Outdoor numerical control machine tool linkage control system

Abstract

The invention relates to the technical field of numerical control machine tools, and discloses an outdoor numerical control machine tool linkage control system which comprises a base fixing mechanism, a linkage control mechanism and a linkage control mechanism. The main shaft rotating mechanism is movably connected to the base mechanism and is used for rotating around the processed pipeline; the X-axis servo mechanism is installed on the main shaft rotating mechanism and used for driving the blade to machine the machined pipeline in the radial direction; the Z-axis servo mechanism is installed on the X-axis servo mechanism and used for driving the blade to machine the machined pipeline in the axial direction; and the control circuit connecting module electrically connects the main shaft rotating mechanism, the X-axis servo mechanism and the Z-axis servo mechanism and is used for performing linkage control on the main shaft rotating mechanism, the X-axis servo mechanism and the Z-axis servo mechanism. The outdoor pipeline machining device can precisely machine outdoor to-be-machined pipelines.

Description

Technical Field

[0001] The present invention relates to the technical field of numerical control machine tools, and particularly to an outdoor numerical control machine tool linkage control system. Background Art

[0002] As a non-renewable resource, with the increasing exploitation of oil and gas, the natural production decline occurs. Many early-developed oil and gas fields have gradually been depleted, forming a large number of abandoned wells or wells awaiting production. These wells were originally located in remote areas, but in recent years, with the rapid advancement of urbanization, the locations of many wellheads that were once in the wilderness have gradually been incorporated into the new map of urban planning. The prerequisite for planned development and construction is to perform safety treatment on these abandoned wells. The specific measure is to cut off the well pipe at a certain depth below the ground plane, and reprocess a tapered round thread thread at the pipe orifice of the remaining part according to API standards, and then install a matching plugging component. The plugged wellhead must meet certain pressure-bearing requirements, which imposes high machining accuracy requirements on the newly created thread.

[0003] In some existing technologies, laborious die threading is used. This method first uses a tapered countersinking cutter to create an outer conical surface on the cut-off pipe orifice, and then uses a tapered die to tap the thread. These two operations are both completed by labor in the way of "pushing a grinding wheel". This is time-consuming and laborious. The "pushing a grinding wheel" type of machining has a huge cutting resistance. To save effort, a long grinding wheel push rod is required, so a large working space is needed on-site, increasing the amount of earthwork excavation. This not only reduces the plugging efficiency, but also has certain requirements and limitations for the working scenario. At the same time, labor operation and construction are intermittent, and the thread can only be processed intermittently and cannot continuously complete the processing of the thread. This results in a significant reduction in the quality of the processed thread, and the pressure-bearing seal of the wellhead plugging fails to meet the requirements.

[0004] In other existing technologies, there is also an existing technology called a beveling machine, which is a ring-shaped device. It sleevs on the outer wall of the pipe to be processed through a fixed ring assembly, and then drives a moving ring through a motor to rotate the cutter installed on the ring. At the same time, the cutter feeds radially in a mechanical transmission manner for cutting. However, the existing beveling machine can only complete the cutting of the pipe orifice and cooperate with a forming cutter to chamfer the outside of the pipe orifice, and cannot perform complex operations such as thread processing. Summary of the Invention

[0005] The present invention aims to provide an outdoor numerical control machine tool linkage control system to solve the technical problem of poor quality of outdoor pipeline processing. It is not only applicable to a variety of different outdoor environments and different types of pipelines to be processed, with high flexibility, but also ensures the accuracy of processing.

[0006] Outdoor CNC machine tool linkage control system, including: a base fixing mechanism, which is fixedly installed around the side wall of the pipe to be processed; a spindle rotation mechanism, which is movably connected to the base mechanism and is used to rotate around the pipe to be processed; an X-axis servo mechanism, which is installed on the spindle rotation mechanism and is used to drive the blade to process the pipe to be processed in the radial direction; a Z-axis servo mechanism, which is installed on the X-axis servo mechanism and is used to drive the blade to process the pipe to be processed in the axial direction; a control circuit module, which electrically connects the spindle rotation mechanism, the X-axis servo mechanism and the Z-axis servo mechanism respectively and is used to link and control the spindle rotation mechanism, the X-axis servo mechanism and the Z-axis servo mechanism; a numerical control parameter configuration module, which is used to configure system parameters according to the control circuit connection module and complete the drive settings of the spindle rotation mechanism, the X-axis servo mechanism and the Z-axis servo mechanism; a PLC ladder diagram design module, which is used to set a variety of processing strategies according to different outdoor environments, and the processing strategies are used to link and control the movement actions of the spindle rotation mechanism, the X-axis servo mechanism and the Z-axis servo mechanism; a first processing module, which selects corresponding processing strategies according to the outdoor environment where the pipe to be processed is located, drives the spindle rotation mechanism, the X-axis servo mechanism and the Z-axis servo mechanism to link and process the pipe to be processed, and completes the processing of the pipe thread.

[0007] Advantageous effects: The prior art relies on manual operation and cannot achieve precise speed control and path planning. However, the present invention realizes high-precision mechanical drive through a numerical control system and servo mechanisms, and can accurately execute processing tasks according to a preset processing program. This mechanical drive method not only improves the processing accuracy, but also reduces the interference of human factors through automatic control. This outdoor CNC machine tool linkage control system stably installs the equipment on the side wall of the pipe to be processed through the base fixing mechanism, and realizes high-precision and high-efficiency processing of the pipe to be processed through the coordinated linkage of the spindle rotation mechanism, the X-axis servo mechanism and the Z-axis servo mechanism under the electrical connection and coordinated control of the control circuit module. The combination of the numerical control parameter configuration module and the PLC ladder diagram design module enables the system to flexibly configure parameters and processing strategies according to different outdoor environments and pipe types, and the first processing module accurately drives the linkage of each mechanism to process according to these strategies, thus effectively solving the problems of poor processing quality, low efficiency and high labor intensity of the existing processing methods in outdoor complex environments. This system not only improves the processing accuracy and efficiency, reduces the labor cost and labor intensity, but also enhances the stability and reliability of the equipment in harsh environments, expands the application range of CNC machine tools in the field of outdoor pipe processing, and has high flexibility and strong practicability.

[0008] Preferably, it further includes an initial position positioning module, including a handwheel, the handwheel is electrically connected to the control circuit connection module, and the initial position positioning module is used to position and confirm the initial position of the blade through the handwheel.

[0009] Beneficial effects: In the outdoor numerical control machine tool linkage control system, the introduction of the initial position positioning module (including the handwheel) has significant beneficial effects. Through the electrical connection between the handwheel and the control circuit, the operator can manually and precisely adjust and confirm the initial position of the blade, which provides a high-precision starting point for the entire machining process. In complex environments or machining tasks with high-precision requirements, manual positioning can compensate for the small deviations that may occur in automatic positioning, ensuring the accurate relative position between the blade and the pipe to be machined. This not only improves the machining accuracy but also enhances the flexibility and reliability of the system, especially when it is necessary to frequently adjust the machining starting point or process pipes with complex shapes. In addition, the presence of the manual positioning module also provides an intuitive control method for the operator, reducing the dependence on the automation system, enabling the equipment to respond quickly in the face of emergencies or special requirements, and further enhancing the practicality and adaptability of the system.

[0010] Preferably, it further includes a machining mode setting module for controlling the first machining module after inputting machining parameters according to the configured system parameters and the initial position of the blade.

[0011] Beneficial effects: The introduction of the machining mode setting module provides high flexibility and intelligent control capabilities for the outdoor numerical control machine tool linkage control system. Through this module, the operator can accurately input machining parameters (such as cutting starting point coordinates, end point coordinates, feed speed, spindle speed, etc.) according to different machining requirements, pipe types, and outdoor environmental conditions, combined with the configured system parameters and the initial position of the blade, so as to achieve precise control of the first machining module. This function enables the system to quickly adapt to diverse machining tasks without reprogramming or debugging for each situation, significantly improving the adaptability and working efficiency of the equipment. At the same time, the machining mode setting module enhances the operation convenience, lowers the threshold for the technical requirements of the operator, makes the equipment operation more user-friendly, and further enhances the practicality and reliability of the system.

[0012] Preferably, the system parameters include IO board configuration, axis board type, servo alarm contact type, digital filtering level of the I / O board, control accuracy, axis card port number corresponding to the X-axis, axis card port number corresponding to the Z-axis, axis card port number corresponding to the spindle, reverse of the X-axis movement direction, reverse of the Z-axis movement direction, reverse of the spindle movement direction, X-axis sensor resolution, Z-axis sensor resolution, spindle sensor resolution, feedback multiplication factor of the X-axis, feedback multiplication factor of the spindle, feedback multiplication factor of the Z-axis, gain of the X-axis motor, gain of the spindle motor, gain of the Z-axis motor, number of teeth on the screw side of the X-axis, number of teeth on the motor side of the X-axis, number of teeth on the screw side of the spindle, number of teeth on the motor side of the spindle, number of teeth on the screw side of the Z-axis, number of teeth on the motor side of the Z-axis, PITCH of the X-axis, PITCH of the spindle, PITCH of the Z-axis, loop gain of the X-axis servo system, loop gain of the spindle servo system, loop gain of the Z-axis servo system, type of the X-axis sensor, type of the spindle sensor, type of the Z-axis sensor, type of the X-axis, type of the spindle, type of the Z-axis, acceleration and deceleration time during cutting, time required to accelerate to an acceleration of 10 m / s 2 The required time, post-acceleration and deceleration cutting bell-shaped acceleration and deceleration time, maximum speed during cutting, corner reference speed, reference speed for circular arc cutting with a radius of 5 mm, acceleration and deceleration time of 1 m / min during thread cutting, handwheel acceleration and deceleration time, tool length compensation restoration mode, G92 coordinate retention mode, workpiece coordinate system retention mode, retention of current tool length data during reset or shutdown, rigid tapping coupling time, and rigid tapping speed loop gain.

[0013] Beneficial effects: The comprehensive configuration of the system parameters provides high flexibility, adaptability, and precision for the outdoor CNC machine tool linkage control system. By covering rich parameter settings from hardware interface configuration (such as IO board configuration, axis card port number) to motion control details (such as sensor resolution, feedback multiplication factor, motor gain), the system can be finely adjusted according to different machining tasks and environmental conditions, thereby optimizing machining accuracy and efficiency. For example, by adjusting the sensor resolution and loop gain, high-precision machining can be ensured; while the reverse setting of the movement direction and the flexible configuration of the acceleration and deceleration time can adapt to complex machining paths and dynamic environmental changes. In addition, parameters such as tool length compensation and coordinate retention mode further enhance the intelligence level of the system, reduce manual intervention, and improve the convenience and reliability of operation. This comprehensive parameter configuration ability enables the system to quickly adjust and reach the best performance when facing diverse outdoor machining requirements, significantly enhancing the versatility and practicality of the system.

[0014] Preferably, the machining strategies include multiple working modes, feed rate override mode, spindle speed override mode, handwheel movement control mode, alarm mode, and machining control mode.

[0015] Beneficial effects: The diversified design of the machining strategy covers various working modes, feed rate modes, spindle speed modes, handwheel movement control modes, alarm modes, and machining control modes, greatly enhancing the adaptability and flexibility of the outdoor CNC machine tool linkage control system. Through the combination and switching of these modes, the system can quickly adjust machining parameters and control logic according to different machining tasks, pipeline types, and outdoor environmental conditions, thereby achieving efficient and precise machining operations. For example, various working modes can handle different machining scenarios, the feed rate and spindle speed modes can optimize the balance between machining speed and accuracy, the handwheel movement control mode provides an intuitive adjustment means for operators, and the alarm mode can monitor the equipment status in real time and prevent failures. This diversified machining strategy not only improves the intelligence level of the system but also enhances its stability and reliability in complex environments.

[0016] Preferably, the machining parameters include the cutting start coordinates of the X-axis, the cutting start coordinates of the Z-axis, the cutting end coordinates, the feed speed, the spindle speed, and the number of reciprocations.

[0017] Beneficial effects: By defining the machining parameters (such as the cutting start and end coordinates of the X-axis and Z-axis, the feed speed, the spindle speed, and the number of reciprocations), the CNC machine tool linkage control system of the present invention can achieve refined control of the machining process. The precise setting of these parameters enables the system to flexibly adjust the tool movement trajectory, machining speed, and number of repeated machining according to the specific requirements of different machining tasks, thereby ensuring the efficiency of the machining process and the high precision of the machining results. For example, by setting the cutting start and end coordinates, the machining range can be accurately positioned; controlling the feed speed and spindle speed can optimize the machining efficiency and surface quality; and the setting of the number of reciprocations is applicable to scenarios where multiple machining operations are required to achieve the desired accuracy. This detailed definition and flexible configuration of machining parameters not only improve the versatility and adaptability of the system but also significantly enhance its reliability and stability in complex machining tasks, providing high flexibility and precision for outdoor CNC machining.

[0018] Preferably, the outdoor environment includes the wild, slopes, and the sea surface.

[0019] Beneficial effects: It is clearly pointed out that the outdoor environment includes the wild, slopes and the sea surface. This description provides a clear application scenario range for the CNC machine tool linkage control system of the present invention, significantly enhancing the practicability and adaptability of the system. By covering these representative and challenging outdoor environments, the system can be designed and optimized specifically for different terrains and conditions. For example, in the wild, it can cope with complex terrains and unstable ground conditions; on slopes, it can solve the influence of the inclination angle on the machining stability; and on the sea surface, it can deal with harsh environments such as wind, waves and salt spray. This wide environmental adaptability enables the system not only to meet diverse work requirements, but also to maintain high-efficiency and stable machining performance under complex and changeable outdoor conditions, greatly expanding the application scope of CNC machine tools in the outdoor field and providing a reliable solution for tasks such as abandoned wellhead treatment and pipeline processing.

[0020] Preferably, the control circuit module includes a numerical control controller, an input / output board, a handwheel connection port, an operation panel and a three-in-one driver; the numerical control controller is electrically connected to one end of the three-in-one driver, one end of the input / output board and one end of the operation panel respectively, the other end of the operation panel is electrically connected to the handwheel connection port; the other end of the three-in-one driver is electrically connected to the spindle rotation mechanism, the X-axis servo mechanism and the Z-axis servo mechanism respectively.

[0021] Beneficial effects: By designing the control circuit module as an integrated system including a numerical control controller, an input / output board, a handwheel connection port, an operation panel and a three-in-one driver, and clarifying the electrical connection relationships between the components, the present invention realizes efficient, precise and flexible control of the outdoor CNC machine tool linkage control system. The numerical control controller, as the core unit, can coordinately control the spindle rotation mechanism, the X-axis servo mechanism and the Z-axis servo mechanism to ensure high precision and high efficiency in the machining process. The settings of the input / output board and the operation panel provide a convenient man-machine interaction interface for the system. Operators can easily input machining parameters, adjust the control mode through the operation panel, and achieve manual fine-tuning through the handwheel connection port, further enhancing the flexibility and usability of the system. The integrated design of the three-in-one driver simplifies the system architecture, reduces the equipment cost, and improves the reliability and stability of the system at the same time. This modular and integrated control circuit design not only optimizes the overall performance of the system, but also enhances its adaptability and maintainability in complex outdoor environments. Description of the Drawings

[0022] Figure 1 The front view of the connection of the base fixing mechanism, the spindle rotation mechanism, the X-axis servo mechanism, the Z-axis servo mechanism and the workpiece pipeline provided in the first embodiment;

[0023] Figure 2 The circuit connection schematic diagram of the control circuit module provided in the first embodiment;

[0024] Figure 3 A schematic diagram of the structural flow of each module provided in Example 1;

[0025] Figure 4 This is a front view of the base fixing mechanism, the spindle rotating mechanism, the X-axis servo mechanism and the Z-axis servo mechanism, the counterweight block and the processed pipe provided in the second embodiment. DETAILED DESCRIPTION

[0026] The following is further described in detail through specific implementation methods:

[0027] There are other prior arts, such as an outdoor machining equipment with patent application number CN202111146080.8, which includes a turning unit, and the turning unit includes a tool, a lifter and a mover. The lifter is used to drive the tool to move axially along the part to be processed, and the mover is used to drive the tool to move radially along the part to be processed. Among them, the lifter and the mover are both electric slides, and the cooperation of the mover and the lifter forms a cross slide. However, this method of processing pipe threads using an electric slide, due to the inherent properties of the electric slide itself, whether it is changing the original movement rate and direction of the mover or lifter, it is necessary to suspend the processing first, and then perform the processing after changing the original movement rate and direction. However, at this time, when processing again, the initial rate is 0, and it is necessary to accelerate from the initial rate to the target rate, which takes a certain amount of time. When processing pipe threads during this time period, it is easy to change the originally set rotation center, resulting in blade buckling and other phenomena; it may also obviously divide the currently processed pipe threads into three sections. The first section is the pipe threads processed according to the original movement rate and direction, and the second section is accelerated from the initial rate of 0 to the target rate. At this time, the pipe threads are not processed. The pipe threads are processed only after accelerating to the target rate. In this way, the quality of the processed thread mouth is significantly reduced, and even when the speed is adjusted several times, it is easy to cause a processing accident in which the pressure-bearing seal of the pipe blockage does not meet the requirements; and the speed and direction of the electric slide itself need to be suspended before the processing can be changed, which has low processing efficiency and is relatively rigid. In addition, when the electric slide is processing, the accuracy of the processed threads is also relatively low.

[0028] The symbols in the drawings of the specification include:

[0029] Base fixing mechanism 1, spindle rotating mechanism 2, X-axis servo mechanism 3, Z-axis servo mechanism 4, blade 5, processed pipe 6, counterweight block 7.

[0030] Embodiment 1

[0031] like Figure 1 As shown, this embodiment provides an outdoor CNC machine tool linkage control system including a base fixing mechanism 1, a spindle rotating mechanism 2, an X-axis servo mechanism 3 and a Z-axis servo mechanism 4.

[0032] Specifically, the base fixing mechanism 1 is fixedly installed in a ring shape on the outer side wall of the pipeline 6 to be processed, and is used to support the spindle rotation mechanism 2, the X-axis servo mechanism 3, and the Z-axis servo mechanism 4. The spindle rotation mechanism 2 includes a spindle servo motor, a spindle turntable, and a bearing. The inner ring of the bearing is connected to the base fixing mechanism 1, and the outer ring of the bearing is connected to the spindle turntable, enabling the spindle turntable to rotate freely relative to the base. The spindle motor is installed outside the base fixing mechanism 1 and below the spindle turntable. The spindle motor drives the rotation of the outer ring of the bearing on the spindle turntable, performs a rotational movement around the pipeline 6 to be processed, and at the same time provides the cutting power for the blade 5. The X-axis servo mechanism 3 is installed on the spindle turntable. The X-axis servo mechanism 3 includes an X-axis servo motor and an X-axis horizontal slide. The X-axis servo motor is electrically connected to the X-axis horizontal slide, and the X-axis horizontal slide is slidably connected to the spindle turntable. The X-axis servo motor drives the X-axis horizontal slide to move horizontally on the spindle turntable to indirectly drive the blade 5 to process the pipeline 6 to be processed in the radial direction. The Z-axis servo mechanism 4 includes a Z-axis servo motor, a Z-axis column, and a Z-axis vertical slide. The Z-axis column is fixedly installed on the X-axis horizontal slide, the Z-axis servo motor is fixedly installed on the Z-axis column, the Z-axis servo motor is connected to the Z-axis vertical slide, the Z-axis vertical slide is installed on the outer side wall of the Z-axis column, the Z-axis vertical slide is slidably connected to the Z-axis column, and the Z-axis vertical slide is close to the pipeline 6 to be processed. The Z-axis servo motor is used to drive the Z-axis vertical slide to slide on the Z-axis column. In this embodiment, the rotation of the spindle turntable is prior art, and prior art such as an outdoor machining equipment with a patent application number of CN202111146080.8 can be referred to. An outdoor numerical control machine tool linkage control system further includes a tool mounting mechanism. The tool mounting mechanism includes a tool holder and a blade 5. The tool holder is fixedly installed on the Z-axis vertical slide, and faces away from the Z-axis column and is close to the pipeline 6 to be processed. The blade 5 is connected to the tool holder, and the cutting direction of the blade 5 is close to the pipeline 6 to be processed. The Z-axis servo motor drives the Z-axis vertical slide to slide up and down to indirectly drive the blade 5 to process the pipeline 6 to be processed in the axial direction.

[0033] As Figure 2 shown, an outdoor numerical control machine tool linkage control system further includes a control circuit module. The control circuit module includes a numerical control controller, an input / output board, a handwheel connection port, a control power supply, an operation panel, and a three-in-one driver. Among them, the X-axis servo motor includes a first circuit port of the X-axis servo motor and a second circuit port of the X-axis servo motor. The Z-axis servo motor includes a first circuit port of the Z-axis servo motor and a second circuit port of the Z-axis servo motor. The spindle servo motor includes a first circuit port of the spindle servo motor and a second circuit port of the spindle servo motor.

[0034] Specifically, the numerical control controller is provided with at least a first RIO port, an M3 port, and a PWR terminal. The PWR terminal includes a PE port, a G24 port, and a G25 port. The model of the numerical control controller is F01-22TA-10-STD. The operation panel is provided with at least a second RI0 port, a panel working power supply (power terminal, ground terminal), and an MPG port. The model of the operation panel is E01-ST4022MS-C. The three-in-one driver is provided with at least an M3A port, an ENC1 port, an ENC2 port, an ENC3 port, a first motor insertion port, a second motor insertion port, and a third motor insertion port. The model of the three-in-one driver is SMD-23B-2020-00. The model of the input / output board is PD1-LTB-1616.

[0035] The first R10 port is electrically connected to the second R10 port and the input / output board respectively. The M2 port is electrically connected to the M3A port. The "ground", "+", and "-" of the PWR port are connected to the wire numbers "PE", 25-pin, and G24-pin of the control power supply respectively. The power supply terminal and the ground terminal of the panel working power supply are connected to the wire numbers 24-pin and G24-pin of the control power supply respectively. The MPG port is electrically connected to the handwheel connection port. The ENC1 port is electrically connected to the first circuit port of the X-axis servo motor, the ENC2 port is electrically connected to the first circuit port of the Z-axis servo motor, and the ENC3 port is electrically connected to the first circuit port of the spindle servo motor. The third motor insertion port is electrically connected to the second circuit port of the X-axis servo motor, the second motor insertion port is electrically connected to the second circuit port of the Z-axis servo motor, and the first motor insertion port is electrically connected to the second circuit port of the spindle servo motor. Specifically, the numerical control controller serves as the "brain" of the system. Through preset machining programs and parameters, the numerical control controller sends instructions to the three-in-one driver to control the movements of the spindle rotation mechanism, the X-axis servo mechanism, and the Z-axis servo mechanism. It also receives input signals from the operation panel and position feedback from the handwheel, and adjusts the machining path and speed in real time. The three-in-one driver serves as the execution unit. The three-in-one driver receives instructions from the numerical control controller and drives the spindle motor, the X-axis servo motor, and the Z-axis servo motor respectively. This integrated design reduces the number of wire harnesses and connectors, improving the reliability and response speed of the system. The operation panel provides an intuitive interaction interface for the operator to input machining parameters (such as cutting start point, end point coordinates, feed speed, etc.), select machining modes (such as manual, automatic, alarm mode, etc.), and achieve manual fine-tuning through the handwheel connection port. The operation panel also displays the device status and machining progress in real time, facilitating user monitoring and adjustment. The three-in-one driver integrates the spindle motor, the X-axis servo motor, and the Z-axis servo motor into one module, reducing the complexity and failure points of the system. This design not only reduces costs but also improves the reliability and response speed of the system. Moreover, the three-in-one driver can quickly respond to instructions from the numerical control controller to achieve precise acceleration and deceleration control. This dynamic response ability is crucial for complex machining tasks (such as thread machining) and can ensure the continuity and stability of the machining process.

[0036] Through the collaborative work of the numerical control controller, the three-in-one driver, and the operation panel, the outdoor numerical control machine tool linkage control system of this embodiment achieves high-precision, high-efficiency, and high-reliability machining. This integrated and intelligent design not only solves many defects in the operations adopted by the prior art but also significantly improves the adaptability and stability of the equipment in complex outdoor environments through dynamic response, real-time monitoring, and flexible adjustment. This innovative system design breaks through the limitations of existing numerical control machine tools and provides a new solution for outdoor pipe machining.

[0037] An outdoor numerical control machine tool linkage control system further includes a numerical control parameter configuration module. The numerical control parameter configuration module is used to, after successfully connecting the control circuit module, the main shaft rotation mechanism 2, the X-axis servo mechanism 3, and the Z-axis servo mechanism 4, configure the system parameters according to the control circuit connection module, and complete the drive settings of the main shaft rotation mechanism 2, the X-axis servo mechanism 3, and the Z-axis servo mechanism 4, so as to ensure that the main shaft rotation mechanism 2, the X-axis servo mechanism 3, and the Z-axis servo mechanism 4 can accurately drive the blade 5 to machine the pipe 6 to be machined. The system parameters include IO board configuration, axis board type, servo alarm contact type, I / O board digital filtering degree, control accuracy (strip, micron, sub-micron), the axis card port number corresponding to the X-axis, the axis card port number corresponding to the main shaft, the axis card port number corresponding to the Z-axis, the reverse of the X-axis movement direction, the reverse of the main shaft movement direction, the reverse of the Z-axis movement direction, the X-axis sensor resolution, the main shaft sensor resolution, the Z-axis sensor resolution, the feedback multiplication factor of the X-axis, the feedback multiplication factor of the main shaft, the feedback multiplication factor of the Z-axis, the gain of the X-axis motor, the gain of the Z-axis motor, the gain of the Z-axis motor, the number of teeth on the X-axis screw side, the number of teeth on the X-axis motor side, the number of teeth on the main shaft screw side, the number of teeth on the main shaft motor side, the number of teeth on the Z-axis screw side, the number of teeth on the Z-axis motor side, the PITCH of the X-axis, the PITCH of the main shaft, the PITCH of the Z-axis, the loop gain of the X-axis servo system (1 / sec), the loop gain of the main shaft servo system (1 / sec), the loop gain of the Z-axis servo system (1 / sec), the type of the X-axis sensor (encoder, optical scale, none, absolute, single-turn absolute, absolute optical scale), the type of the main shaft sensor (encoder, optical scale, none, absolute, single-turn absolute, absolute optical scale), the type of the Z-axis sensor (encoder, optical scale, none, absolute, single-turn absolute, absolute optical scale), the type of the X-axis (linear axis, rotary axis type), the type of the main shaft axis (linear axis, rotary axis type), the type of the Z-axis (linear axis, rotary axis type), the acceleration and deceleration time during cutting (ms), the time required to accelerate to an acceleration of 10 m / s 2 (unit: ms), the post-acceleration and deceleration cutting bell-shaped acceleration and deceleration time (ms), the maximum speed during cutting (mm / min), the corner reference speed (off, 1 - 3600000 mm / min), the reference speed for cutting a 5-mm radius arc (mm / min), the acceleration and deceleration time for threading at 1 m / min (ms), the handwheel acceleration and deceleration time (ms), the G00 motion mode (linear, independent for each axis), the tool length compensation restoration mode (restore, not restore), the G92 coordinate retention mode (no, reset, power off), the workpiece coordinate system retention mode, retain the current tool length data when resetting or powering off, the rigid tapping coupling time (0.001 rev), and the rigid tapping speed loop gain.

[0038] By providing comprehensive and detailed system parameter configuration options, the numerical control parameter configuration module enables the control system to make precise adjustments according to different machining tasks, the characteristics of the machined pipeline, and outdoor environmental conditions. Such as the IO board configuration, axis board type, and servo alarm contact type, these parameters allow the system to be optimized according to the specific hardware configuration, ensuring compatibility and efficient collaborative work among components. The multi-level setting of control precision (such as micron and sub-micron levels), which enables the system to meet high-precision machining requirements, especially when machining complex tasks such as API standard threads, can guarantee the machining quality. The reverse setting of the movement direction, which allows the operator to flexibly adjust the movement direction of each axis according to the actual installation situation, enhancing the adaptability of the system.

[0039] System parameters cover a variety of detailed settings from sensor resolution to acceleration and deceleration times, enabling the control system to achieve an intelligent machining process. For example, sensor resolution and feedback multiplication factor. Through high-precision sensors and feedback mechanisms, the system can real-time monitor the tool position and movement state, and make dynamic adjustments according to the feedback, ensuring the stability and precision of the machining process. The flexible configuration of acceleration and deceleration times, maximum speed, and cutting speed enables the system to optimize machining efficiency and surface quality according to different machining paths and task requirements, avoiding machining errors caused by speed changes.

[0040] The numerical control parameter configuration module reduces the operation difficulty and improves the reliability of the system by providing rich setting options. For example, the selection of various sensor types and axis types allows the most suitable sensors and axis configurations to be selected according to specific application scenarios, improving the versatility and reliability of the system. The tool length compensation restoration mode, coordinate retention mode, and workpiece coordinate system retention mode reduce the workload of operators during tool change or equipment restart, improving the convenience and efficiency of operation. The parameters related to rigid tapping enable the system to precisely control the tapping speed and coupling time during thread machining, ensuring the quality and efficiency of thread machining.

[0041] An outdoor numerically controlled machine tool linkage control system further includes a PLC ladder diagram design module. After configuring the above system parameters, then design the PLC ladder diagram design module. The PLC ladder diagram design module is used to set multiple machining strategies according to different outdoor environments. The machining strategies are used to control the linkage of the spindle rotation mechanism 2, X-axis servo mechanism 3, and Z-axis servo mechanism 4. The machining strategies include multiple working modes, feed rate mode, spindle rate mode, handwheel movement control mode, alarm mode, and machining control mode. The outdoor environment includes the wild, slopes, and the sea.

[0042] Specifically, the processing modes include field processing, hillside processing, and sea surface processing. Different environments use different processing modes. The spindle speed override mode can be adjusted according to the workpiece material, tool type, and processing requirements through the operation panel. The handwheel movement control mode allows the operator to control the movement direction and speed of the tool through the handwheel, which is suitable for equipment debugging or preliminary verification of complex machining paths. Meanwhile, during automatic machining, the handwheel can be used to control the execution speed of the program or pause the program to prevent tool damage caused by program errors. The machining control mode can automatically adjust machining strategies such as tool paths, feed rates, and spindle speeds according to the specific requirements of the machining task. Moreover, during machining, the system can dynamically adjust machining parameters based on real-time feedback data to ensure the stability and consistency of the machining process.

[0043] An outdoor numerical control machine tool linkage control system further includes an initial position positioning module, including a handwheel, which is electrically connected to the control circuit connection module. The initial position positioning module is used to position and confirm the initial position of the blade 5 through the handwheel. Among them, the handwheel connection port in the control circuit module is a conventional connection port on the handwheel of the initial position positioning module. By confirming the initial position of the blade 5, the spindle speed override mode and the machining control mode can be adjusted.

[0044] An outdoor numerical control machine tool linkage control system further includes a processing mode setting module and a first processing module. After inputting the processing parameters according to the configured system parameters and the initial position of the blade 5, the first processing module is executed. The processing parameters include the cutting starting point coordinates of the X-axis, the cutting starting point coordinates of the Z-axis, the cutting end point coordinates, the feed rate, the spindle speed, and the number of cycles.

[0045] As Figure 3 shown, after executing the control circuit module, the numerical control parameter configuration module, the PLC ladder diagram design module, the initial position positioning module, and the processing mode setting module, the first processing module is executed. The first processing module selects the corresponding processing strategy according to the outdoor environment where the pipeline 6 to be processed is located, and drives the spindle rotation mechanism 2, the X-axis servo mechanism 3, and the Z-axis servo mechanism 4 to jointly process the pipeline 6 to be processed. The operations that can be completed by an outdoor numerical control machine tool linkage control system include cutting the pipe orifice, machining an external conical surface, and machining a taper round thread conforming to the API standard.

[0046] The beneficial effects of this embodiment

[0047] First, the outdoor numerical control machine tool linkage control system provided in this embodiment can accurately control the linkage of each axis. By controlling the circuit module to link and control the spindle rotation mechanism 2, the X-axis servo mechanism 3, and the Z-axis servo mechanism 4, it can precisely perform coordinated motion according to the preset machining program and parameters, ensuring that the tool moves along the correct trajectory and speed during the machining process, thereby machining complex structures such as tapered circular thread taps that meet the accuracy requirements, and solving the problems of poor machining quality and unqualified pressure-bearing sealing caused by the intermittent force application of manual die threading.

[0048] Secondly, it has high-precision sensors and feedback functions. The system parameters involve various settings such as sensor resolution and feedback frequency multiplication. The high-precision sensors can real-time monitor information such as the position and speed of each axis, and adjust in a timely manner through the feedback system, further improving the machining accuracy, making the structural dimensions such as the pipe threads machined accurate and the surface finish high, meeting strict requirements such as API standards, and ensuring the pressure-bearing capacity of the wellhead after plugging. Improve machining efficiency

[0049] Moreover, it improves the automated machining process, realizing automated control from the initial position positioning, machining mode setting to specific machining actions, without frequent manual intervention and adjustment, greatly shortening the preparation time before machining and the auxiliary time such as tool change and adjustment during the machining process, improving the overall machining efficiency. Compared with the manual machining method or simple electric slide table machining equipment, it can complete the processing of a large number of abandoned wellheads more quickly, meeting the urgent demand for the safety treatment of abandoned wellheads in urban construction.

[0050] At the same time, it has the effect of rapid parameter configuration and strategy selection. The numerical control parameter configuration module and the PLC ladder diagram design module enable operators to quickly configure system parameters and select appropriate machining strategies according to different outdoor environments and the types of pipes 6 to be machined, without the need for complex reprogramming and debugging for each situation, saving time, improving the adaptability and flexibility of the equipment, and further enhancing the machining efficiency. Enhance the stability and reliability of the equipment.

[0051] Immediately afterwards, by replacing manual labor with mechanization and automation, the heavy labor of manual die threading is completely eliminated. Operators only need to perform simple parameter input and start operations through the control panel to achieve automated machining, greatly reducing the labor intensity, improving the working environment, and at the same time reducing the dependence on skilled workers, lowering the labor cost, enabling the enterprise to complete the abandoned wellhead treatment task more efficiently, and improving the economic benefits.

[0052] Finally, reduce the on-site operation space requirements: Compared with the "grinding wheel pushing" processing method, this system does not require a long grinding wheel push rod, thus reducing the on-site operation space required, reducing the amount of earthwork excavation, not only saving construction costs, but also facilitating operation in some sites with limited space and improving the scope of use of the equipment.

[0053] Embodiment 2

[0054] Different from Embodiment 1, when it is necessary to process the pipeline 6 to be processed on a slope with a slope of not less than 12° or on the sea surface, an outdoor numerical control machine tool linkage control system of this embodiment further includes a counterweight mechanism, a counterweight analysis module, and a counterweight verification module.

[0055] Specifically, the counterweight mechanism includes a counterweight block 7, as Figure 4 shown, with the axis of the pipeline 6 to be processed as the symmetry line ( Figure 4 the middle dotted line of the pipeline 6 to be processed in ), the X-axis servo mechanism 3 and the Z-axis servo mechanism 4 are located on the left side of the symmetry line, the counterweight block 7 is located on the right side of the symmetry line, and the counterweight block 7 is bolted to the main shaft rotating mechanism 2, specifically bolted to the main shaft turntable. The whole composed of the counterweight block 7, the X-axis servo mechanism 3 and the Z-axis servo mechanism 4 takes the axis of the pipeline 6 to be processed as the symmetry line. In this way, it is beneficial to evenly disperse the weight on the main shaft turntable, further increase the stability of each mechanism on the main shaft turntable, and ensure the accuracy of the blade 5 during cutting.

[0056] The counterweight analysis module is used to calculate the size of the counterweight block 7 according to the weight on the X-axis servo mechanism 3 on one side of the axis of the pipeline 6 to be processed and the slope size of the pipeline 6 to be processed, and obtain the target counterweight block 7. By installing the target counterweight block 7 on the other side of the axis of the pipeline 6 to be processed, the weights on the left and right sides of the pipeline 6 to be processed are balanced. After placing the counterweight block 7, the initial position positioning module is carried out.

[0057] The counterweight verification module is used to check whether the initial position of the blade 5 deviates within 5 s relative to the first processing point after rotating the handwheel during the initial positioning module. If the blade 5 does not deviate, the processing setting module is executed; if the blade 5 deviates, the weight of the counterweight block 7 is adjusted according to the size of the deviation of the blade 5 until the initial position of the blade 5 does not deviate within 5 s, and then the processing setting module is executed.

[0058] Specifically, the first processing point refers to the position where the blade 5 first contacts the pipe 6 to be processed. This position is on the pipe 6 to be processed and is used as the relative judgment point for the initial positioning of the blade 5. In an outdoor environment, such as in a sloping scenario, the pipe 6 to be processed is likely to be in an inclined state due to its own gravity. When the blade 5 processes the pipe 6 to be processed, the pipe 6 to be processed is prone to slight shaking, which affects the processing quality. Or when the waves collide with the pipe 6 to be processed, the pipe 6 to be processed shakes. However, as long as the relative positions of the blade 5 and the pipe 6 to be processed do not deviate, the processing quality can be guaranteed. By using the first processing point as the relative judgment point for the initial positioning of the blade 5, it is possible to accurately determine whether the blade 5 is in a stable processing state within 5 seconds without spending too much time calibrating the counterweight 7.

[0059] Advantages of this embodiment

[0060] First of all, an outdoor numerical control machine tool linkage control system of this embodiment can adapt to complex terrains and harsh environments, such as the operation capabilities on slopes and the sea surface. For complex environments such as slopes with a slope of not less than 12° or the sea surface, by adding a counterweight mechanism, a counterweight analysis module, and a counterweight calibration module, it is possible to effectively balance the weight distribution of the equipment on an inclined or unstable surface, prevent the equipment from tipping due to the center of gravity deviation or generating large vibrations during the dynamic processing of the blade 5, and ensure that the blade 5 can still be stably processed in these special environments. This greatly expands the application scenarios of the equipment and enables it to better meet the needs of abandoned wellhead treatment in different regions during urban construction, such as coastal areas and mountainous areas.

[0061] Secondly, the anti-interference ability is enhanced. In harsh environments such as the sea surface, it may be interfered by factors such as waves and sea winds, such as the X-axis servo mechanism 3, the YX-axis servo mechanism 3, and the tool mechanism. Through the counterweight mechanism and stable design, its anti-interference ability can be improved, ensuring the continuity and stability of the processing process, reducing the processing errors caused by external environmental factors, and improving the reliability and practicality of the equipment in complex environments.

[0062] At the same time, the processing accuracy and stability are improved. Through precise counterweight balance, the counterweight analysis module can accurately calculate the required target counterweight 7 according to the weight on the X-axis servo mechanism 3 and the slope of the pipe 6 to be processed, and verify and adjust the counterweight effect through the counterweight calibration module before actual processing to ensure the accuracy of the blade 5 during processing, further improving the processing accuracy, making the structures such as the pipe threads processed more in line with the quality requirements, reducing the processing defects caused by equipment shaking or instability, and reducing the defective rate.

[0063] Immediately afterwards, the verification is completed in a short time. At the initial positioning module stage, by rotating the handwheel and observing the position change of the blade 5 relative to the first processing point, it is possible to quickly determine whether the blade 5 is in a stable processing state in a short time and adjust the counterweight 7 in a timely manner. This real-time dynamic verification method is more accurate and efficient than the static verification, can better adapt to the complex and changeable environmental conditions outdoors, and ensure that the equipment is always in the best working state.

[0064] Furthermore, when optimizing the equipment in different outdoor scenarios, only a very small number of verifications are required. The design of the counterweight mechanism, counterweight analysis module, and counterweight verification module makes the installation and commissioning of the equipment in different environments more convenient. There is no need to make large-scale adjustments or modifications to the overall structure of the equipment. Just increase or decrease the counterweight 7 according to the actual situation to achieve balance, which greatly shortens the installation and commissioning time of the equipment, improves the use efficiency of the equipment, and at the same time reduces the difficulty and cost of installation and commissioning.

[0065] Finally, the effect of flexible adjustment and expansion is increased. The design of the counterweight mechanism and configuration adjustment module provides the possibility for the flexible adjustment and expansion of the equipment. When facing pipes of different specifications and materials or new processing requirements, users can quickly adjust the size and position of the counterweight 7 according to needs, or appropriately upgrade and transform the equipment without replacing the whole machine or conducting large-scale re-design, reducing the use and maintenance costs of the equipment and extending the service life of the equipment.

[0066] In this specification, a large number of specific details are described. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, systems, and technologies are not shown in detail so as not to obscure the understanding of this specification. In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, methods, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this specification.

[0067] In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, systems, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0068] The above are only embodiments of the present invention, and common general technical solutions and / or characteristics in the solutions are not described in detail herein. It should be noted that for those skilled in the art, without departing from the technical solution of the present invention, several modifications and improvements can still be made, and these should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicality of the patent. The protection scope required by this application should be subject to the content of its claims, and the specific implementation manners and the like recorded in the specification can be used to interpret the content of the claims.

[0069] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the specification of the present invention.

Claims

1. Outdoor CNC machine tool linkage control system, characterized in that: include: A base fixing mechanism surrounds and is fixedly installed on the side wall of the processed pipe; The main shaft rotating mechanism is movably connected to the base mechanism and is used to perform rotating motion around the processed pipe; An X-axis servo mechanism is installed on the spindle rotation mechanism and is used to drive the blade to process the processed pipe in the radial direction; The Z-axis servo mechanism is installed on the X-axis servo mechanism and is used to drive the blade to process the processed pipe along the axial direction; A control circuit module electrically connects the spindle rotation mechanism, the X-axis servo mechanism and the Z-axis servo mechanism respectively, and is used for controlling the spindle rotation mechanism, the X-axis servo mechanism and the Z-axis servo mechanism in linkage; A numerical control parameter configuration module is used to configure system parameters according to the control circuit connection module to complete the drive settings of the spindle rotation mechanism, the X-axis servo mechanism and the Z-axis servo mechanism; PLC ladder diagram design module, used to set a variety of processing strategies according to different outdoor environments. The processing strategies are used to link and control the motion of the spindle rotation mechanism, X-axis servo mechanism and Z-axis servo mechanism; The first processing module selects a corresponding processing strategy according to the outdoor environment where the processed pipe is located, drives the spindle rotation mechanism, the X-axis servo mechanism and the Z-axis servo mechanism to jointly process the processed pipe and complete the processing of the pipe thread.

2. The linkage control system for outdoor CNC machine tools according to claim 1 is characterized in that: It also includes an initial position positioning module, including a hand wheel, the hand wheel is electrically connected to the control circuit connection module, and the initial position positioning module is used to locate and confirm the initial position of the blade through the hand wheel.

3. The linkage control system for outdoor CNC machine tools according to claim 2 is characterized in that: It also includes a processing mode setting module, which is used to control the first processing module after inputting processing parameters according to the configured system parameters and the initial position of the blade.

4. The linkage control system for outdoor CNC machine tools according to claim 1, characterized in that: System parameters include IO board configuration, axis board type, servo alarm contact type, I / O board digital filter level, control accuracy, axis card port number corresponding to the X-axis, axis card port number corresponding to the Z-axis, axis card port number corresponding to the spindle, X-axis motion direction reverse, Z-axis motion direction reverse, spindle motion direction reverse, X-axis sensor resolution, Z-axis sensor resolution, spindle sensor resolution, X-axis feedback multiplier, spindle feedback multiplier, Z-axis feedback multiplier, X-axis motor gain, spindle motor gain, Z-axis motor gain gain, number of teeth on the X-axis screw, number of teeth on the X-axis motor, number of teeth on the spindle screw, number of teeth on the spindle motor, number of teeth on the Z-axis screw, number of teeth on the Z-axis motor, X-axis PITCH, spindle PITCH, Z-axis PITCH, loop gain of the X-axis servo system, loop gain of the spindle servo system, loop gain of the Z-axis servo system, X-axis sensor type, spindle sensor type, Z-axis sensor type, X-axis type, spindle axis type, Z-axis axis type, acceleration and deceleration time during cutting, acceleration to 10m / s 2 The time required, the post-acceleration and deceleration cutting bell-shaped acceleration and deceleration time, the maximum speed during cutting, the corner reference speed, the reference speed for arc cutting with a radius of 5mm, the acceleration and deceleration time of 1m / min during screw cutting, the handwheel acceleration and deceleration time, the tool length compensation restoration mode, the G92 coordinate retention mode, the workpiece coordinate system retention mode, the retention of the current tool length data when resetting or shutting down, the rigid tapping coupling time and the rigid tapping speed loop gain.

5. The linkage control system for outdoor CNC machine tools according to claim 1, characterized in that: The processing strategy includes multiple working modes, feed rate mode, spindle rate mode, handwheel motion control mode, alarm mode and processing control mode.

6. The linkage control system for outdoor CNC machine tools according to claim 3 is characterized in that: The machining parameters include the X-axis cutting starting point coordinates, the Z-axis cutting starting point coordinates, the cutting end point coordinates, the feed speed, the spindle speed and the number of reciprocating cycles.

7. The linkage control system for outdoor CNC machine tools according to claim 1, characterized in that: The outdoor environment includes fields, slopes and sea.

8. The linkage control system for outdoor CNC machine tools according to claim 1, characterized in that: The control circuit module includes a CNC controller, an input / output board, a handwheel connection port, an operation panel, and a three-in-one driver; The CNC controller is electrically connected to one end of the three-in-one driver, one end of the input / output board and one end of the operation panel respectively, and the other end of the operation panel is electrically connected to the handwheel connection port; the other end of the three-in-one driver is electrically connected to the spindle rotation mechanism, the X-axis servo mechanism and the Z-axis servo mechanism respectively.

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