Automatic cutting method and device of valve weld seam applied to special environment

Abstract

The application relates to an automatic control method and device applied to a valve weld joint cutting device, the method comprising the following steps: locking and clamping a pipeline by a locking and limiting mechanism, clamping and centering a valve by a centering and clamping mechanism, automatically cutting a valve weld joint by a ring-shaped cutting mechanism, and monitoring and controlling the valve weld joint cutting device. The valve weld joint automatic cutting technology adopted by the application can replace manual operation, realizes automatic adjustment of a cutter feeding amount and a cutting speed, ensures the quality stability of the cutting weld joint, the system has the functions of automatic limiting and fixing, has high adjustability, is suitable for valves of different sizes, meanwhile, the cutting process is visualized and controllable through a digital control system, the automation degree of the equipment is greatly improved, the whole cutting device is designed in an integrated mode, is convenient and efficient to use, and the cumbersome steps of manual clamping, calibration and cutting are omitted.

Description

[Technical Field]

[0002] This application relates to the field of valve weld technology, and in particular to an automatic valve weld cutting method and apparatus for use in special environments. [Background Technology]

[0004] In nuclear plants, valve weld cutting devices are one of the key technologies used to maintain and replace critical valve components in nuclear reactor systems. By precisely cutting away the weld seams of old valves, valve replacement work becomes faster and safer, making such devices particularly important in nuclear plants.

[0005] In traditional valve weld cutting operations, the cutting tool usually requires manual adjustment of the feed rate and relies on an external power source for cutting. This method is not only inefficient but also prone to operational errors, leading to safety accidents. Furthermore, the manual adjustment of the tool feed rate lacks precise control, which can easily result in poor cutting quality of the valve weld due to inconsistent cutting depth or cutting speed, further affecting the quality and safety of valve replacement. 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 stop abruptly, increasing operating costs and potentially damaging the equipment itself and the surrounding environment. [Summary of the Invention]

[0007] To address the problems of the prior art, in a first aspect, embodiments of this application provide an automatic valve weld cutting method applicable to special environments, comprising:

[0008] The locking and limiting mechanism clamps the pipeline;

[0009] The centering clamping mechanism clamps and centers the valve;

[0010] A ring-shaped cutting mechanism automatically cuts valve welds;

[0011] Hazard identification and monitoring are performed on the valve weld cutting device.

[0012] Furthermore, the locking and limiting mechanism clamps the pipe, including:

[0013] After initially installing the clamping jaws on the pipeline and adjusting the distance between the two clamping jaws, the hydraulic cylinder on the clamping jaws presses down on the clamping jaws to clamp the pipeline.

[0014] The drive motor in the fastening mechanism drives the fastening bolts toward the valve to limit the up-and-down swaying of the valve weld during cutting.

[0015] Furthermore, the centering clamping mechanism clamps and centers the valve, including:

[0016] The radial feed mechanism drives the annular synchronous connecting rod and the clamping and centering module to feed simultaneously to achieve centering of the valve weld.

[0017] After centering is completed, the clamping and centering module clamps the valve weld.

[0018] Furthermore, the annular cutting mechanism automatically cuts the valve weld seam, including:

[0019] Cutting: The first drive motor drives the first planetary gear to rotate in the fixed internal gear ring. The cutting mechanism follows the rotation of the first planetary gear. The cutting tool in the cutting mechanism automatically cuts the valve weld under the feed of the high-precision feed 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 up the discharged chips.

[0020] Grinding: The second drive motor drives the second planetary gear to rotate in the fixed internal gear ring. The grinding mechanism follows the rotation of the second planetary gear. After the cutting mechanism cuts, the grinding tool 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 up the discharged chips.

[0021] Furthermore, the hazard identification and monitoring of the valve weld cutting device includes:

[0022] Obtain the equipment operating parameters, and based on the equipment operating parameters, determine whether there is overheating or abnormal vibration;

[0023] Acquire the real-time video stream of the cutting area, and determine the deviation or abnormal state of the cutting path based on the real-time video stream of the cutting area;

[0024] Based on the equipment operating parameters and the real-time video stream of the cutting area, determine whether to adjust the operating parameters or whether an emergency shutdown is required.

[0025] When a serious equipment overheating, mechanical failure, or significant cutting deviation is detected by the monitoring system, an emergency signal is acquired, and an emergency shutdown is executed based on the safety protocol to determine a safe interruption of the operation.

[0026] Furthermore, before performing hazard identification and monitoring on the valve weld cutting device, the method further includes:

[0027] Acquire historical operating data of the valve weld cutting device during use, as well as the hazard identification model to be trained;

[0028] Based on the historical operational data, a hazard identification training set is constructed, which includes hazard sample data and sample labels corresponding to the hazard sample data.

[0029] The hazard identification model to be trained is trained based on the hazard identification training set. After training, the trained hazard identification model is obtained.

[0030] Based on the trained hazard identification model, the valve weld cutting device is subjected to hazard identification processing to obtain hazard identification results;

[0031] Based on the hazard identification results, it is determined whether there is any hazard information.

[0032] Furthermore, the hazard identification training set constructed based on the historical operational data includes:

[0033] The historical operation data is cleaned to obtain cleaned historical operation data;

[0034] The historical operation data after the cleaning process is subjected to feature extraction processing to obtain historical operation feature data;

[0035] The historical operational feature data is classified to obtain positive sample operational data and negative sample operational data.

[0036] The positive sample running data is assigned a positive sample label, and the negative sample data is assigned a negative sample label to obtain the danger identification training set.

[0037] Secondly, embodiments of this application provide an automatic valve weld cutting device for use in special environments, comprising:

[0038] The first control module is used to lock the limit mechanism to clamp the pipe;

[0039] The second control module is used to clamp and center the valve using the centering clamping mechanism.

[0040] The third control module is used for the ring cutting mechanism to automatically cut valve welds;

[0041] The monitoring module is used to perform hazard identification and monitoring of the valve weld cutting device.

[0042] Among them, a locking limiting mechanism is used to lock the overall cutting device on the valve by setting it on both sides of the valve. The locking 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. A ring cutting mechanism for rotating and cutting around the valve weld is provided on one side of the centering clamping mechanism.

[0043] Thirdly, embodiments of this application provide a computer-readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of an automatic valve weld cutting method for special environments as described in the first aspect above.

[0044] Fourthly, embodiments of this application provide an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of an automatic valve weld cutting method for special environments as described in the first aspect above.

[0045] The automatic valve weld cutting technology adopted in this invention can replace manual operation, realize automatic adjustment of tool feed and cutting speed, ensure the quality and stability of the cut weld, and the system has automatic limit and fixation functions and high adjustability, which is suitable for valves of different sizes. At the same time, the cutting process is visualized and controllable through digital control system, which greatly improves the automation level of the equipment. The entire cutting device is integrated design, convenient and efficient to use, and eliminates the tedious steps of manual clamping, calibration and cutting. [Attached Image Description]

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a flowchart of an automatic valve weld cutting method applied to a special environment according to the first embodiment of the present invention;

[0049] Figure 2 This is a three-dimensional schematic diagram of an automatic valve weld cutting device for special environments according to the present invention. Figure 2 ;

[0050] Figure 3 This is a schematic diagram of a locking and limiting mechanism for an automatic valve weld cutting device applied in a special environment, according to the present invention. Figure 3 ;

[0051] Figure 4 This is an exploded view of an automatic valve weld cutting device for special environments according to the present invention. Figure 4 ;

[0052] Figure 5 This is a schematic diagram of the centering and clamping mechanism of an automatic valve weld cutting device for special environments according to the present invention. Figure 5 ;

[0053] Figure 6 This is a schematic diagram of the annular cutting mechanism of an automatic valve weld cutting device for special environments according to the present invention. Figure 6 ;

[0054] Figure 7 This is a schematic diagram of the annular cutting mechanism of an automatic valve weld cutting device for special environments according to the present invention. Figure 7 ;

[0055] Figure 8 This is a schematic diagram of the grinding mechanism of an automatic valve weld cutting device for special environments according to the present invention. Figure 8 ;

[0056] Figure 9 This is a schematic diagram of the cutting mechanism of an automatic valve weld cutting device for special environments according to the present invention. Figure 9 ;

[0057] Figure 10 This is a structural block diagram of an automatic valve weld cutting device for special environments according to the second embodiment of the present invention;

[0058] Figure 11 This is a structural block diagram of a computer device according to another embodiment of the present invention;

[0059] Figure 12 This is a structural block diagram of an electronic device according to another embodiment of the present invention.

Detailed Implementation Methods

[0061] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Well-known modules, units, and their connections, links, communications, or operations are not shown or described in detail. Furthermore, the described features, architectures, or functions can be combined in any way in one or more embodiments. Those skilled in the art should understand that the various embodiments described below are only for illustrative purposes and not for limiting the scope of protection of the present invention. It is also readily understood that the modules, units, or processing methods in the various embodiments described herein and shown in the accompanying drawings can be combined and designed in various different configurations. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0063] The definitions of various terms or methods used in the following embodiments are, except where logically impossible, generally defined as broad concepts that can be implemented under the premise of the content disclosed in the embodiments. Under this understanding, all specific subordinate limitations of the terms or methods should be considered as part of the invention and should not be narrowly interpreted or biased simply because the specification does not disclose such a specific limitation. Similarly, provided that it is logically feasible, the order of the steps in the method is flexible and varied, and all specific subordinate limitations in the broad concepts of various terms or methods fall within the protection scope of this invention.

[0064] First embodiment:

[0065] S1 is the locking and limiting mechanism 1 that clamps the pipe to keep the cutting device stable during cutting. After the locking and limiting mechanism 1 clamps the pipe in S1, S2 is the centering and clamping mechanism 2 that clamps the valve and makes the circular center of the valve weld seam and the clamping center of the centering and clamping mechanism 2 on the same axis to ensure that the action trajectory of the tool when cutting along the circumference of the weld seam is aligned with the axial direction of the circular weld seam. After the centering and clamping mechanism 2 clamps and aligns the valve in S2, S3 is the annular cutting mechanism 3 that automatically cuts the valve weld seam. During the cutting process, the tool needs to make a circular motion around the center of the weld seam to cut. At the same time, the valve weld seam is ground to ensure the cutting quality.

[0066] Please refer to Figures 1 to 10 As shown, this embodiment proposes an automatic valve weld cutting method for special environments, including S11-S14, wherein:

[0067] S11, locking and limiting mechanism clamps the pipe.

[0068] As a preferred option and not a limitation, step S11 also includes S111-S112, wherein:

[0069] S111, initially install the clamping gripper 11 on the pipeline and adjust the distance between the two clamping grippers 11. After the adjustment is completed, the hydraulic cylinder 12 on the clamping gripper 11 presses down on the clamping gripper 11 to clamp the pipeline.

[0070] Among them, a stable clamp can prevent the device from moving or falling off during processing, ensuring that the device is in a suitable working condition.

[0071] S112, the drive 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 weld when it is being cut.

[0072] In the S112 fastening mechanism, the drive motor 141 drives the fastening bolt 142 to move toward the valve. After pressing the appropriate pressure, the bolt stops moving downward, so that the fastening mechanism 14 restricts the up and down sway of the entire device during the cutting process, ensuring the accuracy of the cutting.

[0073] S12, the centering clamping mechanism 2 clamps and centers the valve.

[0074] As a preferred option and not a limitation, step S12 also includes S121-S122, wherein:

[0075] S121, the radial feed mechanism (22) drives the annular synchronous connecting rod (23) and the clamping centering module (21) to feed simultaneously to achieve centering of the valve weld;

[0076] S122, after centering is completed, clamp the centering module (21) to clamp the valve weld.

[0077] Among them, the radial feed mechanism 22 of S121 drives the annular synchronous connecting rod 23 and the circular clamping slider to feed simultaneously to achieve the centering of the valve weld. After the centering is completed, the three circular clamping sliders in the clamping centering module of S122 clamp the valve weld together. The annular synchronous connecting rod ensures the synchronous movement of all circular clamping sliders, avoiding deviation or uneven stress caused by single-sided clamping, thereby improving the consistency and reliability of the centering effect.

[0078] S13, Circular cutting mechanism (3) automatically cuts valve welds;

[0079] As a preferred option and not a limitation, step S13 also includes S131-S132, wherein:

[0080] S131, cutting, the first drive motor (323) drives the first planetary gear (322) to rotate in the fixed internal gear ring (321), the cutting mechanism (311) follows the first planetary gear (322) to rotate, the cutting tool (3111) in the cutting mechanism (311) automatically cuts the valve weld under the feed of the high-precision feed 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 up the discharged chips;

[0081] S131: Cutting. The first drive motor 323 drives the first planetary gear 322 to rotate in the fixed internal gear ring 321. The cutting mechanism 311 rotates with the first planetary gear 322. The cutting tool 3111 in the cutting mechanism 311 automatically cuts the valve weld under the feed of the high-precision feed 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 up the discharged chips. The high-precision feed mechanism 3112 can accurately control the feed amount of the cutting tool 3111 to ensure that the cutting amount in the cutting process meets the set value, improve the cutting accuracy and surface finish. The cutting mechanism can adjust the cutting parameters according to various valve weld types and materials, and has wide applicability.

[0082] S132, Grinding, the second drive motor (329) drives the second planetary gear (326) to rotate in the fixed internal gear ring (321), the grinding mechanism (312) follows the second planetary gear (326) to rotate, after the cutting mechanism (311) cuts, the grinding tool (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 chips.

[0083] S132: Grinding. The second drive motor 329 drives the second planetary gear 326 to rotate in the fixed internal gear ring 321. The grinding mechanism 312 rotates with the second planetary gear 326. After the cutting mechanism 311 cuts, the grinding tool 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. Driven by the second planetary gear 326, the grinding tool 3121 can accurately grind the cut weld, remove burrs and unevenness, and improve the valve cutting quality.

[0084] The working principle of this embodiment is as follows:

[0085] The clamping gripper in the locking and limiting mechanism is locked onto the pipeline. After locking, the radial feed mechanism in the centering and clamping mechanism is controlled to move the clamping and centering module. Under the action of the annular synchronous linkage, the three circular clamping sliders move synchronously to clamp the valve. The drive 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, thus completing the automatic cutting of the valve weld. Through the precise control of the centering, clamping and locking mechanism, the stability of the cutting process and the accuracy of the weld cutting are ensured. The whole process is controlled by an automated system, reducing the need for manual operation.

[0086] S14, perform hazard identification and monitoring on the valve weld cutting device.

[0087] As a preferred option and not a limitation, step S14 also includes S141-S144, wherein:

[0088] S141, Obtain the equipment operating parameters, and based on the equipment operating parameters, determine whether there is overheating or abnormal vibration;

[0089] In this step, key operating parameters of the valve weld cutting device are first acquired, such as temperature, vibration, cutter speed, and feed rate. Using this data, the system can monitor the device's operating status in real time. Based on preset safety thresholds, the system analyzes these parameters to determine if the equipment is operating normally. If excessively high temperature or abnormal vibration is detected, the system will issue an alarm or take measures to prevent damage due to overheating or vibration. The key to this process is to anticipate potential abnormal conditions, thereby avoiding wider-ranging failures and improving the equipment's reliability and stability.

[0090] S142, acquire the real-time video stream of the cutting area, and determine the deviation or abnormal state of the cutting path based on the real-time video stream of the cutting area;

[0091] This step utilizes video surveillance technology to provide real-time visual monitoring of the cutting area. The cutting equipment is equipped with a high-definition camera or other visual sensors that capture the entire cutting process and transmit the video data to the system for processing. Based on the video stream information, the system analyzes the cutting path for deviations or other abnormalities, such as uneven cutting lines or uneven equipment movement. If the system detects any instability during the cutting process, it will immediately issue a warning, alerting the operator or automatically adjusting the cutting parameters to ensure that the cutting quality is not affected. This process significantly improves cutting accuracy and safety.

[0092] S143, based on the equipment operating parameters and the real-time video stream of the cutting area, determine whether to adjust the operating parameters or whether an emergency shutdown is required;

[0093] This step combines the information from S141 and S142. By comprehensively analyzing the equipment's operating parameters and the real-time video stream of the cutting area, the system can more accurately determine the equipment's working status and the stability of the cutting process. Based on this data, the system dynamically adjusts cutting parameters, such as the tool feed rate and rotation speed, to ensure the equipment operates in optimal condition. If the system detects a serious anomaly, such as a significant discrepancy between the equipment's operating parameters and the state shown in the video stream, it may take emergency shutdown measures to prevent damage to the equipment or workpiece. This process achieves highly efficient automated control of the cutting process.

[0094] S144: When a serious equipment overheating, mechanical failure, or significant cutting deviation is detected by the monitoring system, an emergency signal is acquired, and an emergency shutdown is executed based on the safety protocol to determine a safe interruption of the operation.

[0095] When the system detects severe equipment overheating, mechanical failure, or significant deviation in the cutting path through the previous steps, step S144 activates the emergency handling mechanism. The system will issue an emergency stop signal according to the preset safety protocol, quickly halting equipment operation to prevent further damage or safety accidents. After the emergency stop, the system will notify the operator, displaying the cause of the fault or abnormal information to facilitate further safety checks or maintenance. Simultaneously, the system will record relevant data during the shutdown for future analysis and optimization. This step ensures safety throughout the cutting process and long-term reliable operation of the equipment.

[0096] As a preferred option and not a limitation, step S14 also includes S145-S149, wherein:

[0097] S145, Obtain historical operating data of the valve weld cutting device during use, as well as the hazard identification model to be trained;

[0098] In this step, the system first collects historical operating data of the valve weld cutting device. This data typically includes information on the equipment's temperature, vibration, rotational speed, and tool wear under different operating conditions, as well as any hazardous events and anomalies that have occurred historically. Additionally, a hazard identification model to be trained is acquired—an untrained model used to identify potential hazards during operation through machine learning or artificial intelligence techniques. This historical data and model provide the foundational information for the next training step. The richer and more detailed the collected historical data, the more accurate the model training will be.

[0099] S146, Based on the historical operation data, a hazard identification training set is constructed, which includes hazard sample data and sample labels corresponding to the hazard sample data;

[0100] In this step, the system converts historical operational data into a training set specifically for developing the model's hazard identification capabilities. The training set consists of two parts: hazard sample data and corresponding sample labels. Hazard sample data is information about abnormal equipment operating conditions extracted from historical operational data, such as equipment overheating or abnormal vibration. The sample labels are the actual hazard categories or event types corresponding to these data, such as "overheating" or "cutting deviation." By mapping data to labels, the system can establish a comprehensive training set covering multiple hazard scenarios for subsequent model training.

[0101] S147, Based on the hazard identification training set, perform hazard identification training on the hazard identification model to be trained, and after training, obtain the trained hazard identification model;

[0102] This step is crucial for model training. The system inputs the hazard identification training set constructed in S146 into the hazard identification model to be trained, and begins training the model. During training, the model learns patterns in the data, gradually improving its ability to identify hazards. The goal of training is to enable the model to accurately determine potential risks in equipment operation and correctly classify different types of hazards. After training, the model will have the ability to identify hazards, becoming an optimized hazard identification model capable of real-time monitoring and judgment in practical applications.

[0103] S148, Based on the trained hazard identification model, perform hazard identification processing on the valve weld cutting device to obtain hazard identification results;

[0104] In this step, the system applies the trained hazard identification model to the actual operation of the valve weld cutting device. The system acquires real-time operational data from the equipment and inputs this data into the model for hazard identification. Through previous training, the model can quickly and accurately analyze the current equipment status and identify potential hazards. Hazard identification results typically include information such as whether an anomaly was detected, the specific type of hazard, and the severity of the risk. These identification results provide crucial information for the system to take further safety measures.

[0105] S149, Based on the hazard identification results, determine whether there is any hazard information.

[0106] In the final step, the system determines whether an actual hazard exists based on the hazard identification results in S148. If the model identifies a hazard, the system will issue an alarm or take automatic safety measures, such as adjusting equipment parameters, reducing the cutting speed, or even initiating an emergency shutdown procedure if necessary. If no hazard is identified, the equipment continues to operate normally. Through this mechanism, the system can respond before a hazard occurs, effectively preventing equipment failure, cutting accidents, or the escalation of safety hazards, ensuring the safety and stability of the entire cutting process.

[0107] As a preferred option and not a limitation, step S146 also includes S1461-S1464, wherein:

[0108] S1461, The historical operating data is cleaned to obtain cleaned historical operating data;

[0109] In this step, the system cleanses the collected historical operational data. The purpose of this process is to remove invalid, outlier, and duplicate data, ensuring that the data input into model training is high-quality and accurate. Invalid data may include readings from equipment when it is offline, erroneous data due to sensor malfunctions, etc. The cleaned data will be more standardized and complete, facilitating subsequent feature extraction and model training. The cleaning process can be automated or combined with manual correction to ensure the reliability of each data point, laying the foundation for building an accurate training set.

[0110] S1462, Perform feature extraction processing on the historical operation data after the cleaning process to obtain historical operation feature data;

[0111] After data cleaning, the system performs feature extraction on the processed data. The purpose of feature extraction is to extract the most meaningful features for hazard identification from a large amount of raw data. For valve weld cutting equipment, possible features include equipment temperature changes, vibration amplitude, cutter rotation speed, and feed rate. These features reflect the equipment's performance under different conditions, helping the model better understand which factors may lead to hazards. Through feature extraction, historical operating data is simplified into feature data that can be directly used for analysis, reducing computational load and improving training efficiency.

[0112] S1463, The historical running feature data is classified to obtain positive sample running data and negative sample running data;

[0113] In this step, the system categorizes historical operational data, distinguishing between positive and negative samples. Positive samples typically refer to operational data from when the equipment is running normally and safely, while negative samples represent operational data from when the equipment is under hazardous conditions. For example, during normal cutting, operational data where the equipment's temperature and vibration remain within reasonable ranges are considered positive samples; while data with excessively high temperatures or abnormal vibrations are classified as negative samples. This step, by categorizing the data, helps the system learn data patterns under different conditions during training, thereby improving the accuracy of hazard identification.

[0114] S1464, assign positive sample labels to the positive sample running data and assign negative sample labels to the negative sample data to obtain the danger identification training set.

[0115] In the final step, the system assigns corresponding labels to the classified positive and negative sample data. Positive sample data is labeled "normal" or "safe," while negative sample data is labeled "abnormal" or "dangerous." By assigning specific labels to each set of data, the system can construct a complete hazard identification training set. This training set contains various possible equipment operating states from historical data, and labels identify which states are safe and which are dangerous. Based on this labeled data, subsequent machine learning models can be trained in a targeted manner, thereby gaining the ability to identify potential hazards during actual operation.

[0116] Second embodiment:

[0117] Please refer to Figure 10 As shown, this embodiment proposes a valve weld cutting device X, comprising:

[0118] The first control module A is used to lock the limit mechanism 1 to clamp the pipe;

[0119] The second control module B is used to clamp and center the valve using the centering clamping mechanism 2.

[0120] The third control module C is used for the ring cutting mechanism 3 to automatically cut valve welds;

[0121] Monitoring module D is used for hazard identification and monitoring of the valve weld cutting device;

[0122] The device includes a locking and limiting mechanism 1, which is installed on both sides of the valve to lock the overall cutting device onto the 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 is aligned with the circular center of the weld. One side of the centering clamping mechanism 2 is provided with a ring cutting mechanism 3 for rotating and cutting around the valve weld. The locking and limiting mechanism ensures that the cutting device can be accurately positioned on the valve, avoiding inaccurate cutting due to positional 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 operational errors and potential safety risks. The ring cutting mechanism can automatically rotate and cut around the valve weld, reducing the need for manual intervention and improving production efficiency.

[0123] Furthermore, as a preferred embodiment of this solution and not a limitation thereof, the annular cutting mechanism 3 includes a tool feeding mechanism 31 for automatic tool feeding and cutting, and automatic grinding after cutting, and a planetary gear transmission mechanism 32 that drives the tool feeding mechanism 31 to rotate around the valve. The tool feeding mechanism 31 can precisely control the feed speed and depth of the tool, ensuring stability and consistency during the cutting or grinding process. The planetary gear transmission mechanism provides high torque output and precise rotational motion, suitable for uniform cutting and grinding around the valve weld. Compared with other transmission methods, the planetary gear transmission mechanism is more compact, saves space, and is easy to install and use in limited spaces. The annular cutting mechanism achieves efficient, accurate 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 needs of valve weld cutting.

[0124] Furthermore, as a preferred embodiment of this solution and not a limitation, the planetary gear transmission mechanism 32 includes a fixed internal gear ring 321 that is fixed itself and used for the circular motion of the tool feed mechanism 31. The fixed internal gear ring 321 meshes with a first planetary gear 322 for driving the tool feed mechanism 31 to rotate and cut, and a second planetary gear 326 for driving the tool feed mechanism 31 to rotate and grind. The tool feed mechanism 31 includes a cutting mechanism 311 connected to the first planetary gear 322 for automatically feeding and cutting valve welds, and the second planetary gear 326 connected to the tool feed mechanism 31. The grinding mechanism 312 for automatically grinding valve welds includes a cutting mechanism 311 and a grinding mechanism 312 that are mirror images of each other and distributed on the same side of a fixed internal gear ring 321. Planetary gear transmission provides high-precision position and speed control. The planetary gear structure allows for the transmission of large torque in a small space, which is especially important for driving cutting and grinding tools. By having multiple planetary gears mesh simultaneously, a balanced load distribution can be achieved, reducing vibration and noise and ensuring the smoothness of the processing. The symmetrical layout of the cutting and grinding mechanisms helps to balance the load of the entire system, reduce mechanical stress, and extend the service life of the equipment.

[0125] Furthermore, as a preferred embodiment of this solution and not a limitation, the cutting mechanism 311 includes a first tool base 324 for mounting the cutting components of the cutting mechanism 311. The first tool base 324 is provided with a plurality of first pulleys 325 that support the cutting mechanism 311 and facilitate the sliding of the cutting mechanism 311 along the fixed internal gear ring 321. The first planetary gear 322 is connected to a first drive motor 323 for driving the first planetary gear 322 to rotate. The cutting mechanism 311 also includes a lathe tool 3111 for cutting valve welds. The lathe tool 3111 is connected to a high-precision feed mechanism 3112 for controlling the cutting parameters. A first air-cooling mechanism 3115 is provided on one side of the high-precision feed mechanism 3112 for cooling the tool during cutting. A first air-cooling mechanism 3115 is provided on one side of the tool. The first chip removal mechanism 3116, which cools down the cutting material while simultaneously adsorbing cutting debris, and the high-precision feed mechanism 3112, which includes a first servo motor 3113 for rotary motion and a first ball screw 3114 for converting rotary motion into linear motion to drive the tool feed, ensure the precise feed amount of the cutting tool when cutting valve welds. This helps maintain the accuracy and consistency of the cutting. The first air-cooling mechanism can effectively reduce the temperature of the cutting tool during the cutting process, reduce thermal fatigue wear, extend tool life, and improve cutting efficiency and quality. The first chip removal mechanism promptly removes the debris generated during the cutting process, preventing debris accumulation from affecting the cutting process and keeping the working area clean. The first tool base and the first pulley ensure stable sliding of the cutting mechanism on the fixed internal gear ring, reducing vibration and wear, and enhancing the reliability of the device. The tool feed mechanism can adjust the feed speed and depth according to different cutting requirements, and is suitable for valve welds of various materials and thicknesses.

[0126] Furthermore, as a preferred embodiment of this solution and not a limitation, the grinding mechanism 312 includes a second tool base 327 for mounting the grinding components of the grinding mechanism 312. The second tool base 327 is provided with a plurality of second pulleys 328 that support the grinding mechanism 312 and facilitate the sliding of the grinding mechanism 312 along the fixed internal 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 further includes a grinding cutter 3121 for grinding valve welds after cutting. The grinding cutter 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. A second chip removal mechanism 3126 is provided on one side of the second air-cooling mechanism 3125 for simultaneously cooling the tool and adsorbing cutting debris. The grinding feed mechanism 3122 includes a second servo motor 3123 for rotary motion and a second ball screw 3 for converting the rotary motion into linear motion to drive the tool feed. 124. The grinding feed mechanism, through the cooperation of the second servo motor and the second ball screw, can precisely control the feed depth of the grinding tool, ensuring accuracy and consistency during the grinding process. The second air-cooling mechanism can effectively reduce the temperature of the grinding tool during the grinding process, reduce material deformation and tool wear caused by high temperature, and extend the service life of the grinding tool. The second chip removal mechanism promptly removes the chips generated during the grinding process, preventing chips 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 internal gear ring 321, reduce vibration, and increase the reliability and durability of the device.

[0127] Furthermore, as a preferred embodiment of this solution and 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. Several annular synchronous connecting rods 213 are connected together by connecting rod arcs 214, so that several clamping sliders 211 simultaneously push the clamping mechanism. The radial feed mechanism 22 for clamping valve welds includes a third servo motor 221 for rotary motion and a third ball screw 222 for converting rotary motion into linear motion to drive 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 at the center of the cutting device, ensuring 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, ensuring 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, improving the applicability of the equipment.

[0128] Furthermore, as a preferred embodiment of this solution and not a limitation, the locking and limiting mechanism 1 includes a clamping gripper 11 for clamping and locking the pipe. The clamping gripper 11 is connected to a locking power device 12 for pushing the clamping gripper 11 to lock the pipe. The locking power device is a hydraulic cylinder. A support bracket 13 is provided between the two clamping grippers 11 for supporting the pipe. The support bracket 13 is provided with a fastening mechanism 14 to limit the up-and-down swaying of the entire device. 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. To maintain stability, the fastening mechanism 14 includes a fourth drive motor 141 and fastening bolts 142. The hydraulic cylinder, as a locking power device, can provide a very large clamping force, ensuring the stable fixation of the pipe during the cutting process and preventing any movement or shaking. The combination of brackets and support columns 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 gripper and bracket can be adjusted according to pipes of different diameters, increasing the applicability of the device. By reducing shaking and movement during the cutting process, the flatness and quality of the cutting edge can be significantly improved.

[0129] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be 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 be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0130] This invention also provides a computer storage medium storing a computer program that, when executed by a processor, implements an automatic valve weld cutting method for special environments as described in the above embodiments.

[0131] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the automatic valve weld cutting method applied to special environments described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can 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 a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0132] Alternatively, if the integrated units of the present invention are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present invention, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, terminal, or network device, etc.) to execute all or part of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, RAM, ROM, magnetic disks, or optical disks.

[0133] Corresponding to the computer storage medium described above, one embodiment also provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement an automatic valve weld cutting method for a special environment as described in the above embodiments.

[0134] This computer device can be a terminal, and its internal structure diagram can be as follows: Figure 11 As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When executed by the processor, the computer program implements an automatic valve weld cutting method applicable to a special environment. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0135] The electronic device in this application embodiment can be any type of electronic device, or a component within an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or any other device besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the scope of the electronic device.

[0136] Optionally, such as Figure 12 As shown, this application embodiment also provides an electronic device 200, including a processor 201, a memory 202, and a program or instructions stored in the memory 202 and executable on the processor 201. When the program or instructions are executed by the processor 201, they implement the various processes of the above-described embodiment of an automatic valve weld cutting method for special environments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0137] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0138] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. An automatic control method applied to a valve weld cutting device, characterized by, The control method comprises: The locking and positioning mechanism (1) clamps the pipeline; The centering and 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 hazards; The locking and positioning mechanism (1) clamps the pipeline, comprising: Preliminarily install the clamping jaw (11) on the pipeline, adjust the distance between the two clamping jaws (11), and after the adjustment is completed, press the clamping jaw (11) with the hydraulic cylinder (12) on the clamping jaw (11) to clamp the pipeline; The driving motor (141) in the fastening mechanism (14) drives the fastening bolt (142) to move towards the valve to limit the up and down movement of the valve weld during cutting; The annular cutting mechanism (3) automatically cuts the valve weld, comprising: Cutting, the first driving motor (323) drives the first planetary gear (322) to rotate in the fixed internal gear ring (321), the cutting mechanism (311) rotates with 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 the first air cooling mechanism (3115) blows cold air to cool the tool and the first chip removal mechanism (3116) removes the discharged chips during cutting; Grinding, the second driving motor (329) drives the second planetary gear (326) to rotate in the fixed internal gear ring (321), the grinding mechanism (312) rotates with the second planetary gear (326), the grinding tool (3121) in the grinding mechanism (312) grinds the valve weld after cutting by the cutting mechanism (311), the second air cooling mechanism (3125) blows cold air to cool the tool, and the second chip removal mechanism (3126) removes the discharged chips; The valve weld cutting device is monitored for hazards, comprising: Obtain the equipment operating parameters, and based on the equipment operating parameters, determine whether there is overheating or abnormal vibration; Obtain the real-time video stream of the cutting area, and based on the real-time video stream of the cutting area, determine the deviation or abnormal state of the cutting path; Based on the equipment operating parameters and the real-time video stream of the cutting area, determine the adjustment of the operation parameters or whether emergency shutdown is needed; When serious equipment overheating, mechanical failure or significant cutting deviation is detected by the monitoring system, an emergency signal is obtained, emergency shutdown is performed based on a safety protocol, and the safety interruption of the operation is determined.

2. The control method according to claim 1, characterized by, The centering and clamping mechanism (2) clamps and centers the valve, comprising: The radial feeding mechanism (22) drives the annular synchronous connecting rod (23) and the clamping and centering module (21) to feed simultaneously to center the valve weld; After the centering is completed, the clamping and centering module (21) clamps the valve weld.

3. The method of claim 1, wherein, Before the valve weld cutting device is monitored for hazards, the method further comprises: Obtain the historical operation data of the valve weld cutting device during use, and a hazard identification model to be trained; Based on the historical operation data, a hazard identification training set is constructed, which comprises hazard sample data and sample labels corresponding to the hazard sample data; The dangerous identification model to be trained is trained based on the dangerous identification training set, and a trained dangerous identification model is obtained after the training is completed; The valve weld cutting device is subjected to dangerous identification processing based on the trained dangerous identification model, and a dangerous identification result is obtained; Based on the dangerous identification result, it is determined whether there is dangerous information.

4. The method of claim 3, wherein, The dangerous identification training set is constructed based on the historical operation data, including: The historical operation data is subjected to cleaning processing to obtain cleaned historical operation data; The cleaned historical operation data is subjected to feature extraction processing to obtain historical operation feature data; The historical operation feature data is subjected to classification processing to obtain positive sample operation data and negative sample operation data; The positive sample operation data is assigned a positive sample label, and the negative sample operation data is assigned a negative sample label, and the dangerous identification training set is obtained.

5. An automatic valve weld cutting device, characterized by, An automatic control method applied to a valve weld cutting device is implemented, including: A first control module is configured to lock a limiting mechanism (1) to clamp a pipeline; A second control module is configured to clamp and center a valve using a centering clamping mechanism (2); A third control module is configured to automatically cut a valve weld using an annular cutting mechanism (3); A monitoring module is configured to monitor the valve weld cutting device for dangerous identification; The limiting mechanism (1) is arranged on both sides of the valve to lock the overall cutting device on the detected valve, the limiting mechanism (1) is connected to the centering clamping mechanism (2) to clamp the valve weld, and the centering clamping mechanism (2) is arranged on one side of the annular cutting mechanism (3) to rotate and cut around the valve weld.

6. 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, the automatic control method applied to the valve weld cutting device is implemented.

7. A computer device, comprising: The computer device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the automatic control method applied to the valve weld cutting device.

Images