CN-118875544-B - Pipe feeding method and storage medium

CN118875544BCN 118875544 BCN118875544 BCN 118875544BCN-118875544-B

Abstract

The application provides a pipe feeding method and a storage medium, which comprise the steps of facilitating a first clamping structure to clamp a first end of a pipe, utilizing a second clamping structure to clamp the other end of the pipe, utilizing at least one supporting structure to support the pipe between the first clamping structure and the second clamping structure, enabling the pipe to move along a first direction relative to the supporting structure, enabling the first clamping structure to drive the pipe to move along the first direction, determining a stop position after the first clamping structure drives the pipe to move each time, adjusting the supporting position of the pipe between the first clamping structure and the second clamping structure according to the stop position, and enabling the supporting structure to move to the corresponding supporting position to support the pipe respectively. The pipe feeding method can continuously ensure the feeding precision in the pipe feeding process.

Inventors

GUO WEIJIAN
DAI CHANG
HE CHUNXIAN
TANG WEI
KANG XIANGHUI
OUYANG TAO
ZHAO SHIJI

Assignees

大族激光科技产业集团股份有限公司
大族激光智能装备(长沙)有限公司

Dates

Publication Date: 20260505
Application Date: 20240826

Claims (10)

1. A method of pipe loading, the method comprising the steps of: Clamping a first end of the pipe by using a first clamping structure, and clamping the other end of the pipe by using a second clamping structure; Supporting the tubing between the first clamping structure and the second clamping structure with at least one support structure; the first clamping structure drives the pipe to move along a first direction for feeding; Acquiring a stop position of the first clamping structure after driving the pipe to move each time; the support structure is moved to the support position along a first direction to support the pipe according to the calculation of the stop position, wherein before the first clamping structure drives the pipe to move, the support structure is moved to the corresponding support position to support the pipe, or after the first clamping structure drives the pipe to move to the stop position, the support structure is moved to the corresponding support position to support the pipe; The support position is calculated according to the stop position, the support structure is moved to the support position along the first direction to support the pipe, and the pipe support device further comprises: determining a separation distance between the stop position and the second clamping structure; determining the number of the supporting structures; adjusting each supporting position of the pipe between the first clamping structure and the second clamping structure according to the interval distance and the number of the supporting structures; The method further comprises the steps of: respectively presetting a path range of each supporting structure moving along a first direction, wherein the path ranges are not overlapped with each other; And respectively determining the supporting position of each supporting structure in the corresponding path range according to the stopping position, and determining the supporting position on the end position of the path range and not changing when the adjusted supporting position is positioned at the end position of the path range or needs to exceed the end position.
2. The method for feeding a tube according to claim 1, wherein the step of obtaining the stop position of the first clamping structure after each time the tube is moved, further comprises: and determining a stop position of the first clamping structure after driving the pipe to move each time according to the feeding length required by each time of processing the pipe.
3. The method of pipe loading as defined in claim 1, wherein each of said support locations is equally spaced in a first direction within said current spacing distance.
4. The method of pipe loading of claim 1, wherein the method further comprises: Forming a plurality of path ranges along a first direction between the initial position of the first clamping structure and the second clamping structure, wherein each path range corresponds to one supporting structure respectively, and The distance of each of the path ranges is the same.
5. The method of pipe loading of claim 1, wherein calculating a support position based on the stop position moves the support structure in a first direction to the support position to support the pipe, further comprising: determining a first coordinate of the stop position in a first direction; Determining a second coordinate of the second clamping structure in the first direction; respectively calculating the coordinates of the supporting position according to the first coordinates and the second coordinates and a first preset formula, The first preset formula is that Wherein C is the coordinate of the supporting position, a is the first coordinate, B is the second coordinate, n represents the nth supporting position from being close to the first clamping structure in the current state, and m represents the number of supporting positions in the current state.
6. The pipe loading method according to any one of claims 1 to 5, further comprising: Presetting a first safety distance between the first clamping structure and the adjacent supporting structure; When the distance between the stop position of the first clamping structure and the supporting position is smaller than the first safety distance, the supporting structure corresponding to the supporting position is enabled to fall down so as to avoid the first clamping structure.
7. The method of pipe loading according to claim 6, wherein a second safe distance between two adjacent support structures is preset; and when the distance between the two adjacent supporting positions is smaller than the second safety distance, stopping the supporting structure corresponding to the supporting position close to the first clamping structure from moving along the first direction.
8. The method for feeding a tube according to any one of claims 1 to 5, wherein the tube is rotatable about a central axis of the tube as a rotation axis by the first clamping structure and the second clamping structure; the supporting structure comprises a supporting piece and a lifting driving piece, and the lifting driving piece is in driving connection with the supporting piece; the support member supports the pipe, and the support method further comprises: Acquiring the lowest point position of the pipe in a second direction in real time, wherein the second direction is perpendicular to the first direction; And enabling the lifting driving piece to drive the supporting piece to move to the lowest point position so as to support the pipe.
9. The method for feeding a tube according to any one of claims 1 to 5, wherein the tube is rotatable about a central axis of the tube as a rotation axis by the first clamping structure and the second clamping structure; The supporting structure further comprises a limiting driving piece, a first limiting piece and a second limiting piece which are oppositely arranged along a third direction, wherein the pipe is limited between the first limiting piece and the second limiting piece, the limiting driving piece is respectively in driving connection with the first limiting piece and the second limiting piece, so that the first limiting piece and the second limiting piece can relatively move along the third direction, the third direction is perpendicular to the first direction and the second direction respectively, and the second direction is perpendicular to the first direction; the method for limiting the pipe between the first limiting piece and the second limiting piece further comprises the following steps: acquiring the width of the pipe in the third direction when the pipe rotates in real time; And the limiting driving piece drives the first limiting piece and the second limiting piece to relatively move until the limiting distance between the first limiting piece and the second limiting piece is consistent with the width of the pipe.
10. A computer readable storage medium having instructions stored therein, execution of which by a data storage device causes the data storage device to implement the pipe loading method of any one of claims 1 to 9.

Description

Pipe feeding method and storage medium Technical Field The application belongs to the technical field of pipe processing, and particularly relates to a pipe feeding method and a storage medium. Background In the processing process of the pipe by the processing equipment, the two ends of the pipe are usually clamped by the first clamping structure and the second clamping structure respectively, and when the first clamping structure drives the pipe to move towards the direction close to the second clamping structure, the pipe clamped by the second clamping structure can still move relative to the second clamping structure, so that the pipe is fed. In order to prevent the pipe between the first clamping structure and the second clamping structure from deforming in the process of driving the pipe to move, one or more supporting structures are generally arranged between the first clamping structure and the second clamping structure to support the pipe, when the first clamping structure moves to be close to the supporting structure, the supporting structure needs to descend to avoid and support the pipe no longer, a neutral gear period for supporting the pipe without the supporting structure is generated, and if the length of the pipe is longer during the neutral gear period, the pipe is still likely to deform in the process of driving the pipe to move by the first clamping structure, so that the feeding precision is affected. Disclosure of Invention The application provides a pipe feeding method, which can continuously ensure the precision of pipe feeding in the pipe feeding process. The technical scheme adopted by the application is a pipe feeding method, which comprises the following steps: A method of pipe loading, the method comprising the steps of: Clamping a first end of the pipe by using a first clamping structure, and clamping the other end of the pipe by using a second clamping structure; Supporting the tubing between the first clamping structure and the second clamping structure with at least one support structure; the first clamping structure drives the pipe to move along a first direction for feeding; Acquiring a stop position of the first clamping structure after driving the pipe to move each time; And calculating a supporting position according to the stopping position, and moving the supporting structure to the supporting position along the first direction to support the pipe. According to the application, when the first clamping structure drives the pipe to feed in the first direction, at least one supporting structure is arranged between the first clamping structure and the second clamping structure to support the pipe, and the supporting position of the supporting structure is adjusted according to the stopping position of the first clamping structure after the pipe is driven to move each time, so that the position of the supporting structure can be adjusted once in the first direction every time the pipe is fed, and meanwhile, the moving direction of the supporting structure can be the same as the moving direction of the first clamping structure because the adjusting direction of the supporting position is the same as the moving direction of the first clamping structure. That is, the pipe feeding method can continuously ensure the feeding precision in the pipe feeding process. Optionally, moving the support structure to the support position along the first direction supports the pipe, and moving the support structure to the corresponding support position to support the pipe, respectively, further includes: In the process that the first clamping structure drives the pipe to move to the stop position, the supporting structure is moved to the corresponding supporting position to support the pipe, or Before the first clamping structure drives the pipe to move, the supporting structure is moved to the corresponding supporting position to support the pipe, or After the first clamping structure drives the pipe to move to the stop position, the supporting structure is moved to the corresponding supporting position to support the pipe. Optionally, the step of obtaining the stop position after the first clamping structure drives the pipe to move each time determines the stop position after the first clamping structure drives the pipe to move each time, and further includes: and determining a stop position of the first clamping structure after driving the pipe to move each time according to the feeding length required by each time of processing the pipe. Optionally, the calculating according to the stopping position obtains a supporting position, moving the supporting structure to the supporting position along the first direction to support the pipe, and adjusting the current supporting position of the pipe between the first clamping structure and the second clamping according to the stopping position, further including: determining a separation distance between the stop position and the second clamping