An automatic production line and production method for centrifugal casting pipes

Abstract

The invention discloses an automatic production line and production method for centrifugal casting pipes, comprising a batching warehouse, a feeding device is arranged at one end of the batching warehouse, the feeding device comprises a feeding robot, four feeding trolleys, a first track supporting the feeding robot and a second track supporting the feeding trolley, a smelting device is arranged at the other end of the second track, a pipe pulling robot is arranged at the other end of the smelting device, a steering robot is arranged at the other end of the pipe pulling robot, the steering robot comprises a rotating robot and a sliding track, a shot blasting machine and a straightening machine are arranged at the other side of the sliding track, a head cutting device is arranged at the other end of the straightening machine, the head cutting device comprises a running head cutting device, a double-head lathe, a laser marking machine and a running robot, a PT pool is installed at one side of the laser marking machine, a transfer channel is arranged at the other side of the PT pool, a first transfer frame is arranged at the other end of the transfer channel, a boring machine robot is arranged at the other side of the first transfer frame, a boring machine is arranged under the boring machine robot, and a second transfer frame is arranged at the other end of the boring machine.

Description

Technical Field

[0001] The invention relates to the field of casting, and in particular to an automatic production line and a production method for centrifugal casting pipes. Background Art

[0002] Casting is widely used in the production of large workpieces. With the development of science and technology, people's requirements on technology are getting higher and higher. The traditional existing casting technology has low production efficiency. There is a lot of manual intervention in the casting process, which is prone to improper operation, causing personal injury and waste of manpower. The production process of castings cannot be tracked, resulting in the inability to monitor in real time. When accidents or product quality problems occur, problems cannot be discovered, solved and further improved in time, which will waste a lot of working hours and reduce production efficiency. Moreover, the quality of the products cannot be well controlled, resulting in uneven product quality and low pass rate. Summary of the invention

[0003] In order to solve the deficiencies of the prior art, the object of the present invention is to provide an automatic production line and production method for centrifugal casting pipes which are highly efficient, fully automatic and have controllable product quality.

[0004] In order to achieve the above object, the present invention adopts the following technical solution:

[0005] An automatic production line and production method for centrifugal casting pipes, including a batching warehouse, a feeding device is arranged at one end of the batching warehouse, the feeding device includes a feeding robot, four feeding carts, a first track supporting the feeding robot and a second track supporting the feeding cart, a smelting device is arranged at the other end of the second track, a pipe pulling robot is arranged at the other end of the smelting device, a steering robot is arranged at the other end of the pipe pulling robot, the steering robot includes a rotating robot and a sliding track, a shot blasting machine and a straightening machine are arranged on the other side of the sliding track, a head cutting device is arranged at the other end of the straightening machine, the head cutting device includes a running head cutting device, a double-head lathe, a laser marking machine and a running robot, a PT pool for inspecting defects is installed on one side of the laser marking machine, a transfer channel is arranged on the other side of the PT pool, a first transfer frame is arranged at the other end of the transfer channel, a boring machine robot is arranged on the other side of the first transfer frame, a boring machine is arranged under the boring machine robot, and a second transfer frame is arranged at the other end of the boring machine.

[0006] Preferably, the aforementioned smelting device includes a group of 1T smelting furnace 11 and a group of 2T smelting furnaces, a group of 1T smelting furnace includes two 1T smelting furnaces, a group of 2T smelting furnaces includes two 2T smelting furnaces, a group of 1T smelting furnace and a group of 2T smelting furnaces both include a tundish trolley and two centrifuges, and two groups of smelting furnaces with different volumes can be selected according to different product requirements, which is more convenient, reasonably allocated, and improves production efficiency.

[0007] More preferably, the aforementioned tube pulling robot comprises a tube pulling mechanism, a cleaning mechanism, a spraying mechanism, a trolley mechanism and a tube storage mechanism, wherein the tube pulling mechanism, the cleaning mechanism and the spraying mechanism share a zero point in the X direction. Sharing a zero point can be better controlled by PLC and more accurately.

[0008] More preferably, the aforementioned boring machine robot comprises a pipe loading robot and a pipe unloading robot. The pipe unloading robot has a higher priority than the pipe loading robot and can stop loading pipes immediately and unload loaded pipes in case of a failure, thereby reducing losses.

[0009] Further preferably, the aforementioned operating robot includes a first beam, a second beam and a third beam, which are respectively responsible for loading and unloading the cutting head, double-head lathe and laser marking machine, so as to make the working process more coherent and faster, improve work efficiency and ensure product quality.

[0010] An automatic production line and production method for centrifugal casting pipes, comprising the following steps: (i) batching, the batching warehouse receives batching information (total batching amount, ingredients, order, batching furnace number) from a terminal, transfers the furnace charge to the hopper of a loading robot, and loads the furnace; when loading the furnace charge of each component, the batching warehouse determines the number of loadings according to the mass required for the furnace charge of that component and the capacity of the hopper of the loading robot; for each feeding, when the mass measured by the weighing conveyor reaches the mass of each loading, the vibration hopper stops vibrating, and when all the furnace charge in the weighing conveyor is transferred to the hopper of the loading robot, the loading robot fills the designated furnace according to the furnace number information transmitted by the batching warehouse, generates material information, and sends it to the corresponding Furnace and terminal; (ii) Loading: According to the received furnace number information, the loading robot automatically shields the position sensors at other furnace numbers. The loading robot first makes horizontal linear motion. When it moves to the unshielded position sensor, the robot stops horizontal linear motion. After 3s, the cylinder of the hopper retracts, so that the bottom door of the hopper opens, and the charge is dumped into the furnace; after 3s, the hopper moves 200mm upward in the vertical direction, then moves 200mm downward, and then moves up and down again. After the dumping is completed, the cylinder of the hopper extends to close the bottom door of the hopper, and then returns to the zero position of the loading robot, waiting for the next loading; (iii) Furnace: After the furnace reaches the casting state, the furnace pours the molten steel according to the production requirements issued by the final control. Pour it into the tundish of the tundish car; before the molten steel is dumped, the slag removal must be completed (slag removal signal), the temperature must be qualified (temperature signal), the composition must be qualified (composition signal), the baffle on the centrifuge must be completed, and the tundish car must be in the position to receive the molten steel. These five conditions can all be met before the molten steel can be dumped; when the slag removal signal, temperature signal, composition signal and the baffle on the centrifuge are completed, the furnace sends a dumping signal to the centrifuge, so that the centrifuge reaches the casting speed and the tundish car reaches the position to receive the molten steel. When the centrifuge reaches the casting speed and the tundish car is in the position to receive the molten steel, the furnace starts to dump. The tundish contains a weighing sensor. When the mass of the dumped molten steel reaches 90% of the mass required for each furnace tube group, the furnace dumping speed slows down and the mass reaches each furnace tube. The required mass is reached, the dumping is completed, the furnace batch number is automatically generated, the furnace is restored to its original position, and waits for the next casting. The furnace must automatically record the number of castings. When the remaining molten steel in the furnace is less than the mass required for a steel pipe, the furnace sends a filling signal to the terminal, and the total mass of the filling is the mass of the molten steel that has been cast by the furnace; (iv) Tundish trolley: The initial position of the tundish trolley is at its zero position (in the natural gas flame insulation state). After receiving the molten steel receiving signal from the furnace, the tundish trolley moves along the x direction. After moving to the position for receiving molten steel, the furnace begins to dump the molten steel. The weight sensor under the tundish begins to measure the mass of the poured molten steel. When it reaches 90% of the mass of each steel pipe, the furnace slows down its dumping speed, and stops dumping when the mass of the entire pipe is reached;After the dumping is completed, the furnace is restored, the tundish trolley moves along the y direction to the centrifuge casting position, and the electric push rod at the tundish extends (the extension speed needs to be determined by on-site tests), so that the molten steel in the tundish is quickly poured into the croissant, completing the casting of a single steel pipe; after the casting is completed, the tundish trolley first moves along the y direction, then moves along the x direction, returns to the zero position, and waits for the next casting; (V) Centrifuge: Before casting, the centrifuge must be pre-treated. First, the mold cylinder is taken out of the drying room and manually installed on the centrifuge. There is a temperature sensor near the mold cylinder, and the casting environment temperature information sent by the terminal is used as the basis for judging whether the external environment of the mold cylinder is heated or cooled; before casting , it is necessary to clean and spray the mold cylinder. During this period, the centrifuge needs to coordinate the speed. After cleaning and spraying, use the baffle robot near the centrifuge to baffle the mold cylinder. After the preparation work (cleaning, spraying, baffle installation) is completed, the preparation completion signal is transmitted to the corresponding furnace; after the furnace sends a casting signal, the centrifuge starts to run to the casting speed state and transmits it to the corresponding furnace, and the tundish trolley starts casting; after the casting is completed, the centrifuge stops running, the baffle robot removes the baffles at both ends of the mold cylinder, and sends a tube pulling signal to the tube pulling robot; after receiving the tube pulling completion signal, the mold cylinder is cleaned, sprayed, and baffled; (six), tube pulling robot: including tube pulling, Cleaning and spraying; (VII) Steering robot: After the rotating robot receives the steering signal, the grasping claw of the steering robot first starts from the zero position, moves downward to the steel pipe grasping position, the grasping claw clamps the steel pipe, and returns to the zero position; then the grasping claw moves along the x direction to the steering position, the grasping claw rotates 90 degrees, so that the steel pipe rotates 90 degrees, and finally the grasping claw moves downward to the top of the sliding track, releases the grasping claw, and then the steering robot returns to the initial zero state; the steel pipe is automatically transported to the shot blasting and straightening mechanism along the sliding track; (VIII) Shot blasting and straightening mechanism: After the shot blasting and straightening mechanism receives the furnace tube information, the straightening machine automatically adjusts the straightening diameter; the steel pipe is transported from the sliding track to the track at the inlet of the shot blasting machine Shot blasting is carried out on the road. After shot blasting is completed, it enters the straightening machine for straightening; after straightening is completed, an operation head cutting instruction is issued: (IX) Operation head cutting: After the operation head cutting instruction is issued, the gripping claw of the operation robot 1 starts to move downward from the head cutting zero point, moves to the gripping position, grabs the steel pipe, and then moves upward to the zero point position, moves along the y direction to the top of the head cutting machine, and the gripping claw moves downward to put the steel pipe on the bracket of the head cutting machine, and the gripping claw returns to the head cutting zero point position; the clamping device of the head cutting machine clamps, and the head cutting machine cuts the head. After the head cutting machine is completed, the clamping device is released and a head cutting completion instruction is issued: (X) Double-head lathe, the double-head lathe automatically completes the tool position adjustment according to the received steel pipe information;After the head cutting completion instruction is issued, the gripping claw of the operating robot 2 starts to move downward from the zero position of the double-head lathe, moves to the gripping position, grabs the steel pipe, and then moves upward to the zero position, moves along the y direction to the top of the double-head lathe, and the gripping claw moves downward to put the steel pipe on the bracket of the double-head lathe, and the gripping claw returns to the zero position of the double-head lathe; the clamping device of the double-head lathe is clamped, and the double-head lathe starts to work to complete the processing of the guide hole and the bright band of the steel pipe. After the processing is completed, the clamping device is released and the processing completion instruction is issued; (XI) Laser marking: After the double-head lathe processing completion instruction is issued, the gripping claw of the operating robot 3 starts to move downward from the laser marking zero position. , after moving to the grabbing position, grab the steel pipe, then move upward to the marking zero position, move along the y direction to the top of the laser marking machine, the grabbing claw moves downward, put the steel pipe on the bracket of the laser marking machine, the clamping device of the laser marking machine clamps it, and the laser marking machine marks the steel pipe according to the received steel pipe information. After the marking is completed, the clamping device is released, the grabbing claw clamps the steel pipe, moves upward, and moves along the y direction to put the steel pipe on the pt storage rack, then returns to the marking zero position, and issues a marking completion instruction; (XII), PT: Pt adopts a batch processing method of ten pipes per batch. First, the steel pipe is sprayed with penetrant. After 10 minutes, the penetrant is cleaned with water Clean it, spray the developer after 5 minutes, and judge whether the steel pipe has defects after 10 minutes. If it has defects, remove them; if not, enter the next working link; (XIII) The boring machine robot includes a tube loading robot and a tube unloading robot. After the Pt completion command is issued, the grabbing claw of the tube loading robot starts to move downward from the zero point of the upper tube, moves to the grabbing position, grabs the steel pipe, returns to the zero position, and then moves along the Y direction to the top of the boring machine (the PLC puts the steel pipes on each boring machine in sequence), the grabbing claw moves downward, puts the steel pipe on the bracket of the boring machine, the clamping device of the boring machine clamps the steel pipe, the boring machine works, and the grabbing claw returns to the zero position of the upper tube; after the boring is completed, the clamping device of the boring machine The unloading robot starts to move from the zero point of the unloading pipe, moves to the top of the boring machine to be unloaded, and the gripper moves downward to the clamping position to clamp the steel pipe. The gripper moves upward and then returns to the zero point of the unloading pipe. The gripper moves downward to the unloading position, puts the steel pipe on the bracket of the groove lathe, returns to the zero point, and issues a groove instruction; (XIV) Boring machine robot: The main function of the boring machine is to cut the inner diameter of the cast pipe so that the inner wall of the cast pipe reaches the specified surface accuracy; the boring machine starts working, and after the boring hole is completed, the staff will separate the cast pipe from the clamping device of the boring machine, press the unloading button, and the unloading robot of the boring machine robot will transport the cast pipe away; (XV) Groove lathe. ;

[0011] Preferably, the maximum charge capacity of the hopper of the aforementioned loading robot is 500KG.

[0012] More preferably, the working sequence of the aforementioned centrifuge includes: S1, manually installing the mold cylinder A and the mold cylinder B on the corresponding centrifuge; S2, using the tube pulling robot to clean and spray the centrifuge A (the tube pulling robot starts the machine and performs a self-check action), and then using the baffle robot to baffle the centrifuge A; S3, using the tube pulling robot to clean and spray the centrifuge B (the tube pulling robot starts the machine and performs a self-check action), and then using the baffle robot to baffle the centrifuge B; S4, after the casting conditions are met, the centrifuge A is cast first, and after the casting is completed, the baffle robot removes the baffle from the centrifuge A, and after the baffle is removed, the centrifuge sends a tube pulling signal to the tube pulling robot; the tube pulling robot After receiving the tube pulling signal, the centrifuge A is pulled out of the tube. After the tube pulling is completed, the tube pulling robot is used to clean and spray the centrifuge A. At the same time, the centrifuge B can be cast; after the cleaning and spraying are completed, the baffle robot puts the baffle on the centrifuge A; S5, after the casting of the centrifuge B is completed, the baffle robot removes the baffle from the centrifuge B (the priority of unloading the baffle is lower than that of putting on the baffle), and then the tube pulling robot pulls out the tube from the centrifuge B (the priority of this action is after the cleaning and spraying of the centrifuge A by the tube pulling robot); after the tube pulling of the centrifuge B is completed, the centrifuge B is cleaned and sprayed, and at the same time, the centrifuge A can be cast; and the cycle continues;

[0013] More preferably, the specific working process of the aforementioned tube pulling robot is as follows: S1, tube pulling: (i) when the centrifuge sends out a tube pulling signal, the tube pulling robot first moves from the zero position in the X direction along the x direction to the centrifuge barrel position and then stops moving (tube pulling position sensor x), and the tube pulling robot moves from the zero position in the Y direction along the y direction to the tube pulling position (tube pulling position sensor y), the tube pulling robot expands, tightens the steel pipe from the inside of the steel pipe, and then the tube pulling robot moves in the reverse direction along the y direction to the zero position in the Y direction; (ii) at the same time, the hydraulic device on the trolley works, the trolley rises, and lifts the steel pipe; before the tube pulling robot returns to the zero position in the y direction At 100mm, the robot tensioning device is loosened, the tube pulling robot returns to the zero position in the y direction, and then moves to the zero point in the x direction; (iii) the trolley moves in the x direction to the tube storage mechanism (tube storage position sensor), and the steel tube is transferred to the tube storage mechanism by the lifting groove. The tube storage mechanism rotates around the fulcrum through the side plates at both ends to transport the steel tube in the x direction to a station; the rotation and transportation cycle is the end time of the next tube pulling of the tube pulling robot; when the steel tube finally moves to the edge of the tube storage mechanism, the lifting groove on the intermediate conveying device is lifted to convey the steel tube to the intermediate conveying device; at this time, the tube pulling is completed, and the centrifuge, steering robot and terminal are sent. Output the tube pulling end signal; after the centrifuge receives the tube pulling end command, it sends a cleaning and spraying command to the tube pulling robot; S2, cleaning: (i) the cleaning mechanism moves from the x-direction zero point along the x-direction to the mold cylinder to be cleaned (cleaning position sensor x); (ii) the cleaning manipulator moves from the y-direction zero point along the y-direction to the cleaning end position (cleaning position sensor y), and then returns to the y-direction zero point position; (iii) the cleaning manipulator moves along the y-direction to the cleaning position, and then returns to the y-direction zero point position; (iv) the cleaning manipulator moves along the x-direction to the x-zero position, and the cleaning is completed; after the cleaning is completed, a spray start signal is issued Coating instruction; S3, spraying: (i) the spraying mechanism moves from the zero point of the x direction along the x direction to the mold cylinder required for spraying (spraying position sensor X); (ii) the spraying robot moves from the zero point of the y direction along the y direction to the start spraying position (spraying position sensor y1), and the nozzle starts to spray paint; (iii) when it moves to the end position of spraying (spraying position sensor y2), the nozzle stops spraying paint, and then the spraying robot returns to the zero position of the y direction; (iv) the spraying robot moves along the x direction to the x zero position, and spraying ends. After spraying ends, a cleaning and spraying end instruction is issued to the centrifuge and the terminal.

[0014] Preferably, the following conditions need to be met before the boring machine starts working: (i) the worker installs the boring cutter; (ii) the worker adjusts the centering of the cast pipe and fixes the cast pipe on the clamping device of the boring machine.

[0015] The benefits of the present invention are as follows: through PLC control of each device on the casting production line, automation is achieved, so that production efficiency is greatly improved; manual operation is reduced, operator injury is avoided, and work efficiency and accuracy can be improved; the entire production process of castings is tracked, the specific production situation of each step can be understood in time, and problems can be dealt with in time, which can effectively avoid hidden problems and can be further improved; overproduction is green and environmentally friendly, and energy is saved; product quality is monitored to the greatest extent to improve the pass rate and the rate of excellent products. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of this utility model;

[0017] Figure 2 It is a schematic diagram of the structure of the extubation robot;

[0018] Figure 3 is a schematic diagram of the structure of the steering robot;

[0019] Figure 4 It is a schematic diagram of the working process of this utility;

[0020] Figure 5 It is a schematic diagram of the working process of batching;

[0021] Figure 6 It is a schematic diagram of the working process of the feeding robot;

[0022] Figure 7 It is a schematic diagram of the working process of the furnace;

[0023] Figure 8 This is a schematic diagram of the working process of the tundish car;

[0024] Fig. 9 It is a schematic diagram of the working process of the centrifuge;

[0025] Fig.10 This is a schematic diagram of the working process of the extubation robot.

[0026] The meaning of the reference numerals in the figure: 1A, 1T smelting furnace, 1B, 2T smelting furnace, 2. Loading robot, 3. Loading trolley, 4. Centrifuge, 5. Steering robot, 51. Rotating robot, 52. Sliding track, 6. Tube pulling robot, 61. Tube pulling mechanism, 62. Cleaning mechanism, 63. Spraying mechanism, 64. Trolley mechanism, 65. Tube storage mechanism, 7. Shot blasting machine, 8. Operation head cutting, 9. PT pool, 10. Transfer channel, 11. First transfer rack, 12. Boring machine robot, 13. Boring machine, 14. Second transfer rack, 15. Double-head lathe, 16. Batching warehouse, 17. First track, 18. Second track, 19. Tundish trolley, 20. Laser marking machine, 21. Straightening machine, 22. Operation robot. DETAILED DESCRIPTION

[0027] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] An automatic production line and production method for centrifugal casting pipes, including a batching warehouse 16, a feeding device is arranged at one end of the batching warehouse 16, the feeding device includes a feeding robot 2, four feeding carts 3, a first track 17 supporting the feeding robot 2 and a second track 18 supporting the feeding cart 3, a smelting device is arranged at the other end of the second track 18, the smelting device includes a group of 1T smelting furnaces 11 and a group of 2T smelting furnaces, a group of 1T smelting furnaces includes two 1T smelting furnaces 1A, a group of 2T smelting furnaces includes two 2T smelting furnaces 1B, a group of 1T smelting furnaces and a group of 2T smelting furnaces both include a tundish cart 19 and two centrifuges 4, two groups of smelting furnaces with different volumes can be selected according to different product requirements, which is more convenient, reasonably allocated, and improves production efficiency.

[0029] A tube pulling robot 6 is provided at the other end of the smelting device. The tube pulling robot 6 includes a tube pulling mechanism 61, a cleaning mechanism 62, a spraying mechanism 63, a trolley mechanism 64 and a tube storage mechanism 65. The tube pulling mechanism 61, the cleaning mechanism 62 and the spraying mechanism 63 share a zero point in the X direction. Sharing a zero point can be better controlled by PLC and more accurately.

[0030] A steering robot 5 is arranged at the other end of the extubation robot 6. The steering robot 5 includes a rotating robot 51 and a sliding track 52. A shot blasting machine 7 and a straightening machine 21 are arranged on the other side of the sliding track 52. A head cutting device is arranged at the other end of the straightening machine 21. The head cutting device includes an operating head cutting device 8, a double-head lathe 15, a laser marking machine 20 and an operating robot 22. The operating robot 22 includes a first beam, a second beam and a third beam, which are respectively responsible for loading and unloading the operating head cutting device 8, the double-head lathe 15 and the laser marking machine 20, so that the working process is more coherent and faster, the working efficiency is improved, and the product quality is guaranteed.

[0031] A PT pool 9 for inspecting defects is installed on one side of the laser marking machine 20 , a transfer channel 10 is arranged on the other side of the PT pool 9 , and a first transfer rack 11 is arranged at the other end of the transfer channel 10 .

[0032] A boring machine robot 12 is arranged on the other side of the first transfer frame 11. The boring machine robot 12 includes a pipe loading robot and a pipe unloading robot. The pipe unloading robot has a higher priority than the pipe loading robot. When a failure occurs, the pipe loading can be stopped immediately and the loaded pipes can be unloaded to reduce losses. A boring machine 13 is arranged under the boring machine robot 12, and a second transfer frame 14 is arranged at the other end of the boring machine 13.

[0033] An automatic production line and production method for centrifugal casting pipes, comprising the following steps:

[0034] (I) Ingredients Warehouse

[0035] The vibrating hopper of the batching warehouse 16 vibrates to vibrate the charge from the hopper to the weighing conveyor belt, and the charge is conveyed to the hopper of the feeding robot 2 via the conveyor belt. The maximum capacity of the hopper of the feeding robot 2 is 500 kg.

[0036] The batching warehouse 16 receives the batching information (total amount of ingredients, components, order, batching furnace number) from the terminal, transfers the charge to the hopper of the loading robot 2, and loads the furnace; when loading the charge of each component, the batching warehouse 16 determines the number of loading times based on the required mass of the charge of that component and the capacity of the hopper of the loading robot 2; for each feeding, when the mass measured by the weighing conveyor reaches the mass of each loading, the vibrating hopper stops vibrating, and when all the charge in the weighing conveyor is transferred to the hopper of the loading robot 2, the loading robot 2 fills the designated furnace according to the furnace number information transmitted by the batching warehouse 16, generates material information, and sends it to the corresponding furnace and terminal.

[0037] Note:

[0038] 1. The hopper of the feeding robot 2 must be at the zero position before the batching warehouse 16 can carry out the batching work;

[0039] 2. Because the time interval between the charging of various materials in each furnace is long, the batching may be staggered for the two furnaces;

[0040] 3. If the chemical composition test fails after the melting of the charge in the furnace is completed, and the mass of the charge to be added is greater than 5kg, the material warehouse needs to prioritize the batching and filling;

[0041] 4. The batching warehouse 16 shall send the real-time status information of the batching warehouse 16 to the control terminal; if the batching warehouse 16 fails, the batching warehouse 16 and the subsequent loading robot 2 will stop moving and issue a warning, but it will not affect the normal operation of the furnace and the subsequent equipment of the furnace.

[0042] (2) Loading robot

[0043] After receiving the charge at the zero position, the loading robot 2 loads the designated furnace according to the furnace number information sent by the batching warehouse 16 .

[0044] The specific process is as follows: according to the received furnace number information, the loading robot 2 automatically shields the position sensors at other furnace numbers. The loading robot 2 first makes horizontal linear motion. When it moves to the unshielded position sensor, the robot stops the horizontal linear motion. After 3 seconds, the cylinder of the hopper retracts to open the bottom door of the hopper and dump the charge into the furnace. After 3 seconds, the hopper moves 200mm upward in the vertical direction, then moves 200mm downward, and then moves up and down once again. After the dumping is completed, the cylinder of the hopper extends to close the bottom door of the hopper, and then returns to the zero position of the loading robot 2, waiting for the next loading.

[0045] Note:

[0046] 1. When the loading robot 2 is working, the furnace must be in the original position, that is, it cannot be in the state of pouring molten steel;

[0047] 2. The loading robot 2 has two position sensors corresponding to each furnace. These two position sensors are connected in series. If one of them is abnormal, the loading robot 2 will issue an alarm.

[0048] 3. The loading robot 2 shall send the real-time status information of the loading robot 2 to the control terminal;

[0049] 4. If the feeding robot 2 fails, the feeding robot 2 and the batching warehouse 16 stop working and issue a warning, but it does not affect the normal operation of subsequent equipment;

[0050] 5. The feeding of recycled materials is done manually.

[0051] (3) Stove

[0052] There are four industrial furnaces in this workshop, two 1T and two 2T, all of which adopt a one-to-two control mode (one group of 1t and one group of 2t are respectively equipped with a tundish trolley 19, two centrifuges 4, and a tube pulling robot 6 at the back).

[0053] After the furnace reaches the casting state, the furnace pours the molten steel into the tundish of the tundish car 19 according to the production requirements issued by the final control.

[0054] Before the molten steel is dumped, the slag removal must be completed (slag removal signal), the temperature must be qualified (temperature signal), the composition must be qualified (composition signal), the baffle on the centrifuge 4 must be completed, and the tundish trolley 19 must be in the position to receive the molten steel. These five conditions must all be met before the molten steel can be dumped.

[0055] When the slag removal signal, temperature signal, composition signal and the baffle on the centrifuge 4 are satisfied, the furnace sends a dumping signal to the centrifuge 4, so that the centrifuge 4 reaches the casting speed and the tundish car 19 reaches the position for receiving the molten steel. When the centrifuge 4 reaches the casting speed and the tundish car 19 is in the position for receiving the molten steel, the furnace starts to dump. The tundish contains a weighing sensor. When the mass of the dumped molten steel reaches 90% of the mass required for each furnace tube group, the furnace dumping speed slows down, and the mass reaches the mass required for each furnace tube. The dumping is completed, the furnace batch number is automatically generated, and the furnace is restored to its original position, waiting for the next casting; the furnace should automatically record the number of castings. When the remaining molten steel in the furnace is less than the mass required for one steel tube, the furnace sends a filling signal to the terminal, and the total mass of the filling is the mass of the molten steel that has been cast by the furnace.

[0056] Note:

[0057] 1. Temperature signal, slag removal signal and composition signal are manual signals, which are equivalent to normally open switches. For each furnace of molten steel, when the casting conditions are met, the first casting needs to be manually pressed, and the switch is closed. It does not need to be pressed again in the future. However, when the furnace is refilled with materials, the switch will be disconnected and the casting will stop until the casting conditions are met, and the button can be manually pressed again;

[0058] 2. The furnace shall send the real-time status information, material information and furnace batch number of the furnace to the tundish trolley 19 and the control terminal;

[0059] 3. Under normal working conditions, one of the two types of furnaces is in the casting state and the other is in the melting state;

[0060] 4. When a certain furnace fails, a warning is sent to the terminal and the furnace stops working, but it does not affect the normal operation of other furnaces.

[0061] (IV) Tundish Car

[0062] The initial position of the tundish trolley 19 is at its zero position (in the natural gas flame-spraying insulation state). After receiving the molten steel signal from the furnace, the tundish trolley 19 moves along the x direction. After moving to the position for receiving the molten steel, the furnace begins to pour the molten steel. The weight sensor under the tundish begins to measure the mass of the poured molten steel. When it reaches 90% of the mass of each steel pipe, the furnace pouring speed slows down, and when it reaches the mass of the entire pipe, the pouring stops; after the dumping is completed, the furnace is restored, and the tundish trolley 19 moves along the y direction to the casting position of the centrifuge 4. The electric push rod at the tundish extends (the extension speed needs to be determined by on-site tests), so that the molten steel in the tundish is quickly poured into the croissant, completing the casting of a single steel pipe; after the casting is completed, the tundish trolley 19 first moves along the y direction, then moves along the x direction, returns to the zero position, and waits for the next casting.

[0063] Note:

[0064] 1. There are two tundish trolleys 19, one of which corresponds to two 1t furnaces and the other corresponds to a 2t furnace;

[0065] 2. The tundish car 19 shall send the real-time status information of the tundish car 19 to the control terminal;

[0066] 3. If the tundish car 19 fails, the corresponding furnace is in a reset state (keeping warm but not casting), the centrifuge 4 and the tube pulling robot 6 stop working, but starting from the steering robot 5, the subsequent equipment continues to work;

[0067] 4. Each croissant of the tundish car 19 corresponds to a type of steel pipe.

[0068] (V) Centrifuge

[0069] Before casting, the centrifuge 4 must be pre-processed. First, the mold cylinder is taken out of the drying room and manually installed on the centrifuge 4. There is a temperature sensor near the mold cylinder. The casting environment temperature information sent by the terminal is used as the basis for judging whether the external environment of the mold cylinder is heated or cooled.

[0070] Before casting, the mold cylinder needs to be cleaned and sprayed. During this period, the centrifuge 4 needs to coordinate the speed. After cleaning and spraying are completed, a baffle robot near the centrifuge 4 is used to baffle the mold cylinder. After the preparation work (cleaning, spraying, and baffle installation) is completed, the preparation completion signal is transmitted to the corresponding furnace; after the furnace sends a casting signal, the centrifuge 4 starts to operate at the casting speed state and transmits it to the corresponding furnace, and the tundish trolley 19 starts casting; after the casting is completed, the centrifuge 4 stops running, the baffle robot removes the baffles at both ends of the mold cylinder, and sends a tube pulling signal to the tube pulling robot 6; after receiving the tube pulling completion signal, the mold cylinder is cleaned, sprayed, and baffled.

[0071] Note: The centrifuge 4 shall send the real-time status information, material information, furnace batch number, and the like of the centrifuge 4 to the tube removal robot 6 and the control terminal.

[0072] There are now four centrifuges 4 in the workshop, which can be divided into two groups, each with two centrifuges. Each group of centrifuges 4 shares a pair of baffle removal robots, and each group of centrifuges 4 is equipped with a set of tube extraction robots 6. For each group of centrifuges 4, the corresponding mold cylinders are marked as mold cylinder A and mold cylinder B. The working procedures are as follows:

[0073] 1. Manually install the mold cylinder A and the mold cylinder B on the corresponding centrifuge 4;

[0074] 2. Use the tube extraction robot 6 to clean and spray the centrifuge A (the tube extraction robot 6 performs a self-checking operation), and then use the baffle robot to baffle the centrifuge A;

[0075] 3. Use the tube extraction robot 6 to clean and spray the centrifuge B (the tube extraction robot 6 performs a self-checking operation when it is turned on), and then use the baffle robot to baffle the centrifuge B;

[0076] 4. After the casting conditions are met, the centrifuge A is cast first. After the casting is completed, the baffle robot removes the baffle from the centrifuge A. After the baffle is removed, the centrifuge 4 sends a tube pulling signal to the tube pulling robot 6; after receiving the tube pulling signal, the tube pulling robot 6 pulls the tube from the centrifuge A. After the tube pulling is completed, the tube pulling robot 6 is used to clean and spray the centrifuge A. At the same time, the centrifuge 4B can be cast; after the cleaning and spraying are completed, the baffle robot puts the baffle on the centrifuge A.

[0077] 5. After the casting of centrifuge B is completed, the baffle robot removes the baffle of centrifuge B (the priority of removing the baffle is lower than that of placing the baffle), and then the tube pulling robot 6 pulls out the tube of centrifuge B (the priority of this action is after the cleaning and spraying of centrifuge A by the tube pulling robot 6); after the tube pulling of centrifuge B is completed, centrifuge B is cleaned and sprayed, and at the same time, centrifuge A can start casting; and this cycle continues.

[0078] Notice:

[0079] 1. The pipe pulling robot 6 can complete the three actions of steel pipe pulling, barrel cleaning and barrel spraying;

[0080] 2. When a centrifuge 4 fails, it should be stopped immediately without affecting the normal operation of other centrifuges 4.

[0081] (VI) Extubation Robot

[0082] The tube pulling robot 6 comprises a tube pulling mechanism 61 , a cleaning mechanism 62 , a spraying mechanism 63 , a trolley mechanism 64 , and a tube storage mechanism 65 , wherein the cleaning mechanism 62 , the tube pulling mechanism 61 , and the spraying mechanism 63 share a zero point in the x direction.

[0083] Tube pulling: 1. When the centrifuge 4 sends out a tube pulling signal, the tube pulling manipulator first moves from the zero position in the X direction along the X direction to the position of the centrifuge 4 barrel and then stops moving (tube pulling position sensor x). The tube pulling manipulator moves from the zero position in the Y direction along the Y direction to the tube pulling position (tube pulling position sensor y). The tube pulling manipulator expands and tightens the steel pipe from the inside of the steel pipe. Then the tube pulling manipulator moves in the reverse direction along the Y direction to the zero position in the Y direction; 2. At the same time, the hydraulic device on the trolley works, the trolley rises, and lifts the steel pipe; when the tube pulling manipulator returns to 100mm before the zero point in the Y direction, the manipulator tensioning device is released, the tube pulling manipulator returns to the zero position in the Y direction, and then moves along the X direction again. 1. The trolley moves to the zero point in the x direction; 2. The trolley moves to the pipe storage mechanism 65 (pipe storage position sensor) in the x direction, and the steel pipe is transferred to the pipe storage mechanism 65 by the lifting groove. The pipe storage mechanism 65 rotates around the fulcrum through the side plates at both ends to transport the steel pipe to a work station in the x direction; the rotation and transportation cycle is the end time of the next pipe pulling of the pipe pulling robot 6; when the steel pipe finally moves to the edge of the pipe storage mechanism 65, the lifting groove on the intermediate conveying device is lifted to transfer the steel pipe to the intermediate conveying device; at this time, the pipe pulling of the pipe is completed, and a pipe pulling completion signal is sent to the centrifuge 4, the steering robot 5 and the terminal; after receiving the pipe pulling completion command, the centrifuge 4 sends a cleaning and spraying instruction to the pipe pulling robot 6.

[0084] Cleaning: 1. The cleaning mechanism 62 moves from the zero point in the x direction along the x direction to the mold cylinder to be cleaned (cleaning position sensor x); 2. The cleaning robot moves from the zero point in the Y direction along the y direction to the cleaning end position (cleaning position sensor y), and then returns to the zero point in the y direction; 3. The cleaning robot moves along the Y direction to the cleaning position, and then returns to the zero point in the y direction; 4. The cleaning robot moves along the x direction to the x zero point position, and the cleaning is completed; after the cleaning is completed, a command to start spraying is issued.

[0085] Spraying: 1. The spraying mechanism 63 moves from the zero point of the x direction along the x direction to the mold cylinder where spraying is required (spraying position sensor X); 2. The spraying robot moves from the zero point of the Y direction along the y direction to the start spraying position (spraying position sensor y1), and the nozzle starts to spray paint; 3. When it moves to the end position of spraying (spraying position sensor y2), the nozzle stops spraying paint, and then the spraying robot returns to the zero position of the y direction; 4. The spraying robot moves along the x direction to the x zero position, and spraying ends; after spraying is finished, a cleaning and spraying end instruction is sent to the centrifuge 4 and the terminal.

[0086] Note:

[0087] The tube extraction robot 6 needs to send the real-time status information, real-time status information, material information, and furnace batch number of the centrifuge 4 to the tube extraction robot 6 and the control terminal.

[0088] If an abnormality occurs during the extubation process, a warning must be immediately sent to the controller and terminal of the extubation robot 6, and the extubation robot 6 stops moving. At the same time, the casting mechanisms (casting trolley, centrifuge 4 units) corresponding to the extubation robot 6 are all stopped until the fault is eliminated, but the subsequent equipment can be used normally.

[0089] 7. Steering robot

[0090] After the rotating robot 51 receives the turning signal, the grasping claw of the steering robot 5 first starts from the zero position, moves downward to the steel pipe grasping position, clamps the steel pipe, and returns to the zero position; then the grasping claw moves along the x direction to the turning position, rotates 90 degrees, rotates the steel pipe 90 degrees, and finally moves downward to the top of the sliding track 52, releases the grasping claw, and then the steering robot returns to the initial zero state; the steel pipe is automatically transported to the shot blasting and straightening machine 21 along the sliding track.

[0091] (VIII) Shot blasting and straightening mechanism

[0092] After the shot blasting and straightening machine 21 receives the furnace tube information, the straightening machine 21 automatically adjusts the straightening diameter; the steel pipe is transported from the sliding track 52 to the track at the entrance of the shot blasting machine 7 for shot blasting. After the shot blasting is completed, it enters the straightening machine 21 for straightening; after straightening is completed, an instruction to operate the head cutting 8 is issued.

[0093] (IX) Operation and cutting

[0094] After the head cutting operation 8 instruction is issued, the gripping claw of the operating robot 221 moves downward from the head cutting zero point, moves to the gripping position, grabs the steel pipe, and then moves upward to the zero position, moves along the y direction to the top of the head cutting machine, the gripping claw moves downward, puts the steel pipe on the bracket of the head cutting machine, and the gripping claw returns to the head cutting zero point position; the clamping device of the head cutting machine clamps, the head cutting machine cuts the head, and after the head cutting machine completes the head cutting, the clamping device releases and issues a head cutting completion instruction.

[0095] (10) Double-head lathe

[0096] The double-headed lathe 15 automatically completes the tool position adjustment according to the received steel pipe information; after the head cutting completion instruction is issued, the grabbing claw of the operating robot 222 starts to move downward from the zero position of the double-headed lathe 15, and after moving to the grabbing position, grabs the steel pipe, and then moves upward to the zero position, moves along the y direction to the top of the double-headed lathe 15, the grabbing claw moves downward, and puts the steel pipe on the bracket of the double-headed lathe 15, and the grabbing claw returns to the zero position of the double-headed lathe 15; the clamping device of the double-headed lathe 15 is clamped, and the double-headed lathe 15 starts to work to complete the processing of the guide hole and the bright band of the steel pipe. After the processing is completed, the clamping device is released and the processing completion instruction is issued.

[0097] (11) Laser marking

[0098] After the double-head lathe 15 issues the processing completion instruction, the grabbing claw of the operating robot 223 moves downward from the laser marking zero position, moves to the grabbing position, grabs the steel pipe, and then moves upward to the marking zero position, moves along the y direction to the top of the laser marking machine 20, the grabbing claw moves downward, places the steel pipe on the bracket of the laser marking machine 20, and the clamping device of the laser marking machine 20 clamps it. The laser marking machine 20 marks the steel pipe according to the received steel pipe information. After marking is completed, the clamping device releases, the grabbing claw clamps the steel pipe, moves upward, and moves along the y direction to place the steel pipe on the pt pipe storage rack, then returns to the marking zero position, and issues a marking completion instruction.

[0099] (XII) PT

[0100] Pt uses batch processing method, with ten pipes in a batch. First, the steel pipes are sprayed with penetrant. After 10 minutes, the penetrant is cleaned with water. After 5 minutes, the developer is sprayed. After 10 minutes, it is determined whether the steel pipes have defects. If there are defects, they are removed. If not, the next work link is entered.

[0101] (Thirteen) Boring machine robot 12

[0102] The boring machine robot 12 includes a pipe loading robot and a pipe unloading robot. After the Pt completion instruction is issued, the gripping claw of the pipe loading robot moves downward from the zero point of the pipe loading, moves to the gripping position, grabs the steel pipe, returns to the zero point, and then moves along the y direction to the top of the boring machine 13 (the PLC puts the steel pipe on each boring machine 13 in sequence), the gripping claw moves downward, puts the steel pipe on the bracket of the boring machine 13, and the clamping device of the boring machine 13 clamps the steel pipe. The bed 13 is boring, and the grabbing claw returns to the zero position of the upper pipe; after boring, the clamping device of the boring machine 13 is released, and the pipe unloading robot starts to move from the zero point of the unloading pipe, moves to the top of the boring machine 13 to be unloaded, and the grabbing claw moves downward to the clamping position to clamp the steel pipe, and the grabbing claw moves upward, and then returns to the zero position of unloading, and the grabbing claw moves downward to the unloading position, puts the steel pipe on the bracket of the groove lathe, returns to the zero position, and issues a groove instruction.

[0103] Note: Removing the pipe has a higher priority than installing the pipe.

[0104] (14) Boring machine

[0105] The main function of the boring machine 13 is to cut the inner diameter of the cast pipe so that the inner wall of the cast pipe reaches the specified surface accuracy; before the boring machine 13 starts working, two conditions need to be met: 1. The staff installs the boring cutter; 2. The staff adjusts the centering of the cast pipe and fixes the cast pipe on the clamping device of the boring machine 13; after these two conditions are met, the staff presses the work button and the boring machine 13 starts working; after the boring is completed, the staff separates the cast pipe from the clamping device of the boring machine 13, presses the unloading button, and the unloading robot of the boring machine 13 robot 12 transports the cast pipe away.

[0106] (15) Beveling lathe

[0107] After receiving the command, the clamping device of the beveling lathe is clamped, and the beveling lathe starts working. After the work is completed, the clamping device of the beveling lathe is released, and the steel pipe is removed manually.

[0108] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the above embodiments do not limit the present invention in any form, and any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present invention.

Claims

1. An automatic production line for centrifugal casting pipes, comprising a batching warehouse, It is characterized in that A loading device is provided at one end of the batching warehouse, and the loading device includes a loading robot, four loading trolleys, a first track supporting the loading robot and a second track supporting the loading trolley. A smelting device is provided at the other end of the second track. A pipe pulling robot is provided at the other end of the smelting device. A steering robot is provided at the other end of the pipe pulling robot. The steering robot includes a rotating robot and a sliding track. A shot blasting machine and a straightening machine are provided on the other side of the sliding track. A head cutting device is provided at the other end of the straightening machine. The head cutting device includes a running head cutting device, a double-head lathe, a laser marking machine and a running robot. A PT pool for inspecting defects is installed on one side of the laser marking machine. A transfer channel is provided on the other side of the PT pool. A first transfer frame is provided at the other end of the transfer channel. A boring machine robot is provided on the other side of the first transfer frame. A boring machine is provided under the boring machine robot. A second transfer frame is provided at the other end of the boring machine. The tube pulling robot comprises a tube pulling mechanism, a cleaning mechanism, a spraying mechanism, a trolley mechanism and a tube storage mechanism, wherein the tube pulling mechanism, the cleaning mechanism and the spraying mechanism share a zero point in the X direction; The boring machine robot comprises a tube loading robot and a tube unloading robot, and the tube unloading robot has a higher priority than the tube loading robot.

2. The automatic production line of a centrifugal casting pipe according to claim 1, It is characterized in that The smelting device includes a group of 1T smelting furnaces and a group of 2T smelting furnaces, wherein the group of 1T smelting furnaces includes two 1T smelting furnaces, the group of 2T smelting furnaces includes two 2T smelting furnaces, and both the group of 1T smelting furnaces and the group of 2T smelting furnaces include a tundish car and two centrifuges.

3. The automatic production line of a centrifugal casting pipe according to claim 1, It is characterized in that The operating robot comprises a first beam, a second beam and a third beam, which are respectively responsible for loading and unloading the cutting head, the double-head lathe and the laser marking machine.

4. The automatic production line of a centrifugal casting pipe according to claim 1, It is characterized in that The working sequence of the centrifuge includes: S1, manually installing the mold cylinder A and the mold cylinder B on the corresponding centrifuge; S2, using the tube pulling robot to clean and spray the centrifuge A, and then using the baffle robot to baffle the centrifuge A; S3, using the tube pulling robot to clean and spray the centrifuge B, and then using the baffle robot to baffle the centrifuge B; S4, after the casting conditions are met, the centrifuge A is first cast, and after the casting is completed, the baffle robot removes the baffle from the centrifuge A. After the baffle is removed, the centrifuge sends a tube pulling signal to the tube pulling robot; after receiving the tube pulling signal, the tube pulling robot performs tube pulling on the centrifuge A. Tube pulling. After the tube pulling is completed, the tube pulling robot is used to clean and spray centrifuge A. At the same time, centrifuge B can be cast. After cleaning and spraying, the baffle robot puts baffles on centrifuge A. S5. After the casting of centrifuge B is completed, the baffle robot removes the baffle of centrifuge B. The priority of unloading the baffle is lower than that of putting on the baffle. Then the tube pulling robot pulls the tube of centrifuge B. The priority of this action is after the cleaning and spraying of centrifuge A by the tube pulling robot. After the tube pulling of centrifuge B is completed, centrifuge B is cleaned and sprayed. At the same time, centrifuge A can be cast. This cycle continues.

5. The automatic production line of centrifugal casting pipe according to claim 1, It is characterized in that The specific working process of the tube pulling robot is as follows: S1, tube pulling: (i) when the centrifuge sends out a tube pulling signal, the tube pulling manipulator first moves from the zero position in the X direction along the x direction to the centrifuge barrel position and then stops moving, and the tube pulling manipulator moves from the zero position in the Y direction along the y direction to the tube pulling position, the tube pulling manipulator expands, tightens the steel pipe from the inside of the steel pipe, and then the tube pulling manipulator moves in the reverse direction along the y direction to the zero position in the Y direction; (ii) at the same time, the hydraulic device on the trolley works, the trolley rises, and holds up the steel pipe; when the tube pulling manipulator returns to 100 degrees before the zero point in the y direction, the trolley moves back to the zero point in the y direction. mm, the robot tensioning device is loosened, the tube pulling robot returns to the zero position in the y direction, and then moves to the zero point in the x direction; (iii) the trolley moves in the x direction to the tube storage mechanism, and the steel tube is transferred to the tube storage mechanism by the lifting groove. The tube storage mechanism rotates around the fulcrum through the side plates at both ends to transport the steel tube in the x direction to a station; the rotation and transportation cycle is the end time of the next tube pulling of the tube pulling robot; when the steel tube finally moves to the edge of the tube storage mechanism, the lifting groove on the intermediate conveying device is lifted to convey the steel tube to the intermediate conveying device; at this time, the tube pulling of the tube is completed and sent to the centrifuge and the rotary Send a tube extubation end signal to the robot and the terminal; after receiving the tube extubation end command, the centrifuge sends a cleaning and spraying command to the tube extubation robot; S2, cleaning: (i) the cleaning mechanism moves from the x-direction zero point along the x-direction to the mold cylinder to be cleaned; (ii) the cleaning manipulator moves from the y-direction zero point along the y-direction to the cleaning end position, and then returns to the y-direction zero point position; (iii) the cleaning manipulator moves along the y-direction to the cleaning position, and then returns to the y-direction zero point position; (iv) the cleaning manipulator moves along the x-direction to the x-zero position, and the cleaning is completed; cleaning After the treatment is completed, a start spraying instruction is issued; S3, spraying: (i) the spraying mechanism moves from the x-direction zero point along the x-direction to the mold cylinder required for spraying; (ii) the spraying robot moves from the y-direction zero point along the y-direction to the start spraying position, and the nozzle starts to spray paint; (iii) when it moves to the spraying end position, the nozzle stops spraying paint, and then the spraying robot returns to the y-direction zero point position; (iv) the spraying robot moves along the x-direction to the x-zero point position, and spraying is completed; after spraying is completed, a cleaning and spraying end instruction is issued to the centrifuge and the terminal.

6. The automatic production line of centrifugal casting pipe according to claim 1, It is characterized in that The following conditions need to be met before the boring machine can work: (i) the staff installs the boring cutter; (ii) the staff adjusts the centering of the cast pipe and fixes the cast pipe on the clamping device of the boring machine.

7. A production method using an automatic production line of a centrifugal casting pipe according to any one of claims 1 to 3, It is characterized in that The following steps are involved: (I) Batching: the batching warehouse receives batching information from the terminal, including the total amount of batching, ingredients, sequence, and batching furnace number, transfers the furnace charge to the hopper of the loading robot, and loads the furnace; when loading the furnace charge of each component, the batching warehouse determines the number of loading times based on the mass required for the furnace charge of that component and the capacity of the hopper of the loading robot; for each feeding, when the mass measured by the weighing conveyor reaches the mass of each loading, the vibrating hopper stops vibrating, and when all the furnace charge in the weighing conveyor is transferred to the hopper of the loading robot, the loading robot fills the designated furnace according to the furnace number information transmitted by the batching warehouse, generates material information, and sends it to the corresponding furnace and the terminal. ; (ii) Loading: According to the received furnace number information, the loading robot automatically shields the position sensors at other furnace numbers. The loading robot first makes horizontal linear motion. When it moves to the unshielded position sensor, the robot stops horizontal linear motion. After 3 seconds, the cylinder of the hopper retracts, so that the bottom door of the hopper opens, and the charge is dumped into the furnace; after 3 seconds, the hopper moves 200mm upward in the vertical direction, then moves 200mm downward, and then moves up and down again. After the dumping is completed, the cylinder of the hopper extends to close the bottom door of the hopper, and then returns to the zero position of the loading robot, waiting for the next loading; (iii) Furnace: After the furnace reaches the casting state, the furnace is in accordance with the production requirements issued by the final control. Pour the molten steel into the tundish of the tundish car; before the molten steel is dumped, the five conditions that the slag removal signal is completed, the temperature signal is qualified, the composition signal is qualified, the baffle on the centrifuge is completed, and the tundish car is in the position to receive the molten steel must all be met before the molten steel can be dumped; when the slag removal signal, temperature signal, composition signal and the baffle on the centrifuge are completed, the furnace sends a dumping signal to the centrifuge, so that the centrifuge reaches the casting speed and the tundish car reaches the position to receive the molten steel. When the centrifuge reaches the casting speed and the tundish car is in the position to receive the molten steel, the furnace starts to dump. The tundish contains a weighing sensor. When the mass of the dumped molten steel reaches 90% of the mass required for each furnace tube group, the furnace dumping speed slows down and the mass reaches each tube group. The required mass of the furnace tube is reached, the dumping is completed, the furnace batch number is automatically generated, the furnace is restored to its original position, and waits for the next casting. The furnace must automatically record the number of castings. When the remaining molten steel in the furnace is less than the mass required for a steel tube, the furnace sends a filling signal to the terminal, and the total mass of the filling is the mass of the molten steel that has been cast by the furnace; (iv) Tundish trolley: The initial position of the tundish trolley is at its zero position. After receiving the molten steel receiving signal from the furnace, the tundish trolley moves along the x direction. After moving to the position of receiving molten steel, the furnace begins to dump the molten steel. The weight sensor under the tundish begins to measure the mass of the dumped molten steel. When it reaches 90% of the mass of each steel tube, the dumping speed of the furnace slows down, and when the mass of the entire tube is reached, the dumping stops;After the dumping is completed, the furnace is restored, the tundish trolley moves along the y direction to the centrifuge casting position, and the electric push rod at the tundish extends to quickly pour the molten steel in the tundish into the croissant to complete the casting of a single steel pipe; after the casting is completed, the tundish trolley first moves along the y direction, then moves along the x direction, returns to the zero position, and waits for the next casting; (V) Centrifuge: Before casting, the centrifuge must be pre-treated. First, the mold cylinder is taken out of the drying room and manually installed on the centrifuge. There is a temperature sensor near the mold cylinder, and the casting environment temperature information sent by the terminal is used as the basis for judging whether the external environment of the mold cylinder is heated or cooled; before casting, the mold cylinder needs to be cleaned During the spraying work, the centrifuge needs to coordinate the speed. After the cleaning and spraying are completed, the baffle robot near the centrifuge is used to baffle the mold cylinder. After the cleaning, spraying and baffle preparation work is completed, the signal of preparation completion is transmitted to the corresponding furnace; after the furnace sends a casting signal, the centrifuge starts to run to the casting speed state and transmits it to the corresponding furnace, and the tundish car starts casting; after the casting is completed, the centrifuge stops running, the baffle robot removes the baffles at both ends of the mold cylinder, and sends a tube pulling signal to the tube pulling robot; after receiving the tube pulling completion signal, the mold cylinder is cleaned, sprayed, and baffled; (six) tube pulling robot: including tube pulling, cleaning and spraying; ( VII) Steering robot: After the rotating robot receives the steering signal, the grasping claw of the steering robot first starts from the zero position, moves downward to the steel pipe grasping position, the grasping claw clamps the steel pipe, and returns to the zero position; then the grasping claw moves along the x direction to the steering position, the grasping claw rotates 90 degrees, so that the steel pipe rotates 90 degrees, and finally the grasping claw moves downward to the top of the sliding track, releases the grasping claw, and then the steering robot returns to the initial zero state; the steel pipe is automatically transported to the shot blasting and straightening mechanism along the sliding track; (VIII) Shot blasting and straightening mechanism: After the shot blasting and straightening mechanism receives the furnace tube information, the straightening machine automatically adjusts the straightening diameter; the steel pipe is transported from the sliding track to the track at the entrance of the shot blasting machine. Shot blasting is performed. After the shot blasting is completed, the steel pipe enters the straightening machine for straightening. After the straightening is completed, a head cutting operation instruction is issued: (IX) Head cutting operation: After the head cutting operation instruction is issued, the gripping claw of the operating robot 1 starts to move downward from the head cutting zero point, moves to the gripping position, grabs the steel pipe, and then moves upward to the zero point position, moves along the y direction to the top of the head cutting machine, and the gripping claw moves downward to put the steel pipe on the bracket of the head cutting machine, and the gripping claw returns to the head cutting zero point position; the clamping device of the head cutting machine clamps, and the head cutting machine cuts the head. After the head cutting machine is completed, the clamping device is released and a head cutting completion instruction is issued: (X) Double-head lathe, the double-head lathe automatically completes the tool position adjustment according to the received steel pipe information;After the head cutting completion instruction is issued, the gripping claw of the operating robot 2 starts to move downward from the zero position of the double-head lathe, moves to the gripping position, grabs the steel pipe, and then moves upward to the zero position, moves along the y direction to the top of the double-head lathe, and the gripping claw moves downward to put the steel pipe on the bracket of the double-head lathe, and the gripping claw returns to the zero position of the double-head lathe; the clamping device of the double-head lathe is clamped, and the double-head lathe starts to work to complete the processing of the guide hole and the bright band of the steel pipe. After the processing is completed, the clamping device is released and the processing completion instruction is issued; (XI) Laser marking: After the double-head lathe processing completion instruction is issued, the gripping claw of the operating robot 3 starts from the laser marking zero position Move downward, move to the grabbing position, grab the steel pipe, then move upward to the marking zero position, move along the y direction to the top of the laser marking machine, the grab claw moves downward, put the steel pipe on the bracket of the laser marking machine, the clamping device of the laser marking machine clamps, and the laser marking machine marks the steel pipe according to the received steel pipe information. After the marking is completed, the clamping device is released, the grab claw clamps the steel pipe, moves upward, and moves along the y direction to put the steel pipe on the pt storage rack, then returns to the marking zero position, and issues a marking completion instruction; (XII), PT: PT adopts a batch processing method of ten pipes per batch. First, the steel pipe is sprayed with penetrant. After 10 minutes , clean the penetrant with water, spray the developer after 5 minutes, and judge whether the steel pipe has defects after 10 minutes. If there are defects, remove them; if not, enter the next work link; (thirteen), the boring machine robot includes a tube loading robot and a tube unloading robot. After the Pt completion instruction is issued, the grabbing claw of the tube loading robot starts to move downward from the zero point of the upper tube, moves to the grabbing position, grabs the steel pipe, returns to the zero position, and then moves along the y direction to the top of the boring machine. The grabbing claw moves downward and puts the steel pipe on the bracket of the boring machine. The clamping device of the boring machine clamps the steel pipe, the boring machine works, and the grabbing claw returns to the zero position of the upper tube; after the boring is completed, the clamping device of the boring machine is released, and the unloading The pipe robot starts to move from the zero point of the pipe unloading, moves to the top of the boring machine to be unloaded, the gripper moves downward to the clamping position, clamps the steel pipe, the gripper moves upward, and then returns to the zero point position of the pipe unloading, the gripper moves downward to the pipe unloading position, puts the steel pipe on the bracket of the groove lathe, returns to the zero point position, and issues a groove instruction; (XIV) Boring machine robot: The main function of the boring machine is to cut the inner diameter of the cast pipe so that the inner wall of the cast pipe reaches the specified surface accuracy; the boring machine starts working, and after the boring hole is completed, the staff will separate the cast pipe from the clamping device of the boring machine, press the unloading button, and the unloading robot of the boring machine robot will transport the cast pipe away; (XV) Groove lathe. ; 8. The production method according to claim 7, It is characterized in that The maximum charge capacity of the hopper of the feeding robot is 500KG.

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