Pipe feeding method and storage medium

Abstract

This invention provides a pipe feeding method and storage medium, comprising: using a first clamping structure to clamp a first end of a pipe, and using a second clamping structure to clamp the other end of the pipe; using at least one supporting structure to support the pipe between the first and second clamping structures, wherein the pipe is movable relative to the supporting structure along a first direction; causing the first clamping structure to drive the pipe to move along the first direction; determining the stopping position after each movement of the pipe by the first clamping structure; adjusting the current support position of the pipe between the first and second clamping structures according to the stopping position; and moving the supporting structures to the corresponding support positions to support the pipe. It can be seen that the pipe feeding method of this application can continuously maintain feeding accuracy during the pipe feeding process.

Description

Technical Field

[0001] This application belongs to the field of pipe processing technology, and more specifically, relates to a pipe feeding method and a storage medium. Background Technology

[0002] During the processing of pipes by processing equipment, a first clamping structure and a second clamping structure are often used to clamp the two ends of the pipe respectively. When the first clamping structure moves the pipe toward the direction of the second clamping structure, the pipe clamped by the second clamping structure can still move relative to the second clamping structure to realize the feeding of the pipe.

[0003] In order to prevent deformation of the pipe between the first clamping structure and the second clamping structure during the movement of the pipe, one or more support structures are usually set between the first clamping structure and the second clamping structure to support the pipe. When the first clamping structure moves close to the support structure, the support structure needs to lower to avoid it and no longer supports the pipe. At this time, there will be a gap period when the pipe is not supported by a support structure. However, if the length of the pipe is still long during the gap period, the pipe may still deform during the movement of the first clamping structure, which will affect the feeding accuracy. Summary of the Invention

[0004] This application provides a pipe feeding method that can continuously ensure the accuracy of pipe feeding during the pipe feeding process.

[0005] The technical solution adopted in this application is a pipe feeding method, which includes the following steps:

[0006] A method for feeding pipes, characterized in that the method includes the following steps:

[0007] The first end of the pipe is clamped by a first clamping structure, and the other end of the pipe is clamped by a second clamping structure.

[0008] The tubing is supported between the first clamping structure and the second clamping structure using at least one supporting structure;

[0009] The first clamping structure drives the pipe to move along the first direction for feeding;

[0010] Obtain the stopping position of the pipe after each movement of the first clamping structure;

[0011] The support position is calculated based on the stop position, and the support structure is moved along the first direction to the support position to support the pipe.

[0012] As can be seen, in this application, when the pipe is fed along the first direction by the first clamping structure, at least one support structure is provided between the first and second clamping structures to support the pipe. The support position of this support structure is adjusted according to the stopping position after each movement of the pipe by the first clamping structure. Thus, the position of the support structure can be adjusted once in the first direction each time the pipe is fed. Since the adjustment direction of the support position is the same as the movement direction of the first clamping structure, the movement direction of the support structure can also be the same as the movement direction of the first clamping structure. This method not only ensures continuous support for the pipe but also avoids the problem of insufficient support affecting feeding accuracy when the pipe is still long between the first and second clamping structures, requiring the support structure to lower to avoid the first clamping structure. In other words, the pipe feeding method of this application can continuously ensure feeding accuracy during the pipe feeding process.

[0013] Optionally, the step of moving the support structure along the first direction to the support position to support the pipe further includes:

[0014] During the process of the first clamping structure moving the pipe to the stop position, the support structure moves to the corresponding support position to support the pipe; or...

[0015] Before the first clamping structure moves the pipe, the supporting structure is moved to the corresponding supporting position to support the pipe; or...

[0016] After the first clamping structure moves the pipe to the stop position, the support structure moves to the corresponding support position to support the pipe.

[0017] Optionally, the step of obtaining the stopping position after each movement of the pipe by the first clamping structure and determining the stopping position after each movement of the pipe by the first clamping structure further includes:

[0018] The stopping position of the first clamping structure after each movement of the pipe is determined based on the required feeding length of the pipe during each processing.

[0019] Optionally, the step of calculating the support position based on the stop position, moving the support structure along the first direction to the support position to support the pipe, and adjusting the support position of the pipe between the first clamping structure and the second clamping structure based on the stop position further includes:

[0020] Determine the interval distance between the stop position and the second clamping structure;

[0021] Determine the number of the supporting structures;

[0022] Adjust each support position of the pipe between the first clamping structure and the second clamping structure according to the interval distance and the number of support structures.

[0023] Optionally, within the current interval, each of the support positions is distributed at equal intervals in the first direction.

[0024] Optionally, the method further includes:

[0025] Each of the supporting structures is pre-defined to move along a first direction within a specific path range, and these path ranges do not overlap with each other.

[0026] Based on the stop position, the support position of each support structure within the corresponding path range is determined, and when the adjusted support position is located at the end position of the path range or needs to exceed the end position, the support position is determined to be at the end position of the path range and is not changed again.

[0027] Optionally, the method further includes:

[0028] A plurality of path ranges are formed along a first direction between the initial position of the first clamping structure and the second clamping structure, each path range corresponding to a support structure; and

[0029] The distance of each of the aforementioned path ranges is the same.

[0030] Optionally, the support position is calculated based on the stop position, and the support structure is moved along the first direction to the support position to support the pipe. Adjusting the support position of the pipe between the current first clamping structure and the second clamping structure based on the stop position further includes:

[0031] Determine the first coordinate of the stopping position in the first direction;

[0032] Determine the second coordinate of the second clamping structure in the first direction;

[0033] The coordinates of the support position are calculated based on the first and second coordinates and according to the first preset formula; wherein,

[0034] The first preset formula is C_n=n ((AB)) / ((m+1) )+B, where C is the coordinate of the support position, A is the first coordinate, B is the second coordinate, n represents the nth support position from the first clamping structure in the current state, and m represents the number of support positions in the current state.

[0035] Optionally, it also includes:

[0036] A first safe distance is preset between the first clamping structure and the adjacent supporting structure;

[0037] When the distance between the stopping position of the first clamping structure and the supporting position is less than the first safety distance, the supporting structure corresponding to the supporting position is lowered to avoid the first clamping structure.

[0038] Optionally, a second safety distance is preset between two adjacent support structures;

[0039] When the distance between two adjacent support positions is less than the second safety distance, the support structure corresponding to the support position closest to the first clamping structure stops moving along the first direction.

[0040] Optionally, the pipe can rotate about its central axis under the action of the first clamping structure and the second clamping structure.

[0041] The support structure includes a support member and a lifting drive member, wherein the lifting drive member is driven to be connected to the support member.

[0042] The support member supports the pipe, and the support method further includes:

[0043] The lowest point position of the pipe in a second direction is obtained in real time, and the second direction is perpendicular to the first direction;

[0044] The lifting drive unit drives the support member to move to the lowest point position to support the pipe.

[0045] Optionally, the pipe can rotate about its central axis under the action of the first clamping structure and the second clamping structure.

[0046] The support structure further includes a limiting drive component and a first limiting component and a second limiting component disposed opposite to each other along a third direction. The first limiting component and the second limiting component limit the pipe material. The limiting drive component is driven to the first limiting component and the second limiting component respectively, so that the first limiting component and the second limiting component can move relative to each other along a third direction. The third direction is perpendicular to the first direction and the second direction respectively.

[0047] The method for limiting the pipe between the first limiting member and the second limiting member further includes:

[0048] Real-time acquisition of the pipe width in the third-party direction when the pipe rotates;

[0049] The limiting drive causes the first limiting member and the second limiting member to move relative to each other until the limiting distance between the first limiting member and the second limiting member is consistent with the width of the pipe.

[0050] A pipe feeding mechanism includes a first clamping structure, a second clamping structure, and at least one supporting structure. The first clamping structure and the second clamping structure are disposed opposite to each other in a first direction, and the supporting structure is disposed between the first clamping structure and the second clamping structure.

[0051] The first clamping structure, the second clamping structure, and the supporting structure respectively feed the pipe according to the pipe feeding method.

[0052] A pipe cutting machine includes a laser cutting structure and a pipe feeding mechanism, wherein the laser cutting structure is disposed at the end of the second clamping structure away from the first clamping structure.

[0053] The laser cutting structure is used to laser cut the tube extending from the second clamping structure.

[0054] A computer-readable storage medium storing instructions, wherein a data storage device executes the instructions to enable the data storage device to implement the pipe feeding method. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 This is a schematic diagram of the pipe feeding method in the existing technology;

[0057] Figure 2 This is one of the schematic diagrams of the pipe feeding method in the embodiments of this application;

[0058] Figure 3 This is a second schematic diagram of the pipe feeding method in the embodiments of this application;

[0059] Figure 4 This is the third schematic diagram of the pipe feeding method in the embodiments of this application;

[0060] Figure 5 This is one of the flowcharts illustrating the pipe feeding method in the embodiments of this application;

[0061] Figure 6 This is a second schematic flowchart of the pipe feeding method in the embodiments of this application;

[0062] Figure 7 This is the third flowchart illustrating the pipe feeding method in the embodiments of this application;

[0063] Figure 8 This is the fourth flowchart illustrating the pipe feeding method in the embodiments of this application;

[0064] Figure 9 This is the fifth flowchart illustrating the pipe feeding method in the embodiments of this application;

[0065] Figure 10 This is the sixth flowchart illustrating the pipe feeding method in the embodiments of this application;

[0066] Figure 11 This is a schematic diagram of the pipe cutting machine in the embodiments of this application;

[0067] Figure 12 This is a schematic diagram of the support structure in an embodiment of this application.

[0068] Figure Labels

[0069] 100. First clamping structure; 200. Second clamping structure; 300. Support structure; 310. Support component; 320. Lifting drive component; 330. First limiting component; 340. Second limiting component; 400. Intermittent period; 500. Stop position; 600. Adjusted support position; 700. Pipe; 800. Laser cutting structure. Specific Implementation

[0071] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0072] It should be noted that when a metastructure is said to be "fixed to" or "set to" another metastructure, it can be directly on or indirectly on that other metastructure. When a metastructure is said to be "connected to" another metastructure, it can be directly connected to or indirectly connected to that other metastructure.

[0073] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or metastructure 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 this application.

[0074] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the descriptions of some applications, "multiple" means two or more, unless otherwise explicitly specified.

[0075] During the processing of pipes by processing equipment, the pipe needs to be fed in its axial direction. For example, when a pipe cutter cuts a pipe, the pipe needs to be fed in its axial direction once for each cut.

[0076] During the feeding process, in order to ensure the accuracy of the feeding, a first clamping structure and a second clamping structure are often used to clamp the two ends of the pipe respectively. When the first clamping structure drives the pipe to move closer to the second clamping structure, the pipe clamped by the second clamping structure can still move relative to the second clamping structure (for example, the second clamping structure can clamp the pipe by using rollers to achieve the pipe being clamped and moving relative to the second clamping structure at the same time), thereby realizing the feeding of the pipe.

[0077] However, as Figure 1 As shown, when the pipe 700 is long, it is prone to deformation during the process of the first clamping structure 100 moving the pipe 700 closer to the second clamping structure 200, and during the rotation of the pipe 700 by the first clamping structure 100 and the second clamping structure 200 in some embodiments. Therefore, one or more support structures 300 are generally provided between the first clamping structure 100 and the second clamping structure 200 to support the pipe 700. However, when the first clamping structure 100 moves close to the support structure 300, the support structure 300 needs to descend to avoid it and no longer supports the pipe 700. At this time, a gap period 400 occurs where the pipe 700 is not supported by the support structure 300. If the length of the pipe 700 is still long at this time, the pipe 700 may deform during the process of the first clamping structure 100 moving the pipe 700, affecting the feeding accuracy.

[0078] Therefore, this application provides a method for feeding pipe 700 to continuously maintain the accuracy of pipe 700 feeding.

[0079] Combination Figure 2 and Figure 5 The method for feeding 700mm pipe includes the following steps:

[0080] Step S100: The first end of the pipe is clamped by the first clamping structure, and the other end of the pipe is clamped by the second clamping structure.

[0081] For example, in some embodiments, the second clamping structure 200 can clamp the pipe 700 through a roller structure, so that the pipe 700 can be clamped by the second clamping structure 200 and can also move relative to the second clamping structure 200 in a first direction.

[0082] Step S300: The pipe is supported by at least one support structure between the first clamping structure and the second clamping structure.

[0083] The number of support structures 300 can be one, two, three, or more, and the specific number of support structures 300 can be determined based on the length and rigidity of the pipe 700 between the first clamping structure 100 and the second clamping structure 200. For example... Figure 2 There are 2 in the middle.

[0084] A support structure 300 is provided between the first clamping structure 100 and the second clamping structure 200 to improve the stability and accuracy of the pipe 700 feeding.

[0085] In step S500, the first clamping structure drives the pipe to move along the first direction for feeding.

[0086] Specifically, when the pipe 700 is fed, the first clamping structure 100 can clamp the pipe 700. The first clamping structure 100 can move along a first direction, for example, moving closer to the second clamping structure 200 in the first direction. When the first clamping structure 100 moves along the first direction, it drives the pipe 700 to move synchronously along the first direction. When the pipe 700 moves along the first direction, it can move relative to the second clamping structure 200. In some embodiments, when the pipe 700 moves along the first direction, one end of the pipe 700 can extend out of the second clamping structure 200 away from the first clamping structure 100.

[0087] For example, when the pipe 700 is being cut, the pipe 700 moves along the first direction under the action of the first clamping structure 100 and the second clamping structure 200 until one end of the pipe 700 extends out of the second clamping structure 200 away from the first clamping structure 100, and the cutting structure cuts the pipe 700 that extends out of the second clamping structure 200.

[0088] Step S700: Obtain the stopping position of the pipe after each movement of the first clamping structure.

[0089] It is understandable that the stop position 500 specifically refers to the position where the first clamping structure 100 stops after it moves the pipe 700 to a predetermined position.

[0090] For example, when the first clamping structure 100 approaches the second clamping structure 200 along the first direction, after the pipe 700 moves a predetermined distance under the action of the first clamping structure 100, the first clamping structure 100 stops driving the pipe 700 to move. At this time, the first clamping structure 100 stops moving synchronously. Therefore, it is necessary to determine the stopping position 500 after the first clamping structure 100 drives the pipe 700 to move each time.

[0091] Step S900: Calculate the support position based on the stop position, and move the support structure along the first direction to the support position to support the pipe.

[0092] For example, when there is one support structure 300, there is only one support position for the pipe 700 between the first clamping structure 100 and the second clamping structure; when there are two support structures 300, there are two support positions for the pipe 700 between the first clamping structure 100 and the second clamping structure; when there are three support structures 300, there are three support positions for the pipe 700 between the first clamping structure 100 and the second clamping structure.

[0093] Specifically, each time the pipe 700 is fed, the first clamping structure 100 drives the pipe 700 to move closer to the second clamping structure 200 along the first direction. Therefore, the adjustment of the support position based on the stop position 500 of the first clamping structure 100 allows the support position to be closer to the second clamping structure 200. This method allows the support position of the support structure 300 to be adjusted in real time.

[0094] It is understood that the support structure 300 is used to support the pipe 700 between the first clamping structure 100 and the second clamping structure 200. Therefore, when there are multiple support structures 300, the multiple support structures 300 are distributed along the first direction, that is, the multiple support positions on the pipe 700 are distributed along the axial direction of the pipe 700.

[0095] In this method, after adjusting the support position of the pipe 700 at the stop position 500 of the first clamping structure 100, the support structure 300 moves to the adjusted support position of the pipe 700 to support it. This method allows for real-time adjustment of the position of the support structure 300, ensuring continuous support for the pipe 700. Furthermore, since the adjustment direction of the support position is the same as the movement direction of the first clamping structure 100, the movement direction of the support structure 300 is also the same as that of the first clamping structure 100. This avoids the need for the support structure 300 to descend and avoid the first clamping structure 100 when the pipe 700 is still relatively long between the first clamping structure 100 and the second clamping structure 200.

[0096] As can be seen, in this application, when the pipe 700 is fed along the first direction by the first clamping structure 100, at least one support structure 300 is provided between the first clamping structure 100 and the second clamping structure 200 to support the pipe 700. The support position of the support structure 300 is adjusted in real time according to the stopping position 500 after each movement of the pipe 700 by the first clamping structure 100. In this way, the position of the support structure 300 can be adjusted once in the first direction each time the pipe 700 is fed. Simultaneously, due to the support... The adjustment direction of the support position is the same as the movement direction of the first clamping structure 100, so the movement direction of the support structure 300 can also be the same as the movement direction of the first clamping structure 100. This method not only allows the support structure 300 to continuously support the pipe 700, but also avoids the problem of the support structure 300 needing to lower to avoid the first clamping structure 100 when the pipe 700 between the first clamping structure 100 and the second clamping structure 200 is still long, thus preventing the pipe 700 from lacking support and affecting the feeding accuracy. In other words, the pipe 700 feeding method of this application can continuously ensure the feeding accuracy during the pipe 700 feeding process.

[0097] Furthermore, in step S900, moving the support structure along the first direction to the support position to support the pipe may specifically include:

[0098] In some embodiments, during the process of the first clamping structure 100 moving the pipe 700 to the stop position 500, the support structure 300 moves to the corresponding support position to support the pipe 700. That is, the support structure 300 and the first clamping structure 100 move synchronously. This method can improve the efficiency of feeding the pipe 700.

[0099] In some embodiments, before the first clamping structure 100 moves the pipe 700, the support structure 300 is moved to the corresponding support position to support the pipe 700. That is, before the first clamping structure 100 moves, the support structure 300 is moved to the adjusted support position 600. This method helps to always maintain a safe distance between the first clamping structure 100 and the support structure 300.

[0100] In some embodiments, after the first clamping structure 100 moves the pipe 700 to the stop position 500, the support structure 300 moves to the corresponding support position to support the pipe 700. That is, after the first clamping structure 100 has moved to the stop position 500, the support structure 300 moves to the adjusted support position 600. This method helps to improve the accuracy of pipe 700 feeding.

[0101] Further, step S700, obtaining the stopping position of the pipe after each movement of the first clamping structure, may specifically include:

[0102] Based on the required feeding length of the pipe 700 during each processing, the stopping position 500 of the first clamping structure 100 after each movement of the pipe 700 is determined.

[0103] In other words, the position where the first clamping structure 100 needs to stop can be determined by the distance the first clamping structure 100 moves each time.

[0104] For example, when cutting pipe 700, the length of each feeding of pipe 700 is the length of each cut of pipe 700.

[0105] Further, see Figure 6 In step S900, the support position is calculated based on the stop position, and the support structure is moved along the first direction to the support position to support the pipe. Specifically, this may also include:

[0106] Step S910: Determine the interval distance between the stop position and the second clamping structure.

[0107] Step S930: Determine the number of supporting structures.

[0108] It is understandable that the number of support structures 300 corresponds to the support positions on the pipe 700, and determining the number of support structures 300 determines the number of support positions on the pipe 700.

[0109] Step S950: Adjust each support position of the pipe between the current first clamping structure and the second clamping structure according to the interval distance and the number of support structures.

[0110] It is understandable that when there are multiple support structures 300, each support position can be adjusted simultaneously to prevent the support structures 300 from colliding with each other during movement.

[0111] For example, in some implementations, each support position is distributed at equal intervals in a first direction within the current interval distance.

[0112] That is, when the support position closest to the first clamping structure 100 is adjusted, the other support positions are adjusted simultaneously to ensure that each support position is always at an equal interval.

[0113] Of course, in other embodiments, in order to facilitate the determination of the position of each support position, the first clamping structure 100, the support structure 300 and the second clamping structure 200 can be kept at equal intervals.

[0114] In addition, in some embodiments, in order to avoid the distance between two adjacent support structures 300 getting too close or colliding, a second safety distance △X2 between two adjacent support structures 300 can be preset. When the distance between two adjacent support positions is less than the second safety distance △X2, the support structure 300 corresponding to the support position close to the first clamping structure 100 stops moving along the first direction.

[0115] Combination Figure 3 and Figure 7 In some embodiments, when there are multiple support structures 300, in order to more easily avoid collisions when the support structures 300 move together, step S950, adjusting each support position of the pipe 700 between the first clamping structure 100 and the second clamping structure 200 according to the interval distance and the number of support structures 300, may further include:

[0116] Step S951: Preset the path range for each of the support structures to move along the first direction, wherein the path ranges do not overlap with each other.

[0117] Step S953: Determine the support position of each support structure within the corresponding path range according to the stop position, and when the adjusted support position is located at the end position of the path range or needs to exceed the end position, determine the support position at the end position of the path range and do not change it.

[0118] This method helps to avoid collisions caused by adjacent support structures being too close together.

[0119] Specifically, in some embodiments, a plurality of path ranges XL1 are formed along a first direction between the initial position of the first clamping structure 100 and the second clamping structure 200, and each path range XL1 corresponds to a support structure 300.

[0120] Furthermore, the distance of each path range XL1 is the same. That is, the travel range of each support structure 300 is the same.

[0121] In the above method, since each path range XL1 is the same, when adjusting the position of the support position, the adjustment distance of each support position can be the same, so as to facilitate the adjustment of the support position.

[0122] Further, in step S900, the support position is calculated based on the stop position, and the support structure is moved along the first direction to the support position to support the pipe. The specific method may also include:

[0123] Determine the first coordinate of the stopping position in the first direction. The first coordinate can be the abscissa of the first clamping structure in the first direction.

[0124] Determine the second coordinate of the second clamping structure in the first direction. The second coordinate can be the abscissa of the second clamping structure in the first direction.

[0125] The coordinates of the support position are calculated based on the first and second coordinates and according to the first preset formula.

[0126] Specifically, the first preset formula is C_n=n ((AB)) / ((m+1) )+B, where C is the coordinate of the support position, A is the first coordinate, B is the second coordinate, n represents the nth support position from the first clamping structure 100 in the current state, and m represents the number of support positions in the current state.

[0127] For example, with Figure 2 Taking the illustrated embodiment as an example, assuming that there are two support structures 300, i.e., two support positions, the coordinate of the stop position 500 of the first clamping structure 100 in the first direction is 1000, and the coordinate of the second clamping structure 200 in the first direction is 7000.

[0128] At this time, the coordinates of the first support position near the first clamping structure 100 are C_1=1 ((7000-1000)) / ((2+1) )+1000=3000, that is, the coordinates of the first support position are 3000.

[0129] The coordinates of the second support position near the first clamping structure 100 are C_2 = 2 ((7000-1000)) / ((2+1) )+1000 = 5000, that is, the coordinates of the second support position are 5000.

[0130] See Figure 8 Furthermore, the pipe 700 feeding method may also include:

[0131] Step S1300: Preset a first safe distance between the first clamping structure and the adjacent support structure.

[0132] Step S1500: When the distance between the stop position of the first clamping structure and the support position is less than the first safety distance, the support structure corresponding to the support position is lowered to avoid the first clamping structure.

[0133] Understandable, see reference Figure 4 As the pipe 700 is fed repeatedly, the distance between the first clamping structure 100 and the second clamping structure 200 will become smaller and smaller. Although the support structure 300 can adjust its position along the first direction, the distance between the first clamping structure 100 and the support structure 300 will also become smaller and smaller. Therefore, when the distance between the stop position 500 of the first clamping structure 100 and the support position is less than the first safety distance △X1, the support structure 300 corresponding to the support position will be lowered to avoid the first clamping structure 100 and avoid collision.

[0134] Furthermore, as the tube 700 is fed repeatedly, the tube 700 between the first clamping structure 100 and the second clamping structure 200 becomes shorter and shorter. When the tube 700 becomes shorter, its rigidity becomes strong enough. At this point, the tube 700 no longer needs the support structure 300 for support, or no longer needs so many support structures 300 for support. Therefore, the descent of the support structure 300 near the first clamping structure 100 to no longer support the tube 700 will not affect the accuracy of the tube 700 feeding.

[0135] Combination Figure 2 , Figure 9 and Figure 12 In some embodiments, the pipe 700 can rotate about the central axis of the pipe 700 under the action of the first clamping structure 100 and the second clamping structure 200.

[0136] The support structure 300 may also include a support member 310 and a lifting drive member 320, the lifting drive member 320 being driven to the support member 310, and the support member 310 being used to support the pipe 700.

[0137] Furthermore, the method of supporting the pipe 700 by the support member 310 includes the following steps:

[0138] Step S2000: Real-time acquisition of the lowest point position of the pipe in the second direction, which is perpendicular to the first direction.

[0139] For example, the second direction can be the vertical direction.

[0140] Step S3000: The lifting drive component drives the support component to move to the lowest point to support the pipe.

[0141] It is understandable that when the pipe 700 is a non-circular pipe, such as a rectangular pipe, the lowest point position of the pipe 700 will change in real time during the rotation process. Therefore, by obtaining the lowest point position of the pipe 700 in real time, the support member 310 is driven by the lifting drive member 320 to move according to the position of the lowest point, so as to ensure that the support member 310 can always support the pipe 700.

[0142] Furthermore, combined Figure 2 , Figure 10 and Figure 12 The support structure 300 may further include a limiting drive member and a first limiting member 330 and a second limiting member 340 disposed opposite to each other along a third direction. The first limiting member 330 and the second limiting member 340 limit the tube 700 between them. The limiting drive member is driven to the first limiting member 330 and the second limiting member 340 respectively, so that the first limiting member 330 and the second limiting member 340 can move relative to each other along a third direction, which is perpendicular to the first direction and the second direction respectively.

[0143] The method for limiting the tube 700 between the first limiting member 330 and the second limiting member 340 also includes the following steps:

[0144] Step S4000: Obtain the pipe width in the third direction in real time.

[0145] Step S5000: The limiting drive causes the first limiting member and the second limiting member to move relative to each other until the limiting distance between the first limiting member and the second limiting member is consistent with the width of the pipe.

[0146] Specifically, in some embodiments, the first limiting member 330 and the second limiting member 340 can move synchronously towards each other in a third direction, so that even if the first limiting member 330 and the second limiting member 340 perform opening and closing movements, the first limiting member 330 and the second limiting member 340 can always limit the pipe 700.

[0147] It is understandable that when the pipe 700 is a non-circular pipe, such as a rectangular pipe, the width of the pipe 700 in the third direction will change in real time during the rotation process. Therefore, by obtaining the width of the pipe 700 in the third direction in real time, the first limiting member 330 and the second limiting member 340 are driven to move relative to each other through the limiting drive until the limiting distance between the first limiting member 330 and the second limiting member 340 is consistent with the width of the pipe 700, so as to ensure that the first limiting member 330 and the second limiting member 340 can always limit the pipe 700.

[0148] The above method can improve the processing accuracy of pipe 700 and avoid problems such as deformation of pipe 700 when rotating.

[0149] In addition, see Figure 2 This application also provides a feeding mechanism, including a first clamping structure 100, a second clamping structure 200 and at least one support structure 300. The first clamping structure 100 and the second clamping structure 200 are arranged opposite to each other in a first direction, and the support structure 300 is disposed between the first clamping structure 100 and the second clamping structure 200. The first clamping structure 100, the second clamping structure 200 and the support structure 300 respectively feed the pipe 700 according to the pipe 700 feeding method of the embodiment of this application.

[0150] See Figure 11 This application also provides a pipe cutting machine, including a laser cutting structure 800 and a pipe feeding mechanism 700, wherein the laser cutting structure 800 is disposed at the end of the second clamping structure 200 away from the first clamping structure 100.

[0151] The laser cutting structure 800 is used to laser cut the tube 700 extending from the second clamping structure 200.

[0152] In some implementations, the laser cutting structure 800 may be a laser head.

[0153] Understandably, since the pipe cutting machine adopts the pipe feeding method of this application, the feeding accuracy of the pipe 700 is high, which can improve the cutting accuracy of the pipe cutting machine on the pipe 700.

[0154] This application also provides a computer-readable storage medium storing instructions, which a data storage device executes to enable the data storage device to perform the pipe feeding method or processing method of this application.

[0155] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of some applications should be included within the protection scope of some applications.

Claims

1. A method for feeding pipes, characterized in that, The method includes the following steps: The first end of the pipe is clamped by a first clamping structure, and the other end of the pipe is clamped by a second clamping structure. The tubing is supported between the first clamping structure and the second clamping structure using at least one supporting structure; The first clamping structure drives the pipe to move along the first direction for feeding; Obtain the stopping position of the pipe after each movement of the first clamping structure; The support position is calculated based on the stop position, and the support structure is moved along the first direction to the support position to support the pipe; wherein, before the first clamping structure moves the pipe, the support structure is moved to the corresponding support position to support the pipe; or, after the first clamping structure moves the pipe to the stop position, the support structure is moved to the corresponding support position to support the pipe. The step of calculating the support position based on the stop position and moving the support structure along the first direction to the support position to support the pipe further includes: Determine the interval distance between the stop position and the second clamping structure; Determine the number of the supporting structures; Adjust each support position of the pipe between the first clamping structure and the second clamping structure according to the interval distance and the number of support structures; The method further includes: Each of the supporting structures is pre-defined to move along a first direction within a specific path range, and these path ranges do not overlap with each other. Based on the stop position, the support position of each support structure within the corresponding path range is determined, and when the adjusted support position is located at the end position of the path range or needs to exceed the end position, the support position is determined to be at the end position of the path range and is not changed again.

2. The pipe feeding method as described in claim 1, characterized in that, The step of obtaining the stopping position after each movement of the pipe by the first clamping structure further includes: The stopping position of the first clamping structure after each movement of the pipe is determined based on the required feeding length of the pipe during each processing.

3. The pipe feeding method as described in claim 1, characterized in that, Within the current interval, each of the support positions is distributed at equal intervals in the first direction.

4. The pipe feeding method as described in claim 1, characterized in that, The method further includes: A plurality of path ranges are formed along a first direction between the initial position of the first clamping structure and the second clamping structure, each path range corresponding to a support structure; and The distance of each of the aforementioned path ranges is the same.

5. The pipe feeding method as described in claim 1, characterized in that, The support position is calculated based on the stop position, and the support structure is moved along the first direction to the support position to support the pipe. The method also includes: Determine the first coordinate of the stopping position in the first direction; Determine the second coordinate of the second clamping structure in the first direction; The coordinates of the support position are calculated based on the first and second coordinates and according to the first preset formula; wherein, The first preset formula is Where C is the coordinate of the support position, A is the first coordinate, B is the second coordinate, n represents the nth support position from the first clamping structure in the current state, and m represents the number of support positions in the current state.

6. The pipe feeding method according to any one of claims 1 to 5, characterized in that, Also includes: A first safe distance is preset between the first clamping structure and the adjacent supporting structure; When the distance between the stopping position of the first clamping structure and the supporting position is less than the first safety distance, the supporting structure corresponding to the supporting position is lowered to avoid the first clamping structure.

7. The pipe feeding method as described in claim 6, characterized in that, A second safety distance is preset between two adjacent support structures; When the distance between two adjacent support positions is less than the second safety distance, the support structure corresponding to the support position closest to the first clamping structure stops moving along the first direction.

8. The pipe feeding method according to any one of claims 1 to 5, characterized in that, The pipe can rotate about its central axis under the action of the first clamping structure and the second clamping structure. The support structure includes a support member and a lifting drive member, wherein the lifting drive member is driven to be connected to the support member. The support member supports the pipe, and the support method further includes: The lowest point position of the pipe in a second direction is obtained in real time, and the second direction is perpendicular to the first direction; The lifting drive unit drives the support member to move to the lowest point position to support the pipe.

9. The pipe feeding method according to any one of claims 1 to 5, characterized in that, The pipe can rotate about its central axis under the action of the first clamping structure and the second clamping structure. The support structure further includes a limiting drive component and a first limiting component and a second limiting component disposed opposite to each other along a third direction. The first limiting component and the second limiting component limit the pipe material. The limiting drive component is driven to the first limiting component and the second limiting component respectively, so that the first limiting component and the second limiting component can move relative to each other along a third direction. The third direction is perpendicular to the first direction and the second direction respectively, and the second direction is perpendicular to the first direction. The method for limiting the pipe between the first limiting member and the second limiting member further includes: Real-time acquisition of the pipe width in the third-party direction when the pipe rotates; The limiting drive causes the first limiting member and the second limiting member to move relative to each other until the limiting distance between the first limiting member and the second limiting member is consistent with the width of the pipe.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions, and the data storage device executes the instructions to cause the data storage device to implement the pipe feeding method according to any one of claims 1 to 9.

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