Special-shaped bent pipe winding device and winding method

Abstract

The invention discloses a special-shaped bent pipe winding device and method, and relates to the technical field of winding, the winding device comprises a hollow rotator, a material input device, a touch sensor, a visual sensor, a lifting mechanism and a power trolley, and the hollow rotator is arranged on the outer circumference of a special-shaped bent pipe in a sleeving mode; the material input device is mounted on the hollow rotator; the touch sensor is suitable for being in contact with the outer circumferential surface of the special-shaped bent pipe so as to obtain the outer diameter size information of the special-shaped bent pipe; the visual sensor is suitable for photographing a to-be-wound part of the special-shaped bent pipe so as to obtain shape and position information of the special-shaped bent pipe; the lifting mechanism is used for adjusting the height of the hollow rotator arranged on the special-shaped bent pipe in a sleeving mode. The power trolley is installed at the bottom of the lifting mechanism and suitable for controlling and driving the hollow rotator to walk in the extending direction of the special-shaped bent pipe. The winding method solves the problems that an existing device cannot conduct self-adaptive winding parameter adjustment on the special-shaped bent pipe, adaptability is poor, and winding precision is affected.

Description

Technical Field

[0001] The present invention relates to the technical field of winding devices, and in particular to a special-shaped curved pipe winding device and a winding method. Background Art

[0002] Most traditional winding devices are large fixed devices that cannot be easily moved. The winding fixed device rotates around a fixed axis, and the pipe or auxiliary winding mechanism moves in one dimension. However, traditional winding devices cannot achieve winding of complex-shaped pipes such as curved pipes.

[0003] In addition, in order to save winding time, the traditional practice usually reduces the loading and unloading of the pipe, so that a longer pipe is clamped on the machine for one-time winding. However, during this process, the pipe material will bend and deform, so the accuracy and beauty of the pipe winding cannot be guaranteed.

[0004] The Chinese invention patent with the publication number CN114103094B discloses a heat shrink tape wrapping machine for bent pipes, which uses a swing arm mechanism to complete the centering process of the wrapping fixture and the bent pipe, limits the movement trajectory of the wrapping fixture, and ensures the distance accuracy requirement between the heat shrink tape and the center of the bent pipe during the wrapping process; the power trolley pushes the wrapping fixture to perform circular motion, and cooperates with the wrapping mechanism to complete the wrapping process, with small errors and high wrapping quality. It can also wrap the bent pipe, and can mechanically complete the functions of pipe centering and automatic wrapping, and has the advantages of reliable operation, high wrapping accuracy, and high efficiency.

[0005] However, the above-mentioned pipe bending heat shrink tape wrapping machine is only suitable for pipes with the same bending radius. For pipes with different bending radii, manual assistance such as centering is required, which limits the application scope of the pipe bending wrapping machine. In addition, for changes in the shape, bending degree, height, size, etc. of different pipe bends, the winding capacity of the existing winding device is too single and has poor adaptability, and even affects the winding accuracy. Summary of the invention

[0006] In view of this, the present invention provides a special-shaped bent pipe winding device and a winding method to solve the technical problems that the existing winding device cannot adaptively adjust the winding parameters for the special-shaped bent pipe, has poor adaptability, and even affects the winding accuracy.

[0007] In order to solve the above problems, the first object of the present invention is to provide a special-shaped elbow winding device for the surface glue wrapping operation of the special-shaped elbow, the special-shaped elbow winding device comprises:

[0008] A hollow rotator, sleeved on the outer circumference of the special-shaped curved pipe;

[0009] A material input device, mounted on the hollow rotator, the material input device is suitable for wrapping the surface of the special-shaped elbow with adhesive tape under the drive of the hollow rotator;

[0010] A touch sensor is installed between the hollow rotator and the special-shaped curved pipe, and the touch sensor is suitable for contacting the outer circumferential surface of the special-shaped curved pipe to obtain the outer diameter size information of the special-shaped curved pipe;

[0011] A visual sensor is installed on the outer circumference of the hollow rotator, and the visual sensor is suitable for taking pictures of the part of the special-shaped elbow to be wound to obtain the shape and position information of the special-shaped elbow;

[0012] A lifting mechanism is installed at the bottom of the outer circumference of the hollow rotator, and the lifting mechanism is used to adjust the height of the hollow rotator sleeved on the special-shaped elbow;

[0013] A power trolley is installed at the bottom of the lifting mechanism. The power trolley is suitable for controlling and driving the hollow rotator to move along the extension direction of the special-shaped bent pipe, so that the hollow rotator drives the material input device to evenly wrap the tape around the surface of the special-shaped bent pipe.

[0014] Preferably, the powered vehicle comprises a chassis, a frame connected to the bottom of the chassis, and a vehicle-mounted console located on the chassis, the vehicle-mounted console comprises a controller, a signal transceiver and a control panel, and the controller is electrically connected to the hollow rotator, the touch sensor, the visual sensor, the signal transceiver and the control panel, respectively.

[0015] Preferably, it also includes an ultrasonic sensor arranged on the front side of the chassis, the ultrasonic sensor is electrically connected to the controller, and the ultrasonic sensor is used to perform acoustic wave detection on the walking path of the power vehicle.

[0016] Preferably, the lifting mechanism includes a plurality of support seats symmetrically connected to the inner side of the frame, a vertical cylinder vertically installed on the support seat, and a spring, a support plate, a turntable and a lifting platform sequentially connected to the top of the vertical cylinder. One end of the spring away from the vertical cylinder is evenly supported and connected to the four sides of the support plate, and the turntable is suitable for driving the lifting platform to adjust the angle in the horizontal plane.

[0017] Preferably, the hollow rotator includes a servo motor, a first gear mounted on an output shaft of the servo motor, a second gear and a hollow rotating platform, the first gear and the second gear are meshed and driven, and are both located in the hollow rotating platform.

[0018] Preferably, the power vehicle further comprises universal wheels arranged on the frame, and the universal wheels are driven by corresponding drive motors respectively, and the drive motors are electrically connected to the controller.

[0019] Preferably, four support seats are provided, and the four support seats are symmetrically installed on the frame in pairs, and the vertical cylinder is installed on each support seat, and the vertical cylinder is electrically connected to the controller.

[0020] Preferably, it further comprises an alarm arranged on one side of the chassis, and the alarm is electrically connected to the controller.

[0021] Preferably, the control panel is a PC or a touch screen.

[0022] The second object of the present invention is to provide a winding method of a special-shaped elbow winding device. Based on the special-shaped elbow winding device described above, the winding method comprises the following steps:

[0023] Step S1: placing the tape in the material input device in advance;

[0024] Step S2: The vehicle-mounted console issues a tape winding work instruction, and the power trolley moves to the work area by itself. At the same time, the visual sensor takes real-time pictures of the position information of the special-shaped bent pipe to be wound, and sends it to the controller for analysis and calculation;

[0025] Step S3: the touch sensor contacts the outer surface of the special-shaped bend according to the analysis and calculation results of the controller to obtain the outer diameter size information of the special-shaped bend, and transmits the size and position information of the special-shaped bend to the controller, and the controller comprehensively analyzes and confirms the position of the special-shaped bend;

[0026] Step S4: If there is an up-and-down deviation between the hollow rotator and the special-shaped bent pipe, the controller sends a position correction instruction to the lifting mechanism, and the lifting mechanism performs up-and-down position correction; if there is a left-and-right deviation between the hollow rotator and the special-shaped bent pipe, the controller controls the power trolley to adjust the horizontal displacement according to the size position data information provided by the visual sensor and the touch sensor;

[0027] Step S5: After the position between the hollow rotator and the special-shaped bent pipe is adjusted, the controller adjusts the winding speed of the material input device and the travel speed of the power trolley, starts the winding instruction, and the hollow rotator drives the material input device to gradually wind along the extension direction of the special-shaped bent pipe;

[0028] Step S6: the power car moves slowly according to the walking path provided by the controller, and the ultrasonic sensor detects obstacle information in front of the power car in real time;

[0029] Step S7: When the power trolley moves to the bend of the special-shaped bent pipe, the visual sensor and the touch sensor monitor the size and position information of the special-shaped bent pipe in real time, and analyze and calculate through the controller. The controller controls the power trolley to gradually fine-tune to achieve the winding operation of the bend of the special-shaped bent pipe.

[0030] Compared with the prior art, the present invention has significant advantages and beneficial effects, which are specifically embodied in the following aspects:

[0031] 1. The special-shaped curved pipe winding device in the present invention is composed of a hollow rotator, a material input device, a touch sensor, a visual sensor, a power trolley and a lifting mechanism, wherein the hollow rotator is sleeved on the outer circumference of the special-shaped curved pipe and allows the material input device to perform winding operations under its drive. This design enables the winding device to adapt to the bending shape of the curved pipe and maintain close contact with the surface of the curved pipe; the material input device is installed on the hollow rotator and is responsible for providing the tape and winding. Driven by the hollow rotator, the material input device can automatically perform winding operations along the extension direction of the curved pipe to ensure that the tape is evenly and tightly wound on the surface of the special-shaped curved pipe; the touch sensor is installed between the hollow rotator and the special-shaped curved pipe to obtain the outer diameter size information of the curved pipe in real time. This information is crucial for adjusting the winding speed and tension of the material input device to ensure that the tape is tightly and evenly wound on the surface of the curved pipe; the visual sensor is installed on the outside of the hollow rotator. On the circumference, it is used to photograph the part of the bent pipe to be wound and obtain shape and position information. This information helps the control system adjust the winding path and the working parameters of the material input device to adapt to the shape changes of the bent pipe; the lifting mechanism is installed at the bottom of the hollow rotator, which is used to adjust the height of the hollow rotator on the special-shaped bent pipe. This adjustment ability enables the winding device to adapt to bent pipes of different diameters, ensuring the adaptability and accuracy of the winding operation; the power trolley is installed at the bottom of the lifting mechanism, which is responsible for controlling the hollow rotator to move along the extension direction of the special-shaped bent pipe. The mobility of the power trolley enables the entire winding device to move along the length direction of the bent pipe to achieve continuous winding operations.

[0032] 2. The special-shaped pipe winding device uses sensor technology (touch sensor and visual sensor) to obtain the size and shape information of the bent pipe, processes this information through the controller, and adjusts the working parameters of the material input device and the power trolley to achieve automated, uniform and efficient winding operations, thereby improving production efficiency and winding quality; in particular, through the real-time data obtained by the sensor, the winding device can adapt to the shape changes of the bent pipe, ensure uniform winding of the tape, and improve the consistency and reliability of the product; automated operations reduce the need for manual operation, reduce labor intensity and production costs, and reduce the possibility of human errors.

[0033] 3. The device has high design flexibility and can adapt to special-shaped elbows of different shapes and sizes, with good versatility and scalability. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Schematic diagram of the three-dimensional structure of the special-shaped elbow winding device in the embodiment of the present invention;

[0035] Figure 2 It is a schematic diagram of the assembly structure of the power trolley and the lifting mechanism in an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of the internal structure of the lifting mechanism in an embodiment of the present invention;

[0037] Figure 4 This is a schematic diagram of the assembly structure of a hollow rotator, a material input device, a visual sensor and a touch sensor in one direction in an embodiment of the present invention;

[0038] Figure 5 It is a schematic diagram of the structure of the hollow rotator, the material input device, the visual sensor and the touch sensor in another direction in an embodiment of the present invention;

[0039] Figure 6 This is a schematic diagram of the exploded structure of the hollow spinner in an embodiment of the present invention;

[0040] Figure 7 It is a schematic diagram of the winding method of the special-shaped elbow winding device in an embodiment of the present invention.

[0041] Description of reference numerals:

[0042] 1-hollow rotator; 11-servo motor; 12-first gear; 13-second gear; 14-hollow rotating platform;

[0043] 2-Material input device;

[0044] 3- Touch sensor;

[0045] 4-Vision sensor;

[0046] 5-Power trolley;

[0047] 51-chassis; 52-frame; 53-universal wheel; 54-vehicle console; 541-controller; 542-signal transceiver; 543-control panel;

[0048] 6-Lifting mechanism;

[0049] 61-support seat; 62-vertical cylinder; 63-spring; 64-support plate; 65-turntable; 66-lifting platform; 7-ultrasonic sensor; 8-alarm; 9-special-shaped bent pipe. DETAILED DESCRIPTION

[0050] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0051] In addition, in this article, the directional words such as front, back, top, and bottom involved are defined by the positions of the components in the drawings and the positions of the components relative to each other, just for the sake of clarity and convenience in expressing the technical solution. It should be understood that the use of the directional words should not limit the scope of protection requested by this application.

[0052] In the absence of conflict, the above embodiments and features in the embodiments may be combined with each other.

[0053] like Figure 1-6 As shown, an embodiment of the present invention provides a special-shaped bend pipe winding device, which is used for the surface glue wrapping operation of the special-shaped bend pipe 9, and the special-shaped bend pipe winding device includes a hollow rotator 1, a material input device 2, a touch sensor 3, a visual sensor 4, a power trolley 5 and a lifting mechanism 6, wherein:

[0054] The hollow rotator 1 is sleeved on the outer circumference of the special-shaped curved pipe 9; the material input device 2 is installed on the hollow rotator 1, and the material input device 2 is suitable for winding the tape on the surface of the special-shaped curved pipe 9 under the drive of the hollow rotator 1, and automatically winding along the extension direction of the special-shaped curved pipe 9;

[0055] The touch sensor 3 is installed between the hollow rotator 1 and the special-shaped curved pipe 9, and the touch sensor 3 is suitable for contacting the outer circumferential surface of the special-shaped curved pipe 9 to obtain the outer diameter size information of the special-shaped curved pipe 9;

[0056] The visual sensor 4 is installed on the outer circumference of the hollow rotator 1, and the visual sensor 4 is suitable for taking real-time photos of the part of the special-shaped curved pipe 9 to be wound, so as to capture the shape and position information of the special-shaped curved pipe 9;

[0057] The lifting mechanism 6 is installed at the bottom of the outer circumference of the hollow rotator 1, and the lifting mechanism 6 is used to adjust the height of the hollow rotator 1 sleeved on the special-shaped curved pipe 9;

[0058] The power trolley 5 is installed at the bottom of the lifting mechanism 6. The power trolley 5 is suitable for controlling and driving the hollow rotator 1 to move along the extension direction of the special-shaped curved pipe 9, so that the hollow rotator 1 drives the material input device 2 to evenly wrap the tape around the surface of the special-shaped curved pipe 9.

[0059] Specifically in this embodiment, the hollow rotator 1 is sleeved on the outer circumference of the special-shaped curved pipe 9, allowing the material input device 2 to perform winding operations under its drive. This design enables the winding device to adapt to the curved shape of the curved pipe and maintain close contact with the surface of the curved pipe; the material input device 2 is installed on the hollow rotator 1, responsible for providing the tape and winding. Driven by the hollow rotator 1, the material input device 2 can automatically perform winding operations along the extension direction of the curved pipe to ensure that the tape is evenly and tightly wound on the surface of the special-shaped curved pipe 9; the touch sensor 3 is installed between the hollow rotator 1 and the special-shaped curved pipe 9, and is used to obtain the outer diameter size information of the curved pipe in real time. This information is crucial for adjusting the winding speed and tension of the material input device 2 to ensure that the tape is tightly and evenly wound on the surface of the bent pipe; the visual sensor 4 is installed on the outer circumference of the hollow rotator 1, and is used to photograph the part of the bent pipe to be wound and obtain shape and position information. This information helps the control system adjust the winding path and the working parameters of the material input device 2 to adapt to the shape changes of the bent pipe; the lifting mechanism 6 is installed at the bottom of the hollow rotator 1, and is used to adjust the height of the hollow rotator 1 on the special-shaped bent pipe 9. This adjustment ability enables the winding device to adapt to bent pipes of different diameters, ensuring the adaptability and accuracy of the winding operation; the power trolley 5 is installed at the bottom of the lifting mechanism 6, and is responsible for controlling the hollow rotator 1 to move along the extension direction of the special-shaped bent pipe 9. The mobility of the power trolley 5 enables the entire winding device to move along the length direction of the bent pipe to achieve continuous winding operations.

[0060] Therefore, the special-shaped bent pipe winding device uses sensor technology (touch sensor 3 and visual sensor 4) to obtain the size and shape information of the bent pipe, processes this information through the control system (controller 541), and adjusts the working parameters of the material input device 2 and the power trolley 5 to achieve automated, uniform and efficient winding operations, thereby improving production efficiency and winding quality; in particular, through the real-time data obtained by the sensor, the winding device can adapt to the shape changes of the bent pipe, ensure uniform winding of the tape, and improve the consistency and reliability of the product; automated operations reduce the need for manual operation, reduce labor intensity and production costs, and reduce the possibility of human errors.

[0061] The device has high design flexibility, can adapt to special-shaped curved pipes 9 of different shapes and sizes, and has good versatility and expansibility.

[0062] For further information, see Figure 1 , 2As shown, the power vehicle 5 includes a chassis 51, a frame 52 and a vehicle console 54, wherein the frame 52 is connected to the bottom of the chassis 51, and the vehicle console 54 is located on the chassis 51. As the foundation of the power vehicle 5, the chassis 51 needs to bear the weight of the frame 52 and the vehicle console 54, as well as various forces during driving. The connection between the frame 52 and the chassis 51 can be achieved by, for example, bolts, welding or other mechanical connection methods to avoid affecting the stability and durability of the vehicle.

[0063] As a preferred mode of this embodiment, the vehicle-mounted console 54 includes a controller 541, a signal transceiver 542 and a control panel 543, and the controller 541 is electrically connected to the hollow rotator 1, the touch sensor 3, the visual sensor 4, the signal transceiver 542 and the control panel 543 respectively.

[0064] Specifically, the controller 541 is the core of the vehicle-mounted console 54. It can be a microcontroller or a processor, which is responsible for processing signals from sensors and sending control instructions to various parts of the power cart 5. The signal transceiver 542 is responsible for wireless communication between the power cart 5 and other devices or the power cart 5. It can receive processing instructions from the controller 541, send and receive wireless signals, thereby realizing remote control and data exchange. The signal transceiver 542 can also process high-bandwidth RF signals and support multiple communication protocols and data transmission. The control panel 543 is an interface for the user to interact with the vehicle-mounted console 54. The control panel 543 in this embodiment includes buttons, a touch screen or other input devices for manually controlling the cart or setting parameters.

[0065] Thus, the onboard control console 54 of the power vehicle 5 is a system integrating multiple key components, including a controller 541, a signal transceiver 542, and a control panel 543. These components work together through electrical connections to achieve effective control and communication of the power vehicle.

[0066] For further information, see Figure 1 , 2 As shown, the special-shaped curved pipe winding device also includes an ultrasonic sensor 7, which is arranged on the front side of the chassis 51. The ultrasonic sensor 7 is electrically connected to the controller 541, and the ultrasonic sensor 7 is used to perform acoustic wave detection on the walking path of the power vehicle 5.

[0067] Specifically in this embodiment, the ultrasonic sensor 7 is arranged on the front side of the chassis 51, so that it can perform acoustic detection on the walking path of the power car 5. When the power car 5 is traveling, the ultrasonic sensor 7 can continuously or periodically emit ultrasonic pulses, and judge whether there is an obstacle in front and the distance of the obstacle according to the echo signal. The electrical connection between the ultrasonic sensor 7 and the controller 541 enables the signal of the ultrasonic sensor 7 to be directly read and processed by the controller 541. The controller 541 can calculate the distance measured by the ultrasonic sensor 7 by reading the high level time of the ECHO pin.

[0068] Thus, through the detection of the ultrasonic sensor 7, the power car 5 can achieve the obstacle avoidance function. When an obstacle is detected ahead, the controller 541 can receive this signal and adjust the driving direction or speed of the car according to the preset program instructions to avoid collision. The addition of the ultrasonic sensor 7 improves the intelligence and automation level of the power car 5, enables the car to adapt to more complex environments, and improves its autonomous navigation ability in unknown environments.

[0069] It should be explained here that the ultrasonic sensor 7 in this embodiment measures the distance by emitting ultrasonic pulses and receiving their echoes. When the trigger pin (TRIG) of the sensor receives a high-level pulse of at least 10 microseconds, it automatically sends 8 40kHz square waves and detects whether there is an echo return. If an echo is detected, a high level is output through the echo pin (ECHO). The duration of the high level is the time from the emission of the ultrasonic wave to its return. By calculating this time, the distance from the ultrasonic wave to the obstacle can be obtained.

[0070] For further information, see Figure 3 As shown, the lifting mechanism 6 includes a support seat 61, a vertical cylinder 62, a spring 63, a support plate 64, a turntable 65 and a lifting platform 66, wherein:

[0071] A plurality of support seats 61 are symmetrically connected to the inner side of the frame 52, and a vertical cylinder 62 is vertically installed on the corresponding support seat 61. A spring 63, a support plate 64, a turntable 65 and a lifting platform 66 are sequentially connected to the top of the vertical cylinder 62. One end of the spring 63 away from the vertical cylinder 62 is evenly supported and connected to the four sides of the support plate 64. The turntable 65 is suitable for driving the lifting platform 66 to adjust the angle in the horizontal plane.

[0072] Specifically in this embodiment, the support seat 61 is symmetrically connected to the inner side of the frame 52, and is used to provide stability and balance for the lifting mechanism 6. The support seat 61 needs to bear the weight of the vertical cylinder 62 and the lifting platform 66, as well as the torque generated during the lifting process; the vertical cylinder 62 is the power source of the lifting mechanism 6, and the telescopic movement of the vertical cylinder 62 directly drives the rise and fall of the lifting platform 66, wherein the stroke and thrust of the vertical cylinder 62 need to be designed according to the weight and usage requirements of the lifting platform 66; the function of the spring 63 is to provide buffering and reduce impact when the vertical cylinder 62 contracts; the support plate 64 is located above the spring 63, providing support for the lifting platform 66 to bear the load of the lifting platform 66 at different positions; the turntable 65 is suitable for driving the lifting platform 66 to adjust the angle in the horizontal plane, so that the lifting platform 66 can not only move vertically, but also adjust the angle in the horizontal plane, thereby increasing the flexibility and adaptability of the lifting mechanism 6.

[0073] Thus, the lifting mechanism 6 can achieve precise vertical movement and angle adjustment in the horizontal plane, and is suitable for scenarios where operations need to be performed at different heights and angles. For example, in automated production lines, material handling or maintenance work, the flexibility and efficiency of the operation can be improved.

[0074] For further information, see Figure 4 , 5 As shown in , 6, the hollow rotator 1 includes a servo motor 11, a first gear 12, a second gear 13 and a hollow rotating platform 14, wherein:

[0075] The first gear 12 is mounted on the output shaft of the servo motor 11 . The first gear 12 is meshed with the second gear 13 for transmission, and both are located in the hollow rotating platform 14 .

[0076] Specifically in this embodiment, the servo motor 11 is the power source of the hollow rotator 1, and its main function is to convert electrical energy into mechanical energy to achieve precise speed and position control; the output shaft of the servo motor 11 is directly connected to the first gear 12, and this direct connection can improve the efficiency and accuracy of torque transmission; the first gear 12 is meshed with the second gear 13 for transmission, which is used to reduce speed and increase torque. The gear ratio can be designed according to the required torque and speed requirements to achieve precise control of the speed and angle of the hollow rotating platform 14. Since the gears are all located in the hollow rotating platform 14, it helps to reduce weight, improve the dynamic response of the rotator, and facilitate installation and maintenance. Through the precise control of the servo motor 11 and the deceleration and torque increase of the gear transmission, the hollow rotator 1 can achieve precise positioning at any angle, and is particularly suitable for applications that require precise angle adjustment.

[0077] For further information, see Figure 2As shown, the power vehicle 5 further includes universal wheels 53 disposed on the vehicle frame 52 , and the universal wheels 53 are driven by corresponding drive motors, and the drive motors are electrically connected to the controller 541 .

[0078] Specifically in this embodiment, the universal wheel 53 is installed on the frame 52, which is the main part of the power trolley 5 in contact with the ground, responsible for supporting the weight of the trolley and providing mobility. The universal wheel 53 is driven by a corresponding drive motor, which is usually a DC motor or a stepper motor, and can provide a stable power output. The selection of the drive motor needs to be determined based on factors such as the weight of the trolley, the expected speed and the climbing ability. In addition, the drive motor is electrically connected to the controller 541, so that the control signal of the motor comes directly from the controller 541, and the speed and direction of the motor are accurately controlled by the controller 541, thereby controlling the movement of the power trolley 5.

[0079] For further information, see Figure 3 As shown, four support seats 61 are provided, and the four support seats 61 are symmetrically installed on the frame 52 in pairs. A vertical cylinder 62 is installed on each support seat 61, and the vertical cylinder 62 is electrically connected to the controller 541.

[0080] Specifically, four support seats 61 are symmetrically mounted on the frame 52 in pairs. This symmetrical layout provides balance and stability for the lifting mechanism 6, ensures torque balance during the lifting process, and avoids tilting or shaking caused by uneven torque. The vertical cylinder 62 achieves telescopic movement of the cylinder by adjusting the gas pressure. The controller 541 controls the flow and pressure of compressed air entering the vertical cylinder 62, thereby controlling the rise and fall of the vertical cylinder 62, thereby achieving rapid response and precise control, and improving the adaptability and flexibility of the power vehicle 5 in different terrains and tasks.

[0081] For further information, see Figure 3 As shown, the special-shaped bend pipe winding device also includes an alarm 8 arranged on one side of the chassis 51, and the alarm 8 is electrically connected to the controller 541.

[0082] In this embodiment, the alarm 8 is electrically connected to the controller 541 so that the status and trigger signal of the alarm 8 can be monitored and controlled in real time by the controller 541. The controller 541 can set the trigger conditions of the alarm 8 through programming, such as triggering the alarm 8 to sound an alarm when an abnormal signal from a specific sensor is detected.

[0083] In emergency situations, such as when a fault or abnormality occurs during the winding process, the alarm 8 can immediately issue a warning to reduce the occurrence of accidents.

[0084] In some other embodiments, the alarm 8 also has an audible and visual alarm function, and can emit a high-decibel sound and a strong flashing light when an abnormal situation is detected, so as to alert the people on the scene to potential dangers or emergencies.

[0085] Preferably, the control panel 543 is a PC or a touch screen.

[0086] Specifically, the control panel 543 receives input signals from the user, which can be obtained through physical buttons, touch screen operations, etc. For a PC-side control panel, the user inputs commands through a mouse and keyboard; while for a touch screen control panel, the user can directly perform touch operations on the screen.

[0087] The control panel 543 usually includes some displays or indicator lights to display the status, parameters, fault information, etc. of the equipment. These displays usually convert the corresponding control signals into visual information through the display drive circuit inside the control panel 543, so that the user can understand the working status of the trolley.

[0088] See also Figure 7 As shown, another embodiment of the present invention provides a winding method of a special-shaped elbow winding device. Based on the special-shaped elbow winding device described above, the winding method comprises the steps of:

[0089] Step S1: placing the tape in the material input device 2 in advance;

[0090] Step S2: the vehicle-mounted control console 54 issues a tape winding work instruction, the power trolley 5 moves to the work area by itself, and at the same time, the visual sensor 4 takes real-time pictures of the position information of the special-shaped bent pipe 9 to be wound, and sends it to the controller 541 for analysis and calculation;

[0091] Step S3: the touch sensor 3 contacts the outer surface of the special-shaped curved pipe 9 according to the analysis and calculation results of the controller 541 to obtain the outer diameter dimension information of the special-shaped curved pipe 9, and transmits the dimension and position information of the special-shaped curved pipe 9 to the controller 541. The controller 541 conducts comprehensive analysis to confirm the position of the special-shaped curved pipe 9;

[0092] Step S4: If there is an up-and-down deviation between the hollow rotator 1 and the special-shaped curved pipe 9, the controller 541 sends a position correction instruction to the lifting mechanism 6, and the lifting mechanism 6 performs up-and-down position correction; if there is a left-and-right deviation between the hollow rotator 1 and the special-shaped curved pipe 9, the controller 541 controls the power trolley 5 to adjust the horizontal displacement according to the size position data information provided by the visual sensor 4 and the touch sensor 3;

[0093] Step S5: After the position between the hollow rotator 1 and the special-shaped curved pipe 9 is adjusted, the controller 541 adjusts the winding speed of the material input device 2 and the travel speed of the power trolley 5, starts the winding instruction, and the hollow rotator 1 drives the material input device 2 to gradually wind along the extension direction of the special-shaped curved pipe 9;

[0094] Step S6: the power vehicle 5 moves slowly according to the walking path provided by the controller 541, and the ultrasonic sensor 7 detects obstacle information in front of the power vehicle 5 in real time;

[0095] Step S7: When the power trolley 5 moves to the bending part of the special-shaped bent pipe 9, the visual sensor 4 and the touch sensor 3 monitor the size and position information of the special-shaped bent pipe 9 in real time, and analyze and calculate through the controller 541. The controller 541 controls the power trolley 5 to gradually fine-tune to realize the winding operation of the bending part of the special-shaped bent pipe 9.

[0096] Through the winding method in the embodiment of the present invention, the special-shaped curved pipe winding device issues instructions through the vehicle-mounted console 54, realizes automatic operation, and reduces manual intervention; uses the visual sensor 4 and the touch sensor 3 to collect data, and the controller 541 performs analysis and calculation, realizes intelligent processing, and improves the accuracy and adaptability of winding; through the visual sensor 4 to capture the position information to be wound in real time, combined with the outer diameter size information obtained by the touch sensor 3, the controller 541 can accurately determine the position and size of the special-shaped curved pipe 9; the special-shaped curved pipe winding device realizes accurate, efficient and safe winding operations on the special-shaped curved pipe 9 by integrating multiple sensors and intelligent controllers. Not only does it improve production efficiency, but it also improves product quality and operational safety.

[0097] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A special-shaped elbow winding device, used for the surface wrapping of special-shaped elbows, characterized in that: include: A hollow rotator, sleeved on the outer circumference of the special-shaped curved pipe; A material input device, mounted on the hollow rotator, the material input device is suitable for wrapping the surface of the special-shaped elbow with adhesive tape under the drive of the hollow rotator; A touch sensor is installed between the hollow rotator and the special-shaped curved pipe, and the touch sensor is suitable for contacting the outer circumferential surface of the special-shaped curved pipe to obtain the outer diameter size information of the special-shaped curved pipe; A visual sensor is installed on the outer circumference of the hollow rotator, and the visual sensor is suitable for taking pictures of the part of the special-shaped elbow to be wound to obtain the shape and position information of the special-shaped elbow; A lifting mechanism is installed at the bottom of the outer circumference of the hollow rotator, and the lifting mechanism is used to adjust the height of the hollow rotator sleeved on the special-shaped elbow; A power trolley is installed at the bottom of the lifting mechanism. The power trolley is suitable for controlling and driving the hollow rotator to move along the extension direction of the special-shaped bent pipe, so that the hollow rotator drives the material input device to evenly wrap the tape around the surface of the special-shaped bent pipe.

2. The special-shaped elbow winding device according to claim 1 is characterized in that: The power vehicle includes a chassis, a frame connected to the bottom of the chassis, and a vehicle-mounted console located on the chassis. The vehicle-mounted console includes a controller, a signal transceiver, and a control panel, and the controller is electrically connected to the hollow rotator, the touch sensor, the visual sensor, the signal transceiver, and the control panel, respectively.

3. The special-shaped elbow winding device according to claim 2 is characterized in that: It also includes an ultrasonic sensor arranged on the front side of the chassis, the ultrasonic sensor is electrically connected to the controller, and the ultrasonic sensor is used to perform acoustic wave detection on the walking path of the power vehicle.

4. The special-shaped curved pipe winding device according to claim 3 is characterized in that: The lifting mechanism includes a plurality of support seats symmetrically connected to the inner side of the frame, a vertical cylinder vertically installed on the support seat, and a spring, a support plate, a turntable and a lifting platform sequentially connected to the top of the vertical cylinder. One end of the spring away from the vertical cylinder is evenly supported and connected to the four sides of the support plate, and the turntable is suitable for driving the lifting platform to adjust the angle in the horizontal plane.

5. The special-shaped curved pipe winding device according to claim 4, characterized in that: The hollow rotator includes a servo motor, a first gear and a second gear installed on the output shaft of the servo motor, and a hollow rotating platform. The first gear and the second gear are meshed and driven, and are both located in the hollow rotating platform.

6. The special-shaped curved pipe winding device according to claim 5, characterized in that: The power vehicle also includes universal wheels arranged on the frame, and the universal wheels are driven by corresponding drive motors respectively, and the drive motors are electrically connected to the controller.

7. The special-shaped elbow winding device according to claim 4, characterized in that: There are four support seats, and the four support seats are symmetrically installed on the frame in pairs. The vertical cylinder is installed on each support seat, and the vertical cylinder is electrically connected to the controller.

8. The special-shaped curved pipe winding device according to claim 6, characterized in that: It also includes an alarm arranged on one side of the chassis, and the alarm is electrically connected to the controller.

9. The special-shaped curved pipe winding device according to claim 8, characterized in that: The control panel is a PC or a touch screen.

10. A winding method of a special-shaped bend pipe winding device, based on the special-shaped bend pipe winding device according to any one of claims 1 to 9, characterized in that: The winding method comprises the steps of: Step S1: placing the tape in the material input device in advance; Step S2: The vehicle-mounted console issues a tape winding work instruction, and the power trolley moves to the work area by itself. At the same time, the visual sensor takes real-time pictures of the position information of the special-shaped bent pipe to be wound, and sends it to the controller for analysis and calculation; Step S3: the touch sensor contacts the outer surface of the special-shaped bend according to the analysis and calculation results of the controller to obtain the outer diameter size information of the special-shaped bend, and transmits the size and position information of the special-shaped bend to the controller, and the controller comprehensively analyzes and confirms the position of the special-shaped bend; Step S4: If there is an up-and-down deviation between the hollow rotator and the special-shaped bent pipe, the controller sends a position correction instruction to the lifting mechanism, and the lifting mechanism performs up-and-down position correction; if there is a left-and-right deviation between the hollow rotator and the special-shaped bent pipe, the controller controls the power trolley to adjust the horizontal displacement according to the size position data information provided by the visual sensor and the touch sensor; Step S5: After the position between the hollow rotator and the special-shaped bent pipe is adjusted, the controller adjusts the winding speed of the material input device and the travel speed of the power trolley, starts the winding instruction, and the hollow rotator drives the material input device to gradually wind along the extension direction of the special-shaped bent pipe; Step S6: the power car moves slowly according to the walking path provided by the controller, and the ultrasonic sensor detects obstacle information in front of the power car in real time; Step S7: When the power trolley moves to the bend of the special-shaped bent pipe, the visual sensor and the touch sensor monitor the size and position information of the special-shaped bent pipe in real time, and analyze and calculate through the controller. The controller controls the power trolley to gradually fine-tune to achieve the winding operation of the bend of the special-shaped bent pipe.

Images