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

Abstract

The application provides a pipe clamping and 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 along a first direction. The method comprises the following steps: erecting a pipe to be cut on each auxiliary support, wherein one end of the pipe close to the fixed chuck is a proximal end, the other end is a distal end, 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 length L of the pipe suspended between the auxiliary support adjacent to the distal end and the distal end; determining a deviation rectifying support position of the distal end auxiliary support based on the length L of the distal end, so that the distal end is within the clamping height range of the movable chuck; moving the distal end auxiliary support to the deviation rectifying support position, and clamping the distal end by the movable chuck. The pipe clamping and deviation rectifying method of the laser pipe cutting machine can automatically realize the clamping of the chuck on the end of the pipe.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of laser processing, and more particularly relates to a pipe clamping and deviation rectifying method of a laser pipe cutting machine, the laser pipe cutting machine and a storage medium. BACKGROUND

[0002] A traditional laser pipe cutting machine generally adopts a multi-chuck structure, that is, a chuck clamps a pipe in the X direction to feed, and a chuck clamps the pipe to rotate synchronously with a chuck as a main shaft. The rotation centers of the chucks are consistent in height and concentric.

[0003] Before laser cutting, the pipe needs to be placed in the clamping area inside the chuck to ensure that the chuck can clamp the pipe smoothly. The feeding process of the pipe into the clamping range of the chuck is: warehouse feeding -> layering / singling -> single pipe positioning in the Y direction -> positioning in the Z direction -> chuck clamping. Due to the influence of the material, length and cross-sectional size of the pipe, the pipe often sags during Z direction positioning, resulting in that the end of the pipe is not in the clamping area of the chuck, and manual intervention is required, so that the equipment cannot realize full automatic operation. SUMMARY

[0004] The embodiment of the application provides a pipe clamping and deviation rectifying method of a laser pipe cutting machine, which can automatically clamp the end of the pipe by the chuck.

[0005] The technical scheme adopted by the embodiment of the application is as follows: a pipe clamping and deviation rectifying method of a laser pipe cutting machine is provided, which is suitable for the laser pipe cutting machine. 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 along a first direction, and the auxiliary supports are located between the movable chuck and the fixed chuck. The movable chuck can move back and forth along the first direction. The feature is that the auxiliary support close to the movable chuck is defined as a terminal auxiliary support which can move along the first direction. The method comprises the following steps:

[0006] The pipe to be cut is erected on each auxiliary support. One end of the pipe close to the fixed chuck is a proximal end, and the other end is a distal end. The theoretical center axis of the pipe is coaxial with the fixed chuck and the movable chuck, and the proximal end is in the clamping height range of the fixed chuck.

[0007] The length L of the pipe suspended between the auxiliary support adjacent to the terminal auxiliary support and the distal end is obtained.

[0008] Based on the length L of the pipe suspended and pipe information, the rectifying support position of the terminal auxiliary support is determined, so that the distal end is in the clamping height range of the movable chuck.

[0009] The terminal auxiliary support is moved to the rectifying support position.

[0010] Further, the step of obtaining the overhang length L of the distal end from the auxiliary support adjacent to the terminal auxiliary support, specifically comprises:

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

[0012] obtaining the distance B between the two auxiliary supports at the head and tail ends among the auxiliary supports except the terminal auxiliary support;

[0013] calculating the overhang length L of the distal end based on the length S, the overhang length A of the proximal end and the distance B.

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

[0015] L = S - A - B

[0016] In the formula, L is the overhang length of the distal end, S is the length of the pipe, A is the overhang 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] Further, when the pipe to be cut is erected on each auxiliary support, it is ensured that the overhang length A of the proximal end of the pipe is equal each time.

[0018] Further, the step of determining the deviation correction support position of the terminal auxiliary support based on the overhang length L of the distal end and the pipe information, so that the distal end is within the clamping height range of the chuck, specifically comprises:

[0019] querying a pre-established experience database, the experience database including a plurality of sets of experience data, each set of experience data including an overhang length L0 of a distal end in a historical task and a 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 chuck;

[0020] determining an experience proportional relationship between the distance D0 and the overhang length L0 based on the experience database;

[0021] determining the distance D between the terminal auxiliary support and the adjacent auxiliary support required in the current task based on the experience proportional relationship and the overhang length L in the current task;

[0022] determining the deviation correction support position based on the distance D.

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

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

[0025] determine the deviation correction support position based on the distance D and the position coordinates.

[0026] Further, the movable chuck is further provided with a sensor, when the distal end is in the clamping height range of the movable chuck, the sensor is triggered, and the movable chuck clamps the distal end.

[0027] Further, the auxiliary support is liftable.

[0028] The embodiment of the present application also provides a laser pipe cutting machine, the laser pipe cutting machine comprises a fixed chuck, a movable chuck and at least three auxiliary supports, the movable chuck is movable along a first direction to be close to or away from the fixed chuck, the auxiliary supports are arranged in sequence along the first direction, and an auxiliary support close to the movable chuck is a terminal auxiliary support which is movable along the first direction, and the laser pipe cutting machine further comprises a memory and a processor, the memory stores a computer program, and the computer program is executed by the processor to enable the processor to execute the method.

[0029] The embodiment of the present application also provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method.

[0030] The laser pipe cutting machine pipe clamping deviation correction method provided by the embodiment of the present application has the beneficial effects that: in the embodiment of the present application, the auxiliary support close to the movable chuck is a terminal auxiliary support which is movable along the first direction. In the method, the pipe is first arranged on each auxiliary support, so that the theoretical center axis of the pipe is coaxial with the fixed chuck and the movable chuck, and the proximal end of the pipe is in the clamping height range of the fixed chuck, so that the proximal end can be normally and automatically clamped. Since the pipe is long, the distal end will be bent and deviated when extending out of the auxiliary support, and thus exceeds the clamping range of the movable chuck, so that the terminal auxiliary support needs to be moved to a suitable position to avoid the problem. In the embodiment of the present application, the overhanging length L between the auxiliary support adjacent to the terminal auxiliary support and the distal end of the pipe is obtained (that is, the overhanging length of the distal end of the pipe is determined assuming that there is no such terminal auxiliary support), and then based on the overhanging length, it is determined that the distal end of the pipe is in the clamping height range of the movable chuck after the terminal auxiliary support is installed at a position (that is, the deviation correction support position). After the deviation correction support position is determined, the terminal auxiliary support is moved to the deviation correction support position, and in the moving process, the bent and deviated distal end is gradually lifted, and when the deviation correction support position is reached, the distal end of the pipe is in the clamping height range of the movable chuck, and the movable chuck can clamp the distal end. In the whole process, no manual intervention is needed, and the operation can be automated. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. 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 any creative work.

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

[0033] Figure 2 A schematic diagram of the distal 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 Flowchart of the tube clamping and deviation correction method 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 open and closed provided in an embodiment of the present application;

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

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

[0038] 10. Movable chuck;

[0039] 20. Fix the chuck;

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

[0041] 40. Tube; 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 this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

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

[0045] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this 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 cannot be understood as a limitation on this application.

[0046] 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 the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise 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 length 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 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 applicable to the 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 move back and forth along the first direction X. The auxiliary support 30 close to the movable chuck 10 is defined as the end auxiliary support 31 that can move along the first direction X.

[0051] The fixed chuck 20 typically remains fixed in position within the laser tube cutting machine while simultaneously rotating the tube 40. Its primary function is to provide a stable clamping point for the proximal end 41 of the tube 40, ensuring that the end of the tube 40 closest to the fixed chuck 20 (i.e., the proximal end 41) is securely held during the clamping process. The fixed chuck 20 can be opened to clamp the tube 40, providing a specific clamping range. The proximal end 41 of the tube 40 must be within this specific clamping height range for the tube 40 to be securely 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 the processing.

[0053] The auxiliary supports 30 are a set of at least three components arranged in sequence along a first direction X. These supports 30 provide multiple support points for the tube 40, ensuring uniform support when placed on the device and preventing deformation or misalignment of the tube 40 that could occur due to single-point support. The auxiliary support 30 closest to the movable chuck 10 is the end auxiliary support 31, which is movable along the first direction X. The movable nature of the end auxiliary support 31 enables dynamic adjustment during the clamping process based on the actual position of the tube 40, compensating for positional deviations that may occur due to factors such as the tube's inherent characteristics (such as material, length, and cross-sectional dimensions) and the clamping state. For example, if the distal end 42 of the tube 40 sags or deflects due to its length or soft material, the end auxiliary support 31 can correct this deviation by moving along the first direction X, ensuring that the distal end 42 of the tube 40 is accurately within the clamping height range of the movable chuck 10, thereby achieving precise clamping of the tube 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 clear here that the position of the terminal auxiliary support 31 relative to the other auxiliary supports 30 is on the left, and the distal end 42 of the tube 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, first, the pipe to be cut 40 is placed on the various auxiliary supports 30 of the laser pipe cutting machine. The placement process needs to pay special attention to the relative position relationship between the pipe 40 and the movable chuck 10, the fixed chuck 20, and to ensure that the theoretical center axis of the pipe 40 is coaxial with the fixed chuck 20 and the movable chuck 10. This is very important because the coaxial arrangement can ensure that the pipe 40 is uniformly stressed during the subsequent cutting process, avoiding problems such as cutting precision degradation and pipe 40 deformation due to eccentric stress.

[0059] At the same time, attention should also be paid to the end of the pipe 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 enable the proximal end 41 to meet the conditions for automatic clamping, so that the fixed chuck 20 can successfully automatically clamp the proximal end 41, laying the foundation for stable clamping of the entire pipe 40.

[0060] Referring to 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 when it is clamped, and the end of the pipe needs to enter the clamping range to be clamped. In this scheme, the pipe 40 has been adjusted in the X and Y directions, and only due to the end sag, it may not fall into the clamping range of the chuck in the Z direction, so 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 pipe 40 can be erected on each of the auxiliary supports 30 by the feeding mechanism of the laser pipe cutting machine.

[0062] S2: Obtain the length L of the pipe 40 suspended between the auxiliary support adjacent to the end auxiliary support 31 and the distal end 42.

[0063] Referring to Figure 2 , since the pipe 40 has a certain length, when it is placed on the auxiliary support 30, the end of the pipe 40 that extends far from the auxiliary support 30 (i.e. the distal end 42) will not be supported. In the method of the embodiments of the present application, at this time we obtain the length L of the pipe 40 suspended between the auxiliary support adjacent to the end auxiliary support 31 and the distal end 42, i.e. assuming that there is no movable end auxiliary support 31, and then determining the length of the distal end 42 of the pipe 40 that is not supported under this assumption (i.e. the distal end 42 and the auxiliary support adjacent to the end auxiliary support 31), which we define as the length L of the pipe 40 suspended.

[0064] The acquisition of the overhanging length L is the key basis for subsequent operations, which reflects the degree of the distal end 42 of the pipe 40 overhanging without the assistance of the end auxiliary support 31, and provides important data support for further determining the position to which the end auxiliary support 31 needs to be moved to ensure that the distal end 42 of the pipe 40 can be within the clamping height range of the movable chuck 10.

[0065] S3: Based on the overhanging length L of the distal end 42 and the pipe information, determine the deviation correction support position of the end auxiliary support 31 that can make the distal end 42 within the clamping height range of the movable chuck 10.

[0066] After accurately acquiring the overhanging length L of the distal end 42 of the pipe 40, the next step is to determine the deviation correction support position of the end auxiliary support 31 based on it.

[0067] Because there is an overhanging part of the distal end 42 of the pipe 40 that is not supported, this part 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 pipe 40 can smoothly enter the clamping height range of the movable chuck 10.

[0068] The longer the overhanging length L of the pipe 40, the greater the possibility and degree of sagging. By analyzing and calculating the acquired overhanging length L, it is determined that after installing the end auxiliary support 31 at a specific position (i.e. the deviation correction support position), the sagging and bending deviation of the distal end 42 of the pipe 40 can be effectively corrected, and the distal end 42 of the pipe 40 can be accurately within the clamping height range of the movable chuck 10.

[0069] S4: Move the end auxiliary support 31 to the deviation correction support position.

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

[0071] During the movement of the end auxiliary support 31, it will support the distal end 42 of the pipe 40, and as it gradually approaches the deviation correction support position, it will gradually support the originally overhanging part of the distal end 42 of the pipe 40, thereby gradually lifting the distal end 42 of the pipe 40. When the end auxiliary support 31 finally reaches the deviation correction support position, the distal end 42 of the pipe 40 has successfully entered the clamping height range of the movable chuck 10, so the movable chuck 10 can smoothly clamp the distal end 42, thereby completing the clamping process of the entire pipe 40.

[0072] And, the whole process from the pipe 40 to the final clamping, without manual intervention, can rely on the device itself control system and set up the program to achieve automatic operation, which greatly improves the clamping efficiency, reduces the error and uncertainty of manual operation.

[0073] Further, the step S2 is specifically:

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

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

[0076] At the same time, the overhanging length of the proximal end 41 (i.e. the proximal end 41) of the pipe 40 after being erected on each auxiliary support 30 beyond the nearest auxiliary support 30 is also obtained, recorded as overhanging length A.

[0077] S22: Obtain the distance B between the two auxiliary supports 30 located at the beginning and end of the remaining auxiliary supports except the end auxiliary support 31.

[0078] In this step, a hypothesis and calculation are made. That is, 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 beginning (close to the fixed chuck 20 side) and the end (the last end after the end auxiliary support 31 is removed) is measured, and this distance is recorded as B.

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

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

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

[0082] Since the overall length of the pipe 40 is S, and the overhanging length of the proximal end 41 is A, the length from the proximal end 41 of the pipe 40 to the last auxiliary support 30 after the end auxiliary support 31 is removed can be represented as S-A.

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

[0084] L=SAB

[0085] Wherein, 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 determine the suspended length L of the distal end 42 of the tube 40 after assuming the removal of the terminal auxiliary support 31. This suspended effect provides a key data basis for subsequent operations such as determining the correction support position of the terminal 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 hanging 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 loading mechanism controls the overhang length A of the proximal end 41 of the pipe 40 to be cut, ensuring that the same length A is maintained each time the pipe 40 is clamped. This means that the length of the pipe 40 proximal to the fixed chuck 20 (i.e., the proximal end 41) extending beyond the auxiliary support 30 is always a fixed value A.

[0089] Except for the terminal auxiliary support 31 , the 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 was necessary to obtain the length S of the tube 40, the hanging 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 the end auxiliary support 31 is removed, etc.), and to obtain the value of L through a certain calculation relationship (such as the previously mentioned formula L=SAD).

[0091] However, since A and D are both fixed values, the overhang length L can be calculated solely based on the acquired length S of the tube 40. This eliminates the need to repeatedly acquire the values ​​of A and D during subsequent clamping operations. Simply acquiring the length S of the tube 40 allows for a quick and accurate calculation of the overhang length L. This undoubtedly improves the computational efficiency of the entire clamping process, making the operation more streamlined and efficient.

[0092] Furthermore, the step S3 is specifically as follows:

[0093] S31: Query a pre-established experience database, which includes multiple sets of experience data, each set 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, it includes the overhang 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 dimensions, 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 an empirical proportional relationship between the distance D0 and the overhang 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, analysis may reveal that, in most cases, the distance D0 and the overhang length L0 exhibit an approximately linear relationship, such as D0 = k * L0 (where k is an empirical coefficient determined through analysis), where 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 complex, depending on factors such as the specific distribution of historical data and the actual physical properties of the pipe 40 during clamping. In this embodiment, k is assumed to be 2 / 3.

[0101] The purpose of determining this empirical proportional relationship is to be able to use past empirical data to quickly and accurately calculate the required distance 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 distance D0 and the overhang length L0, the distance 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 overhang length L of the distal end 42 of the tube 40 has been obtained for the current task, combined with the previously determined empirical proportional relationship, for example, D0 = k * L0, the corresponding current task relationship is D = k * L. In this embodiment, k = 2 / 3. Substituting the current overhang length L into the expression for this empirical proportional relationship, the required spacing D between the distal auxiliary support 31 and the adjacent auxiliary support 30, in order to keep the distal end 42 within the clamping height range of the movable chuck 10 in the current task, can be calculated: D = 2 / 3L.

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

[0106] Finally, the deviation correction support position of the terminal auxiliary support 31 is determined based on the previously calculated distance D. 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 pipe 40 is within the clamping height range of the movable chuck 10, thereby achieving precise clamping of the pipe 40.

[0108] Furthermore, the step S34 specifically includes:

[0109] S341 : Acquire the position coordinates 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, the position coordinates of the auxiliary supports 30 adjacent to it must first be obtained. In the embodiment of the present application, the positive direction of the X-axis is from right to left, and the auxiliary supports 30 are 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 on the left side can be determined by the positioning system of the device 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 this distance D and the position coordinate X1 of the adjacent auxiliary support 30 on the right.

[0114] Because the terminal auxiliary support 31 is to the left of the auxiliary support 30 and the distal end 42 of the tube 40 is to the left of the terminal auxiliary support 31, the terminal auxiliary support 31 must move leftward to approach the distal end 42 of the tube 40 and perform a corrective action. Therefore, when determining the corrective support position, it is moved D in the negative X-axis direction. For example, if the X-axis coordinate of the corrective support position is X2, then X2 = X1 - D.

[0115] Through such calculations, the correction support position of the end auxiliary support 31 can be accurately determined based on the position coordinates and spacing D of the adjacent auxiliary support 30 on the right. 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 will be able to detect this state change.

[0118] Because the sensor is configured to trigger when the distal end 42 is within the clamping height range of the movable chuck 10, when the sensor detects a condition that meets these requirements, it immediately sends a trigger signal to the control system of the movable chuck 10. Upon receiving this trigger signal, the control system of the movable chuck 10 initiates the clamping action according to pre-programmed instructions, enabling the movable chuck to firmly grasp the distal end of the tube. This entire process eliminates the need for manual verification of the distal end 42 of the tube and manual initiation of the clamping operation, automating the clamping process from tube loading to final clamping, further improving the efficiency of the laser tube 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. The movable chuck 10 can approach or move away from the fixed chuck 20 along a first direction X. The auxiliary supports 30 are arranged in sequence along the first direction X. 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. A computer program is stored in the memory. When the computer program is executed by the processor, the processor executes the method 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 further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method described above is implemented.

[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 the preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for clamping and correcting pipe deviation of a laser tube cutting machine, 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, characterized in that: Defining the auxiliary support close to the movable chuck as an end auxiliary support movable along the first direction, the method includes: The pipe to be cut is mounted on each of the auxiliary supports, with the 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 overhang length L and the pipe information, determining that the terminal auxiliary support can place the distal end in a 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 correction method according to claim 1 is characterized in that: The step of obtaining the overhang 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 installation; Obtaining the distance B between the 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 proximal end overhang length A, and the distance B, the distal end overhang length L is calculated.

3. The tube clamping and deviation correction method for a laser tube cutting machine according to claim 2 is characterized in that: The hanging length L of the distal end is calculated by the following formula: L=SAB Wherein, L is the hanging length of the distal 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 tube clamping and deviation correction method for a laser tube cutting machine 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 tube clamping and deviation correction method for a laser tube cutting machine according to claim 1 is characterized in that: The step of determining, based on the overhang length L and the pipe information, that the terminal auxiliary support can position the distal end to correct the deviation within the clamping height range of the movable chuck is specifically as follows: Querying a pre-established experience database, the experience database includes multiple sets of experience data, each set of experience data including the overhang length L0 of the distal end in historical tasks and the corresponding distance D0 between the distal end auxiliary support and the adjacent auxiliary support required to ensure that the distal end is within the clamping height range of the movable chuck; Determining an empirical proportional relationship between the distance D0 and the overhang length L0 based on the empirical database; Determine the distance D between the end auxiliary support and the adjacent auxiliary support required in the current task based on the empirical proportional relationship and the overhang length L in the current task; Based on the distance D, the deviation-correcting support position is determined.

6. The tube clamping and deviation correction method for a laser tube cutting machine according to claim 5 is characterized in that: The step of determining the deviation correction support position based on the distance D specifically includes: Acquire the position coordinates of the auxiliary support adjacent to the end auxiliary support; The deviation-correcting support position is determined based on the distance D and the position coordinates.

7. The tube clamping and deviation correction method for a laser tube cutting machine according to claim 1 is characterized in that: The movable chuck is further 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 tube clamping and deviation correction method for 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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