Seamless steel tube blank blanking control system

Abstract

The invention relates to the technical field of tube blank blanking control, in particular to a seamless steel tube blank blanking control system which comprises a data acquisition module, a high-precision positioning module, a dynamic feedback adjusting module, an intelligent saw cutting analysis module, an execution control module, an effect feedback module and a data storage module. According to the method, the operation state of the motor is obtained by analyzing the data of the servo motor, the positioning deviation data is obtained by analyzing the position data of the pipe blank, the positioning adjustment information is obtained by comprehensively analyzing the operation state of the motor and the positioning deviation data, and the specific deviation information is obtained by analyzing the positioning data. An information basis is provided for positioning adjustment; and a dynamic adjusting instruction is obtained by comprehensively analyzing the deviation total shadow value and the motor control parameters, and corresponding deviation adjustment is performed according to the dynamic adjusting instruction, so that the deviation of the pipe blank can be corrected, the deviation during saw cutting is avoided, and the generation of defective products is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of tube blank feeding control, in particular to a tube blank feeding control system for seamless steel tubes. Background Art

[0002] Seamless steel pipe production refers to the process of making steel pipes without internal welds through a series of complex processing techniques for raw materials. This process mainly includes multiple processes such as perforation, tube rolling, sizing, and diameter reduction. Tube blanking control refers to the process of controlling the cutting length of tube blanks used to manufacture steel pipes during the production of seamless steel pipes. It is an important link in the production of seamless steel pipes. The purpose is to ensure that the length of the tube blank after cutting meets the requirements of subsequent processing procedures and the size of the final product.

[0003] Traditionally, the control of seamless steel tube blank cutting is mainly through positioning the tube blank by the servo sizing mechanism. However, there is a lack of analysis of positioning accuracy. The sawing state is judged only by the pressure generated during sawing. When the positioning deviates, the sawing will deviate, and defective products will be obtained, which is easy to cause waste of resources and is inconvenient to use. Summary of the invention

[0004] The present invention provides a seamless steel tube blank feeding control system, which is used to solve the above technical problems.

[0005] The first aspect of the present invention provides a seamless steel tube blank feeding control system, including a data acquisition module, a high-precision positioning module, a dynamic feedback adjustment module, an intelligent sawing analysis module, an execution control module, an effect feedback module and a data storage module.

[0006] A data acquisition module is used to collect data of the tube production equipment to obtain positioning component data, sawing data and tube data, and send the positioning component data, sawing data and tube data to the data storage module; The servo motor data of the servo motor is acquired through sensor collection, and the servo motor data includes motor encoder feedback data and motor control parameters; the sawing data corresponding to the sawing is acquired through detection, and the sawing data includes sawing vibration data and sawing foreign body data; the tube blank position data corresponding to the tube blank is acquired through sensor collection, and the tube blank position data includes tube blank preset position and tube blank current position data.

[0007] The high-precision positioning module obtains the positioning component based on the data storage module and identifies the positioning component data to obtain the servo motor data, and analyzes the servo motor data to obtain the motor operating status; obtains the tube blank position data and analyzes the tube blank position data to obtain the positioning deviation data, comprehensively analyzes the motor operating status and the positioning deviation data to obtain the positioning adjustment information, and sends the positioning adjustment information to the dynamic feedback adjustment module.

[0008] As a further improvement of the present invention, the servo motor data is analyzed, and the specific analysis steps are as follows: The motor encoder feedback data is obtained according to the servo motor data, and the motor encoder feedback data includes a pulse signal and motor load information; the pulse number of the pulse signal corresponding to each servo motor is obtained, and the servo motor includes a linear stepper motor and a rotary stepper motor. The displacement and rotation corresponding to each servo motor are obtained according to the pulse number of each servo motor, and the preset preset position corresponding to each servo motor is obtained, and the distance difference between the preset position and the current position of each servo motor is calculated to obtain the preset displacement and preset rotation corresponding to each servo motor, and the difference between the current displacement and rotation corresponding to each servo motor and the corresponding preset displacement and preset rotation is calculated to obtain the displacement difference and rotation difference, and the displacement difference and the rotation difference are calculated and summed to obtain the distance difference.

[0009] The motor load information of each servo motor is divided according to each action step of the positioning component to obtain the motor load information of each servo motor corresponding to each action step, and the action steps include but are not limited to movement in various directions and rotation at multiple angles; the instantaneous load amount of the motor corresponding to each action step is obtained according to the motor load information, and the preset upper load amount corresponding to the servo motor is obtained. When the instantaneous load amount of the motor corresponding to the action step is greater than the upper load amount, the load overlimit value is calculated by subtracting the upper load amount from the instantaneous load amount of the motor.

[0010] The number of load over-limit values ​​is obtained by counting, and an irregular polygon is constructed with the value of each load over-limit value as the side length and the number of load over-limit values ​​as the number of sides of the polygon. The center of gravity of the irregular polygon is used as the starting point, and a straight line perpendicular to the irregular polygon is drawn, and the length of the straight line is equal to the value of the distance difference. A polygonal pyramid is then constructed using the irregular polygon and the straight line. The volume of the polygonal pyramid is calculated and the value of the volume is recorded as the motor state value. When the value of the motor state value is greater than a preset threshold value, the corresponding motor operation state is generated as abnormal motor operation.

[0011] As a further improvement of the present invention, the tube blank position data is analyzed, and the specific analysis steps are as follows: The preset position and current position data of the tube billet are obtained according to the tube billet position data; the outer surface of the tube billet is marked to obtain multiple positioning points, and the preset coordinate values ​​of each positioning point corresponding to the three directions of X, Y, and Z are obtained based on the preset position of the tube billet, and the preset coordinate values ​​are recorded as (X, Y, Z); the current coordinate values ​​of each positioning point corresponding to the three directions of X, Y, and Z are obtained according to the current position data of the tube billet, and the current coordinate values ​​are recorded as (X θ , Y θ , Z θ), based on the current coordinate values ​​of each positioning point and the corresponding preset coordinate values, the distance calculation formula in three-dimensional space is used Calculate the punctuation spatial distance D, obtain the pre-set spatial distance threshold, and when the punctuation spatial distance is greater than the spatial distance threshold, calculate the difference between the punctuation spatial distance and the spatial distance threshold to obtain the spatial distance shadow value, add the spatial distance shadow values ​​corresponding to each positioning punctuation point and sum them to obtain the total deviation shadow value, and use the total deviation shadow value as the corresponding positioning deviation data.

[0012] As a further improvement of the present invention, the motor operation status and positioning deviation data are comprehensively analyzed, and the specific analysis method is as follows: The motor operation state is identified. When the motor operation state is abnormal, the corresponding servo motor abnormality information is generated based on the motor operation abnormality, and the servo motor adjustment information is obtained according to the servo motor abnormality information; when the motor operation state is normal, the corresponding positioning deviation data is obtained and the positioning deviation data is identified to obtain the deviation total shadow value, and the deviation influence state is obtained according to the deviation total shadow value, and the deviation total shadow value is recorded as P, and the preset deviation lower limit influence value and deviation upper limit influence value are obtained, which are recorded as P respectively. min and P max ; When P<P min When P min <P<P max When P>P max When , the corresponding deviation influence state is generated as deviation exceeding limit; the servo motor adjustment information and the deviation influence state are combined to obtain the positioning adjustment information.

[0013] The dynamic feedback adjustment module is used to receive the positioning adjustment information and identify the positioning adjustment information. When the positioning adjustment information corresponds to the servo motor adjustment information, the servo motor adjustment instruction is generated according to the servo adjustment information; when the positioning adjustment information corresponds to the deviation influence state of moderate influence deviation and deviation exceeding the limit, the corresponding deviation total shadow value is obtained, and the positioning component data is obtained, and the positioning component data is identified to obtain the motor control parameters, and the dynamic adjustment instruction is obtained by comprehensively analyzing the deviation total shadow value and the motor control parameters; the servo motor adjustment instruction and the dynamic adjustment instruction are sent to the execution control module.

[0014] As a further improvement of the present invention, a comprehensive analysis is performed on the total deviation value and the motor control parameters, and the specific analysis steps are as follows: According to the total deviation shadow value, the spatial distance of each positioning mark of the tube blank corresponding to each positioning mark is obtained, and multiple pre-adjusted motion trajectories are generated based on the spatial distance of each mark. According to the pre-adjusted trajectory, the adjustment control parameters of each servo motor are obtained, and the adjustment control parameters include the tilt angle, speed requirement and force requirement; the motor control parameters are identified to obtain the rotation angle range, speed accuracy and force accuracy corresponding to each servo motor.

[0015] The rotation angle interval corresponding to the servo motor is matched with the tilt angle of the corresponding adjustment control parameter. When the rotation angle interval of the servo motor does not match the corresponding tilt angle, the corresponding pre-adjusted motion trajectory is marked as a non-feasible trajectory; conversely, when the rotation angle interval of the servo motor matches the corresponding tilt angle, the corresponding pre-adjusted motion trajectory is marked as a temporary motion trajectory.

[0016] Obtain the speed requirement and force requirement corresponding to the temporary motion trajectory, obtain the corresponding speed accuracy requirement according to the speed requirement, and then match the speed accuracy requirement with the speed accuracy corresponding to each servo motor. When the speed accuracy is less than the speed accuracy requirement, perform difference calculation between the speed accuracy and the speed accuracy requirement to obtain the speed accuracy difference. Similarly, obtain the corresponding force accuracy difference according to the force requirement. Calculate and sum the speed accuracy difference and force accuracy difference of each servo motor to obtain the total accuracy difference. When the total accuracy difference is greater than a preset threshold, mark the corresponding temporary motion trajectory as a non-feasible trajectory. Otherwise, add and calculate the total accuracy difference of each servo motor corresponding to the remaining temporary motion trajectories to obtain the total trajectory accuracy difference. Compare the total trajectory accuracy differences corresponding to each remaining temporary motion trajectories, and mark the corresponding temporary action trajectory with the smallest total trajectory accuracy difference as a dynamic adjustment instruction.

[0017] The sawing analysis module is used to obtain sawing data and analyze the sawing data to obtain the sawing state, obtain the corresponding sawing control instruction according to the sawing state, and send the sawing control instruction to the execution control module. When the sawing state is identified and the sawing state corresponds to an abnormal sawing state, the corresponding sawing control instruction is obtained according to the sawing abnormality item. The sawing control instruction includes but is not limited to adjusting the sawing speed, sawing feed amount and saw blade replacement.

[0018] The execution control module is used to receive the control instructions of each module and perform execution control. Its specific execution process is: receiving servo motor adjustment instructions, dynamic adjustment instructions and sawing control instructions; performing servo motor adjustment execution according to the servo motor adjustment instructions, and performing sawing control execution according to the sawing adjustment instructions, generating control execution results through servo motor adjustment execution and sawing control execution, and sending the control execution results to the effect feedback module; performing tube blank positioning adjustment execution according to the dynamic adjustment instructions, and obtaining the secondary dynamic adjustment instructions corresponding to the dynamic adjustment, obtaining the number of dynamic adjustments and obtaining the preset upper limit of the number of adjustments. When the number of dynamic adjustments is greater than the upper limit of the number of adjustments, generating the corresponding dynamic adjustment abnormality results, and sending the dynamic adjustment abnormality results to the effect feedback module.

[0019] The effect feedback module is used to receive the execution control results and the dynamic adjustment abnormal results, generate result feedback information based on the received execution control results and the dynamic adjustment abnormal results, and display the result feedback information through the display component.

[0020] The data storage module is used to store positioning component data, sawing data and tube data, and to store servo motor adjustment instructions, dynamic adjustment instructions and sawing control instructions, as well as to store execution control results and dynamic adjustment abnormal results.

[0021] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects: 1. The present invention obtains servo motor data by identifying positioning component data, and obtains motor operating status by analyzing the servo motor data; obtains tube blank position data and analyzes the tube blank position data to obtain positioning deviation data, comprehensively analyzes the motor operating status and positioning deviation data to obtain positioning adjustment information, and obtains specific deviation information based on the analysis of the positioning data, thereby providing an information basis for positioning adjustment.

[0022] 2. The present invention obtains the total deviation value by identifying the positioning adjustment information, and obtains the dynamic adjustment instruction by comprehensively analyzing the total deviation value and the motor control parameters, and performs corresponding deviation adjustment according to the dynamic adjustment instruction, so as to correct the deviation of the tube blank, avoid deviation during sawing, and reduce the generation of defective products. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. The following drawings are not intentionally scaled to the actual size, and the focus is on illustrating the main purpose of the present application.

[0024] Figure 1 It is a principle block diagram of the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] For ease of understanding, the specific process of the embodiment of the present invention is described below. Figure 1 In an embodiment of the present invention, an embodiment of a seamless steel tube blank feeding control system includes: a data acquisition module, a high-precision positioning module, a dynamic feedback adjustment module, an intelligent sawing analysis module, an execution control module, an effect feedback module and a data storage module.

[0027] The data acquisition module acquires data of the tube production equipment to obtain positioning component data, sawing data and tube data, and sends the positioning component data, sawing data and tube data to the data storage module; The servo motor data of the servo motor is obtained by collecting the sensor, and the servo motor data includes the motor encoder feedback data and the motor control parameters; The sawing data corresponding to the sawing is obtained by detection, and the sawing data includes sawing vibration data and sawing foreign body data; The tube blank position data corresponding to the tube blank is collected by the sensor, and the tube blank position data includes the tube blank preset position and the tube blank current position data.

[0028] The high-precision positioning module obtains the positioning component based on the data storage module and identifies the positioning component data to obtain the servo motor data, and analyzes the servo motor data to obtain the motor operating status; obtains the tube blank position data and analyzes the tube blank position data to obtain the positioning deviation data, comprehensively analyzes the motor operating status and the positioning deviation data to obtain the positioning adjustment information, and sends the positioning adjustment information to the dynamic feedback adjustment module.

[0029] The servo motor data is analyzed, and the specific analysis steps are as follows: The motor encoder feedback data is obtained according to the servo motor data, and the motor encoder feedback data includes a pulse signal and motor load information; the pulse number of the pulse signal corresponding to each servo motor is obtained, and the servo motor includes a linear stepper motor and a rotary stepper motor. The displacement and rotation corresponding to each servo motor are obtained according to the pulse number of each servo motor, and the preset preset position corresponding to each servo motor is obtained, and the distance difference between the preset position and the current position of each servo motor is calculated to obtain the preset displacement and preset rotation corresponding to each servo motor, and the difference between the current displacement and rotation corresponding to each servo motor and the corresponding preset displacement and preset rotation is calculated to obtain the displacement difference and rotation difference, and the displacement difference and the rotation difference are calculated and summed to obtain the distance difference.

[0030] The motor load information of each servo motor is divided according to each action step of the positioning component to obtain the motor load information of each servo motor corresponding to each action step, and the action steps include but are not limited to movement in various directions and rotation at multiple angles; the instantaneous load amount of the motor corresponding to each action step is obtained according to the motor load information, and the preset upper load amount corresponding to the servo motor is obtained. When the instantaneous load amount of the motor corresponding to the action step is greater than the upper load amount, the load overlimit value is calculated by subtracting the upper load amount from the instantaneous load amount of the motor.

[0031] The number of load over-limit values ​​is obtained by counting, and an irregular polygon is constructed with the value of each load over-limit value as the side length and the number of load over-limit values ​​as the number of sides of the polygon. The center of gravity of the irregular polygon is used as the starting point, and a straight line perpendicular to the irregular polygon is drawn, and the length of the straight line is equal to the value of the distance difference. A polygonal pyramid is then constructed using the irregular polygon and the straight line. The volume of the polygonal pyramid is calculated and the value of the volume is recorded as the motor state value. When the value of the motor state value is greater than a preset threshold value, the corresponding motor operation state is generated as abnormal motor operation.

[0032] The specific analysis steps for analyzing the tube position data are as follows: The preset position and current position data of the tube billet are obtained according to the tube billet position data; the outer surface of the tube billet is marked to obtain multiple positioning points, and the preset coordinate values ​​of each positioning point corresponding to the three directions of X, Y, and Z are obtained based on the preset position of the tube billet, and the preset coordinate values ​​are recorded as (X, Y, Z); the current coordinate values ​​of each positioning point corresponding to the three directions of X, Y, and Z are obtained according to the current position data of the tube billet, and the current coordinate values ​​are recorded as (X θ , Y θ , Z θ ), based on the current coordinate values ​​of each positioning point and the corresponding preset coordinate values, the distance calculation formula in three-dimensional space is used Calculate the punctuation spatial distance D, obtain the pre-set spatial distance threshold, and when the punctuation spatial distance is greater than the spatial distance threshold, calculate the difference between the punctuation spatial distance and the spatial distance threshold to obtain the spatial distance shadow value, add the spatial distance shadow values ​​corresponding to each positioning punctuation point and sum them to obtain the total deviation shadow value, and use the total deviation shadow value as the corresponding positioning deviation data.

[0033] The motor operating status and positioning deviation data are comprehensively analyzed. The specific analysis method is as follows: The motor operation state is identified. When the motor operation state is abnormal, the corresponding servo motor abnormality information is generated based on the motor operation abnormality, and the servo motor adjustment information is obtained according to the servo motor abnormality information; when the motor operation state is normal, the corresponding positioning deviation data is obtained and the positioning deviation data is identified to obtain the deviation total shadow value, and the deviation influence state is obtained according to the deviation total shadow value, and the deviation total shadow value is recorded as P, and the preset deviation lower limit influence value and deviation upper limit influence value are obtained, which are recorded as P respectively. min and P max ; When P<P min When P min <P<P max When P>P max When , the corresponding deviation influence state is generated as deviation exceeding limit; the servo motor adjustment information and the deviation influence state are combined to obtain the positioning adjustment information.

[0034] The dynamic feedback adjustment module receives the positioning adjustment information and identifies the positioning adjustment information. When the positioning adjustment information corresponds to the servo motor adjustment information, the servo motor adjustment instruction is generated according to the servo adjustment information; when the positioning adjustment information corresponds to the deviation influence state of moderate influence deviation and deviation exceeding the limit, the corresponding deviation total shadow value is obtained, and the positioning component data is obtained, and the positioning component data is identified at the same time to obtain the motor control parameters, and the dynamic adjustment instruction is obtained by comprehensively analyzing the deviation total shadow value and the motor control parameters; the servo motor adjustment instruction and the dynamic adjustment instruction are sent to the execution control module.

[0035] Comprehensive analysis is performed on the total deviation value and motor control parameters. The specific analysis steps are as follows: According to the total deviation shadow value, the spatial distance of each positioning mark of the tube blank corresponding to each positioning mark is obtained, and multiple pre-adjusted motion trajectories are generated based on the spatial distance of each mark. According to the pre-adjusted trajectory, the adjustment control parameters of each servo motor are obtained, and the adjustment control parameters include the tilt angle, speed requirement and force requirement; the motor control parameters are identified to obtain the rotation angle range, speed accuracy and force accuracy corresponding to each servo motor.

[0036] The rotation angle interval corresponding to the servo motor is matched with the tilt angle of the corresponding adjustment control parameter. When the rotation angle interval of the servo motor does not match the corresponding tilt angle, the corresponding pre-adjusted motion trajectory is marked as a non-feasible trajectory; conversely, when the rotation angle interval of the servo motor matches the corresponding tilt angle, the corresponding pre-adjusted motion trajectory is marked as a temporary motion trajectory.

[0037] Obtain the speed requirement and force requirement corresponding to the temporary motion trajectory, obtain the corresponding speed accuracy requirement according to the speed requirement, and then match the speed accuracy requirement with the speed accuracy corresponding to each servo motor. When the speed accuracy is less than the speed accuracy requirement, perform difference calculation between the speed accuracy and the speed accuracy requirement to obtain the speed accuracy difference. Similarly, obtain the corresponding force accuracy difference according to the force requirement. Calculate and sum the speed accuracy difference and force accuracy difference of each servo motor to obtain the total accuracy difference. When the total accuracy difference is greater than a preset threshold, mark the corresponding temporary motion trajectory as a non-feasible trajectory. Otherwise, add and calculate the total accuracy difference of each servo motor corresponding to the remaining temporary motion trajectories to obtain the total trajectory accuracy difference. Compare the total trajectory accuracy differences corresponding to each remaining temporary motion trajectories, and mark the corresponding temporary action trajectory with the smallest total trajectory accuracy difference as a dynamic adjustment instruction.

[0038] The sawing analysis module acquires the sawing data and analyzes the sawing data to obtain the sawing state, obtains the corresponding sawing control instruction according to the sawing state, and sends the sawing control instruction to the execution control module. When the sawing state is identified and the sawing state corresponds to an abnormal sawing state, the corresponding sawing control instruction is obtained according to the abnormal sawing item. The sawing control instruction includes but is not limited to adjusting the sawing speed, sawing feed amount and saw blade replacement.

[0039] The execution control module receives the servo motor adjustment instruction, the dynamic adjustment instruction and the sawing control instruction; performs servo motor adjustment execution according to the servo motor adjustment instruction, and performs sawing control execution according to the sawing adjustment instruction, generates control execution results through the servo motor adjustment execution and the sawing control execution, and sends the control execution results to the effect feedback module; performs tube blank positioning adjustment execution according to the dynamic adjustment instruction, and obtains the secondary dynamic adjustment instruction corresponding to the dynamic adjustment, obtains the number of dynamic adjustments and obtains the preset upper limit of the number of adjustments, and when the number of dynamic adjustments is greater than the upper limit of the number of adjustments, generates the corresponding dynamic adjustment abnormal result, and sends the dynamic adjustment abnormal result to the effect feedback module.

[0040] The effect feedback module receives the execution control result and the dynamic adjustment abnormal result, generates result feedback information according to the received execution control result and the dynamic adjustment abnormal result, and displays the result feedback information through the display component.

[0041] The data storage module stores positioning component data, sawing data and tube blank data, and stores servo motor adjustment instructions, dynamic adjustment instructions and sawing control instructions, as well as execution control results and dynamic adjustment abnormal results.

[0042] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A seamless steel tube blank feeding control system, comprising a data acquisition module, an effect feedback module and a data storage module, characterized in that: Also includes: The high-precision positioning module obtains the positioning component based on the data storage module and identifies the positioning component data to obtain the servo motor data, and analyzes the servo motor data to obtain the motor operation status; obtains the tube blank position data and analyzes the tube blank position data to obtain the positioning deviation data, comprehensively analyzes the motor operation status and the positioning deviation data to obtain the positioning adjustment information, and sends the positioning adjustment information to the dynamic feedback adjustment module; The dynamic feedback adjustment module is used to receive the positioning adjustment information and identify the positioning adjustment information. When the positioning adjustment information corresponds to the servo motor adjustment information, the servo motor adjustment instruction is generated according to the servo adjustment information; when the positioning adjustment information corresponds to the deviation influence state of the moderate influence deviation and the deviation exceeding the limit, the corresponding deviation total shadow value is obtained, and the positioning component data is obtained, and the positioning component data is identified to obtain the motor control parameters, and the dynamic adjustment instruction is obtained by comprehensively analyzing the deviation total shadow value and the motor control parameters; the servo motor adjustment instruction and the dynamic adjustment instruction are sent to the execution control module; A sawing analysis module, used to obtain a sawing state according to sawing data, obtain a corresponding sawing control instruction according to the sawing state, and send the sawing control instruction to the execution control module; The execution control module is used to receive control instructions from each module and perform execution control.

2. A seamless steel tube blank feeding control system according to claim 1, characterized in that: The data acquisition module is used to collect data of the tube production equipment to obtain positioning component data, sawing data and tube data, and send the positioning component data, sawing data and tube data to the data storage module; The servo motor data of the servo motor is acquired through sensor collection, and the servo motor data includes motor encoder feedback data and motor control parameters; the sawing data corresponding to the sawing is acquired through detection, and the sawing data includes sawing vibration data and sawing foreign body data; the tube blank position data corresponding to the tube blank is acquired through sensor collection, and the tube blank position data includes tube blank preset position and tube blank current position data.

3. A seamless steel tube blank feeding control system according to claim 1, characterized in that: The servo motor data is analyzed, and the specific analysis steps are as follows: Obtain motor encoder feedback data according to servo motor data, the motor encoder feedback data including pulse signals and motor load information; obtain the number of pulses of the pulse signal corresponding to each servo motor, the servo motors including linear stepper motors and rotary stepper motors, obtain the displacement and rotation corresponding to each servo motor according to the number of pulses of each servo motor, obtain the preset position corresponding to each servo motor, calculate the distance difference between the preset position and the current position of each servo motor to obtain the preset displacement and preset rotation corresponding to each servo motor, calculate the difference between the current displacement and rotation corresponding to each servo motor and the corresponding preset displacement and preset rotation to obtain the displacement difference and rotation difference, and calculate and sum the displacement difference and rotation difference to obtain the distance difference; The motor load information of each servo motor is divided according to each action step of the positioning component to obtain the motor load information of each servo motor corresponding to each action step, the instantaneous load amount of the motor corresponding to each action step is obtained according to the motor load information, and the upper limit load amount preset corresponding to the servo motor is obtained. When the instantaneous load amount of the motor corresponding to the action step is greater than the upper limit load amount, the load over-limit value is calculated by subtracting the upper limit load amount from the instantaneous load amount of the motor; A motor state value is obtained by comprehensively analyzing the load overlimit value and the distance difference; when the value of the motor state value is greater than a preset threshold, the corresponding motor operation state is generated as abnormal motor operation.

4. A seamless steel tube blank feeding control system according to claim 3, characterized in that: The specific analysis steps for analyzing the tube blank position data are as follows: The preset position and current position data of the tube billet are obtained according to the tube billet position data; the outer surface of the tube billet is marked to obtain multiple positioning points, and the preset coordinate values ​​of each positioning point corresponding to the three directions of X, Y, and Z are obtained based on the preset position of the tube billet, and the preset coordinate values ​​are recorded as (X, Y, Z); the current coordinate values ​​of each positioning point corresponding to the three directions of X, Y, and Z are obtained according to the current position data of the tube billet, and the current coordinate values ​​are recorded as (X θ , Y θ , Z θ ), based on the current coordinate values ​​of each positioning point and the corresponding preset coordinate values, the distance calculation formula in three-dimensional space is used Calculate the punctuation spatial distance D, obtain the pre-set spatial distance threshold, and when the punctuation spatial distance is greater than the spatial distance threshold, calculate the difference between the punctuation spatial distance and the spatial distance threshold to obtain the spatial distance shadow value, add the spatial distance shadow values ​​corresponding to each positioning punctuation point and sum them to obtain the total deviation shadow value, and use the total deviation shadow value as the corresponding positioning deviation data.

5. A seamless steel tube blank feeding control system according to claim 4, characterized in that: The motor operation status and positioning deviation data are comprehensively analyzed, and the specific analysis method is as follows: The motor operation state is identified. When the motor operation state is abnormal, the corresponding servo motor abnormality information is generated based on the motor operation abnormality, and the servo motor adjustment information is obtained according to the servo motor abnormality information; when the motor operation state is normal, the corresponding positioning deviation data is obtained and the positioning deviation data is identified to obtain the deviation total shadow value, and the deviation influence state is obtained according to the deviation total shadow value, and the deviation total shadow value is recorded as P, and the preset deviation lower limit influence value and deviation upper limit influence value are obtained, which are recorded as P respectively. min and P max ; When P<P min When P min <P<P max When P>P max When , the corresponding deviation influence state is generated as deviation exceeding limit; the servo motor adjustment information and the deviation influence state are combined to obtain the positioning adjustment information.

6. A seamless steel tube blank feeding control system according to claim 1, characterized in that: The above-mentioned comprehensive analysis of the total deviation value and the motor control parameters is carried out, and the specific analysis steps are as follows: The space distance of each positioning mark corresponding to the tube blank is obtained according to the total deviation shadow value, and multiple pre-adjustment motion trajectories are generated based on the space distance of each mark. The adjustment control parameters of each servo motor are obtained according to the pre-adjustment trajectory. The adjustment control parameters include the tilt angle, speed requirement and force requirement; the motor control parameters are identified to obtain the rotation angle range, speed accuracy and force accuracy corresponding to each servo motor; Matching the rotation angle interval corresponding to the servo motor with the tilt angle of the corresponding adjustment control parameter, when the rotation angle interval of the servo motor does not match the corresponding tilt angle, marking the corresponding pre-adjusted motion trajectory as a non-feasible trajectory; conversely, when the rotation angle interval of the servo motor matches the corresponding tilt angle, marking the corresponding pre-adjusted motion trajectory as a temporary motion trajectory; Obtain the speed requirement and force requirement corresponding to the temporary motion trajectory, obtain the corresponding speed accuracy requirement according to the speed requirement, and then match the speed accuracy requirement with the speed accuracy corresponding to each servo motor. When the speed accuracy is less than the speed accuracy requirement, perform difference calculation between the speed accuracy and the speed accuracy requirement to obtain the speed accuracy difference. Similarly, obtain the corresponding force accuracy difference according to the force requirement. Calculate and sum the speed accuracy difference and force accuracy difference of each servo motor to obtain the total accuracy difference. When the total accuracy difference is greater than a preset threshold, mark the corresponding temporary motion trajectory as a non-feasible trajectory. Otherwise, add and calculate the total accuracy difference of each servo motor corresponding to the remaining temporary motion trajectories to obtain the total trajectory accuracy difference. Compare the total trajectory accuracy differences corresponding to each remaining temporary motion trajectories, and mark the corresponding temporary action trajectory with the smallest total trajectory accuracy difference as a dynamic adjustment instruction.

7. A seamless steel tube blank feeding control system according to claim 1, characterized in that: The sawing analysis module has a specific execution process as follows: acquiring sawing data and analyzing the sawing data to obtain a sawing state, obtaining a corresponding sawing control instruction according to the sawing state, and sending the sawing control instruction to an execution control module; identifying the sawing state and obtaining that the sawing state corresponds to an abnormal sawing state, and obtaining a corresponding sawing control instruction according to the abnormal sawing item.

8. A seamless steel tube blank feeding control system according to claim 1, characterized in that: The execution control module is used to receive control instructions of each module and perform execution control, and its specific execution process is: receiving servo motor adjustment instructions, dynamic adjustment instructions and sawing control instructions; performing servo motor adjustment execution according to the servo motor adjustment instructions, and performing sawing control execution according to the sawing adjustment instructions, generating control execution results through servo motor adjustment execution and sawing control execution, and sending the control execution results to the effect feedback module; performing tube blank positioning adjustment execution according to the dynamic adjustment instructions, and obtaining the secondary dynamic adjustment instructions corresponding to the dynamic adjustment, obtaining the number of dynamic adjustments and obtaining the preset upper limit of the number of adjustments, when the number of dynamic adjustments is greater than the upper limit of the number of adjustments, generating the corresponding dynamic adjustment abnormality results, and sending the dynamic adjustment abnormality results to the effect feedback module.

9. A seamless steel tube blank feeding control system according to claim 3, characterized in that: The above-mentioned comprehensive analysis of the load over-limit value and the distance difference is specifically performed in the following manner: The number of load over-limit values ​​is obtained by counting, and an irregular polygon is constructed with the value of each load over-limit value as the side length and the number of load over-limit values ​​as the number of sides of the polygon. The center of gravity of the irregular polygon is used as the starting point, and a straight line is drawn perpendicular to the irregular polygon. The length of the straight line is equal to the value of the distance difference. A polygonal pyramid is then constructed with the irregular polygon and the straight line. The volume of the polygonal pyramid is calculated and the value of the volume is recorded as the motor state value.

10. A seamless steel tube blank feeding control system according to claim 1, characterized in that: The effect feedback module specifically receives execution control results and dynamic adjustment abnormal results, generates result feedback information based on the received execution control results and dynamic adjustment abnormal results, and displays the result feedback information through a display component.

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