Automatic positioning method and device for pipe machining and positioning control method of device

Abstract

The application discloses a pipe machining automatic positioning method and device and a positioning control method of the device. The automatic positioning method comprises the following steps: inputting pipe length information to be machined; moving the pipe to be machined to a random position in a transfer area from a previous work station or process; performing pre-positioning; continuously moving the pre-positioned pipe to be machined to a random position in a machining area; and completing final positioning. The application realizes automatic positioning of the pipe to be machined, eliminates the adverse effects of pipe displacement and misplacement, and improves positioning accuracy. The application realizes pre-positioning of the pipe to be machined by combining pre-positioning and final positioning, saves energy consumption, is simple to control, can accurately realize automatic positioning control of the pipe to be machined, and guarantees automatic positioning accuracy. The application is suitable for automatic assembly and positioning of pipes to be machined and flanges, pipes and sleeves with different diameters, and has a very wide application range.

Description

Technical Field

[0001] This application relates to the field of pipe processing and manufacturing technology, specifically to an automatic positioning method, device, and positioning control method for the device in pipe processing. Background Technology

[0002] In modern industrial production, various types of pipes are used in large quantities, and the assembly and welding of pipes and flanges, as well as pipes and sleeves, is a crucial step in the production process. During the movement and transportation of pipes, varying degrees of movement, jumping, and misalignment can occur, especially with small-diameter pipes, severely impacting the positioning during assembly and welding. Traditional processing involves manually picking up the pipes and placing them in the appropriate position, then using calipers and levels to precisely position the flanges or sleeves, followed by manual or machine welding to complete the assembly process. This manual picking and assembly method results in high labor intensity, unreliable positioning quality, and hinders the improvement of production efficiency and precision in pipe processing. This approach is inefficient, time-consuming, and poses significant safety hazards. Summary of the Invention

[0003] This application provides an automatic positioning method, device, and positioning control method for pipe processing, which can solve the technical problems of low positioning efficiency, inability to guarantee quality, and low safety in pipe processing production.

[0004] This application provides an automatic positioning method for pipe processing, including the following steps:

[0005] Input the length of the pipe to be processed;

[0006] The tube to be processed is transferred from the previous workstation or process to a random location in the transfer area;

[0007] Make a reservation;

[0008] The pre-positioned tube to be processed is then moved to a random location in the processing area;

[0009] Final positioning completed.

[0010] Furthermore, the pre-positioning step includes:

[0011] Left and right alignment devices are randomly positioned within the transfer area.

[0012] Control the left alignment device to push S1 first, and then the right alignment device to push S2. Measure the left and right alignment distance L' between the left and right alignment devices.

[0013] If the left and right alignment distance L' is not equal to the length L of the pipe to be processed, the left alignment device remains stationary while the right alignment device continues to push until the left and right alignment distance L' is equal to the length L of the pipe to be processed.

[0014] If the left and right alignment distance L' is equal to the length L of the pipe to be processed, the pre-positioning of the pipe to be processed is completed.

[0015] Furthermore, the step of controlling the left alignment device to first push S1 and then the right alignment device to push S2 includes:

[0016] Let S1 = 10%L and S2 = 5%L.

[0017] Furthermore, the final positioning step includes:

[0018] A left clamping device and a right clamping device are set at random positions in the processing area. The left clamping device is controlled to always remain stationary, while the right clamping device can move.

[0019] The left and right clamping devices are closed first, and the right clamping device moves to the left by S3 until it contacts the right end of the tube to be processed. The right clamping device pushes the tube to be processed to continue moving to the left by S4 until the left clamping device contacts the left end of the tube to be processed.

[0020] Measure the left and right clamping distance L” between the left clamping device and the right clamping device;

[0021] If the left and right clamping distance L” is not equal to the length L of the pipe to be processed, the right clamping device continues to move to the left until the left and right clamping distance L” is equal to the length L of the pipe to be processed.

[0022] If the left and right clamping distance L” is equal to the length L of the tube to be processed, the left clamping device opens, and the right clamping device continues to move to the left for S5. The left clamping device clamps the left end of the tube to be processed, and the left end positioning is completed. The right clamping device opens, and the right clamping device continues to move to the left for S6. The right clamping device clamps the right end of the tube to be processed, and the right end positioning is completed, thus completing the final positioning of the tube to be processed.

[0023] Furthermore, the distance the right clamping device moves is taken as S3=2%L, S4=2%L.

[0024] Furthermore, the step of inputting the length information of the tube to be processed includes:

[0025] Input the length L of the pipe to be processed, which is 1 to 6 m.

[0026] This application also provides an automatic positioning device for pipe processing, which includes a left alignment device, a right alignment device, a left clamping device, and a right clamping device;

[0027] The left-side alignment device is used for pre-positioning the left end of the tube to be processed;

[0028] The right-side alignment device is used for pre-positioning the right end of the tube to be processed and for adjusting its position before the pre-positioning.

[0029] The left clamping device remains stationary at all times and has opening and closing functions. It is used to clamp the left end of the tube to be processed to complete the left end positioning.

[0030] The right clamping device has left and right movement, opening and closing functions, and is used to clamp the right side of the tube to be processed to complete the right end positioning and position adjustment before final positioning.

[0031] Furthermore, a distance sensor is installed at the center position of the left and right alignment devices to measure the left and right alignment distance between the left and right alignment devices in real time.

[0032] Furthermore, the left clamping device and the right clamping device are equipped with multiple self-centering automatic grippers that can automatically open and close to achieve clamping and positioning of the surface of the tube to be processed.

[0033] Furthermore, the right clamping device is equipped with a transmission unit and a drive mechanism for driving the right clamping device to move left and right and to position itself.

[0034] Furthermore, a distance sensor is installed at the center of the left clamping device and the right clamping device to measure the left and right clamping distance between the left clamping device and the right clamping device in real time.

[0035] This application also provides a positioning control method for the automatic positioning device for pipe processing described above, which includes the following steps:

[0036] The left alignment device is first pushed by S1, and then the right alignment device is pushed by S2. The left and right alignment distance L' between the left and right alignment devices is measured. If the left and right alignment distance L' is not equal to the length L of the tube to be processed, the left alignment device remains stationary and the right alignment device continues to push until the left and right alignment distance L' is equal to the length L of the tube to be processed. If the left and right alignment distance L' is equal to the length L of the tube to be processed, the pre-positioning of the tube to be processed is completed.

[0037] First, the left and right clamping devices close. The right clamping device moves left by S3 until it contacts the right end of the tube to be processed. The right clamping device pushes the tube to be processed to continue moving left by S4 until the left clamping device contacts the left end of the tube. The left and right clamping distance L” between the left and right clamping devices is measured. If the left and right clamping distance L” is not equal to the length L of the tube to be processed, the right clamping device continues to move left until the left and right clamping distance L” is equal to the length L of the tube to be processed. If the left and right clamping distance L” is equal to the length L of the tube to be processed, the left clamping device opens, and the right clamping device continues to move left by S5 until the left clamping device clamps the left end of the tube to be processed, and the left end positioning is completed. The right clamping device opens, and the right clamping device continues to move left by S6 until the right clamping device clamps the right end of the tube to be processed, and the right end positioning is completed, thus completing the final positioning of the tube to be processed.

[0038] Furthermore, the length L of the tube to be processed is 1 to 6 m; S1 = 10%L, S2 = 5%L, S3 = 2%L, and S4 = 2%L.

[0039] The automatic positioning method, apparatus, and positioning control method for pipe processing provided in this application have the following advantages compared with the prior art:

[0040] 1. During the movement and conveying of the pipes to be processed, the pipes are prone to jumping, shifting, and misalignment, resulting in a random and uncertain position. Existing technologies require manual removal of the pipes to the appropriate position, which is time-consuming and highly inefficient. This application achieves automatic positioning of the pipes to be processed, eliminating the adverse effects of pipe shifting and misalignment, and improving positioning accuracy.

[0041] 2. Existing technologies require moving the tube from both ends separately to the tube during positioning, resulting in complex motion and wasted energy. This application employs a combination of pre-positioning and final positioning to achieve pre-processing positioning of the tube, saving energy and simplifying control.

[0042] 3. This application is equipped with pre-positioning and final positioning functions, which can accurately realize the automatic positioning control of the tube to be processed and ensure the accuracy of automatic positioning.

[0043] 4. The pipe to be processed after final positioning by this application will not jump, move or misalign. It is applicable to the automatic assembly and positioning of medium and large diameter pipes and flanges, as well as the automatic assembly and positioning of medium and large diameter pipes and sleeves. It is also applicable to the automatic assembly and positioning of small diameter pipes and flanges, and pipes and sleeves. Its application range is very wide. Attached Figure Description

[0044] The technical solution and other beneficial effects of this application will become apparent from the following detailed description of specific embodiments in conjunction with the accompanying drawings.

[0045] Figure 1 This is a flowchart illustrating the automatic positioning method for pipe processing provided in an embodiment of this application.

[0046] Figure 2 This is a logic diagram of the automatic positioning method for pipe processing provided in the embodiments of this application.

[0047] Figure 3 This is a schematic diagram of the automatic positioning device for pipe processing in the embodiments of this application.

[0048] Figure 4 This is a schematic diagram of the pre-positioning action logic of the automatic positioning device for pipe processing provided in the embodiments of this application.

[0049] Figure 5 This is a schematic diagram of the final positioning action logic of the automatic positioning device for pipe processing provided in the embodiments of this application. Implementation

[0050] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0051] like Figure 1 , Figure 2 As shown in the figure, this application provides an automatic positioning method for pipe processing, including the following steps:

[0052] S1. Input the length information of the pipe to be processed;

[0053] S2. The tube to be processed is transferred from the previous workstation or process to a random location in the transfer area;

[0054] S3. Make a reservation;

[0055] S4. Continue to move the pre-positioned tube to be processed to a random position in the processing area;

[0056] S5. Final positioning complete.

[0057] like Figure 2 , Figure 4 As shown, the pre-positioning step includes:

[0058] Left and right alignment devices are randomly positioned within the transfer area.

[0059] Control the left alignment device to push S1 first, and then the right alignment device to push S2. Measure the left and right alignment distance L' between the left and right alignment devices.

[0060] If the left and right alignment distance L' is not equal to the length L of the pipe to be processed, the left alignment device remains stationary while the right alignment device continues to push until the left and right alignment distance L' is equal to the length L of the pipe to be processed.

[0061] If the left and right alignment distance L' is equal to the length L of the pipe to be processed, the pre-positioning of the pipe to be processed is completed.

[0062] Furthermore, the step of controlling the left alignment device to first push S1 and then the right alignment device to push S2 includes:

[0063] Let S1 = 10%L and S2 = 5%L.

[0064] like Figure 2 , Figure 5 As shown, the final positioning step includes:

[0065] A left clamping device and a right clamping device are set at random positions in the processing area. The left clamping device is controlled to always remain stationary, while the right clamping device can move.

[0066] The left and right clamping devices are closed first, and the right clamping device moves to the left by S3 until it contacts the right end of the tube to be processed. The right clamping device pushes the tube to be processed to continue moving to the left by S4 until the left clamping device contacts the left end of the tube to be processed.

[0067] Measure the left and right clamping distance L” between the left clamping device and the right clamping device;

[0068] If the left and right clamping distance L” is not equal to the length L of the pipe to be processed, the right clamping device continues to move to the left until the left and right clamping distance L” is equal to the length L of the pipe to be processed.

[0069] If the left and right clamping distance L” is equal to the length L of the tube to be processed, the left clamping device opens, and the right clamping device continues to move to the left for S5. The left clamping device clamps the left end of the tube to be processed, and the left end positioning is completed. The right clamping device opens, and the right clamping device continues to move to the left for S6. The right clamping device clamps the right end of the tube to be processed, and the right end positioning is completed, thus completing the final positioning of the tube to be processed.

[0070] Furthermore, the distance the right clamping device moves is taken as S3=2%L, S4=2%L.

[0071] Furthermore, the step of inputting the length information of the tube to be processed includes:

[0072] Input the length L of the pipe to be processed, which is 1 to 6 m.

[0073] like Figures 3-5 As shown, this application also provides an automatic positioning device for pipe processing, which includes a left alignment device, a right alignment device, a left clamping device, and a right clamping device.

[0074] The left-side alignment device is used for pre-positioning the left end of the tube to be processed;

[0075] The right-side alignment device is used for pre-positioning the right end of the tube to be processed and for adjusting its position before the pre-positioning.

[0076] The left clamping device remains stationary at all times and has opening and closing functions. It is used to clamp the left end of the tube to be processed to complete the left end positioning.

[0077] The right clamping device has left and right movement, opening and closing functions, and is used to clamp the right side of the tube to be processed to complete the right end positioning and position adjustment before final positioning.

[0078] Furthermore, a distance sensor is installed at the center position of the left and right alignment devices to measure the left and right alignment distance between the left and right alignment devices in real time.

[0079] Furthermore, the left clamping device and the right clamping device are equipped with multiple self-centering automatic grippers that can automatically open and close to achieve clamping and positioning of the surface of the tube to be processed.

[0080] Furthermore, the right clamping device is equipped with a transmission unit and a drive mechanism for driving the right clamping device to move left and right and to position itself.

[0081] Furthermore, a distance sensor is installed at the center of the left clamping device and the right clamping device to measure the left and right clamping distance between the left clamping device and the right clamping device in real time.

[0082] See Figure 2 , Figure 4 , Figure 5 This application also provides a positioning control method for the automatic positioning device for pipe processing described above, which includes the following steps:

[0083] The left alignment device is first pushed by S1, and then the right alignment device is pushed by S2. The left and right alignment distance L' between the left and right alignment devices is measured. If the left and right alignment distance L' is not equal to the length L of the tube to be processed, the left alignment device remains stationary and the right alignment device continues to push until the left and right alignment distance L' is equal to the length L of the tube to be processed. If the left and right alignment distance L' is equal to the length L of the tube to be processed, the pre-positioning of the tube to be processed is completed.

[0084] First, the left and right clamping devices close. The right clamping device moves left by S3 until it contacts the right end of the tube to be processed. The right clamping device pushes the tube to be processed to continue moving left by S4 until the left clamping device contacts the left end of the tube. The left and right clamping distance L” between the left and right clamping devices is measured. If the left and right clamping distance L” is not equal to the length L of the tube to be processed, the right clamping device continues to move left until the left and right clamping distance L” is equal to the length L of the tube to be processed. If the left and right clamping distance L” is equal to the length L of the tube to be processed, the left clamping device opens, and the right clamping device continues to move left by S5 until the left clamping device clamps the left end of the tube to be processed, and the left end positioning is completed. The right clamping device opens, and the right clamping device continues to move left by S6 until the right clamping device clamps the right end of the tube to be processed, and the right end positioning is completed, thus completing the final positioning of the tube to be processed.

[0085] Furthermore, the length L of the tube to be processed is 1 to 6 m; S1 = 10%L, S2 = 5%L, S3 = 2%L, and S4 = 2%L.

[0086] Understandably, ranging sensors can include laser sensors, distance sensors, etc., and can accurately measure distances.

[0087] The automatic positioning method, apparatus, and positioning control method for pipe processing provided in this application have the following advantages compared with the prior art:

[0088] 1. During the movement and conveying of the pipes to be processed, the pipes are prone to jumping, shifting, and misalignment, resulting in a random and uncertain position. Existing technologies require manual removal of the pipes to the appropriate position, which is time-consuming and highly inefficient. This application achieves automatic positioning of the pipes to be processed, eliminating the adverse effects of pipe shifting and misalignment, and improving positioning accuracy.

[0089] 2. Existing technologies require moving the tube from both ends separately to the tube during positioning, resulting in complex motion and wasted energy. This application employs a combination of pre-positioning and final positioning to achieve pre-processing positioning of the tube, saving energy and simplifying control.

[0090] 3. This application is equipped with pre-positioning and final positioning functions, which can accurately realize the automatic positioning control of the tube to be processed and ensure the accuracy of automatic positioning.

[0091] 4. The pipe to be processed after final positioning by this application will not jump, move or misalign. It is applicable to the automatic assembly and positioning of medium and large diameter pipes and flanges, as well as the automatic assembly and positioning of medium and large diameter pipes and sleeves. It is also applicable to the automatic assembly and positioning of small diameter pipes and flanges, and pipes and sleeves. Its application range is very wide.

[0092] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0093] The above provides a detailed description of an automatic positioning method, apparatus, and positioning control method for pipe processing provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the technical solutions and core ideas of this application. Those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method of automatic positioning of pipe machining, characterized by, The method comprises the steps of: inputting the length information of the pipe to be processed; transferring the pipe to be processed to a random position in the transfer area from the previous station or process; carrying out pre-positioning; continuing to transfer the pre-positioned pipe to be processed to a random position in the processing area; completing final positioning; The pre-positioning step comprises: setting a left alignment device and a right alignment device at the random position in the transfer area; controlling the left alignment device to push first S1 and the right alignment device to push second S2, and measuring the left-right alignment distance L' between the left alignment device and the right alignment device; if the left-right alignment distance L' is not equal to the length L of the pipe to be processed, the left alignment device remains stationary and the right alignment device continues to push until the left-right alignment distance L' is equal to the length L of the pipe to be processed; if the left-right alignment distance L' is equal to the length L of the pipe to be processed, the pre-positioning of the pipe to be processed is completed; The final positioning step comprises: setting a left clamping device and a right clamping device at the random position in the processing area, controlling the left clamping device to remain stationary and the right clamping device to be movable; controlling the left clamping device and the right clamping device to close first, the right clamping device to move left first S3, and the right clamping device to contact the right end of the pipe to be processed; the right clamping device to push the pipe to be processed to continue to move left S4 until the left clamping device contacts the left end of the pipe to be processed; measuring the left-right clamping distance L'' between the left clamping device and the right clamping device; if the left-right clamping distance L'' is not equal to the length L of the pipe to be processed, the right clamping device continues to move left until the left-right clamping distance L'' is equal to the length L of the pipe to be processed; if the left-right clamping distance L'' is equal to the length L of the pipe to be processed, the left clamping device is opened, the right clamping device continues to move left S5, the left clamping device clamps the left end of the pipe to be processed, the left end positioning is completed; the right clamping device is opened, the right clamping device continues to move left S6, the right clamping device clamps the right end of the pipe to be processed, the right end positioning is completed, and the final positioning of the pipe to be processed is completed.

2. The method of automatically positioning pipe for machining of claim 1, wherein, The step of controlling the left alignment device to push first S1 and the right alignment device to push second S2 comprises: taking S1=10%L and S2=5%L.

3. The method of automatically positioning pipe for machining of claim 1, wherein, The distance moved by the right clamping device is S3=2%L and S4=2%L.

4. The method of automatically positioning pipe for machining of claim 1, wherein, The step of inputting the length information of the pipe to be processed comprises: inputting the length L of the pipe to be processed as 1-6m.

5. An automatic positioning device for pipe machining, characterized in that, The automatic positioning device for pipe processing comprises a left alignment device, a right alignment device, a left clamping device, and a right clamping device for implementing the automatic positioning method of the pipe processing according to any one of claims 1-4. The left alignment device is used for pre-positioning the left end of the pipe to be processed. The right alignment device is used for pre-positioning the right end of the pipe to be processed and adjusting the position before pre-positioning. The left clamping device always remains stationary, has opening and closing functions, and is used for clamping the left end of the pipe to be processed to complete the left end positioning. The right clamping device has left and right movement, opening, and closing functions, and is used for clamping the right end of the pipe to be processed to complete the right end positioning and adjust the position before final positioning.

6. The tubular processing auto-positioner of claim 5 wherein, The center positions of the left alignment device and the right alignment device are provided with a distance measuring sensor for measuring the left-right alignment distance between the left alignment device and the right alignment device in real time.

7. The tubular processing auto-positioner of claim 5 wherein, The left clamping device and the right clamping device are provided with a plurality of self-centering automatic clamping jaws and can be automatically opened and closed to clamp and position the surface of the pipe to be machined.

8. The tubular processing auto-positioner of claim 5 wherein, The right clamping device is provided with a transmission unit and a driving mechanism for driving the right clamping device to move left and right and to be positioned.

9. The tubular processing auto-positioner of claim 5 wherein, The center positions of the left clamping device and the right clamping device are provided with distance measuring sensors for measuring the left and right clamping distance between the left clamping device and the right clamping device in real time.

10. A positioning control method of the automatic positioning device for pipe processing according to any one of claims 5 to 9, characterized by, The method comprises the steps of: controlling the left aligning device to be pushed first S1, the right aligning device to be pushed second S2, and measuring the left and right aligning distance L' between the left aligning device and the right aligning device; if the left and right aligning distance L' is not equal to the length L of the pipe to be machined, the left aligning device remains stationary and the right aligning device continues to be pushed until the left and right aligning distance L' is equal to the length L of the pipe to be machined; if the left and right aligning distance L' is equal to the length L of the pipe to be machined, the pre-positioning of the pipe to be machined is completed; controlling the left clamping device and the right clamping device to be closed first, the right clamping device to move left first S3, and the right clamping device to contact the right end of the pipe to be machined; the right clamping device to push the pipe to be machined to continue to move left S4 until the left clamping device contacts the left end of the pipe to be machined; measuring the left and right clamping distance L'' between the left clamping device and the right clamping device; if the left and right clamping distance L'' is not equal to the length L of the pipe to be machined, the right clamping device continues to move left until the left and right clamping distance L'' is equal to the length L of the pipe to be machined; if the left and right clamping distance L'' is equal to the length L of the pipe to be machined, the left clamping device is opened, the right clamping device continues to move left S5, the left clamping device clamps the left end of the pipe to be machined, and the left end positioning is completed; the right clamping device is opened, the right clamping device continues to move left S6, the right clamping device clamps the right end of the pipe to be machined, and the right end positioning is completed, and the final positioning of the pipe to be machined is completed.

11. The positioning control method of the pipe processing automatic positioning apparatus according to claim 10, wherein The length L of the pipe to be machined is 1-6 m; S1=10%L, S2=5%L, S3=2%L, and S4=2%L.

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