Pipe clamping deviation rectifying method of laser pipe cutting machine, laser pipe cutting machine and storage medium

Abstract

The invention provides a pipe clamping deviation rectifying method of a laser pipe cutting machine, the laser pipe cutting machine and a storage medium, the laser pipe cutting machine comprises a movable chuck, a fixed chuck and at least three auxiliary supports, the movable chuck, the auxiliary supports and the fixed chuck are arranged in the first direction, and the method comprises the steps that a to-be-cut pipe is erected on the auxiliary supports; the end, close to the fixed chuck, of the pipe is a near end, the other end of the pipe is a far end, the pipe is coaxial with the fixed chuck and the movable chuck, and the near end is located within the clamping height range of the fixed chuck; the suspension length L between the auxiliary support adjacent to the tail end auxiliary support and the far end is obtained; on the basis of the suspension length L of the far end, the deviation correction supporting position, capable of enabling the far end to be located in the clamping height range of the movable chuck, of the tail end auxiliary support is determined; and the tail end auxiliary support is moved to the deviation rectifying support position, and the movable chuck clamps the far end. According to the pipe clamping deviation rectifying method for the laser pipe cutting machine, the end of the pipe can be automatically clamped by the chuck.

Description

Technical Field

[0001] The present application belongs to the field of laser processing technology, and more specifically, relates to a laser tube cutting machine tube clamping and correction method, a laser tube cutting machine and a storage medium. Background Art

[0002] Traditional laser tube cutting machines generally adopt a multi-chuck structure, with one chuck clamping the tube and feeding it in the X direction, and another chuck as the main axis clamping the tube and rotating synchronously. The rotation centers of the chucks are highly consistent and concentric.

[0003] Before laser cutting, the pipe must be placed in the clamping area inside the chuck to ensure that the chuck can clamp the pipe smoothly. The loading process for the pipe to enter the clamping range of the chuck is: material storage discharge → layering / ordering → single pipe positioning in the Y direction → positioning in the Z direction → chuck clamping. Due to the influence of the material, length, cross-sectional size, etc. of the pipe, the pipe often sags during Z-direction positioning, resulting in the pipe end not being in the chuck clamping area, requiring manual intervention, and the equipment cannot achieve fully automatic operation. Summary of the invention

[0004] The embodiment of the present application provides a method for clamping and correcting the deviation of a tube of a laser tube cutting machine, which can automatically realize the clamping of the chuck on the end of the tube.

[0005] The technical solution adopted in the embodiment of the present application is: to provide a method for clamping and correcting a tube of a laser tube cutting machine, which is applicable to a laser tube cutting machine, wherein the laser tube cutting machine comprises a movable chuck, a fixed chuck and at least three auxiliary supports, wherein the movable chuck, the auxiliary supports and the fixed chuck are arranged along a first direction, and the auxiliary supports are located between the movable chuck and the fixed chuck, and the movable chuck can reciprocate along the first direction, and is characterized in that the auxiliary support close to the movable chuck is defined as a terminal auxiliary support movable along the first direction, and the method comprises:

[0006] The pipe to be cut is mounted on each of the auxiliary supports, with one end of the pipe close to the fixed chuck being the proximal end and the other end being the distal end, so that the theoretical central axis of the pipe is coaxial with the fixed chuck and the movable chuck, and the proximal end is within the clamping height range of the fixed chuck;

[0007] Obtaining a suspension length L between an auxiliary support adjacent to the terminal auxiliary support and the distal end;

[0008] Based on the suspended length L and the pipe information, it is determined that the terminal auxiliary support can make the distal end be in a deviation correction support position within the clamping height range of the movable chuck;

[0009] Move the end auxiliary support to the deviation-correcting support position.

[0010] Further, the step of obtaining a suspension length L between the auxiliary support adjacent to the terminal auxiliary support and the distal end is specifically:

[0011] Obtaining the length S of the pipe and the hanging length A of the proximal end of the pipe after the pipe is erected;

[0012] Obtaining the distance B between two auxiliary supports located at the head and tail ends of the remaining auxiliary supports except the terminal auxiliary support;

[0013] Based on the length S, the hanging length A of the proximal end and the distance B, the hanging length L of the distal end is calculated.

[0014] Furthermore, the hanging length L of the distal end is calculated by the following formula:

[0015] L=SAB

[0016] In the formula, L is the hanging length of the far end, S is the length of the pipe, A is the hanging length of the proximal end, and B is the distance between the two auxiliary supports at the head and tail ends after removing the terminal auxiliary support.

[0017] Furthermore, when the pipe to be cut is placed on each of the auxiliary supports, it is ensured that the hanging length A of the proximal end of the pipe is equal each time.

[0018] Further, the step of determining, based on the suspended length L of the distal end, that the terminal auxiliary support can make the distal end be in a deviation correction support position within the clamping height range of the movable chuck is specifically:

[0019] Querying a pre-established experience database, the experience database includes multiple sets of experience data, each set of experience data includes the overhang length L0 of the distal end in historical tasks and the corresponding distance D0 between the terminal auxiliary support and the adjacent auxiliary support required to make the distal end within the clamping height range of the active chuck;

[0020] Based on the empirical database, determining an empirical proportional relationship between the distance D0 and the hanging length L0;

[0021] Based on the empirical proportional relationship and the overhang length L in the current task, determine the distance D between the end auxiliary support and the adjacent auxiliary support required in the current task;

[0022] Based on the distance D, the deviation correction support position is determined.

[0023] Furthermore, the step of determining the deviation correction support position based on the distance D specifically includes:

[0024] Acquire the position of the auxiliary support adjacent to the terminal auxiliary support;

[0025] The deviation correction support position is determined based on the distance D and the position coordinates.

[0026] Furthermore, a sensor is also provided on the movable chuck, and when the distal end is within the clamping height range of the movable chuck, the sensor is triggered and the movable chuck clamps the distal end.

[0027] Furthermore, the auxiliary support can be raised and lowered.

[0028] An embodiment of the present application also provides a laser tube cutting machine, which includes a fixed chuck, a movable chuck and at least three auxiliary supports. The movable chuck can approach or move away from the fixed chuck along a first direction. The auxiliary supports are arranged in sequence along the first direction. The auxiliary support close to the movable chuck is an end auxiliary support that can move along the first direction. The machine also includes a memory and a processor. A computer program is stored in the memory. When the computer program is executed by the processor, the processor executes the method described above.

[0029] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the method described above when executed by a processor.

[0030] The beneficial effect of the laser tube cutting machine tube clamping and deviation correction method provided in the embodiment of the present application is that: in the embodiment of the present application, the auxiliary support close to the movable chuck is a terminal auxiliary support that can move along the first direction. In this method, the tube is first set on each of the auxiliary supports, so that the theoretical central axis of the tube is coaxial with the fixed chuck and the movable chuck, and the proximal end of the tube is within the clamping height range of the fixed chuck, ensuring that the proximal end can be clamped normally and automatically. Since the tube is long, the distal end will sag and bend after extending out of the auxiliary support and exceed the clamping range of the movable chuck, so it is necessary to move the terminal auxiliary support to a suitable position to avoid this problem. In the embodiment of the present application, the hanging length L between the auxiliary support adjacent to the terminal auxiliary support and the distal end is obtained (that is, first assume that there is no such terminal auxiliary support and determine the hanging length of the distal end of the tube), and then on the basis of this hanging length, it is determined at which position (that is, the deviation correction support position) the distal end of the tube is within the clamping height range of the movable chuck after the terminal auxiliary support is installed. After the deflection correction support position is determined, the end auxiliary support moves to the deflection correction support position. During the movement, the bent and drooped distal end is gradually lifted up. When it reaches the deflection correction support position, the distal end of the pipe is within the clamping height range of the active chuck, and the active chuck can clamp the distal end. The entire process does not require manual intervention and can be operated automatically. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0032] Figure 1 It is a schematic diagram of the drooping of the end of the pipe in the related art;

[0033] Figure 2 A schematic diagram of the far end of a tube sagging in the tube clamping and correction method for a laser tube cutting machine provided in an embodiment of the present application;

[0034] Figure 3 A flow chart of a method for clamping and correcting a tube for a laser tube cutting machine provided in an embodiment of the present application;

[0035] Figure 4 A comparison diagram of the clamping range when the chuck is opened and closed provided in an embodiment of the present application;

[0036] Figure 5 A schematic diagram of the end auxiliary support provided in an embodiment of the present application moving to the deviation correction support position.

[0037] Among them, the reference numerals in the figure are:

[0038] 10. Movable chuck;

[0039] 20. Fix the chuck;

[0040] 30. Auxiliary support; 31. Terminal auxiliary support;

[0041] 40, pipe; 41, proximal end; 42, distal end;

[0042] X, first direction. DETAILED DESCRIPTION

[0043] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0045] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0046] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0047] Reference Figure 1 In the related art, when the laser tube cutting machine is clamping the tube, the end of the tube 40 bends and sags because the portion of the end of the tube 40 extending out of the auxiliary support 30 is too long.

[0048] See also Figure 2 and Figure 3 Now, the tube clamping and deviation correction method of the laser tube cutting machine provided in the embodiment of the present application is described.

[0049] The method for clamping and correcting the tube 40 of a laser tube cutting machine provided in the embodiment of the present application is suitable for a laser tube cutting machine.

[0050] Reference Figure 2 The laser tube cutting machine includes a movable chuck 10, a fixed chuck 20 and at least three auxiliary supports 30. The movable chuck, the auxiliary supports and the fixed chuck are arranged along a first direction, and the auxiliary supports are located between the movable chuck and the fixed chuck. The movable chuck 10 can reciprocate along the first direction X. The auxiliary support 30 close to the movable chuck 10 is defined as an end auxiliary support 31 that can move along the first direction X.

[0051] The position of the fixed chuck 20 in the laser tube cutting machine is usually kept unchanged, and it can drive the tube 40 to rotate. The main function of the fixed chuck 20 is to provide a stable clamping point for the proximal end 41 of the tube 40, ensuring that the end of the tube 40 close to the fixed chuck 20 (i.e., the proximal end 41) can be firmly fixed during the clamping process. The fixed chuck 20 can be opened when clamping the tube 40, and has a certain clamping range. The proximal end 41 of the tube 40 needs to be within this specific clamping height range before it can be clamped.

[0052] The movable chuck 10 can approach or move away from the fixed chuck 20 along the first direction X, so that it can flexibly adjust its relative position with the distal end 42 of the tube 40 as needed during the clamping process of the tube 40, thereby achieving effective clamping of the tube 40 and feeding the tube 40 during processing.

[0053] The auxiliary supports 30 are a group of components arranged in sequence along the first direction X, and the number of the auxiliary supports 30 is at least three. These auxiliary supports 30 provide multiple support points for the pipe 40, so that the pipe 40 can be supported more evenly when placed on the equipment, avoiding deformation or positional displacement of the pipe 40 caused by single-point support. Among them, the auxiliary support 30 close to the movable chuck 10 is the terminal auxiliary support 31, which can move along the first direction X. The movable characteristics of the terminal auxiliary support 31 enable it to be dynamically adjusted according to the actual situation of the pipe 40 during the clamping process of the pipe 40, so as to compensate for the positional deviation of the pipe 40 caused by its own characteristics (such as material, length, cross-sectional size, etc.) and the clamping state. For example, when the distal end 42 of the pipe 40 sags or deflects due to reasons such as a long length or a soft material, the terminal auxiliary support 31 can correct this deviation by moving along the first direction X, ensuring that the distal end 42 of the pipe 40 can be accurately within the clamping height range of the movable chuck 10, thereby achieving accurate clamping of the pipe 40.

[0054] In the embodiment of the present application, the movable chuck 10 is located on the left side of the fixed chuck 20, each auxiliary support 30 is located between the movable chuck 10 and the fixed chuck 20, the end auxiliary support 31 is located at the leftmost end among these auxiliary supports 30, and the X-axis direction of the machine tool is parallel to the first direction X.

[0055] It is clarified here that the terminal auxiliary support 31 is located on the left side relative to the other auxiliary supports 30, and the distal end 42 of the pipe 40 is also on the left side of the terminal auxiliary support 31.

[0056] Reference Figure 3 , the method comprises the following steps:

[0057] S1: The pipe 40 to be cut is mounted on each of the auxiliary supports 30 , with one end of the pipe 40 close to the fixed chuck 20 being the proximal end 41 and the other end being the distal end 42 , so that the theoretical center axis of the pipe 40 is coaxial with the fixed chuck 20 and the movable chuck 10 , and the proximal end 41 is within the clamping height range of the fixed chuck 20 .

[0058] In this step, the tube 40 to be cut must first be placed on each auxiliary support 30 of the laser tube cutting machine. During the placement process, special attention must be paid to the relative positional relationship between the tube 40 and the movable chuck 10 and the fixed chuck 20, and it must be ensured that the theoretical center axis of the tube 40 is coaxial with the fixed chuck 20 and the movable chuck 10. This is very critical because the coaxial setting can ensure that the tube 40 is evenly stressed during the subsequent cutting process, avoiding problems such as reduced cutting accuracy and deformation of the tube 40 due to eccentric stress.

[0059] At the same time, attention should also be paid to the end of the tube 40 close to the fixed chuck 20, which is defined as the proximal end 41, and the proximal end 41 should be within the clamping height range of the fixed chuck 20. The purpose of this is to allow the proximal end 41 to meet the conditions for automatic clamping. Once the subsequent operation is started, the fixed chuck 20 can smoothly automatically clamp the proximal end 41, laying the foundation for the stable clamping of the entire tube 40.

[0060] Reference Figure 4 The fixed chuck 20 and the movable chuck 10 both have an open state and a clamped state. When the chuck is open, its clamping range is larger than that in the clamped state, and the end of the pipe needs to enter the clamping range to be clamped. In this solution, the pipe 40 is adjusted in the X direction and the Y direction. Only because the end droops, it may not fall into the clamping range of the chuck in the Z direction. Therefore, it must be adjusted so that the end of the pipe 40 is within the height range of the clamping range.

[0061] It can be understood that the tube 40 can be automatically loaded and loaded on each of the auxiliary supports 30 by the loading mechanism of the laser tube cutting machine.

[0062] S2: Obtain the suspension length L between the auxiliary support adjacent to the terminal auxiliary support 31 and the distal end 42 .

[0063] Reference Figure 2 , since the tube 40 has a certain length, when it is placed on the auxiliary support 30, the end (i.e., the distal end 42) extending farther from the auxiliary support 30 will be partially unsupported. In the method of the embodiment of the present application, at this time, we obtain the suspended length L between the auxiliary support adjacent to the terminal auxiliary support 31 and the distal end 42, that is, assuming that the movable terminal auxiliary support 31 does not exist, and then determine the unsupported length of the distal end 42 of the tube 40 in this hypothetical situation (i.e., the distal end 42 and the auxiliary support adjacent to the terminal auxiliary support 31), which we define as the suspended length L.

[0064] The acquisition of this suspended length L is the key basis for subsequent operations. It reflects the extent to which the far end 42 of the tube 40 exceeds the auxiliary support 30 and is not supported when there is no assistance from the end auxiliary support 31. It provides important data support for further determining the position to which the end auxiliary support 31 needs to be moved to ensure that the far end 42 of the tube 40 can be within the clamping height range of the movable chuck 10.

[0065] S3: Based on the hanging length L of the distal end 42 , determine that the terminal auxiliary support 31 can make the distal end 42 be in a deviation correction support position within the clamping height range of the movable chuck 10 .

[0066] After accurately obtaining the hanging length L of the distal end 42 of the pipe 40 , the correction support position of the terminal auxiliary support 31 needs to be determined based on the length L.

[0067] Because there is an unsupported suspended portion at the distal end 42 of the tube 40, this portion will bend and sag, which may cause the distal end 42 to be unable to be within the clamping height range of the movable chuck 10, so we need to find a suitable position to place the end auxiliary support 31 through analysis and calculation, so that after the end auxiliary support 31 is placed, the distal end 42 of the tube 40 can smoothly enter the clamping height range of the movable chuck 10.

[0068] The longer the suspended length L of the tube 40 is, the greater the possibility and degree of sagging is. By analyzing and calculating the obtained suspended length L, it is determined at which specific position (i.e., the deviation correction support position) the terminal auxiliary support 31 is installed to effectively correct the sagging bending deviation of the distal end 42 of the tube 40, ensuring that the distal end 42 of the tube 40 can be accurately within the clamping height range of the movable chuck 10.

[0069] S4: moving the terminal auxiliary support 31 to the deviation-correcting support position.

[0070] Reference Figure 5 Once the deviation correction support position is determined, the end auxiliary support 31 that can be moved along the first direction X can be moved to the deviation correction support position.

[0071] In the process of moving the terminal auxiliary support 31, it will support the distal end 42 of the pipe 40. As it gradually approaches the deviation correction support position, the originally suspended part of the distal end 42 of the pipe 40 will gradually be effectively supported, thereby gradually lifting the distal end 42 of the pipe 40. When the terminal auxiliary support 31 finally reaches the deviation correction support position, the distal end 42 of the pipe 40 has successfully been within the clamping height range of the movable chuck 10. In this way, the movable chuck 10 can smoothly clamp the distal end 42, thereby completing the clamping process of the entire pipe 40.

[0072] Furthermore, the entire process from placing the pipe 40 on the rack to final clamping does not require human intervention and can be automated by relying on the equipment's own control system and a set program, which greatly improves the clamping efficiency and reduces the errors and uncertainties that may be caused by manual operation.

[0073] Furthermore, step S2 is specifically as follows:

[0074] S21: Obtain the length S of the pipe 40 and the hanging length A of the proximal end 41 after the pipe 40 is installed.

[0075] In this step, it is first necessary to accurately obtain the length information of the tube 40 to be cut through the relevant measuring device (such as the feeding mechanism) or other suitable measuring means equipped with the laser tube cutting machine, recorded as length S, which is the overall actual length of the tube 40.

[0076] At the same time, after the pipe 40 is installed on each auxiliary support 30, the suspended length of the end close to the fixed chuck 20 (ie, the proximal end 41) beyond the nearest auxiliary support 30 is also obtained, which is recorded as the suspended length A.

[0077] S22: Obtain the distance B between two auxiliary supports 30 located at the head and tail ends of the remaining auxiliary supports except the terminal auxiliary support 31.

[0078] In this step, an assumption and calculation are made. That is, it is assumed that the movable end auxiliary support 31 close to the movable chuck 10 is removed. Under this assumption, the actual distance between the two auxiliary supports 30 located at the front end (close to the fixed chuck 20 side) and the rear end (the end after the end auxiliary support 31 is assumed to be removed) is measured, and this distance is recorded as B.

[0079] The distance B is obtained in order to prepare for the subsequent accurate calculation of the hanging length L of the distal end 42 of the pipe 40 in combination with other parameters.

[0080] S23: Based on the length S, the suspended length A of the proximal end 41 and the distance B, the suspended length L of the distal end 42 is calculated.

[0081] After obtaining the three key parameters of the length S of the tube 40 , the suspended length A of the proximal end 41 , and the distance B, the suspended length L of the distal end 42 of the tube 40 can be determined by a specific calculation method.

[0082] Since the overall length of the tube 40 is S and the suspended length of the proximal end 41 is A, the length from the proximal end 41 of the tube 40 to the rearmost auxiliary support 30 assuming that the terminal auxiliary support 31 is removed can be expressed as SA.

[0083] The distance between the two auxiliary supports 30 at the head and tail ends is B, so the hanging length L of the far end 42 of the tube 40 beyond the rear auxiliary support 30 (assuming that the end auxiliary support 31 is removed) can be calculated by the following formula:

[0084] L=SAB

[0085] In the formula, L is the hanging length of the distal end 42, S is the length of the tube 40, A is the hanging length of the proximal end 41, and B is the distance between the two auxiliary supports 30 at the head and tail ends after removing the terminal auxiliary support 31.

[0086] Through such calculations, we can accurately obtain the suspended length L of the far end 42 of the tube 40 after assuming that the end auxiliary support 31 is removed. This suspended effect provides a key data basis for subsequent operations such as determining the correction support position of the end auxiliary support 31.

[0087] Furthermore, when the pipe 40 to be cut is placed on each of the auxiliary supports 30 , it is ensured that the suspended length A of the proximal end 41 of the pipe 40 is equal each time.

[0088] When the pipe 40 to be cut is placed on each of the auxiliary supports 30, the feeding mechanism is controlled to ensure that the suspended length A of the proximal end 41 of the pipe 40 is kept constant each time. This means that each time the pipe 40 is clamped, the length of the suspended portion of the pipe 40 near the fixed chuck 20 (i.e., the proximal end 41) beyond the auxiliary support 30 is always a fixed value A.

[0089] Except for the terminal auxiliary support 31, other auxiliary supports 30 may not move during the entire clamping process, and the distance D is also a constant value.

[0090] Originally, to calculate L, it is necessary to obtain the length S of the tube 40, the suspended length A of the proximal end 41, and the distance D related to the auxiliary support 30 (such as the distance between the two auxiliary supports 30 at the head and tail ends after assuming that the end auxiliary support 31 is removed, etc.), and obtain the value of L through a certain calculation relationship (such as the previously mentioned formula L=SAD).

[0091] But now, since A and D are both fixed values, the hanging length L can be calculated only based on the length S of the tube 40. In this way, in the subsequent clamping operation, it is not necessary to repeatedly obtain the values ​​of A and D every time. It is only necessary to obtain the length S of the tube 40 to quickly and accurately calculate the hanging length L, which undoubtedly improves the calculation efficiency of the entire clamping process and makes the operation process simpler and more efficient.

[0092] Furthermore, the step S3 is specifically:

[0093] S31: Query a pre-established experience database, which includes multiple groups of experience data, each group of experience data includes the suspension length L0 of the distal end 42 in the historical task and the corresponding distance D0 between the end auxiliary support 31 and the adjacent auxiliary support 30 required to make the distal end 42 within the clamping height range of the movable chuck 10.

[0094] In this step, we first need to access the pre-established experience database, which is based on a large amount of historical mission data and contains multiple sets of experience data.

[0095] Each set of empirical data records in detail the key information involved in different past pipe 40 cutting tasks, specifically, including the hanging length L0 of the distal end 42 in the historical tasks and the corresponding distance D0 between the end auxiliary support 31 and the adjacent auxiliary support 30 required to enable the distal end 42 to be within the clamping height range of the movable chuck 10.

[0096] These historical data were collected during actual production operations in the past, covering various pipe 40 characteristics (such as material, length, cross-sectional size, etc.) and data under different clamping conditions. They provide valuable reference for determining the appropriate end auxiliary support 31 position for the current task.

[0097] S32: Based on the empirical database, determine the empirical proportional relationship between the distance D0 and the hanging length L0.

[0098] Based on the multiple sets of empirical data retrieved from the empirical database, these data are then analyzed and processed to determine the empirical proportional relationship between the spacing D0 and the overhang length L0.

[0099] By applying statistical, fitting and other mathematical analysis methods to a large number of different L0 and corresponding D0 data, we can find a general rule, that is, there is a relatively stable proportional relationship between them.

[0100] For example, it may be found through analysis that in most cases, the spacing D0 and the hanging length L0 present an approximately linear relationship, such as D0 = k*L0 (where k is an empirical coefficient determined through analysis), k is a coefficient less than 1, and may be 2 / 3, 3 / 4, or 4 / 5. Of course, the actual relationship may be more complicated, depending on factors such as the specific distribution of historical data and the actual physical characteristics of the clamping of the pipe 40. In the embodiment of the present application, k is taken as 2 / 3.

[0101] The purpose of determining this empirical proportional relationship is to use past empirical data to quickly and accurately calculate the required spacing D between the end auxiliary support 31 and the adjacent auxiliary support 30 based on the suspension length L in the current task.

[0102] S33: Based on the empirical proportional relationship and the suspended length L in the current task, determine the distance D between the end auxiliary support 31 and the adjacent auxiliary support 30 required in the current task.

[0103] After clarifying the empirical proportional relationship between the spacing D0 and the suspension length L0, the spacing D between the end auxiliary support 31 and the adjacent auxiliary support 30 required in the current task can be determined based on this.

[0104] Because the suspended length L of the distal end 42 of the tube 40 has been obtained in the current task, combined with the empirical proportional relationship determined previously, for example, D0=k*L0 corresponds to the current task relationship D=k*L, and in the embodiment of the present application, k=2 / 3. Substituting the current suspended length L into the expression of the empirical proportional relationship, the value of the spacing D required between the end auxiliary support 31 and the adjacent auxiliary support 30 in order to make the distal end 42 within the clamping height range of the active chuck 10 in the current task can be calculated, that is, D=2 / 3L.

[0105] S34: Based on the distance D, determine the deviation correction support position.

[0106] Finally, based on the previously calculated distance D, the deviation correction support position of the terminal auxiliary support 31 is determined. It is known that the terminal auxiliary support 31 is movable along the first direction X, and the distance D between it and the adjacent auxiliary support 30 has been determined.

[0107] According to the position of the auxiliary support 30 adjacent to the end auxiliary support 31 in the machine tool system, combined with the value of the spacing D, the specific data of the correction support position can be accurately determined. Then, the end auxiliary support 31 is moved to the correction support position to ensure that the distal end 42 of the tube 40 is within the clamping height range of the movable chuck 10, thereby achieving precise clamping of the tube 40.

[0108] Furthermore, the step S34 specifically includes:

[0109] S341: Acquire the position of the auxiliary support 30 adjacent to the terminal auxiliary support 31.

[0110] To determine the correcting support position of the end auxiliary support 31, first obtain the position of the auxiliary support 30 adjacent to it. In the embodiment of the present application, the positive direction of the X-axis is from right to left, and each auxiliary support 30 is arranged in a straight line (along the X-axis direction).

[0111] Then the position of the auxiliary support 30 adjacent to the end auxiliary support 31 located on the left side can be determined by the positioning system of the device itself or the preset coordinate system to obtain its X-axis coordinate, X1, in the coordinate system.

[0112] S342: Determine the deviation correction support position based on the distance D and the position coordinates.

[0113] The required distance D between the end auxiliary support 31 and the adjacent auxiliary support 30 has been calculated. Now, the correction support position of the end auxiliary support 31 needs to be determined based on the distance D and the position coordinate X1 of the adjacent auxiliary support 30 on the right.

[0114] Since the terminal auxiliary support 31 is on the left side of the auxiliary support 30 and the distal end 42 of the pipe 40 is on the left side of the terminal auxiliary support 31, the terminal auxiliary support 31 must move to the left to get close to the distal end 42 of the pipe 40 and play a corrective role. Therefore, when determining the corrective support position, it is moved along the negative direction of the X axis by D. For example, if the X-axis coordinate of the corrective support position is X2, then X2 = X1-D.

[0115] Through such calculation, the correction support position of the end auxiliary support 31 can be accurately determined according to the position coordinates and the spacing D of the adjacent auxiliary support 30 on the right side. When the end auxiliary support 31 moves to this position, the distal end 42 of the pipe 40 can be within the clamping height range of the movable chuck 10, thereby achieving precise clamping of the pipe 40.

[0116] Furthermore, a sensor is provided on the movable chuck 10 . When the distal end 42 is within the clamping height range of the movable chuck 10 , the sensor is triggered and the movable chuck 10 clamps the distal end 42 .

[0117] After the pipe has gone through a series of clamping steps, including placement on the auxiliary support 30 and adjustment of the position of the end auxiliary support 31, once the distal end 42 of the pipe 40 successfully enters the clamping height range of the movable chuck, the sensor can detect this state change.

[0118] Since the sensor is set to trigger the corresponding action when the distal end 42 is within the clamping height range of the movable chuck 10, when the sensor detects a state that meets the conditions, it will immediately send a trigger signal to the control system of the movable chuck 10. After receiving the trigger signal, the control system of the movable chuck 10 will start the clamping action according to the preset program instructions, so that the movable chuck can tightly clamp the distal end of the pipe. The whole process does not require manual judgment of whether the distal end 42 of the pipe is in place and manual clamping operation, which realizes the automatic operation of the clamping process from the pipe racking to the final clamping, further improving the working efficiency of the laser pipe cutting machine.

[0119] Furthermore, the auxiliary support 30 can be raised and lowered. The raiseable auxiliary support 30 means that its height in the vertical direction (usually understood as the direction perpendicular to the placement plane of the pipe 40, such as the up and down direction) can be changed as needed. This is of great significance for adapting to pipes 40 of different specifications, different shapes and different initial placement postures. For example, when the diameter of the pipe 40 is large or there is a deviation in the vertical direction from the ideal clamping position during initial placement, by adjusting the height of the auxiliary support 30, it can better fit the bottom of the pipe 40, provide a more stable and appropriate support for the pipe 40, and ensure the stability and coaxiality of the pipe 40 during the clamping process.

[0120] An embodiment of the present application also provides a laser tube cutting machine, which includes a fixed chuck 20, a movable chuck 10 and at least three auxiliary supports 30, wherein the movable chuck 10 can approach or move away from the fixed chuck 20 along a first direction X, and each of the auxiliary supports 30 is arranged in sequence along the first direction X, and the auxiliary support 30 close to the movable chuck 10 is an end auxiliary support 31 that can move along the first direction X. The machine also includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the method as described above.

[0121] The laser tube cutting machine of the embodiment of the present application includes the method for clamping and correcting the tube 40 of the laser tube cutting machine in any of the above embodiments, and therefore has the beneficial effects brought by the method for clamping and correcting the tube 40 of the laser tube cutting machine in any of the above embodiments, which will not be repeated here.

[0122] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the method described above when executed by a processor.

[0123] The computer-readable storage medium of the embodiment of the present application includes the method for clamping and correcting the tube 40 of the laser tube cutting machine in any of the above embodiments, and therefore has the beneficial effects brought by the method for clamping and correcting the tube 40 of the laser tube cutting machine in any of the above embodiments, which will not be repeated here.

[0124] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A method for correcting the tube clamping of a laser tube cutting machine, which is applicable to a laser tube cutting machine, wherein the laser tube cutting machine comprises a movable chuck, a fixed chuck and at least three auxiliary supports, wherein the movable chuck, the auxiliary supports and the fixed chuck are arranged along a first direction, and the auxiliary supports are located between the movable chuck and the fixed chuck, and the movable chuck can reciprocate along the first direction, and is characterized in that: The auxiliary support close to the movable chuck is defined as an end auxiliary support movable along the first direction, and the method comprises: The pipe to be cut is mounted on each of the auxiliary supports, with one end of the pipe close to the fixed chuck being the proximal end and the other end being the distal end, so that the theoretical central axis of the pipe is coaxial with the fixed chuck and the movable chuck, and the proximal end is within the clamping height range of the fixed chuck; Obtaining a suspension length L between an auxiliary support adjacent to the terminal auxiliary support and the distal end; Based on the suspended length L and the pipe information, it is determined that the terminal auxiliary support can make the distal end be in a deviation correction support position within the clamping height range of the movable chuck; Move the end auxiliary support to the deviation-correcting support position.

2. The laser tube cutting machine tube clamping and deviation correction method according to claim 1 is characterized in that: The step of obtaining the hanging length L between the auxiliary support adjacent to the terminal auxiliary support and the distal end is specifically: Obtaining the length S of the pipe and the hanging length A of the proximal end of the pipe after the pipe is erected; Obtaining the distance B between two auxiliary supports located at the head and tail ends of the remaining auxiliary supports except the terminal auxiliary support; Based on the length S, the hanging length A of the proximal end and the distance B, the hanging length L of the distal end is calculated.

3. The laser tube cutting machine tube clamping and deviation correction method according to claim 2 is characterized in that: The hanging length L of the distal end is calculated by the following formula: L=SAB In the formula, L is the hanging length of the far end, S is the length of the pipe, A is the hanging length of the proximal end, and B is the distance between the two auxiliary supports at the head and tail ends after removing the terminal auxiliary support.

4. The laser tube cutting machine tube clamping and deviation correction method according to claim 2 is characterized in that: When the pipe to be cut is placed on each of the auxiliary supports, it is ensured that the hanging length A of the proximal end of the pipe is equal each time.

5. The method for clamping and correcting the tube of a laser tube cutting machine according to claim 1 is characterized in that: The step of determining, based on the suspended length L of the distal end, that the terminal auxiliary support can enable the distal end to be in a deviation correction support position within the clamping height range of the movable chuck is specifically: Querying a pre-established experience database, the experience database includes multiple sets of experience data, each set of experience data includes the overhang length L0 of the distal end in historical tasks and the corresponding distance D0 between the terminal auxiliary support and the adjacent auxiliary support required to make the distal end within the clamping height range of the active chuck; Based on the empirical database, determining an empirical proportional relationship between the distance D0 and the hanging length L0; Based on the empirical proportional relationship and the overhang length L in the current task, determine the distance D between the end auxiliary support and the adjacent auxiliary support required in the current task; Based on the distance D, the deviation correction support position is determined.

6. The method for clamping and correcting the tube of a laser tube cutting machine according to claim 4 is characterized in that: The step of determining the deviation correction support position based on the distance D specifically includes: Acquire the position of the auxiliary support adjacent to the terminal auxiliary support; The deviation correction support position is determined based on the distance D and the position coordinates.

7. The method for clamping and correcting the tube of a laser tube cutting machine according to claim 1 is characterized in that: The movable chuck is also provided with a sensor. When the distal end is within the clamping height range of the movable chuck, the sensor is triggered and the movable chuck clamps the distal end.

8. The method for clamping and correcting the tube of a laser tube cutting machine according to any one of claims 1 to 7, characterized in that: The auxiliary support can be raised and lowered.

9. A laser tube cutting machine, comprising a fixed chuck, a movable chuck and at least three auxiliary supports, wherein the movable chuck can approach or move away from the fixed chuck along a first direction, and the auxiliary supports are arranged in sequence along the first direction, characterized in that: The auxiliary support close to the movable chuck is an end auxiliary support that can move along the first direction, and also includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor executes the method as described in any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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