Pipe continuous automatic cutting device, cutting method and flexible production line

Abstract

This invention relates to the field of pipe cutting technology, and in particular to a continuous automatic pipe cutting device, cutting method, and flexible production line. The continuous automatic pipe cutting device includes a conveyor table, a cutting machine, and a welding mechanism. The conveyor table includes a loading area, a cutting area, and a unloading area. The loading area of ​​the conveyor table is equipped with a first lifting roller group and a second lifting roller group. Guide rails are arranged along the length of the top of each vertical plate, and above the guide rails are a first self-driven chuck, a second self-driven chuck, a third self-driven chuck, and a fourth self-driven chuck that can move on the guide rails. The unloading area of ​​the conveyor table is also equipped with a conveyor belt arranged along the length of the conveyor table. A controller is also included. The continuous automatic pipe cutting device, cutting method, and flexible production line provided by this invention solve the problems of low automation and high waste during pipe cutting in the manufacturing process of wind turbine blade steel frames, and improve the flexibility and production efficiency of the cutting production line.

Description

Technical Field

[0001] This invention relates to the field of pipe cutting technology, and in particular to a continuous automatic pipe cutting device, cutting method and flexible production line. Background Technology

[0002] Currently, thermal power generation remains the dominant method of power generation in my country. However, thermal power generation suffers from drawbacks such as non-renewable raw materials and significant pollution. To further improve the energy structure, there is an urgent need to conduct further research on other power generation methods. Hydropower and nuclear power generation are currently limited by geographical location, technology, construction costs, and safety concerns, and have not yet achieved widespread adoption. Wind power generation, on the other hand, has advantages such as being pollution-free and easy to implement, and is one of the main methods of power generation in my country.

[0003] Currently, the manufacturing process of the blade mold steel frame required for wind power generation is mainly divided into cutting and welding. Cutting the pipe raw material is the first step in manufacturing the blade mold steel frame. At present, there are problems such as low efficiency of the cutting production line, low degree of automation, and a lot of waste. At the same time, the current semi-automatic pipe cutting production line is often only suitable for cutting pipe raw materials of the same length, and its flexibility is low, which greatly restricts the rapid development of wind power generation.

[0004] Therefore, in order to address the above problems, the present invention urgently needs to provide a continuous automatic pipe cutting device, a cutting method, and a flexible production line. Summary of the Invention

[0005] The purpose of this invention is to provide a continuous automatic pipe cutting device, a cutting method, and a flexible production line. Through the above design, the technical problems of low automation, high waste, and low flexibility in pipe cutting in the prior art are solved.

[0006] The present invention provides a continuous automatic pipe cutting device, including a conveyor table, a cutting machine and a welding mechanism. The conveyor table includes a feeding area, a cutting area and a discharging area. The cutting machine is installed in the cutting area and the welding mechanism is close to the feeding area.

[0007] The conveyor includes two parallel vertical plates; the feeding area of ​​the conveyor is sequentially equipped with a first lifting roller group and a second lifting roller group with automatic clamping function, and the first lifting roller group and the second lifting roller group are located between the two vertical plates; the top of each vertical plate is provided with a guide rail along its length, the feeding area is provided with a first self-driven chuck and a second self-driven chuck that can move on the guide rail, the unloading area is provided with a third self-driven chuck and a fourth self-driven chuck that can move on the guide rail, the first self-driven chuck is equipped with a displacement sensor, and the second self-driven chuck is equipped with an infrared sensor;

[0008] A positioning plate is installed in the feeding area, and a pressure sensor is installed on the positioning plate;

[0009] The unloading area of ​​the conveyor table is also equipped with a conveyor belt that runs along the length of the conveyor table.

[0010] It also includes a controller, a first computing module, and a second computing module;

[0011] The first calculation module is used to calculate the moving position of the first self-driven chuck during the first cut;

[0012] The second calculation module is used to calculate the moving position of the first self-driving chuck during n cuts, where n is a positive integer and n≥2;

[0013] It also includes a controller, wherein the first calculation module, the second calculation module, the displacement sensor, the infrared sensor, and the pressure sensor are all electrically connected to the controller, and the welding mechanism, the cutting machine, the first lifting roller group, the second lifting roller group, the first self-driving chuck, the second self-driving chuck, the third self-driving chuck, and the fourth self-driving chuck are all electrically connected to the controller.

[0014] Preferably, the first self-driven chuck includes a base, a chuck is mounted on the top of the base, rollers are respectively provided on both sides below the base, the two rollers are connected by roller shafts, the roller shafts are connected to the drive motor shafts through connectors, the drive motor is fixed on the base, and a displacement sensor is mounted on one side of the base.

[0015] Preferably, the welding mechanism is a welding robot.

[0016] Preferably, the first lifting roller group includes a support plate, the bottom of which is connected to the conveyor table via a lifting mechanism, and the top of the support plate is provided with two parallel columns. Each of the two columns is provided with two cylinders that are perpendicular to the columns, and the axes of the telescopic rods of the two cylinders coincide and extend inward.

[0017] The present invention also provides a method for continuous automatic cutting of pipes, comprising the following steps:

[0018] 1) Control the first lifting roller group to rise, place the pipe on the first lifting roller group, and control the first lifting roller group to clamp the pipe;

[0019] 2) Control the first self-driven chuck and the second self-driven chuck to move to both ends of the pipe and clamp the pipe, control the first lifting roller group to descend, and the first self-driven chuck and the second self-driven chuck drive the pipe to move towards the positioning plate.

[0020] 3) After one side of the first self-driven chuck touches the pressure sensor on the positioning plate, the first and second self-driven chucks are controlled to move the pipe towards the cutting machine. When the infrared sensor indicates that the distance between the second self-driven chuck and the cutting machine is equal to the preset distance value, the second self-driven chuck is controlled to stop moving and release one end of the pipe without disengaging it. The first self-driven chuck continues to move the pipe towards the cutting machine. When the value fed back by the displacement sensor matches the value fed back by the first calculation module, the first self-driven chuck is controlled to stop moving. Simultaneously, the second self-driven chuck is controlled to clamp the pipe, and the third and fourth self-driven chucks are controlled to clamp the end of the pipe passing through the cutting machine. The third and fourth self-driven chucks move the cut pipe to the conveyor belt, where the cut pipe is transported. The first calculation module is configured so that the feedback value satisfies the formula L1=a+bc, where...

[0021] L1 is the feedback value from the first calculation module.

[0022] 'a' represents the distance between the positioning plate and the cutting machine;

[0023] b is the set pipe cutting length;

[0024] c represents the original length of the pipe;

[0025] 4) Obtain the remaining pipe length based on the set pipe cutting length and the original pipe length;

[0026] 5) When the remaining length of the pipe is greater than the set value x, the first self-driven chuck continues to drive one end of the pipe through the cutting machine. When the value fed back by the displacement sensor is the same as the value fed back by the second calculation module, the first self-driven chuck is controlled to stop moving, while the second self-driven chuck is controlled to clamp the pipe. Simultaneously, the third and fourth self-driven chucks are controlled to clamp the end of the pipe passing through the cutting machine and cut the pipe. The set value x satisfies x = b + 2d + f + g, where b is the set pipe cutting length, d is the length of each chuck along the guide rail direction, f is the minimum safe distance between each chuck, and g is the preset distance between the second self-driven chuck and the cutting machine. The second calculation module is configured so that the feedback value satisfies the formula... ,in, This is the feedback value from the second calculation module, where n represents the nth cut, n is a positive integer, and n≥2;

[0027] 6) When the remaining length of the cut pipe is less than or equal to the set value x, control the second self-driven chuck to clamp the pipe. The first and second self-driven chucks move the pipe above the second lifting roller group. The second lifting roller group rises and clamps the pipe. The first self-driven chuck disengages from the pipe and moves towards the positioning plate. Control the first lifting roller group to rise and place another pipe on the first lifting roller group. Control the first self-driven chuck to move and clamp one end of the other pipe. The second self-driven chuck clamps the remaining pipe and connects one end of the remaining pipe with one end of the newly placed pipe. Control the welding mechanism to weld the connection between the two pipes. After welding, repeat steps 1-5. Wherein, the set value x satisfies x=b+2d+f+g, where b is the set pipe cutting length, d is the length of each chuck along the guide rail direction, f is the minimum safe distance between each chuck, and g is the preset distance value between the second self-driven chuck and the cutting machine.

[0028] 7) Stop cutting once the required number of pipes has been cut.

[0029] This invention also provides a flexible automated pipe cutting production line, including a feeding mechanism, a gripping mechanism, the aforementioned continuous automatic pipe cutting device, a cutting length setting module, a discharging mechanism, and a conveying device, wherein...

[0030] The feeding mechanism is used for bulk transportation of pipes;

[0031] The pipe length measuring mechanism installed at one end of the feeding mechanism is used to measure the length of the pipe.

[0032] The gripping mechanism is used to grip the pipes on the feeding mechanism and place them on the continuous automatic pipe cutting device;

[0033] The cutting length setting module is used to set the cutting length of the pipe.

[0034] The continuous automatic pipe cutting device is used to cut the pipe from the gripping mechanism to a set cutting length and then transport the cut pipe to the unloading mechanism.

[0035] It also includes a controller, which receives the pipe cutting length transmitted by the cutting length setting module and sends execution instructions to the continuous automatic pipe cutting device;

[0036] Receive the pipe grabbing signal from the continuous automatic pipe cutting device and send the execution command to the grabbing mechanism;

[0037] The feeding mechanism is used to transfer the pipes conveyed by the continuous automatic pipe cutting device to the transmission device;

[0038] A conveying device is used to transfer pipes from the feeding mechanism to the next process.

[0039] Preferably, the feeding mechanism includes a placement platform, on one side of which multiple parallel feeding conveyor belts and feeding motors are arranged at intervals, and the input shaft of each feeding conveyor belt is respectively connected to the drive shaft of each feeding motor; the other side of the placement platform is also provided with a pipe measuring platform.

[0040] Preferably, a distance sensor is installed on the pipe measuring platform.

[0041] Preferably, the gripping mechanism includes a base, a drive motor mounted on the base, and a robotic arm mounted on the drive motor. A truss body is also mounted at the other end of the robotic arm. Multiple electromagnetic chucks are spaced apart at the bottom of the truss body. The drive motor, each electromagnetic chuck, and the controller are electrically connected.

[0042] Preferably, the top of the conveying device is provided with a roller conveyor mechanism.

[0043] The continuous automatic pipe cutting device, cutting method, and flexible production line provided by this invention have the following advantages compared with the prior art:

[0044] 1. The present invention provides a continuous automatic pipe cutting device and cutting method, which realizes the automatic cutting of pipes through the cooperation of multiple self-driven chucks and lifting roller groups, and achieves zero tail material cutting by installing a welding robot, thereby improving the utilization rate of pipes;

[0045] 2. The present invention provides a flexible automated pipe cutting production line, which includes a pipe storage unit in the feeding mechanism. The pipe storage unit automatically feeds different types of pipes through multiple conveyor belts and measuring devices, solving the problem that traditional semi-automatic cutting production lines can only adapt to the cutting of regular pipes, thus improving the flexibility and production efficiency of the production line. During feeding, the control system automatically takes the pipes out of the pipe storage unit and places them into the clamping and positioning position of the cutting device through a gantry robot. During unloading, the finished pipes are sent to the next workstation by a transmission device, reducing personnel configuration and improving the automation level of the cutting production line. Attached Figure Description

[0046] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0047] Figure 1 is a schematic diagram (perspective view) of the continuous automatic pipe cutting device described in this invention.

[0048] Figure 2 This is a schematic diagram (three-dimensional view) of the flexible automated pipe cutting production line described in this invention.

[0049] Figure 3 This is a schematic diagram (three-dimensional view) of the feeding section of the automated flexible production line for pipe cutting described in this invention.

[0050] Figure 4 This is a schematic diagram (three-dimensional view) of the gripping mechanism described in this invention.

[0051] Figure 5 This is a control flowchart of the continuous automatic pipe cutting device described in this invention;

[0052] Figure 6 This is a control flowchart of the flexible production line for automated pipe cutting described in this invention.

[0053] Explanation of reference numerals in the attached figures:

[0054] 1. Feeding mechanism; 101. Feeding conveyor belt; 102. Feeding motor; 3. Placement table; 4. Pipe measuring table; 5. Continuous automatic pipe cutting device; 501. Vertical plate; 5021. First lifting roller group; 5022. Second lifting roller group; 5031. First self-driven chuck; 5032. Second self-driven chuck; 5033. Third self-driven chuck; 5034. Fourth self-driven chuck; 504. Positioning plate; 505. Cutting machine; 506. Conveyor belt; 507. Guide rail; 6. Welding mechanism; 701. Truss main body; 702. Electromagnetic chuck; 8. Unloading mechanism; 9. Transmission device. Detailed Implementation

[0055] The technical solution of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0056] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0057] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0058] like Figure 1 , Figure 2 , Figure 5 As shown, this embodiment provides a continuous automatic pipe cutting device, including a conveyor table, a cutting machine 505 and a welding mechanism 6. The conveyor table includes a feeding area, a cutting area and a discharging area. The cutting machine 505 is installed in the cutting area and the welding mechanism 6 is close to the feeding area.

[0059] The conveyor includes two parallel vertical plates 501; the loading area of ​​the conveyor is sequentially equipped with a first lifting roller group 5021 and a second lifting roller group 5022 with automatic clamping function, the first lifting roller group 5021 and the second lifting roller group 5022 are located between the two vertical plates 501; the top of each vertical plate 501 is provided with a guide rail 507 along its length, the loading area is provided with a first self-driven chuck 5031 and a second self-driven chuck 5032 that can move on the guide rail 507, the unloading area is provided with a third self-driven chuck 5033 and a fourth self-driven chuck 5034 that can move on the guide rail, the first self-driven chuck 5031 is equipped with a displacement sensor, and the second self-driven chuck 5032 is equipped with an infrared sensor;

[0060] A positioning plate 504 is installed in the feeding area, and a pressure sensor is installed on the positioning plate 504;

[0061] The unloading area of ​​the conveyor is also equipped with a conveyor belt 506 that runs along the length of the conveyor.

[0062] It also includes a controller, a first computing module, and a second computing module;

[0063] The first calculation module is used to calculate the moving position of the first self-driven chuck 5031 during the first cut;

[0064] The second calculation module is used to calculate the moving position of the first self-driving chuck 5031 during the nth cut, where n is a positive integer and n≥2;

[0065] It also includes a controller, wherein the first calculation module, the second calculation module, the displacement sensor, the infrared sensor, and the pressure sensor are all electrically connected to the controller. The welding mechanism 6, the cutting machine 505, the first lifting roller group 5021, the second lifting roller group 5022, the first self-driven chuck 5031, the second self-driven chuck 5032, the third self-driven chuck 5033, and the fourth self-driven chuck 5034 are all electrically connected to the controller.

[0066] This invention provides a continuous automatic pipe cutting device, which uses multiple lifting roller groups to receive and clamp the pipe, and multiple self-driven chucks to clamp, move, and cut the pipe. Displacement sensors are used to position the self-driven chucks, avoiding problems such as inaccurate cutting position and uneven cut surfaces caused by pipe shaking during the cutting process. During the cutting process, when there is excess material in the previous pipe, the first self-driven chuck 5031 and the second self-driven chuck 5032 are used to connect the previous pipe to the next pipe, and the two pipes are welded together by the welding mechanism 6 before cutting, achieving zero-tail cutting and improving pipe utilization. The automated control by the controller further improves the degree of automation and production efficiency.

[0067] like Figure 1 As shown, the first self-driven chuck 5031 includes a base, a chuck mounted on top of the base, and rollers on both sides below the base. The two rollers are connected by roller shafts, and the roller shafts are connected to the drive motor shafts through connectors. The drive motor is fixed on the base, and a displacement sensor is mounted on one side of the base. The chuck model is K11320C Honghan electric chuck.

[0068] In the continuous automatic pipe cutting device provided by the present invention, the second self-driven chuck 5032 includes a second base, a second chuck is mounted on the top of the second base, and second rollers are respectively provided on both sides below the second base. The two second rollers are connected by a second roller shaft, and the second roller shaft is connected to the shaft of a second drive motor through a connector. The second drive motor is fixed on the second base, and an infrared sensor is mounted below the second base. The third self-driven chuck 5033 includes a third base, a third chuck is mounted on the top of the third base, and third rollers are respectively provided on both sides below the third base. The two third rollers are connected by a third roller shaft, and the third roller shaft is connected to the shaft of a third drive motor through a connector. The second and third drive motors are fixed on the third base. The structure of the fourth self-driven chuck 5034 is the same as that of the third self-driven chuck 5033.

[0069] like Figure 2 As shown, welding mechanism 6 is a welding robot, model KR40PA.

[0070] In the continuous automatic pipe cutting device provided by the present invention, the weld seam recognition system identifies the weld seam position, the controller controls the control motor of the robotic arm to drive the robotic arm so that the welding torch approaches the weld seam, and the controller controls the welding torch to weld the two pipes to be joined.

[0071] like Figure 1 As shown, the first lifting roller group 5021 includes a support plate. The bottom of the support plate is connected to the conveyor table through a lifting mechanism. The top of the support plate is provided with two parallel columns. Each of the two columns is provided with two cylinders that are perpendicular to the columns. The axes of the telescopic rods of the two cylinders coincide and extend inward.

[0072] In the continuous automatic pipe cutting device provided by the present invention, the structure of the second lifting roller group 5022 is the same as that of the first lifting roller group 5021.

[0073] like Figure 1 , Figure 5 As shown, the present invention also provides a method for continuous automatic cutting of pipes, comprising the following steps:

[0074] 1) Control the first lifting roller group 5021 to rise, place the pipe on the first lifting roller group 5021, and control the first lifting roller group 5021 to clamp the pipe;

[0075] 2) Control the first self-driven chuck 5031 and the second self-driven chuck 5032 to move to both ends of the pipe and clamp the pipe, control the first lifting roller group 5021 to descend, and the first self-driven chuck 5031 and the second self-driven chuck 5032 drive the pipe to move towards the positioning plate 504.

[0076] 3) After one side of the first self-driven chuck 5031 contacts the pressure sensor on the positioning plate 504, the first self-driven chuck 5031 and the second self-driven chuck 5032 are controlled to move the pipe toward the cutting machine 505. When the infrared sensor indicates that the distance between the second self-driven chuck 5032 and the cutting machine 505 is equal to the preset distance value, the second self-driven chuck 5032 is controlled to stop moving and is controlled to release but not disengage from one end of the pipe. The first self-driven chuck 5031 continues to move the pipe toward the cutting machine 505. When the displacement sensor... When the value fed back by the device matches the value fed back by the first calculation module, the first self-driven chuck 5031 is controlled to stop moving. Simultaneously, the second self-driven chuck 5032 is controlled to clamp the pipe, and the third and fourth self-driven chucks 5033 and 5034 are controlled to clamp one end of the pipe passing through the cutting machine 505. The third and fourth self-driven chucks 5033 and 5034 move the cut pipe to the conveyor belt 506, where the conveyor belt 506 transports the cut pipe. The first calculation module is configured so that the feedback value satisfies the formula L1 = a + bc.

[0077] L1 is the feedback value from the first calculation module.

[0078] a is the distance between the positioning plate 504 and the cutting machine 505;

[0079] b is the set pipe cutting length;

[0080] c represents the original length of the pipe;

[0081] 4) Obtain the remaining pipe length based on the set pipe cutting length and the original pipe length;

[0082] 5) When the remaining length of the pipe is greater than the set value x, the first self-driven chuck 5031 continues to drive one end of the pipe through the cutting machine 505. When the value fed back by the displacement sensor is the same as the value fed back by the second calculation module, the first self-driven chuck 5031 is controlled to stop moving. At the same time, the second self-driven chuck 5032 is controlled to clamp the pipe, and the third self-driven chuck 5033 and the fourth self-driven chuck 5034 are controlled to clamp the end of the pipe that has passed through the cutting machine 505 and cut the pipe. The set value x satisfies x=b+2d+f+g, where b is the set pipe cutting length, d is the length of each chuck along the guide rail 507, f is the minimum safety distance between each chuck, and g is the preset distance between the second self-driven chuck 5032 and the cutting machine 505. The second calculation module is configured so that the feedback value satisfies the formula... ,in, This is the feedback value from the second calculation module, where n represents the nth cut, n is a positive integer, and n≥2;

[0083] 6) When the remaining length of the cut pipe is less than or equal to the set value x, control the second self-driven chuck 5032 to clamp the pipe. The first self-driven chuck 5031 and the second self-driven chuck 5032 move the pipe above the second lifting roller group 5022. The second lifting roller group 5022 rises and clamps the pipe. The first self-driven chuck 5031 disengages from the pipe and moves towards the positioning plate 504. Control the first lifting roller group 5021 to rise and place another pipe on the first lifting roller group 5021. Control the first self-driven chuck 5032 to rise. 031 Move and clamp one end of another pipe, the second self-driven chuck 5032 clamps the remaining pipe and makes one end of the remaining pipe connect with one end of the newly placed pipe, control the welding mechanism 6 to weld the connection between the two pipes, and repeat steps 1-5 after welding; where the set value x satisfies x=b+2d+f+g, where b is the set pipe cutting length, d is the length of each chuck along the guide rail 507, f is the minimum safe distance between each chuck, and g is the preset distance value between the second self-driven chuck 5032 and the cutting machine 505;

[0084] 7) Stop cutting once the required number of pipes has been cut.

[0085] This invention provides a continuous automatic pipe cutting method. A controller controls multiple lifting roller groups to receive and clamp the pipe, and controls multiple self-driven chucks to clamp, move, and cut the pipe. Displacement sensors position the self-driven chucks to prevent pipe shaking during cutting, which can lead to inaccurate cutting positions and uneven cut surfaces. During cutting, when there is excess material in the previous pipe, the controller controls the first self-driven chuck 5031 and the second self-driven chuck 5032 to connect the previous pipe to the next pipe and controls the welding mechanism 6 to weld the two pipes before cutting, achieving zero-tail cutting and improving pipe utilization. The automated control by the controller improves the degree of automation and production efficiency.

[0086] like Figure 1 , Figure 4 , Figure 6 As shown, the present invention also provides a flexible automated pipe cutting production line, including a feeding mechanism 1, a gripping mechanism, a continuous automatic pipe cutting device 5 as described above, a cutting length setting module, a discharging mechanism 8, and a conveying device 9, wherein...

[0087] Feeding mechanism 1 is used for bulk transport of pipes;

[0088] The pipe length measuring mechanism installed at one end of the feeding mechanism 1 is used to measure the length of the pipe.

[0089] The gripping mechanism is used to grip the pipes on the feeding mechanism 1 and place them on the continuous automatic pipe cutting device 5;

[0090] The cutting length setting module is used to set the cutting length of the pipe.

[0091] The continuous automatic pipe cutting device 5 is used to cut the pipe from the gripping mechanism to a set cutting length and transport the cut pipe to the unloading mechanism 8.

[0092] It also includes a controller, which receives the pipe cutting length transmitted by the cutting length setting module and sends an execution command to the continuous automatic pipe cutting device 5;

[0093] Receive the pipe-grabbing signal from the continuous automatic pipe cutting device 5 and send an execution command to the gripping mechanism;

[0094] The feeding mechanism 8 is used to transfer the pipes conveyed by the continuous automatic pipe cutting device 5 to the transmission device 9;

[0095] The conveying device 9 is used to convey the pipes from the feeding mechanism 8 to the next process.

[0096] This invention provides a flexible automated pipe cutting production line. The feeding mechanism includes a pipe storage unit. This unit automatically feeds different types of pipes via multiple conveyor belts and measuring devices, solving the problem that traditional semi-automatic cutting production lines can only handle regular pipes. This improves the flexibility and efficiency of the production line. During feeding, the control system automatically removes the pipes from the storage unit and places them into the cutting device for clamping and positioning via a gantry robot. During unloading, the finished pipes are transported to the next workstation by a conveyor device, reducing manpower requirements and increasing the automation level of the cutting production line.

[0097] like Figure 3 As shown, the feeding mechanism 1 includes a placement platform 3. On one side of the placement platform 3, multiple parallel feeding conveyor belts 101 and feeding motors 102 are arranged at intervals. The input shaft of each feeding conveyor belt 101 is connected to the drive shaft of each feeding motor 102. On the other side of the placement platform 3, a pipe measuring platform 4 is also provided.

[0098] The present invention provides a flexible production line for automated pipe cutting, in which each feeding motor 102 drives each feeding conveyor belt 101 to transport the pipe to the placement table 3, and the pipe length is measured by the pipe measuring table 4 and uploaded to the controller for calculation by the first calculation module.

[0099] In this embodiment, a distance sensor is installed on the pipe measuring platform 4.

[0100] like Figure 4 As shown, the gripping mechanism includes a base, a drive motor mounted on the base, and a robotic arm mounted on the drive motor. A truss body 701 is also mounted on the other end of the robotic arm. Multiple electromagnetic chucks 702 are spaced apart at the bottom of the truss body 701. The drive motor, each electromagnetic chuck 702, and the controller are electrically connected.

[0101] In the flexible production line for automated pipe cutting provided by the present invention, the number of electromagnetic chucks 702 is determined by the length of the pipe and the suction force of a single electromagnetic chuck 702.

[0102] like Figure 2 As shown, the top of the conveying device 9 is equipped with a roller conveyor mechanism.

[0103] The present invention provides a flexible production line for automated pipe cutting. By setting up a roller conveyor mechanism, the cut pipes can be automatically transported to the next work station, reducing personnel requirements and improving the automation level of pipe cutting.

[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, 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 or all of the technical features; and 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 the present invention.

Claims

1. A method for continuous automatic pipe cutting based on a continuous automatic pipe cutting device, characterized in that: The continuous automatic pipe cutting device includes a conveyor table, a cutting machine (505) and a welding mechanism (6). The conveyor table includes a feeding area, a cutting area and a unloading area. The cutting machine (505) is installed in the cutting area and the welding mechanism (6) is close to the feeding area. The conveyor includes two parallel vertical plates (501); the loading area of ​​the conveyor is sequentially equipped with a first lifting roller group (5021) and a second lifting roller group (5022) with automatic clamping function, the first lifting roller group (5021) and the second lifting roller group (5022) are located between the two vertical plates (501); the top of each vertical plate (501) is provided with a guide rail (507) along its length, the loading area is provided with a first self-driven chuck (5031) and a second self-driven chuck (5032) that can move on the guide rail (507), the unloading area is provided with a third self-driven chuck (5033) and a fourth self-driven chuck (5034) that can move on the guide rail (507), the first self-driven chuck (5031) is equipped with a displacement sensor, and the second self-driven chuck (5032) is equipped with an infrared sensor; A positioning plate (504) is installed in the feeding area, and a pressure sensor is installed on the positioning plate (504); The unloading area of ​​the conveyor is also equipped with a conveyor belt (506) that runs along the length of the conveyor. It also includes a controller, a first computing module, and a second computing module; The first calculation module is used to calculate the moving position of the first self-driven chuck (5031) during the first cut; The second calculation module is used to calculate the moving position of the first self-driving chuck (5031) during the nth cut, where n is a positive integer and n≥2; It also includes a controller, wherein the first calculation module, the second calculation module, the displacement sensor, the infrared sensor, and the pressure sensor are all electrically connected to the controller, and the welding mechanism (6), the cutting machine (505), the first lifting roller group (5021), the second lifting roller group (5022), the first self-driven chuck (5031), the second self-driven chuck (5032), the third self-driven chuck (5033), and the fourth self-driven chuck (5034) are all electrically connected to the controller; The continuous automatic pipe cutting method includes the following steps: 1) Control the first lifting roller group (5021) to rise, place the pipe on the first lifting roller group (5021), and control the first lifting roller group (5021) to clamp the pipe; 2) Control the first self-driven chuck (5031) and the second self-driven chuck (5032) to move to both ends of the pipe and clamp the pipe, control the first lifting roller group (5021) to descend, and the first self-driven chuck (5031) and the second self-driven chuck (5032) drive the pipe to move towards the positioning plate (504); 3) After one side of the first self-driven chuck (5031) touches the pressure sensor on the positioning plate (504), control the first self-driven chuck (5031) and the second self-driven chuck (5032) to move the pipe toward the cutting machine (505). When the infrared sensor reports that the distance between the second self-driven chuck (5032) and the cutting machine (505) is equal to the preset distance value, control the second self-driven chuck (5032) to stop moving, and control the second self-driven chuck (5032) to release one end of the pipe but not disengage it. The first self-driven chuck (5031) continues to move the pipe toward the cutting machine (505). When the displacement... When the value fed back by the sensor matches the value fed back by the first calculation module, the first self-driven chuck (5031) is controlled to stop moving, while the second self-driven chuck (5032) is controlled to clamp the pipe. Simultaneously, the third and fourth self-driven chucks (5033 and 5034) are controlled to clamp one end of the pipe passing through the cutting machine (505). The third and fourth self-driven chucks (5033 and 5034) move the cut pipe to the conveyor belt (506), where the conveyor belt (506) transports the cut pipe. The first calculation module is configured such that the feedback value satisfies the formula L1 = a + bc. L1 is the feedback value from the first calculation module. a is the distance between the positioning plate (504) and the cutting machine (505); b is the set pipe cutting length; c represents the original length of the pipe; 4) Obtain the remaining pipe length based on the set pipe cutting length and the original pipe length; 5) When the remaining length of the pipe is greater than the set value x, the first self-driven chuck (5031) continues to drive one end of the pipe through the cutting machine (505). When the value fed back by the displacement sensor is the same as the value fed back by the second calculation module, the first self-driven chuck (5031) is controlled to stop moving. At the same time, the second self-driven chuck (5032) is controlled to clamp the pipe, and the third self-driven chuck (5033) and the fourth self-driven chuck (5034) are controlled to clamp the end of the pipe that has passed through the cutting machine (505) and cut the pipe. The set value x satisfies x = b + 2d + f + g, where b is the set pipe cutting length, d is the length of each chuck along the guide rail (507), f is the minimum safety distance between each chuck, and g is the preset distance between the second self-driven chuck (5032) and the cutting machine (505). The second calculation module is configured such that the feedback value satisfies the formula L. n =b+L n-1 Among them, L n This is the feedback value from the second calculation module, where n represents the nth cut, n is a positive integer, and n≥2; 6) When the remaining length of the cut pipe is less than or equal to the set value x, control the second self-driven chuck (5032) to clamp the pipe. The first self-driven chuck (5031) and the second self-driven chuck (5032) drive the pipe to move above the second lifting roller group (5022). The second lifting roller group (5022) rises and clamps the pipe. The first self-driven chuck (5031) disengages from the pipe and moves towards the positioning plate (504). Control the first lifting roller group (5021) to rise and place another pipe on the first lifting roller group (5021). Control the first self-driven chuck to rise. The chuck (5031) moves and clamps one end of another pipe. The second self-driven chuck (5032) clamps the remaining pipe and makes one end of the remaining pipe connect with one end of the newly placed pipe. The welding mechanism (6) is controlled to weld the connection between the two pipes. After welding, steps 1-5 are repeated. The set value x satisfies x = b + 2d + f + g, where b is the set pipe cutting length, d is the length of each chuck along the guide rail (507), f is the minimum safe distance between each chuck, and g is the preset distance between the second self-driven chuck (5032) and the cutting machine (505). 7) Stop cutting once the required number of pipes has been cut.

2. The continuous automatic pipe cutting method according to claim 1, characterized in that: The first self-driven chuck (5031) includes a base, a chuck mounted on the top of the base, rollers on both sides below the base, the two rollers being connected by a roller shaft, the roller shaft being connected to the drive motor shaft by a connector, the drive motor being fixed on the base, and a displacement sensor being mounted on one side of the base.

3. The continuous automatic pipe cutting method according to claim 2, characterized in that: The welding mechanism (6) is a welding robot.

4. The continuous automatic pipe cutting method according to claim 3, characterized in that: The first lifting roller group (5021) includes a support plate. The bottom of the support plate is connected to the conveyor table through a lifting mechanism. The top of the support plate is provided with two parallel columns. Each of the two columns is provided with two cylinders that are perpendicular to the columns. The axes of the telescopic rods of the two cylinders coincide and extend inward.

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