阅读说明：本技术 一种基于激光切管设备的管材识别方法及装置 (Pipe identification method and device based on laser pipe cutting equipment ) 是由 韩小鹏 闫瑞雪 陈新禹 汪旭 孔文一 金成学 马耀滨 刘生 于 2019-09-12 设计创作，主要内容包括：本发明公开一种基于激光切管设备的管材识别方法及装置,方法包括：激光切管设备的数控系统向激光传感器发送读取角度指令；接收激光传感器返回的角度信息；依据角度信息判断待切割面位于切割区域时是否水平于机床平面/切割设备的水平移动方向；如果是,则向激光传感器发送读取待切割面的中心值指令；接收激光传感器返回的中心坐标值信息,中心坐标值信息包括激光传感器依据读取中心值指令获取的待切割面的中心坐标值Z<Sub>sensor</Sub>以及待切割面相对于中心坐标基准值z0的偏移中心坐标值；依据中心坐标值信息向切割设备发送切割指令。上述方法可以解决现有技术中采用电容感应管材的方式导致的切割精度不可靠的缺陷。(The invention discloses a pipe identification method and a pipe identification device based on laser pipe cutting equipment, wherein the method comprises the following steps: a numerical control system of the laser pipe cutting equipment sends an angle reading instruction to a laser sensor; receiving angle information returned by the laser sensor; judging whether the surface to be cut is horizontal to the horizontal moving direction of the machine tool plane/cutting equipment when the surface to be cut is positioned in the cutting area according to the angle information; if so, sending a command for reading the central value of the surface to be cut to the laser sensor; receiving center coordinate value information returned by the laser sensor, wherein the center coordinate value information comprises a center coordinate value Z of a to-be-cut surface acquired by the laser sensor according to a center value reading instruction sensor And the offset center coordinate value of the surface to be cut relative to the center coordinate reference value z 0; and sending a cutting instruction to the cutting equipment according to the central coordinate value information. The above methodThe defect that the cutting precision is unreliable due to the adoption of a capacitive sensing pipe in the prior art can be overcome.)

1. A pipe identification method based on laser pipe cutting equipment is characterized by comprising the following steps:

when the surface to be cut of the pipe is horizontal to the horizontal moving direction of the machine tool plane/cutting equipment, a numerical control system of the laser pipe cutting equipment sends a first instruction for reading preset position information of the pipe to a laser sensor; the laser sensor includes: the laser sensors are calibrated in advance through a calibration tool and positioned on two sides of the clamping pipe on the chuck;

the numerical control system receives preset position information returned by the laser sensor according to the first instruction;

and the numerical control system sends a cutting instruction of a specified position to the cutting equipment according to the preset position information.

2. The method of claim 1, wherein before sending the first instruction to read the preset position information of the pipe to the laser sensor, the method further comprises:

the numerical control system sends a reading angle instruction for judging the position information of the pipe to a laser sensor;

the numerical control system receives angle information returned by the laser sensor, wherein the angle information comprises an angle of a to-be-cut surface of the pipe obtained by the laser sensor according to a reading angle instruction and an offset angle of the to-be-cut surface relative to an angle reference value b 0;

and the numerical control system judges whether the surface to be cut is horizontal to the horizontal moving direction of the machine tool plane/cutting equipment when the surface to be cut is positioned in the cutting area according to the angle information.

3. The method of claim 2, further comprising:

if the surface to be cut is not parallel to the horizontal moving direction of the machine tool plane/cutting equipment, the numerical control system sends a rotation instruction to the chuck, and the rotation instruction carries information of a rotation angle value, so that the chuck rotates according to the rotation angle value, and the rotated surface to be cut is horizontal to the horizontal moving direction of the machine tool plane/cutting equipment when the surface to be cut is positioned in a cutting area;

and the rotation angle value is obtained by the numerical control system through calculation according to the angle information.

4. The method of claim 2, wherein before the numerical control system sends a reading angle instruction for judging the position information of the pipe to the laser sensor, the method further comprises:

calibrating the laser sensor by adopting a calibration tool so that the measuring area of the laser sensor is matched with the area of the chuck for clamping the pipe, and the light rays of the opposite laser sensors are coplanar and are all vertical to the horizontal plane of a machine tool of the laser pipe cutting equipment;

alternatively, the first and second electrodes may be,

before sending a first instruction for reading the preset position information of the pipe to the laser sensor, the method further comprises the following steps:

and calibrating the laser sensor by adopting a calibration tool so that the measuring area of the laser sensor is matched with the area of the chuck for clamping the pipe, and the light rays of the opposite laser sensors are coplanar and are all perpendicular to the horizontal plane of the machine tool of the laser pipe cutting equipment.

5. The method of claim 2, wherein the numerical control system receives the angle information returned by the laser sensor, and comprises:

the numerical control system receives angle information returned by the laser sensor; the angle information comprises an angle b of the pipe to be cut under a sensor coordinate system_sensor；

Obtaining a rotation angle b_tube-centerThe rotation angle is used for correcting the surface to be cut of the pipe to enable the surface to be cut of the pipe to be horizontal to the plane of the machine tool when the surface to be cut of the pipe is positioned in the cutting area, b_tube-center＝b_sensorB0+ quadrant angle of the surface to be cut.

6. The method of claim 1, wherein sending a first instruction to a laser sensor to read preset position information of the pipe comprises:

sending a first instruction for reading the width of the pipe to a laser sensor;

alternatively, the first and second electrodes may be,

sending a first instruction for reading the appearance of the pipe to a laser sensor;

alternatively, the first and second electrodes may be,

and sending a command for reading the central coordinate value of the to-be-cut surface of the pipe to a laser sensor.

7. The method according to claim 1, wherein if the first instruction for reading the preset position information of the pipe is: reading a central coordinate value instruction of the to-be-cut surface of the pipe,

the step of receiving, by the numerical control system, preset position information returned by the laser sensor according to the first instruction includes:

the numerical control system receives center coordinate value information returned by the laser sensor, wherein the center coordinate value information comprises a center coordinate value Z of a to-be-cut surface acquired by the laser sensor according to a center coordinate value reading instruction_sensorAnd the offset center coordinate value of the surface to be cut relative to the center coordinate reference value z 0;

the numerical control system sends a cutting instruction of a designated position to the cutting equipment according to the preset position information, and the cutting instruction comprises the following steps:

and the numerical control system sends a cutting instruction of a specified position to the cutting equipment according to the central coordinate value information.

8. The method of claim 7, wherein the numerical control system sends a cutting instruction of a designated position to the cutting device according to the center coordinate value information, and the method comprises the following steps:

the numerical control system obtains a surface to be cut based on a calibration model of a sensor and cutting equipmentCenter coordinate value Z under coordinate system of cutting equipment_tube-center；

The numerical control system is based on the central coordinate value Z_tube-centerSending a cutting instruction of a specified position to the cutting equipment;

wherein Z is_tube-center＝Z_sensor-Z₀+Z_{laser_ref}；

Z_{laser_ref}Is the central coordinate value, Z, of the cutting surface to be cut under the coordinate system of the cutting equipment_sensorThe central coordinate value of the surface to be cut of the pipe under the sensor coordinate system is obtained.

9. The method of claim 1,

the shape of the tubing includes: at least one of a circular tube, a square tube, a rectangular tube, an elliptical tube and a symmetrical special-shaped tube;

the shapes of the measuring pipe and the pipe corresponding to the calibration tool are matched.

10. A pipe identification device based on laser pipe cutting equipment is disclosed, wherein the laser pipe cutting equipment comprises a lathe bed, a cutting head and a numerical control system, the cutting head is installed on a cross beam, the cross beam is installed at the front end of the lathe bed, and a front chuck and a rear chuck are arranged on the lathe bed along the length direction of the lathe bed;

the pipe identification device comprises a laser sensor used for measuring the pipe clamped on the chuck, and the laser sensor is arranged on one side or the left side and the right side of the front chuck;

the numerical control system is electrically connected with the cutting head, the front chuck, the rear chuck and the laser sensor;

the numerical control system interacting with a front chuck, a rear chuck, a cutting head and/or a laser sensor based on the pipe identification method according to any one of claims 1 to 9.

Technical Field

The invention relates to the technical field of laser pipe cutting, in particular to a pipe identification method and device based on laser pipe cutting equipment.

Background

The existing laser pipe cutting machine equipment obtains the pipe profile by using a capacitance sensing mode, but capacitance sensing belongs to contact detection, and has poor anti-interference performance, for example, when the pipe material contains impurities or has interference of mechanical and electrical structures, the sensitivity and the measurement accuracy of the equipment are easily influenced and unstable, the cutting accuracy of the equipment cannot be stable and reliable, and corresponding accuracy values cannot be read in real time. In addition, due to the fact that the pipe is not standard, hollowing can be generated after the pipe is cut, the available effective value is small, and the pipe outline is difficult to obtain.

In the actual cutting process, because the pipe has different degrees of bending and irregular cross section, and the movement errors of a movement mechanism and a chuck from laser cutting equipment, and the like, how to accurately realize the positioning of the central position of the pipe and guide the accurate cutting become a difficult problem in the current pipe cutting industry.

Disclosure of Invention

The invention aims to provide a pipe identification method and device based on laser pipe cutting equipment.

In order to achieve the purpose, the invention adopts the main technical scheme that:

in a first aspect, the invention provides a pipe identification method based on laser pipe cutting equipment, which comprises the following steps:

s1, sending an angle reading instruction to the laser sensor by the numerical control system of the laser pipe cutting equipment; the laser sensor includes: the laser sensors are calibrated in advance through a calibration tool and positioned on two sides of the clamping pipe on the chuck;

s2, the numerical control system receives angle information returned by the laser sensor, wherein the angle information comprises an angle of a to-be-cut surface of the pipe obtained by the laser sensor according to the angle reading instruction and an offset angle of the to-be-cut surface relative to an angle reference value b 0;

s3, judging whether the surface to be cut is horizontal to the horizontal moving direction of the machine tool plane/cutting equipment when the surface to be cut is positioned in the cutting area by the numerical control system according to the angle information;

s4, if yes, sending a command for reading the central value of the to-be-cut surface to the laser sensor;

s5, the numerical control system receives center coordinate value information returned by the laser sensor, and the center coordinate value information comprises a center coordinate value Z of the to-be-cut surface acquired by the laser sensor according to a center value reading instruction_sensorAnd the offset center coordinate value of the surface to be cut relative to the center coordinate reference value z 0;

and S6, the numerical control system sends a cutting instruction to the cutting equipment according to the central coordinate value information.

Further, before the step S1, the method further includes:

and calibrating the laser sensor by adopting a calibration tool so that the measuring area of the laser sensor is matched with the area of the chuck for clamping the pipe, and the light rays of the opposite laser sensors are coplanar and are all perpendicular to the horizontal plane of the machine tool of the laser pipe cutting equipment.

Further, after the step S3, before the step S4 sends a command for reading the center value of the surface to be cut to the laser sensor, the method further includes:

s3a, if the surface to be cut is not parallel to the horizontal moving direction of the machine tool plane/cutting equipment, sending a rotation instruction to the chuck by the numerical control system, wherein the rotation instruction carries information of a rotation angle value, so that the chuck rotates according to the rotation angle value, and the rotated surface to be cut is horizontal to the horizontal moving direction of the machine tool plane/cutting equipment when being located in a cutting area;

and the rotation angle value is obtained by the numerical control system through calculation according to the angle information.

Further, the step S2 includes:

s21, theThe numerical control system receives angle information returned by the laser sensor; the angle information comprises an angle b of the pipe to be cut under a sensor coordinate system_sensor；

S22, acquiring rotation angle b_tube-centerThe rotation angle is used for correcting the surface to be cut of the pipe to enable the surface to be cut of the pipe to be horizontal to the plane of the machine tool when the surface to be cut of the pipe is positioned in the cutting area, b_tube-center＝b_sensorB0+ quadrant angle of the surface to be cut.

Further, the step S6 includes:

s61, obtaining a central coordinate value Z of the surface to be cut under the coordinate system of the cutting equipment by the numerical control system based on the calibration model of the sensor and the cutting equipment_tube-center；

S62, the numerical control system according to the central coordinate value Z_tube-centerSending a cutting instruction to the cutting equipment;

wherein Z is_tube-center＝Z_sensor-Z₀+Z_{laser_ref}；

Z_{laser_ref}Is the central coordinate value, Z, of the cutting surface to be cut under the coordinate system of the cutting equipment_sensorThe central coordinate value of the surface to be cut of the pipe under the sensor coordinate system is obtained.

Further, the shape of the tubing includes: at least one of a circular tube, a square tube, a rectangular tube, an elliptical tube and a symmetrical special-shaped tube;

the shapes of the measuring pipe and the pipe corresponding to the calibration tool are matched.

Further, the distance between the laser sensor and the center position of the cutting surface of the pipe is 350-400mm, and the laser light source in the laser sensor is a line-structured laser light source.

In a second aspect, the invention further provides a pipe identification device based on the laser pipe cutting equipment, wherein the laser pipe cutting equipment comprises a lathe bed, a chuck arranged on the lathe bed, a cutting head and a numerical control system, the pipe identification device comprises a laser sensor used for measuring a pipe clamped on the chuck, and the laser sensor is arranged on one side or the left side and the right side of the chuck close to a cutting area;

the numerical control system interacts with the chuck, cutting head and/or laser sensor based on the pipe identification method of any of the first aspects.

Further, the laser sensor includes: a laser light source assembly and a camera assembly; the camera assembly is in communication connection with the numerical control system;

alternatively, the first and second electrodes may be,

the laser sensor includes:

the system comprises a laser light source assembly, a camera assembly and a control module, wherein the control module is electrically connected with the camera assembly and is in communication connection with the numerical control system;

the laser light emitted by the laser light source component is used for irradiating the surface of the pipe, and the camera component is used for collecting the image of the surface of the pipe irradiated with the laser light;

the control module is used for processing the image collected by the camera assembly, acquiring the profile information of the pipe, and acquiring the angle information or the center coordinate according to the profile information.

Further, the laser light source assembly is a line-structured laser light source assembly.

The invention has the beneficial effects that:

according to the pipe identification method, the laser sensor is adopted to acquire the relevant information of the pipe, so that the identification speed can be increased, the reading result is accurate, and the cutting precision of the pipe can be better improved.

In addition, the pipe identification method can be suitable for workpieces of pipes with various shapes, and the surface of the pipe is not damaged by adopting a non-contact measurement mode.

The visual fields of the plurality of laser sensors in the pipe identification device are mutually supplemented, so that the accurate measurement of the center coordinates of the pipe is realized, and the subsequent cutting accuracy is ensured.

Furthermore, the device has the advantages of low cost, high measurement precision, large visual field range of the measured pipe, high measurement speed and suitability for occasions of high-speed processing.

Drawings

FIG. 1 is a schematic view of a part of the structure of a pipe identification device based on a laser pipe cutting device according to the present invention;

fig. 2 and fig. 3 are schematic diagrams of a calibration tool in the pipe identification method based on the laser pipe cutting device according to the present invention;

FIG. 4 is a schematic flow chart of a pipe identification method based on a laser pipe cutting device according to the present invention;

FIG. 5 is a partial schematic structural view of a pipe identifying device based on a laser pipe cutting device in embodiment 2;

FIG. 6 is a partial schematic structural view of a pipe identifying device based on a laser pipe cutting device in example 3;

FIG. 7 is a schematic partial structural view of a laser sensor of a pipe identification device based on a laser pipe cutting device according to the present invention;

fig. 8 to fig. 10 are schematic diagrams of the use process of the laser sensor of the pipe identification device based on the laser pipe cutting equipment according to the present invention.

Wherein, 1 is left side laser sensor, 2 is right side laser sensor, 3 is for maring the frock, 4 are detection area, 5 are chuck center datum point, 6 are the tubular product and treat cutting surface central point and put, 7 are tubular product, 8 are chuck/pipe cutting machine chuck, 9 are laser light source subassembly, 10 are industrial camera/camera.

Detailed Description

For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.

In order to better understand the solution of the embodiment of the present invention, the following outlines the apparatus of the embodiment of the present invention.

The pipe identification device based on the laser pipe cutting equipment can comprise: the numerical control system of the laser pipe cutting equipment, the chuck assembly and at least one laser sensor. As shown in fig. 1, two laser sensors, namely a left laser sensor 1 and a right laser sensor 2, are shown in fig. 1, and first, a calibration tool 3 is clamped by a chuck, and a measurement area of the laser sensor covers the surface of a pipe clamped by the chuck, and the left laser sensor 1 and the right laser sensor 2 are calibrated. Then, the left laser sensor 1 and the right laser sensor 2 are used for measuring, and some reference values corresponding to the calibration tool 3 are obtained, such as the center position of the surface to be cut in the sensor coordinate system, reference point information during angle information measurement, an angle reference value b0 during angle information measurement, a center coordinate reference value z0 during center value information measurement, and the like. As shown in fig. 2, a pipe cutting surface center position 6, a chuck center reference point 5 and the like under the calibration tool are shown in fig. 2, and in fig. 2, a chuck 8 fixedly supports a pipe 7. Fig. 1 also shows a detection region 4 under the calibration fixture.

It should be noted that the calibration fixture 3 may also be understood as a calibration fixture, and the chuck center reference point 5 is also a mechanical origin. The calibration tooling process may be such that the center position of the calibration tooling obtained by the two laser sensors is defaulted to the chuck rotation center reference point, i.e., the chuck center reference point (as shown in fig. 3) or understood to be the center reference point of the laser sensors. In practice, the chuck center reference point and the laser sensor center reference point belong to different coordinate systems.

The left laser sensor and the right laser sensor shown in fig. 1 are installed in a horizontal direction, and the two laser sensors are located at two quadrant positions, and the distance between the laser sensors and the reference point of the center of the chuck is 350-400 mm. The laser light rays emitted by the two laser sensors in the figure 1 are vertical to the horizontal plane of the machine tool, and the light rays emitted by the two laser sensors are coplanar.