Intelligent control method, device and equipment for self-adaptive force control of grinding device and medium

Abstract

The invention belongs to the technical field of threaded pipe machining, and particularly relates to an intelligent control method, device and equipment for self-adaptive force control of a grinding device and a medium. Comprising the following steps that real-time data of a polishing device in the polishing process are collected; real-time data in the polishing process are analyzed, and control data of preset polishing force Fd are obtained; based on the control data of the preset polishing force, the polishing device is controlled in real time to reach the preset polishing force; by acquiring the polishing force data in real time and analyzing and acquiring the control data of the preset polishing force, the polishing quality of the pipeline is accurately controlled, so that the actual polishing force quickly and accurately approaches the preset polishing force, and the polishing effect on the threaded pipe is optimized.

Description

Technical Field

[0001] This invention belongs to the field of threaded pipe processing technology, and specifically relates to an intelligent control method, device, equipment and medium for adaptive force control of grinding equipment. Background Technology

[0002] In the production, maintenance, and repair of threaded pipes, surface grinding is crucial. Traditional manual pipe grinding methods are labor-intensive, inefficient, and the grinding quality is affected by the worker's skill level and working condition, making it difficult to guarantee uniformity and consistency. While automated grinding equipment exists, it struggles to precisely control the grinding force when dealing with complex pipe conditions, such as variations in curvature at different locations, uneven surface materials, and installation position deviations. Especially when using grinding belts, factors such as belt elasticity, wear, and changes in contact with the pipe lead to unstable grinding force, easily resulting in over- or under-grinding, severely impacting the quality and efficiency of pipe grinding.

[0003] The invention, with publication number CN115476213 A, entitled "Grinding Method, Equipment, Apparatus, and Storage Medium," includes the following steps: acquiring and parsing the current site's work information to obtain task data; parsing the task data to obtain corresponding parsing results; the parsing results include the work object and / or work position; and acquiring and outputting a matching grinding strategy based on the work object and / or work position. The grinding strategy is used to instruct the grinding equipment to enter the corresponding grinding working state. By parsing the current site's work information to obtain task data, and then acquiring and outputting a matching grinding strategy based on the parsing results, the grinding equipment can adopt different grinding strategies according to the work information of different sites to achieve continuous and effective automatic construction operations. However, it does not solve the problem of how to perform grinding adjustments with high precision.

[0004] Therefore, a smart control method with adaptive force control is needed for a grinding device that can perform more precise grinding. Summary of the Invention

[0005] To address the above problems, this invention proposes an intelligent control method for adaptive force control of a grinding device, comprising the following steps: Collect real-time data from the grinding device during the grinding process; Based on the analysis of real-time data during the polishing process, the preset polishing force F is obtained. d Control data; Based on the control data of the preset grinding force, the grinding device is controlled in real time to reach the preset grinding force.

[0006] Furthermore, real-time data of the grinding device during the grinding process is collected, including: Based on real-time monitoring by the pressure sensor, the real-time grinding force F is collected.a ; Based on real-time monitoring by the speed monitoring sensor, the rotational linear velocity V of the threaded pipe being ground is collected. p and the linear velocity V of the grinding belt x .

[0007] Furthermore, obtain the preset polishing force F. d The control data includes: Based on the contact area A between the grinding belt and the pipe surface, and the rotational linear velocity V of the threaded pipe being ground... p and the linear velocity V of the grinding belt x The friction coefficients between the grinding belt and the pipe surface, and the coefficients K1 and K2 determined experimentally, are used to establish a preset grinding force F. d Model; Real-time grinding force F based on time t at and preset polishing force F d Error feedback is used to obtain the preset grinding force F. d The real-time grinding force F at time t at The difference E t ; Based on E t proportionality coefficient K p Integral coefficient K i Differential coefficient K d Feedforward coefficient K f and preset polishing force F d ; The control quantity U for acquiring control data t .

[0008] Furthermore, the intelligent control device controls the grinding device in real time to achieve the preset grinding force, including: According to the control quantity U t Adjust the distance between the grinding device and the pipe to be ground so that the real-time grinding force F a Approaching the preset polishing force F d .

[0009] Furthermore, it also includes: Based on the real-time monitoring of the surface roughness of the tube after grinding, determine whether the grinding belt needs to be replaced. Determining whether the polishing belt needs to be replaced includes: The roughness test data of the tube surface after grinding is compared with the preset roughness data. If the roughness test data of the tube surface after grinding exceeds the preset roughness data, it is determined that the grinding belt should be replaced.

[0010] This invention proposes an intelligent control device for adaptive force control of a grinding apparatus, applied to the aforementioned intelligent control method for adaptive force control of a grinding apparatus, comprising: Crossbeam, drive mechanism, grinding mechanism, linkage mechanism, and control system; A drive rod is fixedly connected to the crossbeam, and a mounting box is fixedly connected to the output end of the drive rod. The installation box has drive mechanisms installed at both ends. The two sets of drive mechanisms are located on both sides of the pipe to be polished. A polishing mechanism is installed on each of the two sets of drive mechanisms. The drive mechanisms drive the polishing mechanism to move in the horizontal direction of the pipe to be polished. A linkage mechanism is installed between the two grinding mechanisms, which drives the grinding mechanism to move vertically in the pipe to be ground. The control system is connected to the drive mechanism, the grinding mechanism, and the linkage mechanism, and the control system implements the steps of the above method.

[0011] Furthermore, the drive mechanism includes a first drive component, a threaded rod, and a transmission block; The inner walls at both ends of the mounting box are fixedly connected to a No. 1 driving component, and the output end of the No. 1 driving component is fixedly connected to a threaded rod; a transmission block is threadedly connected to the threaded rod, and the transmission block is slidably connected to the inner wall of the mounting box. A first transmission plate is fixedly connected to the transmission block. One end face of the first transmission plate is slidably connected to the inner wall of the mounting box, and a slider is fixedly connected to the other end face of the first transmission plate. The slider is slidably connected to the grinding mechanism. The grinding mechanism includes a mounting plate and a second driving component. The mounting plate is provided with a slide rail, and the slider slides on the slide rail. The fixed end of the second drive component is fixedly connected to the mounting plate; the mounting plate is rotatably connected to a drive wheel and a mounting wheel, and the output end of the second drive component is fixedly connected to the drive wheel; a grinding belt is connected between the drive wheel and the mounting wheel. A second drive rod is fixedly connected to the mounting plate. A mounting frame is fixedly connected to one end of the second drive rod. A tension wheel is rotatably connected inside the mounting frame. The tension wheel contacts the grinding belt. An elastic element is sleeved on the second drive rod. The elastic element is fixedly connected to the mounting frame. The linkage mechanism includes a mounting column fixedly connected to the mounting box, a mounting block slidably connected to the mounting column, and a first connecting plate rotatably connected to both sides of the mounting block; The first connecting plate has a positioning wheel rotatably connected to one end near the mounting block, and a second connecting plate rotatably connected to the other end of the first connecting plate. The end of the second connecting plate away from the first connecting plate is fixedly connected to the mounting plate. The mounting box is also equipped with a dust collection mechanism.

[0012] Furthermore, it also includes a rotating mechanism, which includes a support plate, a mounting ring fixedly connected to the support plate, a transmission ring rotatably connected inside the mounting ring, and two opposing electric rods fixedly connected inside the transmission ring. The output end of the electric rods is fixedly connected to a clamping block. The outer ring of the transmission ring is provided with a transmission gear ring, and a third driving component is installed on the mounting ring. The output end of the third driving component is fixedly connected to a transmission shaft, and a transmission gear is fixedly provided on the outer surface of the transmission shaft. The transmission gear meshes with the transmission gear ring.

[0013] This invention proposes an intelligent control device for adaptive force control of a grinding device, applied to the aforementioned intelligent control method for adaptive force control of a grinding device, comprising: The data acquisition module is used to collect real-time data from the grinding device during the grinding process; The analysis module is used to analyze real-time data during the polishing process to obtain the preset polishing force F. d Control data; The output module is used to control the grinding device in real time to achieve the preset grinding force based on the control data of the preset grinding force.

[0014] This invention proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the intelligent control method for adaptive force control of a grinding device as described above.

[0015] Beneficial effects The advantages of this invention over the prior art are as follows: 1. This application precisely controls the quality of pipe grinding by acquiring grinding force data in real time and analyzing the control data of preset grinding force.

[0016] 2. This application utilizes a high-precision force sensor to monitor the grinding force in real time. Combined with a preset grinding force model and a real-time control algorithm, it can precisely adjust the distance between the grinding belt and the pipe surface, ensuring that the actual grinding force consistently approaches the desired grinding force, thus avoiding over- or under-grinding. Regardless of variations in curvature at different parts of the pipe or uneven surface material, it guarantees grinding uniformity and consistency, significantly improving the grinding quality of the pipe surface.

[0017] 3. This application uses a first drive rod to move the mounting box, which in turn drives the threaded rod with a first drive component, allowing the mounting plate to move flexibly. When the two mounting plates come close together, the first connecting plate, positioning wheel, and other components in the linkage mechanism work together to automatically adjust the grinding height of the grinding belt according to the diameter of the threaded pipe. This feature allows the device to adapt to the grinding needs of threaded pipes of different diameters without complicated manual adjustments, significantly improving the versatility and ease of use of the equipment, and avoiding the problems of inconvenience or inability to grind due to differences in pipe diameter.

[0018] 4. This application utilizes an electric lever to drive the clamping block to hold the threaded pipe, providing a stable and adjustable clamping force. This ensures that threaded pipes of different specifications remain stable during grinding, preventing shaking or displacement, thus providing a fundamental guarantee for high-quality grinding operations. Simultaneously, the third drive component drives the threaded pipe to rotate via transmission gears and a transmission gear ring. The stable transmission structure and reliable power transmission ensure the smoothness and continuity of the threaded pipe's rotation.

[0019] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A flowchart illustrating the method in an embodiment of the present invention is shown.

[0022] Figure 2 A front view of the internal structure of the intelligent control device in an embodiment of the present invention is shown.

[0023] Figure 3 It shows Figure 2 A magnified view of a portion of point A in the middle.

[0024] Figure 4 A side view of the internal structure of the rotating mechanism in an embodiment of the present invention is shown.

[0025] In the diagram: 1. Crossbeam; 2. Drive rod No. 1; 3. Mounting box; 4. Drive component No. 1; 5. Threaded rod; 6. Transmission block; 7. First transmission plate; 8. Slide rail; 9. Mounting plate; 10. Dust extraction mechanism; 11. Mounting column; 12. Mounting block; 13. First connecting plate; 14. Second connecting plate; 15. Drive wheel; 16. Mounting wheel; 17. Grinding belt; 18. Drive rod No. 2; 19. Mounting frame; 20. Tensioning wheel; 21. Elastic element; 31. Support plate; 32. Mounting ring; 33. Electric rod; 34. Clamping block; 35. Transmission gear ring; 36. Drive component No. 3; 37. Transmission shaft; 38. Transmission gear; 39. Transmission ring. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Example 1 This application provides an intelligent control method for adaptive force control of a grinding device, referencing... Figure 1 This includes the following steps: Collect real-time data from the grinding device during the grinding process; Based on the analysis of real-time data during the polishing process, the preset polishing force F is obtained. d Control data; Based on the control data of the preset grinding force, the grinding device is controlled in real time to reach the preset grinding force.

[0028] Real-time data collected by the grinding device during the grinding process, including: Based on real-time monitoring by the pressure sensor, the real-time grinding force F is collected. a ; Based on real-time monitoring by the speed monitoring sensor, the rotational linear velocity V of the threaded pipe being ground is collected. p and the linear velocity V of the grinding belt x .

[0029] Get the preset polishing force F d The control data includes: Based on the contact area A between the grinding belt and the pipe surface, and the rotational linear velocity V of the threaded pipe being ground... p and the linear velocity V of the grinding belt x The coefficient of friction between the grinding belt and the pipe surface Based on the coefficients K1 and K2 determined through experiments, a preset grinding force F is established. d Model; Real-time grinding force F based on time t at and preset polishing force F d Error feedback is used to obtain the preset grinding force F. d The real-time grinding force F at time t at The difference E t ; Based on E t proportionality coefficient K p Integral coefficient K i Differential coefficient K d Feedforward coefficient K f and preset polishing force F d; The control quantity U for acquiring control data t .

[0030] The intelligent control device controls the grinding device in real time to achieve the preset grinding force, including: According to the control quantity U t Adjust the distance between the grinding device and the pipe to be ground so that the real-time grinding force F a Approaching the preset polishing force F d .

[0031] The preset grinding force F d The model is: (1) The preset polishing force is F. d Based on the manager's experience, the contact area A between the grinding belt and the pipe surface was calculated according to the diameter of the pipe being ground. Then, through fitting a large amount of experimental data, the parameters K1 and K2 were determined, and finally the preset grinding force F was obtained. d The model provides a theoretical basis for real-time force control; Preset grinding force F d The model, through fitting extensive experimental data, established the mathematical relationship between the expected grinding force, the actual grinding force, and relevant parameters of the grinding belt and grinding pipe (such as contact area, linear velocity, pipe movement speed, and friction coefficient). This model clarifies the theoretical variation law of the grinding force under different working conditions, providing a theoretical framework for real-time force control algorithms. For example, in real-time force control algorithms, it is necessary to know the variation of the actual grinding force, and the grinding force model can help the algorithm predict the magnitude of the grinding force under different parameter combinations, thus providing a standard for judging whether the actual grinding force meets the expectation. Without the grinding force model, the real-time force control algorithm cannot know what level the grinding force should be under specific working conditions, making effective control difficult.

[0032] Wherein the real-time grinding force F at time t at and preset polishing force F d The error feedback is as follows: E t =F d -F at (2) Where E t This is the error feedback obtained using an improved PID control algorithm at time t; Among them, the control quantity U of the control data t for: (3) Where dt is an integral symbol, representing a "small change in time," signifying the cumulative summation of the error Et from the initial time (0) to the current time (t), reflecting the cumulative effect of the error over time, used to eliminate static errors; d in dt is a differential operator, representing a "small change"; dE t K represents a small change in the error Et; p For proportionality coefficient, K i For the integral coefficient, K d For differential coefficients, K f For feedforward coefficients, E t The error between the real-time grinding force and the preset grinding force at time t.

[0033] proportionality coefficient K p To quickly respond to changes in error, the control quantity is made proportional to the error; the specific value is determined through experimental adjustment. In the grinding device, an initial value can be set first, and then the system response speed and overshoot can be observed experimentally to gradually adjust K. p Until satisfactory response characteristics are obtained; the grinding force model provides the relationship between the desired grinding force and the actual grinding force, K p The choice of which method to use needs to ensure that the system can respond quickly and stably to changes in error in this relationship.

[0034] Integral coefficient K i This is used to eliminate static errors by accumulating the error through integral action and adjusting the control quantity; specific adjustments are made experimentally. During the polishing process, if a steady-state error is detected in the system, K can be gradually increased. i Until the error is eliminated; the integral action helps the system achieve the desired grinding force more accurately, especially in the presence of persistent disturbances or inaccurate models.

[0035] Differential coefficient K d To predict error trends, the control quantity is adjusted in advance through differential action to reduce overshoot and oscillation; this is specifically adjusted experimentally. In a grinding device, an appropriate Kd can improve the system's stability and response speed. Typically, a small value is started and gradually increased until the system response becomes smooth and without overshoot. Differential action enables the system to respond more quickly to rapid changes in the grinding force model, such as sudden changes in pipe curvature or grinding force caused by material inhomogeneity.

[0036] Feedforward coefficient K fThis system is used to adjust the control quantity in advance based on the desired grinding force, improving system response speed and stability. The specific adjustment is determined through theoretical analysis and experimental tuning, based on system characteristics and desired performance. In the grinding device, an initial value can be set based on the grinding force model and historical data, and then further optimized through experiments. Feedforward control directly utilizes the desired grinding force information from the grinding force model to adjust the control quantity in advance, thereby quickly approaching the desired state without relying on error feedback. This helps reduce the system's dynamic error and improve response speed.

[0037] In the intelligent control method of adaptive force control for grinding devices, the coefficients (K) in the control quantity formula... p K i K f and K f All of these coefficients were determined through experimental adjustments and are closely related to the grinding force model. The grinding force model provides the theoretical basis and reference for adjusting these coefficients, enabling the system to accurately adjust the grinding force according to the grinding requirements under different working conditions.

[0038] Based on the control quantity U obtained from the analysis and processing t The distance between the driving grinding belt and the surface of the pipe to be ground is increased, so that the actual grinding force quickly and stably approaches the preset grinding force F. d The real-time force control algorithm determines the control quantity by calculating the error between the desired grinding force and the actual grinding force. The judgment and analysis of the actual grinding force relies heavily on the grinding force model (i.e., the preset grinding force model). This model provides the influence relationship between various parameters and the grinding force. Based on this relationship, the real-time force control algorithm can analyze the possible causes of the error and adjust the control quantity accordingly. For example, when the actual grinding force is found to be less than the desired grinding force, the algorithm, combined with the grinding force model, can determine whether it is due to excessive pipe movement speed, insufficient grinding belt linear speed, or changes in other parameters. Then, by adjusting the force control adjustment mechanism (i.e., the intelligent control device), the distance between the grinding belt and the pipe surface is changed, bringing the actual grinding force closer to the desired grinding force.

[0039] The adaptive force-controlled intelligent grinding device and method for grinding pipe surfaces can effectively improve the quality and efficiency of pipe grinding, reduce labor intensity, adapt to the grinding needs of pipes under different working conditions, and has significant economic and social benefits.

[0040] Also includes: Based on the real-time monitoring of the surface roughness of the tube after grinding, determine whether the grinding belt needs to be replaced. Determining whether the polishing belt needs to be replaced includes: The roughness test data of the tube surface after grinding is compared with the preset roughness data. If the roughness test data of the tube surface after grinding exceeds the preset roughness data, it is determined that the grinding belt should be replaced.

[0041] The surface of the polished pipe should be inspected regularly using a roughness tester. When the polishing process is stable, a acceptable roughness range should be established. If the detected roughness exceeds this range, it indicates a deterioration in polishing effectiveness, which may be due to belt wear. For example, for a certain pipe polishing process, a surface roughness Ra of 0.8-1.6 μm is required. If the detected roughness exceeds 1.6 μm and multiple polishing attempts yield unsatisfactory results, belt replacement should be considered.

[0042] This application precisely controls the quality of pipe grinding by acquiring grinding force data in real time and analyzing the control data of preset grinding force.

[0043] Example 2 The intelligent control device for adaptive force control of the grinding device applies the aforementioned intelligent control method for adaptive force control of the grinding device, with reference to... Figure 2 ,include: Crossbeam 1, drive mechanism, grinding mechanism, linkage mechanism and control system; A drive rod 2 is fixedly connected to the crossbeam 1, and a mounting box 3 is fixedly connected to the output end of the drive rod 2. The mounting box 3 has a drive mechanism installed at both ends. The two drive mechanisms are located on both sides of the pipe to be polished. A polishing mechanism is installed on each of the two drive mechanisms. The drive mechanism drives the polishing mechanism to move in the horizontal direction of the pipe to be polished. A linkage mechanism is installed between the two grinding mechanisms, which drives the grinding mechanism to move vertically in the pipe to be ground. The control system is connected to the drive mechanism, the grinding mechanism, and the linkage mechanism, and the control system implements the steps of the above method.

[0044] The drive mechanism includes a first drive component 4, a threaded rod 5, and a transmission block 6; The inner walls at both ends of the mounting box 3 are fixedly connected to a first driving component 4, and the output end of the first driving component 4 is fixedly connected to a threaded rod 5; a transmission block 6 is threadedly connected to the threaded rod 5, and the transmission block 6 is slidably connected to the inner wall of the mounting box 3. A first transmission plate 7 is fixedly connected to the transmission block 6. One end face of the first transmission plate 7 is slidably connected to the inner wall of the mounting box 3, and a slider is fixedly connected to the other end face of the first transmission plate 7. The slider is slidably connected to the grinding mechanism. The grinding mechanism includes a mounting plate 9 and a second driving component. A slide rail 8 is provided on the mounting plate 9, and the slider slides on the slide rail 8. The mounting plate 9 can slide in contact with the mounting box 3. The fixed end of the second drive component is fixedly connected to the mounting plate 9; the drive wheel 15 and the mounting wheel 16 are rotatably connected on the mounting plate 9; the output end of the second drive component is fixedly connected to the drive wheel 15; a grinding belt 17 is connected between the drive wheel 15 and the mounting wheel 16. refer to Figure 3 A second drive rod 18 is fixedly connected to the mounting plate 9. One end of the second drive rod 18 is fixedly connected to a mounting frame 19. A tension wheel 20 is rotatably connected inside the mounting frame 19. The tension wheel 20 is in contact with the grinding belt 17. An elastic element 21 (spring) is sleeved on the second drive rod 18. The elastic element 21 is fixedly connected to the mounting frame 19. The linkage mechanism includes a mounting column 11 fixedly connected to the mounting box 3, a mounting block 12 slidably connected to the mounting column 11, and a first connecting plate 13 rotatably connected to both sides of the mounting block 12. A positioning wheel is rotatably connected to one end of the first connecting plate 13 near the mounting block 12, and a second connecting plate 14 is rotatably connected to the other end of the first connecting plate 13. The end of the second connecting plate 14 away from the first connecting plate 13 is fixedly connected to the mounting plate 9. The mounting box 3 is also equipped with a dust collection mechanism 10.

[0045] refer to Figure 4 It also includes a rotating mechanism, which includes a support plate 31. A mounting ring 32 is fixedly connected to the support plate 31. A transmission ring 39 is rotatably connected inside the mounting ring 32. Two opposing electric rods 33 are fixedly connected inside the transmission ring 39. A clamping block 34 is fixedly connected to the output end of the electric rods 33. The outer ring of the transmission ring 39 is provided with a transmission gear ring 35, and a third driving component 36 is installed on the mounting ring 32. The output end of the third driving component 36 is fixedly connected to a transmission shaft 37. A transmission gear 38 is fixedly provided on the outer surface of the transmission shaft 37, and the transmission gear 38 meshes with the transmission gear ring 35.

[0046] By fixing the pipe to be ground (threaded pipe) onto the rotating mechanism, the mounting box 3 is moved downwards by the first drive rod 2 (electric telescopic rod), and the mounting box 3 moves the mounting plate 9 downwards, so that the positioning wheel of the linkage mechanism abuts against the top of the pipe to be ground; then the first drive component 4 (which can be a drive motor) drives the threaded rod 5 to rotate, the threaded rod 5 drives the transmission block 6 to move, the transmission block 6 drives the first transmission plate 7 to move, and the first transmission plate 7 drives the mounting plate 9 to move through the slider on the slide rail 8; the two mounting plates 9 move towards each other towards the pipe to be ground; As the two mounting plates 9 approach each other, they move the second connecting plate 14. The second connecting plate 14 then rotates the first connecting plate 13 on the mounting block 12. The positioning wheel on the first connecting plate 13 presses against the top of the pipe to be ground, applying an upward force to the first connecting plate 13 and the second connecting plate 14. This causes the mounting plate 9 to move upward, which in turn moves the mounting wheel 16 and the grinding belt 17 upward, thus adjusting the grinding height of the grinding belt 17. Subsequently, the mounting plate 9 moves the grinding belt 17 against the surface of the pipe to be ground, and the second driving component (drive motor) drives the drive wheel 15 to rotate. The drive wheel 15 then drives the grinding... The belt 17 rotates, grinding the surface of the pipe to be ground. Simultaneously, the rotating component drives the pipe to rotate, thus grinding the pipe. This allows for automatic adjustment of the grinding height when grinding pipes of different diameters, further improving the grinding effect and efficiency. When the grinding belt 17 needs to be replaced, pressing the second drive rod 18 (telescopic rod) releases the tension wheel 20 from the grinding belt 17, allowing for convenient replacement.

[0047] The pipe to be ground is fixed on the rotating mechanism. Specifically, the pipe to be ground is placed inside the transmission ring 39. The electric rod 33 (electric hydraulic rod) drives the two clamping blocks 34 to move towards each other, clamping the pipe to be ground. Then, the third drive component 36 (transmission motor) drives the transmission shaft 37 to rotate. The transmission shaft 37 drives the transmission ring 39 to rotate through the transmission gear 38 and the transmission gear ring 35. The transmission ring 39 drives the pipe to be ground to rotate, thereby clamping and fixing different pipes to be ground, and driving the clamped and fixed pipes to be ground to rotate and grind. Meanwhile, during the polishing process, the dust extraction mechanism 10 (using a vacuum cleaner) sucks out the dust generated during the polishing process.

[0048] Based on the pipe material, pipe diameter, and grinding process requirements, the desired grinding force F is set through the control system. d The value is 15N, the grinding belt linear speed is 20m / s, and the grinding device is installed in a suitable working position to ensure that the pipe to be ground, the linkage mechanism and the rotating mechanism, etc., provide stable support for the pipe. During the grinding process, after the device is started, the grinding belt rotates at high speed, and the pressure sensor monitors the grinding force F in real time. a When the actual grinding force F at the current time t is detected... at With expected polishing force F d When there is a deviation, for example, F at =12N, error E t =F d-F at =15N. The control system calculates the control quantity U based on the improved PID algorithm. t Assuming at this time =3、 =0.8、 =0.2、 =0.5, and the control quantity U is obtained after calculation. t The force is then sent to the first drive component (servo motor) of the force control adjustment mechanism. The servo motor drives the lead screw and nut assembly (threaded rod 5 and transmission block 6, etc.) to move, causing the grinding belt to move a certain distance closer to the pipe to be ground, increasing the grinding force. At the same time, the rotation mechanism (pipe positioning and moving mechanism) drives the pipe to rotate at a constant speed and move axially, ensuring that the grinding belt evenly grinds the pipe surface. Throughout the grinding process, the force is continuously monitored and adjusted until the pipe surface grinding task is completed.

[0049] Example 3 An intelligent control device for adaptive force control of a grinding device, applied to the aforementioned intelligent control method for adaptive force control of a grinding device, includes: The data acquisition module is used to collect real-time data from the grinding device during the grinding process; The analysis module is used to analyze real-time data during the polishing process and obtain control data for the preset polishing force. The output module is used to control the grinding device in real time to achieve the preset grinding force based on the control data of the preset grinding force.

[0050] Example 4 A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described grinding equipment control method.

[0051] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent control method for adaptive force control of a grinding device, characterized in that, Includes the following steps: Collect real-time data from the grinding device during the grinding process; By analyzing real-time data during the polishing process, control data for the preset polishing force is obtained; Based on the control data of the preset grinding force, the grinding device is controlled in real time to reach the preset grinding force.

2. The intelligent control method for adaptive force control of the grinding device according to claim 1, characterized in that, Real-time data collected by the grinding device during the grinding process, including: Real-time grinding force is collected based on real-time monitoring by pressure sensors; Based on real-time monitoring by the speed monitoring sensor, the rotational linear velocity of the grinding threaded pipe and the linear velocity of the grinding belt are collected.

3. The intelligent control method for adaptive force control of the grinding device according to claim 2, characterized in that, Obtain control data for the preset grinding force, including: A pre-defined grinding force model is established based on the contact area between the grinding belt and the pipe surface, the rotational linear velocity of the grinding threaded pipe and the linear velocity of the grinding belt, the friction coefficient between the grinding belt and the pipe surface and the coefficient determined through experiments. Based on the error feedback between the real-time grinding force and the preset grinding force at the corresponding moment, the difference between the preset grinding force and the real-time grinding force at the corresponding moment is obtained. Based on the difference between the preset grinding force and the real-time grinding force at the corresponding moment, the proportional coefficient, integral coefficient, derivative coefficient, feedforward coefficient, and preset grinding force, the control quantity of the control data is obtained.

4. The intelligent control method for adaptive force control of the grinding device according to claim 3, characterized in that, The intelligent control device controls the grinding device in real time to achieve the preset grinding force, including: Adjust the distance between the grinding device and the pipe to be ground according to the control quantity, so that the real-time grinding force approaches the preset grinding force.

5. The intelligent control method for adaptive force control of the grinding device according to claim 1, characterized in that, Also includes: Based on the real-time monitoring of the surface roughness of the tube after grinding, determine whether the grinding belt needs to be replaced. To determine whether the polishing belt needs to be replaced, consider the following: The roughness test data of the tube surface after grinding is compared with the preset roughness data. If the roughness test data of the tube surface after grinding exceeds the preset roughness data, it is determined that the grinding belt should be replaced.

6. An intelligent control device for adaptive force control of a grinding apparatus, characterized in that, The intelligent control method for adaptive force control of the grinding apparatus according to any one of claims 1-5 includes: Crossbeam (1), drive mechanism, grinding mechanism, linkage mechanism and control system; A drive rod (2) is fixedly connected to the crossbeam (1), and a mounting box (3) is fixedly connected to the output end of the drive rod (2). The mounting box (3) has a drive mechanism installed at both ends. The two drive mechanisms are located on both sides of the pipe to be polished. The two drive mechanisms are equipped with a polishing mechanism. The drive mechanism drives the polishing mechanism to move in the horizontal direction of the pipe to be polished. A linkage mechanism is installed between the two grinding mechanisms, which drives the grinding mechanism to move vertically in the pipe to be ground. The control system is connected to the drive mechanism, the grinding mechanism and the linkage mechanism, and the control system implements the steps of the method described in any one of claims 1-5.

7. The intelligent control device for adaptive force control of the grinding apparatus according to claim 6, characterized in that, The drive mechanism includes a first drive component (4), a threaded rod (5), and a transmission block (6). The inner walls at both ends of the mounting box (3) are fixedly connected to a first driving component (4), and the output end of the first driving component (4) is fixedly connected to a threaded rod (5); a transmission block (6) is threadedly connected to the threaded rod (5), and the transmission block (6) is slidably connected to the inner wall of the mounting box (3). A first transmission plate (7) is fixedly connected to the transmission block (6). One side of the first transmission plate (7) is slidably connected to the inner wall of the mounting box (3). A slider is fixedly connected to the other side of the first transmission plate (7). The slider is slidably connected to the grinding mechanism. The grinding mechanism includes a mounting plate (9) and a second driving component. A slide rail (8) is provided on the mounting plate (9), and the slider is slidably connected on the slide rail (8). The fixed end of the second drive component is fixedly connected to the mounting plate (9); the mounting plate (9) is rotatably connected to the drive wheel (15) and the mounting wheel (16); the output end of the second drive component is fixedly connected to the drive wheel (15); a grinding belt (17) is connected between the drive wheel (15) and the mounting wheel (16). A second drive rod (18) is fixedly connected to the mounting plate (9). A mounting frame (19) is fixedly connected to one end of the second drive rod (18). A tension wheel (20) is rotatably connected inside the mounting frame (19). The tension wheel (20) contacts the grinding belt (17). An elastic element (21) is sleeved on the second drive rod (18). The elastic element (21) is fixedly connected to the mounting frame (19). The linkage mechanism includes a mounting column (11) fixedly connected to the mounting box (3), a mounting block (12) slidably connected to the mounting column (11), and a first connecting plate (13) rotatably connected to both sides of the mounting block (12). The first connecting plate (13) is rotatably connected to a positioning wheel at one end near the mounting block (12), and the other end of the first connecting plate (13) is rotatably connected to a second connecting plate (14). The end of the second connecting plate (14) away from the first connecting plate (13) is fixedly connected to the mounting plate (9). The mounting box (3) is also equipped with a dust collection mechanism (10).

8. The intelligent control device for adaptive force control of the grinding apparatus according to claim 6, characterized in that, It also includes a rotating mechanism, which includes a support plate (31), a mounting ring (32) is fixedly connected to the support plate (31), a transmission ring (39) is rotatably connected inside the mounting ring (32), and two opposing electric rods (33) are fixedly connected inside the transmission ring (39). A clamping block (34) is fixedly connected to the output end of the electric rod (33). The outer ring of the transmission ring (39) is provided with a transmission gear ring (35), and a third drive component (36) is installed on the mounting ring (32). The output end of the third drive component (36) is fixedly connected to a transmission shaft (37), and a transmission gear (38) is fixedly provided on the outer surface of the transmission shaft (37). The transmission gear (38) meshes with the transmission gear ring (35).

9. An intelligent control device for adaptive force control of a grinding device, applied to the intelligent control method for adaptive force control of a grinding device as described in any one of claims 1-5, characterized in that, include: The data acquisition module is used to collect real-time data from the grinding device during the grinding process; The analysis module is used to analyze real-time data during the polishing process and obtain control data for the preset polishing force. The output module is used to control the grinding device in real time to achieve the preset grinding force based on the control data of the preset grinding force.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the intelligent control method for adaptive force control of the grinding device as described in any one of claims 1-5.

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