Pipe positioning system and method thereof, and pipe cutting system and method thereof

Abstract

The application discloses a pipe positioning system and method and a pipe cutting system and method. The pipe positioning system comprises a first visual positioning system, a second visual positioning system and a control system. The first visual positioning system comprises a first acquisition module, a righting angle processing module, a righting angle judging module and a first transmission module. The second visual positioning system comprises a second acquisition module and a second transmission module. The control system comprises a third transmission module, a first control module, a second control module and a positioning success signal transmission module. The pipe cutting system comprises a rotating clamp jaw for clamping one end of a pipe, a supporting device for supporting the pipe, the pipe positioning system for positioning the pipe installed on the rotating clamp jaw and the supporting device, and a pipe cutting device for cutting the positioned pipe according to a predetermined track. The pipe cutting device comprises a mechanical arm and a cutter arranged on the mechanical arm.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of workpiece processing, in particular to a pipe positioning system and method thereof, and a pipe cutting system and method thereof. BACKGROUND

[0002] In the pipe cutting process, different shapes of holes are cut according to the trajectory, and the relative positions between the holes are very precise, requiring precision control within 0.03-0.05mm. Before cutting the pipe, one end of the pipe is installed on the pneumatic clamp jaw, the other end is supported on the support mechanism, and the cutting surface of the pipe is directed towards the cutter direction. The pipe is positioned by the positioning mechanism to ensure that the cutter accurately cuts the pipe. The traditional pipe positioning is by mechanical positioning, but this mechanical positioning process is complicated, and the position needs to be manually adjusted constantly, and the position accuracy cannot always meet the dimensional tolerance requirements. SUMMARY

[0003] To solve the above technical problems, one technical solution adopted by the present application is to provide a pipe positioning system for positioning the pipe after it is installed on the rotating clamp jaw, comprising a first visual positioning system, a second visual positioning system and a control system.

[0004] To solve the above technical problems, one technical solution adopted by the present application is to provide a pipe positioning system for positioning the pipe after it is installed on the rotating clamp jaw, comprising a first visual positioning system, a second visual positioning system and a control system.

[0005] The first visual positioning system comprises:

[0006] A first acquisition module for acquiring an end face image of the pipe;

[0007] A righting angle processing module for obtaining a righting angle of the pipe according to the end face image;

[0008] A righting angle judgment module for judging whether the righting angle meets the requirements; and

[0009] A first transmission module for sending a first signal to the control system when the righting angle does not meet the requirements, and for sending a second signal to the control system when the righting angle meets the requirements;

[0010] The second visual positioning system comprises:

[0011] A second acquisition module for acquiring a cutting reference mark pre-set on the surface of the pipe; and

[0012] A second transmission module for sending a third signal to the control system when the second visual positioning system acquires the cutting reference mark.

[0013] The control system comprises:

[0014] a third transmission module, configured to receive the first signal and the second signal from the first transmission module and receive the third signal from the second transmission module;

[0015] a first control module, configured to control the rotating jaw to rotate a corresponding angle to make the righting angle of the pipe meet the requirement after receiving the first signal;

[0016] a second control module, configured to control the second acquisition module to acquire the cutting reference mark on the pipe surface after receiving the second signal; and

[0017] a positioning success signal transmission module, configured to transmit a positioning success signal after receiving the third signal.

[0018] Further, the control system further comprises a third control module, configured to send a cutting signal to the pipe cutting device according to the positioning success signal, so that the cutting knife of the pipe cutting device cuts the pipe according to a predetermined trajectory.

[0019] Further, the pipe has a cross-sectional shape in the shape of "D", which has an arc surface and a plane; the righting angle processing module comprises:

[0020] a reference plane setting sub-module, configured to set a horizontal plane as a reference plane;

[0021] a pipe plane extension sub-module, configured to infinitely extend the plane in the acquired end face image until the plane intersects with the reference plane; and

[0022] an included angle acquisition sub-module, configured to acquire an included angle between the plane and the reference plane.

[0023] The righting angle judgment module is further configured to compare the included angle acquired by the included angle acquisition sub-module with a preset righting angle threshold value, and if the included angle meets the righting angle threshold value, the righting angle is considered to meet the requirement, and if the included angle does not meet the righting angle threshold value, the righting angle is considered to not meet the requirement.

[0024] Further, the righting angle judgment module comprises:

[0025] a first judgment sub-module, configured to judge whether the included angle is less than 90 degrees;

[0026] a second judgment sub-module, configured to, when the first judgment sub-module judges that the included angle is less than 90 degrees, judge whether the included angle is less than the righting angle threshold value, and if the included angle is less than the righting angle threshold value, the righting angle is considered to meet the requirement, and if the included angle is greater than the righting angle threshold value, the righting angle is considered to not meet the requirement.

[0027] a third judging sub-module, configured to judge whether an absolute value of a difference between the included angle and 180 degrees is less than the right-angled angle threshold value when the first judging sub-module judges that the included angle is greater than 90 degrees, and if yes, the right-angled angle is considered to meet the requirement, and if no, the right-angled angle is considered to not meet the requirement;

[0028] the first signal comprises a forward rotation signal and a reverse rotation signal;

[0029] the first transmission module is further configured to send the forward rotation signal to the control system when the second judging sub-module judges that the included angle is greater than the right-angled angle threshold value, and is further configured to send the reverse rotation signal to the control system when the third judging sub-module judges that the absolute value of the difference between the included angle and 180 degrees is greater than the right-angled angle threshold value;

[0030] the first control module is further configured to control the rotary clamp to rotate forward or reverse by a corresponding angle according to the forward rotation signal or the reverse rotation signal.

[0031] Further, the first visual positioning system further comprises a shell, which is arranged on one end of the pipe material away from the rotary clamp; a collection window is formed on the shell at a position aligned with the pipe material, the first collection module is arranged in the shell and collects an end face image of the one end of the pipe material away from the rotary clamp through the collection window; the first visual positioning system further comprises a rotary driving mechanism arranged on one side of the shell and having an output shaft directed towards the rotary clamp, and a shutter arranged on the output shaft of the rotary driving mechanism, the shutter can close and open the collection window under the driving of the rotary driving mechanism.

[0032] To solve the above technical problems, another technical solution adopted by the present application is to provide a pipe positioning method, comprising the following steps:

[0033] S201, collecting an end face image of one end of the pipe material away from the rotary clamp;

[0034] S202, obtaining a right-angled angle of the pipe material according to the end face image;

[0035] S203, judging whether the right-angled angle meets the requirement;

[0036] S204, when it is judged that the right-angled angle does not meet the requirement, sending a first signal to the control system, so that the control system controls the rotary clamp to rotate by a corresponding angle according to the first signal, so that the right-angled angle of the pipe material meets the requirement;

[0037] S205, when it is judged that the right-angled angle meets the requirement, collecting a cutting reference mark on the surface of the pipe material;

[0038] S206, when the cutting reference mark on the pipe surface is collected, the pipe positioning is considered successful.

[0039] To solve the above technical problems, the application adopts another technical solution: a pipe cutting system, comprising a rotating clamp jaw for clamping one end of a pipe, a supporting device for supporting the pipe, a pipe positioning system for positioning the pipe installed on the rotating clamp jaw and the supporting device, and a pipe cutting device for cutting the positioned pipe according to a predetermined trajectory, wherein the pipe cutting device comprises a mechanical arm and a cutter arranged on the mechanical arm, and the pipe positioning system is the above-mentioned pipe positioning system.

[0040] Further, the supporting device comprises a supporting seat arranged between the first collecting module and the rotating clamp jaw, and a supporting ring arranged at the upper end of the supporting seat and located on the same axis as the rotating clamp jaw and the pipe, wherein the supporting seat comprises a first supporting block capable of moving along the length direction of the pipe, a second supporting block arranged on the first supporting block and capable of moving along the width direction perpendicular to the length direction of the pipe, and a third supporting block arranged on the second supporting block and capable of moving along the vertical direction, and the supporting ring is installed on the upper end of the third supporting block.

[0041] Further, the first supporting block comprises a bottom block and a vertical block vertically arranged on the bottom block, wherein the bottom block is provided with a first slot-shaped hole consistent with the length direction of the pipe, and the vertical block is provided with a second slot-shaped hole consistent with the width direction perpendicular to the length direction; the second supporting block is provided with a first mounting hole corresponding to the second slot-shaped hole and a second mounting hole for mounting the third supporting block; and the third supporting block is provided with a third slot-shaped hole consistent with the vertical direction at a position corresponding to the second mounting hole, and each slot-shaped hole and each mounting hole can be detachably mounted through mounting bolts.

[0042] To solve the above technical problems, the application adopts another technical solution: a pipe cutting method, comprising the following steps:

[0043] S100, pipe installation, comprising the following sub-steps:

[0044] S101, making one end of the pipe pass through the supporting ring of the supporting device to be close to the rotating clamp jaw, and making the surface to be processed of the pipe face the cutter;

[0045] S102, adjusting the position of the supporting ring to align the pipe with the rotating clamp jaw;

[0046] S103, clamping one end of the pipe by the rotating clamp jaw;

[0047] S200, pipe positioning: according to the pipe positioning method, the pipe installed on the rotating clamp jaw is positioned;

[0048] S300, pipe cutting: the mechanical arm drives the cutter to cut the pipe according to the predetermined trajectory.

[0049] The pipe positioning system and method thereof and the pipe cutting system and method thereof first correct the pipe through the end face image to accurately position the pipe from the peripheral angle, so that the plane (the cutting surface to be processed) of the pipe is aligned with the cutter and the second acquisition module; then the second acquisition module installed at the same installation position as the cutter is moved, the cutting reference mark on the plane is acquired through the second acquisition module for cutting positioning, and when the positioning is successful, the control system sends a cutting signal to the pipe cutting device, so that the pipe cutting device automatically cuts according to the cutting signal. The whole positioning and cutting process is automated and streamlined, without manual intervention, and the complexity of traditional mechanical positioning is simplified, the degree of manual intervention is reduced, the problem that the position tolerance caused by mechanical positioning cannot meet the requirements is solved, the accuracy of pipe positioning is improved, the positioning and cutting efficiency is improved, and the product yield is improved. BRIEF DESCRIPTION OF DRAWINGS

[0050] The drawings described herein are used to provide further understanding of the present application, constitute a part of the present application, the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute improper limitation on the present application. In the drawings:

[0051] Figure 1 is a structural schematic diagram of an embodiment of the pipe.

[0052] Figure 2 is a structural schematic diagram of the pipe cutting system of the present application.

[0053] Figure 3 is a structural schematic diagram of the support device.

[0054] Figure 4 is Figure 3 is an explosion diagram.

[0055] Figure 5 is a block diagram of the first embodiment of the pipe positioning system of the present application

[0056] Figure 6 is Figure 5 is a block diagram of the first visual positioning system in

[0057] Figure 7 is Figure 5 is a block diagram of the second visual positioning system in

[0058] Figure 8 is Figure 5 is a block diagram of the control system in

[0059] Figure 9 is the block diagram of the second visual positioning system in the second embodiment of the pipe positioning system of the present application.

[0060] Figure 10 is the block diagram of the angle adjustment module in the third embodiment of the pipe positioning system of the present application.

[0061] Figure 11 is the first state diagram of the pipe after the pipe plane is extended and intersects with the set reference plane.

[0062] Figure 12 is the second state diagram of the pipe after the pipe plane is extended and intersects with the set reference plane.

[0063] Figure 13 is the block diagram of the fourth embodiment of the pipe positioning system of the present application.

[0064] Figure 14 is the flow chart of the first embodiment of the pipe positioning method of the present application.

[0065] Figure 15 is the sub-flow chart of the S202 step in the first embodiment of the pipe positioning method of the present application. Figure 14

[0066] is the sub-flow chart of the S203 step in the first embodiment of the pipe positioning method of the present application. Figure 16 Figure 14 is the flow chart of the second embodiment of the pipe positioning method of the present application.

[0067] Figure 17 is the flow chart of the third embodiment of the pipe positioning method of the present application.

[0068] Figure 18 is the flow chart of the first embodiment of the pipe cutting method of the present application.

[0069] Figure 19 In the accompanying drawings:

[0070] Pipe-A; Arc surface-A1; Plane-A2; Cutting reference mark-A21;

[0071] Rotary clamp jaw-100; Fixed seat-101; Rotary motor-102; Pneumatic clamp jaw-103;

[0072] Rotary clamp jaw-100; Fixed seat-101; Rotary motor-102; Pneumatic clamp jaw-103;

[0073] ​Pipe positioning system-200; housing-201; rotary drive mechanism-202; shutter-203; first visual positioning system-210; first acquisition module-211; alignment angle processing module-212; alignment angle judgment module-213; first judgment submodule-2131; second judgment submodule-2132; third judgment submodule-2133; first transmission module-214; second visual positioning system-220; second acquisition module-221; second transmission module-222; image processing module-223; control system-230; third transmission module-231; first control module-232; second control module-233; positioning success signal transmission module-234; third control module-235; preliminary screening module-240; pipe end face contour processing module-241; pipe end face shape processing module-242;

[0074] Support device-300; support ring-310; first support block-320; bottom block-321; vertical block-322; first strip-shaped hole-323; second strip-shaped hole-324; second support block-330; first mounting hole-331; second mounting hole-332; third support block-340; third strip-shaped hole-341; first side abutting block-351; second side abutting block-352; first upper abutting block-353; first lower abutting block-354; second upper abutting block-355; second lower abutting block-356; first protruding block-357; second protruding block-358; fourth mounting hole-35a; first through hole-35b; fifth mounting hole-35c; second through hole-35d; sixth mounting hole-35e; third through hole-35f;

[0075] Cutter-410. DETAILED DESCRIPTION

[0076] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions will be described below in conjunction with specific embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0077] It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element.

[0078] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application.

[0079] Referring to Figure 1 The pipe cutting system of the present application is described in the following with a pipe structure as shown in Figure 1 It should be understood that the pipe structure as shown in Figure 1 is only used as an example to facilitate a more clear description of the pipe cutting system of the present application and is not intended to limit the practical range of the pipe cutting system of the present application. In different embodiments, the pipe cutting system can be used to process pipes with different cross-sectional shapes according to different requirements. The cross-sectional shape of the pipe A in the present embodiment is "D" shaped, which has an arc surface A1 and a flat surface A2. A cutting reference mark A21 is provided on the flat surface A2. The pipe cutting system is used to cut holes in the flat surface A2 of the pipe A. The hole cutting process is a prior art and will not be described here.

[0080] Referring to Figure 2 The pipe cutting system of the present application includes a rotating clamp jaw 100 for clamping one end of the pipe A, a support device 300 for supporting the pipe A, a pipe positioning system 200 for positioning the pipe A mounted on the rotating clamp jaw 100 and the support device 300, and a pipe cutting device for cutting the positioned pipe A according to a predetermined trajectory. The pipe cutting device includes a mechanical arm (the same as or similar to the existing pipe cutting device, so it is not shown in the figure) and a cutting knife 410 provided on the mechanical arm. The mechanical arm can be a three-axis module or a mechanical hand. The pipe positioning system 200 is used to position the flat surface A2 of the above-mentioned "D" shaped pipe A towards the cutting knife 410. In the present embodiment, the cutting knife 410 is located above the pipe A, so that when the pipe A is positioned, the flat surface A2 of the pipe A is upward and horizontal. The pipe cutting device can use any existing device that can cut holes in the pipe A, which will not be described here.

[0081] The rotating clamp jaw 100 includes a fixed seat 101 erected on a mounting platform, a rotating motor 102 provided on one side of the fixed seat 101, and a pneumatic clamp jaw 103 for clamping one end of the pipe A connected with the output shaft of the rotating motor 102. The rotating motor 102 is horizontally provided on one side of the fixed seat 101 to drive the pneumatic clamp jaw 103 to rotate vertically.

[0082] The support device 300 is arranged on the mounting platform, and the support device 300 is arranged opposite to the pneumatic clamp jaw 103 for supporting the middle section or the other end of the pipe A. The support device 300 comprises a support base arranged on the mounting platform and a support ring 310 arranged on the upper end of the support base, and the support base can adjust the XYZ direction position of the support ring 310, so that the support ring 310 is aligned with the pneumatic clamp jaw 103, that is, the support ring 310, the pneumatic clamp jaw 103 and the pipe A are all on the same axis, so as to adapt to different models of pipes.

[0083] Please refer to Figure 3 and Figure 4 In the embodiment, the support base comprises a first support block 320 capable of moving along the length direction (X direction) of the pipe A, a second support block 330 arranged on the first support block 320 and capable of moving along the width direction (Y direction) perpendicular to the length direction of the pipe A, and a third support block 340 arranged on the second support block 330 and capable of moving along the vertical direction (Z direction), and the support ring 310 is arranged on the upper end of the third support block 340.

[0084] The first support block 320 is arranged on the support platform and can adjust the X direction position, and the first support block 320 comprises a bottom block 321 and a vertical block 322 vertically arranged on the bottom block 321, and the bottom block 321 is provided with a first slot 323 consistent with the length direction of the pipe A, and the support platform is formed with a screw hole corresponding to the position of the first slot 323. When the first support block 320 is installed, the first mounting screw is screwed into the screw hole after passing through the first slot 323; when the first support block 320 is adjusted, the first mounting screw needs to be loosened to move the position of the first support block 320 along the X direction, and after moving to the position, the first mounting screw is locked in the screw hole again.

[0085] The upright block 322 is provided with a second strip-shaped hole 324 in the width direction (Y direction) perpendicular to the length direction, and the second support block 330 is provided with a first mounting hole 331 corresponding to the second strip-shaped hole 324. When the second support block 330 is installed, the second support block 330 is attached to the upright block 322, and the first mounting hole 331 is aligned with the second strip-shaped hole 324, and then the second mounting bolt is locked in the first mounting hole 331 after passing through the second strip-shaped hole 324; when the second support block 330 is adjusted, the second mounting bolt needs to be loosened to move the position of the second support block 330 in the Y direction, and then the second mounting bolt is locked on the upright block 322 after the second support block 330 is moved to the position. The second support block 330 is also provided with a second mounting hole 332 for mounting the third support block 340; the third support block 340 is provided with a third strip-shaped hole 341 corresponding to the position of the second mounting hole 332 in the vertical direction (height direction, Z direction). When the third support block 340 is installed, the third mounting bolt is locked in the second mounting hole 332 after passing through the third strip-shaped hole 341; when the third support block 340 is adjusted, the third mounting bolt needs to be loosened to move the position of the third support block 340 in the Z direction, and then the third mounting bolt is locked on the second support block 330 after the third support block 340 is moved to the position.

[0086] In order to save manpower and reduce the adjustment difficulty, the support device 300 further comprises an adjustment and reinforcement mechanism capable of adjusting and reinforcing the position of the third support block 340, the adjustment and reinforcement mechanism comprising a first side block 351 and a second side block 352 arranged on both sides of the upright block 322 in the transverse direction (Y direction), a first upper block 353 and a first lower block 354 arranged on one side of the second support block 330 in the transverse direction (Y direction), a second upper block 355 and a second lower block 356 arranged on the other side of the second support block 330 in the transverse direction (Y direction), and a first protruding block 357 and a second protruding block 358 arranged on both sides of the third support block 340 corresponding to the positions of the first side block 351 and the second side block 352.

[0087] The first side abutting block 351 and the second side abutting block 352 protrude towards the third support block 340 and are located on the outer convex surfaces of the first convex block 357 and the second convex block 358. The width between the first side abutting block 351 and the second side abutting block 352 (i.e. the distance between the inner side surface of the first side abutting block 351 and the inner side surface of the second side abutting block 352) is greater than the distance between the outer convex surface of the first convex block 357 and the outer convex surface of the second convex block 358. The first side abutting block 351 and the second side abutting block 352 are provided with fourth mounting holes 35a which are detachably connected with the two lateral sides of the vertical block 322, and are also provided with first through holes 35b (which can be screw holes) through which corresponding first abutting pins pass. The first abutting pins are abutted against the outer convex surfaces of the corresponding convex blocks after passing through the corresponding first through holes 35b from outside to inside. In this embodiment, the width of the third strip-shaped hole 341 is greater than the diameter of the second mounting hole 332.

[0088] The first upper abutting block 353 and the second upper abutting block 355 are located at the same height, and the width between the first upper abutting block 353 and the second upper abutting block 355 is greater than the width of the third support block 340. The first upper abutting block 353 and the second upper abutting block 355 are provided with fifth mounting holes 35c which are detachably connected with the second support block 330, and are also provided with vertically penetrating second through holes 35d (which can be screw holes) through which corresponding second abutting pins pass. The second abutting pins are abutted against the upper surfaces of the corresponding convex blocks after passing through the corresponding second through holes 35d from top to bottom.

[0089] The first lower abutting block 354 and the second lower abutting block 356 are located at the same height, and the width between the first lower abutting block 354 and the second lower abutting block 356 is greater than the width of the third support block 340. The first lower abutting block 354 and the second lower abutting block 356 are provided with sixth mounting holes 35e which are detachably connected with the second support block 330, and are also provided with vertically penetrating third through holes 35f (which can be screw holes) through which corresponding third abutting pins pass. The third abutting pins are abutted against the lower surfaces of the corresponding convex blocks after passing through the corresponding third through holes 35f from bottom to top.

[0090] It should be understood that the XYZ adjustment mode of the support ring 310 is not limited to the above mechanical adjustment mode, which makes the support ring 310 have better support strength and stability. In some embodiments, the support seat can also be moved and positioned along the XYZ direction by using an electric drive mode, so as to adjust the position of the support ring 310 in the XYZ direction. For example, a three-axis module is arranged on the mounting platform, and the support device 300 is mounted on the three-axis module. When the support ring 310 needs to be moved, a moving instruction is sent to the three-axis module, and the moving direction and moving distance in the moving instruction are parameters. When the support device 300 moves in the XYZ direction by electric drive, it can be electrically connected with the control system in the pipe positioning system 200 described below.

[0091] Please refer to Figures 5 to 8 , which is a block diagram of the first embodiment of the pipe positioning system of the present application. The pipe positioning system 200 is used to position the pipe A after the pipe A is mounted on the rotating clamp 100. The pipe positioning system 200 of the present embodiment includes a first visual positioning system 210, a second visual positioning system 220, and a control system 230. The first visual positioning system 210 includes a first acquisition module 211, a righting angle processing module 212, a righting angle judgment module 213, and a first transmission module 214. The second visual positioning system 220 includes a second acquisition module 221 and a second transmission module 222. The control system 230 includes a third transmission module 231, a first control module 232, a second control module 233, a positioning success signal transmission module 234, and a third control module 235.

[0092] The first acquisition module 211 can be a CCD image acquisition module (such as a CCD camera). The first acquisition module 211 is arranged on the operation platform at a position outside the other end side of the pipe A, and the support device 300 is located between the first acquisition module 211 and the rotating clamp 100. Please continue to refer to Figure 2The first acquisition module 211 is installed on the operation platform through a shell 201, and the shell 201 is arranged outside the pipe A at a side away from the rotating clamp jaw 100. An acquisition window is formed on the shell 201 at a position aligned with the pipe A, and the first acquisition module 211 is arranged in the shell 201 and acquires an end face image of an end of the pipe A away from the rotating clamp jaw 100 through the acquisition window. A rotating driving mechanism 202 electrically connected with the control system 230 is arranged on one side of the shell 201, and an output shaft of the rotating driving mechanism 202 faces the rotating clamp jaw 100. The output shaft of the rotating driving mechanism 202 is connected with a shutter 203, and the shutter 203 rotates to close and open the acquisition window under the driving of the rotating driving mechanism 202. In this embodiment, after the pipe A is arranged on the support ring 310 and the pneumatic clamp jaw 103, a user can send a pipe positioning instruction through a control button, the control system 230 controls the rotating driving mechanism 202 to rotate to the corresponding direction to open the acquisition window after receiving the pipe positioning instruction, and feeds back a corresponding signal to the control system 230 after the rotating driving mechanism 202 rotates to the corresponding direction, and the control system 230 controls the first acquisition module 211 to acquire the end face image of the pipe A according to the feedback signal. After the first acquisition module 211 acquires the end face image, the acquired end face image is transmitted to the angle correction processing module 212.

[0093] The angle correction processing module 212, the angle correction judgment module 213, the first transmission module 214 and the control system 230 can be built in the control machine, the upper computer or the personal computer independent of the pipe cutting system in the form of programs or software. These device units communicate with the first acquisition module 211 through wired or wireless communication to transmit the acquired image data. For example, in some embodiments, the angle correction processing module 212, the angle correction judgment module 213 and the first transmission module 214 are arranged in the personal computer, and the control system 230 is arranged in the control device of the pipe cutting system or the pipe positioning system 200. For another example, in some embodiments, the angle correction processing module 212, the angle correction judgment module 213, the first transmission module 214 and the control system 230 are all arranged in the upper computer.

[0094] The aligning angle processing module 212 is configured to obtain the aligning angle of the pipe A according to the end face image. In this embodiment, the aligning angle of the pipe A refers to the linear angle of the plane A2 of the D-shaped pipe A, that is, the included angle between the plane A2 of the D-shaped pipe A and the horizontal plane. Since the cutter 410 of the pipe cutting device is located directly above the D-shaped pipe A, the plane A2 of the D-shaped pipe A needs to be upward and infinitely close to the horizontal plane to ensure accurate hole cutting. The aligning angle processing module 212 includes a reference plane setting sub-module, a pipe plane extending sub-module, and an included angle obtaining sub-module. Please refer to Figure 11 The reference plane setting sub-module is configured to set a horizontal plane as a reference plane. The pipe plane extending sub-module is configured to infinitely extend the plane A2 in the collected end face image until it intersects with the reference plane. The included angle obtaining sub-module is configured to obtain the included angle between the plane A2 and the reference plane.

[0095] The aligning angle judgment module 213 is configured to judge whether the aligning angle meets the requirements. Specifically, the aligning angle judgment module 213 is configured to compare the included angle obtained by the included angle obtaining sub-module with a preset aligning angle threshold value to determine whether the aligning angle meets the requirements. If the aligning angle meets the aligning angle threshold value, it is considered that the aligning angle meets the requirements. If the aligning angle does not meet the aligning angle threshold value, it is considered that the aligning angle does not meet the requirements. The aligning angle threshold value can be a value close to 0 degrees, for example, 0.05 degrees, 0.04 degrees, etc. The smaller the threshold value is, the closer the plane A2 is to the horizontal plane.

[0096] The first transmission module 214 is configured to send a first signal to the control system 230 when the aligning angle judgment module 213 judges that the aligning angle does not meet the requirements. The first signal is a signal indicating that the D-shaped pipe A needs to be rotated. The first transmission module 214 is also configured to send a second signal to the control system 230 when the aligning angle meets the requirements. The second signal is a signal indicating that the D-shaped pipe A does not need to be rotated.

[0097] The second acquisition module 221 of the second visual positioning system 220 is the same as or similar to the first acquisition module 211, and can be a CCD camera. The second acquisition module 221 and the cutter 410 are both mounted on the same mounting seat or mounting plate, and can move in XYZ three axes under the driving of the mechanical arm. The second acquisition module 221 is configured to acquire a cutting reference mark A21 preset on the surface of the pipe A. The cutting reference mark A21 can be any shaped hole or pattern marked on the plane A2 of the D-shaped pipe A. The hole or pattern can be arranged at a position overlapping with a cutting position on the plane A2 of the D-shaped pipe A, so as to serve as the acquisition mark of the second visual positioning system 220 without damaging the pipe A. The end face image serves as the first positioning of the D-shaped pipe A, and is configured to adjust the angle of the D-shaped pipe A (pipe circumferential positioning). The cutting reference mark A21 serves as the second positioning of the D-shaped pipe A (pipe X-axis positioning), and is configured to position the cutting reference of the D-shaped pipe A to meet the requirements. The two visual positionings ensure that the position of the pipe A always meets the dimensional tolerance requirements.

[0098] The second transmission module 222 is configured to send a third signal to the control system 230 after the second visual positioning system 220 acquires the cutting reference mark A21. The third signal is a cutting reference acquisition OK signal. In this embodiment, the acquisition of the cutting reference mark A21 refers to the complete acquisition of the cutting reference mark A21. If the second acquisition module 221 only acquires part of the cutting reference mark A21, it is not considered that the cutting reference mark A21 is acquired. For example, when the cutting reference mark A21 is a circular hole, if the area acquired by the second acquisition module 221 is exactly the circular hole, and there is no other area image, it is considered that the cutting reference mark A21 is completely acquired. If the area acquired by the second acquisition module 221 is a semicircular image or there is other area image besides the circular area, it is considered that the cutting reference mark A21 is not completely acquired, and the second acquisition module 221 needs to be moved in X, Y and / or Z directions until the cutting reference mark A21 is completely acquired.

[0099] The third transmission module 231 of the controller is configured to receive the first signal, the second signal and the third signal. The first control module 232 is configured to control the rotating gripper 100 to rotate by a corresponding angle to make the pipe A to be positioned at a required angle after receiving the first signal. The second control module 233 is configured to control the second acquisition module 221 to acquire the cutting reference mark A21 on the surface of the pipe A after receiving the second signal. That is, the second acquisition module 221 acquires the cutting reference mark A21 after the pipe A is positioned and after receiving the control signal of the second control module 233. The positioning success signal transmission module 234 is configured to transmit a positioning success signal after receiving the third signal. The positioning success signal transmission module 234 can transmit a broadcast signal to a display unit and / or a sound output unit, and can also transmit the positioning success signal to the third control module 235. The third control module 235 is configured to send a cutting signal to a pipe cutting device according to the positioning success signal, so that the cutting knife 410 of the pipe cutting device cuts the pipe A according to a predetermined trajectory.

[0100] The pipe positioning system 200 of the embodiment first positions the pipe by the end face image to accurately position the pipe from the outer peripheral angle, so that the plane A2 (to-be-processed cutting surface) of the pipe is aligned with the cutting knife 410 and the second acquisition module 221. Then, the second acquisition module 221 installed at the same installation position as the cutting knife 410 is moved, and the cutting reference mark A21 on the plane A2 is acquired by the second acquisition module 221 for cutting positioning. When the positioning is successful, the control system 230 sends a cutting signal to the pipe cutting device, so that the pipe cutting device automatically cuts according to the cutting signal. The whole positioning and cutting process is automated and streamlined, and does not need manual intervention. The complexity of the traditional mechanical positioning is simplified, the degree of manual intervention is reduced, the problem that the position tolerance caused by the mechanical positioning cannot meet the requirements is solved, the accuracy of pipe positioning is improved, the positioning and cutting efficiency is improved, and the product yield is improved.

[0101] Please refer to Figure 9 , Figure 9is a block diagram of a second visual positioning system in a second embodiment of a pipe positioning system of the present application. The pipe positioning system of the present application comprises a first visual positioning system, a second visual positioning system and a control system, which are the same as or similar to the first embodiment in structure or function. The first visual positioning system comprises a first acquisition module, a righting angle processing module, a righting angle judging module and a first transmission module, which are the same as or similar to the first embodiment in structure or function. The second visual positioning system comprises a second acquisition module and a second transmission module, which are the same as or similar to the first embodiment in structure or function. The control system comprises a third transmission module, a first control module, a second control module, a positioning success signal transmission module and a third control module, which are the same as or similar to the first embodiment in structure or function. The pipe positioning system of the present application is different from the pipe positioning system of the first embodiment in that:

[0102] The second visual positioning system further comprises an image processing module 223 in communication connection with the second acquisition module. The image processing module 223 is used to compare the image collected by the second acquisition module with the pre-stored reference image of the cutting reference mark A21 for comparison processing to obtain the similarity of the collected image and the reference image. If the similarity is greater than or equal to a preset threshold, it is considered that the image collected by the second acquisition module 221 is the cutting reference mark A21. If the similarity is less than the preset threshold, it is considered that the second acquisition module 221 does not collect the cutting reference mark A21.

[0103] The pipe cutting system pre-stores the coordinate position of the image reference mark corresponding to the pipe on the pipe. When the second control module of the control system controls the second acquisition module to collect the cutting reference mark A21, the mechanical arm moves the second acquisition module to the corresponding coordinate position, and then according to the comparison processing of the image processing module 223 between the collected image and the pre-stored reference image, the accurate cutting reference meeting the position tolerance requirement is finally obtained, and the pipe cutting device is ensured to cut the pipe accurately.

[0104] Please refer to Figure 10 , Figure 10is a block diagram of the angle adjustment judgment module in the third embodiment of the pipe positioning system. The pipe positioning system in this embodiment comprises a first visual positioning system, a second visual positioning system and a control system which are the same as or similar to those in the first embodiment. The first visual positioning system comprises a first acquisition module, an angle adjustment processing module, an angle adjustment judgment module and a first transmission module which are the same as or similar to those in the first embodiment. The second visual positioning system comprises a second acquisition module and a second transmission module which are the same as or similar to those in the first embodiment. The control system comprises a third transmission module, a first control module, a second control module, a positioning success signal transmission module and a third control module which are the same as or similar to those in the first embodiment. The pipe positioning system in this embodiment is different from the pipe positioning system in the first embodiment in that:

[0105] The angle adjustment judgment module comprises a first judgment submodule 2131, a second judgment submodule 2132 and a third judgment submodule 2133. The first signal in this embodiment comprises a forward rotation signal and a reverse rotation signal.

[0106] Please refer to Figure 11 and Figure 12 The first judgment submodule 2131 is configured to judge whether the included angle α is less than 90 degrees. The second judgment submodule 2132 is configured to, when the first judgment submodule 2131 judges that the included angle α is less than 90 degrees, judge whether the included angle α is less than the angle adjustment threshold value. If yes, it is considered that the angle adjustment meets the requirement. If no, it is considered that the angle adjustment does not meet the requirement. The third judgment submodule 2133 is configured to, when the first judgment submodule 2131 judges that the included angle α is greater than 90 degrees, judge whether the absolute value of the difference between the included angle α and 180 degrees is less than the angle adjustment threshold value. If yes, it is considered that the angle adjustment meets the requirement. If no, it is considered that the angle adjustment does not meet the requirement.

[0107] In this embodiment, the first transmission module is further configured to, when the second judgment submodule 2132 judges that the included angle α is greater than the angle adjustment threshold value, send a forward rotation signal to the control system 230; and further configured to, when the third judgment submodule 2133 judges that the absolute value of the difference between the included angle α and 180 degrees is greater than the angle adjustment threshold value, send a reverse rotation signal to the control system. The first control module is further configured to control the rotating clamp jaw 100 to rotate forward or reverse by a corresponding angle according to the forward rotation signal or the reverse rotation signal.

[0108] The pipe positioning system of the embodiment can identify the inclined direction of the D-shaped pipe through 0 degree and 180 degree, and can set the corresponding judging mode and the inclined angle according to the inclined direction, so that the forward / reverse direction and the rotation angle of the rotating clamp 100 can be accurately obtained, and the plane A2 of the D-shaped pipe can be accurately adjusted.

[0109] Please refer to Figure 13 , Figure 13 is a block diagram of the fourth embodiment of the pipe positioning system of the present application. The pipe positioning system of the embodiment is different from the first embodiment, the second embodiment or the third embodiment in that the pipe positioning system further comprises a preliminary screening module 240, the preliminary screening module 240 is used for preliminarily screening all pipes in the current batch, and the preliminary screening module 240 comprises a pipe end face contour processing module 241 and optionally comprises a pipe end face shape processing module 242.

[0110] The pipe end face contour processing module 241 comprises an end face contour comparison sub-module and an end face contour similarity judgment sub-module. The end face contour comparison sub-module is used for comparing the contour edge of the end face image of the pipe collected by the first collecting module with the contour of the standard end face image of the corresponding pipe stored in advance to obtain a contour similarity value. The end face contour similarity judgment sub-module is used for judging whether the contour similarity value is greater than or equal to a preset contour similarity threshold value. If the contour similarity value is greater than or equal to the preset contour similarity threshold value, it is considered that the pipe corresponding to the end face image collected by the first collecting module meets the requirements (i.e. the pipe is the pipe to be processed in the current batch). If the contour similarity value is less than the preset contour similarity threshold value, it is considered that the pipe corresponding to the end face image collected by the first collecting module does not meet the requirements (i.e. the pipe is not the pipe to be processed in the current batch).

[0111] The pipe end face shape processing module 242 comprises an end face shape comparison sub-module and an end face shape similarity judgment sub-module. The end face shape comparison sub-module is used for comparing the shape of the received pipe end face image with the shape of the pre-stored standard end face image. If the end face image collected by the first collection module has a shape (such as a pipe wall end face with a break point, a pimple, a burr, a defect, etc.) that does not appear in the pre-stored standard end face image, the shape similarity value is obtained according to the size and proportion of the shape. The end face shape similarity judgment sub-module is used for judging whether the shape similarity value is greater than or equal to the pre-set shape similarity threshold value. If yes, it is considered that the pipe corresponding to the end face image collected by the first collection module meets the requirements. If no, it is considered that the pipe corresponding to the end face image collected by the first collection module does not meet the requirements. When the corresponding pipe does not meet the requirements, the current pipe preliminary screening process ends, and the next time the pipe is installed, the next preliminary screening process starts to be executed, and this is repeated until the preliminary screening of the current batch of pipes ends.

[0112] Compared with the above embodiment, the pipe positioning system has the following effects: being suitable for the contour and similarity preliminary screening of a batch of multiple pipes. That is, after each pipe is installed on the rotating clamp jaw 100 in turn, only the preliminary screening module 240 in the first visual positioning system needs to be started to detect the contour and similarity of the pipe through the pipe end face contour processing module 241 and the pipe end face shape processing module 242. After the end face contour and end face shape of the current pipe meet the requirements, the current pipe is removed to detect the end face contour and end face shape of the next pipe. In this way, all the pipes in the current batch can be preliminarily screened at one time, the pipes that do not meet the requirements are removed, and all the pipes that meet the requirements are left for subsequent positioning and cutting. In this way, the first visual positioning system is additionally provided with an independent preliminary screening module 240. The preliminary screening module 240 can realize interaction with the user through the preliminary screening soft function button displayed in the display interface. The user issues a preliminary screening instruction by clicking the preliminary screening soft function button. The first visual positioning system can collect the end face shape of the pipe after receiving the preliminary screening instruction, thereby realizing subsequent contour and shape similarity processing. The advantage of this is that in subsequent positioning, since each pipe is a pipe that meets the requirements, and since the positioning and cutting process is an integral and automatic execution process, the production efficiency can be improved. In the positioning and cutting process of the entire batch of pipes, the shutter only needs to be opened and closed once, and the entire positioning and cutting process will not be interrupted, deadlocked or have a bug because a pipe does not meet the requirements.

[0113] In other embodiments, the pipe positioning system also includes a pipe end face contour processing module 241 and a pipe end face shape processing module 242. However, in this embodiment, the pipe end face contour processing module 241 and the pipe end face shape processing module 242 are not used for preliminary screening, i.e., after each pipe is installed on the rotating clamp jaw 100 and the support device, and the first acquisition module acquires the end face image of the pipe, the pipe end face contour processing module 241 and the pipe end face shape processing module 242 need to be executed once for end face contour similarity and end face shape similarity processing. That is, there is no need for preliminary screening in the same batch of pipes, and this scheme is suitable for pipes with high yield. In this mode, when the contour similarity and the end face shape similarity both meet the requirements, the righting angle processing module is triggered to make the righting angle processing module obtain the righting angle of the pipe according to the end face image acquired by the first acquisition module. This mode and the above-mentioned preliminary screening mode can be used as two parallel branches and are compatible in the pipe positioning system, or only one of them can be formed in the pipe positioning system. When they are compatible in the pipe positioning system, the preliminary screening soft function button and the pipe positioning / pipe cutting button displayed on the display interface can be used to interact with the user, and when the user clicks the preliminary screening soft function button to issue a preliminary screening instruction, the first visual positioning system receives the preliminary screening instruction, and the first acquisition module can acquire the end face shape of the pipe. The pipe end face contour processing module 241 and the pipe end face shape processing module 242 perform subsequent contour similarity and shape similarity processing to complete the preliminary screening of the pipe. When the user clicks the pipe positioning or pipe cutting button to issue a positioning or cutting instruction, the first visual positioning system receives the positioning or cutting instruction, and the first acquisition module can acquire the end face shape of the pipe. The face contour processing module and the pipe end face shape processing module 242 perform pipe end face contour similarity and shape similarity processing in turn, and when the pipe end face shape does not meet the requirements, the positioning or cutting process is ended, and when the pipe end face shape meets the requirements, the righting angle processing module obtains the righting angle of the pipe according to the end face image acquired by the first acquisition module. The subsequent execution process is described in the first embodiment, the second embodiment, or the third embodiment, which will not be described here.

[0114] Please refer to Figure 14 , Figure 14 is a flowchart of the pipe positioning method of the first embodiment of the present application. The pipe positioning method of this embodiment includes the following steps:

[0115] S201, in response to a pipe positioning instruction, acquiring an end face image of one end of the pipe away from the rotating clamp jaw 100;

[0116] In this step, the first acquisition module in any of the above embodiments is used to obtain the end face image of the pipe "D".

[0117] S202, obtaining the aligning angle of the pipe according to the end surface image;

[0118] When the first collecting module collects the end surface image, the end surface image is transmitted to the aligning angle processing module, and the aligning angle processing module processes the end surface image according to any of the above embodiments to obtain the aligning angle of the pipe.

[0119] Please refer to Figure 15 In an embodiment, the S202 obtains the aligning angle of the pipe through the following sub-steps:

[0120] S2021, setting a horizontal plane as a reference plane;

[0121] S2022, extending the plane in the collected end surface image until it intersects with the reference plane;

[0122] S2023, obtaining the included angle a between the plane and the reference plane.

[0123] S203, judging whether the aligning angle meets the requirement;

[0124] Please refer to Figure 16 In an embodiment, the S203 judges whether the aligning angle meets the requirement through the following sub-steps:

[0125] S2031, judging whether the included angle a is less than 90 degrees;

[0126] S2032, when the first judging sub-module judges that the included angle a is less than 90 degrees, judging whether the included angle a is less than the aligning angle threshold value, if it is less than, it is considered that the aligning angle meets the requirement, and the step S205 is entered; if it is greater than, it is considered that the aligning angle does not meet the requirement, and the step S204 is entered;

[0127] S2033, when the first judging sub-module judges that the included angle a is greater than 90 degrees, judging whether the absolute value of the difference between the included angle a and 180 degrees is less than the aligning angle threshold value, if it is less than, it is considered that the aligning angle meets the requirement, and the step S205 is entered; if it is greater than, it is considered that the aligning angle does not meet the requirement, and the step S204 is entered.

[0128] S204, when it is judged that the aligning angle does not meet the requirement, sending a first signal to the control system, so that the control system controls the rotating clamp jaw 100 to rotate a corresponding angle according to the first signal, so that the aligning angle of the pipe meets the requirement;

[0129] Continuing with the above embodiment for illustration, in one embodiment, the first signal includes a forward rotation signal and a reverse rotation signal, when the S2032 step enters the S204 step, the first signal sent is the forward rotation signal, and the control system controls the pipe to rotate forward by a predetermined angle according to the forward rotation signal; when the S2033 step enters the S204 step, the first signal sent is the reverse rotation signal, and the control system controls the pipe to rotate reverse by a predetermined angle according to the reverse rotation signal.

[0130] S205, when it is judged that the swing angle meets the requirement, a cutting reference mark on the pipe surface is collected;

[0131] S206, when the cutting reference mark on the pipe surface is collected, the pipe positioning is considered successful.

[0132] Please refer to Figure 17 , Figure 17 is a flow chart of the second embodiment of the pipe positioning method of the present application. The pipe positioning method of the present embodiment includes the following steps:

[0133] S210, in response to a pipe positioning instruction, an end surface image of one end of the pipe away from the rotating clamp jaw 100 is collected;

[0134] S220, an end surface contour edge of the pipe and an end surface shape of the pipe are obtained through processing of the collected end surface image;

[0135] S230, the contour edge is compared with a contour of a standard end surface image of the corresponding pipe stored in advance, so as to obtain a contour similarity value;

[0136] S240, it is judged whether the contour similarity value is greater than or equal to a preset contour similarity threshold value; if yes, the S250 step is entered, and if no, the flow is ended and the next pipe positioning instruction is waited for;

[0137] S250, the shape of the end surface image of the pipe is compared with the shape of the standard end surface image stored in advance, so as to obtain a shape similarity value; the S250 step and the S230 step are interchangeable, that is, the shape comparison is performed first and then the contour comparison is performed.

[0138] S260, it is judged whether the shape similarity value is greater than or equal to a preset shape similarity threshold value; if yes, the S270 step is entered, and if no, the flow is ended and the next pipe positioning instruction is waited for;

[0139] S270, a swing angle of the pipe is obtained according to the end surface image;

[0140] S280, it is judged whether the swing angle meets the requirement;

[0141] S290, when it is judged that the alignment angle does not meet the requirement, a first signal is sent to the control system to make the control system control the rotating jaw to rotate a corresponding angle according to the first signal, so that the alignment angle of the pipe meets the requirement;

[0142] S291, when it is judged that the alignment angle meets the requirement, a cutting reference mark on the surface of the pipe is collected;

[0143] S292, when the cutting reference mark on the surface of the pipe is collected, it is considered that the pipe positioning is successful.

[0144] The pipe positioning method of the embodiment can make preliminary judgment through the pipe contour and the similarity, and exclude the defective products, the residual products, the defective products or the pipes of other batches, so as to guarantee the correctness of subsequent pipe processing. The pipe positioning method can solve the processing error problem caused by the wrong pipe to be processed or the defective pipe itself, and improve the processing efficiency and the processing yield.

[0145] Please refer to Figure 18 , Figure 18 is a flow chart of the third embodiment of the pipe positioning method. The pipe positioning method of the embodiment includes the following steps:

[0146] S210', receiving a user instruction;

[0147] S220', analyzing the user instruction to obtain an instruction type, the instruction type including a pipe preliminary screening instruction and a pipe positioning instruction;

[0148] S230', in response to the user instruction, collecting an end surface image of one end of the pipe away from the rotating jaw 100;

[0149] S240', processing the collected end surface image to obtain an end surface contour edge of the pipe and an end surface shape of the pipe;

[0150] S250', comparing the contour edge with a contour of a standard end surface image of a corresponding pipe stored in advance, so as to obtain a contour similarity value;

[0151] S260', judging whether the contour similarity value is greater than or equal to a preset contour similarity threshold value; if yes, entering S270'; if no, entering S290';

[0152] S270', comparing the shape of the end surface image of the pipe with a shape of a standard end surface image stored in advance, so as to obtain a shape similarity value;

[0153] S280', determining whether the shape similarity value is greater than or equal to a preset shape similarity threshold value, if greater than or equal to, turning to step S291', if less than, entering S290';

[0154] S290', considering that the pipe does not meet the requirements, ending the process, and waiting for the next user instruction;

[0155] In this step, the sound and / or light can be prompted that the pipe does not meet the requirements, for example, an NG prompt is sent.

[0156] S291', determining whether the user instruction type of the current process execution is a preliminary screening instruction or a pipe positioning instruction, if it is a pipe preliminary screening instruction, entering step S292'; if it is a pipe positioning instruction, turning to step S293';

[0157] S292', if it is a pipe preliminary screening instruction, considering that the current pipe preliminary screening passes, ending the current process, and waiting for the next user instruction (the next pipe preliminary screening);

[0158] In this step, the sound and / or light can be prompted that the pipe meets the requirements, for example, an OK prompt is sent.

[0159] S293', if it is a pipe positioning instruction, obtaining the righting angle of the pipe according to the end face image;

[0160] S294', determining whether the righting angle meets the requirements;

[0161] S295', when it is determined that the righting angle does not meet the requirements, sending a first signal to the control system, so that the control system controls the rotating clamp to rotate a corresponding angle according to the first signal, so that the righting angle of the pipe meets the requirements;

[0162] S296', when it is determined that the righting angle meets the requirements, collecting the cutting reference mark on the surface of the pipe;

[0163] S297', after collecting the cutting reference mark on the surface of the pipe, considering that the pipe positioning is successful.

[0164] Compared with the second embodiment, the pipe positioning method of the present embodiment has the following effects: two parallel processing approaches are provided, and the user can select to preliminarily screen the pipes of the same batch or directly perform contour and similarity processing on the image collected by the first collecting module after each pipe is installed, so that the pipes meeting the requirements directly enter the pipe positioning and cutting process, and the current pipe not meeting the requirements directly ends the process and does not enter the positioning process. The pipe positioning system and the pipe cutting system of the present application are more functional, more in line with user needs, improve the pipe processing efficiency, and improve the user satisfaction.

[0165] Referring to Figure 19 , Figure 19 is a flow chart of an embodiment of the pipe cutting method of the present application. The pipe cutting method of the embodiment utilizes the pipe cutting system of the above embodiment to install, position and cut the pipe, and comprises the following steps:

[0166] S100, pipe installation, comprising the following sub-steps:

[0167] S101, passing one end of the pipe through the support ring 310 of the support device 300 to be close to the rotating clamp jaw 100, and making the surface to be processed of the pipe face the cutter 410;

[0168] S102, adjusting the XYZ position of the support ring 310 to align the pipe with the rotating clamp jaw 100;

[0169] This step can refer to the description of the support device 300 part in the above embodiment, which will not be repeated here.

[0170] S103, clamping one end of the pipe by the rotating clamp jaw 100;

[0171] S200, pipe positioning: positioning the pipe installed on the rotating clamp jaw 100 by referring to the pipe positioning method of any of the above embodiments;

[0172] S300, pipe cutting: making the mechanical arm drive the cutter 410 to cut the pipe according to the predetermined trajectory.

[0173] The pipe cutting method of the present application, after the pipe is installed on the rotating clamp jaw 100, the user can execute the positioning and cutting process of each pipe by one key, without human intervention in the middle, improving the overall process of the pipe cutting system, improving the degree of automation, making the pipe cutting system more intelligent, and the positioning more accurate, and thus making the pipe cutting more accurate, improving the product yield.

[0174] The above embodiments only express the preferred embodiments of the present application, which are described in detail and specifically, but cannot be understood as limiting the scope of the patent. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A pipe positioning system for positioning a pipe after it has been mounted on a rotating jaw, characterized in that: The first visual positioning system, the second visual positioning system, and a control system are included. The first visual positioning system includes: a first acquisition module configured to acquire an end face image of the pipe; a righting angle processing module configured to obtain a righting angle of the pipe according to the end face image; a righting angle judging module configured to judge whether the righting angle meets a requirement; and a first transmission module configured to send a first signal to the control system when the righting angle does not meet the requirement, and configured to send a second signal to the control system when the righting angle meets the requirement. The second visual positioning system includes: a second acquisition module configured to acquire a cutting reference mark preset on a surface of the pipe; and a second transmission module configured to send a third signal to the control system after the second visual positioning system acquires the cutting reference mark. The control system includes: a third transmission module configured to receive the first signal and the second signal from the first transmission module, and to receive the third signal from the second transmission module; a first control module configured to control the rotating jaw to rotate a corresponding angle to make the righting angle of the pipe meet the requirement after receiving the first signal; a second control module configured to control the second acquisition module to acquire the cutting reference mark on the surface of the pipe after receiving the second signal; and a positioning success signal transmission module configured to transmit a positioning success signal after receiving the third signal. The pipe has a cutting face, which is a plane; the righting angle processing module includes: a reference plane setting submodule configured to set a horizontal plane as a reference plane; a pipe plane extension submodule configured to infinitely extend the plane in the acquired end face image until the plane intersects with the reference plane; and an included angle obtaining submodule configured to obtain an included angle between the plane and the reference plane. The righting angle judging module is further configured to compare the included angle obtained by the included angle obtaining submodule with a preset righting angle threshold value, and if the included angle meets the righting angle threshold value, the righting angle is considered to meet the requirement, and if the included angle does not meet the righting angle threshold value, the righting angle is considered to not meet the requirement.

2. The pipe positioning system of claim 1, wherein: The control system further includes a third control module configured to send a cutting signal to a pipe cutting device according to the positioning success signal, so that a cutting tool of the pipe cutting device cuts the pipe according to a predetermined trajectory.

3. The pipe positioning system of claim 1, wherein, The righting angle judging module includes: a first judging submodule configured to judge whether the included angle is less than 90 degrees; a second judging submodule configured to, when the first judging submodule judges that the included angle is less than 90 degrees, judge whether the included angle is less than the righting angle threshold value, and if the included angle is less than the righting angle threshold value, the righting angle is considered to meet the requirement, and if the included angle is greater than the righting angle threshold value, the righting angle is considered to not meet the requirement; and a third judging submodule configured to, when the first judging submodule judges that the included angle is greater than 90 degrees, judge whether an absolute value of a difference between the included angle and 180 degrees is less than the righting angle threshold value, and if the absolute value is less than the righting angle threshold value, the righting angle is considered to meet the requirement, and if the absolute value is greater than the righting angle threshold value, the righting angle is considered to not meet the requirement. The first signal comprises a forward rotation signal and a reverse rotation signal. The first transmission module is further configured to send a forward rotation signal to the control system when the second judging sub-module judges that the included angle is greater than the forward rotation angle threshold; and send a reverse rotation signal to the control system when the third judging sub-module judges that the absolute value of the difference between the included angle and 180 degrees is greater than the forward rotation angle threshold. The first control module is further configured to control the rotary clamp to rotate forward or reverse by a corresponding angle according to the forward rotation signal or the reverse rotation signal.

4. The pipe positioning system of any one of claims 1 to 3, wherein: The first visual positioning system further comprises a housing arranged on one end of the pipe away from the rotary clamp, a collection window is formed on the housing at a position aligned with the pipe, the first collection module is arranged in the housing and collects an end face image of the one end of the pipe away from the rotary clamp through the collection window, the first visual positioning system further comprises a rotary driving mechanism arranged on one side of the housing and having an output shaft directed toward the rotary clamp, and a shutter arranged on the output shaft of the rotary driving mechanism, the shutter can close and open the collection window under the driving of the rotary driving mechanism.

5. A pipe positioning method of the pipe positioning system according to any one of claims 1-4, comprising the following steps: S201, collecting an end face image of one end of the pipe away from the rotary clamp; S202, obtaining a forward rotation angle of the pipe according to the end face image; S203, judging whether the forward rotation angle meets the requirement; S204, when it is judged that the forward rotation angle does not meet the requirement, sending a first signal to the control system to control the rotary clamp to rotate by a corresponding angle according to the first signal, so that the forward rotation angle of the pipe meets the requirement; S205, when it is judged that the forward rotation angle meets the requirement, collecting a cutting reference mark on the surface of the pipe; S206, after the cutting reference mark on the surface of the pipe is collected, the pipe positioning is considered successful.

6. A pipe cutting system comprising a rotating clamp jaw for clamping one end of a pipe, a support device for supporting the pipe, a pipe positioning system for positioning the pipe mounted on the rotating clamp jaw and the support device, and a pipe cutting device for cutting the positioned pipe according to a predetermined trajectory, the pipe cutting device comprising a mechanical arm and a cutting knife provided on the mechanical arm, characterized in that: The pipe positioning system is the pipe positioning system according to any one of claims 1-4.

7. The pipe cutting system of claim 6, wherein: The support device comprises a support seat arranged between the first collection module and the rotary clamp, and a support ring arranged on the upper end of the support seat and located on the same axis as the rotary clamp and the pipe, the support seat comprises a first support block capable of moving along the length direction of the pipe, a second support block arranged on the first support block and capable of moving along the width direction perpendicular to the length direction of the pipe, and a third support block arranged on the second support block and capable of moving along the vertical direction, and the support ring is mounted on the upper end of the third support block.

8. The pipe cutting system of claim 7, wherein: The first support block comprises a bottom block and a vertical block vertically arranged on the bottom block, the bottom block is provided with a first strip-shaped hole consistent with the length direction of the pipe, and the vertical block is provided with a second strip-shaped hole consistent with the width direction perpendicular to the length direction; the second support block is provided with a first mounting hole corresponding to the second strip-shaped hole and a second mounting hole for mounting the third support block; the third support block is provided with a third strip-shaped hole consistent with the vertical direction at a position corresponding to the second mounting hole, and each strip-shaped hole and each mounting hole are detachably mounted through mounting bolts.

9. A pipe cutting method, the pipe cutting system of any one of claims 6 to 8 is used to install, position and cut the pipe, the pipe cutting method comprising the following steps: S100, pipe installation, comprising the following sub-steps: S101, passing one end of the pipe through the support ring of the support device to be close to the rotating clamp jaw, and making the pipe to be processed face the cutter; S102, adjusting the position of the support ring to align the pipe with the rotating clamp jaw; S103, clamping one end of the pipe by the rotating clamp jaw; S200, pipe positioning: positioning the pipe installed on the rotating clamp jaw according to the pipe positioning method of claim 5; S300, pipe cutting: driving the cutter by the mechanical arm to cut the pipe according to the predetermined trajectory.

Images