Pipe weld location determination method, laser cutting method, and system

Abstract

The embodiment of the present application discloses a pipe weld position determination method, a laser cutting method and a system, which comprises the following steps: after receiving the weld position determination instruction of the pipe to be cut, determining the pipe type of the pipe to be cut; starting the weld position determination program corresponding to the pipe type, controlling the chuck clamping the pipe to be cut to rotate to drive the pipe to be cut to rotate one round, and detecting the weld of the pipe to be cut by the weld detection probe during the rotation to obtain the first detection result; moving the weld detection probe parallelly along the center axis direction of the pipe to be cut by a preset distance, controlling the chuck to drive the pipe to be cut to rotate one round again, and detecting the weld of the pipe to be cut by the weld detection probe during the rotation to obtain the second detection result; and determining the weld position corresponding to the pipe to be cut according to the first detection result and the second detection result. The embodiment of the present application improves the accuracy and efficiency of the weld position determination.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser cutting, in particular to a pipe weld position determination method, a laser cutting method and system. BACKGROUND

[0002] In the field of pipe laser cutting, when the automatic feeding mechanism puts the pipe into the clamping device of the machine tool, the pipe is placed randomly, so the weld position on the pipe is uncertain. Therefore, before the pipe is cut by the laser pipe cutting machine, the weld position of the pipe needs to be adjusted to the position corresponding to the light path of the laser pipe cutting machine after the weld position is determined by manual operation, and the laser cutting is completed.

[0003] The above method has low efficiency in determining the weld position by manual operation, which leads to slow pipe laser cutting speed. In addition, in the actual cutting process, the user often has process requirements for the weld position of the pipe. Therefore, the adjustment of the weld position by manual operation to meet the process requirements is complex and inefficient. SUMMARY

[0004] The embodiments of the present application provide a pipe weld position determination method, a laser cutting method and system to solve the problem of low efficiency of manual weld position determination.

[0005] A pipe weld position determination method, comprising:

[0006] After receiving a weld position determination instruction for a pipe to be cut, determine the pipe type of the pipe to be cut;

[0007] Start the weld position determination program corresponding to the pipe type, control the chuck clamping the pipe to be cut to rotate to drive the pipe to be cut to rotate one revolution, and detect the weld of the pipe to be cut by the weld detection probe during rotation to obtain a first detection result;

[0008] Move the weld detection probe parallelly along the center axis direction of the pipe to be cut by a preset distance, control the chuck to drive the pipe to be cut to rotate one revolution again, and detect the weld of the pipe to be cut by the weld detection probe during rotation to obtain a second detection result;

[0009] According to the first detection result and the second detection result, determine the weld position corresponding to the pipe to be cut.

[0010] A laser cutting method, comprising:

[0011] receive a laser cutting instruction for a pipe to be cut, determine a weld position of the pipe to be cut according to the above pipe weld position determination method; the laser cutting instruction comprises preset cutting requirement information;

[0012] rotate a chuck clamping the pipe to be cut to drive the pipe to be cut to rotate to the weld position;

[0013] confirm completion of the cutting after the pipe to be cut is laser cut at the weld position by a laser cutting machining device according to the preset cutting requirement information.

[0014] A laser cutting system comprising a controller for executing the above laser cutting method.

[0015] The above pipe weld position determination method, laser cutting method and system, after receiving a weld position determination instruction for a pipe to be cut, determine the pipe type of the pipe to be cut; start a weld position determination program corresponding to the pipe type, control a chuck clamping the pipe to be cut to rotate to drive the pipe to be cut to rotate one revolution, and detect the weld of the pipe to be cut by a weld detection probe during rotation to obtain a first detection result; move the weld detection probe parallelly along the central axis direction of the pipe to be cut by a preset distance, control the chuck to drive the pipe to be cut to rotate one revolution again, and detect the weld of the pipe to be cut by the weld detection probe during rotation to obtain a second detection result; and determine the weld position corresponding to the pipe to be cut according to the first detection result and the second detection result.

[0016] The embodiments of the present application adopt different weld position determination programs when determining the weld position of the pipe to be cut for different pipe types, automatically determine the weld position of the pipe to be cut at multiple positions (such as moving the weld detection probe by a preset distance along the central axis direction of the pipe to be cut for the second weld detection), eliminate the instability of the weld position determination caused by scratches or rusting phenomena on the pipe to be cut (if only single confirmation is made, false confirmation may be caused due to scratches or rusting phenomena on the pipe to be cut), and improve the accuracy and efficiency of the weld position determination. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the description of the embodiments of the present application will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Figure 1 is a flow chart of a pipe weld position determination method in an embodiment of the present application;

[0019] Figure 2 is a flow chart of a laser cutting method in an embodiment of the present application;

[0020] Figure 3 is a schematic diagram of a laser cutting system in an embodiment of the present application. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of the present application.

[0022] In an embodiment, as shown in Figure 1 a pipe weld position determination method is provided, comprising the following steps:

[0023] S10: After receiving a weld position determination instruction for a pipe to be cut, determining a pipe type of the pipe to be cut.

[0024] It can be understood that the pipe to be cut refers to a pipe containing at least one weld to be cut, and the pipe type of the pipe to be cut can include but is not limited to a round pipe, a polygonal pipe (for example, a square pipe, a rectangular pipe), etc. Further, the weld of the pipe to be cut refers to a weld parallel to the central axis of the pipe to be cut and arranged on the surface of the pipe to be cut, which can be arranged in advance by a worker. The weld position determination instruction can be sent by a pipe cutting worker or automatically generated after the pipe to be cut is loaded.

[0025] In an embodiment, before step S10, that is, before receiving the weld position determination instruction for the pipe to be cut, comprising:

[0026] loading the pipe to be cut into the chuck.

[0027] It can be understood that the chuck is a machine tool chuck for clamping the pipe to be cut to fix the pipe to be cut so as to drive the pipe to be cut to rotate, and the chuck is suitable for the pipe to be cut of the pipe type of the round pipe, the polygonal pipe, etc.

[0028] After lifting the laser cutter to a preset height position, moving the pipe to be cut along the central axis of the chuck to a preset weld detection area.

[0029] It can be understood that the laser cutter refers to an instrument for laser cutting the weld position of the pipe to be cut; the preset height position refers to the height difference between the laser cutter and the pipe to be cut being in a safe position, and the preset height position can be, for example, a position 30mm away from the pipe to be cut. The preset weld detection area refers to an area for weld detection of the pipe to be cut.

[0030] Specifically, after the pipe to be cut is loaded onto the chuck, the laser cutter arranged above the pipe to be cut (it can be understood that here "above" is not absolute "above", but refers to the side away from the central axis of the pipe to be cut) is lifted to a preset height position to avoid collision between the laser cutter and the pipe to be cut, and then the pipe to be cut is moved to a preset weld detection area, so that the weld detection probe can detect the weld position of the pipe to be cut.

[0031] The weld detection probe is lowered by the probe cylinder mounted on the laser cutter, so that the weld position determination instruction is generated after the distance between the weld detection probe and the pipe to be cut is adjusted to be less than or equal to a preset distance threshold.

[0032] It can be understood that, as shown in Figure 2 A laser cutting system is provided, in which the probe cylinder 4 is connected to the laser cutter 3, and the weld detection probe 5 is connected to the probe cylinder. The weld detection probe 5 is moved in the vertical direction of the central axis of the pipe to be cut by the movement of the probe cylinder in the vertical direction of the central axis of the pipe to be cut (e.g., moving away from or towards the central axis of the chuck 2 or the pipe to be cut 1).

[0033] Specifically, in order to enable the weld detection probe to detect the weld position of the pipe to be cut, the probe cylinder connected to both the laser cutter and the weld detection probe needs to be adjusted, for example, by lowering the probe cylinder by 20mm (i.e., moving towards the central axis of the pipe to be cut), so that the weld detection probe is lowered by 20mm, and the distance between the weld detection probe and the pipe to be cut is less than or equal to a preset distance threshold. This indicates that the weld detection probe has moved to a position where it can detect the weld position of the pipe to be cut, and thus the weld position determination instruction is generated. The preset distance threshold can be set to 5mm, etc. Alternatively, the weld detection probe in the present embodiment can be composed of an eddy current weld detection instrument and a detection probe; or a color sensor or a two-dimensional camera can be used as the weld detection probe according to the characteristics (e.g., color) of the pipe to be cut.

[0034] S20: Start a weld seam position determination program corresponding to the pipe type, control the chuck clamping the pipe to be cut to rotate to drive the pipe to be cut to rotate one round, and detect the weld seam of the pipe to be cut by the weld seam detection probe during the rotation to obtain a first detection result.

[0035] It can be understood that the weld seam position determination program is used to control the rotation of the pipe to be cut and detect the weld seam of the pipe to be cut by the weld seam detection probe, and different weld seam position determination programs correspond to different pipe types. The first detection result can be a result representing the position information of the weld seam of the pipe to be cut, or a result representing that the position information of the weld seam of the pipe to be cut is not detected.

[0036] Specifically, after receiving the weld seam position determination instruction of the pipe to be cut, the pipe type of the pipe to be cut is determined, and the weld seam position determination program corresponding to the pipe type of the pipe to be cut is started. The chuck clamping the pipe to be cut is rotated to drive the pipe to be cut to rotate one round, and the weld seam of the pipe to be cut is detected by the weld seam detection probe, so that each position of the pipe to be cut is detected, and the first detection result is obtained.

[0037] S30: Move the weld seam detection probe parallelly along the central axis direction of the pipe to be cut by a preset distance, control the chuck to drive the pipe to be cut to rotate one round again, and detect the weld seam of the pipe to be cut by the weld seam detection probe during the rotation to obtain a second detection result.

[0038] The second detection result can be a result representing the position information of the weld seam of the pipe to be cut, or a result representing that the position information of the weld seam of the pipe to be cut is not detected.

[0039] It can be understood that since there can be scratches, rust marks and the like on the pipe to be cut, after the weld seam detection of the pipe to be cut in step S20, the weld seam detection probe needs to be moved parallelly along the central axis direction of the pipe to be cut by a preset distance, and then the chuck clamping the pipe to be cut is rotated to drive the pipe to be cut to rotate one round, and the weld seam of the pipe to be cut is detected by the weld seam detection probe to obtain the second detection result, so that the weld seam position detection of the pipe to be cut is implemented multiple times, the accuracy of the weld seam position determination is improved, and the probability of false detection is reduced.

[0040] Further, since the welding seam detection probe is moved parallel along the center axis of the pipe to be cut by a preset distance, and each detection needs to rotate the chuck to rotate the pipe to be cut for one round, the starting position of the second rotation can be regarded as the translation of the starting position of the first rotation, so as to ensure the same starting position of each rotation, and further ensure that each welding seam detection detects the position of the pipe to be cut.

[0041] S40: determining the welding seam position corresponding to the pipe to be cut according to the first detection result and the second detection result.

[0042] Specifically, after obtaining the first detection result and the second detection result, the welding seam position corresponding to the pipe to be cut is determined according to the first detection result and the second detection result.

[0043] Further, if the first detection result and the second detection result are both not detecting the welding seam position, or the first detection result is different from the second detection result (such as the first welding seam surface in the first detection result of the polygonal pipe is different from the second welding seam surface in the second detection result), steps S10 to S40 can be re-executed to determine the welding seam position of the pipe to be cut to obtain the welding seam position corresponding to the pipe to be cut. If the welding seam position of the pipe to be cut cannot be determined after more than a preset number of detections, a welding seam detection failure instruction is sent to a preset receiver to determine and adjust the welding seam position by manual means. The preset number of detections can be set to 5, 6, etc. The preset receiver can be a laser cutting worker or a supplier of the pipe to be cut.

[0044] In the embodiment, different welding seam position determination procedures are adopted when determining the welding seam position of the pipe to be cut of different pipe types, and the welding seam position of the pipe to be cut is determined at multiple positions (such as the welding seam detection probe needs to be moved by a preset distance along the center axis of the pipe to be cut for the second welding seam detection), which eliminates the instability of the welding seam position determination caused by scratches or rusting phenomena on the pipe to be cut (if only single confirmation is adopted, false confirmation may be caused due to scratches or rusting phenomena on the pipe to be cut), and improves the accuracy and efficiency of the welding seam position determination.

[0045] In an embodiment, the pipe type of the pipe to be cut includes a round pipe, and in step S20, the welding seam detection probe is rotated by rotating the chuck clamping the pipe to be cut to rotate the pipe to be cut for one round, and the first detection result is obtained by the welding seam detection probe, which includes:

[0046] When the pipe type of the pipe to be cut is a round pipe, a position on the round pipe opposite to the weld detection probe is recorded as a first zero-degree angle position.

[0047] It can be understood that the round pipe rotates 360° in one revolution, and therefore, in order to record the specific position of the weld on the round pipe, the position of the round pipe opposite to the weld detection probe is recorded as a first zero-degree angle position.

[0048] Starting from the first zero-degree angle position, the chuck clamping the round pipe is controlled to rotate to drive the round pipe to rotate one revolution, and the weld detection probe is used to detect the weld on the round pipe during the rotation.

[0049] Specifically, after recording the position on the round pipe opposite to the weld detection probe as a first zero-degree angle position, starting from the first zero-degree angle position, the chuck clamping the round pipe is rotated to drive the round pipe to rotate one revolution, and the weld detection probe is used to detect the weld on the round pipe during the rotation, so as to determine the angle position information of the weld in the round pipe.

[0050] The first weld position of the round pipe detected during the rotation is recorded, a first weld angle position corresponding to the first weld position is determined according to the first zero-degree angle position, the first weld angle position is recorded as a first detection result, and the weld position determination program is closed.

[0051] Specifically, during the rotation of the round pipe driven by the chuck, when the weld of the round pipe is detected, the position corresponding to the weld is recorded as a first weld position, an angle position corresponding to the first weld position is recorded as a first weld angle position according to the first zero-degree angle position, the first weld angle position is recorded as a first detection result, and after the round pipe is driven to rotate one revolution, the weld position determination program is closed. For example, the first zero-degree angle position is 0°, and assuming that the first weld position of the round pipe detected during the rotation is 45°, 45° is recorded as the first weld angle position.

[0052] In an embodiment, in step S30, the weld detection probe is moved parallel to the central axis of the pipe to be cut by a preset distance, the chuck is controlled to drive the pipe to be cut to rotate one revolution again, and the weld detection probe is used to detect the weld on the pipe to be cut during the rotation to obtain a second detection result, including:

[0053] The weld detection probe is moved parallel to the central axis of the pipe to be cut by a preset distance to align the weld detection probe with a second zero-degree angle position.

[0054] Specifically, after detecting the first weld position of the round pipe material during the rotation, recording the angle position information corresponding to the first weld position as the first weld angle position according to the first zero-degree angle position, loosening the chuck to clamp the pipe to be cut, and moving the weld detection probe parallel to the central axis of the pipe to be cut by a preset distance, the weld detection probe is aligned with the second zero-degree angle position, and the position corresponding to the first zero-degree angle position after the parallel movement is recorded as the second zero-degree angle position. The chuck is tightened to clamp the pipe to be cut. For example, the first zero-degree angle position is 0°, and the second zero-degree angle position can be 0° or 360° (since the pipe is rotated for one revolution in step S20, the second zero-degree angle position can also be recorded as 360°). The preset distance can be 30 mm or 40 mm.

[0055] Starting the weld position determination program, rotating the chuck clamping the round pipe material to drive the round pipe material to rotate for one revolution, and detecting the weld of the round pipe material by the weld detection probe during the rotation.

[0056] Specifically, after recording the position corresponding to the first zero-degree angle position as the second zero-degree angle position, starting the weld position determination program, rotating the chuck clamping the round pipe material to drive the round pipe material to rotate for one revolution, and detecting the weld of the round pipe material by the weld detection probe during the rotation, thereby determining the angle position information of the weld in the round pipe material.

[0057] Detecting the second weld position of the round pipe material during the rotation, determining the second weld angle position corresponding to the second weld position according to the second zero-degree angle position, recording the second weld angle position as the second detection result, and closing the weld position determination program.

[0058] Specifically, during the rotation of the round pipe material by the chuck for one revolution, when the weld of the round pipe material is detected, the position corresponding to the weld is recorded as the second weld position, and the angle position information corresponding to the second weld position is recorded as the second weld angle position according to the second zero-degree angle position. For example, the second zero-degree angle position is 0°, and assuming that the second weld position of the round pipe material detected during the rotation is 45°, 45° is recorded as the second weld angle position. If the second zero-degree angle position is 360°, 415° is recorded as the second weld angle position.

[0059] In an embodiment, the determining, in step S40, the welding seam position corresponding to the pipe to be cut according to the first detection result and the second detection result comprises:

[0060] The difference between the second welding seam angle position and the first welding seam angle position is recorded as a welding seam angle difference.

[0061] Specifically, after obtaining the first welding seam angle position and the second welding seam angle position, the difference between the second welding seam angle position and the first welding seam angle position is recorded as a welding seam angle difference.

[0062] The welding seam angle difference is compared with a preset angle difference range, and when the welding seam angle difference meets the preset angle difference range, the average of the sum of the first welding seam angle position and the second welding seam angle position is recorded as the welding seam position corresponding to the pipe.

[0063] Optionally, the preset angle difference range can be set according to specific conditions. For example, assuming that the first welding seam angle position is between 0° and 360°, and the second welding seam angle position is between 360° and 720° (when the second welding seam angle position is superimposed by 360°), the preset angle difference range can be set to 355° to 365°. Assuming that the first welding seam angle position is between 0° and 360°, and the second welding seam angle position is between 0° and 360°, the preset angle difference range can be set to -5° to 5°.

[0064] Specifically, since there may be a deviation in the angle position of the detected welding seam position after moving the welding seam detection probe, a certain error is allowed in the welding seam angle position between the two detections after moving the welding seam detection probe. Then, after recording the difference between the second welding seam angle position and the first welding seam angle position as a welding seam angle difference, the welding seam angle difference is compared with a preset angle difference range, and when the welding seam angle difference meets the preset angle difference range, the average of the sum of the first welding seam angle position and the second welding seam angle position is recorded as the welding seam position corresponding to the pipe.

[0065] Further, after comparing the welding seam angle difference with the preset angle difference range, when the welding seam angle difference exceeds the preset angle difference range, it indicates that the deviation between the detected welding seam positions is too large, which may cause detection deviation, and thus the welding seam of the pipe can be detected again.

[0066] In the embodiment, the welding position of the round pipe is determined automatically by different positions (for example, when the second welding seam detection is performed, the welding seam detection probe needs to be moved a preset distance along the central axis of the pipe to be cut), and the angle error existing when the different positions are detected is allowed, so that the accuracy of the welding angle position determination of the round pipe is improved.

[0067] In an embodiment, the pipe type of the pipe to be cut includes a polygonal pipe; in step S20, the chuck clamping the pipe to be cut is controlled to rotate to drive the pipe to be cut to rotate one revolution, and the welding seam detection probe is used to detect the welding seam of the pipe to be cut during the rotation to obtain a first detection result, including:

[0068] When the pipe type of the pipe to be cut is a polygonal pipe, the bending position information corresponding to the polygonal pipe is obtained, and the first starting position and the first end position corresponding to each pipe edge of the polygonal pipe are determined according to the bending position information.

[0069] Optionally, the polygonal pipe includes a square pipe, a rectangular pipe, etc. It can be understood that the position information of the arc connecting each pipe edge of the polygonal pipe is the bending position information. Assuming that the polygonal pipe is a quadrilateral pipe such as a square pipe or a rectangular pipe, there are four bending position information.

[0070] Specifically, since it is difficult to realize laser cutting at the bending position of the polygonal pipe, i.e., at the R angle, a welding seam is generally not set, and thus the bending position of the polygonal pipe is ignored in the embodiment, and welding seam detection is only performed between the two bending positions of each pipe edge. Therefore, when the pipe type of the pipe to be cut is a polygonal pipe, the bending position information corresponding to the polygonal pipe is obtained, and the first starting position and the first end position corresponding to each pipe edge of the polygonal pipe are determined according to the bending position information. For example, assuming that the length of a pipe edge of the polygonal pipe is 120 mm, the length of the bending position is 7 mm, and the center axis position of the polygonal pipe is 0 point coordinate, the first starting position corresponding to the pipe edge can be +53 mm, and the first end position can be -53 mm.

[0071] The first scanning area corresponding to each pipe edge is determined according to the first starting position and the first end position corresponding to each pipe edge.

[0072] Starting from the first starting position of the pipe edge opposite to the welding seam detection probe, the chuck clamping the polygonal pipe is controlled to rotate to drive the polygonal pipe to rotate one revolution, and the welding seam detection probe is used to detect the welding seam of each first scanning area during the rotation.

[0073] Specifically, after determining the first start position and the first end position corresponding to each pipe edge of the polygonal pipe according to the bending position information, the first scanning area corresponding to each pipe edge is determined according to the first start position and the first end position corresponding to each pipe edge. Understandably, the first scanning area refers to the area between the first start position and the first end position in each pipe edge. Starting from the first start position of the pipe edge currently opposite to the weld detection probe, the chuck clamping the polygonal pipe is controlled to rotate to drive the polygonal pipe to rotate one round, and the weld detection probe is used to detect the weld of each first scanning area during the rotation. Understandably, each plate surface corresponding to each pipe edge of the polygonal pipe (i.e., each first scanning area) needs to be detected, and then for a plate surface corresponding to a pipe edge, the detection starts from the first start position corresponding to the pipe edge and ends at the first end position corresponding to the pipe edge, and then the detection of the next plate surface corresponding to the pipe edge is performed, until all pipe edges are detected, at which time the polygonal pipe rotates one round.

[0074] The third weld position of the polygonal pipe detected during the rotation is recorded, the plate surface corresponding to the third weld position is recorded as a first weld surface, the first weld surface and the third weld position are recorded in association as the first detection result, and the weld position determination program is closed.

[0075] Specifically, after starting from the first start position corresponding to each pipe edge, rotating the chuck clamping the polygonal pipe to drive the polygonal pipe to rotate to the first end position corresponding to each pipe edge, and detecting the weld of the plate surface corresponding to each pipe edge of the polygonal pipe by the weld detection probe during the rotation, the third weld position of the polygonal pipe detected during the rotation is recorded, the plate surface corresponding to the third weld position is recorded as a first weld surface, the first weld surface and the third weld position are recorded in association as the first detection result, and the weld position determination program is closed.

[0076] In an embodiment, in step S30, i.e., the weld detection probe is moved in parallel along the center axis of the pipe to be cut by a preset distance, the chuck is controlled to drive the pipe to be cut to rotate one round again, and the weld detection probe is used to detect the weld of the pipe to be cut during the rotation to obtain a second detection result, which includes:

[0077] The weld detection probe is moved in parallel along the center axis of the pipe to be cut by a preset distance, and the second start position and the second end position corresponding to each pipe edge of the polygonal pipe are determined according to the bending position information.

[0078] Specifically, after the third weld position of the polygonal pipe is detected during the recording rotation process, the plate surface corresponding to the third weld position is recorded as a first weld surface, then in order to avoid that the weld position determination program is still executed when the weld detection probe is moved, and further causes the chuck to still drive the circular pipe to rotate, it is required to close the weld position determination program, and move the weld detection probe in parallel along the central axis direction of the pipe to be cut by a preset distance, and determine a second start position and a second end position corresponding to each pipe edge of the polygonal pipe according to the bending position information. It can be understood that the second start position can be regarded as the first start position after the preset distance is moved in parallel; and the second end position can be regarded as the second start position after the preset distance is moved in parallel.

[0079] A second scanning area corresponding to each pipe edge is determined according to the second start position and the second end position corresponding to each pipe edge.

[0080] The weld position determination program is started, the chuck clamping the polygonal pipe is controlled to rotate to drive the polygonal pipe to rotate one round from the second start position of the pipe edge currently opposite to the weld detection probe, and the weld detection probe is used to detect the weld of each second scanning area during the rotation.

[0081] Specifically, after the second start position and the second end position corresponding to each pipe edge of the polygonal pipe are determined according to the bending position information, the second scanning area corresponding to each pipe edge is determined according to the second start position and the second end position corresponding to each pipe edge. It can be understood that the second scanning area refers to the area between the second start position and the second end position in each pipe edge. The chuck clamping the polygonal pipe is controlled to rotate to drive the polygonal pipe to rotate one round from the second start position of the pipe edge currently opposite to the weld detection probe, and the weld detection probe is used to detect the weld of each second scanning area during the rotation.

[0082] The fourth weld position of the polygonal pipe is detected during the recording rotation process, the plate surface corresponding to the fourth weld position is recorded as a second weld surface, the second weld surface and the fourth weld position are recorded as the second detection result, and the weld position determination program is closed.

[0083] Specifically, starting from a second starting position corresponding to each pipe edge, the polygonal pipe is rotated by rotating the chuck clamping the polygonal pipe to rotate the polygonal pipe to a second end position corresponding to each pipe edge, and after the weld detection probe detects the plate surface corresponding to each pipe edge of the polygonal pipe during the rotation, the fourth weld position of the polygonal pipe detected during the rotation is recorded, the plate surface corresponding to the fourth weld position is recorded as a second weld surface, and the second weld surface and the fourth weld position are recorded as the second detection result, and the weld position determination program is closed.

[0084] In an embodiment, in step S40, i.e., determining the weld position corresponding to the pipe to be cut according to the first detection result and the second detection result, comprises:

[0085] When the first weld surface is the same as the second weld surface, the weld position corresponding to the polygonal pipe is determined according to the third weld position and the fourth weld position.

[0086] Specifically, after determining the first weld surface and the second weld surface, it is determined whether the first weld surface is the same as the second weld surface. When the first weld surface is the same as the second weld surface, it is indicated that the weld position is on the weld surface, and then the weld position corresponding to the polygonal pipe can be determined according to the third weld position and the fourth weld position. For example, the average of the sum of the third weld position and the fourth weld position is taken as the weld position corresponding to the polygonal pipe.

[0087] Further, when the first weld surface is not the same as the second weld surface, it is indicated that there is a difference between the first weld detection and the second weld detection, and then the polygonal pipe can be detected again.

[0088] In the embodiment, considering the bending position information of the polygonal pipe (the bending position information basically does not have a weld), only the pipe edges between two bending position information are detected, which improves the efficiency of the weld detection of the polygonal pipe; at the same time, the weld position of the polygonal pipe is determined automatically by different positions (for example, in the second weld detection, the weld detection probe needs to be moved by a preset distance along the central axis direction of the pipe to be cut), so that the weld position is determined when the weld surface detected each time is the same, and the accuracy of the weld position determination of the polygonal pipe is improved.

[0089] In an embodiment, as shown in Figure 3 a laser cutting method is provided, comprising:

[0090] S50: receiving a laser cutting instruction for a pipe to be cut, determining the weld position of the pipe to be cut according to the pipe weld position determination method in the above embodiment; the laser cutting instruction contains preset cutting requirement information.

[0091] It can be understood that the laser cutting instruction can be sent by the pipe cutting staff or automatically generated after the pipe to be cut is loaded. The cutting requirement information refers to the user's laser cutting requirement for the pipe to be cut, such as requiring the weld to face inward, the contour of the pipe to be cut workpiece hole cannot be on the weld surface, etc.

[0092] Specifically, after receiving the laser cutting instruction of the pipe to be cut, the pipe type of the pipe to be cut is determined; a weld position determination program corresponding to the pipe type is started, the chuck clamping the pipe to be cut is rotated to drive the pipe to be cut to rotate one revolution, and the weld of the pipe to be cut is detected by a weld detection probe to obtain a first detection result; the weld detection probe is moved parallelly along the center axis direction of the pipe to be cut by a preset distance, the chuck clamping the pipe to be cut is rotated again to drive the pipe to be cut to rotate one revolution, and the weld of the pipe to be cut is detected by the weld detection probe to obtain a second detection result; and the weld position corresponding to the pipe to be cut is determined according to the first detection result and the second detection result.

[0093] S60: Control the chuck clamping the pipe to be cut to rotate to drive the weld position of the pipe to be cut to rotate to align with the laser cutting machining device.

[0094] S70: After the pipe to be cut is laser cut at the weld position according to the preset cutting requirement information by the laser cutting machining device, it is confirmed that the cutting is completed.

[0095] Specifically, after determining the weld position of the pipe to be cut according to the pipe weld position determination method in the above embodiment, the chuck clamping the pipe to be cut is controlled to rotate to drive the weld position of the pipe to be cut to rotate to align with the laser cutting machining device, and then the pipe to be cut is laser cut at the weld position according to the preset cutting requirement information by the laser cutting machining device, and it is confirmed that the cutting is completed.

[0096] In this embodiment, after the weld position of the pipe to be cut is determined automatically, the pipe to be cut is laser cut according to the preset cutting requirement information of the user, the efficiency and accuracy of the pipe laser cutting are improved, and the user's requirement for the pipe weld position can be met.

[0097] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0098] In an embodiment, as shown inFigure 2 As shown, a laser cutting system is proposed, the probe cylinder 4 of the system is connected with the laser cutting device 3, and the weld detection probe 5 is connected to the probe cylinder, the weld detection probe 5 is driven to move along the vertical direction of the center axis of the pipe to be cut by the movement of the probe cylinder along the vertical direction of the center axis of the pipe to be cut (such as moving away from or close to the center axis of the chuck 2 or the pipe to be cut 1), thereby driving the weld detection probe 5 to move along the vertical direction of the center axis of the pipe to be cut 1. Further, the laser cutting system also includes a controller (not shown in the figure) for executing the above-mentioned laser cutting method.

[0099] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments of each method. Any reference to memory, storage, database or other medium used in each embodiment provided by the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0100] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above.

[0101] The above-described embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method for determining the location of a pipe weld, characterized in that, include: After receiving the instruction to determine the weld position of the pipe to be cut, the pipe type of the pipe to be cut is determined; The weld position determination program corresponding to the pipe type is started, and the chuck clamping the pipe to be cut is controlled to rotate so as to drive the pipe to be cut to rotate one revolution. During the rotation, the weld detection probe is used to detect the weld of the pipe to be cut to obtain the first detection result. The weld detection probe is moved parallel to the central axis of the pipe to be cut by a preset distance, and the chuck is controlled to rotate the pipe to be cut one revolution again. During the rotation, the weld detection probe is used to detect the weld of the pipe to be cut to obtain a second detection result. Based on the first and second test results, determine the weld position corresponding to the pipe to be cut; The pipe type to be cut includes round pipes; the chuck clamping the pipe to be cut is rotated to drive the pipe to be cut to rotate one revolution, and during the rotation, a weld detection probe is used to detect the weld of the pipe to be cut to obtain a first detection result, including: When the pipe to be cut is a round pipe, the position on the round pipe opposite to the weld detection probe is recorded as the first zero-degree angle position. Starting from the first zero-degree angle position, the chuck that clamps the round pipe is controlled to rotate, so as to drive the round pipe to rotate one revolution, and the weld seam is inspected by the weld seam detection probe during the rotation. Record the position of the first weld seam of the circular tube detected during the rotation process, determine the first weld seam angle position corresponding to the first weld seam position based on the first zero-degree angle position, record the first weld seam angle position as the first detection result, and close the weld seam position determination program; The pipe type to be cut includes polygonal pipes; the chuck clamping the pipe to be cut is rotated to rotate the pipe to be cut one revolution, and during the rotation, a weld detection probe is used to detect the weld of the pipe to be cut to obtain a first detection result, including: When the pipe type of the pipe to be cut is a polygonal pipe, the bending position information corresponding to the polygonal pipe is obtained, and the first starting position and the first ending position corresponding to each side of the polygonal pipe are determined according to the bending position information. The first scanning area corresponding to each of the pipe edges is determined based on the first starting position and the first ending position corresponding to each of the pipe edges; Starting from the first starting position of the pipe edge currently opposite to the weld detection probe, the chuck clamping the polygonal pipe is controlled to rotate, so as to drive the polygonal pipe to rotate one revolution, and the weld detection probe is used to detect welds in each of the first scanning areas during the rotation. The third weld position of the polygonal tube is detected during the rotation process. The plate surface corresponding to the third weld position is recorded as the first weld surface. The first weld surface and the third weld position are associated and recorded as the first detection result. The weld position determination program is then closed.

2. The method for determining the location of pipe welds as described in claim 1, characterized in that, Before receiving the instruction to determine the weld location of the pipe to be cut, the following is included: The pipe to be cut is loaded into the chuck; After raising the laser cutter to a preset height position, the pipe to be cut is moved along the central axis of the chuck to the preset weld detection area; The probe cylinder installed on the laser cutter drives the weld detection probe to move downward, so that after adjusting the distance between the weld detection probe and the pipe to be cut to be less than or equal to a preset distance threshold, the weld position determination command is generated.

3. The method for determining the location of pipe welds as described in claim 1, characterized in that, The weld detection probe is moved parallel to the central axis of the pipe to be cut by a preset distance, and the chuck is controlled to rotate the pipe to be cut one revolution again. During the rotation, the weld detection probe is used to detect the weld of the pipe to be cut, and a second detection result is obtained, including: The weld detection probe is moved parallel to the central axis of the pipe to be cut by a preset distance so that the weld detection probe is aligned with the second zero-degree angle position. The weld position determination program is started. Starting from the second zero-degree angle position, the chuck that clamps the round pipe is controlled to rotate so that the round pipe rotates one revolution. During the rotation, the weld detection probe is used to detect the weld on the round pipe. The second weld position of the circular tube is detected during the rotation process. The second weld angle position corresponding to the second weld position is determined based on the second zero-degree angle position. The second weld angle position is recorded as the second detection result, and the weld position determination program is closed.

4. The method for determining the location of pipe welds as described in claim 3, characterized in that, The step of determining the weld position corresponding to the pipe to be cut based on the first detection result and the second detection result includes: The difference between the second weld angle position and the first weld angle position is recorded as the weld angle difference. The weld angle difference is compared with a preset angle difference range. When the weld angle difference meets the preset angle difference range, the average value of the sum of the first weld angle position and the second weld angle position is recorded as the weld position corresponding to the round pipe.

5. The method for determining the location of pipe welds as described in claim 1, characterized in that, The weld detection probe is moved parallel to the central axis of the pipe to be cut by a preset distance, and the chuck is controlled to rotate the pipe to be cut one revolution again. During the rotation, the weld detection probe is used to detect the weld of the pipe to be cut, and a second detection result is obtained, including: The weld detection probe is moved parallel to the central axis of the pipe to be cut by a preset distance, and the second starting position and the second ending position corresponding to each side of the polygonal pipe are determined according to the bending position information. The second scanning area corresponding to each pipe edge is determined based on the second starting position and the second ending position corresponding to each pipe edge; The weld position determination program is started. Starting from the second starting position of the pipe edge that is currently opposite to the weld detection probe, the chuck that clamps the polygonal pipe is controlled to rotate so that the polygonal pipe rotates one revolution. During the rotation, the weld detection probe is used to detect welds in each of the second scanning areas. The fourth weld position of the polygonal tube is detected during the rotation process. The plate surface corresponding to the fourth weld position is recorded as the second weld surface. The second weld surface and the fourth weld position are associated and recorded as the second detection result. The weld position determination program is then closed.

6. The method for determining the location of pipe welds as described in claim 5, characterized in that, The step of determining the weld position corresponding to the pipe to be cut based on the first detection result and the second detection result includes: When the first weld surface is the same as the second weld surface, the weld position corresponding to the polygonal pipe is determined according to the position of the third weld and the position of the fourth weld.

7. A laser cutting method, characterized in that, include: The laser cutting command is received for the pipe to be cut, and the weld position of the pipe to be cut is determined according to the pipe weld position determination method as described in any one of claims 1 to 6; the laser cutting command includes preset cutting requirement information. The chuck holding the pipe to be cut is rotated to rotate the weld position of the pipe to be cut until it is aligned with the laser cutting processing device. Using the laser cutting processing device, the pipe to be cut is laser-cut at the weld position according to the preset cutting requirements, and the cutting is then confirmed to be completed.

8. A laser cutting system, characterized in that, Includes a controller for performing the laser cutting method as described in claim 7.

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