storage mechanism.

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