Method, apparatus, computer readable storage medium and program product for processing of pipe
By installing a liftable support platform and a tail clamping end in the pipe processing equipment, the problem of reduced accuracy caused by the deflection of the free end of the pipe is solved, and higher processing accuracy is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- 大族激光智能装备(长沙)有限公司
- Filing Date
- 2026-03-26
- Publication Date
- 2026-07-03
AI Technical Summary
During the processing of pipes, the deflection of the free end leads to a decrease in processing accuracy.
By setting up multiple liftable support platforms in the pipe processing equipment, the target support platform is determined according to the length of the pipe extending out of the middle clamp and the distance between the support platform and the middle clamp. The platform is then controlled to rise to support the pipe, restrict its degree of freedom, and work with the tail clamp to hold the end, ensuring that the processing head can process accurately.
This improved the processing precision of the pipes, prevented deflection caused by gravity and inertia, and ensured the accuracy of the processing.
Smart Images
Figure CN122322701A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of laser processing technology, and in particular to a method, equipment, computer-readable storage medium, and program product for processing tubes. Background Technology
[0002] With the widespread application of pipes in petrochemical, construction, nuclear power, aerospace, and shipbuilding industries, the market's requirements for the precision of pipes are also increasing.
[0003] Currently, pipe processing equipment is commonly used to cut and drill pipes. This equipment includes a main clamp, a middle clamp, and a processing head. The main clamp and middle clamp are used to hold the pipe, while the processing head is located on the side of the middle clamp furthest from the main clamp. The processing head is used to process the pipe, enabling cutting and drilling operations.
[0004] However, after the pipe passes through the central clamp, the end of the pipe furthest from the main clamp becomes a free end, unrestrained. During the processing of the pipe by the machining head, the free end of the pipe will deflect due to its own weight, rotational inertia, and other reasons, which can easily lead to a decrease in the accuracy of the machining head in processing the pipe. Summary of the Invention
[0005] This application provides a method, equipment, computer-readable storage medium, and program product for processing pipes, which can improve the processing accuracy of pipes.
[0006] In a first aspect, embodiments of this application provide a method for processing pipes. The pipe processing method is performed using pipe processing equipment to process the pipes. The pipe processing equipment includes a main clamp, a middle clamp, a support platform, a tail clamp, and a processing head. The main clamp, the middle clamp, the processing head, the support platform, and the tail clamp are arranged sequentially along the pipe processing direction by their orthogonal projections on a horizontal plane. N support platforms are provided, spaced apart along the pipe processing direction. The pipe processing method includes the following steps:
[0007] The length of the pipe extending beyond the middle clamp, the preset length, and the minimum and maximum distances between each support platform and the middle clamp are obtained; Determine whether the length of the pipe extending beyond the middle clamp is greater than or equal to the preset length; When the length of the pipe extending beyond the middle clamp is greater than or equal to the preset length, the tail clamp is controlled to move toward the middle clamp so that the tail clamp holds the end of the pipe. The target support platform is determined based on the length of the pipe extending from the middle card, the preset length, and the minimum and maximum distances between each support platform and the middle card. Control the target support platform to rise to support the pipe; The processing head is controlled to process the pipe.
[0008] In some possible implementations of the first aspect, the step of determining the target support platform based on the length of the pipe extending from the center clamp, the preset length, and the minimum and maximum distances between each support platform and the center clamp includes: When the length of the pipe extending beyond the middle clamp is greater than or equal to the preset length, the target support platform is determined based on the length of the pipe extending beyond the middle clamp and the maximum distance between each support platform and the middle clamp; When the length of the pipe extending beyond the middle clamp is less than the preset length, the target support platform is determined based on the length of the pipe extending beyond the middle clamp and the minimum distance between each support platform and the middle clamp.
[0009] In some possible implementations of the first aspect, the step of determining the target support platform based on the length of the pipe extending from the center clamp and the maximum distance between each support platform and the center clamp includes: A first quantity of information is determined to be that the length of the pipe extending beyond the middle clamp is greater than the maximum distance between the support platform and the middle clamp; The corresponding support platform is determined based on the first quantity information; The support platform corresponding to the first quantity information is taken as the target support platform.
[0010] In some possible implementations of the first aspect, the step of determining the first quantity information that the length of the pipe extending beyond the center clamp is greater than the maximum distance between the support platform and the center clamp includes: Obtain the remaining length; The safety length is determined based on the margin length and the maximum distance between the support platform and the medium-duty truck. The first quantity information is determined based on the length of the pipe extending from the middle card and the safety length.
[0011] In some possible implementations of the first aspect, the step of determining the target support platform based on the length of the pipe extending from the center clamp and the minimum distance between each support platform and the center clamp includes: A second quantity of information is used to determine that the length of the pipe extending beyond the middle clamp is greater than the minimum distance between the support platform and the middle clamp; The corresponding support platform is determined based on the second quantity information; The support platform corresponding to the second quantity information is taken as the target support platform.
[0012] In some possible implementations of the first aspect, the step of controlling the target support platform to rise to support the pipe includes: Obtain the design and processing parameters of the pipe; The target support platform is controlled to rise to support the pipe according to the design parameters and the processing parameters.
[0013] In some possible implementations of the first aspect, the step of controlling the target support platform to rise to support the pipe according to the design parameters and the processing parameters further includes: The main card and the tail card are controlled to move synchronously according to the processing parameters.
[0014] In some possible implementations of the first aspect, the step of controlling the tail clamp to move toward the middle clamp so that the tail clamp holds the end of the tube includes: Obtain the current angle of the main card and the current angle of the tail card; The rotation angle of the tail card is determined based on the current angle of the main card and the current angle of the tail card; The rotation of the tail card is controlled according to the rotation angle of the tail card; Control the tail card to move towards the middle card; Control the tail clamp to hold the end of the pipe.
[0015] In some possible implementations of the first aspect, the step of obtaining the length of the tube extending beyond the center card includes: Obtain the design parameters of the pipe, the position information of the main clamp, and the position information of the middle clamp; The exact length of the pipe is determined based on the design parameters of the pipe. The length of the pipe is determined according to the aforementioned length determination method; The length by which the pipe extends beyond the middle card is determined based on the position information of the main card, the position information of the middle card, and the length of the pipe.
[0016] Secondly, embodiments of this application provide a pipe processing device, which is used to perform the pipe processing method as described in any of the above technical solutions to process pipes. The pipe processing device includes a main clamp, a middle clamp, a support platform, a tail clamp, and a processing head. The orthographic projections of the main clamp, the middle clamp, the processing head, the support platform, and the tail clamp on the horizontal plane are arranged sequentially along the pipe processing direction. N support platforms are provided, and the N support platforms are spaced apart along the pipe processing direction.
[0017] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the pipe processing method as described in any of the above technical solutions.
[0018] Fourthly, embodiments of this application provide a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the pipe processing method as described in any of the above technical solutions.
[0019] The pipe processing method, equipment, computer-readable storage medium, and program product provided in this application embodiment obtain the length of the pipe extending from the center clamp, a preset length, and the minimum and maximum distances between each support platform and the center clamp; then determine whether the length of the pipe extending from the center clamp is greater than or equal to the preset length; if the length of the pipe extending from the center clamp is greater than or equal to the preset length, control the tail clamp to move towards the center clamp so that the tail clamp clamps the end of the pipe; then determine the target support platform based on the length of the pipe extending from the center clamp, the preset length, and the minimum and maximum distances between each support platform and the center clamp; then control the target support platform to rise to support the pipe; and then control the processing head to process the pipe; this can support the part of the pipe extending from the center clamp, thereby improving the processing accuracy of the pipe. Attached Figure Description
[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.
[0021] Figure 1 This is a schematic diagram of the structure of an embodiment of the pipe processing equipment of this application; Figure 2 This is a flowchart of an embodiment of the pipe processing method of this application.
[0022] Explanation of icon numbers: 1. Main card; 2. Middle card; 3. Tail card; 4. Processing head; 5. Support platform; 6. Pipe.
[0023] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.
[0025] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.
[0026] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.
[0027] It should be understood that the term "and / or" as used in this application specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.
[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0029] This application provides a method, equipment, computer-readable storage medium, and program product for processing pipes, which solves the technical problem of low precision in processing pipes with processing heads.
[0030] In the embodiments of this application, such as Figure 1 As shown, the pipe processing equipment includes a main clamp 1, a middle clamp 2, a support platform 5, a tail clamp 3, and a processing head 4. The main clamp 1, middle clamp 2, processing head 4, support platform 5, and tail clamp 3 are arranged sequentially along the pipe processing direction in their orthogonal projections on the horizontal plane. N support platforms 5 are arranged at intervals along the pipe processing direction. The pipe processing direction is parallel to the centerline of the pipe 6. Here, N is a positive integer.
[0031] The main clamp 1 and the tail clamp 3 are used to clamp the two ends of the pipe 6, respectively, while the middle clamp 2 is used to allow the pipe 6 to pass through and clamp the middle section of the pipe 6. Both the main clamp 1 and the tail clamp 3 can move along the pipe processing direction, while the middle clamp 2 remains fixed in the pipe processing direction. The main clamp 1, middle clamp 2, and tail clamp 3 can all rotate. The main clamp 1, tail clamp 3, and middle clamp 2 are all chucks.
[0032] The support platform 5 is height-adjustable. Before the pipe 6 passes directly above the support platform 5, the support platform 5 is lowered so that the pipe 6 can pass directly above the support platform 5, avoiding interference from the support platform 5 when the pipe 6 moves along the pipe processing direction. After the pipe 6 has moved into position along the pipe processing direction, the support platform 5 is raised again to support the pipe 6, thereby restricting the degree of freedom of the pipe 6 in the height direction.
[0033] The processing head 4 is used to process the pipe 6. The processing methods of the processing head 4 on the pipe 6 include cutting and drilling. The processing head 4 can be a laser head, a cutting tool, or a drill bit.
[0034] In one embodiment, the pipe processing equipment further includes a first sensor disposed on the processing head 4, which can be used to assist in determining the position of the end face of the pipe 6 away from the main card 1. The first sensor can be a capacitive sensor or an ultrasonic sensor, which is not limited in this embodiment.
[0035] In one embodiment, the pipe processing equipment further includes a second sensor disposed on the main card 1, used to assist in determining the position of the end face of the pipe 6 near the main card 1. The second sensor may be a photoelectric sensor.
[0036] In one embodiment, the pipe processing equipment further includes a positioning plate disposed between the main clamp 1 and the intermediate clamp 2, wherein the distance between the positioning plate and the intermediate clamp 2 is less than the distance between the positioning plate and the main clamp 1. The positioning plate is used to position the end face of the pipe 6 away from the main clamp 1, so as to determine the position of the end face of the pipe 6 away from the main clamp 1.
[0037] In this embodiment, the position of the end face of the positioning plate assisted in positioning the pipe 6 and the position of the end face of the first sensor assisted in positioning the pipe 6 are respectively applicable to different pipes 6, and users can choose different solutions according to actual needs.
[0038] In addition, such as Figure 1 and Figure 2 As shown in the embodiments of this application, a method for processing pipes is also provided. This method is performed using the pipe processing equipment described in any of the above embodiments to process the pipes. The pipe processing method includes the following steps: Step S10: Obtain the length of the pipe extending from the center clamp, the preset length, and the minimum and maximum distances between each support platform and the center clamp.
[0039] When determining the length of the pipe extending from the center clamp, it is necessary to ascertain the pipe's length and position. Since the actual length of the pipe may vary, it is necessary to measure the length of each pipe or batch of pipes according to the specific circumstances.
[0040] The end face of the pipe furthest from the main clamp may be an inclined surface at an angle to the pipe's centerline or a plane perpendicular to the pipe's centerline. The length of the pipe with a flat end face is its actual length, while the length of the pipe with an inclined end face is the difference between the total length of the pipe and the orthographic projection of the inclined surface onto the pipe's centerline. Since the tail clamp has difficulty holding the inclined portion of the pipe, and most users do not require it, the pipe length in this embodiment refers to the length excluding the inclined surface. Of course, this embodiment can be adapted to apply to pipes with inclined surfaces.
[0041] Before determining the position of the pipe, a spatial rectangular coordinate system is established. At this point, the coordinates of the main clamp, middle clamp, processing head, tail clamp, and support platform can all be determined through measurement. The determined coordinates of the main clamp, middle clamp, processing head, tail clamp, and support platform are then stored in the memory of the control module for retrieval when needed. The width of the support platform can also be obtained through measurement, thus providing the coordinates of both ends of the support platform along the pipe processing direction.
[0042] First, obtain the design parameters of the pipe, the position information of the main clamp, and the position information of the middle clamp. Then, determine the pipe length determination method based on the pipe design parameters, and determine the pipe length based on the pipe length determination method. Finally, determine the length of the pipe extending beyond the middle clamp based on the position information of the main clamp, the position information of the middle clamp, and the length of the pipe.
[0043] The design parameters for the pipe include the pipe material, the pipe cross-sectional shape, the pipe cross-sectional dimensions, and the pipe wall thickness. The pipe length determination methods include determination assisted by a first sensor and determination assisted by a positioning plate.
[0044] Since the actual length of the pipe is generally within a fixed range, its weight can usually be estimated by considering its material, cross-sectional shape, cross-sectional dimensions, and wall thickness. If the pipe is heavy, the position of the end face furthest from the main card can be determined using the first sensor. If the pipe is light, the position of the end face furthest from the main card can be determined using the positioning plate.
[0045] Users can combine the pipe's material, cross-sectional shape, cross-sectional dimensions, and wall thickness, and then divide the design parameter range based on the estimated weight. This design parameter range is stored in the control module's memory. After obtaining the design parameters of the pipe to be processed, these parameters are compared with the stored design parameter range. If the design parameters fall within the range corresponding to the larger estimated weight, the first sensor is used to assist in determining the pipe's end face position. If the design parameters fall within the range corresponding to the smaller estimated weight, a positioning plate is used to assist in determining the pipe's end face position. This allows the exact length of the pipe to be determined based on its design parameters.
[0046] Understandably, the above-mentioned division of design parameter ranges based on the pipe's design parameters is based on the estimated weight of the pipe. Alternatively, the cross-sectional shape of the pipe can be used as the standard for dividing the design parameter ranges, in which case the pipe's material, cross-sectional dimensions, and wall thickness can be disregarded. Other division methods are also possible, but this embodiment does not limit them.
[0047] When determining the end face position of the pipe with the assistance of the first sensor, the main clamp is first controlled to push the pipe towards the middle clamp along the pipe processing direction, so that the end of the pipe away from the main clamp extends out of the middle clamp. Then, according to the pipe's design parameters, the processing head is controlled to descend to the pipe surface. At this time, the first sensor can detect the pipe and obtain detection information. Next, the main clamp is controlled to push the pipe in the opposite direction along the pipe processing direction, so that the end of the pipe away from the main clamp moves towards the middle clamp. When the detection information detected by the first sensor changes abruptly, it indicates that the end of the pipe has moved directly under the processing head, thus determining the end face position of the pipe. When the first sensor is a capacitive sensor, the detection information can be voltage.
[0048] After the user feeds the pipe, the distance between the end of the pipe furthest from the main clamp and the intermediate clamp is usually within a certain range, typically 0-100mm. Therefore, when controlling the main clamp to push the pipe toward the intermediate clamp along the pipe processing direction, feeding an additional 100mm of pipe length ensures that the pipe extends beyond the intermediate clamp.
[0049] When using a positioning plate to assist in determining the end face position of the pipe, first control the main clamp to push the pipe towards the middle clamp along the pipe processing direction, so that the end of the pipe away from the main clamp abuts against the positioning plate. Since the position of the positioning plate along the pipe processing direction remains fixed, its position can be determined by measurement. Once the position of the positioning plate is known, the position of the end face of the pipe abutting against the positioning plate can be determined. The positioning plate can be designed to be liftable, allowing it to either avoid or block the pipe.
[0050] A second sensor can be installed on the main card to determine the position of the end of the pipe closest to the main card. After the pipe is fed between the main card and the middle card, the main card is controlled to move towards the middle card. When the second sensor detects the pipe, it can determine the end position of the pipe based on the position of the main card, so that the main card can automatically clamp the pipe.
[0051] After determining the end face position of one end of the pipe based on the position of the main card, and determining the end face position of the other end of the pipe based on the length determination method, the length of the pipe can be determined based on the end face positions of both ends of the pipe.
[0052] Given that the positions of the main clamp, the middle clamp, and the length of the pipe are all known, the length of the pipe extending beyond the middle clamp can also be controlled, meaning the length of the pipe extending beyond the middle clamp can be obtained.
[0053] Users can customize the preset length according to actual processing needs. Generally, the preset length is selected by counting along the direction away from the main card from the middle card, between the second and third support platforms. For example, the preset length can be 3600mm.
[0054] Since the width and position of the support platform can be measured, the distance between the side of the support platform closer to the middle truck and the middle truck can be taken as the minimum distance, and the distance between the side of the support platform farther from the middle truck and the middle truck can be taken as the maximum distance.
[0055] Step S20: Determine whether the length of the pipe extending out of the clamp is greater than or equal to the preset length.
[0056] The control module compares the calculated length of the pipe extending from the middle clamp with the preset length. When the length of the pipe extending from the middle clamp is greater than or equal to the preset length, step S30 is executed to control the tail clamp to move towards the middle clamp so that the tail clamp holds the end of the pipe.
[0057] Since the end face position of the pipe away from the main clamp and the position of the tail clamp are both known, the tail clamp can be controlled to move towards the middle clamp, and when the pipe is inserted into the tail clamp, the tail clamp can be controlled to hold the end of the pipe.
[0058] Since the pipe to be processed may be round, square, or elliptical, the rotation angle of the tail clamp must be considered when holding the pipe. The rotation angles of the main clamp and the tail clamp are initially the same. The pipe is rotated by the main clamp; therefore, rotating the tail clamp to match the rotation angle of the main clamp will allow the pipe to be held in place.
[0059] Since both the main clamp and the tail clamp have initial angles, the current angles of the main clamp and the tail clamp can be obtained after the control module controls their rotation. Then, the rotation angle of the tail clamp is determined based on these current angles, allowing control of its rotation. This facilitates controlling the tail clamp to move closer to the middle clamp, thus controlling the tail clamp's gripping of the pipe end.
[0060] The rotation angle of the tail card can be determined by taking the remainder of the current angle of the main card modulo 360° and the remainder of the current angle of the tail card modulo 360°. The difference between these two values represents the rotation angle of the tail card. The sign before the value indicates the direction of rotation. For example, if the current angle of the main card is 400° and the current angle of the tail card is 100°, taking the remainder of 400° modulo 360° gives 40°, and taking the remainder of 100° modulo 360° gives 100°. Subtracting 40° from 100° gives -60°. Therefore, the tail card needs to rotate 60° in the opposite direction to the positive direction.
[0061] After controlling the rotation angle of the tail clamp, the tail clamp is then moved towards the middle clamp, allowing the pipe to be inserted into the tail clamp. This avoids the situation where the cross-sectional shape of the pipe does not match the tail clamp and therefore cannot be inserted.
[0062] If the length of the pipe extending from the center is less than the preset length, skip step S30 and proceed to the next step.
[0063] Step S40: Determine the target support platform based on the length of the pipe extending from the center clamp, the preset length, and the minimum and maximum distances between each support platform and the center clamp.
[0064] Since there are N support platforms, it is necessary to determine the support platforms that need to be lifted based on the length of the pipe extending out of the middle clamp, the preset length, and the minimum and maximum distances between each support platform and the middle clamp. These support platforms that need to be lifted will be used as target support platforms.
[0065] After performing step S20, when the length of the pipe extending from the center clamp is greater than or equal to the preset length, the target support platform is determined based on the length of the pipe extending from the center clamp and the maximum distance between each support platform and the center clamp, since the interference between the support platform and the tail clamp needs to be considered. When the length of the pipe extending from the center clamp is less than the preset length, the interference between the support platform and the tail clamp does not need to be considered, so the target support platform is determined based on the length of the pipe extending from the center clamp and the minimum distance between each support platform and the center clamp.
[0066] When determining the target support platform based on the length of the pipe extending from the center clamp and the maximum distance between each support platform and the center clamp, firstly, a first quantity of information is determined, indicating that the length of the pipe extending from the center clamp is greater than the maximum distance between the support platform and the center clamp. Then, the corresponding support platform is determined based on this first quantity information, and the support platform corresponding to this first quantity information is taken as the target support platform. The first quantity information includes the position and number of support platforms.
[0067] For example, the support platforms along the direction away from the main card from the middle card are sequentially defined as the first platform, the second platform, the third platform, ..., the Nth platform. The length of the pipe extending beyond the middle card is greater than the maximum distance between the second platform and the middle card, but less than the maximum distance between the third platform and the middle card. Therefore, there are two instances where the length of the pipe extending beyond the middle card is greater than the maximum distance between the support platform and the middle card, corresponding to the first platform and the second platform respectively. That is, the first quantity information includes the two support platforms corresponding to the first platform and the second platform.
[0068] Users can also customize the allowance length according to actual needs, then determine the safety length based on the allowance length and the maximum distance between the support platform and the middle clamp, and then determine the first quantity information based on the length of the pipe extending out of the middle clamp and the safety length to avoid interference between the support platform and the tail clamp. Specifically, the allowance length can be set to 200mm.
[0069] The allowance length is the safe distance between the lifting support platform and the tail clamp. It allows the support platform to be raised and lowered as the tail clamp moves along the pipe processing direction to avoid interference between them. The allowance length is added to the maximum distance between each support platform and the middle clamp, and the sum is used as the safe length. Then, the first quantity information is determined based on the pipe's extension beyond the middle clamp exceeding the safe length.
[0070] When determining the target support platform based on the length of the pipe extending from the center clamp and the minimum distance between each support platform and the center clamp, the first step is to determine a second quantity of information: the length of the pipe extending from the center clamp must be greater than the minimum distance between the support platform and the center clamp. Then, the corresponding support platform is determined based on this second quantity information, and the support platform corresponding to this second quantity information is taken as the target support platform. This second quantity information includes the location and number of support platforms.
[0071] Since the length of the pipe extending beyond the center clamp is less than the preset length, there is no need for the tail clamp to hold the pipe, thus eliminating the need to consider interference between the tail clamp and the support platform. As long as the length of the pipe extending beyond the center clamp is greater than the minimum distance between the support platform and the center clamp, the corresponding support platform can provide support for the pipe; these corresponding support platforms are the target support platforms.
[0072] For example, if the length of the pipe extending beyond the center clamp is greater than the minimum distance between the second platform and the center clamp, but less than the minimum distance between the third platform and the center clamp, then there are two instances where the length of the pipe extending beyond the center clamp is greater than the minimum distance between the support platform and the center clamp, corresponding to the first platform and the second platform respectively. In other words, the second quantity information includes the two support platforms corresponding to the first platform and the second platform.
[0073] Step S50: Control the target support platform to rise to support the pipe.
[0074] The control platform can support the pipe by raising it, thereby limiting the pipe's vertical freedom and preventing the part of the pipe extending out of the clamp from deflecting due to its own weight, rotational inertia, etc.
[0075] When controlling the target support platform to rise, it is necessary to obtain the design parameters and processing parameters of the pipe, and then control the target support platform to rise to support the pipe based on the design parameters and processing parameters.
[0076] The design parameters of the pipe include the cross-sectional shape, cross-sectional dimensions, and wall thickness. The processing parameters of the pipe include the angle at which the main clamp rotates the pipe and the distance by which the main clamp pushes the pipe along the processing direction.
[0077] By controlling the lifting and lowering of the target support platform according to the design and processing parameters of the pipe, the support platform can better support the bottom of the pipe.
[0078] After the tail clamp holds the end of the pipe furthest from the main clamp, both ends of the pipe are clamped by the main clamp and the tail clamp respectively. At this time, it is necessary to control the main clamp and the tail clamp to move synchronously according to the processing parameters.
[0079] Step S60: Control the processing head to process the pipe.
[0080] This embodiment of the application obtains the length of the pipe extending from the center clamp, a preset length, and the minimum and maximum distances between each support platform and the center clamp; then determines whether the length of the pipe extending from the center clamp is greater than or equal to the preset length. When the length of the pipe extending from the center clamp is greater than or equal to the preset length, it controls the tail clamp to move towards the center clamp so that the tail clamp holds the end of the pipe; then, based on the length of the pipe extending from the center clamp, the preset length, and the minimum and maximum distances between each support platform and the center clamp, it determines the target support platform; then, it controls the target support platform to rise to support the pipe; and then, it controls the processing head to process the pipe; this can support the part of the pipe extending from the center clamp, thereby improving the processing accuracy of the pipe.
[0081] Depending on the length of the pipe extending from the clamp, different methods can be used to restrict the degree of freedom of the portion of the pipe extending from the clamp, which can better limit the pipe and improve the processing accuracy of the pipe.
[0082] Furthermore, embodiments of this application also propose a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the pipe processing method as described in any of the above embodiments.
[0083] Furthermore, this application also proposes a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the pipe processing method as described in any of the above embodiments.
[0084] The above description is merely a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the inventive concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.
Claims
1. A method for processing pipes, characterized in that, The pipe processing method is performed by pipe processing equipment to process the pipe. The pipe processing equipment includes a main clamp, a middle clamp, a support platform, a tail clamp, and a processing head. The main clamp, the middle clamp, the processing head, the support platform, and the tail clamp are arranged sequentially along the pipe processing direction on a horizontal plane. N support platforms are provided, spaced apart along the pipe processing direction. The pipe processing method includes the following steps: The length of the pipe extending beyond the middle clamp, the preset length, and the minimum and maximum distances between each support platform and the middle clamp are obtained; Determine whether the length of the pipe extending beyond the middle clamp is greater than or equal to the preset length; When the length of the pipe extending beyond the middle clamp is greater than or equal to the preset length, the tail clamp is controlled to move toward the middle clamp so that the tail clamp holds the end of the pipe. The target support platform is determined based on the length of the pipe extending from the middle card, the preset length, and the minimum and maximum distances between each support platform and the middle card. Control the target support platform to rise to support the pipe; The processing head is controlled to process the pipe.
2. The pipe processing method as described in claim 1, characterized in that, The step of determining the target support platform based on the length of the pipe extending from the middle card, the preset length, and the minimum and maximum distances between each support platform and the middle card includes: When the length of the pipe extending beyond the middle clamp is greater than or equal to the preset length, the target support platform is determined based on the length of the pipe extending beyond the middle clamp and the maximum distance between each support platform and the middle clamp; When the length of the pipe extending beyond the middle clamp is less than the preset length, the target support platform is determined based on the length of the pipe extending beyond the middle clamp and the minimum distance between each support platform and the middle clamp.
3. The pipe processing method as described in claim 2, characterized in that, The step of determining the target support platform based on the length of the pipe extending from the middle clamp and the maximum distance between each support platform and the middle clamp includes: A first quantity of information is determined to be that the length of the pipe extending beyond the middle clamp is greater than the maximum distance between the support platform and the middle clamp; The corresponding support platform is determined based on the first quantity information; The support platform corresponding to the first quantity information is taken as the target support platform.
4. The pipe processing method as described in claim 3, characterized in that, The step of determining the first quantity information that the length of the pipe extending beyond the middle clamp is greater than the maximum distance between the support platform and the middle clamp includes: Obtain the remaining length; The safety length is determined based on the margin length and the maximum distance between the support platform and the medium-duty truck. The first quantity information is determined based on the length of the pipe extending from the middle card and the safety length.
5. The pipe processing method as described in claim 2, characterized in that, The step of determining the target support platform based on the length of the pipe extending from the middle clamp and the minimum distance between each support platform and the middle clamp includes: A second quantity of information is used to determine that the length of the pipe extending beyond the middle clamp is greater than the minimum distance between the support platform and the middle clamp; The corresponding support platform is determined based on the second quantity information; The support platform corresponding to the second quantity information is taken as the target support platform.
6. The method for processing pipes as described in claim 1, characterized in that, The step of controlling the target support platform to rise to support the pipe includes: Obtain the design and processing parameters of the pipe; The target support platform is controlled to rise to support the pipe according to the design parameters and the processing parameters.
7. The pipe processing method as described in claim 6, characterized in that, Following the step of controlling the target support platform to rise to support the pipe according to the design parameters and the processing parameters, the method further includes: The main card and the tail card are controlled to move synchronously according to the processing parameters.
8. The method for processing pipes as described in claim 1, characterized in that, The step of controlling the tail clamp to move toward the middle clamp so that the tail clamp holds the end of the pipe includes: Obtain the current angle of the main card and the current angle of the tail card; The rotation angle of the tail card is determined based on the current angle of the main card and the current angle of the tail card; The rotation of the tail card is controlled according to the rotation angle of the tail card; Control the tail card to move towards the middle card; Control the tail clamp to hold the end of the pipe.
9. The method for processing pipes as described in claim 1, characterized in that, The step of obtaining the length of the pipe extending from the middle card includes: Obtain the design parameters of the pipe, the position information of the main clamp, and the position information of the middle clamp; The exact length of the pipe is determined based on the design parameters of the pipe. The length of the pipe is determined according to the aforementioned length determination method; The length by which the pipe extends beyond the middle card is determined based on the position information of the main card, the position information of the middle card, and the length of the pipe.
10. A pipe processing equipment, characterized in that, The pipe processing equipment is used to perform the pipe processing method as described in any one of claims 1 to 9 to process pipes. The pipe processing equipment includes a main clamp, a middle clamp, a support platform, a tail clamp, and a processing head. The orthographic projections of the main clamp, the middle clamp, the processing head, the support platform, and the tail clamp on the horizontal plane are arranged sequentially along the pipe processing direction. N support platforms are provided, and the N support platforms are spaced apart along the pipe processing direction.
11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the pipe processing method as described in any one of claims 1 to 9.
12. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the pipe processing method as described in any one of claims 1 to 9.