Pipe processing method, device, processing equipment and readable storage medium

Abstract

The application relates to a pipe processing method, a pipe processing device, a pipe processing equipment and a readable storage medium, and the method comprises the following steps: acquiring a section size parameter and a section shape parameter of a pipe to be processed; determining section processing compensation information of the pipe to be processed according to the section size parameter and the section shape parameter; and processing the pipe to be processed according to the section processing compensation information and preset section processing parameters. The method can effectively improve the problem that the pipe is easily bent and swings irregularly during cutting due to the long distance between the cutting point and the chuck clamping point, ensure the processing accuracy of the pipe section, and improve the pipe processing precision while ensuring the actual processing efficiency of the pipe section.

Description

Technical Field

[0001] This application relates to the field of pipe processing, and in particular to a pipe processing method, apparatus, processing equipment, and readable storage medium. Background Technology

[0002] With the continuous development of pipe processing technology and the increasing demand for pipe processing, the requirements for pipe processing precision are becoming increasingly stringent. In actual processing, precise cutting of pipes is crucial to ensuring processing accuracy.

[0003] In related technologies, chucks are often used to clamp and position the pipes, and forward and reverse cutting are performed on both sides of the chuck to improve material utilization. However, in cases where the pipe cutting point is a long distance from the chuck clamping point, the pipe is prone to bending during cutting, causing it to swing irregularly during cutting, making it difficult to meet the processing accuracy requirements. Summary of the Invention

[0004] Therefore, it is necessary to provide a pipe processing method, apparatus, processing equipment, and readable storage medium to address the aforementioned technical problems.

[0005] A pipe processing method, comprising:

[0006] Obtain the cross-sectional dimensions and cross-sectional shape parameters of the pipe to be processed;

[0007] Based on the cross-sectional dimension parameters and the cross-sectional shape parameters, determine the cross-sectional processing compensation information of the pipe to be processed;

[0008] The pipe to be processed is processed according to the cross-section processing compensation information and the preset cross-section processing parameters.

[0009] In one embodiment, determining the cross-sectional processing compensation information of the pipe to be processed based on the cross-sectional dimension parameters and the cross-sectional shape parameters includes:

[0010] Based on the cross-sectional dimension parameters, determine the cross-sectional feature points of the pipe to be processed;

[0011] Based on the cross-sectional shape parameters, determine the cross-sectional type of the pipe to be processed;

[0012] Based on the cross-section type and the cross-section feature points, determine the cross-section machining compensation information.

[0013] In one embodiment, the cross-sectional feature points include follow-up calibration points, cross-sectional edge points, and feed feature points. Determining the cross-sectional feature points of the pipe to be processed based on the cross-sectional dimension parameters includes:

[0014] Based on the cross-sectional dimension parameters, determine the follow-up calibration point and cross-sectional edge point of the pipe to be processed;

[0015] The feed feature point of the pipe to be processed is determined based on the servo calibration point and the cross-sectional edge point.

[0016] In one embodiment, determining the cross-sectional type of the pipe to be processed based on the cross-sectional shape parameters includes:

[0017] Obtain the centerline of the cross-section of the pipe to be processed;

[0018] When the cross-sectional shape parameters of the pipe to be processed are symmetrical about the center line of the cross section, the cross-sectional type is determined to be a symmetrical cross section;

[0019] When the cross-sectional shape parameters of the pipe to be processed are not symmetrical about the center line of the cross-section, the cross-section type is determined to be an asymmetrical cross-section.

[0020] In one embodiment, the cross-section machining compensation information includes a cross-section machining feed compensation amount, and determining the cross-section machining compensation information based on the cross-section type and the cross-section feature points includes:

[0021] When the cross-section type is an asymmetrical cross-section, the cross-section machining feed compensation amount is determined based on the cross-section edge points and fixed compensation values;

[0022] When the cross-section type is a symmetrical cross-section, the cross-section machining feed compensation amount is determined based on the edge points of the cross-section.

[0023] In one embodiment, the cross-section edge points include a first cross-section edge point and a second cross-section edge point, the first and second cross-section edge points being located at opposite ends of the cross-section to be processed. When the cross-section type is an asymmetrical cross-section, determining the cross-section machining feed compensation amount based on the cross-section edge points and a fixed compensation value includes:

[0024] When the cross-section type is an asymmetric cross-section, determine the positional changes of the edge points of the first cross-section and the edge points of the second cross-section;

[0025] The cross-section machining feed compensation amount is determined based on the position change and the fixed compensation value;

[0026] When the cross-section type is a symmetrical cross-section, determining the cross-section machining feed compensation amount based on the cross-section edge points includes:

[0027] When the cross-section type is a symmetrical cross-section, determine the positional changes of the edge points of the first cross-section and the edge points of the second cross-section;

[0028] The cross-section machining feed compensation amount is determined based on the position change.

[0029] In one embodiment, the cross-section processing compensation information includes a cross-section processing angle compensation amount, and the pipe processing method further includes:

[0030] Obtain the centerline of the cross-section of the pipe to be processed;

[0031] The machining angle compensation amount of the cross section is determined based on the centerline of the cross section and the feed feature point.

[0032] A pipe processing apparatus, comprising:

[0033] The acquisition module is used to acquire the cross-sectional dimension parameters and cross-sectional shape parameters of the pipe to be processed;

[0034] A compensation module, connected to the acquisition module, is used to determine the cross-sectional processing compensation information of the pipe to be processed based on the cross-sectional size parameters and the cross-sectional shape parameters.

[0035] The processing module, connected to the compensation module, is used to process the pipe to be processed according to the cross-section processing compensation information and the preset cross-section processing parameters.

[0036] A processing apparatus includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the method described above.

[0037] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described above.

[0038] A computer program product that, when run on a terminal device, causes the terminal device to perform any of the methods described above.

[0039] The beneficial effects of the embodiments provided in this application include:

[0040] This pipe processing method, based on the cross-sectional size and shape parameters of the pipe to be processed, derives cross-sectional processing compensation information (such as cross-sectional processing feed compensation and cross-sectional processing angle compensation) that takes into account both the actual dimensions and shape of the pipe cross-section. It can adapt different cross-sectional processing compensation information to different pipe cross-sectional size and shape conditions, and use the derived cross-sectional processing compensation information to compensate and adjust the preset cross-sectional processing parameters, thereby completing the cross-sectional processing of the pipe to be processed. This effectively improves the problem of irregular swinging of the pipe during cutting when the distance between the pipe cutting point and the chuck clamping point is long, which is prone to bending during cutting. It ensures the accuracy of pipe cross-section processing, thus improving pipe processing precision while maintaining actual processing efficiency. Attached Figure Description

[0041] 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 these drawings without creative effort.

[0042] Figure 1 This is a schematic flowchart of a pipe processing method in one embodiment;

[0043] Figure 2 This is a schematic diagram of the specific process of step 104 in one embodiment;

[0044] Figure 3 This is a schematic diagram of the specific process of step 104 in one embodiment;

[0045] Figure 4 This is a schematic diagram of the specific process of step 104 in one embodiment;

[0046] Figure 5 This is a schematic diagram of the specific process of step 104 in one embodiment;

[0047] Figure 6 This is a schematic diagram illustrating a working condition where the pipe cutting point is a relatively long distance from the chuck clamping point in one embodiment;

[0048] Figure 7 This is a schematic diagram of the pipe cross-section in one embodiment;

[0049] Figure 8 This is a schematic diagram illustrating the process of obtaining feature points of the pipe cross-section in one embodiment;

[0050] Figure 9 This is a schematic diagram illustrating the process of obtaining the edge points of the left and right cross-sections of the pipe in one embodiment;

[0051] Figure 10 This is a schematic diagram illustrating the process of obtaining the cross-section machining angle compensation amount in one embodiment;

[0052] Figure 11 This is a schematic block diagram of the pipe processing device in one embodiment;

[0053] Figure 12 This is a schematic block diagram of the specific structure of the compensation module 40 in one embodiment;

[0054] Figure 13 This is a schematic block diagram of the specific structure of the compensation module 40 in one embodiment;

[0055] Figure 14 This is a schematic block diagram of the specific structure of the compensation module 40 in one embodiment;

[0056] Figure 15 This is a schematic diagram of the processing equipment in one embodiment. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0058] 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.

[0059] Figure 1 This is a schematic flowchart of a pipe processing method in one embodiment.

[0060] In this embodiment, the pipe processing method is applied to a processing equipment, which includes a clamping and limiting mechanism and a processing mechanism. The clamping and limiting mechanism is used to clamp and limit the pipe to be processed, and the processing mechanism is used to cut the pipe to be processed. The clamping and limiting mechanism includes a linear axis and a rotary axis. The linear axis can provide a feed force to the pipe to be processed in the horizontal direction, and the rotary axis can provide a circumferential clamping force to the pipe to be processed in the vertical direction. Figure 1 As shown, the pipe processing method includes steps 102 to 106.

[0061] Step 102: Obtain the cross-sectional dimension parameters and cross-sectional shape parameters of the pipe to be processed.

[0062] The pipe to be processed can be a pipe that requires clamping, positioning, and multiple processing steps. The cross-sectional dimension parameter can be the length of the cross-section of the pipe to be processed along the feed direction of the cutting head. The cross-sectional shape parameter can be a characteristic parameter representing the profile shape of the cross-section of the pipe to be processed. Optionally, the pipe to be processed can be a rectangular pipe, square pipe, angle steel, I-beam, or H-beam, etc., with a square cross-section.

[0063] The scenarios for obtaining the cross-sectional dimension parameters and cross-sectional shape parameters of the pipe to be processed include: placing the pipe to be processed on the processing platform and using external detection sensors to obtain the length value of the cross-section of the pipe to be processed along the feed direction of the cutting head and the characteristic parameters characterizing the cross-sectional contour shape of the pipe to be processed.

[0064] Step 104: Determine the cross-sectional processing compensation information of the pipe to be processed based on the cross-sectional dimension parameters and cross-sectional shape parameters.

[0065] Cross-section machining compensation information can be information on additional machining compensation based on the pipe cross-section size parameters and cross-section shape parameters during the pipe cross-section machining process. Optionally, the cross-section machining compensation information includes cross-section machining feed compensation amount and cross-section machining angle compensation. The cross-section machining feed compensation amount can be a value that compensates for the feed amount along the cutting head feed direction based on the pipe cross-section size parameters and cross-section shape parameters during the pipe cross-section machining process. The cross-section machining angle compensation can be a value that compensates for the swing angle of the cutting head relative to the pipe cross-section based on the pipe cross-section size parameters and cross-section shape parameters during the pipe cross-section machining process.

[0066] The situations in which the cross-sectional processing compensation information of the pipe to be processed is determined based on the cross-sectional size parameters and cross-sectional shape parameters include: determining the cutting method in the subsequent pipe cross-sectional processing based on the overhang length and cross-sectional size parameters of the pipe to be processed (i.e., the distance between the cutting point of the processing mechanism and the clamping and limiting mechanism of the clamping point of the pipe), and determining the cross-sectional processing feed compensation amount and cross-sectional processing angle compensation based on the cross-sectional size parameters and cross-sectional shape parameters.

[0067] The cutting methods include cutting after current section compensation and cutting after all sections compensation. Cutting after current section compensation is applied to cutting scenarios where the pipe to be processed has a large overhang and small cross-sectional dimension parameters. This improves the problem of inaccurate cross-sectional processing compensation information caused by errors in the obtained cross-sectional dimension parameters and cross-sectional shape parameters due to poor rotational rigidity of the pipe, thus ensuring the processing accuracy of the pipe cross-section. Cutting after all sections compensation is applied to cutting scenarios where the pipe to be processed has a small overhang and large cross-sectional dimension parameters. This improves the efficiency of obtaining cross-sectional processing compensation information for all pipe cross-sections individually based on cross-sectional dimension parameters and cross-sectional shape parameters, thus improving processing efficiency while ensuring the processing accuracy of the pipe cross-section.

[0068] Step 106: Process the pipe to be processed according to the cross-section processing compensation information and the preset cross-section processing parameters.

[0069] Preset cross-section processing parameters are processing parameters planned before additional processing compensation is performed based on the pipe cross-section size and shape parameters during the pipe cross-section processing process. Preset cross-section processing parameters include the cross-section processing feed rate and the cross-section processing swing angle. The cross-section processing feed rate is the feed rate along the cutting head feed direction planned before additional processing compensation is performed based on the pipe cross-section size and shape parameters during the pipe cross-section processing process. The cross-section processing swing angle is the swing angle of the cutting head relative to the pipe cross-section planned before additional processing compensation is performed based on the pipe cross-section size and shape parameters during the pipe cross-section processing process.

[0070] The processing of the pipe to be processed based on the cross-section processing compensation information and the preset cross-section processing parameters includes: processing compensation of the preset cross-section processing parameters based on the cross-section processing compensation information, and processing the cross-section of the pipe to be processed based on the cross-section processing parameters obtained after processing compensation.

[0071] Specifically, when processing the cross-section of the pipe to be processed, the pipe is placed on the processing platform, and external detection sensors are used to obtain the length value of the cross-section of the pipe along the feed direction of the cutting head and the characteristic parameters characterizing the cross-sectional contour shape of the pipe. Based on the overhang of the pipe (i.e., the distance between the cutting point of the processing mechanism and the clamping point of the clamping and limiting mechanism) and the cross-sectional size parameters, the cutting method in the subsequent pipe cross-section processing is determined, and the cross-section processing feed compensation amount and cross-section processing angle compensation are determined in combination with the cross-section size parameters and cross-section shape parameters. Based on the cross-section processing compensation information, the preset cross-section processing parameters are processed to compensate, and the pipe to be processed is processed based on the cross-section processing parameters obtained after processing compensation.

[0072] The pipe processing method provided in this embodiment, based on the cross-sectional size parameters and cross-sectional shape parameters of the pipe to be processed, derives cross-sectional processing compensation information (such as cross-sectional processing feed compensation amount and cross-sectional processing angle compensation amount) that takes into account both the actual cross-sectional size and shape of the pipe to be processed. It can adapt different cross-sectional processing compensation information for different pipe cross-sectional size conditions and shapes, and use the derived cross-sectional processing compensation information to compensate and adjust the preset cross-sectional processing parameters, thereby completing the cross-sectional processing of the pipe to be processed. This effectively improves the problem of irregular swinging of the pipe during cutting when the distance between the pipe cutting point and the chuck clamping point is long, which is easily bent during cutting. It ensures the accuracy of the pipe cross-section processing, thereby improving the pipe processing precision while ensuring the actual processing efficiency of the pipe cross-section.

[0073] Figure 2 This is a schematic diagram of the specific process of step 104 in one embodiment.

[0074] In this embodiment, as Figure 2 As shown, step 104 includes sub-steps 202 to 206.

[0075] Step 202: Determine the cross-sectional feature points of the pipe to be processed based on the cross-sectional dimension parameters.

[0076] The cross-sectional feature points include the follow-up calibration point, the cross-sectional edge point, and the feed feature point. The follow-up calibration point can be the position of the pipe cross-section detected after the cutting head has reached its stable position during the follow-up motion. The cross-sectional edge point includes a first cross-sectional edge point and a second cross-sectional edge point, located at opposite ends of the pipe cross-section to be processed. The cross-sectional feature point can be a portion of the pipe cross-section positioned along the cutting head feed direction between the follow-up calibration point and the cross-sectional edge point.

[0077] The scenarios for determining the cross-sectional feature points of the pipe to be processed based on the cross-sectional dimension parameters include: determining the follow-up calibration points and cross-sectional edge points of the pipe to be processed based on the cross-sectional dimension parameters; and determining the feed feature points of the pipe to be processed based on the follow-up calibration points and cross-sectional edge points.

[0078] The method for determining the follow-up calibration point and cross-section edge point of the pipe to be processed based on the cross-section size parameters includes: taking the cross-section position corresponding to half the length value of the cross-section of the pipe to be processed along the feed direction of the cutting head as the follow-up calibration point, and using the follow-up height detection sensor to obtain the cross-section position corresponding to the sudden change value of the follow-up height of the cross-section of the pipe to be processed along the feed direction of the cutting head as the cross-section edge point.

[0079] The method for determining the feed feature point of the pipe to be processed based on the follower calibration point and the cross-section edge point includes: taking the cross-section position corresponding to the middle position of the follower calibration point and the cross-section edge point as the feed feature point.

[0080] Step 204: Determine the cross-sectional type of the pipe to be processed based on the cross-sectional shape parameters.

[0081] The cross-section type can be determined by the symmetry of the cross-sectional shape parameters of the pipe to be processed about the cross-section centerline. Cross-section types include symmetrical and asymmetrical cross-sections. The cross-section type of the pipe to be processed is determined based on the cross-sectional shape parameters in the following situations: obtaining the cross-section centerline of the pipe to be processed; when the cross-sectional shape parameters of the pipe to be processed are symmetrical about the cross-section centerline, the cross-section type is determined to be a symmetrical cross-section; when the cross-sectional shape parameters of the pipe to be processed are not symmetrical about the cross-section centerline, the cross-section type is determined to be an asymmetrical cross-section.

[0082] Step 206: Determine the cross-section processing compensation information based on the cross-section type and cross-section feature points.

[0083] The scenarios for determining cross-section processing compensation information based on cross-section type and cross-section feature points include: when the cross-section type is asymmetrical, the cross-section processing feed compensation amount is determined based on the cross-section edge points and a fixed compensation value; when the cross-section type is symmetrical, the cross-section processing feed compensation amount is determined based on the cross-section edge points. The fixed compensation value can be a compensation value used when the pipe cross-section type is asymmetrical, due to the different chamfer shapes of the pipe causing differences in the errors between the first and second cross-section edge points.

[0084] The pipe processing method provided in this embodiment improves the adaptability of pipe cross-section processing and expands the feasibility and practicality of the pipe processing method by deriving different cross-section processing feed compensation amounts for different pipe cross-section types and cross-section feature points.

[0085] Figure 3 This is a schematic diagram of the specific process of step 104 in one embodiment.

[0086] In this embodiment, as Figure 3 As shown, step 104 includes sub-steps 302 to 304.

[0087] Step 302: When the cross-section type is an asymmetric cross-section, determine the positional changes of the edge points of the first and second cross-sections.

[0088] Step 304: Determine the cross-section machining feed compensation amount based on the position change and the fixed compensation value.

[0089] The change in position can be the change in the cross-sectional position of the first and second cross-sectional edge points located at both ends of the pipe cross-section along the feed direction of the cutting head.

[0090] The case of determining the cross-section processing feed compensation amount based on the position change and the fixed compensation value includes: obtaining half of the cross-section position change of the first and second cross-section edge points set at both ends of the pipe cross-section along the feed direction of the cutting head, summing half of the cross-section position change amount with the fixed compensation value, and then using the summation result as the cross-section processing feed compensation amount.

[0091] The pipe processing method provided in this embodiment takes into account that the first and second cross-section edge points have different error values ​​when the cross-section is asymmetrical. However, the data obtained each time has high repeatability. Therefore, a fixed compensation value is used for asymmetrical cross-sections to meet the actual field requirements, ensuring the accuracy of the feed compensation for pipe cross-section processing, thereby effectively improving the accuracy of pipe processing.

[0092] Figure 4 This is a schematic diagram of the specific process of step 104 in one embodiment.

[0093] In this embodiment, as Figure 4 As shown, step 104 includes sub-steps 402 to 404.

[0094] In step 402, when the cross-section type is a symmetrical cross-section, determine the positional changes of the edge points of the first and second cross-sections.

[0095] Step 404: Determine the cross-section machining feed compensation amount based on the position change.

[0096] The case of determining the cross-section processing feed compensation amount based on the position change amount includes: obtaining half of the cross-section position change amount along the cutting head feed direction of the first cross-section edge point and the second cross-section edge point set at both ends of the pipe cross-section, and taking half of the cross-section position change amount as the cross-section processing feed compensation amount.

[0097] The pipe processing method provided in this embodiment takes into account that the first and second cross-sectional edge points have the same error value, but the data obtained each time has high repeatability. Therefore, the cross-sectional position change obtained by the difference between the first and second cross-sectional edge points effectively eliminates the acquisition error, ensures the accuracy of the feed compensation for pipe cross-section processing, and thus effectively improves the accuracy of pipe processing.

[0098] Figure 5 This is a schematic diagram of the specific process of step 104 in one embodiment.

[0099] In this embodiment, as Figure 5 As shown, step 104 also includes sub-steps 502 to 504.

[0100] Step 502: Obtain the center line of the cross-section of the pipe to be processed.

[0101] Step 504: Determine the cross-section machining angle compensation amount based on the cross-section centerline and feed feature point.

[0102] The cross-section centerline can be the geometric centerline of the pipe cross-section relative to the machine tool coordinate system. Determining the cross-section machining angle compensation amount based on the cross-section centerline and edge points includes: constructing the pipe cross-section relative to the machine tool coordinate system, obtaining the angular deflection of the feed feature point relative to the machine tool coordinate system during pipe cutting; and determining the cross-section machining angle compensation amount based on the angular deflection.

[0103] The pipe processing method provided in this embodiment utilizes the angular deflection of the feed feature point set on the pipe cross-section relative to the machine tool coordinate system to obtain the cutting head swing angle compensation amount during the pipe cutting process. This compensates for the angular deflection of the feed feature point on the pipe cross-section relative to the machine tool coordinate system, ensuring the accuracy of the pipe cross-section processing angle compensation amount, thereby effectively improving the accuracy of pipe processing.

[0104] For example, as follows Figure 6 As shown, during the forward cutting process, the cutting head is to the right of the chuck clamping point. At this time, the tube overhang is the width reserved for the downward movement of the cutting head. Under this condition, the tube itself has a certain rigidity, and the degree of bending during the cutting process is small, which can reach the national standard range for laser processing tube precision. However, in order to minimize tail material and improve material utilization, during the reverse cutting process with zero tail material, the cutting head is to the left of the chuck clamping point. At this time, the tube overhang is the width reserved for the downward movement of the cutting head plus the thickness of chuck A. Under this condition, the tube is prone to bending during cutting, and laser processing requires the participation of high-pressure gas, causing the tube to shake and swing irregularly during cutting. The processing precision under this condition is difficult to meet the requirements of the site.

[0105] like Figure 7 As shown, rectangular tube a and square tube b can be divided into four cross-sectional planes Z1 / Z2 / Z3 / Z4 along their cross-sections. All four cross-sectional planes Z1 / Z2 / Z3 / Z4 are symmetrical about the left and right sides of the tube's cross-sectional centerline. Angle steel c can be divided into two cross-sectional planes Z1 / Z2 along its cross-section. Neither Z1 / Z2 is symmetrical about the tube's cross-sectional centerline; one side has rounded corners, and the other side has square corners. I-beam d can be divided into two cross-sectional planes Z1 / Z3 along its cross-section. Both Z1 / Z3 are symmetrical about the left and right sides of the tube's cross-sectional centerline. H-beam e can be divided into two cross-sectional planes Z2 / Z4 along its cross-section. Both Z2 / Z4 are symmetrical about the left and right sides of the tube's cross-sectional centerline.

[0106] like Figure 8 As shown, when obtaining the cross-sectional feature points on the cross-sectional plane Z1 of an asymmetric square cross-section angle steel, the cross-sectional feature points can be the five data points collected on the cross-sectional plane Z1. For example... Figure 8 As shown in Figure a, the cutting head slowly descends to the surface of the pipe to confirm the presence of pipe at the current position. If no pipe is detected after descending to a certain position, an alarm is triggered to stop the current program. After the pipe is detected, the servo function of the cutting head is activated. Once the servo function is stable, the cross-sectional position corresponding to half the length of the pipe's cross-section along the cutting head's feed direction is taken as the servo calibration point. Therefore, the linear axis coordinate of the current clamping and limiting mechanism is P1_Y1. Figure 8As shown in b, the cutting head is driven by the linear axis of the clamping and limiting mechanism to feed towards the left edge of the pipe section. Before sensing the left edge of the pipe section, the cross-sectional position corresponding to the midpoint between the follower calibration point and the left edge is used as the feed feature point, i.e., the current linear axis coordinate of the clamping and limiting mechanism is P2_Y2. Figure 8 As shown in Figure c, the cutting head is driven by the linear axis of the clamping and limiting mechanism to continue feeding towards the left edge of the pipe section until the left edge of the pipe section is sensed, i.e., the current linear axis coordinate of the clamping and limiting mechanism is P3_Y3. Figure 8 As shown in diagram d, the linear axis of the clamping and limiting mechanism drives the cutting head to lift and rapidly feed it to the P1_Y1 coordinate value, then quickly positions it on the pipe surface, activating the follow-up function. For example... Figure 8 As shown in Figure e, the cutting head is driven by the linear axis of the clamping and limiting mechanism to feed towards the right edge of the pipe section. Before sensing the right edge of the pipe section, the cross-sectional position corresponding to the midpoint between the follower calibration point and the right edge of the pipe section is used as the feed feature point, i.e., the current linear axis coordinate of the clamping and limiting mechanism is P4_Y4. Figure 8 As shown in f, the cutting head is driven by the linear axis of the clamping and limiting mechanism to continue feeding towards the edge point of the right section of the pipe until the edge point of the right section of the pipe is sensed, that is, the current linear axis coordinate of the clamping and limiting mechanism is P5_Y5.

[0107] like Figure 9 As shown, the method for obtaining the left and right cross-sectional edge points P3_Y3 and P5_Y5 of the pipe includes: the set follow-up height value of the cutting head is H, the actual height value fed back by the sensor on the cutting head is h, when the cutting head moves quickly to the edge of the pipe, the set height value H remains unchanged, while the actual height value h will suddenly increase. When h = hH > fixed threshold (generally within 0.1mm), the current linear axis coordinate value of the clamping limit mechanism is collected as P3_Y3 / P5_Y5, and the continued feed of the Y axis is canceled.

[0108] It should be noted that, because the angle steel has an asymmetrical square cross-section, the left and right edge points P3_Y3 and P5_Y5 of the pipe cannot be accurately measured under the same error conditions due to the different chamfer shapes. Therefore, it is necessary to add fixed compensation values ​​based on empirical values ​​for different chamfered cross-sections. For a symmetrical square cross-section, the error values ​​obtained from the data collected at the left and right edge points P3_Y3 and P5_Y5 are consistent; one data point from each side can cancel out the error, and no other empirical compensation is needed.

[0109] Specifically, based on the collected left and right cross-sectional edge points P3_Y3 and P5_Y5 of the pipe obtained above, the cross-sectional processing compensation information is calculated as follows:

[0110] When the cross-section type is asymmetrical, the cross-section machining feed compensation amount is determined based on the cross-section edge points and fixed compensation values. Specifically, the compensation amount Y1 along the linear axis feed direction of the clamping and limiting mechanism is Y1 = (P3_Y3 - P5_Y5) / 2.0

[0111] When the cross-section type is a symmetrical cross-section, the cross-section machining feed compensation amount is determined according to the edge point of the cross-section, that is, the compensation amount Y2 = (P3_Y3-P5_Y5) / 2.0+Yp along the linear axis feed direction of the clamping and limiting mechanism, where Yp is a fixed compensation value.

[0112] The edge points P3_Y3 and P5_Y5 of the pipe cross-section acquired by the sensor have error values, but the accuracy is controlled within one interpolation cycle of the system, generally within 1ms. Therefore, the error is almost negligible, and the repeatability is high. For symmetrical square cross-sections, both P3_Y3 and P5_Y5 actually have errors. Due to the high repeatability, the error values ​​can be canceled out after P3_Y3-P5_Y5. Therefore, this type of pipe edge finding algorithm meets the field requirements. For asymmetrical square cross-sections, P3_Y3 and P5_Y5 have different error values, and the collected data varies greatly. However, the repeatability of the data collected each time is high. Therefore, a fixed compensation value compensation algorithm is used for different cross-sections to meet the field requirements. In actual customer field applications, it can all reach the customer's usage error range.

[0113] Then, based on the cross-section centerline and the feed feature point, the cross-section machining angle compensation amount is determined, and the calculated cross-section machining angle compensation amount is as follows:

[0114] like Figure 10 As shown, the YZ coordinate system of the pipe section relative to the machine tool coordinate system is constructed. The coordinate values ​​corresponding to the feed feature points P2_Y2 and P4_Y4 obtained above are P2_Y2(Y2,Z2) and P4_Y4(Y4,Z4). The angular deflection θ of the feed feature point relative to the machine tool coordinate system is calculated from the two coordinate values. The angular deflection θ is the compensation value of the cutting head swing angle.

[0115] It should be understood that although the steps in the flowchart above are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least one sub-step described above may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps. It should be noted that the different embodiments described above can be combined with each other.

[0116] Figure 11 This is a schematic block diagram of the pipe processing device in one embodiment.

[0117] In this embodiment, the pipe processing device is applied to a processing equipment, which includes a clamping and limiting mechanism and a processing mechanism. The clamping and limiting mechanism is used to clamp and limit the pipe to be processed, and the processing mechanism is used to cut the pipe to be processed. The clamping and limiting mechanism includes a linear axis and a rotary axis. The linear axis can provide a feed force to the pipe to be processed in the horizontal direction, and the rotary axis can provide a circumferential clamping force to the pipe to be processed in the vertical direction. Figure 11 As shown, the pipe processing device includes an acquisition module 20, a compensation module 40, and a processing module 60.

[0118] The acquisition module 20 is used to acquire the cross-sectional dimension parameters and cross-sectional shape parameters of the pipe to be processed.

[0119] The compensation module 40, connected to the acquisition module 20, is used to determine the cross-sectional processing compensation information of the pipe to be processed based on the cross-sectional size parameters and cross-sectional shape parameters.

[0120] The processing module 60 is connected to the compensation module 40 and is used to process the pipe to be processed according to the cross-section processing compensation information and the preset cross-section processing parameters.

[0121] In this embodiment, each module is used to execute Figure 1 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 1 as well as Figure 1 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0122] Specifically, when processing the cross-section of the pipe to be processed, the pipe is placed on the processing platform, and external detection sensors are used to obtain the length value of the cross-section of the pipe along the feed direction of the cutting head and the characteristic parameters characterizing the cross-sectional contour shape of the pipe. Based on the overhang of the pipe (i.e., the distance between the cutting point of the processing mechanism and the clamping point of the clamping and limiting mechanism) and the cross-sectional size parameters, the cutting method in the subsequent pipe cross-section processing is determined, and the cross-section processing feed compensation amount and cross-section processing angle compensation are determined in combination with the cross-section size parameters and cross-section shape parameters. Based on the cross-section processing compensation information, the preset cross-section processing parameters are processed to compensate, and the pipe to be processed is processed based on the cross-section processing parameters obtained after processing compensation.

[0123] The pipe processing device provided in this embodiment, based on the cross-sectional size parameters and cross-sectional shape parameters of the pipe to be processed, derives cross-sectional processing compensation information (such as cross-sectional processing feed compensation amount and cross-sectional processing angle compensation amount) that takes into account both the actual cross-sectional size and shape of the pipe to be processed. It can adapt different cross-sectional processing compensation information for different pipe cross-sectional size conditions and shapes, and use the derived cross-sectional processing compensation information to compensate and adjust the preset cross-sectional processing parameters, thereby completing the cross-sectional processing of the pipe to be processed. This effectively improves the problem of irregular swinging of the pipe during cutting when the distance between the pipe cutting point and the chuck clamping point is long, which is easily caused by the pipe bending during cutting. It ensures the accuracy of the pipe cross-section processing, thereby improving the pipe processing precision while ensuring the actual processing efficiency of the pipe cross-section.

[0124] Figure 12 This is a schematic block diagram of the specific structure of the compensation module 40 in one embodiment.

[0125] In this embodiment, as Figure 12 As shown, the compensation module 40 includes a cross-sectional feature determination unit 420, a cross-sectional type determination unit 440, and a machining compensation unit 460.

[0126] The cross-sectional feature determination unit 420 is used to determine the cross-sectional feature points of the pipe to be processed based on the cross-sectional dimension parameters.

[0127] The cross-section type determination unit 440 is connected to the cross-section feature determination unit 420 and is used to determine the cross-section type of the pipe to be processed based on the cross-section shape parameters.

[0128] The machining compensation unit 460 is connected to the cross-section feature determination unit 420 and the cross-section type determination unit 440, and is used to determine cross-section machining compensation information based on the cross-section type and cross-section feature points.

[0129] In this embodiment, each unit is used to perform Figure 2 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 2 as well as Figure 2 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0130] Figure 13 This is a schematic block diagram of the specific structure of the compensation module 40 in one embodiment.

[0131] In this embodiment, as Figure 13 As shown, the compensation module 40 includes a first position change determination unit 430 and a first feed compensation determination unit 450.

[0132] The first position change determination unit 430 is used to determine the position change of the edge points of the first section and the edge points of the second section when the section type is an asymmetric section.

[0133] The first feed compensation determination unit 450 is connected to the first position change determination unit 430 and is used to determine the cross-section machining feed compensation amount based on the position change amount and the fixed compensation value.

[0134] In this embodiment, each unit is used to perform Figure 3 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 3 as well as Figure 3 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0135] Figure 14 This is a schematic block diagram of the specific structure of the compensation module 40 in one embodiment.

[0136] In this embodiment, as Figure 14 As shown, the compensation module 40 includes a second position change determination unit 470 and a second feed compensation determination unit 490.

[0137] The second position change determination unit 470 is used to determine the position change of the edge points of the first section and the edge points of the second section when the section type is a symmetrical section.

[0138] The second feed compensation determination unit 490 is connected to the second position change determination unit 470 and is used to determine the cross-section machining feed compensation amount based on the position change amount.

[0139] In this embodiment, each unit is used to perform Figure 4 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 4 as well as Figure 4 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0140] In one embodiment, the compensation module 40 is further configured to obtain the centerline of the cross-section of the pipe to be processed; and determine the cross-section processing angle compensation amount based on the centerline of the cross-section and the feed feature point.

[0141] In this embodiment, the compensation module is used to perform Figure 5 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 5 as well as Figure 5 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0142] The division of the various modules in the above-described pipe processing device is only for illustrative purposes. In other embodiments, the pipe processing device can be divided into different modules as needed to complete all or part of the functions of the above-described pipe processing device.

[0143] Specific limitations regarding the pipe processing apparatus can be found in the limitations of the pipe processing method described above, and will not be repeated here. Each module in the aforementioned pipe processing apparatus can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the processing equipment in hardware form or independent of it, or stored in the memory of the processing equipment in software form, so that the processor can call and execute the corresponding operations of each module.

[0144] Figure 15 This is a schematic diagram of the processing equipment in one embodiment.

[0145] In this embodiment, as Figure 15 As shown, the processing equipment includes a memory A1 and a processor A2; it may also include a display screen A3, a communication interface, and a bus. Optionally, the processing equipment can be a pipe processing equipment.

[0146] The memory A1, processor A2, display screen A3, and communication interface can communicate with each other via a bus; the display screen A3 is configured to display the user operation interface preset in the initial setting mode, and the display screen A3 can also display the process control window; the communication interface can transmit information; the memory A1 stores computer programs, and the processor A2 can call the logical instructions in the memory A1 to execute the methods in the above embodiments.

[0147] Furthermore, the logic instructions in the aforementioned memory A1 can be implemented as software functional units and, when sold or used as independent tubing, can be stored in a computer-readable storage medium.

[0148] Memory A1, as a computer-readable storage medium, can be configured to store software programs, computer-executable programs, such as program instructions or modules corresponding to the methods in the embodiments of this application. Processor A2 executes functional applications and data processing by running the software programs, instructions, or modules stored in memory A1, thereby implementing the methods in the above embodiments.

[0149] Memory A1 includes a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, memory A1 may include high-speed random access memory and may also include non-volatile memory.

[0150] Processor A2 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0151] This application also provides a computer-readable storage medium. One or more non-volatile computer-readable storage media containing computer-executable instructions, which, when executed by one or more processors, cause the processors to perform the methods described above.

[0152] This application also provides a computer program product that, when run on a terminal device, causes the terminal device to execute the methods described in the above embodiments.

[0153] The pipe processing method, apparatus, processing equipment, and readable storage medium provided in the above embodiments, based on the cross-sectional size parameters and cross-sectional shape parameters of the pipe to be processed, derive cross-sectional processing compensation information (such as cross-sectional processing feed compensation amount and cross-sectional processing angle compensation amount) that takes into account both the actual cross-sectional size and shape of the pipe to be processed. This allows for the adaptation of different cross-sectional processing compensation information to different pipe cross-sectional size conditions and shapes. Furthermore, the derived cross-sectional processing compensation information is used to compensate and adjust preset cross-sectional processing parameters, thereby completing the cross-sectional processing of the pipe to be processed. This effectively improves the problem of irregular swinging of the pipe during cutting due to the easy bending of the pipe when the distance between the pipe cutting point and the chuck clamping point is long, ensuring the accuracy of pipe cross-sectional processing. Thus, while ensuring the actual processing efficiency of the pipe cross-section, it also improves the pipe processing precision, possessing significant economic value and practical application value.

[0154] Any references to memory, storage, databases, or other media used in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which is used as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).

[0155] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0156] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for processing pipes, characterized in that, include: Obtain the cross-sectional dimensions and cross-sectional shape parameters of the pipe to be processed; Based on the cross-sectional dimension parameters and the cross-sectional shape parameters, determine the cross-sectional processing compensation information of the pipe to be processed; The pipe to be processed is processed according to the cross-section processing compensation information and the preset cross-section processing parameters; The step of determining the cross-sectional processing compensation information of the pipe to be processed based on the cross-sectional dimension parameters and the cross-sectional shape parameters includes: Based on the cross-sectional dimension parameters, determine the cross-sectional feature points of the pipe to be processed; Based on the cross-sectional shape parameters, determine the cross-sectional type of the pipe to be processed; Based on the cross-section type and the cross-section feature points, determine the cross-section machining compensation information; The cross-sectional feature points include follow-up calibration points, cross-sectional edge points, and feed feature points. The follow-up calibration points are the cross-sectional positions of the pipe detected after the cutting head probes down and senses the pipe in a stable follow-up position. The cross-sectional edge points include a first cross-sectional edge point and a second cross-sectional edge point, which are located at the two ends of the cross-section of the pipe to be processed, respectively. The cross-sectional feature points are the partial cross-sectional positions of the pipe set between the follow-up calibration points and the cross-sectional edge points along the feed direction of the cutting head.

2. The pipe processing method according to claim 1, characterized in that, The step of determining the cross-sectional feature points of the pipe to be processed based on the cross-sectional dimension parameters includes: Based on the cross-sectional dimension parameters, determine the follow-up calibration point and cross-sectional edge point of the pipe to be processed; The feed feature point of the pipe to be processed is determined based on the servo calibration point and the cross-sectional edge point.

3. The pipe processing method according to claim 2, characterized in that, Determining the cross-sectional type of the pipe to be processed based on the cross-sectional shape parameters includes: Obtain the centerline of the cross-section of the pipe to be processed; When the cross-sectional shape parameters of the pipe to be processed are symmetrical about the center line of the cross section, the cross-sectional type is determined to be a symmetrical cross section; When the cross-sectional shape parameters of the pipe to be processed are not symmetrical about the center line of the cross-section, the cross-section type is determined to be an asymmetrical cross-section.

4. The pipe processing method according to claim 3, characterized in that, The cross-section machining compensation information includes the cross-section machining feed compensation amount; The step of determining the cross-section processing compensation information based on the cross-section type and the cross-section feature points includes: When the cross-section type is an asymmetrical cross-section, the cross-section machining feed compensation amount is determined based on the cross-section edge points and fixed compensation values; When the cross-section type is a symmetrical cross-section, the cross-section machining feed compensation amount is determined based on the edge points of the cross-section.

5. The pipe processing method according to claim 4, characterized in that, The cross-sectional edge points include a first cross-sectional edge point and a second cross-sectional edge point, which are located at the two ends of the cross-section to be processed, respectively. When the cross-section type is an asymmetrical cross-section, the cross-section machining feed compensation amount is determined based on the cross-section edge points and a fixed compensation value, including: When the cross-section type is an asymmetric cross-section, determine the positional changes of the edge points of the first cross-section and the edge points of the second cross-section; The cross-section machining feed compensation amount is determined based on the position change and the fixed compensation value; When the cross-section type is a symmetrical cross-section, determining the cross-section machining feed compensation amount based on the cross-section edge points includes: When the cross-section type is a symmetrical cross-section, determine the positional changes of the edge points of the first cross-section and the edge points of the second cross-section; The cross-section machining feed compensation amount is determined based on the position change.

6. The pipe processing method according to any one of claims 3 to 5, characterized in that, The cross-section machining compensation information includes the cross-section machining angle compensation amount; The pipe processing method further includes: Obtain the centerline of the cross-section of the pipe to be processed; The machining angle compensation amount of the cross section is determined based on the centerline of the cross section and the feed feature point.

7. A pipe processing apparatus, characterized in that, include: The acquisition module is used to acquire the cross-sectional dimension parameters and cross-sectional shape parameters of the pipe to be processed; A compensation module, connected to the acquisition module, is used to determine the cross-sectional processing compensation information of the pipe to be processed based on the cross-sectional size parameters and the cross-sectional shape parameters. A processing module, connected to the compensation module, is used to process the pipe to be processed according to the cross-section processing compensation information and preset cross-section processing parameters; The pipe processing apparatus performs the method as described in any one of claims 1 to 6.

8. A processing equipment, characterized in that, The device includes a memory and a processor, wherein the memory stores a computer program that, when executed by the processor, causes the processor to perform the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 6.

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