Automatic valve welding seam cutting method and device applied to special environment

Abstract

The invention relates to an automatic control method and device applied to a valve welding seam cutting device. The method comprises the steps that a locking limiting mechanism clamps a pipeline, a centering clamping mechanism clamps and centered a valve, an annular cutting mechanism automatically cuts a valve welding seam, and danger identification monitoring is conducted on the valve welding seam cutting device. According to the automatic valve welding seam cutting technology, manual operation can be replaced, the cutter feeding amount and the cutting speed can be automatically adjusted, the quality stability of the cut welding seam is ensured, the system has the automatic limiting and fixing functions, the height adjustability is achieved, the system is suitable for valves of different sizes, and meanwhile the automatic valve welding seam cutting efficiency is improved. Visualization and controllability of the cutting process are achieved through a digital control system, the automation degree of equipment is greatly improved, the whole cutting device is designed in an integrated mode, use is convenient and efficient, and the tedious steps of manual clamping, calibration and cutting are omitted.

Description

[Technical field] The present application relates to the technical field of valve welds, and in particular to a valve weld automatic cutting method and device for use in special environments. [Background technology] In nuclear power plants, valve weld cutting equipment is one of the key technologies used to maintain and replace key valve components in nuclear reactor systems. Valve weld cutting equipment can accurately cut off the welds of old valves, making valve replacement faster and safer. The application of such equipment in nuclear power plants is particularly important.

[0003] In traditional valve weld cutting operations, the cutting tool usually needs to manually adjust the feed rate and relies on an external power source for cutting. This method is not only inefficient in operation, but also prone to operating errors, leading to safety accidents. At the same time, the manual adjustment of the tool feed rate lacks precise control, which can easily cause poor cutting quality of the valve weld due to uneven cutting depth or cutting speed, further affecting the replacement quality and safety of the valve. In addition, when using an external power source for high-precision cutting operations, any power interruption or equipment failure may cause the cutting process to suddenly stop, which not only increases the operating cost, but may also cause damage to the equipment itself and the surrounding environment. [Summary of the invention] In order to solve the problems of the prior art, in a first aspect, an embodiment of the present application provides a valve weld automatic cutting method applied in a special environment, comprising: The locking limit mechanism clamps the pipeline; The centering clamping mechanism clamps and centers the valve; The annular cutting mechanism automatically cuts the valve weld; The valve weld cutting device is monitored for hazard identification.

[0005] Furthermore, the locking and limiting mechanism clamps the pipeline, including: Preliminarily install the clamping claws on the pipe and adjust the distance between the two clamping claws. After the adjustment is completed, the hydraulic cylinder on the clamping claws presses the clamping claws to clamp the pipe; The driving motor in the fastening mechanism drives the fastening bolt to move toward the valve to limit the valve from shaking up and down when the weld is cut.

[0006] Further, the centering clamping mechanism clamps and centers the valve, comprising: The radial feeding mechanism drives the annular synchronous connecting rod and the clamping and centering module to feed simultaneously to realize the centering of the valve weld; After the alignment is completed, the centering module is clamped to clamp the valve weld.

[0007] Furthermore, the annular cutting mechanism automatically cuts the valve weld, including: Cutting, the first driving motor drives the first planetary gear to rotate in the fixed inner gear ring, the cutting mechanism rotates with the first planetary gear, and the turning tool in the cutting mechanism automatically cuts the valve weld under the feeding of the high-precision feeding mechanism. During the cutting process, the first air cooling mechanism blows out cold air to cool the tool and the first chip removal mechanism cleans and discharges the debris; Grinding, the second drive motor drives the second planetary gear to rotate in the fixed inner gear ring, and the grinding mechanism rotates with the second planetary gear. After the cutting mechanism cuts, the grinder in the grinding mechanism grinds the cut valve weld, the second air cooling mechanism blows out cold air to cool the tool, and the second chip removal mechanism cleans the discharged debris.

[0008] Furthermore, the hazard identification and monitoring of the valve weld cutting device includes: Acquiring equipment operating parameters, and determining whether there is overheating or abnormal vibration based on the equipment operating parameters; Acquire a real-time video stream of the cutting area, and determine a deviation or abnormal state of the cutting path based on the real-time video stream of the cutting area; Based on the equipment operating parameters and the real-time video stream of the cutting area, determining whether to adjust the operating parameters or whether an emergency shutdown is required; When serious equipment overheating, mechanical failure, or major cutting deviation is detected by the monitoring system, an emergency signal is obtained, an emergency stop is executed based on the safety protocol, and the safe interruption of the operation is determined.

[0009] Furthermore, before performing hazard identification monitoring on the valve weld cutting device, the method further includes: Acquire historical operation data of the valve weld cutting device when in use, and a hazard identification model to be trained; Based on the historical operation data, a hazard identification training set is constructed, wherein the hazard identification training set includes hazard sample data and sample labels corresponding to the hazard sample data; Performing risk identification training on the risk identification model to be trained based on the risk identification training set, and obtaining a trained risk identification model after the training is completed; Performing hazard identification processing on the valve weld cutting device based on the trained hazard identification model to obtain a hazard identification result; Based on the hazard identification result, determine whether there is hazard information.

[0010] Furthermore, the hazard identification training set is constructed based on the historical operation data, including: Cleaning the historical operation data to obtain the cleaned historical operation data; Performing feature extraction processing on the historical operation data after the cleaning process to obtain historical operation feature data; Classify and process the historical operation feature data to obtain positive sample operation data and negative sample operation data; A positive sample label is assigned to the positive sample running data, and a negative sample label is assigned to the negative sample data, to obtain the hazard identification training set.

[0011] In a second aspect, the embodiment of the present application provides a valve weld automatic cutting device applied to a special environment, comprising: A first control module is used to lock the limiting mechanism to clamp the pipeline; A second control module is used for clamping and centering the valve by the centering clamping mechanism; The third control module is used for the annular cutting mechanism to automatically cut the valve weld; A monitoring module is used to perform hazard identification monitoring on the valve weld cutting device.

[0012] Among them, a locking and limiting mechanism is provided on both sides of the valve to lock the overall cutting device on the detection valve. The locking and limiting mechanism is connected to a centering clamping mechanism that clamps the valve weld so that the clamping center of the overall cutting device and the circular center of the weld are on the same axis. One side of the centering clamping mechanism is provided with a ring-shaped cutting mechanism for performing rotational cutting around the valve weld.

[0013] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of a method for automatic cutting of valve welds applied to special environments as described in the first aspect above are implemented.

[0014] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of a method for automatic cutting of valve welds applied to special environments as described in the first aspect above are implemented.

[0015] The automatic valve weld cutting technology adopted in the present invention can replace manual operation, realize automatic adjustment of tool feed amount and cutting speed, and ensure the quality stability of cut welds. The system has the functions of automatic limiting and fixing, and is highly adjustable, suitable for valves of different sizes. At the same time, the visualization and controllability of the cutting process are realized through the digital control system, which greatly improves the automation degree of the equipment. The entire cutting device is integratedly designed, which is convenient and efficient to use, and eliminates the tedious steps of manual clamping, calibration and cutting.

Brief Description of the Drawings

[0017] Figure 1 This is a flow chart of a valve weld automatic cutting method applied to a special environment according to the first embodiment of the present invention; Figure 2 A three-dimensional schematic diagram of a valve weld automatic cutting device for special environments according to the present invention Figure 2 ; Figure 3 A schematic diagram of a locking and limiting mechanism of a valve weld automatic cutting device for special environments according to the present invention Figure 3 ; Figure 4 The schematic diagram of the automatic valve weld cutting device used in special environments of the present invention is shown in FIG. Figure 4 ; Figure 5 The centering clamping mechanism of the automatic valve weld cutting device used in special environments of the present invention is shown in FIG. Figure 5 ; Figure 6 Schematic diagram of the annular cutting mechanism of the valve weld automatic cutting device used in special environments of the present invention Figure 6 ; Figure 7 Schematic diagram of the annular cutting mechanism of the valve weld automatic cutting device used in special environments of the present invention Figure 7 ; Figure 8 The grinding mechanism of the automatic cutting device for valve welds used in special environments of the present invention is shown in FIG. Figure 8 ; Fig. 9 The cutting mechanism of the automatic valve weld cutting device used in special environments of the present invention is shown in FIG. Figure 9 ; Fig.10 It is a structural block diagram of a valve weld automatic cutting device applied to special environments according to the second embodiment of the present invention; Fig.11 is a structural block diagram of a computer device according to another embodiment of the present invention; Fig.12 It is a structural block diagram of an electronic device according to another embodiment of the present invention. [Specific implementation method] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments, and the well-known modules, units and their connections, links, communications or operations are not shown or described in detail. In addition, the described features, architectures or functions can be combined in any way in one or more embodiments. It should be understood by those skilled in the art that the various embodiments described below are only for illustration and not for limiting the scope of protection of the present invention. It can also be easily understood that the modules or units or processing methods in the various embodiments described herein and shown in the drawings can be combined and designed according to various different configurations. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0019] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0020] The limitations of various nouns or methods referred to in the following embodiments, except for those that are logically untenable, are generally based on the broad concepts that can be implemented under the premise of the disclosure in the embodiments. Under such understanding, the various specific subordinate specific limitations of the nouns or methods should be regarded as the inventive content of the present invention, and should not be understood narrowly or interpreted in a biased manner on the grounds that the specification does not disclose the specific limitations. Similarly, under the premise that it can be implemented logically, the order of the steps in the method is flexible and changeable, and the specific subordinate specific limitations in the broad concepts of various nouns or methods all belong to the protection scope of the present invention.

[0021] First embodiment: S1 is the locking limit mechanism 1 that clamps the pipe so that the cutting device remains stable during cutting. After S1 locks the limit mechanism 1 to clamp the pipe, S2 is the centering clamping mechanism 2 that clamps the valve and makes the circular center formed by the valve weld on the same axis as the clamping center of the centering clamping mechanism 2 to ensure that the tool's action trajectory along the circumference of the weld is aligned with the axial direction of the circular weld when cutting. After S2 centering clamping mechanism 2 clamps and centers the valve, S3 is the annular cutting mechanism 3 that automatically cuts the valve weld. During the cutting process, the tool needs to make a circular motion around the center of the weld to cut. While cutting, the valve weld is polished to ensure the cutting quality.

[0022] Please refer to Figures 1 to 10 As shown, this embodiment proposes a valve weld automatic cutting method applied to a special environment, including S11-S14, wherein: S11, locking the limiting mechanism to clamp the pipeline.

[0023] As a preferred solution but not a limitation, this step S11 also includes S111-S112, wherein: S111, preliminarily installing the clamping claws 11 on the pipeline and adjusting the distance between the two clamping claws 11. After the adjustment is completed, the hydraulic cylinder 12 on the clamping claws 11 presses the clamping claws 11 to clamp the pipeline.

[0024] Among them, the stable clamping can prevent the device from moving or falling off during the processing, ensuring that the device is in a suitable working state.

[0025] S112, the driving motor 141 in the fastening mechanism 14 drives the fastening bolt 142 to move toward the valve to limit the valve from shaking up and down when the weld is cut.

[0026] Among them, the driving motor 141 in the S112 fastening mechanism drives the fastening bolt 142 to move toward the valve, and stops moving downward after pressing a suitable pressure, so that during the cutting process, the fastening mechanism 14 limits the up and down shaking of the entire device to ensure the accuracy of cutting.

[0027] S12, the centering clamping mechanism 2 clamps and centers the valve.

[0028] As a preferred solution but not a limitation, this step S12 also includes S121-S122, wherein: S121, the radial feeding mechanism (22) drives the annular synchronous connecting rod (23) and the clamping and centering module (21) to feed simultaneously to realize centering of the valve weld; S122, after the alignment is completed, the centering module (21) is clamped to clamp the valve weld.

[0029] Among them, the S121 radial feed mechanism 22 drives the annular synchronous connecting rod 23 and the circular clamping slider to feed simultaneously to realize the centering of the valve weld. After the centering is completed, the three circular clamping sliders in the clamping and centering module of S122 clamp the valve weld together. The annular synchronous connecting rod ensures the synchronous movement of all circular clamping sliders to avoid deviation or uneven stress caused by unilateral clamping, thereby improving the consistency and reliability of the centering effect.

[0030] S13, the annular cutting mechanism (3) automatically cuts the valve weld; As a preferred solution but not a limitation, this step S13 also includes S131-S132, wherein: S131, cutting, the first driving motor (323) drives the first planetary gear (322) to rotate in the fixed inner gear ring (321), the cutting mechanism (311) rotates following the first planetary gear (322), the turning tool (3111) in the cutting mechanism (311) automatically cuts the valve weld under the feeding of the high-precision feeding mechanism (3112), and during the cutting process, the first air cooling mechanism (3115) blows out cold air to cool the tool, and the first chip removal mechanism (3116) cleans the discharged chips; Among them, S131: cutting, the first drive motor 323 drives the first planetary gear 322 to rotate in the fixed inner ring 321, the cutting mechanism 311 follows the first planetary gear 322 to rotate, and the turning tool 3111 in the cutting mechanism 311 automatically cuts the valve weld under the feeding of the high-precision feeding mechanism 3112. During the cutting process, the first air cooling mechanism 3115 blows out cold air to cool the tool and the first chip removal mechanism 3116 cleans the discharged debris. The high-precision feeding mechanism 3112 can accurately control the feed amount of the turning tool 3111 to ensure that the cutting amount during the cutting process meets the set value, thereby improving the cutting accuracy and surface finish. The cutting mechanism can adjust the cutting parameters according to a variety of valve weld types and materials, and has a wide range of applicability.

[0031] S132, grinding, the second drive motor (329) drives the second planetary gear (326) to rotate in the fixed inner gear ring (321), the grinding mechanism (312) rotates following the second planetary gear (326), after the cutting mechanism (311) cuts, the grinding knife (3121) in the grinding mechanism (312) grinds the cut valve weld, the second air cooling mechanism (3125) blows out cold air to cool the tool, and the second chip removal mechanism (3126) cleans the discharged chips.

[0032] Among them, S132: grinding, the second drive motor 329 drives the second planetary gear 326 to rotate in the fixed inner ring 321, and the grinding mechanism 312 rotates with the second planetary gear 326. After the cutting mechanism 311 cuts, the grinder 3121 in the grinding mechanism 312 grinds the cut valve weld, the second air cooling mechanism 3125 blows out cold air to cool the tool, and the second chip removal mechanism 3126 cleans the discharged debris. Driven by the second planetary gear 326, the grinder 3121 can accurately grind the cut weld to remove burrs and unevenness, thereby improving the valve cutting quality.

[0033] The working principle of this embodiment is as follows: The clamping claw in the locking limit mechanism is locked on the pipe. After the locking is completed, the radial feed mechanism in the centering clamping mechanism is controlled to move the clamping and centering module. Under the action of the annular synchronous connecting rod, the three circular clamping slides move synchronously to clamp the valve. The driving motor in the annular cutting mechanism drives the tool feed mechanism to rotate. The cutting mechanism in the tool feed mechanism rotates to cut the valve weld. The grinding mechanism grinds the cut valve weld until the valve weld is cut. The tool feed mechanism stops moving and the automatic cutting of the valve weld is completed. The stability of the cutting process and the accuracy of the weld cutting are ensured by the precise control of the centering clamping and locking mechanism. The whole process is controlled by the automation system to reduce the need for manual operation.

[0034] S14, performing hazard identification monitoring on the valve weld cutting device.

[0035] As a preferred solution but not a limitation, this step S14 also includes S141-S144, wherein: S141, obtaining device operating parameters, and judging whether there is overheating or abnormal vibration based on the device operating parameters; In this step, the key operating parameters of the valve weld cutting device are first obtained, such as temperature, vibration, tool speed, feed rate, etc. With this data, the system can monitor the working status of the device in real time. Based on the preset safety threshold, the system will analyze these parameters to determine whether the equipment is in normal working condition. If the temperature of the equipment is too high or the vibration is abnormal, the system will issue an alarm or take measures to prevent the equipment from being damaged by overheating or vibration. The focus of this process is to predict the possible abnormal state of the equipment in advance, so as to avoid a wider range of failures and improve the reliability and stability of the equipment.

[0036] S142, acquiring a real-time video stream of the cutting area, and determining a deviation or abnormal state of the cutting path based on the real-time video stream of the cutting area; This step uses video surveillance technology to conduct real-time visual monitoring of the cutting area. The cutting equipment is equipped with a high-definition camera or other visual sensor that can capture the entire cutting process and transmit the video data to the system for processing. Based on the video stream information, the system analyzes whether there are deviations or other abnormal conditions in the cutting path, such as uneven cutting lines and uneven equipment movement. If the system detects unstable factors in the cutting process, it will immediately issue a warning to remind the operator or automatically adjust the cutting parameters to ensure that the cutting quality is not affected. This process greatly improves the accuracy and safety of cutting.

[0037] S143, determining whether to adjust the operating parameters or to need emergency shutdown based on the equipment operating parameters and the real-time video stream of the cutting area; This step combines the information in S141 and S142. By comprehensively analyzing the operating parameters of the equipment and the real-time video stream of the cutting area, the system can more accurately determine the working condition of the equipment and the stability of the cutting process. Based on this data, the system dynamically adjusts the cutting parameters, such as the feed rate and rotation speed of the tool, to ensure that the equipment works in the best condition. If the system detects a serious abnormality, such as a serious discrepancy between the operating parameters of the equipment and the status in the video stream, emergency shutdown measures may be taken to prevent damage to the equipment or the workpiece. This process realizes efficient and automated control of the cutting process.

[0038] S144, when serious equipment overheating, mechanical failure or major cutting deviation is detected by the monitoring system, an emergency signal is obtained, an emergency shutdown is performed based on the safety protocol, and a safe interruption of the operation is determined.

[0039] When the system detects serious equipment overheating, mechanical failure, or significant deviation in the cutting path through the previous steps, the emergency processing mechanism is activated in step S144. The system will issue an emergency stop signal according to the preset safety protocol and quickly stop the operation of the equipment to avoid further damage or safety accidents. After the emergency stop, the system will notify the operator and display the cause of the failure or abnormal information to facilitate the staff to take further safety inspections or maintenance measures. At the same time, the system will also record the relevant data during the shutdown for future analysis and optimization. This step ensures the safety of the entire cutting process and the long-term reliable operation of the equipment.

[0040] As a preferred solution but not a limitation, this step S14 also includes S145-S149, wherein: S145, obtaining historical operation data of the valve weld cutting device when in use, and a hazard identification model to be trained; In this step, the system first collects historical operating data of the valve weld cutting device. This data usually includes information such as temperature, vibration, speed, tool wear, etc. of the equipment under different operating conditions, as well as any dangerous events and abnormal conditions that have occurred in the past. In addition, a hazard identification model to be trained is obtained, which is an untrained model used to identify possible hazards during operation through machine learning or artificial intelligence technology. Through these historical data and models, the system can provide basic information for the next step of the training process. The richer and more detailed the historical data collected, the more accurate the training effect of the model.

[0041] S146, constructing a hazard identification training set based on the historical operation data, wherein the hazard identification training set includes hazard sample data and sample labels corresponding to the hazard sample data; In this step, the system converts historical operation data into a training set, which is specifically used to cultivate the model's hazard identification ability. The training set consists of two parts: hazard sample data and corresponding sample labels. Hazard sample data is information about abnormal equipment operation status extracted from historical operation data, such as equipment overheating, abnormal vibration, etc. The sample label is the actual hazard category or event type corresponding to this data, such as "overheating", "cutting deviation", etc. By matching data and labels, the system can establish a comprehensive training set covering multiple hazard scenarios for subsequent model training.

[0042] S147, performing risk identification training on the risk identification model to be trained based on the risk identification training set, and obtaining a trained risk identification model after the training is completed; This step is a key part of model training. The system inputs the hazard identification training set constructed in S146 into the hazard identification model to be trained and starts training the model. During the training process, the model gradually improves its ability to identify hazards by learning the patterns in the data. The goal of training is to enable the model to accurately determine the potential risks in equipment operation and correctly classify different types of hazards. After training is completed, the model will have the ability to identify hazards and become an optimized hazard identification model that can be used for real-time monitoring and judgment in practical applications.

[0043] S148, performing hazard identification processing on the valve weld cutting device based on the trained hazard identification model to obtain a hazard identification result; In this step, the system applies the trained hazard identification model to the actual operation of the valve weld cutting device. The system obtains the operating data of the equipment in real time and inputs this data into the model for hazard identification. Based on the previous training accumulation, the model can quickly and accurately analyze the current equipment status and identify potential dangerous situations. The hazard identification results usually include information such as whether an abnormality is detected, the specific type of hazard, and the severity of the risk. These identification results provide an important basis for the system to take further safety measures.

[0044] S149: Based on the hazard identification result, determine whether there is any hazard information.

[0045] In the last step, the system determines whether there is an actual danger based on the danger identification results in S148. If the model identifies danger information, the system will issue an alarm or take automatic safety measures, such as adjusting equipment parameters, reducing cutting speed, and even initiating an emergency shutdown procedure when necessary. If there is no danger information, the equipment continues to operate normally. Through this mechanism, the system can respond before the danger occurs, thereby effectively preventing equipment failure, cutting accidents or the expansion of safety hazards, and ensuring the safety and stability of the entire cutting process.

[0046] As a preferred solution but not a limitation, this step S146 also includes S1461-S1464, wherein: S1461, the historical operation data is cleaned to obtain the historical operation data after cleaning; In this step, the system cleans the collected historical operation data. The purpose of this process is to remove invalid data, abnormal data, and duplicate data to ensure that the data input into the model training is high-quality and accurate. Invalid data may include readings of equipment in a shutdown state, erroneous data caused by sensor failure, etc. The cleaned data will be more standardized and complete, which is convenient for subsequent feature extraction and model training. The cleaning process can be automated or combined with manual correction to ensure the reliability of each piece of data and lay the foundation for building an accurate training set.

[0047] S1462, performing feature extraction processing on the historical operation data after the cleaning process to obtain historical operation feature data; After data cleaning is completed, the system performs feature extraction on the processed data. The purpose of feature extraction is to extract the most meaningful feature information for hazard identification from a large amount of raw data. For valve weld cutting devices, possible features include temperature changes, vibration amplitude, tool speed, feed rate, etc. These features can reflect the working performance of the equipment in different states and help the model better understand which factors may cause hazards. Through feature extraction, historical operation data is simplified into feature data that can be directly used for analysis, reducing the amount of calculation and improving training efficiency.

[0048] S1463, classifying and processing the historical operation feature data to obtain positive sample operation data and negative sample operation data; In this step, the system classifies and processes the historical operating feature data to distinguish between positive samples and negative samples. Positive samples usually refer to the operating data of the equipment when it is operating normally and safely, while negative samples represent the operating data of the equipment in a dangerous state. For example, during a normal cutting process, the operating data of the equipment with temperature and vibration kept within a reasonable range is a positive sample; while data with excessively high temperature or abnormal vibration is classified as a negative sample. This step helps the system learn data patterns under different states during the training process by classifying the data into different categories, thereby improving the accuracy of hazard identification.

[0049] S1464, assigning a positive sample label to the positive sample running data, and assigning a negative sample label to the negative sample data, to obtain the hazard identification training set.

[0050] In the last step, the system assigns corresponding labels to the classified positive and negative sample data. Positive sample operation data will be labeled as "normal" or "safe", while negative sample data will be labeled as "abnormal" or "dangerous". By assigning clear labels to each set of data, the system can build a complete hazard identification training set. This training set contains various possible equipment operation states in historical data, and identifies which are safe states and which are dangerous states through labels. Based on these labeled data, subsequent machine learning models can be trained in a targeted manner, so that they have the ability to identify potential dangers in actual operation.

[0051] Second embodiment: Please refer to Fig.10 As shown, this embodiment proposes a valve weld cutting device X, comprising: The first control module A is used to lock the limiting mechanism 1 to clamp the pipeline; The second control module B is used for clamping and centering the valve by the centering clamping mechanism 2; The third control module C is used for the annular cutting mechanism 3 to automatically cut the valve weld; A monitoring module D, used for performing hazard identification and monitoring on the valve weld cutting device; Among them, a locking and limiting mechanism 1 is provided on both sides of the valve to lock the overall cutting device on the detection valve. The locking and limiting mechanism 1 is connected to a centering clamping mechanism 2 which clamps the valve weld so that the clamping center of the overall cutting device and the circular center of the weld are on the same axis. One side of the centering clamping mechanism 2 is provided with an annular cutting mechanism 3 for rotational cutting around the valve weld. The locking and limiting mechanism ensures that the cutting device can be accurately positioned on the valve to avoid inaccurate cutting due to position deviation. The centering clamping mechanism ensures the accuracy of the cutting path by aligning the center of the cutting device with the circular center of the weld. The locking and centering clamping mechanisms work together to prevent the device from shaking during the cutting process, thereby reducing operating errors and potential safety risks. The annular cutting mechanism can automatically perform rotational cutting around the valve weld, reducing the need for manual intervention and improving production efficiency.

[0052] Furthermore, as a preferred implementation mode of the present invention but not a limitation, the annular cutting mechanism 3 includes a tool feeding mechanism 31 for automatic tool feeding and cutting and automatic grinding after feeding and cutting, and a planetary gear transmission mechanism 32 for driving the tool feeding mechanism 31 to rotate around the valve. The tool feeding mechanism 31 can accurately control the feeding speed and depth of the tool to ensure stability and consistency during the cutting or grinding process. The planetary gear transmission mechanism provides high torque output and precise rotational motion, which is suitable for uniform cutting and grinding around the valve weld. Compared with other transmission methods, the planetary gear transmission mechanism is more compact and space-saving, and is easy to install and use in a limited space. The annular cutting mechanism achieves efficient, precise and stable cutting and grinding effects through the synergistic effect of the tool feeding mechanism and the planetary gear transmission mechanism, which is suitable for the automated cutting requirements of valve weld cutting.

[0053] Further, as a preferred embodiment of the present invention but not limiting, the planetary gear transmission mechanism 32 includes a fixed inner gear ring 321 which is fixed by itself and used for the tool feeding mechanism 31 to make a circular motion, the fixed inner gear ring 321 is meshed with a first planetary gear 322 for driving the tool feeding mechanism 31 to rotate and cut, and is meshed with a second planetary gear 326 for driving the tool feeding mechanism 31 to rotate and grind, the tool feeding mechanism 31 includes a cutting mechanism 311 connected to the first planetary gear 322 for automatically feeding and cutting the valve weld, and the second planetary gear 326 is connected to the tool feeding mechanism 31. The grinding mechanism 312 for automatically grinding the valve weld, the cutting mechanism 311 and the grinding mechanism 312 are distributed on the same side of the fixed inner ring 321 in a mirror-image manner, the planetary gear transmission provides high-precision position and speed control, the planetary gear structure allows a larger torque to be transmitted in a smaller space, which is especially important for driving cutting and grinding tools, by having multiple planetary gears meshing at the same time, load balance can be achieved, vibration and noise can be reduced, and the smoothness of the machining process can be ensured, the symmetrical layout of the cutting mechanism and the grinding mechanism helps to balance the load of the entire system, reduce mechanical stress, and extend the service life of the equipment.

[0054] Furthermore, as a preferred embodiment of the present invention but not a limitation, the cutting mechanism 311 includes a first tool base 324 for loading the cutting parts of the cutting mechanism 311, the first tool base 324 is provided with a plurality of first pulleys 325 supporting the cutting mechanism 311 and facilitating the sliding of the cutting mechanism 311 along the fixed inner gear ring 321, the first planetary gear 322 is connected with a first drive motor 323 for driving the first planetary gear 322 to rotate, the cutting mechanism 311 also includes a turning tool 3111 for cutting valve welds, the turning tool 3111 is connected with a high-precision feeding mechanism 3112 for controlling the cutting amount, one side of the high-precision feeding mechanism 3112 is provided with a first air cooling mechanism 3115 for cooling the tool when the tool is cutting, and one side of the first air cooling mechanism 3115 is provided with a first air cooling mechanism 3115 for cooling the tool when the tool is cutting. The first chip removal mechanism 3116 cools down and absorbs the cutting debris at the same time. The high-precision feeding mechanism 3112 includes a first servo motor 3113 for performing rotational motion and a first ball screw 3114 for converting the rotational motion into a linear motion to push the tool to feed. The high-precision feeding mechanism ensures the precise feeding amount of the turning tool when cutting the valve weld, which is conducive to maintaining the cutting accuracy and consistency. The first air cooling mechanism can effectively reduce the temperature of the turning tool during the cutting process, reduce thermal fatigue wear, extend the tool life, and improve cutting efficiency and quality. The first chip removal mechanism promptly removes the debris generated during the cutting process to prevent the accumulation of debris from affecting the cutting process, while keeping the working area clean. The first tool base and the first pulley ensure the stable sliding of the cutting mechanism on the fixed inner gear ring, reduce vibration and wear, and enhance the reliability of the device. The tool feeding mechanism can adjust the feeding speed and depth according to different cutting requirements, and is suitable for valve welds of various materials and thicknesses.

[0055] Further, as a preferred embodiment of the present invention but not limiting, the grinding mechanism 312 includes a second tool base 327 for loading the grinding components of the grinding mechanism 312, the second tool base 327 is provided with a plurality of second pulleys 328 supporting the grinding mechanism 312 and facilitating the sliding of the grinding mechanism 312 along the fixed inner gear ring 321, the second planetary gear 326 is connected to a second drive motor 329 for driving the second planetary gear 326 to rotate, The grinding mechanism 312 also includes a grinding knife 3121 for grinding the valve weld after cutting, and the grinding knife 3121 is connected to a grinding feed mechanism 3122 for controlling the grinding depth. A second air cooling mechanism 3125 is provided on one side of the grinding feed mechanism 3122 for cooling the tool during grinding, and a second chip removal mechanism 3126 is provided on one side of the second air cooling mechanism 3125 for absorbing cutting debris while cooling the tool. The grinding feed mechanism 3122 includes a second servo motor 3123 for performing rotational motion and a second ball screw 3124 for converting the rotational motion into a linear motion to drive the tool feed. 124. The grinding feed mechanism can accurately control the feed depth of the grinder through the cooperation of the second servo motor and the second ball screw to ensure the accuracy and consistency during the grinding process. The second air cooling mechanism can effectively reduce the temperature of the grinder during the grinding process, reduce material deformation and tool wear caused by high temperature, and extend the service life of the grinder. The second chip removal mechanism can promptly remove the debris generated during the grinding process to prevent the debris from clogging and interfering with the grinding process, while keeping the working area clean. The second tool base and the second pulley ensure the stable sliding of the grinding mechanism on the fixed inner gear ring 321, reduce vibration, and increase the reliability and durability of the device.

[0056] Further, as a preferred embodiment of the present invention but not a limitation, the centering clamping mechanism 2 includes a clamping centering module 21 for clamping the valve weld, the clamping centering module 21 is connected to a radial feed mechanism 22 for controlling the movement of the clamping centering module 21, the clamping centering module 21 includes a clamping slider 211 for contacting the valve weld during clamping, a connecting rod 212 is provided between the clamping slider 211 and the radial feed mechanism 22, the connecting rod 212 is connected to an annular synchronous connecting rod 213, and a plurality of annular synchronous connecting rods 213 are connected together by a connecting rod arc 214 so that a plurality of clamping sliders 211 simultaneously push the clamping Tighten the valve weld, the radial feed mechanism 22 includes a third servo motor 221 for rotational motion and a third ball screw 222 for converting rotational motion into linear motion to push the clamping and centering module 21 to clamp the valve weld. The three circular clamping sliders move simultaneously under the action of the annular synchronous connecting rod, which can accurately position the valve weld in the center of the cutting device to ensure the centering accuracy during the cutting process. The combination of the third servo motor and the third ball screw provides high-precision radial feed control to ensure that the clamping and centering module can move according to the set route. The clamping and centering module can be adjusted according to the corresponding size of the valve to improve the applicability of the equipment.

[0057] Furthermore, as a preferred embodiment of the present invention but not a limitation, the locking and limiting mechanism 1 includes a clamping claw 11 for clamping and locking the pipe, the clamping claw 11 is connected to a locking power device 12 for pushing the clamping claw 11 so that the clamping claw 11 locks the pipe, the locking power device is a hydraulic cylinder, and a support bracket 13 is provided between the two clamping claws 11 clamping the pipe, the support bracket 13 is provided with a fastening mechanism 14 for limiting the up and down shaking of the entire device, and a support column 15 is connected between the support bracket 13 and the centering clamping mechanism 2 so that the entire mechanism can be cut when cutting. Maintain stability, the fastening mechanism 14 includes a fourth drive motor 141 and a fastening bolt 142. The hydraulic cylinder serves as a locking power device and can provide a very large clamping force to ensure that the pipeline is stably fixed during the cutting process and prevent any movement or shaking. The combination of the bracket and the support column enhances the rigidity of the overall structure, reduces vibration during the cutting process, and ensures the accuracy and stability of the cutting. The design of the clamping claw and the bracket can be adjusted according to pipes of different diameters to increase the scope of application of the device. By reducing shaking and movement during the cutting process, the flatness and quality of the cutting edge can be significantly improved.

[0058] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0059] An embodiment of the present invention further provides a computer storage medium on which a computer program is stored. When the program is executed by a processor, a valve weld automatic cutting method applied to a special environment as described in the above embodiments is implemented.

[0060] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of each of the above-mentioned embodiments of the automatic cutting method of the valve weld applied to a special environment. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0061] Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention can be essentially or partly reflected in the form of a software product that contributes to the relevant technology. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, terminal, or network device, etc.) to execute all or part of the methods of each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, RAM, ROM, magnetic disks or optical disks.

[0062] Corresponding to the above-mentioned computer storage medium, in one embodiment, a computer device is also provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, an automatic valve weld cutting method applied to a special environment as described in the above-mentioned embodiments is implemented.

[0063] The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.11 As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a valve weld automatic cutting method applied to a special environment is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0064] The electronic device in the embodiment of the present application can be various types of electronic devices, or it can be a component in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or it can be other devices other than a terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted electronic device, a mobile Internet device (Mobile Internet Device, MID), an augmented reality (augmented reality, AR) / virtual reality (virtual reality, VR) device, a robot, a wearable device, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a netbook or a personal digital assistant (personal digital assistant, PDA), etc., and can also be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television (television, TV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present application.

[0065] Alternatively, if Fig.12 As shown, an embodiment of the present application further provides an electronic device 200, including a processor 201, a memory 202, and a program or instruction stored in the memory 202 and executable on the processor 201. When the program or instruction is executed by the processor 201, each process of an embodiment of an automatic cutting method for valve welds applied to a special environment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0066] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0067] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An automatic control method for a valve weld cutting device, characterized in that: The control method comprises: The locking limit mechanism (1) clamps the pipe; The centering clamping mechanism (2) clamps and centers the valve; The annular cutting mechanism (3) automatically cuts the valve weld; The valve weld cutting device is monitored for hazard identification.

2. The control method according to claim 1, characterized in that: The locking and limiting mechanism (1) clamps the pipeline, comprising: The clamping claws (11) are initially installed on the pipe and the distance between the two clamping claws (11) is adjusted. After the adjustment is completed, the hydraulic cylinder (12) on the clamping claws (11) presses the clamping claws (11) to clamp the pipe; The driving motor (141) in the fastening mechanism (14) drives the fastening bolt (142) to move toward the valve to limit the up and down shaking of the valve when the weld is cut.

3. The control method according to claim 1, characterized in that: The centering clamping mechanism (2) clamps and centers the valve, and comprises: The radial feeding mechanism (22) drives the annular synchronous connecting rod (23) and the clamping and centering module (21) to feed simultaneously to realize centering of the valve weld; After the alignment is completed, clamp the centering module (21) to clamp the valve weld.

4. The control method according to claim 1, characterized in that: The annular cutting mechanism (3) automatically cuts the valve weld, comprising: Cutting, the first drive motor (323) drives the first planetary gear (322) to rotate in the fixed inner gear ring (321), the cutting mechanism (311) rotates following the first planetary gear (322), the turning tool (3111) in the cutting mechanism (311) automatically cuts the valve weld under the feeding of the high-precision feeding mechanism (3112), and during the cutting process, the first air cooling mechanism (3115) blows out cold air to cool the tool, and the first chip removal mechanism (3116) cleans the discharged chips; Grinding, the second drive motor (329) drives the second planetary gear (326) to rotate in the fixed inner gear ring (321), the grinding mechanism (312) rotates following the second planetary gear (326), after the cutting mechanism (311) cuts, the grinding knife (3121) in the grinding mechanism (312) grinds the valve weld after cutting, the second air cooling mechanism (3125) blows out cold air to cool the tool, and the second chip removal mechanism (3126) cleans the discharged debris.

5. The control method according to claim 1, characterized in that: The hazard identification and monitoring of the valve weld cutting device includes: Acquiring equipment operating parameters, and determining whether there is overheating or abnormal vibration based on the equipment operating parameters; Acquire a real-time video stream of the cutting area, and determine a deviation or abnormal state of the cutting path based on the real-time video stream of the cutting area; Based on the equipment operating parameters and the real-time video stream of the cutting area, determining whether to adjust the operating parameters or whether an emergency shutdown is required; When serious equipment overheating, mechanical failure, or major cutting deviation is detected by the monitoring system, an emergency signal is obtained, an emergency stop is executed based on the safety protocol, and the safe interruption of the operation is determined.

6. The method according to claim 5, characterized in that Before performing hazard identification monitoring on the valve weld cutting device, the method further includes: Acquire historical operation data of the valve weld cutting device when in use, and a hazard identification model to be trained; Based on the historical operation data, a hazard identification training set is constructed, wherein the hazard identification training set includes hazard sample data and sample labels corresponding to the hazard sample data; Performing risk identification training on the risk identification model to be trained based on the risk identification training set, and obtaining a trained risk identification model after the training is completed; Performing hazard identification processing on the valve weld cutting device based on the trained hazard identification model to obtain a hazard identification result; Based on the hazard identification result, determine whether there is hazard information.

7. The method according to claim 6, characterized in that The step of constructing a hazard identification training set based on the historical operation data includes: Cleaning the historical operation data to obtain the cleaned historical operation data; Performing feature extraction processing on the historical operation data after the cleaning process to obtain historical operation feature data; Classify and process the historical operation feature data to obtain positive sample operation data and negative sample operation data; A positive sample label is assigned to the positive sample running data, and a negative sample label is assigned to the negative sample data, to obtain the hazard identification training set.

8. An automatic valve weld cutting device for special environments, characterized in that: include: A first control module, used for locking the limiting mechanism (1) to clamp the pipeline; A second control module is used for clamping and centering the valve by the centering clamping mechanism (2); A third control module is used for the annular cutting mechanism (3) to automatically cut the valve weld; A monitoring module, used for performing hazard identification and monitoring on the valve weld cutting device; Among them, a locking and limiting mechanism (1) is provided on both sides of the valve to lock the integral cutting device on the detection valve, the locking and limiting mechanism (1) is connected to a centering clamping mechanism (2) for clamping the valve weld so that the clamping center of the integral cutting device and the circular center of the weld are on the same axis, and one side of the centering clamping mechanism (2) is provided with an annular cutting mechanism (3) for performing rotational cutting around the valve weld.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the valve weld cutting device, an automatic control method for a valve weld cutting device as described in any one of claims 1 to 7 is implemented.

10. A computer device, characterized in that: The computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, an automatic control method for a valve weld cutting device as described in any one of claims 1 to 7 is implemented.

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