An automatic tube feeding mechanism and laser tube cutting machine based on camera positioning

Abstract

The present invention discloses an automatic tube feeding mechanism and a laser tube cutting machine based on camera positioning, which comprises a material frame, a material dividing frame unit located outside the material frame, a left hook material clamp and a right hook material clamp that respectively hook the two ends of the tube and can move up, down, left and right, and a first driving member that drives the left hook material clamp and the right hook material clamp to move forward and backward, and the right hook material clamp is provided with a camera that takes pictures of the ends of the tubes in the material frame and grabs the center coordinates of each tube. The present invention effectively avoids scratches or knocks caused by friction between tubes, can meet the automatic feeding of tubes of various shapes, greatly improves its versatility, and has high feeding efficiency.

Description

[Technical field]

[0001] The present invention belongs to the technical field of pipe cutting machines, and in particular relates to an automatic pipe feeding mechanism based on camera positioning and a laser pipe cutting machine. [Background technology]

[0002] Traditional feeding methods all use belt lifting, which is inefficient and has low load capacity. In addition, during the feeding process, the tubes rub against each other, causing surface scratches and dents, which cannot meet the requirements of some special industries. In addition, the types of tubes that can be fed in the existing technology are too single, and can only feed rectangular tubes and round tubes. Automatic feeding cannot be achieved for special-shaped tubes such as triangular tubes, D-shaped tubes, and elliptical tubes.

[0003] Therefore, it is necessary to provide a new automatic tube feeding mechanism and laser tube cutting machine based on camera positioning to solve the above problems. [Summary of the invention]

[0004] One of the main purposes of the present invention is to provide an automatic tube feeding mechanism and a laser tube cutting machine based on camera positioning, which effectively avoids scratches or bumps caused by friction between tubes, can meet the automatic feeding of tubes of various shapes, greatly improves its versatility, and has high feeding efficiency.

[0005] The present invention achieves the above-mentioned purpose through the following technical scheme: an automatic tube feeding mechanism and a laser tube cutting machine based on camera positioning, which include a material frame, a material distribution rack unit located outside the material frame, a left hook material clamp and a right hook material clamp that respectively hook the two ends of the tube and can move up, down, left and right, and a first driving member that drives the left hook material clamp and the right hook material clamp to move forward and backward; the right hook material clamp is provided with a camera that takes pictures of the ends of the tubes in the material frame and captures the center coordinates of each tube.

[0006] Furthermore, the left material hooking jaw and the right material hooking jaw are arranged on a gantry beam, the first driving member drives the gantry beam to move forward and backward, and a rack is arranged on the gantry beam along the left and right directions.

[0007] Furthermore, the left hook material clamp includes a first support plate, a second driving member and a third driving member fixed on the first support plate, a gear driven by the second driving member to rotate and meshing with the rack to drive the first support plate to move left and right, a second support plate driven by the third driving member to move up and down, a first cylinder hinged on the second support plate, a first material dragging plate hinged at one end on the second support plate and driven by the first cylinder to flip, a second cylinder fixed on the second support plate, and an insertion rod driven by the second cylinder to be inserted into the interior of the pipe.

[0008] Furthermore, the right hook material clamp includes a third support plate, a fourth driving member and a fifth driving member fixed on the third support plate, a gear driven by the fourth driving member to rotate and meshing with the rack to drive the third support plate to move left and right, a fourth support plate driven by the fifth driving member to move up and down, a third cylinder hinged on the fourth support plate, a second material drag plate hinged at one end on the fourth support plate and driven by the third cylinder to flip, a fourth cylinder fixed on the fourth support plate, and an insertion rod driven by the fourth cylinder to be inserted into the interior of the pipe, the fourth support plate is provided with an eighth cylinder and a movable plate driven by the eighth cylinder to move up and down, and the camera is provided on the movable plate.

[0009] Furthermore, an intermediate material supporting jaw is provided on the gantry crossbeam between the left material hook jaw and the right material hook jaw, and the intermediate material supporting jaw includes a fifth support plate, a sixth driving member and a seventh driving member fixed on the fifth support plate, a gear driven by the sixth driving member to rotate and meshing with the rack to drive the fifth support plate to move left and right, a sixth support plate driven by the seventh driving member to move up and down, a fifth cylinder fixed on the sixth support plate, and a material supporting roller driven by the fifth cylinder to move up and down and forward and backward.

[0010] Furthermore, the material distribution rack unit includes a plurality of material distribution racks distributed along the left-right direction, and a supporting plate arranged on the material distribution racks, wherein the supporting plate includes a bottom plate, a front baffle and a rear baffle, and an elastic sensing sheet is arranged on the front baffle of some of the supporting plates.

[0011] Furthermore, a pipe end positioning device is provided at the left end of the material frame, and the pipe end positioning device includes a reference baffle.

[0012] Furthermore, the pipe end positioning device also includes a seventh cylinder that drives the reference baffle to achieve a 90° flip.

[0013] Furthermore, the material frame includes a fixed material frame and a movable material frame, and the movable material frame is adjustable in left and right positions and is arranged on a track.

[0014] Another main object of the present invention is to provide a laser tube cutting machine with automatic tube loading based on camera positioning.

[0015] Compared with the prior art, the beneficial effects of the camera-based automatic tube feeding mechanism and laser tube cutting machine of the present invention are: effectively avoiding scratches or bumps caused by friction between tubes, being able to meet the automatic feeding of tubes of various shapes, greatly improving its versatility, and high feeding efficiency.

Brief Description of the Drawings

[0016] Figure 1 This is a schematic structural diagram of an automatic tube feeding mechanism based on camera positioning according to an embodiment of the present invention;

[0017] Figure 2 It is a schematic diagram of the structure in which the first driving member drives the gantry beam in an embodiment of the present invention;

[0018] Figure 3 It is a structural schematic diagram of the left hook material clamping claw in an embodiment of the present invention;

[0019] Figure 4 It is a schematic diagram of another angle of the structure of the left hook material clamping jaw in an embodiment of the present invention;

[0020] Figure 5 It is a structural schematic diagram of the right hook material clamping jaw in an embodiment of the present invention;

[0021] Figure 6 Schematic diagram of the structure of the intermediate material supporting clamp in an embodiment of the present invention;

[0022] Figure 7 It is a structural schematic diagram of a material distribution rack unit in an embodiment of the present invention;

[0023] Figure 8 It is a schematic diagram of the structure of the pipe end positioning device in an embodiment of the present invention;

[0024] Fig. 9 It is a schematic diagram of the structure of the material frame in an embodiment of the present invention;

[0025] Fig.10 This is a schematic diagram of the camera grabbing the center coordinates of a square tube in an embodiment of the present invention;

[0026] Fig.11 This is a schematic diagram of the camera grabbing the center coordinates of a circular tube in an embodiment of the present invention;

[0027] The numbers in the figure represent:

[0028] 100 Automatic tube feeding mechanism based on camera positioning; 101 Tube;

[0029] 200 pipe cutting machine body;

[0030] 1 material frame, 11 fixed material frame, 12 movable material frame;

[0031] 2 material distribution rack unit, 201, 202, 203, 204 material distribution racks, 22 bearing plate, 23 elastic sensing sheet, 24 sixth cylinder;

[0032] 3 left hook material clamp, 31 first support plate, 32 second drive member, 33 third drive member, 34 baffle plate, 35 second support plate, 36 first cylinder, 37 first material dragging plate, 38 second cylinder, 39 insertion rod;

[0033] 4 right hook material clamping claw, 41 third support plate, 42 fourth driving member, 43 fifth driving member, 44 baffle plate, 45 fourth support plate, 46 third cylinder, 47 second material dragging plate, 48 eighth cylinder, 49 plug rod, 410 movable plate;

[0034] 5 first driving member; 6 camera; 7 gantry beam, 71 rack;

[0035] 8 middle material supporting clamping jaw, 81 fifth supporting plate, 82 sixth driving member, 83 seventh driving member, 84 gear, 85 sixth supporting plate, 86 fifth cylinder, 87 material supporting roller;

[0036] 9 pipe end positioning device, 91 reference baffle, 92 seventh cylinder, 93 rotating shaft, 94 gear, 95 rack;

[0037] 10. Control cabinet. [Specific implementation method]

[0038] Example:

[0039] Please refer to Figure 1-Figure 11 The present embodiment is an automatic tube feeding mechanism 100 based on camera positioning, which includes a material frame 1, a material distribution rack unit 2 located outside the material frame 1, a left hook material clamp 3 and a right hook material clamp 4 which respectively hook the two ends of the tube and can move up, down, left and right, and a first driving member 5 which drives the left hook material clamp 3 and the right hook material clamp 4 to grab the tube from the material frame 1 to the material distribution rack unit 2, and a camera 6 is provided on the right hook material clamp 4 for taking pictures of the ends of the tubes in the material frame 1 and grabbing the center coordinates of each tube.

[0040] The left hook material clamp 3 and the right hook material clamp 4 are arranged on a gantry beam 7, and the first driving member 5 drives the gantry beam 7 to move forward and backward. An intermediate material support clamp 8 is arranged between the left hook material clamp 3 and the right hook material clamp 4 on the gantry beam 7. Both ends of the gantry beam 7 are fixed on a movable plate, the first driving member 5 is fixed on the movable plate and a driving gear 51 is connected to its rotating end, and a rack 52 is arranged on the support frame supporting the gantry beam 7, and the first driving member 5 drives the gear to rotate in coordination with the rack to realize the forward and backward movement of the gantry beam 7.

[0041] A rack 71 is provided on the gantry crossbeam 7 along the left and right directions, and a driving member and a gear driven by the driving member to rotate and meshing with the rack 71 are provided on the left hook material clamp 3, the right hook material clamp 4 and the middle support material clamp 8. The gear is driven to rotate by the driving member, and the left hook material clamp 3, the right hook material clamp 4 and the middle support material clamp 8 can realize independent left and right movement of the left hook material clamp 3, the right hook material clamp 4 and the middle support material clamp 8 in cooperation with the rack 71.

[0042] The left hook material clamp 3 includes a first support plate 31, a second driving member 32 and a third driving member 33 fixed on the first support plate 31, a gear (not marked in the figure) driven by the second driving member 32 to rotate and meshing with the rack 71 to drive the first support plate 31 to move left and right, a second support plate 35 driven by the third driving member 33 to move up and down, a first cylinder 36 hinged on the second support plate 35, a first material dragging plate 37 hinged at one end on the second support plate 35 and driven by the first cylinder 36 to flip, a second cylinder 38 fixed on the second support plate 35, and an insertion rod 39 driven by the second cylinder 38 to be inserted into the interior of the pipe. According to the camera 6, the center position of the pipe is determined. After the left hook material clamp 3 reaches the position, the second cylinder 38 extends the driving rod 39 and inserts it into the pipe to hook the pipe. After the pipe is positioned on the material distribution rack unit 2, the first cylinder 36 drives the first drag plate 37 to drag the pipe and lift it up, so as to realize the positioning of the pipe on the first drag plate 37. The second driving member 32 drives the left hook material clamp 3 to move left and right on the gantry beam 7, and the third driving member 33 drives the left hook material clamp 3 to move up and down. The second support plate 35 is provided with a rack, and the rotating end of the third driving member 33 is provided with a driving gear that cooperates with the rack. The second support plate 35 is also provided with a baffle 34 that resists the end of the pipe.

[0043] The right hook material clamp 4 includes a third support plate 41, a fourth driving member 42 and a fifth driving member 43 fixed on the third support plate 41, a gear driven by the fourth driving member 42 to rotate and mesh with the rack 71 to drive the third support plate 41 to move left and right, a fourth support plate 45 driven by the fifth driving member 43 to move up and down, a third cylinder 46 hinged on the fourth support plate 45, a second drag plate 47 hinged on one end of the fourth support plate 45 and driven by the third cylinder 46 to flip, a fourth cylinder (not marked in the figure) fixed on the fourth support plate 45, and an insertion rod 49 driven by the fourth cylinder to be inserted into the pipe. The fourth support plate 45 is provided with an eighth cylinder 48 and a movable plate 410 driven by the eighth cylinder 48 to move up and down, and the camera 6 is arranged on the movable plate 410. The fourth support plate 45 is provided with a rack, and the rotating end of the fifth driving member 43 is provided with a driving gear that cooperates with the rack for transmission. A baffle 44 for supporting the end of the pipe is also provided on the fourth support plate 45 .

[0044] The intermediate material supporting jaw 8 includes a fifth support plate 81, a sixth driving member 82 and a seventh driving member 83 fixed on the fifth support plate 81, a gear driven by the sixth driving member 82 to rotate and mesh with the rack 71 to drive the fifth support plate 81 to move left and right, a sixth support plate 85 driven by the seventh driving member 83 to move up and down, a fifth cylinder 86 fixed on the sixth support plate 85, and a material supporting roller 87 driven by the fifth cylinder 86 to move up and down and forward and backward. When one end of the pipe is hooked up, the fifth cylinder 86 moves the material supporting roller 87 to the bottom of the pipe to support the pipe. A rack 84 is provided on the sixth support plate 85, and a driving gear that cooperates with the rack is provided at the rotating end of the seventh driving member 83. The movable end of the fifth cylinder 86 is provided with a movable plate 88 that moves up and down, and the movable plate 88 is provided with a guide groove 89 with a height difference and a front-to-rear horizontal distance difference. The material supporting roller 87 is provided with a roller inserted into the guide groove 89. The movable plate 88 is driven to move up and down by the fifth cylinder 86, and under the guiding action of the guide groove 89, the material supporting roller 87 is driven to realize the up and down and front and rear movements.

[0045] The material distribution rack unit 2 includes a plurality of material distribution racks 201-204 distributed along the left and right directions, and a supporting plate 22 arranged on the material distribution rack. The supporting plate 22 includes a bottom plate, a front baffle and a rear baffle. An elastic sensing sheet 23 is arranged on the front baffle of some supporting plates 22. After the pipe is put onto the supporting plate 22, the hook material clamp will push the pipe forward until the sensor on the elastic sensing sheet 23 is triggered, thereby determining the position of the pipe.

[0046] In this embodiment, in order to realize the automatic feeding of pipes of different specifications and lengths, the right-side material distribution rack in the material distribution rack unit 2 includes a fixed part at the bottom and a flip section at the top, and the material distribution rack unit 2 also includes a sixth cylinder 24 for driving the flip section to flip, one end of the sixth cylinder 24 is hinged on a fixed seat and the movable end is hinged with the flip section to realize the 90° flip of the flip section. When the length of the pipe is short, the flip section is in a horizontal state, and the support for the pipe is cancelled; when the length of the pipe is long, the flip section is in a vertical state, and plays a role in supporting the pipe.

[0047] In this embodiment, in order to ensure that the position deviation of the whole bundle of pipes is not too large when loading, this embodiment is also provided with a pipe end positioning device 9 at the left end of the material frame 1, and the pipe end positioning device 9 includes a reference baffle 91 and a seventh cylinder 92 that drives the reference baffle 91 to achieve a 90° flip. In this embodiment, the bottom of the reference baffle 91 is fixed on a rotating shaft 93, one end of the rotating shaft 93 is fixedly connected to a gear 94, and the movable end of the seventh cylinder 92 is provided with a rack 95 that cooperates with the gear 94 for transmission, and the linear motion of the rack 95 is converted into the rotational motion of the gear 94, thereby realizing the flipping of the reference baffle 91. The reference baffle 91 is mainly used for placing the pipe into the material frame 1, so that one end of the pipe can have an initial positioning, and the phenomenon of uneven pipes will not occur. Since the pipe needs to be hooked from both ends of the pipe in the future, by setting the reference baffle 91 to be flippable, it is possible to provide space for the hook material clamp to achieve position avoidance.

[0048] In this embodiment, in order to adapt to pipes of different lengths, the material frame 1 includes a fixed material frame 11 and a movable material frame 12. The movable material frame 12 is adjustable on a track and can adapt to pipes of various specifications and lengths by adjusting the left and right positions.

[0049] The present embodiment further includes a control cabinet 10, which integrates a camera control system and a program control system and is responsible for automatic recognition of the camera and overall control of the feeder.

[0050] The working principle of the camera in this embodiment is: the camera is first calibrated with the hook clamp and unified to the hook clamp coordinate system, and then the features are grabbed using model matching, and these coordinates are sent to the hook clamp. The camera takes a picture of the tube end face contour, grabs and identifies the center coordinates of the tube end face, and realizes the automatic hooking and selection of the tube to be processed by the hook clamp.

[0051] This embodiment also provides a laser pipe cutting machine, which includes an automatic pipe feeding mechanism 100 based on camera positioning and a pipe cutting machine body 200.

[0052] The working principle of the automatic tube feeding mechanism 100 based on camera positioning in this embodiment is as follows: press the reset button of the equipment, the seventh cylinder 92 turns the reference baffle 91 up and makes it vertical; manually put the whole bundle of tubes into the material frame 1 with a forklift or a crane, and when placing the tubes, one end face of the tubes is against the reference baffle 91; press the start button, the right hook material clamp 4 moves on the XYZ three axes according to the set trajectory, the camera 6 takes a picture of the end face of the tube, and after the picture is taken, the center position of each end face of the tube is determined, the right hook material clamp 4 loads the tube in the order of first up and then down, and from front to back, the right hook material clamp 4 moves to the center position of the first tube, the fourth cylinder extends, the insertion rod 49 is inserted into the tube to hook the tube and lift it up a certain distance, the fifth cylinder 86 on the middle supporting clamp 8 moves the supporting roller 87 to the lower surface of the tube, and the sixth driving member 82 drives the middle supporting clamp The claw 8 moves to the left, and when it moves to the set position, the second cylinder 38 on the left hook material clamp 3 extends out, and the insert rod 39 is inserted into the pipe to hook the left end of the pipe; the gantry beam 7 moves forward with the pipe to the position of the material distribution rack unit 2, and the left hook material clamp 3, the middle supporting clamp 8, and the right hook material clamp 4 are simultaneously lowered to the set position, and the fourth cylinder, the fifth cylinder 86, and the second cylinder 38 are simultaneously retracted to place the pipe on the supporting plate 22, and the first drag plate 37 and the second drag plate 47 move to one side of the pipe and push the pipe forward until the elastic sensing sheet 23 is triggered; then the third cylinder 46 and the first cylinder 36 move simultaneously, flipping the first drag plate 37 and the second drag plate 47 upwards to a set angle, lifting the pipe so that the pipe is stuck in the corner groove of the drag plate for positioning, and the gantry beam 7 continues to move forward to place the pipe into the pipe cutting machine body 200 for cutting.

[0053] The beneficial effects of the automatic tube feeding mechanism based on camera positioning and its laser tube cutting machine in this embodiment are: effectively avoiding scratches or bumps caused by friction between tubes, being able to meet the automatic feeding of tubes of various shapes, greatly improving its versatility and high feeding efficiency. It solves many technical problems such as the inability of traditional feeders to load heavy tubes, scratches or bumps on the surface of tubes, inability to load extra-long tubes, inability to automatically load special-shaped tubes, and inability to perform mixed loading. Specifically,

[0054] 1) It avoids friction between pipes during raw material sorting and has the function of preventing surface damage to pipes with high surface requirements (stainless steel, aluminum alloy, etc.);

[0055] 2) Use the camera to take a picture of the end of the pipe to grab the center coordinate of the pipe, and then use the hook unit to hook the pipe, so that it can grab round pipes, square pipes, D-shaped pipes, triangular pipes, elliptical pipes and other special-shaped pipes for automatic feeding, solving the difficulty of the industry that special-shaped pipes cannot be fed at present;

[0056] 3) One feeder can be used by multiple pipe cutting machines, realizing automatic unmanned production of Industry 4.0;

[0057] 4) The versatility has been improved to meet the feeding requirements of pipes of different specifications and lengths.

[0058] 5) Compared with the current loading speed of 120 seconds in the industry, the loading speed of this solution is shortened to less than 50 seconds, greatly improving the loading efficiency.

[0059] The above are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the creative concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. An automatic tube feeding mechanism based on camera positioning, characterized in that: It includes a material frame, a material distribution rack unit located outside the material frame, a left material hook jaw and a right material hook jaw that respectively hook the two ends of the pipe and can move up, down, left and right, a first driving member that drives the left material hook jaw and the right material hook jaw to move forward and backward, and the right material hook jaw is provided with a camera that takes pictures of the ends of the pipes in the material frame and grabs the center coordinates of each pipe; the left material hook jaw and the right material hook jaw are arranged on a gantry beam, and the first driving member drives the gantry beam to move forward and backward, and a rack is arranged on the gantry beam in the left and right directions; the left material hook jaw includes a first support plate, a second driving member and a third driving member fixed on the first support plate, a gear driven by the second driving member to rotate and meshing with the rack to drive the first support plate to move left and right, a second support plate driven by the third driving member to move up and down, a first cylinder hinged on the second support plate, and one end of the cylinder is hinged on the The first material dragging plate on the second support plate and driven by the first cylinder to flip, the second cylinder fixed on the second support plate, and the insertion rod driven by the second cylinder to be inserted into the pipe; the right hook material clamp includes a third support plate, a fourth driving member and a fifth driving member fixed on the third support plate, a gear driven by the fourth driving member to rotate and meshing with the rack to drive the third support plate to move left and right, a fourth support plate driven by the fifth driving member to move up and down, a third cylinder hinged on the fourth support plate, a second material dragging plate with one end hinged on the fourth support plate and driven by the third cylinder to flip, a fourth cylinder fixed on the fourth support plate, and the insertion rod driven by the fourth cylinder to be inserted into the pipe, the fourth support plate is provided with an eighth cylinder and a movable plate driven by the eighth cylinder to move up and down, and the camera is provided on the movable plate.

2. The automatic tube feeding mechanism based on camera positioning as claimed in claim 1, characterized in that: An intermediate material supporting jaw is arranged on the gantry crossbeam between the left material hook jaw and the right material hook jaw, and the intermediate material supporting jaw includes a fifth support plate, a sixth driving member and a seventh driving member fixed on the fifth support plate, a gear driven by the sixth driving member to rotate and meshing with the rack to drive the fifth support plate to move left and right, a sixth support plate driven by the seventh driving member to move up and down, a fifth cylinder fixed on the sixth support plate, and a material supporting roller driven by the fifth cylinder to move up and down and forward and backward.

3. The automatic tube feeding mechanism based on camera positioning as claimed in claim 1, characterized in that: The material distribution rack unit includes a plurality of material distribution racks distributed along the left-right direction, and a supporting plate arranged on the material distribution racks. The supporting plate includes a bottom plate, a front baffle plate and a rear baffle plate. An elastic sensing sheet is arranged on the front baffle plate of some of the supporting plates.

4. The automatic tube feeding mechanism based on camera positioning according to claim 1, characterized in that: A pipe end positioning device is arranged at the left end of the material frame, and the pipe end positioning device comprises a reference baffle.

5. The automatic tube feeding mechanism based on camera positioning as claimed in claim 4, characterized in that: The pipe end positioning device also includes a seventh cylinder that drives the reference baffle to achieve a 90° flip.

6. The automatic tube feeding mechanism based on camera positioning as claimed in claim 1, characterized in that: The material frame comprises a fixed material frame and a movable material frame, and the movable material frame is adjustable in left and right positions and is arranged on a track.

7. A laser tube cutting machine comprising the automatic tube feeding mechanism according to claim 1.

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