Special-shaped elbow winding device and winding method

Abstract

The present invention discloses a special-shaped bend pipe winding device and winding method, which relate to the field of winding technology. The winding device includes a hollow rotator, a material input device, a touch sensor, a visual sensor, a lifting mechanism and a power trolley. The hollow rotator is sleeved on the outer circumference of the special-shaped bend pipe; the material input device is installed on the hollow rotator; the touch sensor is suitable for contacting the outer circumferential surface of the special-shaped bend pipe to obtain the outer diameter size information of the special-shaped bend pipe; the visual sensor is suitable for taking pictures of the part to be wound of the special-shaped bend pipe to obtain the shape and position information of the special-shaped bend pipe; the lifting mechanism is used to adjust the height of the hollow rotator sleeved on the special-shaped bend pipe; the power trolley is installed at the bottom of the lifting mechanism, and the power trolley is suitable for controlling and driving the hollow rotator to move along the extension direction of the special-shaped bend pipe. This winding method solves the problem that the existing device cannot adaptively adjust the winding parameters for the special-shaped bend pipe, resulting in poor adaptability and affecting the winding accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of winding devices, and in particular to a special-shaped bent 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 on 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] Furthermore, to save winding time, traditional methods often reduce the loading and unloading of pipes, resulting in the machine clamping a longer pipe for winding all at once. However, during this process, the pipe material will bend and deform, making it impossible to guarantee the accuracy and aesthetics of the winding.

[0004] Chinese invention patent publication number CN114103094B discloses a heat-shrink tape wrapping machine for pipe bends. This machine uses a swing-arm mechanism to align the wrapping fixture with the pipe bend, limiting the fixture's motion trajectory to ensure the required distance between the heat-shrink tape and the pipe center during wrapping. A powered trolley propels the fixture in circular motion, cooperating with the wrapping mechanism to complete the wrapping process, resulting in minimal error and high-quality wrapping. The machine can also wrap pipe bends, mechanizedly performing pipe centering and automatic wrapping, offering reliable operation, high wrapping accuracy, and high efficiency.

[0005] However, the above-mentioned pipe bending heat shrink tape wrapping machine is only applicable to 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 pipes, 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 bend pipe winding device and winding method to solve the technical problems that the existing winding device cannot adaptively adjust the winding parameters for special-shaped bend pipes, 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 bend pipe winding device for the surface glue wrapping operation of the special-shaped bend pipe, the special-shaped bend pipe winding device comprising:

[0008] A hollow rotator is sleeved on the outer circumference of the special-shaped elbow;

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

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

[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 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 power vehicle includes a chassis, a frame connected to the bottom of the chassis, and an on-board console located on the chassis. The on-board 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.

[0015] Preferably, it further 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 number 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 connected in sequence to the top of the vertical cylinder. The 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 the 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. The vertical cylinder is installed on each support seat, and the vertical cylinder is electrically connected to the controller.

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

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

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

[0023] Step S1: Place 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 on its own. At the same time, the visual sensor captures the position information of the special-shaped bend to be wound in real time and sends it to the controller for analysis and calculation;

[0025] Step S3: The touch sensor contacts the outer surface of the special-shaped elbow according to the analysis and calculation results of the controller to obtain the outer diameter dimension information of the special-shaped elbow, and transmits the dimension and position information of the special-shaped elbow to the controller. The controller conducts comprehensive analysis to confirm the position of the special-shaped elbow.

[0026] Step S4: If there is an up-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-down position correction; if there is a left-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 and 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 elbow 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 elbow;

[0028] Step S6: The power car moves slowly according to the walking path provided by the controller, and the ultrasonic sensor detects the 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 it through the controller. The controller controls the power trolley to gradually fine-tune it to achieve the winding operation at 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 reflected in the following aspects:

[0031] 1. The special-shaped bend 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 bend 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 bend pipe and maintain close contact with the surface of the bend 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 bend pipe to ensure that the tape is evenly and tightly wound on the surface of the special-shaped bend pipe; the touch sensor is installed between the hollow rotator and the special-shaped bend pipe to obtain the outer diameter size information of the bend 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 bend pipe; the visual sensor is installed on the outer 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 capability enables the winding device to adapt to bends 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 of the bent pipe to achieve continuous winding operations.

[0032] 2. The special-shaped pipe winding device uses sensor technology (touch sensors and visual sensors) 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, the real-time data obtained by the sensor enables the winding device to adapt to the shape changes of the bent pipe, ensuring uniform winding of the tape and improving 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 error.

[0033] 3. The design of the device is highly flexible 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 an embodiment of the present invention;

[0035] Figure 2 This 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 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 the hollow rotator, material input device, visual sensor and touch sensor in one direction according to an embodiment of the present invention;

[0038] Figure 5 This is a schematic structural diagram of the hollow rotator, material input device, visual sensor and touch sensor in another direction according to 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 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-Powered trolley;

[0047] 51-chassis; 52-frame; 53-universal wheel; 54-onboard 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 elbow. 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 this document, directional terms such as front, back, top, and bottom are defined based on the positions of components in the drawings and relative to each other, and are intended only for clarity and convenience in describing the technical solution. It should be understood that the use of these directional terms should not limit the scope of protection claimed in 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 wrapping of special-shaped bend pipes 9. 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 elbow 9; the material input device 2 is installed on the hollow rotator 1, and the material input device 2 is suitable for wrapping the surface of the special-shaped elbow 9 with tape under the drive of the hollow rotator 1, and automatically wrapping the tape along the extension direction of the special-shaped elbow 9;

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

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

[0057] The lifting mechanism 6 is installed at the bottom of the outer circumference of the hollow rotator 1. The lifting mechanism 6 is used to adjust the height of the hollow rotator 1 on the special-shaped elbow 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 elbow 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 elbow 9.

[0059] Specifically in this embodiment, the hollow rotator 1 is mounted on the outer circumference of the special-shaped elbow 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 elbow and maintain close contact with the surface of the elbow; the material input device 2 is installed on the hollow rotator 1 and is 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 elbow, ensuring that the tape is evenly and tightly wound on the surface of the special-shaped elbow 9; the touch sensor 3 is installed between the hollow rotator 1 and the special-shaped elbow 9 to obtain the outer diameter size information of the elbow 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 bends 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 elbow winding device uses sensor technology (touch sensor 3 and visual sensor 4) to obtain the size and shape information of the elbow, 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 elbow, 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 at the same time reduce the possibility of human error.

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

[0062] For further information, see Figure 1 、 2As shown, the power cart 5 includes a chassis 51, a frame 52, and an onboard console 54. The frame 52 is connected to the bottom of the chassis 51, and the onboard console 54 is located on the chassis 51. As the foundation of the power cart 5, the chassis 51 must withstand the weight of the frame 52 and the onboard console 54, as well as various forces during driving. The frame 52 and the chassis 51 can be connected using bolts, welding, or other mechanical connection methods to avoid affecting the stability and durability of the cart.

[0063] As a preferred embodiment 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 the 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 console 54 of the power cart 5 is a system that integrates 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 cart.

[0066] For further information, see Figure 1 、 2 As shown, the special-shaped bend 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 disposed on the front side of the chassis 51, enabling acoustic detection of the path of the powered vehicle 5. While the powered vehicle 5 is in motion, the ultrasonic sensor 7 can continuously or periodically emit ultrasonic pulses and, based on the echo signal, determine whether there is an obstacle ahead and the distance to the obstacle. The electrical connection between the ultrasonic sensor 7 and the controller 541 allows the ultrasonic sensor 7 signal 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 duration of the ECHO pin.

[0068] Thus, through the detection of ultrasonic sensors 7, the powered cart 5 can implement an obstacle avoidance function. When an obstacle is detected ahead, the controller 541 receives this signal and adjusts the cart's direction or speed according to pre-programmed instructions, thereby avoiding a collision. The addition of ultrasonic sensors 7 enhances the intelligence and automation level of the powered cart 5, allowing it to adapt to more complex environments and improving its autonomous navigation capabilities in unknown environments.

[0069] It's important to note that the ultrasonic sensor 7 in this embodiment measures distance by emitting ultrasonic pulses and receiving their echoes. When the sensor's trigger pin (TRIG) receives a high-level pulse of at least 10 microseconds, it automatically transmits eight 40kHz square waves and detects whether an echo returns. If an echo is detected, the echo pin (ECHO) outputs a high level. The duration of this high level represents the time it takes for the ultrasonic wave to be emitted and returned. By calculating this time, the distance the ultrasonic wave travels to the obstacle can be determined.

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

[0071] Several support seats 61 are symmetrically connected to the inner side of the frame 52, and the vertical cylinder 62 is vertically installed on the corresponding support seat 61. The spring 63, support plate 64, turntable 65 and lifting platform 66 are connected to the top of the vertical cylinder 62 in sequence. The 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 of 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 horizontal angle adjustment, 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, it can improve operational flexibility and efficiency.

[0074] For further information, see Figure 4 、 5 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. 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. This direct connection method 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 transmission 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 provided 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. It is the main part of the power cart 5 that contacts the ground and is responsible for supporting the weight of the cart and providing mobility. The universal wheel 53 is driven by a corresponding drive motor. These motors are usually DC motors or stepper motors that can provide stable power output. The selection of the drive motor needs to be determined based on factors such as the weight of the cart, 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. The speed and direction of the motor are accurately controlled by the controller 541, thereby controlling the movement of the power cart 5.

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

[0080] Specifically, four support bases 61 are symmetrically mounted on the vehicle frame 52. This symmetrical layout provides balance and stability for the lifting mechanism 6, ensuring torque balance during the lifting process and avoiding tilting or shaking caused by uneven torque. The vertical cylinder 62 achieves telescopic movement by regulating 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, 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 further 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, which can emit a high-decibel sound and a strong flashing light when an abnormal situation is detected, so as to remind people on the scene to pay attention 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; for a touch screen control panel, the user can directly touch 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 bend pipe winding device. Based on the special-shaped bend pipe winding device described above, the winding method includes the following steps:

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

[0090] Step S2: The vehicle-mounted console 54 issues a tape winding work instruction, and the power trolley 5 moves to the work area on its own. At the same time, the visual sensor 4 captures the position information of the special-shaped bend pipe 9 to be wound in real time 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 bend 9 according to the analysis and calculation results of the controller 541 to obtain the outer diameter dimension information of the special-shaped bend 9, and transmits the dimension and position information of the special-shaped bend 9 to the controller 541. The controller 541 conducts comprehensive analysis to confirm the position of the special-shaped bend 9.

[0092] Step S4: If there is an up-down deviation between the hollow rotator 1 and the special-shaped bend 9, the controller 541 sends a position correction instruction to the lifting mechanism 6, and the lifting mechanism 6 performs an up-down position correction; if there is a left-right deviation between the hollow rotator 1 and the special-shaped bend 9, the controller 541 controls the power trolley 5 to adjust the horizontal displacement according to the size and 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 elbow 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 elbow 9;

[0094] Step S6: The power cart 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 cart 5 in real time;

[0095] Step S7: When the power trolley 5 moves to the bend 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 achieve the winding operation of the bend of the special-shaped bent pipe 9.

[0096] Through the winding method of the embodiment of the present invention, the special-shaped pipe winding device issues instructions through the vehicle-mounted console 54, achieving automated operation and reducing manual intervention. The visual sensor 4 and touch sensor 3 collect data, and the controller 541 performs analysis and calculations, achieving intelligent processing and improving winding accuracy and adaptability. The visual sensor 4 captures the position information to be wound in real time, and combined with the outer diameter information obtained by the touch sensor 3, the controller 541 can accurately determine the position and size of the special-shaped pipe 9. By integrating multiple sensors and an intelligent controller, the special-shaped pipe winding device achieves accurate, efficient, and safe winding of the special-shaped pipe 9. This not only improves production efficiency, but also enhances product quality and operational safety.

[0097] Although the present invention is disclosed as above, the scope of protection disclosed by 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 scope of protection 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 is sleeved on the outer circumference of the special-shaped elbow; A material input device is installed on the hollow rotator, and the material input device is suitable for wrapping the surface of the special-shaped elbow with tape under the drive of the hollow rotator; A touch sensor is installed between the hollow rotator and the special-shaped elbow, and the touch sensor is suitable for contacting the outer circumferential surface of the special-shaped elbow to obtain outer diameter size information of the special-shaped elbow; 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 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, characterized in that: The power vehicle includes a chassis, a frame connected to the bottom of the chassis, and an on-board console located on the chassis. The on-board 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, 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 elbow winding device according to claim 3, characterized in that: The lifting mechanism includes several 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 connected to the top of the vertical cylinder in sequence. The 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 elbow 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 elbow winding device according to claim 5, characterized in that: The power vehicle further includes universal wheels arranged on the vehicle 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 elbow 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 elbow winding device according to claim 8, characterized in that: The control panel is a PC or a touch screen.

10. A winding method for 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: Place 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 on its own. At the same time, the visual sensor captures the position information of the special-shaped bend to be wound in real time and sends it to the controller for analysis and calculation; Step S3: The touch sensor contacts the outer surface of the special-shaped elbow according to the analysis and calculation results of the controller to obtain the outer diameter dimension information of the special-shaped elbow, and transmits the dimension and position information of the special-shaped elbow to the controller. The controller conducts comprehensive analysis to confirm the position of the special-shaped elbow. Step S4: If there is an up-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-down position correction; if there is a left-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 and 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 elbow 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 elbow; Step S6: The power car moves slowly according to the walking path provided by the controller, and the ultrasonic sensor detects the 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 it through the controller. The controller controls the power trolley to gradually fine-tune it to achieve the winding operation at the bend of the special-shaped bent pipe.

Images