Accurate centering device, method and system for anti-corrosion steel pipe

Abstract

The invention belongs to the field of steel pipe centering, and particularly relates to a precise centering device, method and system for an anti-corrosion steel pipe. The centering device aims to solve the problems that centering is in a manual operation mode at present, labor intensity is high, and working efficiency is low. The device comprises a first sensor, a sensor support, a transverse moving support and a PLC system. The first sensor is a first preset distance away from the center line of the transition carriage; the first sensor is fixed to the transverse moving support, and the transverse moving support is arranged on the sensor support and moves along the sensor support. The first sensors, the sensor supports and the transverse moving supports form first structural bodies, two groups of first structural bodies are arranged, and the first sensors in the second group of first structural bodies serve as second sensors; and the first sensor, the second sensor and the roller way are electrically connected with the PLC system. The device is stable and reliable in operation, the effective operation rate is improved, the situation that the steel pipes conveyed by the transverse moving vehicle are deviated is avoided, and the safety of equipment operation is enhanced.

Description

Background Art

[0002] In the production process of anti-corrosion steel pipes, according to the process layout, transmission rollers and transverse vehicles are usually used to transport steel pipes to the processing procedures. In the process of transporting steel pipes from rollers to transverse vehicles, in order to avoid the large centering deviation of steel pipes on the transverse vehicle, which causes the transverse vehicle to be unable to transport the pipes normally, the steel pipes need to be transported to the center area of ​​the roller relative to the transverse vehicle platform and stop. As the length range of anti-corrosion steel pipes increases, the automatic centering function of the roller needs to meet the requirements of different steel pipe length ranges. At present, the centering is in manual operation, which has high labor intensity and low work efficiency.

[0003] Based on this, the present invention proposes a precise centering device, method and system for anti-corrosion steel pipes. Summary of the invention

[0004] In order to solve the above-mentioned problem in the prior art, that is, as the length range of the anti-corrosion steel pipe increases, the automatic centering function of the roller table needs to meet the requirements of different steel pipe length ranges. At present, the centering is in a manual operation mode, which has the problems of high labor intensity and low work efficiency. The present invention provides a device, method and system for accurately centering an anti-corrosion steel pipe.

[0005] In a first aspect of the present invention, a device for accurately centering an anti-corrosion steel pipe is provided, which is used to automatically and accurately move the anti-corrosion steel pipe from a roller table to a designated position of a transverse moving vehicle, the device comprising: a first sensor, a sensor bracket, a transverse moving bracket, and a PLC system; The first sensor is arranged on the side of the roller conveyor and is at a first preset distance from the center line of the transverse transfer vehicle; the first sensor is used to detect the position of the pipe head and the pipe tail of the anti-corrosion steel pipe; The first sensor is fixed to the transverse moving bracket, the transverse moving bracket is arranged on the sensor bracket and moves along the sensor bracket, and the sensor bracket is fixed to the ground; The first sensor, the sensor bracket, and the transverse support constitute a first structure, and the first structure is arranged in two groups in an array along the length direction of the anti-corrosion steel pipe, and the center line of the second group of first structures is on the same straight line as the center line of the transverse vehicle; the first sensor in the second group of first structures is used as the second sensor; The first sensor, the second sensor and the roller table are electrically connected to a PLC system.

[0006] In some preferred embodiments, the PLC system is used to control the running speed of the roller based on the length data of the anti-corrosion steel pipe measured by the first sensor and the second sensor, so that the center of the anti-corrosion steel pipe is aligning with the center of the transverse vehicle.

[0007] In some preferred embodiments, the PLC system includes a CPU module, a digital input and output module, a substation and a master station.

[0008] Another aspect of the present invention provides a method for accurately centering an anti-corrosion steel pipe, based on an accurate centering device for an anti-corrosion steel pipe, the method comprises the following steps: Step S10, placing the anti-corrosion steel pipe on the roller, and driving the roller to move forward at a first uniform speed through a driving mechanism; Step S20, obtaining the time when the first sensor detects the pipe head position and the pipe tail position of the anti-corrosion steel pipe respectively, as the first time and the second time respectively, and uploading them to the PLC system; Step S30, the PLC system calculates the length value of the anti-corrosion steel pipe based on the first time, the second time and the first speed; Step S40, obtaining the time when the second sensor detects the position of the anti-corrosion steel pipe head as the third time, and calculating the interval between the third time and the time when the second sensor detects that the anti-corrosion steel pipe moves a first distance as the fourth time, and uploading it to the PLC system; wherein the first distance is calculated based on the length value; Step S50, after the anti-corrosion steel pipe moves the first distance, the PLC system performs a deceleration movement at a second speed, and calculates the time for the roller to stop moving based on the fourth time and the first distance as the fifth time; when the roller stops moving, the center of the anti-corrosion steel pipe is aligned with the center of the transverse vehicle.

[0009] In some preferred implementations, the length value L1 is obtained by: L1=T1×V1; Wherein, T1 is the difference between the second time and the first time; V1 is the first speed.

[0010] In some preferred embodiments, the first distance L2 is obtained by: L2= T1×V1 / 2-L0; Wherein, L0 is a preset fixed value, which is the roller deceleration running distance.

[0011] In some preferred implementations, the fourth time T2 is obtained by: T2 = (T1 × V1 / 2-L0) / V1.

[0012] In some preferred implementations, the fifth time T3 is obtained by: T3= T2+ L0 / V2; Wherein, V2 is the second speed.

[0013] In a third aspect of the present invention, a system for accurately centering an anti-corrosion steel pipe is provided. Based on a method for accurately centering an anti-corrosion steel pipe, the system comprises: A conveying module, configured to place the anti-corrosion steel pipe on the roller conveyor and drive the roller conveyor to move forward at a first uniform speed through a driving mechanism; A first transport time acquisition module is configured to acquire the time when the first sensor detects the pipe head position and the pipe tail position of the anti-corrosion steel pipe respectively, as the first time and the second time respectively, and upload them to the PLC system; A length calculation module, configured so that the PLC system calculates the length value of the anti-corrosion steel pipe based on the first time, the second time and the first speed; A second transport time acquisition module is configured to acquire the time when the second sensor detects the position of the anti-corrosion steel pipe head as a third time, and calculate the interval between the third time and the time when the second sensor detects that the anti-corrosion steel pipe moves a first distance as a fourth time, and upload it to the PLC system; wherein the first distance is calculated based on the length value; The centering module is configured so that the PLC system decelerates at a second speed after the anti-corrosion steel pipe moves a first distance, and calculates the time for the roller to stop moving based on the fourth time and the first distance as the fifth time; when the roller stops moving, the center of the anti-corrosion steel pipe is aligned with the center of the transverse vehicle.

[0014] In some preferred embodiments, the first sensor and the second sensor obtain the pipe head and pipe tail positions of the anti-corrosion steel pipe based on the master station in the PLC system; The PLC master station controls the speed of the roller table based on a frequency converter, and the model of the frequency converter includes a G120 frequency converter.

[0015] Beneficial effects of the present invention: By using the first sensor and the second sensor to detect the position of the pipe head and tail and calculating the length of the steel pipe according to the roller speed, a precise centering control technology for anti-corrosion steel pipes is formed, which realizes the automatic centering of the steel pipe relative to the center line of the transverse vehicle, with a centering accuracy of ±20mm. The online application of the automatic centering system realizes the precise automatic centering of steel pipes within the range of φ508~φ2540mm and 8.5~18m in length. The system runs stably and reliably, improves the effective operation rate, avoids the occurrence of deviation of the steel pipes transported by the transverse vehicle, and enhances the safety of equipment operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 This is a schematic structural diagram of a device for accurately centering an anti-corrosion steel pipe according to a first embodiment of the present invention; Figure 2 It is a schematic flow chart of a method for accurately centering an anti-corrosion steel pipe according to a first embodiment of the present invention; Figure 3 It is a structural schematic diagram of a PLC system in an anti-corrosion steel pipe precision alignment device according to the first embodiment of the present invention. DETAILED DESCRIPTION

[0017] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0018] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0019] The first embodiment of the present invention, see Figure 1 , Figure 3 , provides an anti-corrosion steel pipe precision centering device, which is used to automatically and accurately move the anti-corrosion steel pipe 4 from the roller to the specified position of the transverse moving vehicle 6, the device comprising: a first sensor 3, a sensor bracket 1, a transverse moving bracket 2, and a PLC system; The first sensor 3 is arranged on the side of the roller conveyor and at a first preset distance from the center line of the transverse transfer vehicle 6; the first sensor 3 is used to detect the position of the pipe head and the pipe tail of the anti-corrosion steel pipe 4; The first sensor 3 is fixed to the transverse moving bracket 2, the transverse moving bracket 2 is arranged on the sensor bracket 1 and moves along it, and the sensor bracket 1 is fixed to the ground; The first sensor 3, the sensor bracket 1, and the transverse bracket 2 constitute a first structure. The first structure is arranged in two groups in an array along the length direction of the anti-corrosion steel pipe 4. The center line of the second group of first structures is on the same straight line as the center line of the transverse vehicle 6. The first sensor 3 in the second group of first structures is used as the second sensor 5. The first sensor 3, the second sensor 5 and the roller table are electrically connected to a PLC system.

[0020] In this embodiment, the first preset distance is 10m.

[0021] Preferably, see Figure 3 The PLC system is used to control the running speed of the roller according to the length data of the anti-corrosion steel pipe 4 measured by the first sensor 3 and the second sensor 5, so that the center of the anti-corrosion steel pipe 4 is aligned with the center of the transverse vehicle 6.

[0022] Among them, see Figure 1 The center of the transverse shift vehicle 6 is shown by reference numeral 7.

[0023] Among them, "the first structures are arranged in two groups along the length direction of the anti-corrosion steel pipe 4, and the center line of the second group of first structures is on the same straight line as the center line of the transverse vehicle 6". In this embodiment, it can also be expressed as: the first structures are arranged in another group 10m to the right along the length direction of the anti-corrosion steel pipe 4.

[0024] In the present invention, the length range of the anti-corrosion steel pipe 4 is 8.5 to 18m. A first sensor 3, which is an image recognition sensor, is installed on the side of the conveyor roller in the centering area of ​​the roller conveyor, 10m away from the center line of the transverse vehicle 6. A second sensor 5, which is an image recognition sensor, is also installed on the side of the conveyor roller of the center line of the transverse vehicle 6. The detection distance of the two sensors is 50 to 750mm, and the diameter of the anti-corrosion steel pipe 4 varies from 508 to 2540mm. In order to meet the needs of changes in the diameter of the steel pipe, a sensor bracket 1 that is movable in the horizontal direction is designed, and the telescopic range is 0 to 400mm, which meets the requirements of the sensor's detection range and the range of changes in the pipe diameter. Through the image recognition processing function of the first sensor 3, the second sensor 5 and the controller, the image of the object within the field of view is captured at high speed. Through the reference comparison, the first sensor 3 intelligently identifies the head position of the moving steel pipe, and the timing starts at this time. When the first sensor 3 identifies the tail position of the steel pipe, the timing ends; At the same time, the timing time is transmitted to the PLC system, and the PLC system can calculate the length of the anti-corrosion steel pipe 4 according to the timing time and the linear running speed of the roller; the second sensor 5 starts timing when it intelligently identifies the pipe head position of the moving anti-corrosion steel pipe 4. When the PLC operation detects that the anti-corrosion steel pipe 4 passes the calculated length value of the second sensor 5, the roller motor inverter executes deceleration operation. After the centering is completed, the roller inverter stops running, completing the precise automatic centering action of the steel pipe.

[0025] Preferably, the PLC system includes a CPU module, a digital input and output module, a substation and a master station.

[0026] The digital quantity input and output module is used for input and output of control signals such as indicator lights.

[0027] The specific structure of "the transverse moving bracket 2 is configured on the sensor bracket 1 which can move along it" may be: a slider guide rail structure.

[0028] The device of the present invention also includes an electrical control module, which adopts the Profinet distributed master-slave control mode, with Siemens S7-1511 PLC as the master station, mainly completing signal acquisition, data processing and control of the actuator; the slave station is the Siemens G120 controller and the first sensor 3 and the second sensor 5, which mainly completes remote operation, roller motor control and sensor data reading.

[0029] The second embodiment of the present invention is shown in Figure 2 , provides a method for accurately centering an anti-corrosion steel pipe, based on an accurate centering device for an anti-corrosion steel pipe, the method comprises the following steps: Step S10, placing the anti-corrosion steel pipe 4 on the roller, and driving the roller to move forward at a first uniform speed through a driving mechanism; Step S20, obtaining the time when the first sensor 3 detects the pipe head position and the pipe tail position of the anti-corrosion steel pipe 4 respectively, as the first time and the second time respectively, and uploading them to the PLC system; Step S30, the PLC system calculates the length value of the anti-corrosion steel pipe 4 based on the first time, the second time and the first speed; Step S40, obtaining the time when the second sensor 5 detects the position of the head of the anti-corrosion steel pipe 4 as the third time, and calculating the interval between the third time and the time when the second sensor 5 detects that the anti-corrosion steel pipe 4 moves a first distance as the fourth time, and uploading it to the PLC system; wherein the first distance is calculated based on the length value; Step S50, after the anti-corrosion steel pipe 4 moves the first distance, the PLC system performs a deceleration movement at a second speed, and calculates the time for the roller to stop moving based on the fourth time and the first distance as the fifth time; when the roller stops moving, the center of the anti-corrosion steel pipe 4 is aligned with the center of the transverse vehicle 6.

[0030] Preferably, the length value L1 is obtained by: L1=T1×V1; Wherein, T1 is the difference between the second time and the first time; V1 is the first speed.

[0031] For Youzuan, the first distance L2 is obtained by: L2= T1×V1 / 2-L0; Wherein, L0 is a preset fixed value, which is the roller deceleration running distance, and is preferably 500 mm in this embodiment.

[0032] Preferably, the fourth time T2 is obtained by: T2 = (T1 × V1 / 2-L0) / V1.

[0033] Preferably, the fifth time T3 is obtained by: T3= T2+ L0 / V2; Wherein, V2 is the second speed.

[0034] Although the various steps in the above embodiment are described in the above-mentioned order, those skilled in the art can understand that in order to achieve the effect of this embodiment, different steps do not have to be executed in such an order. They can be executed simultaneously (in parallel) or in a reverse order. These simple changes are within the scope of protection of the present invention.

[0035] A third embodiment of the present invention provides a system for accurately centering an anti-corrosion steel pipe. Based on a method for accurately centering an anti-corrosion steel pipe, the system includes: A conveying module, configured to place the anti-corrosion steel pipe 4 on the roller conveyor, and drive the roller conveyor to move forward at a first uniform speed through a driving mechanism; A first transport time acquisition module is configured to acquire the time when the first sensor 3 detects the pipe head position and the pipe tail position of the anti-corrosion steel pipe 4 respectively, as the first time and the second time respectively, and upload them to the PLC system; A length calculation module, configured so that the PLC system calculates the length value of the anti-corrosion steel pipe 4 based on the first time, the second time and the first speed; A second transport time acquisition module is configured to acquire the time when the second sensor 5 detects the position of the head of the anti-corrosion steel pipe 4 as a third time, and calculate the interval between the third time and the time when the second sensor 5 detects that the anti-corrosion steel pipe 4 moves a first distance as a fourth time, and upload it to the PLC system; wherein the first distance is calculated based on the length value; The centering module is configured such that the PLC system performs a deceleration movement at a second speed after the anti-corrosion steel pipe 4 moves a first distance, and calculates the time for the roller to stop moving based on the fourth time and the first distance as the fifth time; when the roller stops moving, the center of the anti-corrosion steel pipe 4 is aligned with the center of the transverse vehicle 6.

[0036] Preferably, the first sensor 3 and the second sensor 5 obtain the pipe head and pipe tail positions of the anti-corrosion steel pipe 4 based on the master station in the PLC system; The PLC master station controls the speed of the roller table based on a frequency converter, and the model of the frequency converter includes a G120 frequency converter; the PLC master station is connected to the ET200SP substation.

[0037] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process and related instructions of the system described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0038] It should be noted that the above embodiment provides a method for precise centering of anti-corrosion steel pipes, which is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be decomposed or combined. For example, the modules in the above embodiments can be combined into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the modules or steps, and are not regarded as improper limitations on the present invention.

[0039] The terms "first", "second", etc. are used to distinguish similar objects rather than to describe or indicate a particular order or sequence.

[0040] The term "comprise" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus / device.

[0041] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A precise centering device for anti-corrosion steel pipes, used to automatically and accurately move the anti-corrosion steel pipe (4) from a roller conveyor to a designated position of a transverse transfer vehicle (6), characterized in that: The device comprises: a first sensor (3), a sensor bracket (1), a transverse support (2), and a PLC system; The first sensor (3) is arranged on the side of the roller conveyor and is at a first preset distance from the center line of the transverse transfer vehicle (6); the first sensor (3) is used to detect the position of the pipe head and the pipe tail of the anti-corrosion steel pipe (4); The first sensor (3) is fixed to the transverse moving bracket (2), the transverse moving bracket (2) is arranged on the sensor bracket (1) and moves along the sensor bracket (1), and the sensor bracket (1) is fixed to the ground; The first sensor (3), the sensor bracket (1), and the transverse moving bracket (2) constitute a first structure, and the first structure is arranged in two groups in an array along the length direction of the anti-corrosion steel pipe (4), and the center line of the second group of first structures is on the same straight line as the center line of the transverse moving vehicle (6); the first sensor (3) in the second group of first structures is used as the second sensor (5); The first sensor (3), the second sensor (5) and the roller conveyor are electrically connected to a PLC system.

2. The anti-corrosion steel pipe precision centering device according to claim 1, characterized in that: The PLC system is used to control the running speed of the roller according to the length data of the anti-corrosion steel pipe (4) measured by the first sensor (3) and the second sensor (5), so as to align the center of the anti-corrosion steel pipe (4) with the center of the transverse vehicle (6).

3. The anti-corrosion steel pipe precision centering system according to claim 2, characterized in that: The PLC system includes a CPU module, a digital quantity input and output module, a substation and a main station.

4. A method for accurately centering an anti-corrosion steel pipe, characterized in that: Based on the anti-corrosion steel pipe precision centering device according to any one of claims 1 to 3, the method comprises the following steps: Step S10, placing the anti-corrosion steel pipe (4) on the roller, and driving the roller to move forward at a first uniform speed through a driving mechanism; Step S20, obtaining the time when the first sensor (3) detects the pipe head position and the pipe tail position of the anti-corrosion steel pipe (4), respectively, as the first time and the second time, and uploading them to the PLC system; Step S30, the PLC system calculates the length value of the anti-corrosion steel pipe (4) based on the first time, the second time and the first speed; Step S40, obtaining the time when the second sensor (5) detects the position of the head of the anti-corrosion steel pipe (4) as the third time, and calculating the interval between the third time and the time when the second sensor (5) detects that the anti-corrosion steel pipe (4) has moved a first distance as the fourth time, and uploading it to the PLC system; wherein the first distance is calculated based on the length value; Step S50, after the anti-corrosion steel pipe (4) moves the first distance, the PLC system performs a deceleration movement at a second speed, and calculates the time for the roller to stop moving based on the fourth time and the first distance as the fifth time; when the roller stops moving, the center of the anti-corrosion steel pipe (4) is aligned with the center of the transverse vehicle (6).

5. The method for accurately centering an anti-corrosion steel pipe according to claim 4, characterized in that: The length value L1 is obtained by: L1=T1×V1; Wherein, T1 is the difference between the second time and the first time; V1 is the first speed.

6. The method for accurately centering an anti-corrosion steel pipe according to claim 5, characterized in that: The first distance L2 is obtained by: L2 = T1 × V1 / 2 - L0; Wherein, L0 is a preset fixed value, which is the roller deceleration running distance.

7. The method for accurately centering an anti-corrosion steel pipe according to claim 6, characterized in that: The fourth time T2 is obtained by: T2 = (T1×V1 / 2-L0) / V1.

8. The method for accurately centering an anti-corrosion steel pipe according to claim 7, characterized in that: The fifth time T3 is obtained by: T3=T2+L0 / V2; Wherein, V2 is the second speed.

9. A precise centering system for anti-corrosion steel pipes, characterized in that: Based on a method for accurately centering an anti-corrosion steel pipe according to any one of claims 4 to 8, the system comprises: A conveying module, configured to place the anti-corrosion steel pipe (4) on the roller conveyor and drive the roller conveyor to move forward at a first uniform speed through a driving mechanism; A first transport time acquisition module, configured to acquire the time when the first sensor (3) detects the pipe head position and the pipe tail position of the anti-corrosion steel pipe (4), respectively, as a first time and a second time, and upload them to the PLC system; A length calculation module, configured so that the PLC system calculates the length value of the anti-corrosion steel pipe (4) based on the first time, the second time and the first speed; a second transport time acquisition module, configured to acquire the time when the second sensor (5) detects the position of the head of the anti-corrosion steel pipe (4) as a third time, and calculate the interval between the third time and the time when the second sensor (5) detects that the anti-corrosion steel pipe (4) has moved a first distance as a fourth time, and upload it to the PLC system; wherein the first distance is calculated based on the length value; The centering module is configured such that the PLC system performs a deceleration movement at a second speed after the anti-corrosion steel pipe (4) moves a first distance, and calculates the time for the roller to stop moving based on the fourth time and the first distance as the fifth time; when the roller stops moving, the center of the anti-corrosion steel pipe (4) is aligned with the center of the transverse vehicle (6).

10. The anti-corrosion steel pipe precision centering system according to claim 9, characterized in that: The first sensor (3) and the second sensor (5) acquire the pipe head and pipe tail positions of the anti-corrosion steel pipe (4) based on the master station in the PLC system; The PLC master station controls the speed of the roller table based on a frequency converter, and the model of the frequency converter includes a G120 frequency converter.

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