Steel pipe conveying equipment and method capable of achieving self-adaptive adjustment according to steel pipe weight

Abstract

The invention relates to steel pipe conveying equipment and method capable of achieving self-adaptive adjustment according to the weight of a steel pipe. The method comprises the steps that a rotating baffle inclination angle mapping strategy and a release angular velocity mapping strategy are preset; collecting steel pipe rolling speed and steel pipe weight reference parameters; two parameters are combined to control the rotating baffle to rotate to a target inclination angle and release angular velocity to prolong the contact time of the steel pipe and dissipate the kinetic energy of the steel pipe; and after station switching is completed, the baffle is reset synchronously. Adaptive adjustment is achieved by combining the reference parameters of the steel pipes, stable, accurate and continuous conveying of the steel pipes is achieved by combining the multi-baffle synchronous control design, the equipment loss and the steel pipe damage risk are reduced, the conveying efficiency and the equipment universality are improved, the production stability and the product quality of thermal insulation pipes are guaranteed, and the production cost is reduced. The device is suitable for steel pipe conveying scenes for heat preservation pipe preparation.

Description

Technical Field

[0001] This invention relates to the field of insulation pipe sleeve processing technology, specifically to a steel pipe conveying equipment and method that adaptively adjusts according to the weight of the steel pipe. Background Technology

[0002] As a core component in centralized heating, oil and gas transportation, the structural stability and insulation performance of insulated pipes directly determine energy transmission efficiency and pipeline lifespan. Currently, the widely used insulated pipes in engineering projects mostly adopt a composite structure of outer protective pipe, insulation layer, and base pipe. The base pipe is typically made of high-strength steel to ensure pressure resistance during transmission, while the outer protective pipe is made of corrosion-resistant and wear-resistant polyethylene. Rigid foam is filled between the two pipes to form an insulation layer, creating a composite pipe that combines mechanical support and thermal insulation.

[0003] To meet the continuous conveying needs of steel pipes of different specifications, the industry generally adopts an inclined conveyor system based on the self-weight of the steel pipes. This system sets the conveyor frame at an inclination angle of 3° to 8°, allowing the steel pipes to roll forward along the length of the conveyor frame by their own weight, without the need for additional power drive. It has the advantages of simple structure, low energy consumption and convenient maintenance.

[0004] However, in actual production applications, it has been found that when steel pipes of different weights roll on the inclined conveyor, the impact force generated when they come into contact with the rotating baffle varies in magnitude. The impact force of the heavy steel pipe can be 5 to 10 times that of the light steel pipe. This unbalanced impact load acts directly on the rotating baffle and the components connected to it.

[0005] This impact problem leads to a series of consequences, specifically: the baffle body is prone to deformation and cracking due to impact, thus increasing equipment maintenance costs; the connection between the baffle and the conveyor frame is prone to loosening and stripping due to impact, and even the drive components used to drive the baffle rotation may be damaged due to impact. To solve this impact problem, existing technologies often use increasing the thickness of the baffle, but this method still does not solve the problem of steel pipe impacting the baffle. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the present invention aims to provide a steel pipe conveying device and method that adaptively adjusts based on the weight of the steel pipe. This is intended to address the problem of significant impact damage to the rotating baffle caused by steel pipes of varying weights during the inclined conveying process in the fabrication of insulated pipes. By collecting two parameters—the rolling speed and weight of the steel pipe—the inclination angle and angular velocity of the rotating baffle are adjusted. Combined with a design that synchronously controls multiple rotating baffles, this achieves stable, precise, and continuous conveying of the steel pipe. Ultimately, this reduces equipment wear and the risk of steel pipe damage, improves conveying efficiency and equipment versatility, and ensures the stability of insulated pipe production and product quality.

[0007] This invention provides a steel pipe conveying method that adaptively adjusts according to the weight of the steel pipe. The method is characterized by the application of a steel pipe conveying device equipped with an inclined conveying frame, the inclined conveying frame being fitted with a rotating baffle. The steel pipe conveying method includes: The parameter initialization steps before conveying include preset rotation baffle tilt angle mapping strategy and rotation baffle angular velocity mapping strategy based on the weight change of the steel pipe. The steps for collecting the reference parameters of the steel pipe are as follows: collect the weight of the steel pipe at the high end of the inclined conveyor frame; and obtain the rolling speed of the steel pipe at the high end of the inclined conveyor frame near the second rotating baffle. In the pre-positioning step of rotating baffle, the collected weight of the steel pipe is substituted into the rotating baffle tilt angle mapping strategy to calculate the target tilt angle of the rotating baffle, and the rotating baffle is rotated to the target tilt angle; This step involves matching the target tilt angle according to the weight of the steel pipe, using the tilt angle of the baffle to change the direction of the force on the steel pipe during collision, decomposing the kinetic energy through the tilted contact surface, reducing the impact load of the steel pipe on the rotating baffle, and extending the service life of the rotating baffle and the hydraulic cylinder. In the baffle release step, the weight of the steel pipe is substituted into the baffle angular velocity mapping strategy to obtain the release angular velocity of the baffle, and the baffle releases the steel pipe according to the release angular velocity. This step involves controlling the rotating baffle to rotate at an appropriate release angular velocity based on the weight of the steel pipe. By extending the contact time between the steel pipe and the rotating baffle, the kinetic energy of the steel pipe is dissipated through friction, thus achieving a smooth release. Multi-station switching and reset steps: When the rotating baffle completes the release of the steel pipe, the steel pipe rolls along the inclined conveyor frame, and the rotating baffle resets to the target inclination angle. The steel pipes are switched in an orderly manner between each station, and the rotating baffle is reset to the target inclination angle to prepare for the blocking of the next steel pipe, forming a continuous conveying closed loop.

[0008] Furthermore, the tilt angle mapping strategy of the rotating baffle is specifically as follows: The target inclination angle is calculated based on the mapping formula between the weight of the steel pipe and the target inclination angle. The obtained target tilt angle is compared with the preset first maximum threshold and the preset first minimum threshold respectively. If the target tilt angle is higher than the preset first maximum threshold, the preset first maximum threshold is used as the target tilt angle; if the target tilt angle is lower than the preset first minimum threshold, the preset first minimum threshold is used as the target tilt angle.

[0009] According to the above technical solution, by controlling the tilt angle based on the weight of the steel pipe and clarifying the boundary value of the tilt angle, the extreme situations of losing the blocking function due to an excessively small tilt angle and still having a large impact due to an excessively large tilt angle are avoided, thus ensuring the safety of equipment operation.

[0010] Furthermore, the angular velocity mapping strategy for the rotating baffle is specifically as follows: The release angular velocity is obtained through a mapping formula between the weight of the steel pipe and the release angular velocity; The calculated release angular velocity is compared with the preset second highest threshold and the preset second lowest threshold respectively. If the release angular velocity is higher than the preset second highest threshold, the preset second highest threshold is used as the release angular velocity; if the release angular velocity is lower than the preset second lowest threshold, the preset second lowest threshold is used as the release angular velocity.

[0011] The appropriate release angular velocity is determined based on the weight of the steel pipe, which prolongs the contact time between the steel pipe and the baffle, dissipates kinetic energy, and clarifies the boundary value of the angular velocity. This avoids the problem of the steel pipe accumulating due to the excessively high angular velocity, which would result in too short a contact time between the steel pipe and the baffle and a sudden increase in impact load, and also avoids the problem of the steel pipe accumulating due to the excessively low angular velocity, which would affect production efficiency.

[0012] Furthermore, the steel pipe conveying method also includes a verification and adjustment step, which specifically includes: The rolling speed of the steel pipe is compared with the preset qualified speed. If the rolling speed of the steel pipe does not exceed the preset qualified speed, the target tilt angle and release angular velocity are output. If the rolling speed of the steel pipe is higher than the preset qualified speed, the difference between the rolling speed of the steel pipe and the preset qualified speed is used to obtain the compensation tilt angle and compensation angular velocity through the correction model. The corrected tilt angle is obtained by summing the compensated tilt angle and the target tilt angle, and then compared with the preset first maximum threshold. If the corrected tilt angle is higher than the preset first maximum threshold, the preset first maximum threshold is used as the corrected tilt angle. The corrected angular velocity is obtained by summing the compensated angular velocity and the release angular velocity. The corrected angular velocity is then compared with a preset second minimum threshold. If the corrected angular velocity is lower than the preset second minimum threshold, the preset second minimum threshold is used as the corrected angular velocity. The corrected tilt angle and corrected angular velocity are output as the target tilt angle and release angular velocity.

[0013] The above technical solution improves the reliability of conveying regulation by detecting whether the running speed of the steel pipe after passing the first rotating baffle is qualified and determining whether to correct the tilt angle and angular velocity of the rotating baffle.

[0014] The present invention also provides a conveying device for a steel pipe conveying method that adaptively adjusts according to the weight of the steel pipe. The steel pipe conveying device includes an inclined conveying frame and a path interval control component. The inclined conveying frame has an inclined structure, and a first detection unit is arranged at the inclined conveying frame. The first detection unit is used to obtain the weight of the steel pipe. The inclined conveyor is equipped with a path interval control component, which is used to control the segmented rolling of the steel pipe. The path interval control component includes an interval control cylinder and multiple sets of path intervals. The multiple sets of path intervals are evenly distributed along the length of the inclined conveyor. Each path interval includes a rotating baffle and a buffer wheel. The middle position of the rotating baffle is fixed on a first connecting shaft, which is mounted on the inclined conveyor via bearings. A buffer wheel is rotatably mounted at the upper tail end of the rotating baffle. The lower tail end of each rotating baffle is mounted on a synchronizing element via a second connecting shaft. The synchronizing element is connected to the piston rod end of the interval control cylinder, and the interval control cylinder drives all rotating baffles to run synchronously. A second detection unit is installed on the inclined conveyor frame near the second rotating baffle. The second detection unit is used to obtain the rolling speed of the steel pipe. The rotating baffle controls the target tilt angle and release angular velocity of the rotating baffle according to the preset rotating baffle tilt angle mapping strategy and rotating baffle angular velocity mapping strategy.

[0015] The steel pipe is conveyed by rolling under its own weight using an inclined conveyor frame. The conveying path is divided into several segments by multiple sets of path spacing components, which shortens the rolling distance of the steel pipe and reduces the accumulation space of rolling deviation. Furthermore, the path spacing parts are driven synchronously by the same hydraulic cylinder, simplifying the transmission structure.

[0016] Furthermore, the first detection unit is a weighing sensor, which is installed in the bearing surface at the high end of the inclined conveyor frame; The second detection unit is a roller speed sensor, which is mounted on the side of the inclined conveyor frame via a mounting bracket.

[0017] Furthermore, the synchronizing element includes a connector and a synchronizing rod. The interval control cylinder is mounted on a hinged seat via a third connecting shaft. The hinged seat is fixed to the high end of the inclined conveyor frame. The piston rod end of the interval control cylinder is hinged to the adjacent connector. Two adjacent connectors are connected by a synchronizing rod.

[0018] Furthermore, a feeding baffle is installed at the lower end of the inclined conveyor frame. The feeding baffle is hinged to the telescopic end of the feeding cylinder. The feeding cylinder is hinged to the inclined conveyor frame via a hinge joint. The feeding baffle is rotatably mounted on the inclined conveyor frame via a support shaft, and the feeding baffle is located between two sets of side plates of the inclined conveyor frame.

[0019] The feeding rhythm of steel pipes is controlled by the feeding baffle to prevent the steel pipes from being piled up and sent onto the processing table.

[0020] The beneficial effects of this invention are: The conveying method designed in this invention matches the tilt angle and release angular velocity of the rotating baffle according to the weight of the steel pipe. The tilt angle is used to tilt the contact surface to decompose the impact load of the steel pipe on the rotating baffle, thereby extending the service life of the rotating baffle and the hydraulic cylinder. Furthermore, the release angular velocity of the rotating baffle enables the release of steel pipes of different weights. During the release process, the contact time between the steel pipe and the rotating baffle is increased, and the kinetic energy of the steel pipe is dissipated by friction to achieve a smooth and buffered release. This conveying method is adaptable to the continuous conveying needs of steel pipes of different weights, improving the versatility of the equipment and the continuity of conveying. The conveying equipment designed in this invention divides the steel pipe conveying path into several segments through multiple sets of rotating baffles, thereby shortening the rolling distance of the steel pipe and reducing the accumulation space of rolling deviation. Furthermore, all rotating baffles are driven by the same hydraulic cylinder to operate synchronously, which not only simplifies the transmission structure but also ensures that the distance between adjacent workstations is consistent, avoiding collisions and jamming of the steel pipes during the conveying process. Attached Figure Description

[0021] Figure 1 This is a front view schematic diagram of a steel pipe conveying device according to a method for adaptively adjusting the weight of the steel pipe according to the present invention.

[0022] Figure 2 This is a structural diagram of a conveying device for a steel pipe conveying method that adaptively adjusts according to the weight of the steel pipe according to the present invention.

[0023] Figure 3 This is a top view schematic diagram of a steel pipe conveying device according to a method for adaptively adjusting the weight of the steel pipe according to the present invention.

[0024] Figure 4 This is a side view schematic diagram of a conveying device for a steel pipe conveying method that adaptively adjusts according to the weight of the steel pipe according to the present invention.

[0025] Figure 5 This is a schematic flowchart of a steel pipe conveying method that adaptively adjusts according to the weight of the steel pipe according to the present invention.

[0026] The attached figures are labeled as follows: 1. Inclined conveyor frame; 11. Auxiliary support frame; 2. Path interval control assembly; 21. Interval control cylinder; 213. Third connecting shaft; 214. Hinge seat; 22. Path interval section; 221. Rotating baffle; 222. Buffer wheel; 223. First connecting shaft; 224. Second connecting shaft; 31. Roller speed sensor; 32. Weighing sensor; 4. Synchronizing component; 41. Connecting component; 42. Synchronizing rod; 5. Feeding baffle; 51. Feeding cylinder; 52. Support shaft; 6. Side plate; 7. Anti-reverse roll assembly; 71. Rotating frame; 72. Stop block; 73. Roller; 74. Gravity block. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] It should be noted that when a component is described as "fixed to" another component, it can be directly on the other component or may have a component in between. When a component is considered "connected to" another component, it can be directly connected to the other component or may have a component in between. When a component is considered "set on" another component, it can be directly set on the other component or may have a component in between. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0030] In one embodiment of the present invention, such as Figures 1 to 4 As shown, the present invention provides a steel pipe conveying device that adaptively adjusts according to the weight of the steel pipe. The device includes an inclined conveying frame 1 and a path interval control component 2. The inclined conveying frame 1 has an inclined structure, so that the steel pipe is conveyed by rolling under its own weight. The inclined conveyor frame 1 is equipped with a path interval control component 2. The path interval control component 2 is used to control the segmented rolling of the steel pipe. The path interval control component 2 includes an interval control cylinder 21 and multiple sets of path intervals 22. The multiple sets of path intervals 22 are evenly distributed along the length direction of the inclined conveyor frame 1, and the interval control cylinder 21 is connected to all the path intervals 22 to drive all the path intervals 22 to run synchronously. The steel pipe conveying path on the inclined conveyor frame 1 is divided into several segments by the multiple sets of path intervals 22, so that the rolling distance of each segment of the steel pipe is shortened, thereby reducing the accumulation space of rolling deviation and reducing the steel pipe conveying deviation. A first detection unit is installed at the high end of the inclined conveyor 1. The first detection unit is used to monitor the weight of the steel pipe. A second detection unit is installed on the inclined conveyor 1 near the second rotating baffle 221. The second detection unit is used to obtain the rolling speed of the steel pipe. The rotating baffle 221 controls the target tilt angle and release angular velocity of the rotating baffle according to the preset rotating baffle tilt angle mapping strategy and rotating baffle angular velocity mapping strategy.

[0031] Specifically, in one embodiment of this application, the first detection unit uses a weighing sensor 32, specifically a strain gauge type weighing sensor. The weighing sensor 32 is installed on the bearing surface at the high end of the inclined conveyor frame 1. After the steel pipe is placed on the bearing surface of the inclined conveyor frame 1, the pressure generated by the weight of the steel pipe is converted into an electrical signal. After being processed by a signal amplifier, the signal is transmitted to the control system, which calculates the weight of the steel pipe. The second detection unit uses a roller speed sensor 31. The roller speed sensor 31 is installed on the side of the inclined conveyor frame 1 through a mounting bracket. It collects the rolling speed of the steel pipe. The speed measuring roller in the roller speed sensor 32 contacts the steel pipe during rolling. When the steel pipe rolls, it drives the speed measuring roller to rotate synchronously. The incremental encoder inside the sensor converts the mechanical rotation of the roller into an electrical pulse signal. The control system calculates the rolling speed of the steel pipe by calculating the pulse frequency. It should be noted that both the roller speed sensor 31 and the weighing sensor 32 are readily available commercial equipment. Therefore, the specific structure and detection principle of the sensors will not be described in detail.

[0032] like Figure 2 As shown, the path interval section 22 includes a rotating baffle 221 and a buffer wheel 222. The rotating baffle 221 is configured in a dovetail shape. The middle position of the rotating baffle 221 is fixed on the first connecting shaft 223. The first connecting shaft 223 is mounted on the inclined conveyor frame 1 through a bearing. The buffer wheel 222 is rotatably installed at the upper tail end of the rotating baffle 221. The lower tail end of each rotating baffle 221 is mounted on the synchronizing member 4 through the second connecting shaft 224. The synchronizing member 4 is connected to the piston rod end of the interval control cylinder 21. The synchronizing member 4 includes a connecting member 41 and a synchronizing rod 42. The interval control cylinder 21 is mounted on the hinge seat 214 through the third connecting shaft 213. The hinge seat 214 is fixed on the high end side of the inclined conveyor frame 1. The piston rod end of the interval control cylinder 21 is hinged to the adjacent connecting member 41. The two adjacent connecting members 41 are connected by the synchronizing rod 42.

[0033] When the piston rod end of the interval control cylinder 21 extends and retracts, the first connecting piece 41 connected to it moves accordingly. The synchronizing rod 42 drives all the other connecting pieces 41 to move synchronously, thereby controlling all rotating baffles 221 to run synchronously, simplifying the transmission structure, and ensuring that the spacing between adjacent workstations separated by the rotating baffles 221 is consistent, avoiding collisions and jamming of steel pipes during transportation.

[0034] like Figure 4 As shown in the side view, a feeding baffle 5 is installed at the lower end of the inclined conveyor frame 1. The feeding baffle 5 is rotatably mounted on the inclined conveyor frame 1 via a support shaft 52, and is located between the two sets of side plates 6 of the inclined conveyor frame 1. The lower end of the feeding baffle 5 is hinged to the telescopic end of the feeding cylinder 51, which is also hinged to the inclined conveyor frame 1 via a hinge joint. After the steel pipe passes the last rotating baffle, it is released and rolled to the feeding baffle 5, where it comes into contact. The feeding cylinder 51 controls the feeding baffle 5 to rotate until it is close to the conveying surface of the inclined conveyor frame 1, thus releasing the steel pipe and moving it to the processing table. This controls the feeding rhythm of the steel pipe and prevents the steel pipes from piling up on the processing table.

[0035] In addition, such as Figure 3 As shown in the top view, each blocking station on the inclined conveyor frame 1 is also equipped with an anti-reverse rolling assembly 7 to prevent the steel pipe from moving in the opposite direction. The anti-reverse rolling assembly 7 is installed on the auxiliary support frame 11, which is fixedly set between the two sets of side plates 6 on the inclined conveyor frame 1. The top surface of the auxiliary support frame 11 is flush with the conveying surface of the inclined conveyor frame 1. Therefore, both can play the role of supporting and conveying the steel pipe. This design is also to facilitate the modular installation operation during the production of the device. For example, the anti-reverse rolling assembly 7 can be installed on the auxiliary support frame 11 first, and then the assembled module can be fixedly installed on the inclined conveyor frame 1.

[0036] The anti-reverse roll assembly 7 includes a rotating frame 71 and a stop block 72. The two ends of the rotating frame 71 are rotatably connected to the auxiliary support frame 11 via connecting shafts, and the upper end of the rotating frame 71 is higher than the top surface of the auxiliary support frame 11. The stop block 72 is located on the rear side of the lower end of the rotating frame 71 and close to the rotating frame 71. The stop block 72 restricts the rotating frame 71 to rotate only in the direction of the steel pipe's rolling, so as to prevent the steel pipe from rolling backward. The rotating frame 71 also includes a roller 73 and a gravity block 74. The upper end of the rotating frame 71 is equipped with a roller 73, and the lower end is fixedly equipped with a gravity block 74. The roller 73 is used to reduce the friction of the steel pipe passing through the rotating frame 71, and the arc-shaped contact surface of the roller 73 can be adapted to the outer circle of the steel pipe to disperse the contact pressure and reduce the risk of physical damage such as pits and deformation on the surface of the steel pipe. The gravity block 74 is used to make the rotating frame 71 automatically reset under the influence of gravity after rotation, so that the rotating frame 71 remains vertical under normal conditions.

[0037] When the steel pipe rolls toward the pass-through platform, the roller 73 on the rotating frame 71 contacts the steel pipe and is affected by the force of the steel pipe, causing the rotating frame 71 to rotate accordingly, thus allowing the steel pipe to roll downhill. However, due to the design of the stop block 72, the rotating frame 71 cannot rotate in the opposite direction to prevent the steel pipe from running in reverse and colliding with other steel pipes. In addition, in conjunction with the path interval control component 2, a segmented interception and one-way release coordination mechanism can be formed to better avoid mutual interference between steel pipes after the path is segmented.

[0038] like Figure 5 As shown, in one embodiment of the present invention, based on the above-mentioned steel pipe conveying equipment, the present invention also provides a steel pipe conveying method that adaptively adjusts according to the weight of the steel pipe. The specific content of the method is as follows: The parameter initialization steps before conveying include preset mapping strategies for the tilt angle and angular velocity of the rotating baffle, based on the weight variation of the steel pipe. Among them, the rotation baffle tilt angle mapping strategy is the relationship between the target tilt angle of the rotation baffle 221 and the conveying surface of the inclined conveyor frame 1 and the weight of the steel pipe. The formula for mapping the weight of the steel pipe to the target inclination angle is obtained by ensuring that the impact force of the steel pipe on the rotating baffle 221 does not exceed the tolerance threshold. Therefore, the impact force borne by the rotating baffle is Calculate the angle of inclination between the rotating baffle and the conveying surface of the inclined conveyor frame 1 under the given conditions. , Target tilt angle of rotating baffle The mapping formula between the weight m of the steel pipe and the weight m is:

[0039] in, The impact force that the rotating baffle is designed to withstand is a fixed value; t is the contact duration between the steel pipe and the rotating baffle, which is also a fixed value. The weight of the steel pipe is the value obtained through a weighing sensor. The acceleration due to gravity is taken as 9.8 m / s². The rolling distance of the steel pipe from the release point to the rotating baffle is a fixed value. The angle between the inclined conveyor and the horizontal plane is a fixed value.

[0040] The target tilt angle of the rotating baffle 221 can be calculated by substituting the collected weight of the steel pipe into the mapping formula. The target tilt angle of the rotating baffle 221 is set within a certain range. The obtained target tilt angle is compared with the preset first maximum threshold and the preset first minimum threshold respectively. If the target tilt angle is higher than the preset first maximum threshold, the preset first maximum threshold is used as the target tilt angle; if the target tilt angle is lower than the preset first minimum threshold, the preset first minimum threshold is used as the target tilt angle.

[0041] For example, the target tilt angle is set within the range of 15° to 75°. After obtaining the weight of the steel pipe, the target tilt angle is calculated using the mapping formula and is within the preset range. Then, the calculated tilt angle is taken as the target tilt angle. If the calculated dip angle is less than 15°, then 15° will be used as the target dip angle; if the calculated dip angle is greater than 75°, then 75° will be used as the target dip angle. Clearly define the boundary value of the target tilt angle of the rotating baffle 221 to avoid the extreme situation where the tilt angle is too small and the blocking function is lost, or the tilt angle is too large and there is still a large impact, thus ensuring the safety of equipment operation. The kinetic energy of the low-speed steel pipe is very small, and a larger tilt angle can ensure that the steel pipe is stably blocked and will not cause impact damage.

[0042] The angular velocity mapping strategy for the rotating baffle is specifically the relationship between the angular velocity of the rotating baffle 221 when releasing the steel pipe and the weight of the steel pipe. The mapping formula between the weight of the steel pipe and the release angular velocity of the rotating baffle 221 is based on the principle of energy dissipation. The kinetic energy of the steel pipe needs to be dissipated through contact with the rotating baffle 221, and the impact load of the rotating baffle 221 is constrained to a threshold value. The weight of the steel pipe is derived. Release angular velocity with rotating baffle The mapping formula is:

[0043] in, To release angular velocity, The impact force that the rotating baffle is designed to withstand is a fixed value. These are calibration coefficients used to ensure uniformity of units in the formulas; ρ is the weight of the steel pipe, obtained through a weighing sensor; g is the acceleration due to gravity, taken as 9.8 m / s². The rolling distance of the steel pipe from the release point to the rotating baffle is a fixed value. The angle between the inclined conveyor frame and the horizontal plane is a fixed value. The released angular velocity is calculated by substituting the collected weight of the steel pipe into the mapping formula with the release angular velocity. The calculated release angular velocity is compared with the preset second highest threshold and the preset second lowest threshold respectively. If the calculated release angular velocity is within the preset range, the calculated release angular velocity is output. If the release angular velocity is higher than the preset second highest threshold, the preset second highest threshold is used as the release angular velocity. If the release angular velocity is lower than the preset second lowest threshold, the preset second lowest threshold is used as the release angular velocity.

[0044] For example, the range of the release angular velocity can be set from 0.005 rad / s to 0.1 rad / s. If the calculated angular velocity is within this range, the calculated release angular velocity will be output. If the calculated angular velocity is less than 0.005 rad / s, then 0.005 rad / s will be set as the release angular velocity to prevent the steel pipe from accumulating due to an excessively small angular velocity. If the calculated angular velocity is greater than 0.1 rad / s, then 0.1 rad / s will be set as the release angular velocity to prevent the impact load from suddenly increasing due to an excessively large angular velocity.

[0045] The release angular velocity is determined based on the weight of the steel pipe to extend the contact time between the steel pipe and the baffle, thereby dissipating kinetic energy. The boundary value of the angular velocity is also clearly defined to avoid the problem that the contact time between the steel pipe and the baffle is too short and the impact load increases suddenly due to the angular velocity being too high, and to avoid the problem that the steel pipe will accumulate due to the angular velocity being too slow, thus affecting the production efficiency.

[0046] In the steel pipe reference parameter acquisition step, a weighing sensor 32 is installed at the highest end of the inclined conveyor frame 1 to collect the weight parameters of the steel pipe; in the second barrier station formed by the inclined conveyor frame 1 along the conveying direction, a roller speed sensor 31 is installed near the second rotating baffle 221 to collect the speed parameters when the steel pipe is about to reach the second rotating baffle 221. The speed parameters are used to verify the adjustment steps.

[0047] For steel pipes of the same specifications in the same batch, the weight parameters and movement speed parameters of the first steel pipe can be collected to complete the initial adjustment of the steel pipe conveying equipment. Subsequently, after conveying a set number of steel pipes at each interval, the parameters can be rechecked and calibrated to ensure the adjustment accuracy.

[0048] In the pre-positioning step of the rotating baffle, the collected steel pipe weight parameters are substituted into the rotating baffle tilt angle mapping strategy to obtain the target tilt angle of the rotating baffle. The interval control cylinder 21 in the steel pipe conveying equipment calculates the target extension distance of the interval control cylinder 21 according to the conversion formula between the target tilt angle and the extension length. The interval control cylinder 21 drives all rotating baffles 221 to rotate clockwise synchronously until the rotating baffle 221 is higher than the conveying surface of the inclined conveyor frame 1 and the angle between the rotating baffle and the conveying surface reaches the target tilt angle. A blocking station with consistent structure is formed between adjacent rotating baffles 221. This step requires establishing a geometric model of the target tilt angle of the rotating baffle 221 and the extension length of the hydraulic cylinder. The extension and retraction of the hydraulic cylinder piston rod is derived by changing the angle of the rotating baffle. The formula for this model is: , Where L is the actual extension length of the hydraulic cylinder used for interval control; The initial stroke of the hydraulic cylinder for interval control when the rotating baffle is flush with the conveying surface of the inclined conveyor frame is the extension length of the piston rod when the rotating baffle is in a horizontal state. This parameter is determined by actual measurement during equipment installation. a is the horizontal distance from the first connecting shaft to the hinge point at the cylinder end of the hydraulic cylinder for interval control. This is a fixed structural parameter determined by the installation position of the hydraulic cylinder for interval control and the rotating baffle. b is the vertical distance from the first connecting shaft to the hinge point at the piston rod end of the hydraulic cylinder for interval control. This is also a fixed structural parameter determined by the installation position dimensions. In the model The vertical displacement at the hinge point of the piston rod end of the hydraulic cylinder 21 for interval control, and its relationship with the target tilt angle, are expressed by the following formula: , Where R is the distance from the first connecting shaft to the connection point between the rotating baffle and the connecting piece, which is a fixed parameter determined by the structural dimensions of the rotating baffle and the connecting piece; The angle between the inclined conveyor and the horizontal plane is a fixed value.

[0049] It should be noted that the parameters in the above formula... a, b, R and All parameters are fixed and determined by actual measurements after the conveying equipment is installed.

[0050] After the calculation of the extension length of the interval control cylinder 21 is completed, the interval control cylinder 21 drives all rotating baffles 221 to rotate synchronously clockwise. This action is achieved by the extension of the cylinder piston rod. The driving force is transmitted to the connecting piece 41 and the synchronizing rod 42 in sequence, and finally drives all rotating baffles 221 to rotate around the first connecting shaft 223 until the rotating baffles 221 are higher than the conveying surface of the inclined conveyor frame 1 and the angle between them and the conveying surface precisely reaches the target tilt angle. At this time, a blocking station with the same structure is formed between adjacent rotating baffles 221.

[0051] In the rotating baffle release step, when the first steel pipe rolls along the inclined conveyor frame 1 and comes into contact with the initial rotating baffle 221, the release angular velocity of the rotating baffle 221 is calculated based on the collected weight of the steel pipe using a formula that maps to the release angular velocity. The release angular velocity is then used to calculate the extension and retraction speed of the piston end of the interval control cylinder 21 using a formula that converts the release angular velocity to the extension and retraction speed of the piston end of the hydraulic cylinder. The interval control cylinder 21 drives all rotating baffles 221 to rotate counterclockwise synchronously at the release angular velocity. This process is achieved by the slow retraction of the hydraulic cylinder piston rod, causing the rotating baffles 221 to gradually move toward the conveying surface of the inclined conveyor frame 1. During this process, the steel pipe always remains in contact with the rotating baffle 221. Kinetic energy is gradually dissipated through rolling friction and sliding friction of the contact surface. The core purpose of extending the contact time is to avoid the transfer of kinetic energy in the form of instantaneous impact, thereby protecting the surface of the steel pipe and the equipment components. The formula for converting the release angular velocity and the extension / retraction speed of the cylinder piston end in this step is based on the fact that when the rotating baffle 221 rotates around the first connecting shaft 223, the component of the linear velocity of the second connecting shaft 224 along the synchronizing member is equal to the extension / retraction speed of the cylinder piston end. The conversion formula is as follows:

[0052] in, To control the extension and retraction speed of the piston end of the hydraulic cylinder at intervals, To release angular velocity by rotating the baffle; The distance between the first connecting shaft and the second connecting shaft on the rotating baffle is a fixed value; The angle between the synchronizing element and the rotating baffle; The angle between the rotating baffle and the vertical direction; After calculating the target tilt angle between the rotating baffle 221 and the inclined conveyor 1 and the angle between the inclined conveyor frame 1 and the horizontal plane. Then, using geometric relationships, it was derived that... The angle between the rotating baffle and the vertical direction =90°- - , The angle between the synchronizing element and the rotating baffle =2 + -90° The derived and Substituting into the conversion formula, we get: .

[0053] in, The angle between the inclined conveyor frame and the horizontal plane is a fixed value. To rotate the baffle to the target tilt angle; The multi-station switching and reset process involves the rotating baffle 221 rotating in a direction aligned with the conveying surface of the inclined conveyor frame 1 under the control of the interval control cylinder 21. The steel pipes in each blocking station then roll synchronously along the inclined conveyor frame 1 to the next blocking station. At this point, the steel pipe at the initial end of the inclined conveyor frame 1 enters the second blocking station, and subsequent steel pipes move forward sequentially to ensure conveying order. Furthermore, after the steel pipe enters the subsequent blocking station and begins rolling, a command is immediately sent to the interval control cylinder 21 to drive all rotating baffles 221 to rotate synchronously clockwise, quickly restoring the previously calculated target tilt angle. The entire reset process must be completed before the steel pipe reaches the next blocking station to ensure that the baffle is in a stable blocking state when the steel pipe arrives, preventing the steel pipe from becoming uncontrollable.

[0054] The steel pipe conveying method also includes a verification and adjustment step, which specifically includes: By collecting the rolling speed of the steel pipe from the roller speed sensor 31 and comparing it with the preset qualified speed, if the rolling speed of the steel pipe does not exceed the preset qualified speed, the target tilt angle and release angular velocity are output to the system and converted by the system into the extension length and extension speed of the control cylinder. If the rolling speed of the steel pipe is higher than the preset qualified speed, the difference between the rolling speed of the steel pipe and the preset qualified speed is used to calculate the compensation tilt angle and compensation angular velocity of the rotating baffle 221 through the correction model. The corrected model is designed to compensate for when the actual rolling speed of the steel pipe exceeds the preset qualified speed by increasing the tilt angle of the rotating baffle and reducing the release angular velocity.

[0055] The calculation of the compensation tilt angle and compensation angular velocity in the corrected model is as follows: Supplemental tilt angle The calculation formula is: , in, This is the tilt angle compensation coefficient; is the difference between the actual rolling speed of the steel pipe and the preset qualified speed; m is the weight of the steel pipe, a value obtained through a weighing sensor; Compensated angular velocity The calculation formula is: , in, Δv is the angular velocity compensation coefficient; Δv is the difference between the actual rolling speed of the steel pipe and the preset qualified speed; m is the weight of the steel pipe, obtained by a weighing sensor. In the two calculation formulas above, ,in, The rolling speed of the steel pipe is collected by the roller speed sensor; The predetermined acceptable rolling speed for the steel pipe; The corrected tilt angle is obtained by summing the compensated tilt angle and the target tilt angle. The corrected tilt angle is then compared with the set target tilt angle. If it is within the range of the preset first maximum threshold and the preset first minimum threshold, the corrected tilt angle is output as the target tilt angle. If the corrected tilt angle is higher than the preset first maximum threshold, the preset first maximum threshold is used as the corrected tilt angle. If the corrected tilt angle is lower than the preset first minimum threshold, the preset first minimum threshold is used as the corrected tilt angle. For example, if the target tilt angle is set to a range of 15° to 75°, the corrected tilt angle obtained is within this range and can be used as the target tilt angle output; if it is higher than 75°, then 75° will be used as the target tilt angle output.

[0056] Similarly, the corrected angular velocity is obtained by summing the compensated angular velocity and the release angular velocity. The corrected angular velocity needs to be compared with the set angular velocity range. If the corrected angular velocity is within the range of the preset second highest threshold and the preset second lowest threshold, it is output as the release angular velocity; if the corrected angular velocity is lower than the preset second lowest threshold, the preset second lowest threshold is used as the corrected angular velocity. For example, the range of release angular velocity is set from 0.005 rad / s to 0.1 rad / s. If the calculated corrected angular velocity is within this range, it can be used as the release angular velocity output. If it is lower than 0.005 rad / s, then 0.005 rad / s will be used as the release angular velocity output.

[0057] This step improves the reliability of conveying adjustment by checking whether the running speed of the steel pipe after passing the first rotating baffle is qualified, and then deciding whether to correct the inclination angle and angular velocity. It also sets boundary values ​​to avoid problems in steel pipe conveying.

[0058] When switching between batches of conveyed steel pipes, the collected data must be switched and reset. This is a crucial step in adapting to the conveying of steel pipes of different specifications. In the production of insulated pipes, it is often necessary to switch between batches of conveyed steel pipes with different diameters and weights. The dimensions and weight of each batch of conveyed steel pipes are the same. When a batch of steel pipes is conveyed and a new batch of steel pipes with a different weight is switched, both the first and second detection units need to re-collect the weight and rolling speed parameters of the first steel pipe in the new batch. This updates the rotation baffle tilt angle mapping strategy and the rotation baffle angular velocity mapping strategy, and re-obtains the parameters of the target tilt angle and release angular velocity of the rotation baffle. Then, the above-mentioned rotation baffle pre-positioning steps and subsequent release steps are repeated. Through the automatic reset of parameters, the system can adapt and adjust according to different batches of steel pipes, meeting the multi-specification and flexible conveying needs of the insulated pipe production line.

[0059] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A method for conveying steel pipes that adaptively adjusts based on the weight of the steel pipe, characterized in that, The application uses a steel pipe conveying device equipped with an inclined conveyor frame (1), on which a rotating baffle (221) is mounted. The steel pipe conveying method includes: The parameter initialization steps before conveying include preset rotation baffle tilt angle mapping strategy and rotation baffle angular velocity mapping strategy based on the weight change of the steel pipe. The steps for collecting the reference parameters of the steel pipe are as follows: the weight of the steel pipe is collected at the high end of the inclined conveyor (1); the rolling speed of the steel pipe is obtained at the high end of the inclined conveyor (1) near the second rotating baffle (221); In the pre-positioning step of rotating baffle, the collected weight of the steel pipe is substituted into the rotating baffle tilt angle mapping strategy to calculate the target tilt angle of rotating baffle (221), and rotating baffle (221) is rotated to the target tilt angle; In the release step of rotating baffle, the weight of the steel pipe is substituted into the angular velocity mapping strategy of rotating baffle to obtain the release angular velocity of rotating baffle (221), and rotating baffle (221) releases the steel pipe according to the release angular velocity; Multi-station switching and reset steps: When the rotating baffle (221) completes the release of the steel pipe, the steel pipe rolls along the inclined conveyor frame (1), and the rotating baffle (221) resets to the target inclination angle.

2. The steel pipe conveying method according to claim 1, characterized in that, The specific strategy for mapping the tilt angle of the rotating baffle is as follows: The target inclination angle is calculated based on the mapping formula between the weight of the steel pipe and the target inclination angle. The obtained target tilt angle is compared with the preset first maximum threshold and the preset first minimum threshold respectively. If the target tilt angle is higher than the preset first maximum threshold, the preset first maximum threshold is used as the target tilt angle; if the target tilt angle is lower than the preset first minimum threshold, the preset first minimum threshold is used as the target tilt angle.

3. The steel pipe conveying method according to claim 2, characterized in that, The specific angular velocity mapping strategy for the rotating baffle is as follows: The release angular velocity is obtained through a mapping formula between the weight of the steel pipe and the release angular velocity; The calculated release angular velocity is compared with the preset second highest threshold and the preset second lowest threshold respectively. If the release angular velocity is higher than the preset second highest threshold, the preset second highest threshold is used as the release angular velocity. If the release angular velocity is lower than the preset second minimum threshold, the preset second minimum threshold will be used as the release angular velocity.

4. The steel pipe conveying method according to claim 3, characterized in that, The steel pipe conveying method further includes a verification and adjustment step, which specifically includes: The rolling speed of the steel pipe is compared with the preset qualified speed. If the rolling speed of the steel pipe does not exceed the preset qualified speed, the target tilt angle and release angular velocity are output. If the rolling speed of the steel pipe is higher than the preset qualified speed, the difference between the rolling speed of the steel pipe and the preset qualified speed is used to obtain the compensation tilt angle and compensation angular velocity through the correction model. The corrected tilt angle is obtained by summing the compensated tilt angle and the target tilt angle, and then compared with the preset first maximum threshold. If the corrected tilt angle is higher than the preset first maximum threshold, the preset first maximum threshold is used as the corrected tilt angle. The corrected angular velocity is obtained by summing the compensated angular velocity and the release angular velocity. The corrected angular velocity is then compared with a preset second minimum threshold. If the corrected angular velocity is lower than the preset second minimum threshold, the preset second minimum threshold is used as the corrected angular velocity. The corrected tilt angle and corrected angular velocity are output as the target tilt angle and release angular velocity.

5. The steel pipe conveying method according to claim 4, characterized in that, It also includes an interval control cylinder (21), which calculates the target extension distance of the interval control cylinder (21) based on the target tilt angle, and calculates the piston rod movement speed of the interval control cylinder (21) based on the release angular velocity.

6. A conveying device applicable to the steel pipe conveying method of adaptive weight adjustment for any of the steel pipes in claims 1-5, characterized in that, The steel pipe conveying equipment includes an inclined conveyor frame (1) and a path interval control component (2). The inclined conveyor frame (1) has an inclined structure and a first detection unit is arranged on the inclined conveyor frame (1). The first detection unit is used to obtain the weight of the steel pipe. The inclined conveyor frame (1) is equipped with a path interval control assembly (2). The path interval control assembly (2) is used to control the rolling of the steel pipe segments. The path interval control assembly (2) includes an interval control cylinder (21) and multiple sets of path interval sections (22). The multiple sets of path interval sections (22) are evenly distributed along the length direction of the inclined conveyor frame (1). The path interval section (22) includes a rotating baffle (221) and a buffer wheel (222). The rotating baffle (221) is located at the middle position. The first connecting shaft (223) is fixed on the first connecting shaft (223), which is mounted on the inclined conveyor frame (1) through bearings. The upper tail end of the rotating baffle (221) is rotatably mounted with a buffer wheel (222). The lower tail end of each rotating baffle (221) is mounted on the synchronizing member (4) through the second connecting shaft (224). The synchronizing member (4) is connected to the piston rod end of the interval control cylinder (21). The interval control cylinder (21) drives all rotating baffles (221) to run synchronously. A second detection unit is installed on the inclined conveyor frame (1) near the second rotating baffle (221), and the second detection unit is used to obtain the rolling speed of the steel pipe; The rotating baffle controls the target tilt angle and release angular velocity of the rotating baffle according to a preset rotating baffle tilt angle mapping strategy and rotating baffle angular velocity mapping strategy.

7. A steel pipe conveying device that adaptively adjusts according to the weight of the steel pipe as described in claim 6, characterized in that, The first detection unit is a weighing sensor (32), which is installed in the bearing surface at the high end of the inclined conveyor (1); The second detection unit is a roller speed sensor (31), which is mounted on the side of the inclined conveyor (1) by a mounting bracket.

8. The steel pipe conveying equipment according to claim 7, characterized in that, The synchronizing element (4) includes a connector (41) and a synchronizing rod (42). The interval control cylinder (21) is mounted on a hinge seat (214) via a third connecting shaft (213). The hinge seat (214) is fixed to the high end of the inclined conveyor frame (1). The piston rod end of the interval control cylinder (21) is hinged to the adjacent connector (41). The two adjacent connectors (41) are connected by the synchronizing rod (42).

9. A steel pipe conveying device that adaptively adjusts according to the weight of the steel pipe as described in claim 8, characterized in that, A feeding baffle (5) is installed at the lower end of the inclined conveyor frame (1). The feeding baffle (5) is hinged to the telescopic end of the feeding cylinder (51). The feeding cylinder (51) is hinged to the inclined conveyor frame (1) via a hinge joint. The feeding baffle (5) is rotatably mounted on the inclined conveyor frame (1) via a support shaft (52), and the feeding baffle (5) is located between the two sets of side plates (6) of the inclined conveyor frame (1).

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