Shrinkage pipe monitoring method and system

Abstract

The present invention discloses a pipe shrinkage monitoring method and system, which relates to the technical field of pipe production and processing. The method comprises: Step 1: Setting up a monitoring environment, including: Deploying a visual module facing the pipe shrinkage action area to automatically oil the shrinkage section of the pipe; Building a control center and establishing data connections with the visual module, the oiling mechanism, and the pipe shrinkage device; and Step 2: Establishing monitoring and control logic. This application can improve the convenience of pipe shrinkage production and processing.

Description

Technical Field

[0001] The present application relates to the technical field of pipe production and processing, and in particular to a pipe shrinkage monitoring method and system. Background Art

[0002] For metal pipe fittings such as air ducts and water pipes, the base material is round pipe and the front and rear diameters of the same pipe are often the same. However, due to the need to plug the pipe fittings into each other, it is difficult to meet the installation requirements such as plugging in with the same pipe diameter. At this time, if the intermediate pipe fittings are welded and pipe joints are installed to connect the pipes, the continuity of the overall structure will be destroyed, which does not meet the needs of some scenarios. For this reason, pipe shrinking and pipe expansion processes and equipment have appeared on the market.

[0003] Reference Figure 4 The current tube shrinking process is as follows: the tube is clamped by upper and lower clamps and the tube end to be shrunk is exposed. A tube shrinking die head that can move crosswise in the horizontal plane is arranged opposite the tube end. One tube shrinking die head moves toward the tube end and covers it, and then retreats; the other tube shrinking die head repeats the above steps, and each tube shrinking die head moves in turn to gradually shrink the tube end to the target size; during the process, a staff member observes the operation of the equipment and oils the tube end with a brush every once in a while to prevent excessive wear of the equipment.

[0004] According to the above content, it can be seen that during the tube shrinking process, workers are required to continue to manually follow up and observe the processing status, which makes production relatively inconvenient. Therefore, this application proposes a new technical solution. Summary of the Invention

[0005] In order to improve the convenience of shrink tube production and processing, the present application provides a shrink tube monitoring method and system.

[0006] In a first aspect, the present application provides a method for monitoring shrinkage of a pipe, which adopts the following technical solution:

[0007] A method for monitoring a shrink tube, comprising:

[0008] Step 1: Set up the monitoring environment, which includes:

[0009] Arrange the vision module facing the shrinking action area to automatically oil the shrinking section of the pipe;

[0010] Build a control center and establish data connections with the vision module, oiling mechanism, and tube shrinking device;

[0011] Step 2: Establish monitoring and control logic, which includes:

[0012] The control center is configured as follows:

[0013] If the tube shrinking device starts to perform a new round of tube shrinking action, the video data output by the vision module is called;

[0014] Based on video data, it can identify, locate, and track the position of the pipe and the shrinking die head of the shrinking device, and determine the action stage;

[0015] If the current action stage is before the initial tube shrinkage, the tube image features in the video data are extracted and image measurement is performed to obtain the tube specifications. The oiling mechanism is controlled to perform the initial oiling action based on the position of the tube end and the tube specifications. After the initial oiling action, the first tube shrinkage action instruction is sent to the tube shrinkage device.

[0016] If the current action stage is to complete one tube shrinking operation, a tube shrinking stop instruction is sent to the tube shrinking device, and the tube image features are extracted again for image measurement, and tube shrinking parameter analysis is performed to obtain the tube change parameters. The oiling mechanism is controlled to perform the nth oiling operation based on the tube change parameters and the position of the tube end, and a new tube shrinking operation instruction is sent to the tube shrinking device after the nth oiling operation.

[0017] Repeat the previous step until n=N; wherein N is the number of tube reduction die heads of the tube reduction device, n<N and resets to 2 after the cumulative number reaches N starting from 2.

[0018] Optionally, the performing of the tube shrinkage parameter analysis includes:

[0019] Obtain pipe specifications; wherein the pipe specifications include diameter d1;

[0020] Locating the unreduced diameter section and the reduced diameter section of the pipe in the image according to the diameter of the pipe;

[0021] Take the contour of the end of the diameter-changing section away from the non-diameter-changing section, and measure the minimum diameter-changing parameters through image measurement; wherein the minimum diameter-changing parameters include diameter d2;

[0022] Calculate the maximum shrinkage value dm based on diameter 1 d1 and diameter 2 d2;

[0023] Take the point on the dividing line between the unreduced section and the reduced section as point A, and the point on the reduced section farthest from the unreduced section as point B. The line connecting points A and B is parallel to the central axis of the pipe.

[0024] The length L1 of the line connecting points A and B is obtained by image measurement;

[0025] If dm / L1>k1, calculate the current number of partitions m2, m2=(dm / L1) / k1*m1; where k1 is the preset standard partition division threshold, and m1 is the preset standard partition number;

[0026] Diameter 1 d1, diameter 2 d2, maximum shrinkage dm, length L1 and current partition number m2 are used as pipe variation parameters.

[0027] In a second aspect, the present application provides a shrinkage monitoring system, which adopts the following technical solutions:

[0028] A shrink pipe monitoring system, comprising:

[0029] A vision module is arranged on the tube shrinking device and faces the tube shrinking action area;

[0030] An oiling mechanism, which is arranged on the tube shrinking device and has an oiling portion that moves in the tube shrinking action area; and

[0031] The control center is connected to the visual module, the oiling mechanism and the tube shrinking device and is configured to call the video data output by the visual module when the tube shrinking device starts to perform a new round of tube shrinking action;

[0032] Based on video data, it can identify, locate, and track the position of the pipe and the shrinking die head of the shrinking device, and determine the action stage;

[0033] If the current action stage is before the initial tube shrinkage, the tube image features in the video data are extracted and image measurement is performed to obtain the tube specifications. The oiling mechanism is controlled to perform the initial oiling action based on the position of the tube end and the tube specifications. After the initial oiling action, the first tube shrinkage action instruction is sent to the tube shrinkage device.

[0034] If the current action stage is to complete one tube shrinking operation, a tube shrinking stop instruction is sent to the tube shrinking device, and the tube image features are extracted again for image measurement, and tube shrinking parameter analysis is performed to obtain the tube change parameters. The oiling mechanism is controlled to perform the nth oiling operation based on the tube change parameters and the position of the tube end, and a new tube shrinking operation instruction is sent to the tube shrinking device after the nth oiling operation.

[0035] Repeat the previous step until n=N; wherein N is the number of tube reduction die heads of the tube reduction device, n<N and resets to 2 after the cumulative number reaches N starting from 2.

[0036] Optionally, the oiling mechanism includes:

[0037] a gantry structure spanning across the plurality of tube reduction die heads of the tube reduction device;

[0038] Linear motor, mounted on the crossbeam of the gantry structure;

[0039] A cross slide is mounted on the slider of the linear motor and has one driving direction parallel to the axial direction of the pipe and the other driving direction vertically;

[0040] a probe plate, which is fixed to the slider of the cross slide and extends downward at one end; and

[0041] a handpiece, which is mounted on the lower end of the probe plate and is used to perform an oiling action;

[0042] Among them, the machine head includes a wheel seat, a C-type wheel, a brush head and a driving mechanism. The wheel seat is fixed to the lower end of the probe plate and is provided with a mounting groove which is not completely circular when viewed from the side. The C-type wheel is arranged in the mounting groove and is laterally fixed with an anti-slip shaft. The side wall of the mounting groove is provided with an arc-shaped long groove for inserting the anti-slip shaft. There are at least two brush heads and they are distributed along the inner edge of the C-type wheel. The driving mechanism is used to drive the C-type wheel to rotate. The linear motor, the cross slide and the driving mechanism are respectively connected to the control center by electrical signals. The control center is configured to: make the driving mechanism drive the C-type wheel to rotate forward and reverse once to complete one circle of oil brushing.

[0043] Optionally, the driving mechanism includes a servo motor, a belt drive assembly and gears, there are two gears that are rotatably connected to the wheel seat respectively, the back of the C-type wheel has a tooth structure distributed along the length direction, the gears engage with the tooth structure of the C-type wheel, the servo motor drives the two gears through the belt drive assembly, and the servo motor electrical signal is connected to the control center; the control center is configured to: control the servo motor to work at a preset rotation amount, and make the head of the C-type wheel rotate past the middle of the wheel seat but not contact the notch of the mounting slot.

[0044] Optionally, it also includes an oil delivery component, which includes an oil delivery pipe, a second drive mechanism and an oil channel, one end of the oil delivery pipe penetrates the wheel seat and is connected to the mounting groove, and the other end is connected to a container for storing oil; the oil channel is opened in the C-type wheel and is connected to the root of the bristles of the brush head through a thin tube, and the outer wheel surface of the C-type wheel is provided with an oil inlet connected to the oil channel, and the oil inlet can be aligned and connected with the port of the oil delivery pipe, and the second drive mechanism is used to drive oil into the oil pipe and the oil channel, and the electrical signal of the second drive mechanism is connected to the control center.

[0045] Optionally, a micro electric cylinder is embedded in the head of the C-shaped wheel, the telescopic direction of the micro electric cylinder is the radial direction of the C-shaped wheel, and the brush head is installed at the telescopic rod end of the micro electric cylinder.

[0046] Optionally, the control center performs a tube shrinkage parameter analysis, which includes:

[0047] Obtain pipe specifications; wherein the pipe specifications include diameter d1;

[0048] Locating the unreduced diameter section and the reduced diameter section of the pipe in the image according to the diameter of the pipe;

[0049] Take the contour of the end of the diameter-changing section away from the non-diameter-changing section, and measure the minimum diameter-changing parameters through image measurement; wherein the minimum diameter-changing parameters include diameter d2;

[0050] Calculate the maximum shrinkage value dm based on diameter 1 d1 and diameter 2 d2;

[0051] Take the point on the dividing line between the unreduced section and the reduced section as point A, and the point on the reduced section farthest from the unreduced section as point B. The line connecting points A and B is parallel to the central axis of the pipe.

[0052] The length L1 of the line connecting points A and B is obtained by image measurement;

[0053] If dm / L1>k1, calculate the current number of partitions m2, m2=(dm / L1) / k1*m1; where k1 is the preset standard partition division threshold, and m1 is the preset standard partition number;

[0054] Diameter 1 d1, diameter 2 d2, maximum shrinkage dm, length L1 and current partition number m2 are used as pipe variation parameters.

[0055] Optionally, the control center controls the oiling mechanism to perform the nth oiling action according to the pipe variation parameter and the position of the pipe end, which includes:

[0056] Determine the starting height and brush head position of the C-type wheel based on the diameter d1;

[0057] L1 / (m2-1) is the interval distance for adjusting the brush head position, and is the total movement distance when the cross slide drives the machine head to move along the axial direction of the pipe;

[0058] If the diameter of the reducing section is the same, the oiling position of the second and subsequent circles of the C-type wheel brush is determined according to the diameter d2;

[0059] If the diameters of the variable diameter sections are different, the brush head will drop each time the machine head moves along the axial direction of the pipe, and the amount of drop = dm / (m2-1).

[0060] Optionally, the control center is configured as follows: during the oil brushing process of the machine head, the diameter of the pipe section corresponding to the oil brushing position after each lateral movement of the machine head is recorded as d3, and the rotation speed of the C-type wheel is adjusted according to d3.

[0061] To sum up, the present application includes the following beneficial technical effects: the shrinking process can be monitored by machine vision, and the equipment action can be analyzed through image recognition technology, etc., so that the oiling mechanism can be controlled to automatically oil the shrinking section of the pipe at the appropriate position and time, thereby improving the convenience of shrinking production and processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 It is a control structure diagram of the system of the present application;

[0063] Figure 2 is a front view of the system of the present application;

[0064] Figure 3 It is a partial longitudinal cross-sectional structural diagram of the nose of the present application;

[0065] Figure 4 This is a working status display diagram of the prior art of this application.

[0066] Explanation of the accompanying symbols: 1. Vision module; 2. Control center; 3. Gantry; 4. Linear motor; 5. Cross slide; 6. Probe plate; 7. Machine head; 71. Wheel seat; 72. C-type wheel; 721. Anti-slip shaft; 73. Brush head; 74. Drive mechanism 1; 741. Servo motor; 742. Gear; 8. Oil delivery assembly; 81. Oil delivery pipe; 82. Drive mechanism 2; 9. Micro electric cylinder. DETAILED DESCRIPTION

[0067] The following is combined with Figure 1-3 This application is described in further detail.

[0068] Since this method requires the cooperation of a system to be implemented, for ease of understanding, this application first explains the system.

[0069] The embodiment of the present application discloses a shrink tube monitoring system.

[0070] Reference Figure 1 The tube shrinkage monitoring system includes: a visual module 1, an oiling mechanism and a control center 2, wherein the visual module 1 includes an industrial CCD camera, which is installed in front of or behind the tube shrinkage device through a bracket to shoot the tube shrinkage action area of ​​the tube shrinkage device from a front view or rear view perspective.

[0071] The oiling mechanism is arranged on the tube shrinking device and the oiling part moves in the tube shrinking action area; the control center 2 includes an industrial control host, which is connected to the visual module 1, the oiling mechanism, and the tube shrinking device (controller) by cables to establish a data connection relationship.

[0072] During use, the control center 2 receives and analyzes the video data captured by the visual module 1, and controls the oiling mechanism to oil the shrinkage portion of the pipe according to the analysis results.

[0073] Reference Figure 2 The oiling mechanism includes a gantry 3, a linear motor 4, a cross slide 5, a probe plate 6 and a machine head 7, wherein the gantry 3 spans across multiple tube reduction dies of the tube reduction device, that is, the crossbeam of the gantry 3 is located above the tube reduction dies and its length extends along the arrangement direction of the multiple tube reduction dies, and the support legs of the gantry 3 are fixed on the machine base of the tube reduction device.

[0074] The linear motor 4 is mounted on the crossbeam of the gantry 3, and the (electric lead screw) cross slide 5 is mounted on the slider of the linear motor 4. In this embodiment, the cross slide 5 has one drive direction parallel to the axial direction of the tube and another drive direction vertically. A probe plate 6 is mounted on the slider of the cross slide 5 and extends downward. The lower end of the probe plate 6 is required to reach the shrinking area of ​​the tube shrinking device, or the side of the shrinking die facing the tube. A die head 7 is mounted on the lower end of the probe plate 6 to reach the shrinking section of the tube and perform lubrication.

[0075] The head 7 includes a wheel seat 71, a C-shaped wheel 72, a brush head 73 and a driving mechanism 74. The wheel seat 71 is screwed to the probe plate 6. The wheel seat 71 is provided with a mounting groove. The mounting groove is incompletely circular (e.g., semicircular) when viewed from the side and is open at the bottom.

[0076] The C-shaped wheel 72 is mounted in the mounting slot, coaxial with the mounting slot. A retaining pin 721 is fixed to the sidewall of the C-shaped wheel 72. The mounting slot also includes an arc-shaped slot for the retaining pin 721. This allows the C-shaped wheel 72 to rotate within the mounting slot without falling out. There are at least two brush heads 73, two of which are used in this embodiment. These are located on the inner sides of the C-shaped wheel 72 at either end.

[0077] The driving mechanism 1 74 is mounted on the wheel seat 71 and is used to drive the C-shaped wheel 72 to rotate.

[0078] During use, the machine head 7 is driven by the linear motor 4 and the cross slide 5 to move downward toward the shrinking section of the pipe, so that the C-shaped wheel 72 is buckled on the shrinking section, and the driving mechanism 74 drives the C-shaped wheel 72 to rotate forward and reverse once, and uses the brush heads 73 at both ends to brush a circle of oil on the shrinking section; the cross slide 5 drives the machine head 7 to move along the axial direction of the pipe, and the C-shaped wheel 72 rotates forward and reverse again and again to complete the oiling; after the oiling is completed, the cross slide 5 drives the machine head 7 to rise to avoid blocking the shrinking pipe.

[0079] The above-mentioned linear motor 4, cross slide 5, and drive mechanism 74 are respectively connected to the control center 2, so this system can cooperate with the visual module 1 to realize automatic shrink tube oiling and improve the convenience of shrink tube production and processing.

[0080] In another embodiment of this system, the aforementioned drive mechanism 1 74 includes a servo motor 741, a belt drive assembly, and gears 742. Two gears 742 are rotatably connected to pre-defined slots in the wheel base 71. The back of the C-shaped wheel 72 has teeth distributed along its length, and the gears 742 engage with the teeth. The servo motor 741 is mounted on the wheel base 71 and simultaneously drives the two gears 742 to rotate via the belt drive assembly.

[0081] Example of a belt drive assembly: a master wheel fixes the output shaft of a servo motor 741, two slave wheels coaxially fix two gears 742, one belt covers the master wheel and the slave wheel, and another belt covers the master wheel and the other slave wheel. The belt can be a synchronous belt, thereby achieving synchronous drive.

[0082] According to the above configuration, although the C-shaped wheel 72 is not a complete circle, it always has at least one gear 742 in contact with it, and the servo motor 741 can drive the C-shaped wheel 72 to rotate forward and reverse, meeting the demand for efficient full-angle oiling.

[0083] It should be noted that the forward and reverse rotation amounts of the servo motor 741 during the last oiling process are preset to avoid over-rotation, and the C-wheel 72 does not need to be rotated until the head approaches the notch of the mounting slot every time. It only needs to pass the middle line, at which time a full circle of oil can be applied.

[0084] In one embodiment of the present system, considering that when applying oil using the brush head 73 on the C-shaped wheel 72, if the brush head 73 is always placed in the oil tank with the C-shaped wheel 72 facing downward, and then the oil is applied to the shrink tube section during subsequent rotation, liquid oil cannot be used in this case because the oil tank opening will drip laterally. Only paste or solid oil can be used, which leads to significant limitations. Therefore, the present system is configured to include: an oil delivery assembly 8, which includes an oil delivery pipe 81, a second drive mechanism 82, and an oil channel. One end of the oil delivery pipe 81 passes through the wheel seat 71 and connects to the mounting groove, and the other end connects to a container for storing oil. The second drive mechanism 82 can be an oil pump or the like installed on the oil delivery pipe 81 to deliver oil. The oil channel is opened in the C-shaped wheel 72 and connected to the base of the bristles of the brush head 73 through a series of fine tubes. The outer surface of the C-shaped wheel 72 is provided with an oil inlet, which can be aligned with the outlet of the oil delivery pipe 81. A sealing ring can be embedded along the edge of the oil inlet to enhance the sealing effect during oil filling.

[0085] With this configuration, simply controlling the oiling frequency (or timing) of drive mechanism 2 82 based on the rotational speed of C-shaped wheel 72 allows the C-shaped wheel 72 to automatically replenish oil during use, meeting all lubrication needs. For example, if oil is added with the C-shaped wheel 72 facing downward, drive mechanism 2 82 will operate each time the C-shaped wheel 72 engages the shrink tube section. Drive mechanism 2 82's electrical signals are connected to control center 2.

[0086] In another embodiment of the present system, the brush head 73 is movably installed. Specifically, a micro-electric cylinder 9 is embedded in the head of the C-shaped wheel 72. The telescopic direction of the micro-electric cylinder 9 is the radial direction of the C-shaped wheel 72. The telescopic rod end of the micro-electric cylinder 9 fixes the brush head 73.

[0087] This arrangement allows the micro-electric cylinder 9 to adjust the height of the brush head 73 relative to the C-shaped wheel 72, ensuring efficient lubrication of the shrinking section. First, the shrinking section doesn't always shrink into a circular tube; it can also be conical. Second, the shrinking shape varies from one shrinking section to the next. To this end, the micro-electric cylinder 9 provides electrical signals to the control center 2.

[0088] The micro electric cylinder 9 can be powered by a long wire with a surplus of power, or it can be powered by a brush structure. This is the existing technology and will not be described in detail.

[0089] In another embodiment of the system, the control center 2 also performs automated monitoring configuration, which implements the method portion of the present application and is therefore not described in detail.

[0090] The embodiment of the present application also discloses a shrinkage tube monitoring method.

[0091] Reference Figure 1 , shrinkage monitoring methods include:

[0092] Step 1: Set up the monitoring environment, which includes:

[0093] The visual module 1 arranged toward the shrinking action area is used as an oiling mechanism for automatically oiling the shrinking section of the pipe;

[0094] Build the control center 2 and establish data connections with the vision module 1, the oiling mechanism, and the tube shrinking device;

[0095] Step 2: Establish monitoring and control logic, which includes: configuring the control center 2 to:

[0096] If the tube shrinking device starts to execute a new round of tube shrinking action, the video data output by the vision module is called.

[0097] It is understandable that the control center 2 extracts images from the video and performs feature and behavior recognition to know the action of the tube shrinking device; it can also obtain relevant data directly from the tube shrinking device (controller) to determine.

[0098] Based on video data recognition (i.e. extracting images for image recognition), the position of the tube and the shrinking die head of the shrinking device is located and tracked, and the action stage is determined.

[0099] It is known that pipes and shrink tube dies have their own clear outlines and shapes and are different from other structures. Therefore, they can be identified, located, and tracked (i.e., continuous positioning) through image recognition technology.

[0100] When the tube is in front of the tube shrinking die head and a new round of tube shrinking action has just been determined, the current action stage is before the first tube shrinking;

[0101] If the tube is trapped by the tube shrinking die, and the previous action stage is: before the first tube shrinking, then the current stage is: the first tube shrinking;

[0102] If the tube is located in front of the tube shrinking die head, and the previous action stage is: the first tube shrinking, then the current stage is before the second tube shrinking; and so on.

[0103] If the current action stage is before the first tube shrinkage, the tube image features in the video data are extracted for image measurement to obtain the tube specifications; the oiling mechanism is controlled to perform the first oiling action according to the position of the tube end and the tube specifications, and the first tube shrinkage action instruction is sent to the tube shrinkage device after the first oiling action.

[0104] Among them, the pipe specifications include the diameter of the pipe, which is called diameter d1; image measurement is to convert the actual size according to the pixel size of the feature with a preset scale. Image measurement of length, width, and height is an existing technology and will not be repeated here.

[0105] The oiling mechanism is controlled to perform the initial oiling operation according to the position of the pipe end and the pipe specifications. For example, the linear motor 4 and the cross slide 5 are controlled according to the position of the pipe end to drive the machine head 7 to move directly above the pipe shrinkage section; the cross slide 5 is controlled to adjust the position of the C-wheel 72 according to the diameter d1;

[0106] Oiling action: After the C-type wheel 72 is buckled, the driving mechanism 74 drives the C-type wheel 72 to rotate forward and reverse once to complete a circle of oiling; after the first circle, the cross slide 5 drives the machine head 7 to move along the axial direction of the pipe, and then brushes the second circle of oil; repeat several times until the shrinking section is brushed.

[0107] If the current action stage is to complete one tube shrinking operation, a tube shrinking stop instruction is sent to the tube shrinking device (i.e., no further tube shrinking is allowed without an instruction), and the tube image features are extracted again for image measurement, and tube shrinking parameter analysis is performed to obtain tube change parameters. The oiling mechanism is controlled to perform the nth oiling operation based on the tube change parameters and the position of the tube end, and a new tube shrinking operation instruction is sent to the tube shrinking device after the nth oiling operation.

[0108] Repeat the previous step until n=N; wherein N is the number of tube reduction die heads of the tube reduction device, n<N and resets to 2 after the cumulative number reaches N starting from 2.

[0109] According to the above settings, this method can monitor the shrinking process through machine vision, analyze the equipment movement through image recognition technology, and control the oiling equipment to automatically oil the shrinking section of the pipe at the appropriate position and time, thereby improving the convenience of shrinking production and processing.

[0110] In another embodiment of the present method, performing a tube shrinkage parameter analysis includes:

[0111] 1) Obtain the pipe specifications; the pipe specifications include the diameter d1, and also include the following length L1, that is, the length of the reduced pipe section, so as to control the oiling action.

[0112] 2) Locate the unreduced diameter section and the reduced diameter section (i.e., the reduced diameter section) of the pipe in the image according to the diameter of the pipe;

[0113] The measured diameter = d1 or close to d1 is the non-diameter-reduced section, and the others are diameter-reduced sections.

[0114] 3) Take the outline of the end of the diameter-changing segment away from the non-diameter-changing segment (at this time, the advantage of the CCD camera's front view is reflected, and it is a clear line segment), and measure the image to obtain the minimum diameter-changing parameters (that is, what is the minimum diameter); the minimum diameter-changing parameters include the diameter d2.

[0115] 4) Calculate the maximum shrinkage value dm based on diameter 1 d1 and diameter 2 d2, that is, the maximum shrinkage of the tube.

[0116] 5) Take the point on the dividing line between the unreduced section and the reduced section as point A, and take the point on the reduced section farthest away from the unreduced section as point B, and the line connecting points A and B is parallel to the center axis of the pipe;

[0117] The length L1 of the line connecting points A and B is obtained by image measurement, that is, the length of the shrinkage section.

[0118] 6) If dm / L1>k1, calculate the current number of partitions, m2, as follows: m2 = (dm / L1) / k1*m1; k1 is the preset standard partition threshold, and m1 is the preset number of standard partitions. It should be noted that the standard partition threshold is determined by the width of the brush head 72; the wider the brush head, the smaller the threshold.

[0119] 7) Diameter 1 d1, diameter 2 d2, maximum shrinkage dm, length L1 and current partition number m2 are used as pipe variation parameters.

[0120] According to the above configuration, controlling the oiling mechanism to perform the nth oiling action according to the pipe variation parameters and the position of the pipe end includes:

[0121] The same principle applies to the position.

[0122] The nth oiling action is controlled according to the pipe material change parameters, specifically:

[0123] The starting height of the C-shaped wheel 72 and the position of the brush head 73 are determined according to the diameter d1, that is, the brush head 73 can contact the outer wall of the tube. For example, if d1 = 2 cm, the starting height of the C-shaped wheel 72 is 2 cm + wheel thickness + the distance between the brush head 73 and the C-shaped wheel.

[0124] L1 / (m2-1) is the distance between the brush heads 73 for adjusting their positions, and is the distance traveled by the cross slide 5 when the head 7 moves along the axial direction of the pipe.

[0125] If the diameters of the reducing sections are the same, the position of the C-shaped wheel 72 when brushing the oil for the second and subsequent turns is determined based on the second diameter d2;

[0126] If the diameters of the variable diameter sections are different, the brush head 73 will be lowered each time the machine head 7 moves along the axial direction of the pipe, and the amount of lowering is dm / (m2-1).

[0127] According to the above arrangement, when brushing oil, the method can analyze the shrinkage parameters of the shrinkage section and adjust the brush head 73 of the oiling mechanism accordingly, thereby ensuring the stability of the oiling.

[0128] In another embodiment of the method, the control center 2 is further configured as follows: during the oil brushing process of the machine head 7, the diameter of the pipe section corresponding to the oil brushing position after each lateral movement of the machine head 7 is recorded as d3, and the rotation speed of the C-type wheel 72 is adjusted according to d3.

[0129] It can be understood that when the rotation speed is the same, the closer the brush head 73 is to the center of the pipe, the smaller the movement; therefore, when it rotates one circle at the same speed, the closer it is to the center of the pipe, the more time is actually wasted; if the movement speed in the circumferential direction is to be kept the same, it is necessary to speed up the brush head 73, that is, the rotation speed of the C-type wheel; that is, the smaller d3 is, the greater the rotation speed of the C-type wheel is, and the specific relationship between the two is preset by the staff according to the actual size.

[0130] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A shrinkage monitoring method, characterized in that: include: Step 1: Set up the monitoring environment, which includes: A visual module (1) is arranged toward the shrinking action area and is used for automatically oiling the shrinking section of the pipe; Building a control center (2) and establishing data connections with the vision module (1), the oiling mechanism, and the tube shrinking device; Step 2: Establish monitoring and control logic, which includes: The control center (2) is configured as: If the tube shrinking device starts to perform a new round of tube shrinking action, the video data output by the visual module (1) is called; Based on video data, it can identify, locate, and track the position of the pipe and the shrinking die head of the shrinking device, and determine the action stage; If the current action stage is before the initial tube shrinkage, the tube image features in the video data are extracted and image measurement is performed to obtain the tube specifications. The oiling mechanism is controlled to perform the initial oiling action based on the position of the tube end and the tube specifications. After the initial oiling action, the first tube shrinkage action instruction is sent to the tube shrinkage device. If the current action stage is to complete one tube shrinking operation, a tube shrinking stop instruction is sent to the tube shrinking device, and the tube image features are extracted again for image measurement, and tube shrinking parameter analysis is performed to obtain the tube change parameters. The oiling mechanism is controlled to perform the nth oiling operation based on the tube change parameters and the position of the tube end, and a new tube shrinking operation instruction is sent to the tube shrinking device after the nth oiling operation. Repeat the previous step until n=N; wherein N is the number of tube reduction die heads of the tube reduction device, n<N and resets to 2 after the cumulative number reaches N starting from 2.

2. The shrinkage monitoring method according to claim 1, characterized in that: The tube shrinkage parameter analysis comprises: Obtain pipe specifications; wherein the pipe specifications include diameter d1; Locating the unreduced diameter section and the reduced diameter section of the pipe in the image according to the diameter of the pipe; Take the contour of the end of the diameter-changing section away from the non-diameter-changing section, and measure the minimum diameter-changing parameters through image measurement; wherein the minimum diameter-changing parameters include diameter d2; Calculate the maximum shrinkage value dm based on diameter 1 d1 and diameter 2 d2; Take the point on the dividing line between the unreduced section and the reduced section as point A, and the point on the reduced section farthest from the unreduced section as point B. The line connecting points A and B is parallel to the central axis of the pipe. The length L1 of the line connecting points A and B is obtained by image measurement; If dm / L1>k1, calculate the current number of partitions m2, m2=(dm / L1) / k1*m1; where k1 is the preset standard partition division threshold, and m1 is the preset standard partition number; Diameter 1 d1, diameter 2 d2, maximum shrinkage dm, length L1 and current partition number m2 are used as pipe variation parameters.

3. A shrinkage monitoring system, characterized in that: include: A visual module (1) is arranged on the tube shrinking device and faces the tube shrinking action area; An oiling mechanism, which is arranged on the tube shrinking device and has an oiling portion that moves in the tube shrinking action area; and The control center (2) is data-connected to the visual module (1), the oiling mechanism, and the tube shrinking device and is configured to call the video data output by the visual module (1) when the tube shrinking device starts to perform a new round of tube shrinking action; Based on video data, it can identify, locate, and track the position of the pipe and the shrinking die head of the shrinking device, and determine the action stage; If the current action stage is before the initial tube shrinkage, the tube image features in the video data are extracted and image measurement is performed to obtain the tube specifications. The oiling mechanism is controlled to perform the initial oiling action based on the position of the tube end and the tube specifications. After the initial oiling action, the first tube shrinkage action instruction is sent to the tube shrinkage device. If the current action stage is to complete one tube shrinking operation, a tube shrinking stop instruction is sent to the tube shrinking device, and the tube image features are extracted again for image measurement, and tube shrinking parameter analysis is performed to obtain the tube change parameters. The oiling mechanism is controlled to perform the nth oiling operation based on the tube change parameters and the position of the tube end, and a new tube shrinking operation instruction is sent to the tube shrinking device after the nth oiling operation. Repeat the previous step until n=N; wherein N is the number of tube reduction die heads of the tube reduction device, n<N and resets to 2 after the cumulative number reaches N starting from 2.

4. The shrink pipe monitoring system according to claim 3, characterized in that: The oiling mechanism comprises: A gantry (3) structure spanning across the plurality of tube shrinking die heads of the tube shrinking device; A linear motor (4) is mounted on a crossbeam of the gantry (3) structure; A cross slide (5) is mounted on the slider of the linear motor (4) and has one driving direction parallel to the axial direction of the pipe and the other driving direction vertically; A probe plate (6) is fixed to the slider of the cross slide (5) and extends downward; and A machine head (7), which is mounted on the lower end of the probe plate (6) and is used to perform the oiling action; The machine head (7) includes a wheel seat (71), a C-type wheel (72), a brush head (73) and a driving mechanism (74). The wheel seat (71) is fixed to the lower end of the probe plate (6) and is provided with a mounting groove which is not completely circular when viewed from the side. The C-type wheel (72) is arranged in the mounting groove and is laterally fixed with an anti-slip shaft (721). The side wall of the mounting groove is provided with an arc-shaped long groove for inserting the anti-slip shaft (721). There are at least two brush heads (73) and they are distributed along the inner edge of the C-type wheel (72). The driving mechanism (74) is used to drive the C-type wheel (72) to rotate. The linear motor (4), the cross slide (5) and the driving mechanism (74) are respectively connected to the control center (2) by electrical signals. The control center (2) is configured to: make the driving mechanism (74) drive the C-type wheel (72) to rotate forward and reverse once to complete a circle of oil brushing.

5. The shrinkage pipe monitoring system according to claim 4, characterized in that: The driving mechanism comprises a servo motor (741), a belt transmission assembly and a gear (742), wherein the gears (742) are two and are respectively rotatably connected to the wheel seat (71), a tooth structure is distributed on the back of the C-shaped wheel (72) along the length direction, and the gears (742) engage with the tooth structure of the C-shaped wheel (72), and the servo motor (741) drives the two gears (742) through the belt transmission assembly, and the servo motor (741) is electrically connected to the control center (2); the control center (2) is configured to: control the servo motor (741) to work at a preset rotation amount, and to make the head of the C-shaped wheel (72) rotate through the middle of the wheel seat (71) but not contact the notch of the mounting slot.

6. The shrinkage pipe monitoring system according to claim 5, characterized in that: It also includes an oil delivery component (8), the oil delivery component (8) includes an oil delivery pipe (81), a second drive mechanism (82) and an oil channel, one end of the oil delivery pipe (81) penetrates the wheel seat (71) and is connected to the mounting groove, and the other end is connected to a container for storing oil; the oil channel is opened in the C-type wheel (72) and is connected to the bristle root of the brush head (73) through a thin tube, the outer wheel surface of the C-type wheel (72) is provided with an oil inlet connected to the oil channel, the oil inlet and the port of the oil delivery pipe (81) are aligned and connected, the second drive mechanism (82) is used to drive oil into the oil pipe and the oil channel, and the electrical signal of the second drive mechanism (82) is connected to the control center (2).

7. The shrink pipe monitoring system according to claim 4, characterized in that: A micro electric cylinder (9) is embedded in the head of the C-shaped wheel (72), the telescopic direction of the micro electric cylinder (9) is the radial direction of the C-shaped wheel (72), and the brush head (73) is mounted on the telescopic rod end of the micro electric cylinder (9).

8. The shrinkage pipe monitoring system according to claim 7, characterized in that: The control center (2) performs a tube shrinkage parameter analysis, which includes: Obtain pipe specifications; wherein the pipe specifications include diameter d1; Locating the unreduced diameter section and the reduced diameter section of the pipe in the image according to the diameter of the pipe; Take the contour of the end of the diameter-changing section away from the non-diameter-changing section, and measure the minimum diameter-changing parameters through image measurement; wherein the minimum diameter-changing parameters include diameter d2; Calculate the maximum shrinkage value dm based on diameter 1 d1 and diameter 2 d2; Take the point on the dividing line between the unreduced section and the reduced section as point A, and the point on the reduced section farthest from the unreduced section as point B. The line connecting points A and B is parallel to the central axis of the pipe. The length L1 of the line connecting points A and B is obtained by image measurement; If dm / L1>k1, calculate the current number of partitions m2, m2=(dm / L1) / k1*m1; where k1 is the preset standard partition division threshold, and m1 is the preset standard partition number; Diameter 1 d1, diameter 2 d2, maximum shrinkage dm, length L1 and current partition number m2 are used as pipe variation parameters.

9. The shrinkage pipe monitoring system according to claim 8, characterized in that: The control center (2) controls the oiling mechanism to perform the nth oiling action according to the pipe material change parameters and the position of the pipe material end, which includes: Determine the starting height of the C-shaped wheel (72) and the position of the brush head (73) according to the diameter d1; L1 / (m2-1) is the interval distance for adjusting the position of the brush head (73), and is the amount of movement of the machine head (7) when the cross slide (5) drives the machine head (7) to move along the axial direction of the pipe; If the diameters of the reducing sections are the same, the position of the C-type wheel (72) when brushing the oil for the second and subsequent turns is determined according to the second diameter d2; If the diameters of the variable diameter sections are different, the brush head (73) will be lowered each time the machine head (7) moves along the axial direction of the pipe, and the amount of lowering is dm / (m2-1).

10. The shrink pipe monitoring system according to claim 9, characterized in that: The control center (2) is configured such that: during the oiling process of the machine head (7), the diameter of the pipe section corresponding to the oiling position after each lateral movement of the machine head (7) is recorded as d3, and the rotation speed of the C-type wheel (72) is adjusted according to d3.

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