Steel pipe circular saw cutting machine and its control method

Abstract

The present invention provides a steel pipe circular saw cutting bed and its control method. The method includes: using a steel pipe unloading assembly to unload the steel pipes on the steel pipe feeding ramp in groups of two in sequence above the feeding assembly; when four steel pipes are placed on the feeding assembly in a 2×2 arrangement and two steel pipes are transported to the position where the circular saw is located; the saw blade cuts the steel pipe with the required cutting length section by section; and during the cutting process of the saw blade, an acceleration sensor is used to monitor the vibration signal of the saw blade in real time during the cutting process, a rotational speed sensor is used to monitor the real-time rotational speed of the saw blade in real time, and an angle sensor is used to monitor the real-time angle of the center point of the saw blade from the cutting plane in real time, so as to control the optimal real-time feed rotational speed of the saw blade to reduce the vibration of the saw blade during the cutting process; repeating the above steps to complete the cutting of multiple steel pipes to be cut stacked on the steel pipe feeding ramp. The present invention adopts appropriate cutting parameters and has good cutting efficiency and sawing accuracy.

Description

Technical Field

[0001] The present invention belongs to the technical field of circular sawing machines, and particularly relates to a steel pipe circular saw cutting machine and its control method. Background Technique

[0002] Sawing is a common processing method in the metal processing process. Metal circular sawing machines play a very important role in the field of metal processing. Compared with metal grinding wheel cutting machines and metal laser cutting machines, they have a wider application range. Due to the limitations of the grinding wheel radius and motor power, the grinding wheel cutting machine cannot saw materials with too large an area. At the same time, for materials with different textures, the grinding wheel cutting machine cannot adjust the grinding wheel speed, and it is easy to damage the grinding wheel when sawing hard-textured materials, so its application range is limited. Laser cutting machines have high sawing efficiency and sawing accuracy, but their cost is too high, and they are usually only used for the processing of precision workpieces. Compared with the above two sawing equipment, metal circular sawing machines are in a medium position in terms of cost and accuracy. More importantly, they have a large processing range and high cost performance. Therefore, metal processing enterprises mainly use metal circular sawing machines to complete the task of metal sawing.

[0003] However, many domestic sawing machine industries are still semi-automated and have weak technological innovation capabilities. Leading international enterprises such as Bellinger have basically achieved numerical control and are further realizing intelligence. For the domestic sawing machine industry, such as the sawing machine equipment industrial cluster in Jinyun County, Zhejiang Province, the sawing machines produced there are very famous in China, but there are still many deficiencies, such as low informatization level and large but not strong industrial clusters.

[0004] Vibration during the cutting process of circular sawing machines has a significant impact on their cutting accuracy and product quality. Vibration will cause cutting deviation, increased surface roughness of the product, inaccurate cutting shape and size, and shortened tool life. In order to improve the cutting accuracy and product quality of circular sawing machines, it is particularly important to study and apply the dynamic force conditions and vibration suppression technology during the circular saw cutting process. Summary of the Invention

[0005] In view of the above defects, the present invention provides a steel pipe circular saw cutting machine and its control method.

[0006] The present invention provides the following technical solution: A control method for a steel pipe circular saw cutting machine, which is used to control the steel pipe circular saw cutting machine to cut the steel pipes to be cut in batches at equal intervals. The method includes the following steps:

[0007] S1. Use a steel pipe unloading component to unload the steel pipes on the steel pipe feeding ramp one by one in groups of two to above the feeding component;

[0008] S2. After the four steel pipes are placed on the feeding assembly in a 2×2 arrangement, control the steel pipe hydraulic fixing assembly to move downward to fix the four steel pipes in the feeding assembly, and then control the steel pipe transmission and transportation mechanism to start transporting the four steel pipes to the position where the disc cutting machine is located;

[0009] S3. Start the first servo motor, drive several steel pipe transmission and transportation mechanisms to move the four steel pipes along the x-axis towards the direction close to the saw blade, and the saw blade cuts the steel pipes with the required cutting length section by section; during the cutting process of the saw blade, use an acceleration sensor to monitor the vibration signal s(n) of the saw blade in real time, use a rotational speed sensor to monitor the real-time rotational speed ω(t) of the saw blade in real time, and use an angle sensor to monitor the real-time angle θ(t) between the center point of the saw blade and the cutting plane in real time, and then control the optimal real-time rotational speed of the saw blade to reduce the vibration of the saw blade during the cutting process;

[0010] S4. Repeat the steps of S1-S3 to complete the cutting of multiple steel pipes to be cut stacked on the steel pipe preparation ramp.

[0011] Further, in step S3, the saw blade cuts the steel pipes with the required cutting length section by section, including:

[0012] S301. Use the position sensor module to monitor in real time when the steel pipe to be cut is transferred to the lower part of the saw blade by the first servo motor;

[0013] S302. Start the saw blade servo motor, drive the saw blade to rotate to cut and level the heads of the four steel pipes, and after cutting, turn off the saw blade servo motor;

[0014] S303. After controlling the steel pipe hydraulic fixing assembly to lift upward, control the first servo motor to transfer the four steel pipes to walk the cutting length, and then control the first servo motor to turn off;

[0015] S304. Control the saw blade servo motor to start again to cut the finished steel pipes that have moved the required cutting distance length along the x-axis towards the direction close to the saw blade.

[0016] Further, in step S3, controlling the optimal real-time rotational speed of the saw blade to reduce the vibration of the saw blade during the cutting process includes:

[0017] S311. Perform Fourier transform on the collected vibration signal s(n) to convert it from the time domain to the frequency domain;

[0018] where n = 0, 1, 2, …, N - 1; f is the vibration frequency; s(n) is the discrete vibration signal collected at the nth moment; f = ω(t) / 60; the unit of ω(t) is rad / min; the unit of f is Hertz;

[0019] S312. According to the collected vibration signals, construct the calculation formula for the vibration power spectral density PSD;

[0020] T is the duration of a sampling period;

[0021] S313. Calculate the mass matrix, damping matrix, and stiffness matrix of the four steel pipes to be cut, and construct the cutting force balance equation:

[0022]

[0023] where M is the mass matrix, C is the damping matrix, and K is the stiffness matrix; and x(t) are the real-time acceleration, real-time velocity, and real-time displacement of the steel pipe along the x-axis direction of the cutting bed respectively; F f (t) is the normal force, F f (t) = K n ×(h(t)) b ×W, where b is the normal force cutting index, b = 0.70 - 0.96; W is the saw blade thickness, K n is the normal force constant, K n = 7.33×10 9 N / m; h(t) is the real-time cutting height of the saw blade in the z-axis direction, h(t) = rsin(θ(t)), θ(t) is the real-time angle between the center point of the saw blade and the cutting plane, and r is the radius of the saw blade; F s (t) is the cutting friction force based on the Strickbeck model, F s (t) = μ m F h +(μ s F h -μ m F h )exp(-ω(t) / ω s ) p , ω s is the smooth transition parameter, ω s = 0.01, with the same unit as ω(t); p is the smooth transition rotational speed index, p = 2; F h is the normal support force, N = 100N - 135N; μ m is the dynamic friction coefficient, μ m = 0.32, μ s is the net friction coefficient, μ s = 0.45; J motor is the moment of inertia of the saw blade servo motor;

[0024] S314. Under the limitation of the cutting force balance equation constructed in S313, the formula for solving the rotational speed at which the vibration power spectral density PSD constructed in S312 is minimized is as follows:

[0025] The solution result ω op (t) serves as the real-time rotational speed of the optimal saw blade to minimize vibration;

[0026] S315. Control the saw blade servo motor to drive the saw blade to cut the steel pipe in real time with the solution result of the S314 step.

[0027] Furthermore, the equation for calculating the mass matrix M in the S313 step is as follows:

[0028] Among them, A is the cutting cross-sectional area, r p is the cross-sectional radius of a steel pipe to be cut; ρ is the density of the steel pipe to be cut; L is the total length of the steel pipe cutting;

[0029] The equation for calculating the stiffness matrix K in the S313 step is as follows:

[0030] K = ∫ A B T EBdA; where B is the stress-displacement matrix; B T is the transpose matrix of B; E is the elastic modulus of the steel pipe to be cut at room temperature;

[0031] Among them, U1 is the first shape function, U2 is the second shape function, x2 is the position of the outermost end of the steel pipe to be cut, x1 is the position of the outermost end of the steel pipe to be cut, x2 - x1 is the total length L of the steel pipe cutting; x is the position at the place where the saw blade is to cut;

[0032] The equation for calculating the damping matrix C in the S313 step is as follows:

[0033] C = αM + βK; α is the first damping calculation coefficient, β is the second damping calculation coefficient;

[0034]

[0035] Among them, η is the target modal damping ratio, η = 0.035; ω1 is the set first natural rotational speed of the saw blade, ω2 is the set second natural rotational speed of the saw blade; ω1 ≠ ω2.

[0036] Furthermore, the cutting length is the length of the finished steel pipe obtained after cutting, and the cutting length is 3m - 12.5m according to the finished product requirements.

[0037] The present invention also provides a steel pipe circular saw cutting bed adopting the method as described above, which includes a cutting table, a plurality of support frames arranged on the right side of the cutting table, and a steel pipe feeding ramp. A feeding assembly, a steel pipe hydraulic fixing assembly, a control single-chip microcomputer, a circular saw cutter, a finished product pushing plate, a waste hopper, and a finished product collection tray are further arranged on the cutting table; a steel pipe transmission and transportation mechanism is arranged in each support frame on the left side of the cutting table;

[0038] The steel pipe transmission and transportation mechanism includes a first servo motor, and an acceleration sensor, a rotation speed sensor, and an angle sensor are arranged on the circular saw cutter;

[0039] The acceleration sensor is used to monitor the vibration signal s(n) of the saw blade during the cutting process in real time;

[0040] The rotation speed sensor is used to monitor the real-time rotation speed ω(t) of the saw blade in real time;

[0041] The angle sensor is used to monitor the real-time angle θ(t) between the center point of the saw blade and the cutting plane in real time;

[0042] A memory and a processor are arranged in the control single-chip microcomputer. A computer-readable medium that can run on the processor is stored on the memory. A computer program is stored in the computer-readable medium, and the computer program implements the control method of the steel pipe circular saw cutting bed as described above;

[0043] A cross bar penetrates through the upper frame of a plurality of support frames. A plurality of steel pipe transmission and transportation mechanisms are fixedly connected to the same rear lifting rod. A plurality of steel pipe unloading components are arranged on the rear lifting rod. A second servo motor is arranged on the cross bar, and the second servo motor is used to drive the plurality of steel pipe unloading components to unload the steel pipes in groups of two in sequence; the circular saw cutter includes a saw blade servo motor, a saw blade, and a saw blade support frame.

[0044] Further, the steel pipe transmission and transportation mechanism includes a first horizontal plate, a second horizontal plate, a first vertical frame, a second vertical frame, a round rod, a connecting rod, a fixing plate, a first straight-tooth meshing gear, a second straight-tooth meshing gear, a transmission meshing gear, a passive horizontal meshing gear, and a roller. A plurality of transmission meshing gears are fixed on a vertical plate and coaxially sleeved on a transmission shaft; the front ends of the connecting rods in a plurality of support frames are connected to the same front lifting rod, and the rear ends are connected to the same rear lifting rod. The rear lifting rod is arranged at the rear side of the support frame.

[0045] Further, each steel pipe unloading component includes two support bars arranged on the rear lifting rod, and further includes a rack, a transmission gear, a support rack groove arranged on the front lifting rod, a main rack, a main transmission gear, and a second servo motor arranged at the rear side of the support rack groove.

[0046] Further, multiple steel pipes to be cut are stacked between the right support and the left support of the steel pipe feeding ramp. A number of inclined plane angle platforms are also provided on the steel pipe feeding ramp. A corresponding material blocking movable block is provided on one side of each inclined plane angle platform. The multiple inclined plane angle platforms and the material blocking movable blocks are penetrated by the same support rod along the x-axis and are fixedly arranged at equal intervals between the right support of the steel pipe feeding ramp and the left support of the steel pipe feeding ramp. Each steel pipe unloading assembly is provided with a horizontal clamping block at one end close to the rear lifting rod, and a cylinder telescopic rod for driving its up and down expansion and contraction is fixedly arranged at the lower end of the horizontal clamping block; a convex block link mechanism is arranged at the rear side of one of the multiple material blocking movable blocks.

[0047] Further, the feeding assembly includes a feeding guide rail and a feeding moving block arranged on the feeding guide rail on the side far from the disc cutting machine. The feeding assembly further includes two feeding chucks, two feeding chuck seats, two feeding chuck cylinders, and a steel pipe hydraulic fixing assembly arranged close to the disc cutting machine. The steel pipe hydraulic fixing assembly is fixed on the side of the feeding guide rail close to the disc cutting machine.

[0048] The beneficial effects of the present invention are as follows:

[0049] 1. The method of the present invention effectively improves the accuracy of the control of the real-time rotation speed of the steel pipe disc saw cutting bed controlled by the method, improves the yield rate, and avoids the situations of excessive edge burrs caused by vibration during the cutting of the steel pipe, cracks caused by vibration, and damage of the steel pipe due to insufficient elastic modulus to resist the forces in all directions brought by rapid rotation. Furthermore, it also avoids the phenomenon of frequent shutdown of the machine tool due to the fracture of the raw steel pipe being cut.

[0050] 2. By fully considering the influence of the elastic modulus and density of the steel pipe on the cutting force, the present invention adopts appropriate cutting parameters, that is, the optimal real-time rotation speed of the saw blade with the minimum vibration obtained by solving, and applies mature numerical control technology, with a high degree of automation. The product has a friendly human-machine interface and is easy to operate. It has good cutting efficiency and sawing accuracy.

[0051] 3. By arranging multiple support frames with a steel pipe transmission and transportation mechanism, which are arranged horizontally in sequence from left to right along the x-axis, the first servo motor can be controlled by the control single-chip microcomputer to be turned on or off, so as to transport two steel pipes in the horizontal clamping block to the feeding assembly, and then, together with a number of steel pipe unloading assemblies arranged above the multiple support frames and multiple material blocking movable blocks and corresponding inclined plane angle platforms on the steel pipe feeding ramp, under the control of the second servo motor, four steel pipes are sent to the feeding assembly in two batches, realizing fully automated intelligent control in batches, reducing the manual operation that requires multiple round trips at different operation positions, reducing the manual operation time required for production, and improving the production efficiency.

[0052] 4. Through the feeding guide rail on the feeding component, two feeding chucks located at the left and right ends of the guide rail, the feeding chuck seat, and the feeding chuck cylinder, two clamps are applied to the four steel pipes on the feeding component at the guide rail. Then, the hydraulic fixing component is controlled to clamp the four steel pipes onto the feeding moving block from top to bottom. As a result, during the moving process, the four steel pipes will not slide, preventing the cutting section from being uneven. It also avoids the cracking caused by the four steel pipes at different positions sliding and twisting under the cutting force during the cutting process, thus preventing the cutting bed from stopping due to cracking. At the same time, it makes the cutting force uniform, further ensuring the cutting yield rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The present invention will be described in more detail below based on embodiments with reference to the drawings. Among them:

[0054] Figure 1 is the front-side perspective view of the steel pipe circular saw cutting bed in the embodiment of the present invention;

[0055] Figure 2 is the rear-side perspective view of the steel pipe circular saw cutting bed in the embodiment of the present invention;

[0056] Figure 3 is Figure 1 the enlarged view of part A in

[0057] Figure 4 is the upper-side perspective view of the steel pipe circular saw cutting bed in the embodiment of the present invention;

[0058] Figure 5 is Figure 2 the enlarged view of part C in

[0059] Figure 6 is Figure 1 the enlarged view of part B in

[0060] Figure 7 is the partial structural schematic diagram of the steel pipe circular saw cutting bed in the embodiment of the present invention;

[0061] Figure 8 is the right view of the steel pipe circular saw cutting bed in the embodiment of the present invention;

[0062] Figure 9 is the fluctuation diagram of the vibration signal s(n) collected in real time within 3 hours in the embodiment of the present invention;

[0063] Figure 10 is the result comparison diagram of the simulation experiment between the present invention and Comparative Examples 1-3. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0064] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0065] The present invention provides a control method for a steel pipe circular saw cutting bed. The method is used to control the steel pipe circular saw cutting bed to cut the steel pipes to be cut in batches at equal intervals. The method of the present invention uses a steel pipe circular saw cutting bed as shown in Figure 1 to cut the steel pipes to be cut in batches. The method includes the following steps:

[0066] S1. Use the steel pipe unloading component 10 to unload the steel pipes on the steel pipe feeding ramp 3 two by two in sequence above the feeding component 20.

[0067] S2. As shown in Figure 4 , after four steel pipes are placed on the feeding component 20 in a 2×2 arrangement, control the steel pipe hydraulic fixing component 25 to move downward to fix the four steel pipes in the feeding chucks 22 of the feeding component 20 to prevent the four steel pipes to be cut from moving left and right. Then control the steel pipe transmission and transportation mechanism 9 to start transporting the four steel pipes to the position where the circular saw 5 is located.

[0068] S3. Start the first servo motor 90 of the steel pipe transmission and transportation mechanism 9 to move the four steel pipes along the x-axis towards the direction close to the saw blade 52, and the saw blade 52 cuts the steel pipes with the required cutting length section by section; and during the cutting process of the saw blade 52, use an acceleration sensor to real-time monitor the vibration signal s(n) of the saw blade during the cutting process, use a Honeywell LCZ-260 rotational speed sensor to real-time monitor the real-time rotational speed ω(t) of the saw blade, and use an angle sensor to real-time monitor the real-time angle θ(t) of the center point of the saw blade shown in Figure 8 from the cutting plane, and then control the optimal real-time rotational speed of the saw blade to reduce the vibration of the saw blade during the cutting process; wherein, as shown in Figure 1 , the x-axis direction is the left and right direction of the steel pipe circular saw cutting bed, the y-axis direction is the front and back direction of the steel pipe circular saw cutting bed, the z-axis direction is the up and down direction of the steel pipe circular saw cutting bed, the x-axis is the extension line of the center points of the circular cross-sections of the four steel pipes in the right view shown in Figure 8 in the left and right direction (that is, the straight line parallel to the axis of the steel pipe where the center point is located is the x-axis), the z-axis is on the circular plane of the saw blade and in the vertical direction, the y-axis is on the intersection line of the circular plane of the saw blade and the x-axis, and the coordinate origin is the intersection point of the axis where the center points of the circular cross-sections of the four steel pipes in the right view shown in Figure 8 are located on the yz plane where the saw blade 52 cuts the four steel pipes; as shown inFigure 9 As shown, it is the change of the real-time vibration signal detected by the present invention within 3 hours;

[0069] S4. Repeat the steps of S1 - S3 to complete the cutting of multiple steel pipes to be cut placed on the steel pipe preparation slope 3.

[0070] By analyzing the PSD of the saw blade vibration signal, the main vibration frequency components can be identified. Usually, if the amplitude is too large at a specific frequency, it indicates that there is an abnormality in the saw blade (such as resonance phenomenon, crack, wear, etc.). If the energy is concentrated in some high-frequency regions, it indicates that the saw blade may be in an abnormal working condition, such as increased wear or uneven load. Therefore, as another preferred embodiment of the present invention, in the step S3, the steel pipe with the required cutting length is cut section by section by the saw blade 52, including:

[0071] S301. Use the position sensor module 1 to monitor in real time when the steel pipe to be cut is transferred to the lower part of the saw blade 52 by the first servo motor 90;

[0072] S302. Turn on the saw blade servo motor 51 to drive the saw blade 52 to rotate to cut off and align the heads of four steel pipes (that is, ensure that when the four steel pipes are cut into finished products, the heads are aligned, and thus the products obtained after the second simultaneous cutting of the four steel pipes have the same length). After cutting, turn off the saw blade servo motor 51;

[0073] S303. After controlling the steel pipe hydraulic fixing component 25 to lift upward, control the first servo motor 90 to transfer the four steel pipes to travel the cutting length, and then control the first servo motor 90 to turn off;

[0074] S304. Control the saw blade servo motor 51 to be turned on again to cut the steel pipe finished product that has moved the required cutting distance length along the x-axis close to the saw blade 52.

[0075] As another preferred embodiment of the present invention, in the step S3, controlling the optimal real-time rotation speed of the saw blade to reduce the vibration of the saw blade during cutting includes:

[0076] S311. Perform Fourier transform on the collected vibration signal s(n) to convert it from the time domain to the frequency domain;

[0077] where n = 0, 1, 2, …, N - 1; f is the vibration frequency; s(n) is the discrete vibration signal collected at the nth moment; f = ω(t) / 60; the unit of ω(t) is rad / min; the unit of f is hertz;

[0078] S312. According to the collected vibration signal and construct the vibration power spectral density PSD calculation formula;

[0079] T is the duration of a sampling period;

[0080] S313. Calculate the mass matrix, damping matrix, and stiffness matrix of the four steel pipes to be cut, and construct the cutting force balance equation:

[0081]

[0082] where M is the mass matrix, C is the damping matrix, and K is the stiffness matrix; and x(t) are the real-time acceleration, real-time velocity, and real-time displacement of the steel pipe along the x-axis direction on the cutting bed; F f (t) is the normal force, F f (t) = K n ×(h(t)) b ×W, where b is the normal force cutting index, b = 0.70 - 0.96; W is the thickness of the saw blade, K n is the normal force constant, K n = 7.33×10 9 N / m; h(t) is the real-time cutting height of the saw blade in the z-axis direction, h(t) = rsin(θ(t)), θ(t) is the real-time angle between the center point of the saw blade and the cutting plane, and r is the radius of the saw blade; F s (t) is the cutting friction force based on the Strickbeck model, F s (t) = μ m F h +(μ s F h -μ m F h )exp(-ω(t) / ω s ) p , ω s is the smooth transition parameter, ω s = 0.01, with the same unit as ω(t); p is the smooth transition rotation speed index, p = 2; F h is the normal support force, N = 100N - 135N; μ m is the dynamic friction coefficient, μ m = 0.32, μ s is the net friction coefficient, μ s = 0.45; J motor is the moment of inertia of the saw blade servo motor 51; the normal force F f (t) is the cutting force that actually acts on the cut section of the steel pipe by the saw blade during the cutting of the steel pipe the force perpendicular to the normal; the cutting friction force F s (t) is the force that hinders the saw blade from continuing to cut downward during the contact between the saw blade and the cut section of the steel pipe during the cutting process;

[0083] Cutting friction force F based on the Strickbeck model s (t)'s calculation formula describes the behavior that when the sliding and rotating speed ω(t) is very small, the friction force approaches the static friction force, and when the sliding speed ω(t) increases, the friction force gradually transforms into the dynamic friction force;

[0084] S314. Under the limitation of the cutting force balance equation constructed in S313, the formula for solving the rotational speed at which the vibration power spectral density PSD constructed in S312 is the smallest is as follows:

[0085] The solution result ω op (t) is used as the optimal real-time rotational speed of the saw blade to minimize vibration;

[0086] S315. Control the saw blade servo motor 51 to drive the saw blade to cut the steel pipe in real time with the solution result of the S314 step.

[0087] The equation for calculating the mass matrix M in the S313 step is as follows:

[0088] Among them, A is the cutting cross-sectional area, r p is the cross-sectional radius of a steel pipe to be cut; ρ is the density of the steel pipe to be cut; L is the total length of steel pipe cutting.

[0089] The equation for calculating the stiffness matrix K in the S313 step is as follows:

[0090] K = ∫ A B T EBdA; among them, B is the stress-displacement matrix; B T is the transpose matrix of B; E is the elastic modulus of the steel pipe to be cut at room temperature;

[0091] Among them, U1 is the first shape function, U2 is the second shape function, x2 is the position of the very end of the steel pipe to be cut (i.e., the position of the last cut of four steel pipes), x1 is the position of the very beginning of the steel pipe to be cut (i.e., the position aligned with the initial position obtained after the cutting in the S302 step), x2 - x1 is the total length L of the steel pipe cutting passed from the steel pipe to be cut after the S302 step to the position of the last cut of four steel pipes; x is the position where the saw blade is to cut, x2 - x is the length from the saw blade cutting position to the very end position of the steel pipe to be cut, and x - x1 is the length from the saw blade cutting position to the very beginning position of the steel pipe to be cut;

[0092] The equation for calculating the damping matrix C in the S313 step is as follows:

[0093] C = αM + βK; where α is the first damping calculation coefficient and β is the second damping calculation coefficient;

[0094]

[0095] Among them, η is the target modal damping ratio, η = 0.035; ω1 is the set first natural rotation speed of the saw blade, and ω2 is the set second natural rotation speed of the saw blade; ω1 ≠ ω2; by setting the two natural rotation speeds ω1 and ω2 of the saw blade, as well as the known mass matrix M and stiffness matrix K, the damping matrix C can be calculated.

[0096] The steel pipe circular saw cutting bed controlled by the control method provided by the present invention is applicable to cutting gray cast steel, structural carbon steel pipes, 40Cr steel pipes, 45# steel pipes, bearing steel pipes, and the densities and elastic models of various types of steel pipes are shown in Table 1.

[0097]

[0098] The cutting length in the method provided by the present invention is the length of the finished steel pipe obtained after cutting, that is, the steel pipe circular saw cutting bed provided by the present invention can obtain finished steel pipes suitable for different length requirements according to product needs. Therefore, the finished steel pipes cut by the steel pipe circular saw bed provided by the present invention are 3 cm to 12.5 cm in length according to product needs.

[0099] The present invention also provides a steel pipe circular saw cutting bed adopting the above method, as Figure 1 - Figure 2 shown, including a cutting table 1, a plurality of support frames 2 arranged on the right side of the cutting table, and a steel pipe feeding ramp 3 located above the rear side of the plurality of support frames 2. A feeding assembly 20, a steel pipe hydraulic fixing assembly 25 arranged on the feeding assembly 20, a control single-chip microcomputer 4, a circular saw cutter 5 arranged on the right side of the cutting table 1, a finished product pushing plate 6 arranged on the right side of the circular saw cutter 5, a waste hopper 7 arranged under the finished product pushing plate 6, and a finished product collection tray 8 arranged in front of the finished product pushing plate 6 and located on the upper side of the cutting table 1 and passing through the front end frames on the upper sides of some support frames 2 are further arranged on the cutting table 1; a steel pipe transmission and transportation mechanism 9 is arranged in each support frame 2 on the left side of the cutting table 1; the plurality of support frames 2 are arranged in parallel and fixedly connected along the x-axis;

[0100] The steel pipe transmission and transportation mechanism 9 includes a first servo motor 90, and an acceleration sensor, a rotation speed sensor, and an angle sensor are arranged on the circular saw cutter 5;

[0101] The acceleration sensor is used to monitor the vibration signal s(n) of the saw blade during the cutting process in real time;

[0102] The rotational speed sensor is used to monitor the real-time rotational speed ω(t) of the saw blade in real time;

[0103] The angle sensor is used to monitor the real-time angle θ(t) between the center point of the saw blade and the cutting plane in real time;

[0104] The control single-chip microcomputer 4 is provided with a memory and a processor. A computer-readable medium that can run on the processor is stored on the memory. A computer program is stored in the computer-readable medium, and the computer program implements the control method of the steel pipe circular saw cutting bed provided by the present invention;

[0105] A cross bar 201 also penetrates through the upper frames of multiple support frames 2. Multiple steel pipe transmission and transportation mechanisms 9 are fixedly connected to the same rear lifting rod 911. A number of steel pipe unloading components 10 are arranged on the rear lifting rod 911. As Figure 2 shown, a second servo motor 114 is arranged on the cross bar 201. The second servo motor 114 is used to drive a number of steel pipe unloading components 10 to unload the steel pipes in turn in groups of two. The disk cutting machine 5 includes a saw blade servo motor 51, a saw blade 52, and a saw blade support frame 53.

[0106] Further, as Figure 3As shown, the steel pipe transmission and transportation mechanism 9 includes a first transverse plate 91 arranged on the middle-layer double transverse beam 204 of the supporting frame 2, a second transverse plate 92 is arranged above the first transverse plate 91, and the front and rear ends of the first transverse plate 91 are respectively provided with a first vertical frame 93 and a second vertical frame 94 from top to bottom, and the first vertical frame 93 and the second vertical frame 94 are respectively arranged at the front and rear ends of the first transverse plate 91, and a round rod 95 is also arranged on the second transverse plate 92, and a connecting rod 96 extending along the y-axis direction is arranged on the round rod 95, and a fixed plate 97 is arranged at the interval between the first transverse plate 91 and the second transverse plate 92, and the first spur gear 13 and the second spur gear 14 are arranged on the fixed plate 97 in a mirror image of the plane where they are located, and the first spur gear 13 and the second spur gear 14 are coaxially arranged on both sides of the fixed plate 97, and the first spur gear 13 and the second spur gear 14 are arranged on the fixed plate 97. The tooth faces away from the fixed plate 97, and meshes with the transmission meshing gear 12 and the passive horizontal meshing gear 15 respectively, that is, the first spur gear 13 meshes with the transmission meshing gear 12, and the second spur gear 14 meshes with the passive horizontal meshing gear 15. The rotation axis of the first spur gear 13 and the second spur gear 14 is on the y-axis, the rotation axis of the transmission meshing gear 12 is on the x-axis, and the rotation axis of the passive horizontal meshing gear 15 is on the z-axis; the top of the first vertical frame 93 and the second vertical frame 94 are fixedly connected to the front and rear ends of the roller 99 respectively, and the front side of the roller 99 is connected to the second spur gear 14 through a transmission belt transmission. A plurality of transmission meshing gears 12 are fixed on the corresponding vertical plates 912 and coaxially sleeved on the transmission shaft 913. The leftmost end of the transmission shaft 913 is fixedly installed with the first servo motor 90, and the transmission shaft 913 also passes through a plurality of vertical plates 912 along the x-axis;

[0107] The front ends of the connecting rods 96 in the plurality of support frames 2 are connected to the same front lifting rod 915, and the rear ends are connected to the same rear lifting rod 911. The rear lifting rod 911 is arranged at the rear side of the support frame 2 and is on the same vertical plane as the rear top rod of the support frame 2.

[0108] A cross bar 201 also runs through the upper frame of the multiple support frames 2, and a plurality of steel pipe unloading assemblies 10 are arranged on the rear lifting rod 911.

[0109] Further, each steel pipe unloading assembly 10 includes two support bars 101 arranged on the rear lifting rod 911. A rack 102 is fixed on each support bar 101. At a position corresponding to each rack 102, a rotatable transmission gear 103 is sleeved on the circumferential outer wall of the cross bar 201; a support rack groove 11 is further arranged on the front lifting rod 915. A main rack 111 is arranged on the support rack groove 11, and a main transmission gear 112 meshing with the main rack 111 is arranged on the circumferential outer wall of the cross bar 201; a second servo motor 114 is arranged at the rear side of the support rack groove 11;

[0110] One end of the support rack groove 11 is only fixed on the front lifting rod 915, and the other end is not fixed on the rear lifting rod 911, keeping a gap with the rear lifting rod 911; one end of each support bar 101 is only fixedly connected with the rear lifting rod 911, and the other end keeps a gap with the front lifting rod 915; the length of the support rack groove 11 is the same as that of the support bar 101, and their lengths are both smaller than the distance between the rear lifting rod 911 and the front lifting rod 915 in the y-axis direction; the main transmission gear 112 and multiple transmission gears 103 are all sleeved on the cross bar 201. Therefore, their axes are kept consistent and coincide with the axis of the cross bar 201;

[0111] Therefore, in the initial in-situ state, the support rack groove 11 is meshed with the main transmission gear 112. At this time, there is a gap between the transmission gear 103 and the rack 102 and they are not meshed;

[0112] When the first servo motor 114 is started to expand and contract along the y-axis, it drives the support rack groove 11 to move along the y-axis in the direction away from or close to the steel pipe preparation slope 3. Since the main rack 111 is fixed on the support rack groove 11, the support rack groove 11 moves in the same direction, and then the main rack 111 and the main transmission gear 112 mesh and drive each other. The main transmission gear 112 is fixedly connected with the circumferential outer wall of the cross bar 201, and then drives the cross bar 201 to rotate. Since the transmission gear 103 of each steel pipe unloading assembly 10 is also fixedly connected with the circumferential outer wall of the cross bar 201, the cross bar 201 drives multiple transmission gears 103 to rotate in the same direction as the main transmission gear 112, and then drives the corresponding rack 102 meshing with the transmission gear 103 to extend or contract. Since a horizontal clamping block 36 is further arranged at the upper part of one end of each steel pipe unloading assembly 10 close to the rear lifting rod 911, the horizontal clamping block 36 can be lifted by the cylinder expansion rod 37 arranged at its lower end. When the second servo motor 114 extends, driven by the steel pipe unloading assembly 10, it drives the two steel pipes clamped thereon to move towards the feeding assembly 20, thus completing the steps of unloading the steel pipes to be cut and transferring them to the feeding assembly 20.

[0113] Such as Figure 2As shown, a plurality of steel pipes to be cut are stacked between the right end bracket 31 and the left end bracket 32 ​​of the steel pipe preparation slope 3. Figure 1 , Figure 2 , Figure 4 As shown, the steel pipe preparation slope 3 is also provided with a plurality of inclined surface inclination platforms 33, such as Figure 5 As shown, a corresponding material-blocking movable block 34 is arranged on one side of each inclined surface angled platform 33, and a plurality of inclined surface angled platforms 33 and material-blocking movable blocks 34 are penetrated by the same support rod 35 along the x-axis and fixed at equal intervals between the right end bracket 31 and the left end bracket 32 ​​of the steel pipe preparation slope. Each of the steel pipe unloading assemblies 10 is provided with a horizontal clamping block 36 at one end close to the rear lifting rod 911, and a cylinder telescopic rod 37 for driving the horizontal clamping block 36 to extend and retract up and down is fixed at the lower end; a protrusion connecting rod mechanism 38 is arranged on the rear side of one of the plurality of material-blocking movable blocks 34.

[0114] The inclined surface inclination platform 33 cooperates with the material blocking movable block 34 and the horizontal clamping block 36 to separate the four steel pipes to be cut from the multiple stacked steel pipes; each pair of material blocking movable blocks 34 cooperates with the inclined section of the inclined surface inclination platform 33 to clamp the upper two steel pipes of the four steel pipes to be cut at the inclined section of the inclined surface inclination platform 33, and the horizontal section of the inclined surface inclination platform 33 and the horizontal clamping block 36 clamp the lower two steel pipes to be cut at the horizontal section of the inclined surface inclination platform 33; when the plurality of cylinder telescopic rods 37 are controlled to be lifted, the two steel pipes clamped in the horizontal section of the inclined surface inclination platform 33 are raised in situ, and then the first servo motor 90 is controlled to rotate, thereby driving the transmission shaft 913 in the steel pipe transmission and transportation mechanism 9 to rotate, thereby driving the plurality of steel pipes The transmission meshing gear 12 in the tube transmission transport mechanism 9 rotates, thereby driving the first spur gear 13 meshing therewith to rotate. Due to the transmission connection of the belt 910, the roller 99 is driven forward by the belt 910 to rotate, thereby moving the four steel pipes arranged in a 2×2 manner along the x-axis direction on the feeding guide rail 21 toward the direction close to the disc cutter 5. Due to the rotation of the first spur gear 13, since the first spur gear 13 is coaxially fixed with the second spur gear 14, and the passive horizontal gear 15 is rotatably and movably sleeved on the round rod 95, the second spur gear 14 will also rotate driven by the first spur gear 13, thereby further driving the passive horizontal gear 15 meshing therewith to rotate in situ.

[0115] like Figure 6As shown, the feeding assembly 20 includes a feeding guide rail 21, a feeding moving block 211 arranged on the feeding guide rail 21 away from the disc cutter 5, and the feeding assembly 20 also includes two feeding chucks 22, two feeding chuck seats 23, two feeding chuck cylinders 24, and a steel pipe hydraulic fixing assembly 25 arranged near the disc cutter 5, and the steel pipe hydraulic fixing assembly 25 is fixed on the side of the feeding guide rail 21 near the disc cutter 5. Each feeding chuck seat 23 is arranged outside the corresponding feeding chuck 22 to wrap it, and a feeding chuck cylinder 24 is arranged on the front side of each feeding chuck seat 23.

[0116] The working principle of the steel pipe circular saw cutting machine provided by the present invention is as follows:

[0117] The transport mechanism stacks a plurality of cut steel pipes on the steel pipe preparation slope 3, controls the cylinder telescopic rod 37 to extend upward, lifts the corresponding horizontal clamping block 36, and then separates it from the clamping of the inclined surface inclination platform 33; then, controls the steel pipe unloading assembly 10 to open (i.e., turns on the second servo motor 114), moves the two lower steel pipes placed between the plurality of horizontal clamping blocks 36 and the horizontal section of the inclined surface inclination platform 33 along the y-axis to above the feeding assembly 20, controls the steel pipe unloading assembly 10 to pause (i.e., turns off the second servo motor 114), controls the cylinder telescopic rod 37 to descend, places the two lower steel pipes on the feeding assembly 20, controls the steel pipe unloading assembly 10 to open again (i.e., controls the second servo motor 114 to open again), and drives the support rack groove 111 to move to its initial position along the y-axis direction close to the steel pipe preparation slope 3;

[0118] The cam connecting rod mechanism 38 is controlled to drive the material blocking movable block 34 to move downward and backward, and at the same time, the cylinder telescopic rod 37 is controlled to retract downward, thereby driving the horizontal clamping block to move vertically downward, releasing the upper two steel pipes clamped between the material blocking movable block 34 and the inclined section of the inclined surface angle platform 33, which fall into the horizontal section of the inclined surface angle platform 33 and are clamped there. The cylinder telescopic rod is then controlled to extend to its original position, and the horizontal clamping block 36 rises to its initial position, thereby clamping the two falling steel pipes together with the horizontal section of the inclined surface angle platform 33, and repeating the above-mentioned steps of opening the steel pipe unloading assembly 10 to unload the two upper steel pipes and then transport them to the top of the feeding assembly 20, stacking the two upper steel pipes just above the two lower steel pipes, and controlling the feeding chuck of the feeding assembly 20 to do 23 contraction, thereby causing the feeding chuck 22 to wrap around the four steel pipes;

[0119] Control the hydraulic fixing assembly 25 of the steel pipe to press down the four steel pipes tightly, and then control the steel pipe transmission and transportation mechanism 9 to start. The four steel pipes stacked and transported on the feeding assembly 20 move towards the disc cutting machine 5 on the feeding guide rail 21. After reaching below the saw blade 52, control the first servo motor 90 to stop, and start the disc cutting machine. After the initial cutting and trimming, perform step S3 on the four steel pipes. The finished steel pipes obtained by cutting are pushed into the finished product collection tray 8 by the finished product push plate 6 for collection. The trimmed waste and the final end waste generated by cutting are discharged and collected through the waste hopper.

[0120] Repeat the above steps for multiple steel pipes to be cut, and then finished products can be obtained.

[0121] Regarding the effect of the control method provided by the present invention on controlling the above-mentioned steel pipe disc saw cutting bed, the following three comparative examples are used for comparative experiments:

[0122] Comparative example 1 is the cutting force balance equation constructed in step S313 of the control method of the present invention: During the process, only the normal force F f (t) is considered for the calculation of F(t), and the cutting friction force F s (t) is not considered. That is, the real-time force value of the steel pipe in comparative example 1

[0123] Comparative example 2 is the cutting force balance equation constructed in step S313 of the control method of the present invention: During the process, only the cutting friction force F s (t) is considered for the calculation of F(t), and the normal force F f (t) is not considered. That is, the real-time force value of the steel pipe in comparative example 2

[0124] Comparative example 3 is the cutting force balance equation constructed in step S313 of the control method of the present invention: During the process, neither the cutting friction force F s (t) nor the normal force F f (t) is considered for the calculation of F(t). Then, the real-time force value of the steel pipe in comparative example 3

[0125] During the Matlab simulation experiment of the three comparative examples and the method provided by the present invention, the rotational speed ω op (t) that minimizes the power spectral density PSD at different cutting vibration frequencies is obtained by solving. The simulation results are as Figure 10As shown in the figure, the lines formed by connecting the hollow circular dot values in the figure represent the results of the method provided by the present invention. The lines formed by connecting the hollow triangular dot values in the figure represent the results of Comparative Example 1. The lines formed by connecting the flower-shaped pattern "*" dot values in the figure represent the experimental results of Comparative Example 2. The cross-shaped pattern "+" in the figure represents the experimental results of Comparative Example 3.

[0126] It can be seen from Figure 10 that under different cutting vibration frequencies, the minimum power spectral density PSD of the minimum rotational speed ω op (t) obtained by simulation solution of the method provided by the present invention is the lowest. Therefore, its simulation result is the best. No matter what the vibration frequency is, when the control saw blade 52 cuts four steel pipes at the real-time rotational speed ω op (t) obtained by the solution, the power spectral density of the vibration will be minimized compared with other comparative example methods.

[0127] By comparing the above Comparative Examples 1-3 with the method provided by the present invention and combining the actual situation of the operation of the disk sawing machine, a theoretical analysis and calculation of the force condition of the sawing system of the numerical control steel pipe disk sawing machine are carried out. The present invention analyzes the characteristics of the overall dynamic cutting force state of the structure of the band sawing machine as a whole, and fully considers the influence of the normal force and cutting friction force it receives on the accuracy of the solution result of the optimal rotational speed that minimizes vibration during cutting according to the characteristics of its structure, effectively improving the accuracy of the control of the real-time rotational speed of the steel pipe disk saw cutting bed controlled by the method provided by the present invention, improving the finished product rate, and avoiding the occurrence of excessive edge burrs caused by vibration during the cutting of steel pipes, cracks caused by vibration, and damage to the steel pipe due to insufficient elastic modulus of the steel pipe to resist the various forces brought by rapid rotation. Furthermore, it also avoids the phenomenon of frequent shutdown of the machine tool due to the fracture of the steel pipe raw material being cut.

[0128] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

[0129] In addition, those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments rather than others, the combination of features of different embodiments is meant to be within the scope of the present invention and forms different embodiments. For example, in the claims above, any one of the claimed embodiments can be used in any combination. The information disclosed in this background section is only intended to enhance the understanding of the overall background art of the present invention and should not be regarded as an admission or any form of implication that this information constitutes prior art already known to those skilled in the art.

Claims

1. Control method for steel pipe circular saw cutting bed, the method is used to control the steel pipe circular saw cutting bed to cut the steel pipes to be cut in batches at equal intervals, characterized in that, The method includes the following steps: S1. Use the steel pipe unloading component (10) to unload the steel pipes on the steel pipe preparation slope (3) in groups of two in sequence above the feeding component (20); S2. After four steel pipes are placed on the feeding component (20) in a 2×2 arrangement, control the steel pipe hydraulic fixing component (25) to move downward to fix the four steel pipes in the feeding component (20), and then control the steel pipe transmission and transportation mechanism (9) to start and transport the four steel pipes to the position where the disc cutting machine (5) is located; S3. Start the first servo motor (90) to drive a number of steel pipe transmission and transportation mechanisms (9) to move the four steel pipes along the x-axis towards the direction close to the saw blade (52), and the saw blade (52) cuts the steel pipes with the required cutting length in segments; and during the cutting process of the saw blade (52), use an acceleration sensor to monitor the vibration signal s(n) of the saw blade during the cutting process in real time, use a rotational speed sensor to monitor the real-time rotational speed ω(t) of the saw blade in real time, and use an angle sensor to monitor the real-time angle θ(t) between the center point of the saw blade and the cutting plane in real time, so as to control the optimal real-time rotational speed of the saw blade to reduce the vibration of the saw blade during the cutting process; S4. Repeat the steps of S1-S3 to complete the cutting of multiple steel pipes to be cut stacked on the steel pipe preparation slope (3).

2. The control method of the steel pipe circular saw cutting machine according to claim 1, characterized in that, In the step S3, the saw blade (52) cuts the steel pipes with the required cutting length in segments, including: S301. Use the position sensor module to monitor in real time when the steel pipe to be cut is transmitted to the lower part of the saw blade (52) by the first servo motor (90); S302. Start the saw blade servo motor (51) to drive the saw blade (52) to rotate to cut and level the heads of the four steel pipes, and after the cutting is completed, turn off the saw blade servo motor (51); S303. After controlling the steel pipe hydraulic fixing component (25) to lift upward, control the first servo motor (90) to transmit the four steel pipes to walk the cutting length, and then control the first servo motor (90) to turn off; S304. Control the saw blade servo motor (51) to start again to cut the steel pipe finished products that have moved the required cutting distance length along the x-axis towards the direction close to the saw blade (52).

3. The control method of the steel pipe circular saw cutting machine according to claim 1, characterized in that, In the step S3, controlling the optimal real-time rotational speed of the saw blade to reduce the vibration of the saw blade during the cutting process includes: S311. Perform Fourier transform on the collected vibration signal s(n) to convert it from the time domain to the frequency domain; where n = 0, 1, 2, …, N - 1; f is the vibration frequency; s(n) is the discrete vibration signal collected at the n-th moment; f = ω(t) / 60; the unit of ω(t) is rad / min; the unit of f is hertz; S312. According to the collected vibration signal and construct the calculation formula of the vibration power spectral density PSD; T is the duration of a sampling period; S313. Calculate the mass matrix, damping matrix and stiffness matrix of the four steel pipes to be cut, and construct the cutting force balance equation: where, M is the mass matrix, C is the damping matrix, and K is the stiffness matrix; and x(t) are the real-time acceleration, real-time velocity, and real-time displacement of the steel pipe along the x-axis direction on the cutting bed; F f (t) is the normal force, F f (t) = K n ×(h(t)) b ×W, where b is the normal force cutting index, b = 0.70 - 0.96; W is the saw blade thickness, K n is the normal force constant, K n = 7.33×10 9 N / m; h(t) is the real-time cutting height of the saw blade in the z-axis direction, h(t) = rsin(θ(t)), θ(t) is the real-time angle between the center point of the saw blade and the cutting plane, and r is the radius of the saw blade; F s (t) is the cutting friction force based on the Strickbeck model, F s (t) = μ m F h +(μ s F h -μ m F h )exp(-ω(t) / ω s ) p , ω s is the smooth transition parameter, ω s = 0.01, with the same unit as ω(t); p is the smooth transition rotational speed index, p = 2; F h is the normal support force, N = 100N - 135N; μ m is the dynamic friction coefficient, μ m = 0.32, μ s is the net friction coefficient, μ s = 0.45; J motor is the moment of inertia of the saw blade servo motor (51); S314. Under the limitation of the cutting force balance equation constructed in S313, the formula for solving the rotational speed with the minimum vibration power spectral density PSD constructed in S312 is as follows: Solution result ω op (t) as the real-time rotational speed of the optimal saw blade that minimizes vibration; S315. Control the saw blade servo motor (51) to drive the saw blade to cut the steel pipe in real time with the solution result of the step S314.

4. The control method of the steel pipe circular saw cutting machine according to claim 3, characterized in that, The equation for calculating the mass matrix M in the step S313 is as follows: Among them, A is the cutting cross-sectional area, r p is the cross-sectional radius of a steel pipe to be cut; ρ is the density of the steel pipe to be cut; L is the total length of the steel pipe cutting; The equation for calculating the stiffness matrix K in the step S313 is as follows: K = ∫ A B T EBdA; where B is the stress-displacement matrix; B T is the transpose matrix of B; E is the elastic modulus of the cut steel pipe at room temperature; Among them, U1 is the first shape function, U2 is the second shape function, x2 is the position of the outermost end of the steel pipe to be cut, x1 is the position of the innermost end of the steel pipe to be cut, and x2 - x1 is the total length L of the steel pipe to be cut; x is the position where the saw blade is to cut. In the step S313, the equation for calculating the damping matrix C is as follows: C = αM + βK; α is the first damping calculation coefficient, and β is the second damping calculation coefficient; where η is the target modal damping ratio, η = 0.035; ω1 is the set first natural rotation speed of the saw blade, and ω2 is the set second natural rotation speed of the saw blade; ω1 ≠ ω2.

5. The control method of the steel pipe circular saw cutting bed according to claim 1, characterized in that, The cutting length is the length of the finished steel pipe obtained after cutting, and the cutting length is 3m to 12.5m according to the finished product requirements.

6. A steel pipe circular saw cutting bed adopting the method according to any one of claims 1-5, comprising a cutting table (1), a plurality of support frames (2) arranged on the right side of the cutting table, and a steel pipe stockpiling ramp (3), characterized in that, A feeding component (20), a steel pipe hydraulic fixing component (25), a control single-chip microcomputer (4), a disk cutting machine (5), a finished product push plate (6), a waste hopper (7), and a finished product collection tray (8) are further arranged on the cutting table (1); a steel pipe transmission and transportation mechanism (9) is arranged in each support frame (2) on the left side of the cutting table (1); The steel pipe transmission and transportation mechanism (9) includes a first servo motor (90), and an acceleration sensor, a rotation speed sensor, and an angle sensor are arranged on the disk cutting machine (5); The acceleration sensor is used for monitoring the vibration signal s(n) of the saw blade during the cutting process in real time; The rotation speed sensor is used for monitoring the real-time rotation speed ω(t) of the saw blade in real time; The angle sensor is used for monitoring the real-time angle θ(t) between the center point of the saw blade and the cutting plane in real time; A memory and a processor are arranged in the control single-chip microcomputer (4). A computer-readable medium that can run on the processor is stored on the memory. A computer program is stored in the computer-readable medium, and the computer program implements the control method of the steel pipe disk saw cutting bed as described in any one of claims 1-5; A cross bar (201) penetrates through the upper frames of multiple support frames (2). Multiple steel pipe transmission and transportation mechanisms (9) are fixedly connected to the same rear lifting rod (911). A plurality of steel pipe unloading components (10) are arranged on the rear lifting rod (911). A second servo motor (114) is arranged on the cross bar (201), and the second servo motor (114) is used for driving a plurality of steel pipe unloading components (10) to unload the steel pipes in groups of two in sequence; The disk cutting machine (5) includes a saw blade servo motor (51), a saw blade (52), and a saw blade support frame (53).

7. The steel pipe circular saw cutting machine according to claim 6, characterized in that, The steel pipe transmission and transportation mechanism (9) includes a first horizontal plate (91), a second horizontal plate (92), a first vertical frame (93), a second vertical frame (94), a round rod (95), a connecting rod (96), a fixing plate (97), a first straight-tooth meshing gear (13), a second straight-tooth meshing gear (14), a transmission meshing gear (12), a passive horizontal meshing gear (15), and a roller (99). A plurality of transmission meshing gears (12) are fixed on a vertical plate (912) and coaxially sleeved on a transmission shaft (913); The front ends of the connecting rods (96) in multiple support frames (2) are connected to the same front lifting rod (915), and the rear ends are connected to the same rear lifting rod (911). The rear lifting rod (911) is arranged at the rear side of the support frame (2).

8. The steel pipe circular saw cutting machine according to claim 7, characterized in that Each of the steel pipe unloading assemblies (10) includes two support bars (101) disposed on the rear lifting rod (911), and further includes a rack (102), a transmission gear (103), a support rack groove (11), a main rack (111), a main transmission gear (112) disposed on the front lifting rod (915), and a second servo motor (114) disposed at the rear side of the support rack groove (11).

9. The steel pipe circular saw cutting machine according to claim 6, wherein Multiple steel pipes to be cut are stacked between the right end bracket (31) and the left end bracket (32) of the steel pipe preparation ramp (3). A number of inclined plane angle platforms (33) are further provided on the steel pipe preparation ramp (3). A corresponding material blocking movable block (34) is provided on one side of each inclined plane angle platform (33). The plurality of inclined plane angle platforms (33) and the material blocking movable blocks (34) are penetrated by the same support rod (35) along the x-axis and are equally spaced and fixed between the right end bracket (31) of the steel pipe preparation ramp and the left end bracket (32) of the steel pipe preparation ramp. Each of the steel pipe unloading assemblies (10) is provided with a horizontal clamping block (36) at one end close to the rear lifting rod (911), and a cylinder expansion rod (37) for driving its up and down expansion and contraction is fixedly provided at the lower end of the horizontal clamping block (36); a bump link mechanism (38) is provided at the rear side of one of the plurality of material blocking movable blocks (34).

10. The steel pipe circular saw cutting machine according to claim 6, characterized in that The feeding assembly (20) includes a feeding guide rail (21), a feeding moving block (211) disposed on the feeding guide rail (21) on the side far from the disk cutting machine (5). The feeding assembly (20) further includes two feeding chucks (22), two feeding chuck seats (23), two feeding chuck cylinders (24), and a steel pipe hydraulic fixing assembly (25) disposed close to the disk cutting machine (5). The steel pipe hydraulic fixing assembly (25) is fixed on the side of the feeding guide rail (21) close to the disk cutting machine (5).

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