A semi-automatic pipe punching equipment

Abstract

The present invention discloses a semi-automatic pipe stamping equipment, including a pipe stamping machine, a mechanical arm, a controller, a visual mechanism, and a laser alignment device. Among them, the mechanical arm includes a base, a connecting mechanical arm, a hydraulic arm, and a mechanical claw. The present invention also discloses a method for using the semi-automatic pipe stamping equipment. Compared with the prior art, the scheme disclosed in the present invention can improve production efficiency, that is, realize semi-automatic feeding of pipes, reduce manual intervention, and improve the overall efficiency of the production line; at the same time, it also helps to ensure product quality, reduce the interference of human factors, and each feeding and stamping can be accurately positioned, thereby ensuring the consistency and quality of the product; finally, the equipment disclosed in the present invention can also reduce manual operation, reduce the chance of contact between operators and equipment, and improve operational safety.

Description

Technical Field

[0001] The invention relates to the fields of mechanical automation and industrial manufacturing, and in particular to a semi-automatic feeding and punching device for sealing and punching of high temperature resistant polyethylene (PERT) pipes. Background Art

[0002] With the continuous improvement of industrial automation level, pipe punching equipment is more and more widely used in manufacturing industry. Traditional pipe punching equipment usually relies on manual loading and adjustment. The staff loads the pipe material to the pipe punching machine before carrying it. This method is not only inefficient, but also prone to human errors, affecting product quality. In addition, manual operation also has safety hazards. Operators may be injured by mechanical equipment when loading materials.

[0003] Therefore, there is an urgent need for a pipe stamping equipment that can semi-automatically load materials to achieve efficient and accurate stamping of pipes. Summary of the invention

[0004] The object of the present invention is to provide a semi-automatic pipe punching equipment to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] Pipe punching machine, which performs high-temperature sealing punching on the open end of the pipe, or high-temperature punching connection between two pipes;

[0007] A robotic arm that moves the pipe to the punching position of the pipe punching machine;

[0008] A controller, which is arranged on the robot arm and performs semi-automatic control on the robot arm;

[0009] The visual mechanism is arranged on the robot arm, provides visual information to the controller, identifies different pipes, and adjusts the grasping position for different pipes;

[0010] The laser alignment device is installed on the robot arm to assist the robot arm to accurately feed the pipe into the pipe punching machine;

[0011] The terminal sensing device, whose signal output end is connected to the controller, is arranged inside the punching groove of the pipe punching machine to detect whether the pipe is conveyed to the required depth;

[0012] The robotic arm includes a base, a connecting robotic arm, a hydraulic arm, and a mechanical claw; wherein the base is connected to the rotating extension end of the connecting robotic arm, the rotating connecting end of the connecting robotic arm is provided with a hydraulic arm, and the rotating end of the hydraulic arm is provided with a mechanical claw.

[0013] Preferably, the visual mechanism comprises:

[0014] A first camera is arranged on the other side of the rotation connection between the base and the connecting mechanical arm;

[0015] a second camera, disposed on a hydraulic cylinder of the hydraulic arm;

[0016] The third camera is set in a position where the mechanical claw does not interfere with the grasping action;

[0017] The visual mechanism signal output end is connected to the controller.

[0018] Preferably, the laser alignment device is located at the connection between the mechanical claw and the hydraulic arm, and the signal output end of the laser alignment device is connected to the controller.

[0019] Preferably, the signal collecting end of the torque sensor located on the mechanical arm is connected to the mechanical claw, and the signal output end is connected to the controller.

[0020] Preferably, the limit sensor located at the punching groove of the pipe punching machine has a signal output end connected to a controller, and transmits a signal indicating that the pipe has reached the punching groove to the controller.

[0021] Preferably, the method for using the semi-automatic pipe punching equipment is applied to establish a semi-automatic pipe punching equipment, characterized in that it comprises the following steps:

[0022] Step (A): the robotic arm confirms the position of the pipeline through a visual mechanism and grabs the pipeline using a robotic claw;

[0023] Step (B): the robot arm moves along a predetermined path, avoids obstacles, and moves the pipe to the vicinity of the pipe punching machine;

[0024] Step (C): Use the visual mechanism and laser alignment device to adjust the position and posture of the pipeline in real time; the robot arm monitors the force through the torque sensor, the limit sensor senses that the pipeline reaches the stamping groove, and the end sensor confirms that the pipeline reaches the required processing position;

[0025] Step (D): The staff starts the pipe punching machine to punch the pipe.

[0026] Preferably, the step A comprises:

[0027] Step 1: The staff starts the robot arm, detects the visual mechanism and torque sensor, and adjusts the angle, and then starts it after completion;

[0028] Step 2: The visual mechanism identifies the pipe and transmits the information to the controller, which determines the gripping point of the mechanical claw;

[0029] Step 3: The controller plans the movement path of the robot arm according to the information provided by the visual mechanism, and the robot arm moves according to the path;

[0030] Step 4: When the robotic arm reaches the grasping position, the mechanical claw aligns with the grasping point of the pipe to grasp it; the torque sensor monitors the force of the mechanical claw on the pipe in real time; after the mechanical claw closes, the visual mechanism confirms the position and posture of the pipe.

[0031] Preferably, the step B comprises:

[0032] Step 5: The controller plans the action route according to the current position and moves the pipeline to the correction range of the laser alignment device; during the movement, the visual mechanism monitors the position and posture of the pipeline and transmits real-time data to the controller;

[0033] Step 6: If the error range of the distance along the current motion path exceeds the correction interval of the laser alignment device, the controller replans the path with the current position as the starting point, and establishes a kinematic model to correct the motion path and posture of the robot arm;

[0034] The robot kinematics model obtains data according to the pipeline motion path planning and the DH parameter table of the robot, processes the data through the homogeneous transformation matrix, and uses forward kinematics and inverse kinematics to solve, so as to obtain the motion trajectory of the robot and the parameters of each joint.

[0035] Preferably, the step C comprises:

[0036] Step 7: When the pipe reaches the vicinity of the punching port, the laser alignment device emits a highly linear laser to form a clear light spot at the punching port. The visual mechanism captures the image or transmits the position signal to the controller to calculate the actual position and posture of the pipe.

[0037] Step 8: During the alignment process, the robot arm continuously makes fine adjustments, and the visual mechanism and laser alignment device continuously monitor the position changes of the pipeline and provide real-time feedback data to the controller. With the help of the laser alignment device, the robot arm completes the positioning and alignment operations between the pipeline and the punching port. The controller records the current position and posture data.

[0038] Step 9: The controller controls the robotic arm to slowly move the pipe close to the target placement area; the visual mechanism uses an image processing algorithm to identify the edge and center point of the pipe and feeds the information back to the controller. The laser alignment device provides precise distance and position data to assist the robotic arm in making final fine-tuning.

[0039] Step 10: When the pipe contacts the limit sensor, the limit sensor will send a signal and transmit it to the controller; when the pipe completely enters the punching mouth, the end sensor can detect the position of the pipe and send a signal. After the controller receives the limit sensor and end sensor signals, the robotic arm releases its grip on the pipe; the robotic claw slowly withdraws from the placement area.

[0040] Compared with the prior art, the beneficial effects of the present invention are:

[0041] 1. Improve production efficiency, realize semi-automatic feeding of pipes, reduce manual intervention, improve the overall efficiency of the production line to ensure product quality, reduce interference from human factors, and each feeding and stamping can be accurately positioned to ensure product consistency and quality.

[0042] 2. Improve operational safety, reduce manual operation, reduce the chance of contact between operators and equipment, and improve safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the overall structure of the front view of the embodiment of the patent of the present invention;

[0044] Figure 2 It is a schematic diagram of the overall structure of a side view of an embodiment of the present invention;

[0045] Figure 3 This is a schematic diagram of the mechanical claw structure of an embodiment of the present invention;

[0046] Figure 4 A schematic diagram of the cross-sectional structure of a pipe punching machine according to an embodiment of the present invention;

[0047] Figure 5 This is a schematic diagram of the overall structure of a pipe punching machine and a mechanical arm according to an embodiment of the present invention;

[0048] Figure 6 This is a schematic diagram of the shape of the pipeline after the pipeline punching machine of the embodiment of the patent of the present invention completes the sealing work.

[0049] In the figure: 10, torque sensor; 20, visual mechanism; 21, third camera; 22, second camera; 23, first camera; 30, laser alignment device; 40, limit sensor; 50, pipe punch; 60, robotic arm; 61, base; 62, connecting robotic arm; 63, hydraulic arm; 64, mechanical claw; 70, end sensor; 80, controller. DETAILED DESCRIPTION

[0050] In order to facilitate the problem to be solved, the embodiment of the patent of the present invention provides a semi-automatic pipe stamping equipment. The technical scheme in the embodiment of the patent of the present invention will be clearly and completely described below in combination with the drawings in the embodiment of the patent of the present invention. Obviously, the described embodiment is only a part of the embodiment of the patent of the present invention, not all the embodiments. Based on the embodiment of the patent of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the patent of the present invention.

[0051] See also Figure 1-5 This embodiment provides a semi-automatic pipe punching equipment, characterized in that it includes:

[0052] A pipe punching machine 50 performs high-temperature sealing punching on the open end of a pipe, or performs high-temperature punching connection on two pipes;

[0053] The robot arm 60 moves the pipe to the punching position of the pipe punching machine 50;

[0054] A controller 80 is provided on the robot arm 60 and performs semi-automatic control on the robot arm 60;

[0055] The visual mechanism 20 is arranged on the robot arm 60, and provides visual information to the controller 80, identifies different pipes, and adjusts the grasping position for different pipes;

[0056] The laser alignment device 30 is disposed on the robot arm 60 to assist the robot arm 60 in accurately delivering the pipe into the pipe punching machine 50;

[0057] The end sensing device 70, whose signal output end is connected to the controller 80, is arranged inside the punching groove of the pipe punching machine 50 to detect whether the pipe is conveyed to the required depth;

[0058] The robotic arm includes a base 61, a connecting robotic arm 62, a hydraulic arm 63, and a mechanical claw 64; wherein the base 61 is connected to the rotating extension end of the connecting robotic arm 62, the rotating connecting end of the connecting robotic arm 62 is provided with a hydraulic arm 63, and the rotating end of the hydraulic arm 63 is provided with a mechanical claw 64.

[0059] Specifically, the visual mechanism 20 includes:

[0060] The first camera 23 is arranged on the other side of the rotation connection between the base 61 and the connecting mechanical arm 62 to shoot the bottom range;

[0061] The second camera 22 is arranged on the hydraulic cylinder of the hydraulic arm 63 and takes pictures along the angle of the hydraulic arm 63;

[0062] The third camera 21 is set at a position where the mechanical claw 64 does not interfere with the grasping action, and uses image processing software to identify the pipe. The image processing algorithm identifies key features such as the center line, end points and pipe size of pipes of different shapes, and adjusts the grasping position for pipes of different shapes;

[0063] The signal output end of the visual mechanism 20 is connected to the controller 80 .

[0064] Specifically, the laser alignment device 30 is located at the connection between the mechanical claw 64 and the hydraulic arm 63, and the signal output end is connected to the controller 80; it helps the mechanical arm 60 to transport the pipeline to the designated correction area, so as to facilitate the next step of the pipeline entering the pipeline punching machine 50.

[0065] Specifically, the torque sensor 10 located on the mechanical arm 60 has a signal collecting end connected to the mechanical claw 64 and a signal output end connected to the controller 80 to control the magnitude of the force exerted by the mechanical claw 64 on the pipeline.

[0066] The visual torque sensor 10 and the mechanism 20 work together to confirm the gripping state of the pipe by the mechanical claw 64 .

[0067] Specifically, the limit sensor 40 located at the punching port of the pipe punching machine 50 has a signal output end connected to the controller 80, transmits the signal that the pipe reaches the punching slot to the controller 80, and limits the pipe.

[0068] Specifically, the method for using the semi-automatic pipe punching equipment is applied to establish any one of requirements 1-5, and is characterized by comprising the following steps:

[0069] Step A: The robot arm 60 confirms the position of the pipeline through the visual mechanism 20 and grabs the pipeline using the robot claw 64;

[0070] Step B: the robot arm 60 moves along a predetermined path, avoids obstacles, and moves the pipe to the vicinity of the pipe punching machine 50;

[0071] Step C: Using the visual mechanism 60 and the laser alignment device 30, the position and posture are adjusted in real time; the mechanical arm 60 monitors the force through the torque sensor 10, the limit sensor 40 senses that the pipeline reaches the stamping groove, and the end sensor 70 confirms that the pipeline reaches the required processing position;

[0072] Step D: The staff starts the pipe punching machine 50 to punch the pipe.

[0073] Specifically, the step A comprises:

[0074] Step 1: Start the robot arm 60 before the grasping action; check and start the visual mechanism 20 and the torque sensor 10;

[0075] Step 2: The visual mechanism 20 identifies the pipe and transmits the information to the controller 80, and the controller 80 determines the gripping point of the mechanical claw 64;

[0076] Step 3: The controller 80 plans a movement path of the robot arm 60 according to the information provided by the visual mechanism 20, and the robot arm 60 moves according to the path;

[0077] Step 4, when the robot arm 60 reaches the grasping position, the mechanical claw 64 aligns with the grasping point of the pipeline to grasp it; the torque sensor 10 monitors the magnitude of the force of the mechanical claw 64 in real time; after the mechanical claw 64 is closed, the visual mechanism 20 confirms the position and posture of the pipeline.

[0078] Specifically, the step B comprises:

[0079] Step 5: The controller 80 plans the action route according to the current position and moves the pipeline to the correction range of the laser alignment device 30; during the movement, the visual mechanism 20 monitors the position and posture of the pipeline and transmits real-time data to the controller 80;

[0080] Step 6: If the detected distance error range along the current motion path exceeds the correction interval of the laser alignment device 30, the controller 80 replans the path with the current position as the starting point, and establishes a kinematic model to correct the motion path and posture of the robot 60;

[0081] The kinematic model of the robot arm obtains data according to the pipeline motion path planning and the DH parameter table of the robot arm, processes the data through the homogeneous transformation matrix, and uses forward kinematics and inverse kinematics to solve the motion trajectory of the robot arm and the parameters of each joint;

[0082] General homogeneous transformation matrix:

[0083]

[0084] In the formula, c θi =cos(θ i ), s θi = sin(θ i ), c αi = cos(α i ), s αi = sin(α i ), θ1 is the joint angle θ i , α i is the connecting rod torsion angle α i , a i is the connecting rod length a i , d i is the connecting rod offset d i ;

[0085] The forward kinematics equation of the robotic arm is expressed as:

[0086]

[0087] Where R is the rotation matrix and P is the translation vector

[0088] The inverse kinematics iteration method analyzes the joint states of the current robot arm 60 to obtain a new robot arm kinematics model that can avoid obstacles;

[0089] Iterative solution:

[0090] q=f -1 (X)(3)

[0091] Wherein, X is the position of the robot claw 64, and q is the joint angle of the robot arm;

[0092] The equation group is established by iteratively using formula 3:

[0093]

[0094] The iterative equation of formula 2 is:

[0095]

[0096] The Jacobian matrix J of the robot arm is i for:

[0097]

[0098] The inverse kinematics solution of the robot arm can be calculated by equation 6.

[0099] Specifically, the step C comprises:

[0100] Step 7: When the pipe reaches the vicinity of the punching port, the laser alignment device 30 emits a highly linear laser to form a clear light spot at the punching port, and the visual mechanism 20 captures the image or transmits the position signal to the controller 80 to calculate the actual position and posture of the pipe;

[0101] Step 8: During the alignment process, the robot arm 60 continuously makes fine adjustments, and the visual mechanism 20 and the laser alignment device 30 continuously monitor the position change of the pipeline and feed back the data to the controller 80 in real time; with the help of the laser alignment device 30, the robot arm 60 completes the positioning and alignment operation between the pipeline and the punching port; the controller 80 records the current position and posture data;

[0102] Step 9: The controller 80 controls the robot arm 60 to slowly move the pipe close to the target placement area; the visual mechanism 20 identifies the edge and center point of the pipe through the image processing algorithm and feeds the information back to the controller 80, and the laser alignment device 30 provides accurate distance and position data to assist the robot arm in the final fine-tuning;

[0103] Step 10: When the pipe contacts the limit sensor 40, the limit sensor 40 will send a signal and transmit it to the controller 80; when the pipe completely enters the stamping port, the end sensor 70 can detect the position of the pipe and send a signal. After the controller 80 receives the signals from the limit sensor 40 and the end sensor 70; the robotic arm 60 releases its grip on the pipe; the robotic claw 64 slowly withdraws from the placement area.

[0104] Embodiment 1:

[0105] A semi-automatic stamping equipment includes a pipe stamping machine 50 for individually sealing the open end of the pipe; a robotic arm 60 for carrying the pipe; a controller 80, which is arranged on the robotic arm 60 and connected to the signal output ends of multiple sensors to perform semi-automatic control on the robotic arm 60; a visual mechanism 20, which is arranged on the robotic arm 60, provides visual information for the controller 80, identifies different pipes, and adjusts the grasping position for different pipes; a laser alignment device 30, which is arranged on the robotic arm 60, assists the robotic arm 60 in accurately delivering the pipe into the pipe stamping machine 50; the robotic arm includes a base 61, a connecting robotic arm 62, a hydraulic arm 63, and a mechanical claw 64.

[0106] A method for using a semi-automatic pipe punching device in Example 1 comprises the following steps:

[0107] The staff will transport the pipes to be processed to the designated area in advance to ensure that the robot arm 60 can grab the pipes. After the transportation is completed, the staff will start the robot arm 60, perform the initial position calibration, and detect whether the functions of each joint and the mechanical claw 64 are normal; at the same time, check and start the visual mechanism 20 and the torque sensor 10. The visual mechanism 20 starts working, and the first camera 21, the second camera 22, and the third camera 23 will capture the image at the end of the conveyor in real time, and the controller 80 will identify the key features such as the center line, end point and pipe size of the pipe through the image processing algorithm, and determine the appropriate grabbing point for pipes of different shapes and diameters to determine their exact position and posture. The position information will be transmitted to the controller 80 in real time as a reference for the grabbing action. After obtaining the position information of the pipe, the robot arm 60 starts to move. The controller 80 plans an optimal path based on the position data of the pipe, so that the robot arm 60 can move smoothly and quickly to the grabbing position of the pipe. When planning the path, it is necessary to avoid surrounding obstacles and other equipment to ensure safety during the movement.

[0108] When the robot arm 60 reaches the grasping position, the mechanical claw 64 is aligned with the grasping point of the pipeline and the opening size is adjusted to adapt to the diameter of the pipeline. At this time, the torque sensor 10 begins to monitor the opening and closing state and force of the mechanical claw 64 in real time. The robot arm 60 gradually lowers the mechanical claw 64, and through the mutual cooperation with the base 61, the connecting mechanical arm 62, and the hydraulic arm 63, it rotates, extends, adjusts the angle, and slowly approaches the pipeline to prevent collision and damage. After the mechanical claw 64 contacts the pipeline, the controller 80 will command the mechanical claw 64 to close and firmly grasp the pipeline. The torque sensor 10 continuously monitors the change of the clamping force during the grasping process to ensure that the clamping force is moderate. After the mechanical claw 64 is closed, the robot arm 60 slightly lifts the pipeline and performs a grasping test to confirm that the clamping is stable. Finally, the controller 80 performs feedback confirmation of the grasping action. The visual mechanism 20 and the torque sensor 10 work together to reconfirm the position and posture of the pipeline and the grasping state of the mechanical claw 64. After confirming that the grasping action is successful, the controller 80 records the grasping position and posture. This data will be used in the subsequent movement and placement process.

[0109] When the robot arm 60 clamps the pipe, the controller 80 starts the path planning module. First, based on the current position of the pipe and the position of the pipe punch 50, the controller 80 generates an optimal path. The path needs to avoid obstacles in the working area and the error range from the pipe punch 50 is within the correction range of the laser alignment device 30. The correction range is set as: the punching port is the center of the circle and the diameter is within 10 cm. During the movement process, multiple sensors provide real-time feedback, and the visual mechanism 20 will continuously monitor the position and posture of the pipe and transmit real-time data to the controller 80. If the error range from the punching port along the current motion path exceeds the correction range of the laser alignment device 30, the controller 80 will re-plan the path with the current position as the starting point, and correct the motion route and posture of the robot arm 60. According to the pipeline motion path planning and the DH parameter table of the robot arm 60, a kinematic model of the robot arm is established, and the motion trajectory of the robot arm 60 and the parameters of each joint can be obtained by using forward kinematics and inverse kinematics. To prevent the pipeline from shaking or colliding during movement, the robot arm 60 needs to move at a lower speed and acceleration, using a control strategy of gradual acceleration and deceleration. In addition, the torque sensor 10 continuously monitors the force of the pipeline during movement to ensure that the clamping force is moderate and stable to prevent the pipeline from falling off or being damaged.

[0110] When the robot arm 60 arrives near the pipe punching machine 50, the laser alignment device 30 starts to work. The laser alignment device 30 emits a highly linear laser, which passes through a series of optical elements to form a clear light spot at the punching port. The sensor equipped with the laser alignment device 30 captures the image or position signal and transmits it to the controller 80 to calculate the actual position and posture of the pipe.

[0111] During the alignment process, the robot arm 60 needs to be constantly fine-tuned, and the visual mechanism 20 and the laser alignment device 30 will continuously monitor the position changes of the pipeline and provide real-time feedback data to the controller 80. The force information provided by the torque sensor 10 helps the system determine the adjustment force and direction. Through the collaborative work of multiple sensors, the robot arm 60 can complete the positioning and alignment operations of the pipeline and the punching port in a short time. Finally, the controller 80 confirms that the pipeline has been accurately aligned with the target position, and the system will record the current position and posture data for use in the subsequent limit device confirmation process.

[0112] The controller 80 performs preliminary placement operations based on the previously recorded position and posture data. The robot arm 60 slowly moves the pipe close to the target placement area. The speed of the robot arm 60 gradually slows down until it reaches the target position. The laser alignment device 30 provides highly accurate distance and position data to assist the robot arm 60 in making final fine adjustments, and the torque sensor 10 monitors the force conditions of the robot arm and the pipe in real time.

[0113] A limit sensor 40 is installed around the punching mouth to limit the position of the pipeline. When the pipeline contacts the limit sensor 40, the limit sensor 40 will send a signal to confirm that the pipeline has reached the punching mouth. The signal is transmitted to the controller 80. An end sensor 70 is installed in the punching mouth. When the pipeline enters the punching mouth and is transported by the robot arm 60 to the position required for connection processing or punching processing, the end sensor 70 can detect the position of the pipeline and send a signal. The controller 80 simultaneously receives the limit sensor 40 and the end sensor 70 signals to confirm that the pipeline has reached the target position. The robot arm 60 releases its grip on the pipeline. The mechanical claw 64 gradually loosens, and the torque sensor 10 monitors the change in the clamping force to prevent the pipeline from moving or tilting due to sudden loosening. The robot arm 60 slowly withdraws from the placement area.

[0114] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A semi-automatic pipe punching equipment, characterized in that: include: A pipe punching machine (50) performs high-temperature sealing punching on the open end of a pipe, or performs high-temperature punching connection on two pipes; A mechanical arm (60) moves the pipe to a punching position of the pipe punching machine (50); A controller (80) is disposed on the robot arm (60) and performs semi-automatic control on the robot arm (60); A visual mechanism (20) is arranged on the mechanical arm (60) to provide visual information to the controller (80), identify different pipes, and adjust the grasping position for different pipes; A laser alignment device (30) is arranged on the mechanical arm (60) to assist the mechanical arm (60) in accurately delivering the pipe into the pipe punching machine (50); The end sensing device (70) has a signal output end connected to the controller (80) and is arranged inside the punching groove of the pipe punching machine (50) to detect whether the pipe is conveyed to the required depth; The mechanical arm (60) comprises a base (61), a connecting mechanical arm (62), a hydraulic arm (63), and a mechanical claw (64); wherein the base (61) is connected to the rotating extension end of the connecting mechanical arm (62), the rotating connecting end of the connecting mechanical arm (62) is provided with a hydraulic arm (63), and the rotating end of the hydraulic arm (63) is provided with a mechanical claw (64); The visual mechanism (20) comprises: A first camera (23) is arranged on the other side of the rotation connection between the base (61) and the connecting mechanical arm (62); A second camera (22) is disposed on a hydraulic cylinder of a hydraulic arm (63); a third camera (21), arranged at a position where the mechanical claw (64) does not interfere with the grasping action; The signal output end of the visual mechanism (20) is connected to the controller (80); The laser alignment device (30) is located at the connection between the mechanical claw (64) and the hydraulic arm (63), and the signal output end of the laser alignment device (30) is connected to the controller (80); The signal collecting end of the torque sensor (10) located on the mechanical arm (60) is connected to the mechanical claw (64), and the signal output section is connected to the controller (80); During use, when the robot arm (60) clamps the pipe, the controller (80) starts the path planning module. First, based on the current position of the pipe and the position of the pipe punching machine (50), the controller (80) generates an optimal path. The optimal path needs to avoid obstacles in the working area and the error range from the pipe punching machine (50) is within the correction range of the laser alignment device (30). If the error range from the punching port along the current movement path exceeds the correction range of the laser alignment device (30), the controller (80) will re-plan the path with the current position as the starting point to correct the movement route and posture of the robot arm (60); when the robot arm (60) arrives near the pipe punching machine (50), the laser alignment device (30) starts to work. The laser alignment device (30) emits a highly linear laser to form a clear light spot at the punching port. The sensor equipped with the laser alignment device (30) captures the image or position signal and transmits it to the controller (80) to calculate the actual position and posture of the pipe.

2. A semi-automatic pipe punching equipment according to claim 1, characterized in that: The signal output end of the limit sensor (40) located at the punching groove of the pipe punching machine (50) is connected to the controller (80) to transmit the signal that the pipe has reached the punching groove to the controller (80).

3. A method for using the semi-automatic pipe punching equipment according to any one of claims 1 to 2, characterized in that: The steps include: Step (A): the mechanical arm (60) confirms the position of the pipeline through the visual mechanism (20) and uses the mechanical claw (64) to grab the pipeline; Step (B): the robot arm (60) moves along a predetermined path, avoids obstacles, and moves the pipe to the vicinity of the pipe punching machine (50); Step (C): using the visual mechanism (20) and the laser alignment device (30) to adjust the position and posture of the pipeline in real time; the mechanical arm (60) monitors the force through the torque sensor (10), the limit sensor (40) senses that the pipeline reaches the stamping groove, and the end sensor (70) confirms that the pipeline reaches the required processing position; Step (D): The staff starts the pipe punching machine (50) to punch the pipe.

4. The method for using the semi-automatic pipe punching equipment according to claim 3 is characterized in that: The step (A) comprises: Step (1): The staff starts the robot arm (60), detects the visual mechanism (20) and the torque sensor (10), and adjusts the angle, and then starts the robot arm after completion; Step (2): the visual mechanism (20) identifies the pipeline and transmits the information to the controller (80), and the controller (80) determines the gripping point of the mechanical claw (64); Step (3): the controller (80) plans a movement path of the robot arm (60) according to the information provided by the visual mechanism (20), and the robot arm (60) moves according to the path; Step (4): When the mechanical arm (60) reaches the grasping position, the mechanical claw (64) aligns with the grasping point of the pipeline to grasp it; the torque sensor (10) monitors the magnitude of the force exerted by the mechanical claw (64) on the pipeline in real time; after the mechanical claw (64) is closed, the visual mechanism (20) confirms the position and posture of the pipeline.

5. The method for using the semi-automatic pipe punching equipment according to claim 4, characterized in that: The step (B) comprises: Step (5): the controller (80) plans the action route according to the current position and moves the pipeline to the correction range of the laser alignment device (30); during the movement, the visual mechanism (20) monitors the position and posture of the pipeline and transmits real-time data to the controller (80); Step (6): if the detected distance error range along the current motion path exceeds the correction interval of the laser alignment device (30), the controller (80) replans the path with the current position as the starting point, and establishes a kinematic model to correct the motion path and posture of the robot arm (60); The kinematic model of the robot arm obtains data according to the pipeline motion path planning and the DH parameter table of the robot arm, processes the data through the homogeneous transformation matrix, and uses forward kinematics and inverse kinematics to solve the motion trajectory of the robot arm and the parameters of each joint.

6. The method for using the semi-automatic pipe punching equipment according to claim 5, characterized in that: The step (C) comprises: Step (7): When the pipe reaches the vicinity of the punching port, the laser alignment device (30) emits a highly linear laser to form a clear light spot at the punching port, and the visual mechanism (20) captures an image or transmits a position signal to the controller (80) to calculate the actual position and posture of the pipe; Step (8): During the alignment process, the robot arm (60) continuously performs fine adjustments, and the visual mechanism (20) and the laser alignment device (30) continuously monitor the position change of the pipeline and provide real-time feedback data to the controller (80); with the help of the laser alignment device (30), the robot arm (60) completes the positioning and alignment operation between the pipeline and the punching port; the controller (80) records the current position and posture data; Step (9): The controller (80) controls the robotic arm (60) to slowly move the pipe close to the target placement area; the visual mechanism (20) identifies the edge and center point of the pipe through an image processing algorithm and feeds the information back to the controller (80); the laser alignment device (30) provides accurate distance and position data to assist the robotic arm in final fine-tuning; Step (10): When the pipe contacts the limit sensor (40), the limit sensor (40) will send a signal and transmit it to the controller (80); when the pipe completely enters the punching port, the end sensor (70) can detect the position of the pipe and send a signal, and after the controller (80) receives the signals from the limit sensor (40) and the end sensor (70); the mechanical arm (60) releases the grip on the pipe; and the mechanical claw (64) slowly withdraws from the placement area.

Images