Pipeline cutting method and system and pipe cutting machine

Abstract

The invention relates to a pipeline cutting method and system and a pipe cutting machine, and relates to the field of fire-fighting equipment manufacturing, and the method comprises the steps that a pipeline image of a cutting station is obtained; judging whether the pipeline is located on a cutting station or not according to the pipeline image; when the pipeline is located on the cutting station, the pipeline model is determined according to the pipeline image; determining the cutting length according to the pipeline model; controlling the positioning device to move and extend out to block one end of the pipeline according to the cutting length; controlling an ejection device to eject the pipeline until one end of the pipeline abuts against a positioning device according to the cutting length, and controlling a cutting device to cut an inclined opening in the pipeline; the positioning device is controlled to retract so as not to abut against one end of the pipeline, and the ejection device is controlled to eject the pipeline from the cutting station to a preset storage station; and the lifting device is controlled to lift the pipelines preset in the feeding device so that the pipelines can sequentially fall into the cutting station from the feeding device. The powder suction pipe cutting device has the effects that the powder suction pipe machining efficiency is improved, and the situation that the length of the cut powder suction pipe does not meet the machining specification is reduced.

Description

Technical Field

[0001] The invention relates to the field of fire-fighting equipment manufacturing, and in particular to a pipe cutting method, system and pipe cutting machine. Background Art

[0002] A pipe cutter is a piece of equipment used to cut pipes and tubes.

[0003] In the prior art, the powder suction tube of a fire extinguisher is an important accessory of a fire extinguisher, which is used to suck dry powder from a storage container into the cylinder of the fire extinguisher. The powder suction tube is generally made by cutting an oblique end of the tube using a tube cutting machine. When making the powder suction tube, workers are generally required to hold the tube and pass the tubes one by one to the tube cutting machine for cutting.

[0004] When cutting the pipe, the length of the pipe cut by the cutting machine is manually controlled by the worker, which can easily lead to the situation that the length of the pipe after cutting is too long or too short, thereby resulting in low processing efficiency of the powder suction pipe. Summary of the invention

[0005] In order to improve the processing efficiency of powder suction pipes and reduce the situation where the length of the powder suction pipes after cutting does not meet the processing specifications, the present invention provides a pipe cutting method, system and pipe cutting machine.

[0006] In a first aspect, the present invention provides a pipeline cutting method, which adopts the following technical solution: A pipe cutting method, comprising: Obtaining a pipeline image of a preset cutting station; Determine whether the pipeline is located at a preset cutting station according to the pipeline image; When the pipeline is located at the preset cutting station, the pipeline model is determined according to the pipeline image; Determine the cutting length according to the pipe model; Controlling a preset positioning device to move and extend according to the cutting length to block one end of the pipeline; According to the cutting length, the preset ejection device is controlled to eject the pipe until one end of the pipe contacts the positioning device, and the preset cutting device is controlled to cut the pipe into an oblique opening; Controlling the preset positioning device to retract so as not to interfere with one end of the pipe, and controlling the preset ejection device to eject the pipe from the cutting station to the preset storage station; The preset lifting device is controlled to lift the pipes preset in the feeding device so that the pipes fall from the feeding device into the cutting station in sequence.

[0007] By adopting the above technical scheme, an ejection device is used to eject the pipe to a pipe cutting machine for cutting, and the length of the pipe ejected by the ejection device is controlled by a positioning device, thereby controlling the length of the pipe cut by the pipe cutting machine, and the pipe is lifted by a lifting device to reduce pipe blockage, thereby improving the processing efficiency of the powder suction pipe and reducing the situation where the length of the powder suction pipe after cutting does not meet the processing specifications.

[0008] Optionally, a cutting control method is also included, and the cutting control method includes: After the cutting device cuts the pipe into an oblique opening, an image of the oblique opening of the pipe is obtained; Determine the bevel angle of the pipe bevel according to the bevel image; When the bevel angle exceeds the preset error range, the pipe wall thickness is determined according to the pipe model; When the tube wall thickness exceeds the preset cutting range, the driving force is determined according to the tube wall thickness; The preset cutting device is controlled according to the driving force to cut the pipe into an oblique opening.

[0009] By adopting the above technical solution, when the inner wall thickness of the pipe is large, it is easy for the pipe cutting machine to have difficulty in cutting the pipe, resulting in the bevel deformation of the cut pipe. The appropriate driving force of the tool is selected according to the thickness of the pipe wall, thereby improving the convenience of pipe cutting.

[0010] Optionally, the cutting control method further includes: When the driving force exceeds the preset driving threshold, the pipe material is determined according to the pipe model; Determine the softening coefficient according to the pipe material; Determine the softening temperature according to the tube wall thickness, softening coefficient and a preset driving threshold; The preset positioning device is controlled to move and extend, and the preset positioning device is controlled to heat the pipeline according to the softening temperature.

[0011] By adopting the above technical solution, when the pipe wall is thick, it is easy to cause the power required for cutting the pipe by the pipe cutter to be large. At this time, the pipe is preheated by the heating device to soften the pipe, thereby reducing the power required for cutting the pipe, thereby improving the convenience of pipe cutting.

[0012] Optionally, a quality control method is also included, and the quality control method includes: When the bevel angle does not exceed the preset error range, the bevel position is determined according to the bevel image; Controlling a preset irradiation device to irradiate the bevel according to the position of the bevel, and obtaining a reflection image of a preset reflector; Determine the light spot parameters according to the reflected image; Determine the cutting quality coefficient of the bevel according to the spot parameters; When the cutting quality coefficient is lower than a preset qualified threshold, a preset ejection device is controlled to eject the pipe from the cutting station to a preset discarding station.

[0013] By adopting the above technical solution, when the cutting speed of the cutting device is too high or too low, it is easy to cause the pipe cut to become rough or deformed, resulting in low quality of the bevel. The bevel is illuminated by the irradiation device, and the smoothness of the cut is judged according to the light spot on the reflective plate, thereby judging the quality of the bevel. When the quality of the bevel is too low, the pipe is judged as waste and discarded.

[0014] Optionally, the quality control method further comprises: When the cutting quality coefficient is lower than a preset qualified threshold, the three-dimensional parameters of the bevel are determined according to the bevel image; Determine the roughness of the bevel according to the three-dimensional parameters of the bevel; When the roughness exceeds a preset roughness threshold, the cutting speed is determined according to the roughness; The preset cutting device is controlled according to the cutting speed to cut the pipe into an oblique opening.

[0015] By adopting the above technical solution, when the pipe incision is relatively rough, it means that the cutting speed of the pipe cutting machine is too low. At this time, the cutting speed is appropriately increased to improve the quality of the bevel, thereby improving the yield rate of the pipe cutting machine and improving the processing efficiency of the powder suction tube.

[0016] Optionally, the quality control method further comprises: When the roughness does not exceed the preset roughness threshold, the reference area is determined according to the tube wall thickness and the preset cutting angle; Determine the bevel area according to the three-dimensional parameters of the bevel; Determine the deformation coefficient based on the bevel area and the reference area; When the deformation coefficient exceeds a preset deformation threshold, the cutting speed is determined according to the deformation coefficient.

[0017] By adopting the above technical solution, when the deformation degree of the pipe cut is large, it means that the cutting speed of the pipe cutting machine is too high. At this time, the cutting speed is appropriately lowered to improve the quality of the bevel, thereby improving the yield rate of the pipe cutting machine and improving the processing efficiency of the powder suction tube.

[0018] Optionally, a pipeline detection method is also included, and the pipeline detection method includes: When the pipeline is located at the preset cutting station, the inflation position is determined according to the pipeline image; Control the preset blowing device to move to one end of the pipeline according to the inflation position, and determine the pipeline diameter according to the pipeline model; Determine the inflation wind speed according to the pipe diameter; According to the inflation wind speed, the preset blowing device is controlled to blow air into the pipeline, and the detection device preset at the other end of the pipeline is controlled to obtain the pipeline wind pressure; Determine the reference wind pressure based on the pipe diameter and inflation wind speed; Calculate the difference between the duct wind pressure and the reference wind pressure and define it as the wind pressure difference; When the wind pressure difference is lower than the preset inflation threshold, the preset ejection device is controlled to eject the pipe from the cutting station to the preset abandonment station.

[0019] By adopting the above technical solution, the powder suction pipe works on the principle of negative pressure. When there is damage on the pipe, it is easy to cause the powder suction pipe to fail. Air is blown inward to one end of the pipe through the blowing device, and the wind pressure at the other end of the pipe is detected to determine whether the pipe is damaged. When the wind pressure is too low, it is determined that there is damage.

[0020] Optionally, the pipeline detection method further includes: When the wind pressure difference is lower than the preset inflation threshold, the preset mechanical arm is controlled to cover the preset floating material onto the pipeline, and a floating image of the floating material is obtained; Determine the damage location based on the floating image; Determine the cutting area according to the cutting length and the preset cutting angle; Determine whether the damaged part of the pipeline is located in the cut-off part according to the damaged position and the cut-off area; When the damaged part of the pipe is not located in the cut-off part, the cutting bevel interval is determined according to the cutting length and the preset cutting angle; When the damaged position is located in the cutting bevel interval, the rotation angle is determined according to the damaged position, the cutting length and the preset cutting angle; Controlling a preset rotating device to rotate the pipeline according to the rotation angle; When the damaged position is not located in the cutting bevel interval, it is determined whether the damaged part of the pipeline is located in the cut-off part at the other end of the pipeline according to the cut-off area and the cut-off bevel interval; When the damaged part of the pipeline is located at the cut-off portion at the other end of the pipeline, the preset rotating device is controlled to switch the two ends of the pipeline.

[0021] By adopting the above technical solution, the damaged part of the pipeline is judged by the ups and downs of the floating material, so as to judge whether the damaged part of the pipeline is located in the cut-off part of the pipeline, and the direction of the pipeline is adjusted so that the damaged part of the pipeline is located in the cut-off part of the pipeline, so that there is no damage on the powder suction pipe after the cut-off.

[0022] In a second aspect, the present application provides a pipe cutting system, which adopts the following technical solution: A pipe cutting system, comprising: An acquisition module is used to acquire pipeline images, oblique images, reflection images, pipeline wind pressure and floating images; A memory for storing a program of any one of the above-mentioned pipe cutting methods; The program in the memory can be loaded and executed by the processor.

[0023] In a third aspect, the present application provides a pipe cutting machine, which adopts the following technical solution: A pipe cutting machine comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute any one of the above-mentioned pipe cutting methods.

[0024] By adopting the above technical scheme, an ejection device is used to eject the pipe to a pipe cutting machine for cutting, and the length of the pipe ejected by the ejection device is controlled by a positioning device, thereby controlling the length of the pipe cut by the pipe cutting machine, and the pipe is lifted by a lifting device to reduce pipe blockage, thereby improving the processing efficiency of the powder suction pipe and reducing the situation where the length of the powder suction pipe after cutting does not meet the processing specifications.

[0025] In summary, the present application includes at least one of the following beneficial technical effects: The ejector device is used to eject the pipe to the pipe cutting machine for cutting, and the length of the pipe ejected by the ejector device is controlled by the positioning device, thereby controlling the length of the pipe cut by the pipe cutting machine, and the pipe is lifted by the lifting device to reduce pipe blockage, thereby improving the processing efficiency of the powder suction pipe and reducing the situation where the length of the powder suction pipe after cutting does not meet the processing specifications; When the inner wall thickness of the pipe is large, it is easy for the pipe cutter to have difficulty cutting the pipe, which may cause the cut pipe to be beveled and deformed. According to the pipe wall thickness, the appropriate driving force of the tool can be selected to improve the convenience of pipe cutting. When the pipe wall is thick, it is easy to cause the power required for cutting the pipe by the pipe cutting machine to be large. At this time, the pipe is preheated by a heating device to soften the pipe, thereby reducing the power required for cutting the pipe, thereby improving the convenience of pipe cutting. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a flow chart of a pipe cutting method; Figure 2 Is the process of cutting control method Figure 1 ; Figure 3 Is the process of cutting control method Figure 2 ; Figure 4 It is a process of quality control method Figure 1 ; Figure 5 It is a process of quality control method Figure 2 ; Figure 6 It is a process of quality control method Figure 3 ; Figure 7 The process of pipeline detection method Figure 1 ; Figure 8 The process of pipeline detection method Figure 2 . DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0028] An embodiment of the present application discloses a pipe cutting method. The present invention adopts an ejection device to eject the pipe to a pipe cutting machine for cutting, and controls the length of the pipe ejected by the ejection device through a positioning device, thereby controlling the length of the pipe cut by the pipe cutting machine, and lifts the pipe through a lifting device to reduce pipe blockage, thereby improving the processing efficiency of the powder suction pipe and reducing the situation where the length of the powder suction pipe after cutting does not meet the processing specifications.

[0029] Reference Figure 1 , a pipe cutting method, comprising: Step 100: Acquire a pipeline image of a preset cutting station.

[0030] The cutting station refers to the area used to fix the pipe to be cut. The cutting station is selected by the staff according to the actual situation and will not be described in detail here. The pipeline image refers to the picture of the cutting station. The pipeline image can be obtained through a camera. The method for obtaining the pipeline image is selected by the staff according to the actual situation and will not be described in detail here.

[0031] Step 101: judging whether the pipeline is located at a preset cutting station according to the pipeline image.

[0032] Image recognition technology can be used to determine whether the pipeline is located at the cutting station. The pipeline identification method is common knowledge among those skilled in the art and will not be described in detail here.

[0033] Step 102: When the pipeline is located at a preset cutting station, the pipeline model is determined according to the pipeline image.

[0034] The presence of a pipe at the cutting station indicates that there is a pipe waiting to be cut. The pipe model refers to a number used to distinguish different pipes. The pipe model can be determined by image recognition technology. The method for identifying the pipe model is common knowledge among those skilled in the art and will not be elaborated here.

[0035] Step 103: Determine the cutting length according to the pipe model.

[0036] The cutting length refers to the length of the pipe that needs to be cut. The cutting length can be obtained from the length relationship table. The length relationship table refers to a data table that records the cutting lengths corresponding to different pipe models.

[0037] Step 104: Control a preset positioning device to move and extend according to the cutting length to block one end of the pipeline.

[0038] The positioning device refers to a device used to block one end of the pipeline to control the length of the protruding part of the pipeline. The length of the protruding part of the pipeline can be adjusted by adjusting the position of the positioning device, and the interference relationship between the positioning device and the pipeline can be controlled by controlling the extension or retraction of the positioning device. The positioning device is generally also equipped with an electric heating wire for softening the pipeline. The positioning device is selected by the staff according to actual conditions and will not be elaborated here.

[0039] Step 105: Control a preset ejection device to eject the pipe according to the cutting length until one end of the pipe contacts the positioning device, and control a preset cutting device to cut an oblique opening on the pipe.

[0040] The ejector device refers to a device used to push the pipe on the cutting station to the cutting device. The ejector device generally uses a steel rod driven by a cylinder. The ejector device is selected by the staff according to the actual situation and will not be described in detail here. The cutting device refers to a device used to cut the pipe. Generally, a pipe cutting machine is used. The cutting device is selected by the staff according to the actual situation and will not be described in detail here.

[0041] Step 106: Control the preset positioning device to retract so as not to interfere with one end of the pipe, and control the preset ejection device to eject the pipe from the cutting station to the preset storage station.

[0042] The storage station refers to the area used to store the pipes after cutting. The storage station is selected by the staff according to the actual situation and will not be elaborated here.

[0043] Step 107: Control the preset lifting device to lift the pipes preset in the feeding device so that the pipes fall from the feeding device into the cutting station in sequence.

[0044] The feeding device refers to a container for storing uncut pipes. The pipes can reach the cutting station along the feeding device. The pipes are stacked in the feeding device. When the pipes fall from the feeding device, it is easy for multiple pipes to fall at the same time, which may cause the pipes to be blocked in the feeding device. The lifting device refers to a device for lifting the pipes located in the feeding device. The remaining pipes in the feeding device are lifted by the lifting device so that only one row of pipes in the feeding device can fall, thereby reducing the blockage of the pipes. The feeding device and the lifting device are selected by the staff according to actual conditions and will not be elaborated here.

[0045] The feeding device and the lifting device cooperate to stably transport the pipe to the cutting station, and then the ejection device and the positioning device are used to eject the pipe on the cutting station to a suitable length, and the cutting device is used to cut the bevel, and finally the ejection device is used to eject the cut pipe to the storage station, so that the pipe can be cut fully automatically and the efficiency of pipe processing is improved.

[0046] Reference Figure 2 , cutting control methods include: Step 200: After the cutting device cuts the pipe into an oblique opening, an image of the oblique opening of the pipe is obtained.

[0047] The oblique image refers to a picture of the pipe on the cutting station after cutting by the cutting device. The oblique image can be obtained through a camera. The method for obtaining the oblique image is selected by the staff according to the actual situation and will not be elaborated here.

[0048] Step 201: determining the bevel angle of the pipe bevel according to the bevel image.

[0049] The bevel angle refers to the angle value of the bevel cut on the pipe. The bevel angle can be obtained by image recognition technology. The method for identifying the bevel angle is common knowledge among people in this field and will not be elaborated here.

[0050] Step 202: When the bevel angle exceeds a preset error range, the pipe wall thickness is determined according to the pipe model.

[0051] The error range refers to the angle value range that allows angle deviation during processing. The error range is selected by the staff according to the actual situation and will not be elaborated here. If the bevel angle exceeds the error range, it means that the bevel angle deviation is large, that is, the processed powder suction tube is unqualified. The pipe wall thickness refers to the thickness of the pipe in the circumferential direction. The pipe wall thickness can be obtained from the thickness relationship table. The thickness relationship table refers to the data table that records the pipe wall thickness corresponding to different pipe models.

[0052] Step 203: When the tube wall thickness exceeds the preset cutting interval, the driving force is determined according to the tube wall thickness.

[0053] The cutting range refers to the thickness range of the pipe that can be cut with the force of the current cutting device driving the tool. The cutting range is selected by the staff according to the actual situation and will not be described here. If the pipe wall thickness exceeds the cutting range, it means that the pipe is too thick and it is difficult to cut the pipe with the current force driving the tool. The driving force refers to the force of the cutting device driving the tool. The driving force can be obtained from the driving relationship table. The driving relationship table refers to a data table that records the driving forces corresponding to different pipe wall thicknesses.

[0054] Step 204: Control a preset cutting device according to the driving force to cut an oblique opening in the pipe.

[0055] When the inner wall thickness of the pipe is large, it is easy for the pipe cutting machine to have difficulty cutting the pipe, which may cause the cut pipe to be obliquely deformed. According to the thickness of the pipe wall, the appropriate driving force of the tool is selected to improve the convenience of pipe cutting.

[0056] Reference Figure 3 , the cutting control method further includes: Step 205: When the driving force exceeds a preset driving threshold, the pipe material is determined according to the pipe model.

[0057] The driving threshold refers to the maximum driving force value that the cutting device can provide. The driving threshold is selected by the staff according to the actual situation and will not be described here. The driving force exceeding the driving threshold means that the pipe wall thickness is too large. At this time, the pipe needs to be softened in advance to facilitate cutting. The pipe material refers to the material type of the pipe. The pipe material can be obtained from the material relationship table. The material relationship table refers to the pipe material corresponding to the pipes of different pipe models.

[0058] Step 206: Determine the softening coefficient according to the pipe material.

[0059] The softening coefficient refers to the coefficient at which the hardness of the pipe changes with increasing temperature. The softening coefficient can be obtained from the softening relationship table. The softening relationship table refers to a data table that records the softening coefficients corresponding to different pipe materials obtained in advance through experiments.

[0060] Step 207: Determine the softening temperature according to the tube wall thickness, the softening coefficient and the preset driving threshold.

[0061] The softening temperature refers to the temperature at which the pipe is heated to soften it. The pipe is heated by the heating wire on the positioning device, so that the cutting device can drive the tool to cut the pipe with the force of the driving threshold. The product of the pipe wall thickness, the softening coefficient and the softening temperature can be calculated to obtain the pipe wall thickness corresponding to the hardness of the softened pipe wall. The maximum pipe wall thickness that can be cut by the driving threshold can be obtained from the driving relationship table, and then the quotient of the maximum pipe wall thickness, the pipe wall thickness and the softening coefficient can be calculated to obtain the softening temperature.

[0062] Step 208: Control the preset positioning device to move and extend, and control the preset positioning device to heat the pipeline according to the softening temperature.

[0063] When the pipe wall is thick, it is easy to cause the power required for cutting the pipe by the pipe cutting machine to be large. At this time, the pipe is preheated by a heating device to soften the pipe, thereby reducing the power required for cutting the pipe, thereby improving the convenience of pipe cutting.

[0064] Reference Figure 4 , quality control methods include: Step 300: When the bevel angle does not exceed a preset error interval, the bevel position is determined according to the bevel image.

[0065] The bevel angle does not exceed the error range, which means that the cut bevel angle meets the processing specifications. The bevel position refers to the position of the bevel, which can be obtained by image recognition technology. The method for identifying the bevel position is common knowledge among people in this field and will not be elaborated here.

[0066] Step 301: controlling a preset irradiation device to irradiate the oblique opening according to the position of the oblique opening, and obtaining a reflection image of a preset reflector.

[0067] The irradiation device refers to a device used to irradiate the oblique mouth, and the reflector refers to a device used to receive the light and then reflect the light on the oblique mouth. The irradiation device and the reflector are selected by the staff according to the actual situation and will not be elaborated here.

[0068] The reflected image refers to a picture of the reflector, and the reflected image can be obtained through a camera. The method for obtaining the reflected image is selected by the staff according to the actual situation and will not be elaborated here.

[0069] Step 302: Determine the light spot parameters according to the reflected image.

[0070] The light spot parameters refer to the data set of the brightness, position, area and other data of the light spot on the reflective board. The light spot parameters can be obtained through image recognition technology. The identification method of the light spot parameters is selected by the staff according to the actual situation and will not be elaborated here.

[0071] Step 303: Determine the cutting quality coefficient of the bevel according to the light spot parameters.

[0072] The cutting quality coefficient refers to a numerical value used to show the quality of the bevel. The smoother the bevel, the higher the brightness of the light spot, the smaller the position offset of the light spot, the closer the area of ​​the light spot is to the area of ​​the bevel, and the better the quality of the bevel. The cutting quality coefficient can be obtained from the quality relationship table. The quality relationship table refers to a data table that records the cutting quality coefficients corresponding to different light spot parameters.

[0073] Step 304: When the cutting quality coefficient is lower than a preset qualified threshold, a preset ejection device is controlled to eject the pipe from the cutting station to a preset discarding station.

[0074] The qualified threshold refers to the minimum cutting quality coefficient for the quality of the bevel to meet the processing specifications. The abandoned station refers to the area for storing unqualified pipes. The qualified threshold and abandoned station are selected by the staff according to the actual situation and will not be described here. If the cutting quality coefficient is lower than the qualified threshold, it means that the quality of the bevel is too low, that is, the quality of the cut powder suction tube is too low. At this time, the pipe is ejected to the abandoned station through the ejection device for disposal.

[0075] When the cutting speed of the cutting device is too high or too low, it is easy to cause the pipe cut to be rough or deformed, resulting in low quality of the bevel. The bevel is illuminated by an irradiation device, and the smoothness of the cut is judged according to the light spot on the reflective plate, thereby judging the quality of the bevel. When the quality of the bevel is too low, the pipe is judged as waste and discarded.

[0076] Reference Figure 5 , quality control methods also include: Step 305: When the cutting quality coefficient is lower than a preset qualified threshold, the three-dimensional parameters of the bevel are determined according to the bevel image.

[0077] The three-dimensional parameters of the bevel refer to the three-dimensional data of the bevel. The three-dimensional parameters of the bevel can be obtained by image recognition technology. The recognition method of the three-dimensional parameters of the bevel is common knowledge among people in this field and will not be elaborated here.

[0078] Step 306: Determine the roughness of the bevel according to the three-dimensional parameters of the bevel.

[0079] Roughness refers to the unevenness of the machined surface with small spacing and tiny peaks and valleys. The method for determining roughness is common knowledge among those skilled in the art and will not be elaborated here.

[0080] Step 307: When the roughness exceeds a preset roughness threshold, the cutting speed is determined according to the roughness.

[0081] The roughness threshold refers to the highest roughness value at which the quality of the bevel meets the processing specifications. The roughness threshold is selected by the staff according to the actual situation and will not be elaborated here. If the roughness exceeds the roughness threshold, it means that the surface of the bevel is too rough and the cutting speed needs to be appropriately increased. The cutting speed refers to the speed at which the cutting device drives the tool to cut the pipe. The cutting speed can be obtained from the speed correspondence table. The speed correspondence table refers to a data table that records the speed increase values ​​corresponding to different roughness. The sum of the speed increase value and the current cutting speed of the cutting device is calculated to obtain the cutting speed.

[0082] Step 308: Controlling a preset cutting device according to a cutting speed to cut an oblique opening in the pipe.

[0083] When the pipe cut is relatively rough, it means that the cutting speed of the pipe cutting machine is too low. At this time, the cutting speed should be appropriately increased to improve the quality of the bevel, thereby improving the yield rate of the pipe cutting machine and improving the processing efficiency of the powder suction tube.

[0084] Reference Figure 6 , quality control methods also include: Step 309: When the roughness does not exceed the preset roughness threshold, determine the reference area according to the tube wall thickness and the preset cutting angle.

[0085] The roughness does not exceed the roughness threshold, which means that the bevel is relatively smooth and meets the processing specifications. The cutting angle refers to the angle value of the cutting device currently cutting the pipe. The cutting angle is selected by the staff according to the actual situation and will not be described here. The reference area refers to the area value of the bevel cut after cutting the pipe with the same wall thickness according to the cutting angle. The reference area can be obtained from the area correspondence table. The area correspondence table records the area values ​​of the bevels formed after cutting pipes with different wall thicknesses at different angles.

[0086] Step 310: Determine the bevel area according to the three-dimensional parameters of the bevel.

[0087] The bevel area refers to the area value of the bevel in the bevel three-dimensional parameters. The bevel area can be extracted from the bevel three-dimensional parameters. The method for extracting the bevel area is common knowledge among those skilled in the art and will not be elaborated here.

[0088] Step 311: Determine the deformation coefficient according to the bevel area and the reference area.

[0089] The deformation coefficient refers to the quotient of the bevel area and the reference area, and the deformation coefficient is used to show the degree of deformation of the bevel.

[0090] Step 312: When the deformation coefficient exceeds a preset deformation threshold, the cutting speed is determined according to the deformation coefficient.

[0091] The deformation threshold refers to the highest deformation coefficient at which the quality of the bevel meets the processing specifications. The deformation threshold is selected by the staff according to the actual situation and will not be elaborated here. If the deformation coefficient exceeds the deformation threshold, it means that the deformation degree of the bevel is too large at this time, and the cutting speed needs to be appropriately reduced. At this time, the cutting speed can be obtained from the deformation correspondence table. The deformation correspondence table refers to a data table that records the speed reduction values ​​corresponding to different deformation coefficients. The difference between the current cutting speed of the cutting device and the speed reduction value is calculated to obtain the cutting speed.

[0092] When the pipe cut deformation is large, it means that the cutting speed of the pipe cutting machine is too high. At this time, the cutting speed should be appropriately lowered to improve the quality of the bevel, thereby improving the yield rate of the pipe cutting machine and improving the processing efficiency of the powder suction tube.

[0093] Reference Figure 7 , pipeline detection methods include: Step 400: When the pipeline is located at a preset cutting station, the inflation position is determined according to the pipeline image.

[0094] The blowing device refers to a device used to blow air into the pipeline. The blowing device is selected by the staff according to the actual situation and will not be described in detail here. The inflation position refers to the position where air is blown into the pipeline by the blowing device. Generally, one end of the pipeline close to the cutting device is used as the inflation position. The inflation position can be obtained by image recognition technology. The identification method of the inflation position is common knowledge among people in this field and will not be described in detail here.

[0095] Step 401: Control a preset blowing device to move to one end of the pipeline according to the inflation position, and determine the pipeline diameter according to the pipeline model.

[0096] The pipe diameter refers to the diameter of the middle cavity of the pipe. The pipe diameter can be obtained from the diameter correspondence table. The diameter correspondence table refers to a data table that records the pipe diameters corresponding to different pipe models.

[0097] Step 402: Determine the inflation wind speed according to the pipe diameter.

[0098] The inflation wind speed refers to the minimum wind speed value at which air is blown at one end of the pipe by a blowing device to form a stable wind pressure at the other end of the pipe. The inflation wind speed can be obtained from the inflation correspondence table. The inflation correspondence table refers to a data table that records the inflation wind speeds corresponding to different pipe diameters.

[0099] Step 403: controlling a preset blowing device to blow air into the pipeline according to the inflation wind speed, and controlling a detection device preset at the other end of the pipeline to obtain the pipeline wind pressure.

[0100] The detection device refers to a device used to detect the wind pressure value at the other end of the pipeline. The detection device is selected by the staff according to the actual situation and will not be described in detail here. The pipeline wind pressure is the maximum wind pressure value detected by the detection device.

[0101] Step 404: Determine the reference wind pressure according to the pipe diameter and the inflation wind speed.

[0102] The reference wind pressure refers to the stable wind pressure value that will be formed at the other end of the pipe after blowing air from one end of the pipe with the installed inflation wind speed. The reference wind pressure can be obtained from the wind pressure correspondence table. The wind pressure correspondence table refers to a data table that records the reference wind pressures corresponding to different pipe diameters and inflation wind speeds obtained in advance through experiments.

[0103] Step 405: Calculate the difference between the pipeline wind pressure and the reference wind pressure, and define it as the wind pressure difference.

[0104] The wind pressure difference refers to the difference between the pipeline wind pressure and the reference wind pressure, and the degree of wind pressure loss is displayed through the wind pressure difference.

[0105] Step 406: When the wind pressure difference is lower than the preset inflation threshold, the preset ejection device is controlled to eject the pipe from the cutting station to the preset abandonment station.

[0106] The inflation threshold refers to the allowable deviation range of wind pressure value when the pipeline is not damaged. The inflation threshold is selected by the staff according to the actual situation and will not be described here. If the wind pressure difference is lower than the inflation threshold, it means that the wind pressure deviation at the other end of the pipeline is large, that is, the pipeline is damaged. At this time, the pipeline is ejected to the waste station for disposal through the ejection device.

[0107] Reference Figure 8 , the pipeline detection method also includes: Step 407: When the wind pressure difference is lower than the preset inflation threshold, the preset mechanical arm is controlled to cover the pipeline with the preset floating material, and a floating image of the floating material is obtained.

[0108] Floating materials refer to debris of materials with low density and easy to float. Floating materials generally use foam debris. The robotic arm refers to equipment used to evenly cover the floating materials on the pipeline. The floating materials and the robotic arm are selected by the staff according to actual conditions and will not be elaborated here.

[0109] The floating image is a picture of the floating material when the blowing device blows air into the pipeline after the floating material covers the pipeline. The floating image can be obtained through a camera. The method for obtaining the floating image is selected by the staff according to the actual situation and will not be elaborated here.

[0110] Step 408: Determine the damage location according to the floating image.

[0111] The damaged position refers to the position where the pipeline is damaged. The position where the floating material in the floating image appears to be undulating is taken as the damaged position. The damaged position can be obtained by image recognition technology. The method for identifying the damaged position is common knowledge among people in this field and will not be described here.

[0112] When the locations where the floating material fluctuates continuously lead to the formation of a region, the location where the fluctuation height of the floating material in the region reaches a peak is taken as the damage location.

[0113] Step 409: Determine the cutting area according to the cutting length and the preset cutting angle.

[0114] The cut-off area refers to the range on the pipe that needs to be cut off. The cut-off area can be determined by the cutting length and the cutting angle. The method for determining the cut-off area is common knowledge among those skilled in the art and will not be elaborated here.

[0115] Step 410: Determine whether the damaged part of the pipeline is located in the cut-off part according to the damaged position and the cut-off area.

[0116] When the damaged position is located in the cut-out area, it is determined that the damaged portion of the pipeline is located in the cut-out portion; otherwise, it is determined that the damaged portion of the pipeline is not located in the cut-out portion.

[0117] Step 411: When the damaged portion of the pipe is not located at the cut portion, the cutting bevel interval is determined according to the cutting length and the preset cutting angle.

[0118] The damaged part of the pipe is not located in the cut-off part, which means that the powder suction pipe is still damaged after cutting. The cutting bevel interval refers to the area located within the bevel in the cut-off area. The cutting bevel interval is a fragment of the cut-off area cut off by the vertical lines passing through the starting point and the end point of the bevel. The method for determining the cutting bevel interval is common knowledge among people in this field and will not be elaborated here.

[0119] Step 412: When the damaged position is located in the cutting bevel interval, the rotation angle is determined according to the damaged position, the cutting length and the preset cutting angle.

[0120] The damaged position being located in the cutting bevel interval represents that the damaged position can be located within the cut-off portion by adjusting the angle of the pipe. The rotating device refers to a device provided at the cutting station for rotating the pipe. The rotating device is selected by the staff according to actual conditions and will not be elaborated here. The rotation angle refers to the minimum angle value required to rotate the pipe by the rotating device so that the damaged position is located within the cut-off portion. The method for determining the rotation angle is common knowledge among personnel in this field and will not be elaborated here.

[0121] Step 413: Control a preset rotating device to rotate the pipeline according to the rotation angle.

[0122] The pipeline is rotated so that the damaged part of the pipeline is located in the cut-off part, so that the powder suction pipe after the cut-off has no damage.

[0123] When the damaged position is not identified in the floating image, the pipe is rotated by a rotating device to detect whether there is damage on the other side of the pipe.

[0124] Step 414: When the damaged position is not located in the cutting bevel interval, determine whether the damaged portion of the pipe is located in the cut portion at the other end of the pipe according to the cut area and the cutting bevel interval.

[0125] The damaged position is not located in the cutting bevel interval, which means that the damaged position of the pipe cannot be located within the cut-out portion by rotating the pipe. At this time, refer to the above steps to determine whether the damaged position is located in the cut-out area or the cutting bevel interval at the other end of the pipe. When the damaged position is located in the cut-out area or the cutting bevel interval at the other end of the pipe, it is determined that the damaged position of the pipe is located in the cut-out portion at the other end of the pipe.

[0126] Step 415: When the damaged part of the pipeline is located at the cut-off portion at the other end of the pipeline, the preset rotating device is controlled to switch the two ends of the pipeline.

[0127] The cut-off portion of the damaged part of the pipe located at the other end of the pipe means that the damaged part can be cut off by exchanging the position where the pipe is cut, and at this time, the pipe is rotated 180 degrees in the radial direction by the rotating device to reverse the two ends of the pipe.

[0128] The damaged part of the pipeline is judged by the ups and downs of the floating material, so as to judge whether the damaged part of the pipeline is located in the cut-off part of the pipeline, and the direction of the pipeline is adjusted so that the damaged part of the pipeline is located in the cut-off part of the pipeline, so that there is no damage on the powder suction pipe after the cut-off.

[0129] Based on the same inventive concept, an embodiment of the present invention provides a pipe cutting system, comprising: An acquisition module is used to acquire pipeline images, oblique images, reflection images, pipeline wind pressure and floating images; A memory for storing a program of any of the above-mentioned pipe cutting methods; The program in the memory can be loaded and executed by the processor.

[0130] Based on the same inventive concept, an embodiment of the present invention provides a pipe cutting machine, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute any of the above-mentioned pipe cutting methods.

[0131] 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.

[0132] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A pipe cutting method, characterized in that: include: Obtaining a pipeline image of a preset cutting station; Determine whether the pipeline is located at a preset cutting station according to the pipeline image; When the pipeline is located at the preset cutting station, the pipeline model is determined according to the pipeline image; Determine the cutting length according to the pipe model; Controlling a preset positioning device to move and extend according to the cutting length to block one end of the pipeline; According to the cutting length, the preset ejection device is controlled to eject the pipe until one end of the pipe contacts the positioning device, and the preset cutting device is controlled to cut the pipe into an oblique opening; Controlling the preset positioning device to retract so as not to interfere with one end of the pipe, and controlling the preset ejection device to eject the pipe from the cutting station to the preset storage station; The preset lifting device is controlled to lift the pipes preset in the feeding device so that the pipes fall from the feeding device into the cutting station in sequence.

2. A pipe cutting method according to claim 1, characterized in that: Also included is a cutting control method, the cutting control method comprising: After the cutting device cuts the pipe into an oblique opening, an image of the oblique opening of the pipe is obtained; Determine the bevel angle of the pipe bevel according to the bevel image; When the bevel angle exceeds the preset error range, the pipe wall thickness is determined according to the pipe model; When the tube wall thickness exceeds the preset cutting range, the driving force is determined according to the tube wall thickness; The preset cutting device is controlled according to the driving force to cut the pipe into an oblique opening.

3. A pipe cutting method according to claim 2, characterized in that: The cutting control method further comprises: When the driving force exceeds the preset driving threshold, the pipe material is determined according to the pipe model; Determine the softening coefficient according to the pipe material; Determine the softening temperature according to the tube wall thickness, softening coefficient and a preset driving threshold; The preset positioning device is controlled to move and extend, and the preset positioning device is controlled to heat the pipeline according to the softening temperature.

4. A pipe cutting method according to claim 3, characterized in that: Also included is a quality control method, the quality control method comprising: When the bevel angle does not exceed the preset error range, the bevel position is determined according to the bevel image; Controlling a preset irradiation device to irradiate the bevel according to the position of the bevel, and obtaining a reflection image of a preset reflector; Determine the light spot parameters according to the reflected image; Determine the cutting quality coefficient of the bevel according to the spot parameters; When the cutting quality coefficient is lower than a preset qualified threshold, a preset ejection device is controlled to eject the pipe from the cutting station to a preset discarding station.

5. A pipe cutting method according to claim 4, characterized in that: The quality control method further comprises: When the cutting quality coefficient is lower than a preset qualified threshold, the three-dimensional parameters of the bevel are determined according to the bevel image; Determine the roughness of the bevel according to the three-dimensional parameters of the bevel; When the roughness exceeds a preset roughness threshold, the cutting speed is determined according to the roughness; The preset cutting device is controlled according to the cutting speed to cut the pipe into an oblique opening.

6. A pipe cutting method according to claim 5, characterized in that: The quality control method further comprises: When the roughness does not exceed the preset roughness threshold, the reference area is determined according to the tube wall thickness and the preset cutting angle; Determine the bevel area according to the three-dimensional parameters of the bevel; Determine the deformation coefficient based on the bevel area and the reference area; When the deformation coefficient exceeds a preset deformation threshold, the cutting speed is determined according to the deformation coefficient.

7. A pipe cutting method according to claim 1, characterized in that: Also included is a pipeline detection method, the pipeline detection method comprising: When the pipeline is located at the preset cutting station, the inflation position is determined according to the pipeline image; Control the preset blowing device to move to one end of the pipeline according to the inflation position, and determine the pipeline diameter according to the pipeline model; Determine the inflation velocity according to the pipe diameter; According to the inflation wind speed, the preset blowing device is controlled to blow air into the pipeline, and the detection device preset at the other end of the pipeline is controlled to obtain the pipeline wind pressure; Determine the reference wind pressure based on the pipe diameter and inflation wind speed; Calculate the difference between the duct wind pressure and the reference wind pressure and define it as the wind pressure difference; When the wind pressure difference is lower than the preset inflation threshold, the preset ejection device is controlled to eject the pipe from the cutting station to the preset abandonment station.

8. A pipe cutting method according to claim 7, characterized in that: The pipeline detection method further comprises: When the wind pressure difference is lower than the preset inflation threshold, the preset mechanical arm is controlled to cover the preset floating material onto the pipeline, and a floating image of the floating material is obtained; Determine the damage location based on the floating image; Determine the cutting area according to the cutting length and the preset cutting angle; Determine whether the damaged part of the pipeline is located in the cut-off part according to the damaged position and the cut-off area; When the damaged part of the pipe is not located in the cut-off part, the cutting bevel interval is determined according to the cutting length and the preset cutting angle; When the damaged position is located in the cutting bevel interval, the rotation angle is determined according to the damaged position, the cutting length and the preset cutting angle; Controlling a preset rotating device to rotate the pipeline according to the rotation angle; When the damaged position is not located in the cutting bevel interval, it is determined whether the damaged part of the pipeline is located in the cut-off part at the other end of the pipeline according to the cut-off area and the cut-off bevel interval; When the damaged part of the pipeline is located at the cut-off portion at the other end of the pipeline, the preset rotating device is controlled to switch the two ends of the pipeline.

9. A pipe cutting system, characterized in that: include: An acquisition module is used to acquire pipeline images, oblique images, reflection images, pipeline wind pressure and floating images; A memory for storing a program of a pipe cutting method according to any one of claims 1 to 8; The program in the memory can be loaded and executed by the processor.

10. A pipe cutting machine, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a pipe cutting method according to any one of claims 1 to 8.

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