A method for picking up pipe fittings

Abstract

The present invention discloses a method for picking up pipe fittings. S1. Adjust the distance H between the scanning component and the top of the pipe fitting so that the distance H is equal to the response distance h of the scanning component; wherein, the response distance h is the distance between the scanning component and the reflecting surface, and the reflecting surface can reflect the emitted laser emitted by the first laser emitting unit of the scanning component to the first laser receiving unit of the scanning component for reception; S2. Control the scanning component to maintain the distance H from the top of the pipe fitting and perform moving scanning; when the scanning component does not generate a response signal, the position scanned by the scanning component is not the top position of the pipe fitting, and the scanning component continues to scan; when the scanning component generates a response signal, the position scanned by the scanning component is the top position of the pipe fitting, and the picking mechanism moves to this position to pick up the pipe fitting. The above solution can solve the problem that the glass tube cannot be accurately grasped during the current intubation process.

Description

Technical Field

[0001] The present invention relates to the technical field of control bottle production, and particularly relates to a method for picking up pipe fittings. Background Art

[0002] During the production process of control bottles, inserting tubes is an essential step. The process of inserting tubes should include: 1. Determining the position of the glass tube; 2. Grabbing the glass tube; 3. Moving the glass tube to the bottle-making station and inserting it. Since the glass tube has high transparency and it is not easy to determine its position, in the prior art, step 1 is often omitted and step 2 is directly carried out, that is, controlling the manipulator to tentatively grab the glass tube. If not grabbed, it means there is no glass tube at this position or this position is not the grabbing point of the glass tube. Then, control the manipulator to move a little distance along the arrangement direction of the glass tubes and grab again until the glass tube is grabbed. This method results in very low tube insertion efficiency and has a great impact on the subsequent production of control bottles. In addition, when grabbing stacked multi-layer pipe fittings, the tentative grabbing method may also cause mis-grabbing, that is, before the manipulator finishes grabbing all the top-layer glass tubes, it grabs the glass tubes of the next layer, which may cause the glass tubes to collapse and cause scratches on the glass tubes, thereby reducing the quality of the control bottles made of this glass tube. Summary of the Invention

[0003] The present invention discloses a method for picking up multi-layer stacked pipe fittings to solve the problem that the glass tube cannot be accurately grabbed during the current tube insertion process.

[0004] To solve the above problems, the present invention adopts the following technical solutions:

[0005] A method for picking up pipe fittings includes the following steps:

[0006] S1. Adjust the distance H between the tops of the pipe fittings so that the distance H is equal to the response distance h of the scanning component; wherein, the response distance h is the distance between the scanning component and the reflecting surface, and the reflecting surface can reflect the emitted laser beam emitted by the first laser emitting unit of the scanning component to the first laser receiving unit of the scanning component for receiving;

[0007] S2. Control the scanning component to always maintain the distance H from the tops of the pipe fittings and perform moving scanning; when the scanning component does not generate a response signal, the position scanned by the scanning component is not the top position of the pipe fittings, and the scanning component continues to scan; when the scanning component generates a response signal, the position scanned by the scanning component is the top position of the pipe fittings, and the picking mechanism moves to this position to pick up this pipe fitting.

[0008] Optionally, the emitted laser beam emitted by the first laser emitting unit and the reflected laser beam received by the first laser receiving unit are located in the same plane, and this plane is a plane parallel to the length direction of the pipe fitting.

[0009] Optionally, the material taking mechanism and the scanning assembly move synchronously, and the material taking center of the material taking mechanism is located in a different plane from the emitted laser beam emitted by the first laser emitting unit and the reflected laser beam received by the first laser unit.

[0010] Optionally, the material taking mechanism and the scanning assembly move synchronously, and the material taking center of the material taking mechanism is located in the same plane as the emitted laser beam emitted by the first laser emitting unit and the reflected laser beam received by the first laser receiving unit.

[0011] Optionally, the emitted laser beam emitted by the first laser emitting unit and the reflected laser beam received by the first laser receiving unit are located in the same plane, and this plane is a plane perpendicular to the length direction of the pipe fitting.

[0012] Optionally, the material taking mechanism moves synchronously with the scanning assembly, and the first laser emitting unit and the first laser receiving unit are respectively located at symmetric positions on both sides of the material taking mechanism.

[0013] Optionally, the material taking method for the pipe fitting is applied to the material taking of multiple stacked pipe fittings.

[0014] Optionally, the number of the scanning assemblies is at least two groups, and they are arranged along the length direction of the pipe fitting.

[0015] Optionally, it further includes: S0. A pipe fitting height detection assembly is arranged on the side of the pipe fitting, and the pipe fitting height detection assembly is controlled to move and scan along the height direction of the pipe fitting to determine the top height of the pipe fitting.

[0016] Optionally, the pipe fitting height detection assembly includes a second laser emitting unit and a second laser receiving unit. The second laser emitting unit and the second laser receiving unit are respectively located on both sides of the pipe fitting and are in a counter - shooting state.

[0017] The technical solution adopted by the present invention can achieve the following beneficial effects:

[0018] The method for picking up pipe fittings disclosed in the present invention comprises the following steps: S1. Adjust the distance H between the tops of the pipe fittings so that the distance H is equal to the response distance h of the scanning assembly; wherein, the response distance h is the distance between the scanning assembly and the reflecting surface, and the reflecting surface can reflect the emitted laser beam emitted by the first laser emitting unit of the scanning assembly to the first laser receiving unit of the scanning assembly for reception; S2. Control the scanning assembly to always maintain the distance H from the tops of the pipe fittings and perform moving scanning; when the scanning assembly does not generate a response signal, the position scanned by the scanning assembly is not the position of the tops of the pipe fittings, and the scanning assembly continues to scan; when the scanning assembly generates a response signal, the position scanned by the scanning assembly is the position of the tops of the pipe fittings, and the picking mechanism moves to this position to pick up the pipe fittings; thereby solving the problem that the glass tube cannot be accurately grasped during the current intubation process. Description of the Drawings

[0019] The drawings described herein are used to provide a further understanding of the present invention and form a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0020] Figure 1 Schematic diagram of the response distance h of the scanning assembly;

[0021] Figure 2 Schematic diagram of a setting method of the scanning assembly;

[0022] Figure 3 is Figure 2 left view of

[0023] Figure 4 Schematic diagram of scanning and picking up multiple vertically arranged pipe fittings

[0024] Figure 5 Schematic diagram of another setting method of the scanning assembly;

[0025] Figure 6 Schematic diagram of multiple layers of stacked pipe fittings;

[0026] Figure 7 Schematic diagram of the installation position of the scanning assembly;

[0027] Figure 8 Schematic diagram of the number and setting method of the scanning assembly.

[0028] Description of the reference numerals:

[0029] 100 - First laser emitting unit, 101 - Emitted laser beam, 200 - First laser receiving unit, 201 - Reflected laser beam, 300 - Reflective surface, 400 - Pipe fitting, 500 - Material taking mechanism, 501 - Material taking mechanism installation part, 502 - Extension part, 600 - Second laser emitting unit, 700 - Second laser receiving unit. Detailed implementation manners

[0030] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0031] The following will describe in detail the technical solutions disclosed in each embodiment of the present invention with reference to the drawings.

[0032] Please refer to Figures 1 to 6 As shown, an embodiment of the present invention discloses a method for taking materials of pipe fittings, which can be applied to taking materials of pipe fittings with different diameters on the same layer as shown in Figure 2 As shown, or can be applied to taking materials of stacked pipe fittings with the same diameter on multiple layers as shown in Figure 6 As shown, etc.; the application scenarios of this material taking method are not limited in this embodiment.

[0033] Among them, the disclosed method for taking materials of pipe fittings includes the following specific steps:

[0034] S1. Adjust the distance H between the scanning component and the top of the pipe fitting 400 so that the distance H is equal to the response distance h of the scanning component; wherein, the response distance h is the distance between the scanning component and the reflective surface 300, and the reflective surface 300 can reflect the emitted laser beam 101 emitted by the first laser emitting unit 100 of the scanning component to be received by the first laser receiving unit 200 of the scanning component.

[0035] As Figure 1 As shown, first set the response distance h of the scanning component, that is, set the distance h between the scanning component and the reflective surface 300 so that the emitted laser beam 101 emitted by the first laser emitting unit 100 of the scanning component can be received by the first laser receiving unit 200 of the scanning component after being reflected by the reflective surface 300; after setting the distance h between the scanning component and the reflective surface 300, as Figure 2 And Figure 3As shown, start to adjust the distance H between the scanning assembly and the top of the pipe fitting 400 so that the distance H is equal to the response distance h of the scanning assembly, so that the emitted laser beam 101 emitted by the first laser emitting unit 100 to the top of the pipe fitting 400 can be received by the first laser receiving unit 200. Among them, the pipe fitting 400 is the pipe fitting to be picked up, and the part of the pipe fitting 400 closest to the moving track surface of the scanning assembly is the top of the pipe fitting 400.

[0036] S2. Control the scanning assembly to always maintain the distance H from the top of the pipe fitting 400 and perform a moving scan; when the scanning assembly does not generate a response signal, the position scanned by the scanning assembly is not the top position of the pipe fitting 400, and the scanning assembly continues to scan; when the scanning assembly generates a response signal, the position scanned by the scanning assembly is the top position of the pipe fitting 400, and the picking mechanism 500 moves to this position to pick up the pipe fitting 400.

[0037] When scanning and picking up multiple horizontally arranged pipe fittings, as Figure 2 and Figure 3 shown, after adjusting the distance H between the scanning assembly and the top of the pipe fitting 400, control the scanning assembly to perform a moving scan along the horizontal arrangement direction of the multiple pipe fittings. When the first laser receiving unit 200 does not receive the laser beam 101 emitted by the first laser emitting unit 100, the position scanned by the scanning assembly may be the gap position between the pipe fitting 400 and its adjacent pipe fitting, or it may be other pipe fittings other than the pipe fitting 400, or it may be the non-top position of the pipe fitting 400. At this time, the picking mechanism 500 does not perform any work, and the scanning assembly continues to scan until the first laser receiving unit 200 receives the emitted laser beam 101 emitted by the first laser emitting unit 100; when the first laser receiving unit 200 receives the emitted laser beam 101, the position scanned by the scanning assembly is the top of the pipe fitting 400, and the picking mechanism 500 moves to this position to pick up the pipe fitting 400.

[0038] When scanning and picking up multiple vertically arranged pipe fittings, as Figure 4 shown, after adjusting the distance H between the scanning assembly and the top of the pipe fitting 400, control the scanning assembly to perform a moving scan along the vertical arrangement direction of the multiple pipe fittings. The specific scanning results are the same as the above horizontal arrangement scanning results and will not be elaborated here.

[0039] Among them, the methods for adjusting the distance H between the scanning assembly and the pipe fitting 400 include: raising the height of the pipe fitting 400, or lowering the height of the scanning assembly 500, or lowering the height of the scanning assembly 500 while raising the height of the pipe fitting 400. The present invention does not limit the method for adjusting the distance H.

[0040] In the method for picking up pipe fittings disclosed in the present invention, asFigure 2 As shown, the emitted laser beam 101 emitted by the first laser emitting unit 100 and the reflected laser beam 201 received by the first laser receiving unit 200 are in the same plane, and this plane is a plane parallel to the length direction of the pipe fitting 400.

[0041] Specifically, when scanning a multi-layer stacked pipe fitting as Figure 6 shown, this setting method of the scanning component can effectively reduce the scanning error caused by the non-first-layer pipe fitting reflecting the emitted laser beam 101 emitted by the first laser emitting unit 100 multiple times and finally reflecting it to the first laser receiving unit 200 when the scanning component scans to a non-first-layer pipe fitting (i.e., any one of the second to fourth layer pipe fittings) compared to the setting method of the scanning component shown in the following Figure 5 , improving the scanning accuracy of the scanning component.

[0042] It can be understood that in actual engineering applications, due to installation errors, the plane formed by the emitted laser beam 101 and the reflected laser beam 201 may not be 100% parallel to the length direction of the pipe fitting 400. Therefore, a parallel error within ±5° is allowed here.

[0043] To ensure that the material taking mechanism 500 can accurately grasp the top position of the pipe fitting 400 when taking the pipe fitting 400, preferably, the material taking mechanism 500 is set to move synchronously with the scanning component, and the material taking center of the material taking mechanism 500 is set in the same plane as the emitted laser beam 101 emitted by the first laser emitting unit 100 and the reflected laser beam 201 received by the first laser receiving unit 200. When the scanning component generates a response signal during the scanning process, it indicates that the position scanned by the scanning component is the top position of the pipe fitting 400, and the material taking mechanism 500 and the scanning component move downward synchronously to take the pipe fitting 400.

[0044] Of course, in actual applications, due to limited space in the material taking mechanism installation part 501, the material taking center of the material taking mechanism 500 can also be set in a different plane from the emitted laser beam 101 emitted by the first laser emitting unit 100 and the reflected laser beam 201 received by the first laser receiving unit 200. Specifically, as Figure 7 shown, the scanning component is set on the side of the material taking mechanism installation part 501 through an additional extension part 502, and the distance between the center of the scanning component and the material taking mechanism installation part 500 is set as distance S. When the scanning component generates a response signal during the scanning process, the material taking mechanism 500 and the scanning component first translate synchronously by distance S so that the material taking center of the material taking mechanism is directly above the top of the pipe fitting 400, and then the material taking mechanism 400 and the scanning component move downward synchronously to take the pipe fitting 400.

[0045] In the method for taking a pipe fitting disclosed in the present invention, asFigure 5 As shown, the emitted laser beam 101 emitted by the first laser emitting unit 100 and the reflected laser beam 201 received by the first laser receiving unit 200 are in the same plane, and this plane is a plane perpendicular to the length direction of the pipe fitting 400.

[0046] To ensure that the material taking mechanism 500 can accurately grasp the top position of the pipe fitting 400 when taking the material of the pipe fitting 400, preferably, the material taking mechanism 500 is set to move synchronously with the scanning assembly, and the first laser emitting unit 100 and the first laser receiving unit 200 are respectively arranged at symmetrical positions on both sides of the material taking mechanism 500. When the scanning assembly generates a response signal during the scanning process, it indicates that the position scanned by the scanning assembly is the top position of the pipe fitting 400. At this time, the material taking mechanism 500 and the scanning assembly directly move downward synchronously to take the material of the pipe fitting 400. Of course, the scanning assembly can also be installed on the side of the material taking mechanism 500 in the manner shown in Figure 7 shown.

[0047] During the actual process of taking the material of the pipe fitting, on the one hand, because the length of the pipe fitting is relatively long, and on the other hand, because the pipe fitting may be placed obliquely. Therefore, in order to ensure the accuracy of the scanning detection by the scanning assembly and the accuracy and stability of the material taking by the material taking mechanism 500, preferably, as shown in Figure 8 shown, the number of scanning assemblies is set to at least two groups, and they are arranged along the length direction of the pipe fitting 400. Usually, there needs to be a certain distance between the scanning assemblies; when the scanning assembly scans the pipe fitting 400, if one of the two groups of scanning assemblies receives the response signal generated by the scanning while the other group does not receive the response signal, it indicates that the placement direction of the pipe fitting 400 does not meet the material taking requirements. At this time, the worker needs to re - arrange the pipe fitting 400 and then perform the scanning and material taking; if both groups of scanning assemblies receive the response signal generated by the scanning, it indicates that the placement direction of the pipe fitting 400 meets the material taking requirements and both have scanned the top position of the pipe fitting 400. At this time, the material taking mechanism can take the material of the pipe fitting 400. Of course, the scanning assembly can also be set to only one group or more than two groups, and the present invention does not make any limitation on this.

[0048] The material taking method disclosed in the embodiment of the present invention may further include: S0. A pipe fitting height detection assembly is arranged on the side of the pipe fitting 400, and the pipe fitting height detection assembly is controlled to move and scan along the height direction of the pipe fitting 400 to determine the top height of the pipe fitting 400.

[0049] Specifically, as shown in Figure 3As shown in the figure, the pipe fitting height detection assembly includes a second laser emitting unit 600 and a second laser receiving unit 700. The second laser emitting unit 600 and the second laser receiving unit 700 are respectively located on both sides of the pipe fitting 400 and are in a counter - shooting state. When scanning and picking up the pipe fitting 400, first control the pipe fitting height detection assembly to scan from top to bottom or from bottom to top along the height direction of the pipe fitting 400. Taking the case where the pipe fitting height detection assembly scans from top to bottom as an example, during the scanning process of the pipe fitting height detection assembly, if the second laser receiving unit 700 suddenly changes from being able to receive the laser emitted by the second laser emitting unit 600 to not being able to receive the laser, it indicates that there is a pipe fitting 400 at this height. At this time, the pipe fitting height detection assembly stops scanning and returns to the starting position. The controller adjusts the distance H between the scanning assembly and the top of the pipe fitting 400 according to the scanning result of the pipe fitting height detection assembly, and controls the scanning assembly to always maintain the distance H from the top of the pipe fitting 400 for moving scanning. Until the top position of the pipe fitting 400 is scanned, the picking mechanism 500 picks up the pipe fitting 400.

[0050] Of course, the second laser emitting unit 600 and the second laser receiving unit 700 can also be arranged on the same side of the pipe fitting 400; in addition, the pipe fitting described in the embodiments of the present invention can also be an object with a curved surface such as a cylinder or a sphere, and the present invention does not make any limitation thereto.

[0051] In the above - mentioned embodiments of the present invention, the differences between the various embodiments are mainly described. As long as the different optimized features between the various embodiments are not contradictory, they can be combined to form a more optimal embodiment. Considering the simplicity of the text, it will not be elaborated here.

[0052] The above - mentioned are only the embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A method for picking up pipe fittings, characterized in that, The following steps are involved: S0. Arrange a pipe height detection component on the side of the pipe, and control the pipe height detection component to move and scan along the height direction of the pipe to determine the top height of the pipe; S1. Adjust the distance H between the scanning component and the top of the pipe so that the distance H is equal to the response distance h of the scanning component; wherein the response distance h is the distance between the scanning component and the reflecting surface, and the reflecting surface can reflect the emitted laser beam emitted by the first laser emitting unit of the scanning component to the first laser receiving unit of the scanning component for reception; S2, controlling the scanning component to always maintain the distance H with the top of the pipe and performing mobile scanning; when the scanning component does not generate a response signal, the position scanned by the scanning component is not the top position of the pipe, and the scanning component continues to scan; when the scanning component generates a response signal, the position scanned by the scanning component is the top position of the pipe, and the picking mechanism moves to this position to pick up the pipe.

2. The method for picking up pipe fittings according to claim 1, characterized in that The emitted laser beam emitted by the first laser emitting unit and the reflected laser beam received by the first laser receiving unit are located in the same plane, and the plane is a plane parallel to the length direction of the pipe.

3. The method for taking materials of the pipe fitting according to claim 2, wherein The material picking mechanism and the scanning assembly move synchronously, and a material picking center of the material picking mechanism and the emitted laser beam emitted by the first laser emitting unit and the reflected laser beam received by the first laser receiving unit are located in different planes.

4. The method for picking up pipe fittings according to claim 2, characterized in that The material picking mechanism and the scanning assembly move synchronously, and a material picking center of the material picking mechanism is located in the same plane as the emitted laser beam emitted by the first laser emitting unit and the reflected laser beam received by the first laser receiving unit.

5. The method for taking materials of the pipe fitting according to claim 1, characterized in that, The emitted laser beam emitted by the first laser emitting unit and the reflected laser beam received by the first laser receiving unit are located in the same plane, and the plane is a plane perpendicular to the length direction of the pipe.

6. The method for picking up pipe fittings according to claim 5, characterized in that The material picking mechanism moves synchronously with the scanning assembly, and the first laser emitting unit and the first laser receiving unit are respectively located at symmetrical positions on both sides of the material picking mechanism.

7. The method for picking up pipe fittings according to any one of claims 1 to 6, characterized in that, The pipe fitting material taking method is applied to taking materials of multi-layer stacked pipe fittings.

8. The method for picking up pipe fittings according to any one of claims 1 to 6, characterized in that The scanning components are arranged in at least two groups and are arranged along the length direction of the pipe.

9. The method for picking up pipe fittings according to any one of claims 1 to 6, characterized in that, The pipe height detection assembly comprises a second laser emitting unit and a second laser receiving unit, wherein the second laser emitting unit and the second laser receiving unit are respectively located on two sides of the pipe and are in a facing state.

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