Pipe machining apparatus, device, method, and computer readable storage medium

Abstract

The application is suitable for the technical field of pipe processing, and provides a pipe processing device, equipment, method and computer readable storage medium. The pipe processing device is used for executing the pipe processing method. The pipe processing device comprises a base, a first chuck, a second chuck, a visual detection assembly and a processing head. The first chuck and the second chuck are arranged on the base. The visual detection assembly is arranged on the second chuck. The processing head is arranged on the side of the second chuck away from the first chuck. The pipe processing method comprises the following steps: controlling the first chuck to pass the pipe through the second chuck in a forward direction, so as to transport the part to be processed of the pipe to the processing area of the processing head, and simultaneously starting the visual detection assembly to detect the electrophoresis hole on the pipe; when the electrophoresis hole is not detected, controlling the first chuck to transport and / or rotate the pipe; when the electrophoresis hole is detected, controlling the first chuck to rotate the electrophoresis hole to a preset position, and then controlling the processing head to process the part to be processed. The application can improve the processing efficiency of the pipe.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipe processing, in particular to a pipe processing device, equipment, method and computer readable storage medium. BACKGROUND

[0002] In the automobile industry, pipe materials with electrophoresis holes are often used. After the original pipe material with electrophoresis holes is processed by punching and cutting, it can be processed into a semi-finished pipe material that can be used on a car. When processing the original pipe material, the electrophoresis hole needs to be rotated to a specific direction so as to avoid the processing head for punching and cutting, so that the hole punched on the pipe material by the processing head can be used for exhaust during electroplating. It can also improve the stability of the processed pipe material and improve the welding strength of the pipe material.

[0003] At present, the position of the electrophoresis hole is usually identified by manual recognition, and then the pipe material is rotated to rotate the electrophoresis hole to a specific position, and then the pipe material is punched and cut. Due to the low efficiency of manual recognition of the electrophoresis hole, the processing efficiency of the pipe material is reduced. SUMMARY

[0004] The embodiments of the present application provide a pipe processing device, equipment, method and computer readable storage medium, which can improve the processing efficiency of the pipe material.

[0005] To achieve the above-mentioned purpose, in a first aspect, the embodiments of the present application provide a pipe processing method, which is applied to a pipe processing device, the pipe processing device comprising a base, a first chuck, a second chuck, a visual detection assembly and a processing head; the base is provided with a sliding rail, and the first chuck is slidably arranged on the sliding rail; the second chuck is arranged on the base; the visual detection assembly is arranged on the second chuck; the processing head is arranged on the side of the second chuck away from the first chuck; the pipe processing method comprises the following steps:

[0006] controlling the first chuck to clamp the pipe material;

[0007] controlling the first chuck to pass the pipe material through the second chuck in a forward direction, so as to transport the to-be-processed part of the pipe material to the processing area of the processing head, and simultaneously starting the visual detection assembly to detect the electrophoresis hole on the pipe material;

[0008] when the electrophoresis hole is not detected, controlling the first chuck to transport and / or rotate the pipe material;

[0009] when the electrophoresis hole is detected, controlling the first chuck to rotate the electrophoresis hole to a preset position, and then controlling the processing head to process the to-be-processed part.

[0010] In some possible implementation manners of the first aspect, the step of controlling the first chuck to convey and / or rotate the pipe material comprises:

[0011] obtaining a first distance between two adjacent electrophoresis holes and a second distance between a detection center of the visual detection assembly and a machining area of the machining head;

[0012] when the first distance is less than or equal to the second distance, controlling the first chuck to convey the pipe material in a forward direction by one first distance after rotating the pipe material by a preset angle;

[0013] when the electrophoresis hole is detected, controlling the first chuck to convey the pipe material in a reverse direction by one first distance, and performing the step of controlling the machining head to machine the to-be-machined part after rotating the electrophoresis hole to a preset position.

[0014] In some possible implementation manners of the first aspect, the step of controlling the first chuck to convey the pipe material in a forward direction by one first distance after rotating the pipe material by a preset angle further comprises:

[0015] when the electrophoresis hole is not detected, controlling the first chuck to convey the pipe material in a reverse direction by one first distance after rotating the pipe material by the preset angle;

[0016] when the electrophoresis hole is detected, performing the step of controlling the machining head to machine the to-be-machined part after rotating the electrophoresis hole to a preset position.

[0017] In some possible implementation manners of the first aspect, the step of controlling the first chuck to convey the pipe material in a reverse direction by one first distance after rotating the pipe material by a preset angle further comprises:

[0018] when the electrophoresis hole is not detected, performing the step of controlling the first chuck to convey the pipe material in a forward direction by one first distance after rotating the pipe material by the preset angle.

[0019] In some possible implementation manners of the first aspect, the step of obtaining a first distance between two adjacent electrophoresis holes and a second distance between a detection center of the visual detection assembly and a machining area of the machining head further comprises:

[0020] when the first distance is greater than the second distance, controlling the first chuck to convey the pipe material in a forward direction by one first distance;

[0021] After detecting the electrophoresis hole, the first chuck is controlled to reverse feed the pipe material by the first interval, and after the first chuck is controlled to rotate the electrophoresis hole to a preset position, the processing head is controlled to process the to-be-processed part.

[0022] In some possible implementation manners of the first aspect, after the step of controlling the first chuck to forward feed the pipe material by the first interval, the method further includes:

[0023] After the first chuck is controlled to rotate the pipe material by the preset angle and the electrophoresis hole is not detected, the pipe material is reverse fed by the first interval.

[0024] In some possible implementation manners of the first aspect, after the step of controlling the first chuck to rotate the pipe material by the preset angle, and before the step of controlling the first chuck to forward feed the pipe material by the first interval again, the method further includes:

[0025] Obtaining the number of sides of the pipe material.

[0026] Determining the preset angle according to the number of sides of the pipe material.

[0027] In some possible implementation manners of the first aspect, after the step of starting the visual detection assembly to detect the electrophoresis hole on the pipe material, the method further includes:

[0028] When the number of sides is 2 and the electrophoresis hole is not detected, it is determined that the electrophoresis hole is located on the opposite side of the current detection area of the visual detection assembly.

[0029] In some possible implementation manners of the first aspect, the pipe processing device further includes an auxiliary support and a gripper, the auxiliary support is arranged on the base, and the gripper is used to grab the pipe material and place the pipe material on the auxiliary support. Before the step of controlling the first chuck to clamp the pipe material, the method further includes:

[0030] After the gripper is controlled to grab the pipe material and feed the pipe material to the auxiliary support, the gripper is controlled to release the pipe material.

[0031] After the gripper is controlled to move to a preset parking position, the step of controlling the first chuck to clamp the pipe material is performed.

[0032] In a second aspect, the embodiments of the present application provide a pipe processing device, which comprises a base, a first chuck, a second chuck, a visual detection assembly and a processing head; the base is provided with a sliding rail, and the first chuck is slidably arranged on the sliding rail; the second chuck is arranged on the base; the visual detection assembly is arranged on the second chuck; and the processing head is arranged on a side of the second chuck away from the first chuck; the pipe processing device is used to execute the pipe processing method according to any one of the above technical solutions.

[0033] In a third aspect, the embodiments of the present application provide a pipe processing device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the computer program is executed by the processor to implement the steps of the pipe processing method according to any one of the above technical solutions.

[0034] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the pipe processing method according to any one of the above technical solutions.

[0035] The pipe processing device, the pipe processing device, the pipe processing method and the computer readable storage medium provided by the embodiments of the present application have the following advantages: the first chuck is slidably arranged on the sliding rail of the base, the second chuck is arranged on the base, the visual detection assembly is arranged on the second chuck, and the processing head is arranged on a side of the second chuck away from the first chuck; the first chuck is first controlled to clamp the pipe, and then the first chuck is controlled to pass the pipe through the second chuck in a forward direction, so as to transport the to-be-processed part of the pipe to the processing area of the processing head, and the visual detection assembly is started to detect whether there is an electrophoresis hole on the pipe; if not, the first chuck is controlled to transport and / or rotate the pipe until the visual detection assembly detects the electrophoresis hole; if yes, the first chuck is controlled to rotate the electrophoresis hole to a preset position, and then the processing head is controlled to process the to-be-processed part of the pipe; since the position of the electrophoresis hole on the pipe is determined by the visual detection assembly, the detection efficiency can be improved, and thus the processing efficiency of the pipe can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the drawings shown.

[0037] Figure 1 The terminal\device structure schematic diagram of the hardware running environment related to the embodiments of the present application;

[0038] Figure 2 Fig. 1 is a structural schematic diagram of an embodiment of a pipe processing device according to the present application;

[0039] Figure 3 Fig. 2 is a structural schematic diagram of another embodiment of a pipe processing device according to the present application;

[0040] Figure 4 Fig. 3 is a flow schematic diagram of a pipe processing method according to the present application.

[0041] Explanation of reference signs:

[0042] 1, base; 11, slide rail; 2, first chuck; 3, second chuck; 4, visual inspection assembly; 5, processing head; 6, auxiliary support; 7, light source; 8, pipe; 81, electrophoretic hole.

[0043] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0045] It should be noted that when an element is referred to as being “fixed to” or “disposed on” another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it can be directly connected to the other element or indirectly connected to the other element.

[0046] It should be understood that the terms “length”, “width”, “upper”, “lower”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer” and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0047] It should be understood that the term “and / or” used in the specification and the appended claims of the present application refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0048] In addition, the terms "first", "second", etc. are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0049] The embodiment of the present application provides a pipe processing device, equipment, method and computer readable storage medium, which are used for solving the technical problem of low pipe processing efficiency.

[0050] As shown in Figure 1 , the terminal structure shown in Figure 1 is a schematic diagram of a hardware running environment related to an embodiment of the present application. The terminal of the embodiment of the present application can be a pipe processing device.

[0051] As shown in Figure 1 , the terminal can include a processor 1001, for example, a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to realize the connection and communication between the components. The user interface 1003 can include a display screen (Display), an input unit such as a keyboard (Keyboard), and an optional user interface 1003 can also include a standard wired interface, a wireless interface. The network interface 1004 can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface). The memory 1005 can be a high-speed RAM memory, or a stable memory (non-volatile memory) such as a magnetic disk memory. The memory 1005 can also be an independent storage device from the aforementioned processor 1001.

[0052] Those skilled in the art can understand that the terminal structure shown in Figure 1 does not constitute a limitation on the terminal, and can include more or fewer components than the diagram, or combine certain components, or different component arrangements.

[0053] In the embodiment of the present application, as shown in Figure 2 and Figure 3 , the pipe processing device includes a base 1, a first chuck 2, a second chuck 3, a visual detection assembly 4, and a processing head 5; the base 1 is provided with a sliding rail 11, and the first chuck 2 is slidably arranged on the sliding rail 11; the second chuck 3 is arranged on the base 1; the visual detection assembly 4 is arranged on the second chuck 3; and the processing head 5 is arranged on the side of the second chuck 3 away from the first chuck 2.

[0054] The first chuck 2 can slide on the slide rail 11 to approach or move away from the second chuck 3 when sliding on the slide rail 11, that is, the second chuck 3 can be arranged on the extension line of the slide rail 11. After the first chuck 2 clamps the pipe 8, the first chuck 2 slides in the direction of approaching the second chuck 3, so that the end of the pipe 8 can pass through the second chuck 3, so that the second chuck 3 can clamp the pipe 8; wherein when the second chuck 3 clamps the pipe 8, a certain gap is left, so that the first chuck 2 can continue to push the pipe 8 in the direction of the slide rail 11, that is, when the second chuck 3 clamps the pipe 8, the pipe 8 can continue to move relative to the second chuck 3 in the axial direction of the pipe 8.

[0055] When the first chuck 2 pushes the pipe 8 to pass through the second chuck 3, the visual detection assembly 4 is started at the same time to detect whether there is an electrophoretic hole 81 on the pipe 8 through the visual detection assembly 4; if there is, the position of the electrophoretic hole 81 can be determined, and then the electrophoretic hole 81 on the pipe 8 is rotated to a preset position through the first chuck 2, and then the machining head 5 is controlled to machine the pipe 8; if no electrophoretic hole 81 is detected, the first chuck 2 is controlled to rotate and / or push the pipe 8 in the direction of the slide rail 11 until the position of the electrophoretic hole 81 is determined, and then the electrophoretic hole 81 on the pipe 8 is rotated to a preset position through the first chuck 2, and then the machining head 5 is controlled to machine the pipe 8. Wherein when the first chuck 2 drives the pipe 8 to rotate, the second chuck 3 can synchronously drive the pipe 8 to rotate to improve the stability of the rotation of the pipe 8; the machining mode of the machining head 5 on the pipe 8 includes punching and cutting.

[0056] The visual detection assembly 4 can be arranged above the second chuck 3 to detect whether there is an electrophoretic hole 81 on the pipe 8 from top to bottom, so as to simplify the structure and avoid that the detection area of the visual detection assembly 4 is blocked by other structures. The machining head 5 can be arranged on the base 1; the machining head 5 can be a laser machining head 5 for emitting a laser beam for machining the pipe 8.

[0057] In an embodiment, as shown in Figure 2 The pipe machining device further comprises a light source 7 arranged on the second chuck 3 for illuminating towards the pipe 8, improving the detection accuracy of the visual detection assembly 4 and reducing the false detection probability. Wherein the visual detection assembly 4 can include a camera.

[0058] In an embodiment, as shown in Figure 2 and Figure 3 The pipe machining device further comprises an auxiliary support 6 arranged on the base 1 for supporting the pipe 8. The pipe 8 can be first fed onto the auxiliary support 6, and then the first chuck 2 is controlled to clamp the pipe 8.

[0059] The supporting height of the auxiliary support 6 can be flush with the clamping height of the first chuck 2 and the second chuck 3, so as to facilitate the first chuck 2 to clamp the pipe 8. The auxiliary support 6 can also be arranged on the side of the second chuck 3 close to the first chuck 2. After the first chuck 2 clamps the pipe 8, the auxiliary support 6 can play an auxiliary supporting role in the process of pushing the pipe 8 towards the second chuck 3, so as to avoid the pipe 8 from being bent and deformed due to its own gravity.

[0060] In an embodiment, the pipe processing device further comprises a clamping jaw, which is used to feed the pipe 8 to the auxiliary support 6.

[0061] In an embodiment, the pipe processing device further comprises a displacement sensor, which is used to detect whether the first chuck 2 clamps the pipe 8.

[0062] After the clamping jaw feeds the pipe 8 to the auxiliary support 6, the clamping jaw can retreat to a preset parking position, and then the first chuck 2 is controlled to clamp the pipe 8. In this embodiment, whether the first chuck 2 clamps the pipe 8 can be detected by the displacement sensor, so that the pipe processing device can normally process the pipe 8, and the pipe processing device is prevented from running empty.

[0063] Since the specifications of the pipes 8 are the same, the lengths of the pipes 8 are usually equal. At this time, the length of the pipe 8 can be manually measured, so that the length of the pipe 8 becomes a known quantity. When the pipe 8 is fed to the auxiliary support 6, the position of the end of the pipe 8 close to the second chuck 3 is fixed and unchangeable, so the position of the pipe 8 can be determined. After the position of the pipe 8 is determined and the length of the pipe 8 is known, whether the first chuck 2 clamps the pipe 8 can be judged according to the displacement sensor.

[0064] In addition, the present application also provides a pipe processing method. The pipe processing device of the above embodiments can be used to execute the pipe processing method of the present application.

[0065] As shown in Figure 4 the pipe processing method of the present application comprises the following steps:

[0066] Step S10, controlling the first chuck to clamp the pipe;

[0067] Step S20, controlling the first chuck to pass the pipe through the second chuck in a forward direction, so as to transport the part to be processed of the pipe to the processing area of the processing head, and starting the visual detection assembly to detect the electrophoretic hole on the pipe;

[0068] Step S30, judging whether the visual detection assembly detects the electrophoretic hole;

[0069] If the electrophoretic hole 81 is not detected, step S40 is executed, that is, the first chuck is controlled to transport and / or rotate the pipe;

[0070] If the electrophoresis hole 81 is detected, step S50 is performed, and the first chuck is controlled to rotate the electrophoresis hole to a preset position, and then the machining head is controlled to machine the part to be machined.

[0071] The forward movement of the pipe 8 refers to the movement of the pipe 8 in the direction from the first chuck 2 to the second chuck 3. Understandably, the reverse movement of the pipe 8 refers to the movement of the pipe 8 in the direction from the second chuck 3 to the first chuck 2. When the visual detection assembly 4 is started, the visual detection assembly 4 can detect whether there is an electrophoresis hole 81 on the pipe 8.

[0072] When the visual detection assembly 4 detects the electrophoresis hole 81 on the pipe 8, the image information of the pipe 8 can be captured, and the detected image information is compared with the preset information to determine whether the pipe 8 has the electrophoresis hole 81.

[0073] When the pipe 8 is machined, the first chuck 2 can be controlled to clamp the pipe 8, so as to facilitate the first chuck 2 to drive the pipe 8 to move close to or away from the second chuck 3, and also facilitate the first chuck 2 to drive the pipe 8 to rotate. Then the first chuck 2 is controlled to drive the pipe 8 to move forward to the second chuck 3, so as to facilitate the second chuck 3 to clamp the pipe 8; wherein the pipe 8 can move forward or reversely relative to the second chuck 3. When the pipe 8 is moved forward to move the part to be machined of the pipe 8 to the machining area of the machining head 5, the movement of the pipe 8 is stopped. When the pipe 8 is moved forward, the visual detection assembly 4 is started, that is, the movement of the pipe 8 driven by the first chuck 2 to move forward to the second chuck 3 is performed simultaneously with the starting of the visual detection assembly 4.

[0074] After the visual detection assembly 4 is started, if the visual detection assembly 4 detects the electrophoresis hole 81, since the setting position of the visual detection assembly 4 is known, the detection area of the visual detection assembly 4 is determined, and thus the position of the electrophoresis hole 81 can be determined according to the setting position of the visual detection assembly 4. That is, the electrophoresis hole 81 is arranged on the side of the pipe 8 facing the current visual detection assembly 4. Then the first chuck 2 is controlled to rotate the electrophoresis hole 81 to a preset position, and then the machining head 5 is controlled to machine the part to be machined of the pipe 8, so that the electrophoresis hole 81 and the starting position of the machining head 5 to machine the pipe 8 are all at the preset positions.

[0075] When the visual detection assembly 4 does not detect the electrophoresis hole 81, it indicates that the distance of the forward movement of the pipe 8 is too short, or the electrophoresis hole 81 is on the other side of the pipe 8, and thus the pipe 8 can be correspondingly conveyed and / or rotated. That is, the pipe 8 is continuously conveyed forward, or the pipe 8 is conveyed after being rotated, or the pipe 8 is rotated after being conveyed, and so on, until the visual detection assembly 4 detects the electrophoresis hole 81, so as to determine the position of the electrophoresis hole 81, rotate the electrophoresis hole 81 to a preset position, and then control the machining head 5 to machine the part to be machined.

[0076] The first chuck 2 of the embodiment of the application slides on the slide rail 11 of the base 1, the second chuck 3 is arranged on the base 1, the visual detection assembly 4 is arranged on the second chuck 3, and the machining head 5 is arranged on the side of the second chuck 3 away from the first chuck 2. First, the first chuck 2 clamps the pipe 8, and then the first chuck 2 controls the pipe 8 to pass through the second chuck 3 in the forward direction, so as to transport the part to be machined of the pipe 8 to the machining area of the machining head 5, and simultaneously start the visual detection assembly 4 to detect whether there is an electrophoresis hole 81 on the pipe 8. If not, control the first chuck 2 to transport and / or rotate the pipe 8 until the visual detection assembly 4 detects the electrophoresis hole 81. If yes, control the first chuck 2 to rotate the electrophoresis hole 81 to a preset position, and then control the machining head 5 to machine the part to be machined of the pipe 8. Since the position of the electrophoresis hole 81 on the pipe 8 is determined by the visual detection assembly 4, the detection efficiency can be improved, and thus the machining efficiency of the pipe 8 can be improved.

[0077] In the embodiment, step S40 comprises:

[0078] obtaining a first interval between two adjacent electrophoresis holes and a second interval between the detection center of the visual detection assembly and the machining area of the machining head;

[0079] determining whether the first interval is less than or equal to the second interval;

[0080] If the first interval is less than or equal to the second interval, the step of:

[0081] controlling the first chuck to rotate the pipe by a preset angle and then to transport the pipe in the forward direction by a first interval is performed.

[0082] determining whether the visual detection assembly detects the electrophoresis hole;

[0083] If the electrophoresis hole 81 is detected, the step of controlling the first chuck to transport the pipe in the reverse direction by a first interval is performed.

[0084] Then, the step S50 is performed again.

[0085] If the electrophoresis hole 81 is not detected, the step of:

[0086] controlling the first chuck to rotate the pipe by a preset angle and then to transport the pipe in the reverse direction by a first interval is performed.

[0087] Then, it is determined again whether the visual detection assembly detects the electrophoresis hole.

[0088] If the electrophoresis hole 81 is detected this time, the step S50 is performed again.

[0089] If the electrophoresis hole 81 is not detected this time, the step of controlling the first chuck to rotate the pipe by a preset angle and then to transport the pipe in the forward direction by a first interval is performed again.

[0090] If the first distance is greater than the second distance, then the step of:

[0091] controlling the first chuck to forwardly transport the pipe by a first distance is executed.

[0092] determining whether the visual detection assembly detects the electrophoresis hole.

[0093] If the electrophoresis hole 81 is detected, then the step of controlling the first chuck to reversely transport the pipe by a first distance is executed.

[0094] Then the step of returning to execute the step S50 is executed.

[0095] If the electrophoresis hole 81 is not detected, then the step of returning to execute the step of controlling the first chuck to reversely transport the pipe by a first distance after rotating the pipe by a preset angle is executed.

[0096] It can be understood that the first distance between any two adjacent electrophoresis holes 81 on the pipe 8 is equal, and is usually 500 mm. The visual detection assembly 4 is arranged on the second chuck 3, and since the visual detection assembly 4 is stationary relative to the second chuck 3, the detection area of the visual detection assembly 4 is also stationary. The machining head 5 has a starting position when machining the pipe 8, and the starting position is the machining area of the machining head 5; wherein when the machining head 5 is a laser head, the machining area of the machining head 5 is the focal position of the laser beam. Since the detection area of the visual detection assembly 4 is constant, the machining area of the machining head 5 is also constant, and thus the second distance between the detection center of the visual detection assembly 4 and the machining area of the machining head 5 can be determined. The first distance and the second distance can be manually determined and input into the memory of the pipe machining device for calling when needed.

[0097] The first distance varies according to the specifications of the pipe 8; similarly, the second distance varies according to the specifications of the pipe machining device. However, in general, the first distance is equal to or greater than the second distance. The electrophoresis holes 81 on the pipe 8 are all arranged on the same face of the pipe 8, and are arranged on the same straight line. Therefore, as long as the position of one of the electrophoresis holes 81 is detected, the positions of all the electrophoresis holes 81 can be determined.

[0098] Specifically, the first distance and the second distance can be obtained first, and then the relative sizes of the first distance and the second distance are compared to determine the step to be executed next.

[0099] When the first distance is less than or equal to the second distance: the visual detection assembly 4 does not detect the electrophoresis hole 81 in the process that the first chuck 2 passes the pipe 8 through the second chuck 3 to deliver the part to be processed of the pipe 8 to the lower side of the machining head 5. And the first distance is less than or equal to the second distance, which means that the visual detection assembly 4 has detected at least a first distance length of the pipe 8 in this process, so it can be determined that the surface does not have electrophoresis. Then the first chuck 2 is controlled to rotate the pipe 8 by a preset angle to change the surface of the pipe 8; and then the first chuck 2 is controlled to deliver the pipe 8 by a first distance in the forward direction, so that the pipe 8 after the surface change is detected by the visual detection assembly 4 to determine whether the electrophoresis hole 81 is detected. When the electrophoresis hole 81 is detected, the position of the electrophoresis hole 81 can be determined; at this time, since the part to be processed of the pipe 8 is delivered by a first distance in the forward direction, the first chuck 2 needs to be controlled to deliver the pipe 8 by a first distance in the reverse direction, so that the part to be processed of the pipe 8 is reset to the lower side of the machining head 5, and then step S50 is executed.

[0100] If the electrophoresis hole 81 is not detected, it means that the electrophoresis hole 81 is not on the surface, so the first chuck 2 is controlled to rotate the pipe 8 by a preset angle to change the surface of the pipe 8; and then the first chuck 2 is controlled to deliver the pipe 8 by a first distance in the reverse direction, so that the part to be processed of the pipe 8 is reset to the lower side of the machining head 5. In this process, if the visual detection assembly 4 detects the electrophoresis hole 81, the position of the electrophoresis hole 81 can be determined, and then step S50 is executed. If the electrophoresis hole 81 is not detected, the pipe 8 needs to be detected by changing the surface, at this time, step S50 can be executed by returning to control the first chuck to rotate the pipe by a preset angle and then deliver the pipe by a first distance in the forward direction. Thus, the pipe 8 is detected by changing the surface in a cycle until the electrophoresis hole 81 is detected to execute step S50.

[0101] When the first distance is greater than the second distance: the visual detection assembly 4 does not detect the electrophoresis hole 81 in the process that the first chuck 2 passes the pipe 8 through the second chuck 3 to deliver the part to be processed of the pipe 8 to the lower side of the machining head 5. And the first distance is greater than the second distance, which means that the visual detection assembly 4 has not detected a first distance length of the pipe 8 in this process, so it cannot be determined whether the electrophoresis hole 81 is on the current measured surface of the pipe 8. Therefore, the first chuck 2 can be controlled to deliver the pipe 8 by a first distance in the forward direction to determine whether the electrophoresis hole 81 is on the measured surface. If the electrophoresis hole 81 is detected on the measured surface, since the part to be processed of the pipe 8 is delivered by a first distance in the forward direction, the first chuck 2 needs to be controlled to deliver the pipe 8 by a first distance in the reverse direction, so that the part to be processed of the pipe 8 is reset to the lower side of the machining head 5, and then step S50 is executed.

[0102] If the electrophoresis hole 81 is not detected during the forward conveying of the pipe material 8 by a first distance, it indicates that the electrophoresis hole 81 is not arranged on the current measured surface. Therefore, the pipe material 8 needs to be rotated and then the pipe material 8 is continuously conveyed to determine the position of the electrophoresis hole 81. At this time, the step of controlling the first chuck to rotate the pipe material by a preset angle and then reversely conveying the pipe material by a first distance can be returned to execute, so as to cyclically detect the position of the electrophoresis hole 81 on the pipe material 8 until the electrophoresis hole 81 is detected. After the position of the electrophoresis hole 81 is determined, the step S50 is executed.

[0103] That is, the above steps are to cyclically detect the electrophoresis hole 81 on the pipe material 8 by rotating and / or conveying the pipe material 8. After the position of the electrophoresis hole 81 on the pipe material 8 is determined, the step S50 is executed.

[0104] In the above embodiment, when the position of the electrophoresis hole 81 on the pipe material 8 is determined, the part of the pipe material 8 to be processed will not exceed a first distance below the machining head 5 when the first chuck 2 conveys the pipe material 8, so that the pipe material 8 can be quickly reset and the processing efficiency of the pipe material 8 is improved.

[0105] In the above embodiment, the preset angle can be artificially set in advance. For example, the preset angle is set to 90°, and the pipe material 8 can return to the original position after being rotated four times.

[0106] The preset angle can also be determined by calculation. The number of sides of the pipe material 8 can be obtained by manually observing the pipe material 8 or by the specifications of the pipe material 8, and then the determined number of sides of the pipe material 8 can be stored in the memory of the pipe material processing device and called when needed. After the number of sides of the pipe material 8 is determined, the circumferential angle is divided into each side of the pipe material 8 to obtain the preset angle. For example, if the number of sides is 2, the preset angle is 180°; if the number of sides is 3, the preset angle is 120°; and if the number of sides is 4, the preset angle is 90°.

[0107] It can be understood that after the pipe material 8 is rotated one round, if the visual detection assembly 4 still does not detect the electrophoresis hole 81, it indicates that the position of the electrophoresis hole 81 deviates or the pipe material 8 is not provided with the electrophoresis hole 81. At this time, the program for detecting the electrophoresis hole 81 can be stopped, and at the same time, the alarm is started to alarm to prompt the user to handle in time.

[0108] In an embodiment, when the number of sides of the pipe 8 is determined to be 2 and the electrophoresis hole 81 is not detected, it can be directly determined that the electrophoresis hole 81 is located opposite to the current detection area of the visual detection assembly 4. Since the number of sides of the pipe 8 is 2, such as a D-shaped pipe, the electrophoresis hole 81 is generally only arranged at the opposite position of the two sides of the pipe 8; that is, the electrophoresis hole 81 is not arranged at the current detection surface, and must be arranged at the opposite position of the current detection surface. Therefore, the position of the electrophoresis hole 81 can be quickly determined, and the processing efficiency of the pipe 8 is improved.

[0109] In an embodiment, before step S10, the method further comprises:

[0110] After the clamping jaw is controlled to grab the pipe and load the pipe onto the auxiliary support, the clamping jaw is controlled to release the pipe.

[0111] The clamping jaw is controlled to move to a preset parking position, and then step S10 is performed.

[0112] After the clamping jaw is controlled to grab the pipe 8 and load the pipe 8 onto the auxiliary support 6, the clamping jaw is controlled to release the pipe 8. Then, after the clamping jaw is controlled to move to a preset parking position, it is indicated that the clamping jaw has been moved to the position and will not interfere with the clamping or conveying of the pipe 8 by the first chuck 2. Then, step S10 is performed, so that each action is performed in sequence.

[0113] In addition, an embodiment of the present application further provides a pipe processing device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is executed by the processor to implement the steps of the pipe processing method according to any one of the above embodiments.

[0114] In addition, an embodiment of the present application further provides a pipe processing device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is executed by the processor to implement the steps of the pipe processing method according to any one of the above embodiments.

[0115] In addition, an embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the pipe processing method according to any one of the above embodiments.

[0116] The above description is only the preferred embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation made according to the content of the specification and drawings, or direct / indirect application in other related technical fields within the inventive concept of the present application is included in the patent protection scope of the present application.

Claims

1. A method for processing pipes, characterized in that, The pipe processing method is applied to a pipe processing device, which includes a base, a first chuck, a second chuck, a vision inspection component, and a processing head. A slide rail is provided on the base, and the first chuck slides along the slide rail. The second chuck is disposed on the base. The vision inspection component is disposed on the second chuck. The processing head is disposed on the side of the second chuck away from the first chuck. The pipe processing method includes the following steps: Control the first chuck to clamp the pipe; The first chuck is controlled to pass the tube through the second chuck in the forward direction, so as to transport the part of the tube to be processed to the processing area of ​​the processing head, and at the same time the vision inspection component is activated to detect the electrophoresis holes on the tube; When the electrophoresis well is not detected, the first chuck is controlled to transport and / or rotate the tube. When the electrophoresis aperture is detected, the first chuck is controlled to rotate the electrophoresis aperture to a preset position, and then the processing head is controlled to process the part to be processed. The step of controlling the first chuck to feed and / or rotate the tubing includes: Obtain the first distance between two adjacent electrophoresis apertures and the second distance between the detection center of the vision inspection component and the processing area of ​​the processing head; When the first spacing is less than or equal to the second spacing, the first chuck is controlled to rotate the pipe by a preset angle, and then the pipe is conveyed forward by one first spacing. When the electrophoresis hole is detected, the first chuck is controlled to reverse the pipe by one first gap, and the first chuck is controlled to rotate the electrophoresis hole to a preset position, and then the processing head is controlled to process the part to be processed. After the step of obtaining the first distance between two adjacent electrophoresis apertures and the second distance between the detection center of the vision inspection component and the processing area of ​​the processing head, the method further includes: When the first spacing is greater than the second spacing, control the first chuck to forward transport the pipe by one of the first spacings; When the electrophoresis hole is detected, the first chuck is controlled to reverse the pipe by one first gap, and the first chuck is controlled to rotate the electrophoresis hole to a preset position, and then the processing head is controlled to process the part to be processed. After the step of controlling the first chuck to forward transport the pipe by one first interval, the method further includes: When the electrophoresis aperture is not detected, the step of controlling the first chuck to rotate the tube by the preset angle and then conveying the tube in the reverse direction by the first spacing is executed.

2. The pipe processing method as described in claim 1, characterized in that, After the step of controlling the first chuck to rotate the pipe by a preset angle and then conveying the pipe forward by one first interval, the method further includes: When the electrophoresis hole is not detected, the first chuck is controlled to rotate the tube by the preset angle and then the tube is transported in the opposite direction by the first gap. When the electrophoresis aperture is detected, the step of controlling the first chuck to rotate the electrophoresis aperture to a preset position and then controlling the processing head to process the part to be processed is executed.

3. The pipe processing method as described in claim 2, characterized in that, After the step of controlling the first chuck to rotate the pipe by the preset angle and then conveying the pipe in the reverse direction by the first spacing, the method further includes: If the electrophoresis aperture is not detected, the step of controlling the first chuck to rotate the tube by the preset angle and then conveying the tube forward by the first spacing is executed.

4. The pipe processing method as described in claim 1, characterized in that, Before the step of controlling the first chuck to rotate the pipe by a preset angle and then conveying the pipe forward by one first interval, the method further includes: Obtain the number of sides of the pipe; The preset angle is determined based on the number of sides of the pipe.

5. The pipe processing method as described in claim 4, characterized in that, After the step of activating the visual inspection component to detect the electrophoretic pores on the pipe, the method further includes: When the number of sides is 2 and no electrophoresis aperture is detected, it is determined that the electrophoresis aperture is located opposite the current detection area of ​​the visual detection component.

6. The pipe processing method as described in claim 1, characterized in that, The pipe processing device further includes an auxiliary support and a clamp, the auxiliary support being disposed on the base; the clamp is used to grip the pipe and place the pipe on the auxiliary support; before the step of controlling the first chuck to clamp the pipe, the device further includes: After the gripper grasps the pipe and loads it onto the auxiliary support, the gripper releases the pipe. After controlling the gripper to move to the preset stopping position, the step of controlling the first chuck to clamp the pipe is executed.

7. A pipe processing apparatus, characterized in that, The pipe processing apparatus includes a base, a first chuck, a second chuck, a vision inspection component, and a processing head; a slide rail is provided on the base, and the first chuck slides on the slide rail; the second chuck is disposed on the base; the vision inspection component is disposed on the second chuck; the processing head is disposed on the side of the second chuck away from the first chuck; the pipe processing apparatus is used to perform the pipe processing method as described in any one of claims 1 to 6.

8. A pipe processing equipment, characterized in that, The pipe processing equipment includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the pipe processing method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the pipe processing method as described in any one of claims 1 to 6.

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