Automatic pipe removing method and automatic pipe removing system

Abstract

The invention relates to the technical field of submerged-arc welding pipe external corrosion prevention production, in particular to an automatic pipe removing method and an automatic pipe removing system, and aims to solve the problems of high labor intensity and low working efficiency caused by manual operation in the existing pipe removing operation. The invention provides an automatic tube removing method, a tube head of a first steel tube and a tube tail of a second steel tube are contacted together and run along an axis, in an automatic control mode, an image sensor emits a light beam, the width of the light beam irradiating the steel tube is L1, and the axial linear speed of a steel tube roller way is n1, the lasting time of position signals of the pipe head and the pipe tail detected by the image sensor is t1; when the image sensor detects the pipe head and the pipe tail, a detection signal is sent to the PLC control system, the PLC timer starts timing at the moment, and when t1 is larger than or equal to L1 / 2n1, the PLC control system sends a control command to the roller way frequency converter, and the pipe disengaging action is executed. Automatic control over the pipe removing process is achieved, manual operation is not needed, and the production efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of submerged arc welded pipe external anti-corrosion production, in particular to an automatic pipe removal method and an automatic pipe removal system. Background Art

[0002] During the production process of submerged arc welded pipe anti-corrosion, the outer surface of the steel pipe is shot blasted to meet the process requirements. In this process, after the steel pipe is shot blasted, the head and tail connection of the steel pipe on the conveyor roller needs to be quickly disconnected to facilitate the steel pipe to enter the next process. The head and tail of the steel pipe are connected on the roller. During the pipe removal operation, it is necessary to confirm that the connection between the head and tail of the pipe is in the appropriate position, execute the pipe removal action, and quickly disconnect the head and tail of the pipe. At present, the pipe removal is manually operated, which has high labor intensity and low work efficiency. Summary of the invention

[0003] The object of the present invention is to provide an automatic pipe-detaching method and an automatic pipe-detaching system, so as to solve the problems of high labor intensity and low work efficiency in the existing pipe-detaching operation due to the need for manual operation.

[0004] In order to solve the above technical problems, the technical solution provided by the present invention is:

[0005] In a first aspect, the present invention provides an automatic tube removal method, wherein the tube head of a first steel tube and the tube tail of a second steel tube are in contact with each other and run along the axis, and in an automatic control mode, an image sensor emits a light beam, the width of the light beam irradiated on the steel tube is L1, the axial linear speed of the steel tube roller is n1, and the image sensor detects the position signal of the tube head and the tube tail for a duration of t1;

[0006] When the image sensor detects the tube head and the tube tail, it sends a detection signal to the PLC control system. At this time, the PLC timer starts timing. When t1≥L1 / 2n1, the PLC control system sends a control command to the roller table inverter to execute the tube removal action.

[0007] Furthermore,

[0008] After the PLC control system sends a control command to the roller inverter, the roller inverter adopts the constant torque control mode to accelerate the operation, so that the conveying roller drives the steel pipe to the next process at high speed to complete the pipe removal action.

[0009] Furthermore,

[0010] A limit protection sensor is installed at the end of the conveyor roller. When the pipe head senses the limit protection sensor, the roller motor automatically stops running to prevent the steel pipe from exceeding the process range.

[0011] Furthermore,

[0012] The roller table inverter is a Siemens G120 inverter adopting a 1-to-5 control mode.

[0013] Furthermore,

[0014] The Profinet distributed master-slave control mode is adopted, with the PLC control system as the master station and the Siemens G120 inverter and image sensor as the slave stations.

[0015] Furthermore,

[0016] The PLC master station and the touch screen use Profinet communication, and the touch screen is used to display the real-time value of the image sensor, the real-time position of the steel pipe, the operating status and alarm information.

[0017] In a second aspect, the present invention provides an automatic tube removal system based on the automatic tube removal method, comprising an image sensor, a conveying roller, a telescopic bracket, a PLC control system and a roller converter;

[0018] The conveying roller is used for conveying steel pipes;

[0019] The image sensor is arranged on the side of the conveying roller;

[0020] The telescopic bracket is connected to the image sensor, and the telescopic bracket can be extended and retracted along its own length direction to adjust the vertical height of the image sensor;

[0021] The image sensor is electrically connected to the PLC control system, and the PLC control system is electrically connected to the roller table frequency converter.

[0022] Furthermore,

[0023] The telescopic bracket includes a first rod and a second rod;

[0024] The first rod is inserted into the second rod and is slidably connected with the second rod;

[0025] The image sensor is connected to the first rod.

[0026] Furthermore,

[0027] Also included is an adjustment screw;

[0028] The adjusting screw passes through the second rod and abuts against the first rod.

[0029] Furthermore,

[0030] Also includes a touch screen;

[0031] The touch screen is electrically connected to the PLC control system.

[0032] Based on the above technical solutions, the technical effects that can be achieved by the present invention are:

[0033] The present invention uses an image sensor to detect the position of the connection part between the head and tail of the steel pipe in real time in the pipe unbending area, and combines the PLC algorithm to control the roller running speed during the pipe unbending, so as to achieve the effect of quickly unbending the steel pipe during the pipe unbending process, and realize automatic control of the pipe unbending after shot blasting. The present invention can avoid process congestion and equipment shutdown caused by untimely pipe unbending, thereby affecting the occurrence of the situation of the production process, realize automatic control of the pipe unbending process, do not need human operation, improve production efficiency, and reduce the labor intensity of job personnel, realize job optimization and accurate control of the pipe unbending process, and solve the problems of high labor intensity and low work efficiency due to the need for manual operation in the existing pipe unbending operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A schematic diagram of the structure of an automatic pipe removal system provided by an embodiment of the present invention;

[0036] Figure 2 This is the structural diagram of the automatic tube removal system.

[0037] Icon: 1-tube head; 2-tube tail; 3-image sensor; 31-sensor beam; 32-beam width; 4-telescopic bracket; 41-first rod; 42-second rod; 5-adjusting screw. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0041] At present, in the production process of submerged arc welded pipe anti-corrosion, the pipe removal is in a manual operation mode, which has high labor intensity and low work efficiency.

[0042] In view of this, the present invention provides an automatic pipe uncoupling method, in which a pipe head 1 of a first steel pipe and a pipe tail 2 of a second steel pipe are in contact with each other and run along an axis line. In an automatic control mode, an image sensor 3 emits a light beam, the width of the light beam irradiated on the steel pipe is L1, the axial linear velocity of the steel pipe roller is n1, and the duration of the position signal of the pipe head 1 and the pipe tail 2 detected by the image sensor 3 is t1; when the image sensor 3 detects the pipe head 1 and the pipe tail 2, a detection signal is sent to a PLC control system, at which time the PLC timer starts timing, and when t1≥L1 / 2n1, the PLC control system sends a control command to the roller inverter to execute the pipe uncoupling action.

[0043] The present invention uses an image sensor 3 to detect the position of the connection part of the steel pipe head 1 and the pipe tail 2 in real time in the pipe unloading area, and combines the PLC algorithm to control the roller running speed during the pipe unloading, so as to achieve the effect of quickly unloading the steel pipe during the pipe unloading process, and realize automatic control of the pipe unloading after shot blasting. The present invention can avoid process congestion and equipment shutdown caused by untimely pipe unloading, thereby affecting the occurrence of production process conditions, realize automatic control of the pipe unloading process, do not need human operation, improve production efficiency, reduce the labor intensity of job personnel, realize job optimization and accurate control of the pipe unloading process, and solve the problems of high labor intensity and low work efficiency in the existing pipe unloading operation due to the need for manual operation.

[0044] The automatic tube removal method provided in this embodiment adopts an automatic tube removal system. Figure 1 and Figure 2 The structure of the automatic tube removal system is described.

[0045] Reference Figure 1 and Figure 2 The automatic tube removal system includes an image sensor 3, a conveying roller, a telescopic bracket 4, a PLC control system and a roller frequency converter.

[0046] The steel pipe is located on the conveyor roller, which is used to convey the steel pipe; the image sensor 3 is arranged on the side of the conveyor roller; the telescopic bracket 4 is connected to the image sensor 3, and the telescopic bracket 4 can be telescoped along its own length direction to adjust the vertical height of the image sensor 3; the image sensor 3 is electrically connected to the PLC control system, and the PLC control system is electrically connected to the roller inverter.

[0047] Specifically, an image recognition sensor is installed on the side of the conveyor roller in the pipe unloading area. The image processing dedicated IC equipped on the sensor head and the high-performance CPU equipped on the controller can process the visual image at high speed, and the position of the connection between the pipe head 1 and the pipe tail 2 can be intelligently identified by the image, and a signal is sent to the PLC control system. The PLC control system then controls the roller G120 inverter to accelerate and execute the pipe unloading action.

[0048] In an optional embodiment, the telescopic bracket 4 includes a first rod 41 and a second rod 42; the first rod 41 is inserted into the second rod 42 and slidably connected to the second rod 42; the image sensor 3 is connected to the first rod 41. This embodiment also includes an adjusting screw 5; the adjusting screw 5 passes through the second rod 42 and abuts against the first rod 41.

[0049] Specifically, during normal operation, the pipe head 1 of the first steel pipe and the pipe tail 2 of the second steel pipe are in contact and run along the axis. The image sensor 3 installed on the telescopic bracket 4 emits a sensor beam 31 in real time. The width of the beam irradiated on the steel pipe is the beam width 32. When the pipe head 1 and the pipe tail 2 are within the range of the beam width 32 for a certain period of time, the pipe removal action is started. According to the diameter of the steel pipe, the telescopic bracket 4 is used to adjust the vertical position of the image sensor 3 to keep the image sensor 3 in the best working condition.

[0050] In the automatic control mode, the width of the steel pipe irradiated by the image sensor 3 is set to L1, the axial linear speed of the steel pipe roller is set to n1, and the duration of the position signal detected by the image sensor 3 on the pipe head 1 and the pipe tail 2 is t1; when the sensor detects the pipe head 1 and the pipe tail 2, a detection signal is sent to the PLC control system, and the PLC timer starts timing. In order to avoid malfunction caused by interference signals, when t1≥L1 / 2n1, the PLC sends a control command to the G120 roller inverter to execute the pipe unloading action. The inverter adopts the constant torque control mode to accelerate the operation, and the conveying roller drives the steel pipe to the next process at high speed to complete the pipe unloading action.

[0051] In an optional embodiment, a limit protection sensor is added at the end of the conveyor roller. When the pipe head senses the sensor, the roller motor automatically stops running to prevent the steel pipe from exceeding the process range.

[0052] In an optional implementation, in order to avoid the influence of light in the factory on the detection effect of the image sensor, an automatic light source that changes according to the light is added within the detection range of the image sensor. This embodiment adopts the Profinet distributed master-slave control mode, the PLC control system is Siemens S7-1500 PLC, and Siemens S7-1500 PLC is used as the master station, which mainly completes sensor signal acquisition, data processing and actuator control; the slave station is a Siemens G120 inverter and image sensor 3 using a 1-to-5 control method, which mainly completes remote operation, roller motor control and sensor data reading; the PLC master station and the touch screen use the Profinet communication method to display the real-time value of the image sensor 3, the real-time position of the steel pipe, the operating status and alarm information.

[0053] In this embodiment, the PLC control system is composed of a CPU module, a digital input and output module and an ET200MP substation, and mainly completes sensor data collection, calculation, motor control and touch screen communication.

[0054] The automatic pipe removal system provided in this embodiment has the following features:

[0055] (1) This embodiment is equipped with a dedicated 4-piece glass lens, which can reduce the influence of deformation and distortion to a minimum, and can achieve stable detection in a wide field of view and far away from the connection part of the tube head 1 and the tube tail 2.

[0056] (2) This embodiment can complete the setting of the detection part in a relatively short time and realize efficient detection. The image intelligent recognition technology starts from various viewpoints to find the part with the largest difference in color, brightness, area, shape, edge and other conditions between the calibrated pipe head 1 and pipe tail 2 connection part and the uncalibrated steel pipe, and automatically performs the optimal detection to complete the parameter setting.

[0057] (3) For the identification of steel pipes with moving changes, the use of sensors to observe the steel pipes for self-learning can add detection conditions and realize multi-conditional logical combination judgment, thereby achieving efficient intelligent recognition of the pipe head 1 and pipe tail 2 images.

[0058] This embodiment is applied to the pipe removal process in the production process of submerged arc welding pipe external anti-corrosion. By using image sensors to detect the position of the pipe head and tail, an automatic pipe removal precision control technology is formed to achieve automatic pipe removal. The online application of the automatic pipe removal system realizes the transformation of the pipe removal operation from manual operation to automatic control. The system runs stably and reliably with an operating efficiency of 100%. The positions of transverse vehicle operation and pipe removal operation are merged, and the automatic pipe removal control method is adopted to avoid process congestion and equipment shutdown caused by untimely pipe removal, which affects the production process. It effectively reduces the labor intensity of operators, improves the automation level of on-site equipment, and improves the equipment operation efficiency.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic tube removal method, characterized in that: The head of the first steel pipe and the tail of the second steel pipe are in contact and run along the axis. In the automatic control mode, the image sensor emits a light beam, the width of the light beam irradiated on the steel pipe is L1, the axial linear speed of the steel pipe roller is n1, and the image sensor detects the position signal of the head and tail of the pipe for a duration of t1; When the image sensor detects the tube head and the tube tail, it sends a detection signal to the PLC control system. At this time, the PLC timer starts timing. When t1≥L1 / 2n1, the PLC control system sends a control command to the roller table inverter to execute the tube removal action.

2. The automatic tube removal method according to claim 1, characterized in that: After the PLC control system sends a control command to the roller inverter, the roller inverter adopts the constant torque control mode to accelerate the operation, so that the conveying roller drives the steel pipe to the next process at high speed to complete the pipe removal action.

3. The automatic tube removal method according to claim 1, characterized in that: A limit protection sensor is installed at the end of the conveyor roller. When the pipe head senses the limit protection sensor, the roller motor automatically stops running to prevent the steel pipe from exceeding the process range.

4. The automatic tube removal method according to claim 1, characterized in that: The roller table inverter is a Siemens G120 inverter adopting a 1-to-5 control mode.

5. The automatic tube removal method according to claim 4, characterized in that: The Profinet distributed master-slave control mode is adopted, with the PLC control system as the master station and the Siemens G120 inverter and image sensor as the slave stations.

6. The automatic tube removal method according to claim 5, characterized in that: The PLC master station and the touch screen use Profinet communication, and the touch screen is used to display the real-time value of the image sensor, the real-time position of the steel pipe, the operating status and alarm information.

7. An automatic tube removal system based on the automatic tube removal method according to any one of claims 1 to 6, characterized in that: It includes image sensor, conveyor roller, telescopic bracket, PLC control system and roller inverter; The conveying roller is used for conveying steel pipes; The image sensor is arranged on the side of the conveying roller; The telescopic bracket is connected to the image sensor, and the telescopic bracket can be extended and retracted along its own length direction to adjust the vertical height of the image sensor; The image sensor is electrically connected to the PLC control system, and the PLC control system is electrically connected to the roller table frequency converter.

8. The automatic tube removal system according to claim 7, characterized in that: The telescopic bracket includes a first rod and a second rod; The first rod is inserted into the second rod and is slidably connected with the second rod; The image sensor is connected to the first rod.

9. The automatic tube removal system according to claim 8, characterized in that: Also included is an adjustment screw; The adjusting screw passes through the second rod and abuts against the first rod.

10. The automatic tube removal system according to claim 7, characterized in that: Also includes a touch screen; The touch screen is electrically connected to the PLC control system.

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