Automatic positioning and cutting device for anti-corrosion spiral pipe seam and control method of automatic positioning and cutting device

Abstract

The invention belongs to the field of steel pipe anti-corrosion and pipe seam anti-corrosion layer cutting, and particularly relates to an automatic positioning cutting device for an anti-corrosion spiral pipe seam and a control method thereof.The automatic positioning cutting device comprises a main controller, a follow-up component, a specification adjusting component, an adjusting center module, a pipe seam detecting device and a cutter feeding component, and the follow-up component, the specification adjusting component, the adjusting center module, the pipe seam detecting device and the cutter feeding component are connected with the main controller; the follow-up component is in sliding connection with the specification adjusting component through a guide rail sliding block mechanism so that the two ends of the follow-up component can synchronously move in the X-axis direction of the automatic positioning and cutting device. The adjusting center module is arranged on the follow-up component in a sliding mode so that the adjusting center module can move in the Y-axis direction of the automatic positioning and cutting device and move in the X-axis direction along with driving of the follow-up component. The feed component is slidably mounted on the adjusting center module so as to move in the Z-axis direction of the automatic positioning and cutting device. The pipe seam detection device is installed on the feed component and moves along with the follow-up component, the specification adjusting component and the adjusting center module, and then the machining action of three-axis movement is achieved.

Description

Technical Field

[0001] The invention belongs to the field of steel pipe anti-corrosion and pipe seam anti-corrosion layer cutting, in particular to an automatic positioning and cutting device for anti-corrosion spiral pipe seams and a control method thereof. Background Art

[0002] Large-diameter steel pipes are widely used in infrastructure construction fields such as oil transportation and urban pipelines. The production of large-diameter steel pipes requires a series of processes, including pipe seam stickers, steel pipe anti-corrosion, pipe seam anti-corrosion layer cutting and other processes. After the pipe seam stickers are completed, the steel pipes are sprayed with anti-corrosion and coated with anti-corrosion layers. The current traditional method is to manually visually find the pipe seams before the steel pipe anti-corrosion spraying and anti-corrosion coating process is completed and enters the cooling zone, and then manually cut the anti-corrosion coating applied to both ends of the steel pipe to ensure that the anti-corrosion coating on the pipe ends is peeled off before the steel pipe enters the cooling zone. Manual operation has unstable quality control, low efficiency, high labor intensity and damage to the health of workers. During the continuous production process, workers need to maintain a high degree of concentration. With the continuous improvement of the level of industrial automation, this relatively backward production method urgently needs to be improved, and an automatic pipe seam positioning and cutting method is needed. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic positioning and cutting device for anti-corrosion spiral pipe seams and a control method thereof, so as to overcome the defects of the cutting of the anti-corrosion layer of the pipe seams mentioned above.

[0004] The technical solution adopted by the present invention to achieve the above-mentioned purpose is: an automatic positioning and cutting device for anti-corrosion spiral pipe seams, including: a main controller and a follow-up component connected thereto, a specification adjustment component, an adjustment center module, a pipe seam detection device and a feed component;

[0005] The follow-up component is slidably connected with the specification adjustment component through a guide rail slider mechanism, so that both ends of the follow-up component can move synchronously along the X-axis direction of the automatic positioning and cutting device;

[0006] The adjustment center module is slidably arranged on the follow-up component to realize the adjustment center module moving along the Y-axis direction of the automatic positioning and cutting device, and moving along the X-axis direction driven by the follow-up component;

[0007] The feed component is slidably mounted on the adjustment center module to achieve movement along the Z-axis direction of the automatic positioning cutting device;

[0008] The pipe seam detection device is installed on the feed component and moves together with the follow-up component, the specification adjustment component and the adjustment center module, thereby realizing the three-axis motion processing action.

[0009] The specification adjustment component includes: a base beam, a specification adjustment servo motor and a synchronous connecting rod;

[0010] The base beams are provided with two and are arranged parallel to each other; a guide rail slider mechanism is provided on the base beam, and the follow-up component is slidably provided on the guide rail slider mechanism;

[0011] The specification adjustment servo motor drives the gears arranged on the base beams on both sides through the synchronous connecting rod at the same time, and moves on the racks in the base beams on both sides to achieve synchronous movement, thereby driving the two ends of the follow-up component to move synchronously along the X-axis direction of the automatic positioning and cutting device.

[0012] The following component includes: a following saddle, a following beam and a horizontal following servo motor;

[0013] The follow-up beam is connected to the base beam through a guide rail slider mechanism;

[0014] The follow-up crossbeam is connected to the follow-up slide saddle via a guide rail slider arranged thereon;

[0015] An adjustment center module is vertically arranged on the follow-up slide saddle; the horizontal follow-up servo motor directly drives the gear to make reciprocating linear motion on the follow-up beam, thereby driving the adjustment center module to move along the Y-axis direction.

[0016] The feed component includes: a feed frame, a feed saddle, a detection platform lifting servo motor and a feed cutting servo motor;

[0017] The feed saddle is slidably mounted on the slideway of the adjustment center module, and the detection platform lifting servo motor drives the feed saddle to move up and down along the adjustment center module;

[0018] The feed saddle is also equipped with a pipe seam detection device and a feed rack;

[0019] The feed cutting servo motor drives the feed frame to feed in a horizontal direction to realize the processing action.

[0020] The pipe seam detection device is an eddy current sensor, which is installed on the feed saddle and is used to monitor the pipe seam position.

[0021] The horizontal follow-up servo motor, the detection platform lifting servo motor, the specification adjustment servo motor, and the feed cutting servo motor are all provided with absolute position encoders to realize position closed-loop control and speed closed-loop control of the servo motor.

[0022] A control method for an automatic positioning and cutting device for an anti-corrosion spiral pipe seam comprises the following steps:

[0023] 1) Start the self-check program, parameters, and device initialization; the operator sends an enable signal to the main controller to determine whether to start the pipe seam positioning and cutting operation;

[0024] 2) The main controller drives the detection platform lifting servo motor through the corresponding driver to move the detection work platform mechanism to the center height of the steel pipe; the specification adjustment servo driver drives the specification adjustment servo motor to extend the eddy current sensor forward to the set position from the pipe wall;

[0025] 3) The main controller collects the detection current value of the eddy current sensor. When the pipe seam position is detected, the horizontal follow-up servo motor and the feed cutting servo motor are driven to run to the pipe seam position, and the tool completes the cutting of the anti-corrosion coating on the pipe end of the rotating steel pipe;

[0026] 4) The specification adjustment servo motor retracts the eddy current sensor to the initial position of 0 mm; the horizontal follow-up servo motor moves to the initial position of 0 mm in the position control mode; and waits for the next pipe seam positioning cutting operation.

[0027] The startup self-check program, parameters, and device initialization include: the horizontal follow-up servo motor returns to the initial working position 0mm, the detection platform lifting servo motor returns to the descending position 0mm, the specification adjustment servo motor retracts to the initial position 0mm, and the feed cutting servo motor returns to the working waiting position 0mm.

[0028] The step 3) comprises the following steps:

[0029] (1) The main controller collects the detection current value of the eddy current sensor. When the steel pipe is moving forward at a uniform speed, when the steel pipe body passes through the eddy current sensor, the current value detected by the main controller maintains a steady-state value with only slight fluctuations; when the pipe seam passes through the cross section of the eddy current sensor, the current value detected by the main controller will change similar to a sine wave signal. When the pipe seam leaves the eddy current sensor, the current value detected by the controller returns to a steady-state value;

[0030] (2) The horizontal follow-up servo driver drives the horizontal follow-up servo motor to make the detection platform move in the same direction as the steel pipe in speed mode, and adopts the PID control method for speed following. The maximum mutation current value when the pipe seam passes through the eddy current sensor is taken as the given value. The given value of the servo motor speed controller is obtained by comparing the deviation between the given value and the measured feedback value and the proportional, integral and differential coefficients. The speed of the horizontal follow-up servo motor is adjusted to keep the center of the pipe seam and the eddy current sensor relatively still and in the same cross section.

[0031] (3) The feed cutting servo driver uses the run to fixed stop point mode to drive the feed cutting servo motor to run to the pipe seam in the speed mode. After reaching the pipe seam, the motor will continue to run until the torque limit of 0.8 Nm is reached, keeping the torque constant;

[0032] The main controller calculates the encoder position of the horizontal follow-up servo motor. When the running distance is greater than or equal to the circumference of the steel pipe, the feed cutting servo driver drives the feed cutting servo motor to run in position control mode back to the initial position of 0mm after a delay of 2s, completing the tool cutting the anti-corrosion coating on the end of the rotating steel pipe.

[0033] The speed control mode is to use the set speed value as the control target of the servo controller and the speed of the servo motor encoder as the feedback signal to close the loop to adjust the speed value of the motor;

[0034] The position control mode uses the set position value as the control target of the servo controller and the position information of the servo motor encoder as the feedback signal to close the loop to adjust the speed and direction of the motor to achieve precise positioning;

[0035] The run to fixed stop point mode is that the motor runs to a fixed stop point at a specific torque without triggering a fault message. The motor runs at a set speed until it reaches the stop point. After reaching the stop point, the motor will continue to run until the torque limit is reached.

[0036] The present invention has the following beneficial effects and advantages:

[0037] 1. The present invention has a novel structure, including a horizontal movement follow-up component, a specification adjustment component, an adjustment center component, a pipe seam detection component, and a pipe seam sticker feeding component, with a simple process and reliable connection.

[0038] 2. The present invention realizes automatic cutting of the anti-corrosion layer of the pipe seam by detecting the pipe seam and locating and tracking the pipe seam based on an eddy current sensor, thereby solving the problems of low manual efficiency and high labor intensity.

[0039] 3. In addition to the mechanical structure, the present invention also includes a complete electrical control program to ensure that the entire pipe seam positioning and cutting process is reliable and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the structure of the device of the present invention;

[0041] Figure 2a A top view of the structure of the device of the present invention;

[0042] Figure 2b It is a left side view of the structure of the device of the present invention;

[0043] Figure 2c It is a right side view of the structure of the device of the present invention;

[0044] Among them, 1 is the base beam, 2 is the follow-up slide saddle, 3 is the follow-up crossbeam, 4 is the specification adjustment servo motor, 5 is the synchronous connecting rod, 6 is the eddy current sensor, 7 is the feed frame, 8 is the feed slide saddle, 9 is the horizontal follow-up servo motor, 10 is the feed cutting servo motor, 11 is the adjustment center module, and 12 is the detection platform lifting servo motor;

[0045] Figure 3 The figure is a control flow chart of the method of the present invention. DETAILED DESCRIPTION

[0046] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0047] like Figure 1 As shown, it is a schematic diagram of the device structure of the present invention, an automatic positioning and cutting device for anti-corrosion spiral pipe seams of the present invention, comprising: a main controller and a follow-up component connected thereto, a specification adjustment component, an adjustment center module 11, a pipe seam detection device and a feed component;

[0048] The follow-up component is slidably connected with the specification adjustment component through a guide rail slider mechanism, so that both ends of the follow-up component can move synchronously along the X-axis direction of the automatic positioning and cutting device;

[0049] The adjustment center module 11 is slidably arranged on the follow-up component to realize the adjustment center module 11 to move along the Y-axis direction of the automatic positioning and cutting device, and to move along the X-axis direction driven by the follow-up component;

[0050] The feed component is slidably mounted on the adjustment center module 11 to achieve movement along the Z-axis direction of the automatic positioning cutting device;

[0051] The pipe seam detection device is installed on the feed component, and moves together with the follow-up component, the specification adjustment component, and the adjustment center module 11, thereby realizing the three-axis motion processing action.

[0052] like Figure 2a , which is a top view of the device of the present invention, wherein the specification adjustment component includes: a base beam 1, a specification adjustment servo motor 4 and a synchronous connecting rod 5;

[0053] Two base beams 1 are provided and are arranged parallel to each other; a guide rail slider mechanism is provided on the base beam 1, and a follow-up component is slidably provided on the guide rail slider mechanism;

[0054] The specification adjustment servo motor 4 simultaneously drives the gears arranged on the base beams 1 on both sides through the synchronous connecting rod 5, and moves on the racks in the base beams 1 on both sides to achieve synchronous movement, thereby driving the two ends of the follow-up component to move synchronously along the X-axis direction of the automatic positioning and cutting device.

[0055] Furthermore, if Figure 2aAs shown, the follow-up components include: a follow-up slide saddle 2, a follow-up beam 3 and a horizontal follow-up servo motor 9;

[0056] The follow-up beam 3 is connected to the base beam 1 through a guide rail slider mechanism;

[0057] The follow-up crossbeam 3 is connected to the follow-up slide saddle 2 via a guide rail slider arranged thereon;

[0058] An adjustment center module 11 is vertically provided on the follow-up slide saddle 2; the horizontal follow-up servo motor 9 directly drives the gear to perform reciprocating linear motion on the follow-up beam 2, thereby driving the adjustment center module 11 to move along the Y-axis direction.

[0059] like Figure 2b and Figure 2c FIG. 4 is a side view of the present invention.

[0060] The feed component includes: a feed frame 7, a feed saddle 8, a detection platform lifting servo motor 12 and a feed cutting servo motor 10;

[0061] The feed slide saddle 8 is slidably mounted on the slideway of the adjustment center module 11, and the detection platform lifting servo motor 12 drives the feed slide saddle 8 to move up and down along the adjustment center module 11;

[0062] The feed saddle 8 is also equipped with a pipe seam detection device and a feed rack 7;

[0063] The feed cutting servo motor 10 drives the feed frame 7 to feed in the horizontal direction to realize the processing action.

[0064] The pipe seam detection device is an eddy current sensor 6, which is installed on the feed saddle 8 and is used to monitor the pipe seam position.

[0065] The device of the present invention realizes automatic control through a control device. In order to realize automatic control of pipe seam positioning, the following control devices are also required:

[0066] Servo drives for controlling servo motors;

[0067] Main controller used for automatic operation such as system signal processing and logic control.

[0068] This embodiment uses Siemens PLC-1515 controller as the main controller, and is equipped with four servo drivers to drive the horizontal follow-up servo motor 9, the detection platform lifting servo motor 12, the specification adjustment servo motor 4, and the feed cutting servo motor 10. The horizontal follow-up servo motor 9, the detection platform lifting servo motor 12, the specification adjustment servo motor 4, and the feed cutting servo motor 10 are all equipped with absolute position encoders to achieve position closed-loop control and speed closed-loop control of the servo motor. The eddy current sensor 6 is used to detect the pipe seam position.

[0069] like Figure 3 As shown, it is a control flow chart of the method of the present invention; this embodiment takes the positioning cutting on the anti-corrosion coating joint of two steel pipe ends with a diameter of 1 meter as an example.

[0070] The control method of the automatic positioning and cutting device of the pipe seam of the present invention is as follows:

[0071] At the beginning, start the self-test program, and initialize the parameters and mechanisms; including: the horizontal follow-up servo motor 9 returns to the initial working position 0mm, the detection platform lifting servo motor 12 returns to the lowering position 0mm, the specification adjustment servo motor 4 retracts to the initial position 0mm, and the feed cutting servo motor 10 returns to the working waiting position 0mm;

[0072] Whether to start the pipe seam positioning and cutting operation is determined by an external signal, and the external signal is an enabling signal given by the operator;

[0073] First, the detection platform lifting servo driver drives the detection platform lifting servo motor 12 to move the detection work platform mechanism to the center height of the steel pipe;

[0074] The specification adjustment servo driver drives the specification adjustment servo motor 4 to extend the eddy current sensor 6 forward to a position 5 mm away from the pipe wall;

[0075] The PLC-1515 controller starts to collect the detection current value of the eddy current sensor 6. When the steel pipe moves forward at a uniform speed (spiral), when the steel pipe body passes through the eddy current sensor 6, the current value detected by the controller maintains a steady-state value with only slight fluctuations; when the pipe seam passes through the cross section of the eddy current sensor 6, the current value detected by the controller changes similar to a sine wave signal, and when the pipe seam leaves the eddy current sensor, the current value detected by the controller returns to a steady-state value;

[0076] The horizontal follow-up servo driver drives the horizontal follow-up servo motor 9 to make the detection platform move in the same direction as the steel pipe in speed mode, and adopts PID control technology for speed following. The maximum mutation current value when the pipe seam passes through the eddy current sensor is taken as the given value. The given value of the servo motor speed controller is obtained by comparing the given value with the measured feedback value deviation and the proportional, integral and differential coefficients, and adjusting the speed of the horizontal follow-up servo motor 9 to keep the center of the pipe seam and the eddy current sensor 6 relatively still and in the same section.

[0077] The feed cutting servo driver uses the running to fixed stop point mode to drive the feed cutting servo motor 10 to run to the pipe seam in the speed control mode. After reaching the pipe seam, the motor will continue to run until the torque limit of 0.8Nm is reached to keep the torque constant;

[0078] The PLC-1515 controller starts to calculate the encoder position of the horizontal follow-up servo motor 9. When the running distance is greater than or equal to the circumference of the steel pipe, the feed cutting servo driver drives the feed cutting servo motor 10 to run in position control mode and return to the initial position of 0mm after a delay of 2s, completing the tool cutting the anti-corrosion coating on the end of the rotating steel pipe;

[0079] Specification adjustment Servo driver Specification adjustment Servo motor 4 retracts the eddy current sensor 6 and moves it backward to the initial position of 0 mm;

[0080] The horizontal follow-up servo driver drives the horizontal follow-up servo motor 9 to move to an initial position of 0 mm in a position control mode;

[0081] Wait for the next pipe seam positioning cutting operation.

[0082] The several control modes mentioned above are as follows:

[0083] The speed control mode uses the set speed value as the control target of the servo controller and the speed of the servo motor encoder as the feedback signal to close the loop and adjust the motor speed value;

[0084] The position control mode uses the set position value as the control target of the servo controller and the position information of the servo motor encoder as the feedback signal to close the loop and adjust the speed and direction of the motor to achieve precise positioning.

[0085] The run to fixed stop point mode is that the motor runs to a fixed stop point with a specific torque without triggering a fault message. The motor runs at the set speed until it reaches the stop point. After reaching the stop point, the motor will continue to run until the torque limit is reached.

[0086] In summary, the present invention has a novel structure, including a horizontal motion follow-up component, a specification adjustment component, an adjustment center component, a pipe seam detection component, and a pipe seam sticker feed component. The process is simple and the connection is reliable. Through the solution of detecting the pipe seam based on the eddy current sensor and positioning and tracking, the automatic pipe seam anti-corrosion layer cutting is realized, which solves the problems of low manual efficiency and high labor intensity. In addition to the mechanical structure, it also includes a complete electrical control program to ensure that the entire pipe seam positioning and cutting process is reliable and efficient.

[0087] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An automatic positioning and cutting device for anti-corrosion spiral pipe seams, characterized in that: include: A main controller and a follow-up component, a specification adjustment component, an adjustment center module (11), a pipe seam detection device and a feed component connected thereto; The follow-up component is slidably connected with the specification adjustment component through a guide rail slider mechanism, so that both ends of the follow-up component can move synchronously along the X-axis direction of the automatic positioning and cutting device; The adjustment center module (11) is slidably arranged on the follow-up component to enable the adjustment center module (11) to move along the Y-axis direction of the automatic positioning and cutting device, and to move along the X-axis direction driven by the follow-up component; The feed component is slidably mounted on the adjustment center module (11) to achieve movement along the Z-axis direction of the automatic positioning cutting device; The pipe seam detection device is installed on the feed component and moves together with the follow-up component, the specification adjustment component and the adjustment center module (11), thereby realizing a three-axis motion processing action.

2. The automatic positioning and cutting device for anti-corrosion spiral pipe seams according to claim 1 is characterized in that: The specification adjustment component comprises: a base beam (1), a specification adjustment servo motor (4) and a synchronous connecting rod (5); The base beams (1) are provided with two and are arranged parallel to each other; a guide rail slider mechanism is provided on the base beam (1), and the follow-up component is slidably provided on the guide rail slider mechanism; The specification adjustment servo motor (4) simultaneously drives the gears arranged on the base beams (1) on both sides through the synchronous connecting rod (5), moves on the racks in the base beams (1) on both sides to achieve synchronous movement, and then drives the two ends of the follow-up component to move synchronously along the X-axis direction of the automatic positioning cutting device.

3. The automatic positioning and cutting device for anti-corrosion spiral pipe seams according to claim 1 is characterized in that: The following component comprises: a following saddle (2), a following beam (3) and a horizontal following servo motor (9); the following beam (3) is connected to the base beam (1) via a guide rail slider mechanism; The follow-up crossbeam (3) is connected to the follow-up slide saddle (2) via a guide rail slider arranged thereon; An adjustment center module (11) is vertically arranged on the follow-up slide saddle (2); the horizontal follow-up servo motor (9) directly drives the gear to perform reciprocating linear motion on the follow-up crossbeam (2), thereby driving the adjustment center module (11) to move along the Y-axis direction.

4. The automatic positioning and cutting device for anti-corrosion spiral pipe seams according to claim 1 is characterized in that: The feed component comprises: a feed frame (7), a feed saddle (8), a detection platform lifting servo motor (12) and a feed cutting servo motor (10); The feed saddle (8) is slidably mounted on a slideway of the adjustment center module (11), and the detection platform lifting servo motor (12) drives the feed saddle (8) to move up and down along the adjustment center module (11); The feed saddle (8) is also equipped with a pipe seam detection device and a feed tool holder (7); The feed cutting servo motor (10) drives the feed frame (7) to feed in a horizontal direction to realize the processing action.

5. The automatic positioning and cutting device for anti-corrosion spiral pipe seams according to claim 1 is characterized in that: The pipe seam detection device is an eddy current sensor (6), which is installed on the feed saddle (8) and is used to monitor the position of the pipe seam.

6. The automatic positioning and cutting device for anti-corrosion spiral pipe seams according to any one of claims 2 to 4, characterized in that: The horizontal follow-up servo motor (9), the detection platform lifting servo motor (12), the specification adjustment servo motor (4), and the feed cutting servo motor (10) are all provided with absolute position encoders to realize position closed-loop control and speed closed-loop control of the servo motors.

7. The control method of the automatic positioning and cutting device for anti-corrosion spiral pipe seams according to claim 1 is characterized in that: The following steps are involved: 1) Start the self-check program, parameters, and device initialization; the operator sends an enable signal to the main controller to determine whether to start the pipe seam positioning and cutting operation; 2) The main controller drives the detection platform lifting servo motor (12) through the corresponding driver to move the detection work platform mechanism to the center height of the steel pipe; the specification adjustment servo driver drives the specification adjustment servo motor (4) to extend the eddy current sensor (6) forward and move it to a set position away from the pipe wall; 3) The main controller collects the detection current value of the eddy current sensor (6), and when the pipe seam position is detected, drives the horizontal follow-up servo motor (9) and the feed cutting servo motor (10) to run to the pipe seam position, and completes the cutting of the anti-corrosion coating on the pipe end of the rotating steel pipe by the tool; 4) The specification adjustment servo motor (4) retracts the eddy current sensor (6) to move to the initial position of 0 mm; the horizontal follow-up servo motor (9) moves to the initial position of 0 mm in a position control mode; Wait for the next pipe seam positioning cutting operation.

8. The control method of the automatic positioning and cutting device for anti-corrosion spiral pipe seams according to claim 7 is characterized in that: The self-checking program, parameters and device initialization are started, including: the horizontal follow-up servo motor (9) returns to the initial working position 0mm, the detection platform lifting servo motor (12) returns to the descending position 0mm, the specification adjustment servo motor (4) retracts to the initial position 0mm, and the feed cutting servo motor (10) returns to the working waiting position 0mm.

9. The control method of the automatic positioning and cutting device for anti-corrosion spiral pipe seams according to claim 7, characterized in that: The step 3) comprises the following steps: (1) The main controller collects the detection current value of the eddy current sensor (6). When the steel pipe is moving forward in a uniform spiral, when the steel pipe body passes through the eddy current sensor (6), the current value detected by the main controller maintains a steady-state value with only slight fluctuations; when the pipe seam passes through the cross section of the eddy current sensor (6), the current value detected by the main controller changes similar to a sine wave signal; when the pipe seam leaves the eddy current sensor (6), the current value detected by the controller returns to a steady-state value; (2) The horizontal follow-up servo driver drives the horizontal follow-up servo motor (9) to make the detection platform move in the same direction as the steel pipe in a speed mode, and adopts the PID control method to perform speed following, taking the maximum mutation current value when the pipe seam passes through the eddy current sensor (6) as a given value, and calculating the given value of the servo motor speed controller by comparing the given value with the measured feedback value deviation and the proportional, integral and differential coefficients, and adjusting the speed of the horizontal follow-up servo motor (9) so that the center of the pipe seam and the eddy current sensor (6) remain relatively still and are in the same cross section; (3) the feed cutting servo driver uses the running to fixed stop point mode to drive the feed cutting servo motor (10) to run to the pipe seam in the speed mode, and after reaching the pipe seam, the motor will continue to run until the torque limit of 0.8 Nm is reached, keeping the torque constant; The main controller calculates the encoder position of the horizontal follow-up servo motor (9). When the running distance is greater than or equal to the circumference of the steel pipe, the feed cutting servo driver drives the feed cutting servo motor (10) to run in position control mode back to the initial position of 0mm after a delay of 2s, completing the cutting of the anti-corrosion coating on the end of the rotating steel pipe by the tool.

10. The control method of the automatic positioning and cutting device for anti-corrosion spiral pipe seams according to claim 9, characterized in that: The speed control mode is to use the set speed value as the control target of the servo controller and the speed of the servo motor encoder as the feedback signal to close the loop to adjust the speed value of the motor; The position control mode uses the set position value as the control target of the servo controller and the position information of the servo motor encoder as the feedback signal to close the loop to adjust the speed and direction of the motor to achieve precise positioning; The run to fixed stop point mode is that the motor runs to a fixed stop point at a specific torque without triggering a fault message. The motor runs at a set speed until it reaches the stop point. After reaching the stop point, the motor will continue to run until the torque limit is reached.

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