Portable intelligent pipeline groove machining device and machining method

Abstract

The embodiment of the invention provides a portable intelligent pipeline groove machining device and method, and relates to the technical field of welding. The device aims to solve the problems that a traditional groove machining device needs to accurately fix a pipeline or machining equipment, and multiple times of segmented machining and manual measurement are needed for controlling the machining precision, so that the groove precision is insufficient, and the efficiency is low. The pipeline machining device comprises a fixed base, a rotating part, a machining assembly, a scanning assembly and a control system. The fixed base is used for being fixed in a pipeline. A rotating connection point of the rotating piece and the fixed base is used as a three-dimensional coordinate origin; the machining assembly is movably arranged in the radial direction and the axial direction of the rotating piece. The scanning assembly is movably arranged in the radial direction of the rotating part. The control system is used for generating a machining path according to the model and the target groove parameters and controlling and driving the machining assembly to continuously machine and form the target groove at a time. The processing method is implemented by adopting the device. One-time machining forming of the groove is achieved, and efficiency and precision are improved.

Description

Technical Field

[0001] This invention relates to the field of welding technology, and more specifically, to a portable intelligent pipe beveling device and method. Background Technology

[0002] The mechanization, automation, and intelligentization of welding technology have placed increasingly higher demands on the precision of pre-welding preparation, especially beveling. Currently, there are generally two methods for processing pipe welding bevels. One is purely manual processing: using manual flame cutting or grinding with a grinding wheel to process the required bevel. This method has low requirements for processing dimensions and precision, making it difficult to process complex bevels, and is basically only suitable for bevels welded manually. The other is machining: using mechanical movement to drive the cutting tool to process the required bevel. This method guarantees a certain level of precision and can process bevels of a certain complexity, meeting the requirements of mechanized welding. Machining equipment is divided into machine tool-type processing equipment and fixture-type processing equipment. Machine tool-type equipment is fixed in position, generally using a method where the pipe rotates while the tool remains stationary, while fixture-type equipment is a movable device, generally using a method where the pipe remains stationary while the tool rotates. The two methods described above, one using the pipe as the center of motion and the other using a fixture, generally involve multiple segmented processing steps and manual measurement and control during the process. Neither can overcome the inherent dimensional deviations of the pipe (such as wall thickness deviation, pipe eccentricity, and pipe ellipticity), resulting in deviations in the circumferential bevel dimensions, such as processing thickness, bevel angle, and bevel flatness. Furthermore, the independent processing of the two bevel sides of the weld joint, without any correlation, leads to differences in circumferential wall thickness, misalignment, and assembly gaps in subsequent pipe assembly welding, increasing the difficulty of subsequent welding. The welding process requires adjustments to welding parameters based on different circumferential dimensions, which to some extent hinders the development and application of mechanization, automation, and intelligent systems. Summary of the Invention

[0003] The following provides a brief overview of one or more aspects to offer a basic understanding of them. This overview is not an exhaustive summary of all conceived aspects, nor is it intended to identify key or decisive elements of all aspects, nor to define the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form to prepare for the more detailed descriptions that follow.

[0004] The present invention aims to provide, for example, a portable intelligent pipe beveling device that can improve the problems of insufficient beveling accuracy and low efficiency caused by the need for precise fixing of pipes or processing equipment and the need for multiple segmented processing with manual measurement and control of processing accuracy in traditional beveling devices.

[0005] The present invention also aims to provide a portable intelligent pipe beveling method, which can improve the problems of insufficient beveling accuracy and low efficiency caused by the need for precise fixing of pipes or processing equipment in traditional beveling devices, and the need for multiple segmented processing supplemented by manual measurement and control of processing accuracy.

[0006] The embodiments of the present invention can be implemented as follows:

[0007] This invention provides a portable intelligent pipe beveling device, including a fixed base, a rotating component, a processing assembly, a scanning assembly, and a control system. The fixed base is used to fix the device inside a pipe. The rotating component is rotatably connected to the fixed base, and the rotational connection point between the rotating component and the fixed base serves as the origin of a three-dimensional coordinate system. The processing assembly is movably disposed on the rotating component along its radial and axial directions and rotates circumferentially with the rotating component. The processing assembly is used to perform beveling processing. The scanning assembly is movably disposed on the rotating component along its radial direction and rotates circumferentially with the rotating component. The rotating component rotates circumferentially, and the scanning component is used to acquire three-dimensional data of the pipeline. Both the scanning component and the processing component are connected to the control system. The control system is used to construct a three-dimensional spatial model of the pipeline to be processed area based on the scanning data of the scanning component. It is also used to generate an adaptive processing path based on the model and the target bevel parameters, and control the driving processing component to move in circumferential, radial, or axial linkage to continuously process the target bevel in one go. The control system is also used to compare the three-dimensional data of the processed area acquired in real time by the scanning component with the target bevel parameters, and dynamically adjust the processing parameters to achieve closed-loop correction.

[0008] In addition, the portable intelligent pipe beveling device provided in the embodiments of the present invention may also have the following additional technical features:

[0009] Optionally, the rotating component includes a connecting rod and a rotating rod; one end of the connecting rod is fixed to the fixed base, and the other end of the connecting rod is connected to the rotating rod. The rotating rod rotates circumferentially around the axis of the connecting rod, and the rotation connection point between the rotating rod and the connecting rod is the origin of the three-dimensional coordinate system.

[0010] Optionally, the rotating rod is provided with a first radial sliding guide and a second radial sliding guide for guiding radial displacement, the processing component is mounted on the first radial sliding guide and moves radially, and the scanning component is mounted on the second radial sliding guide and moves radially.

[0011] Optionally, the first radial sliding guide rail and the second radial sliding guide rail are symmetrically distributed at 180° along the circumference of the rotating rod.

[0012] Optionally, the machining assembly includes an axial guide rail, a first fixed seat, a machining device, and a machining head. The axial guide rail is mounted on the first radial sliding guide rail and moves radially. The first fixed seat is mounted on the axial guide rail and moves axially. The machining device is fixed to the first fixed seat and connected to the machining head. The machining device is used to drive the machining head to rotate.

[0013] Optionally, the scanning assembly includes a second fixed base, a vision camera, and a 3D laser scanner; the second fixed base is mounted on the second radial sliding guide rail and moves radially, the vision camera and the 3D laser scanner are fixed on the second fixed base, and both the vision camera and the 3D laser scanner are communicatively connected to the control system, the vision camera is used for image recognition, and the 3D laser scanner is used for 3D modeling.

[0014] Optionally, the fixed base is an expandable chuck structure, which is fixed to the inner wall of the pipe by radial telescopic claws.

[0015] Embodiments of the present invention also provide a portable intelligent pipe beveling method. Based on the claimed portable intelligent pipe beveling device, the method includes the following steps:

[0016] The portable intelligent pipe beveling device is fixed to the end of the pipe by a fixed base, and a three-dimensional coordinate origin is established.

[0017] The scanning component scans the area of ​​the pipeline to be processed, and the control system constructs a three-dimensional spatial model.

[0018] The control system compares the model with the target bevel parameters, calculates the processing amount, and generates an adaptive processing path.

[0019] The control system drives the processing components to continuously process and shape the material in one go according to an adaptive processing path, and performs real-time closed-loop feedback control.

[0020] The scanning component scans the processed area in real time, and the control system dynamically corrects the processing parameters.

[0021] Optionally, the dynamic correction includes:

[0022] The actual measurement model of the processed bevel is generated in real time by scanning components;

[0023] The control system compares the measured model with the theoretical model using three-dimensional data.

[0024] Based on the comparison results, the control system adjusts the radial feed rate and axial feed rate of subsequent machining points.

[0025] Optionally, the portable intelligent pipe beveling method is performed on the pipe on the other side of the weld joint;

[0026] The control system performs data correlation analysis based on the scanning models of both bevels.

[0027] The control system generates mirror compensation machining parameters to control the machining of the second side bevel of the machining component.

[0028] The beneficial effects of the portable intelligent pipe beveling device and method according to embodiments of the present invention include, for example:

[0029] A portable intelligent pipe beveling device includes a fixed base, a rotating component, a processing assembly, a scanning assembly, and a control system. The fixed base is used to fix the device inside the pipe. The rotating component is rotatably connected to the fixed base, and the rotation connection point between the rotating component and the fixed base serves as the origin of a three-dimensional coordinate system. The processing assembly is movably mounted on the rotating component along its radial and axial directions and rotates circumferentially with the rotating component. The processing assembly is used to perform beveling processing. The scanning assembly is movably mounted on the rotating component along its radial direction and rotates circumferentially with the rotating component. The scanning assembly is used to acquire three-dimensional data of the pipe. Both the scanning assembly and the processing assembly are connected to the control system. The control system is used to construct a three-dimensional spatial model of the pipe area to be processed based on the scanning data from the scanning assembly. It is also used to generate an adaptive processing path based on the model and target beveling parameters and control the driving of the processing assembly to move in a coordinated manner in the circumferential, radial, or axial directions to continuously process the target beveling in one operation. The control system is also used to compare the three-dimensional data of the processed area acquired in real time by the scanning assembly with the target beveling parameters and dynamically adjust the processing parameters to achieve closed-loop correction.

[0030] The three-dimensional model is acquired by the scanning component and combined with the theoretical data of the bevel machining. The machining amount at each point in the circumferential, axial and radial directions of the bevel is calculated, and the machining path and machining amount are established. During the machining process, the position and feed rate of the machining module are automatically adjusted to drive the machining component to machine the bevel and achieve one-time machining of the bevel.

[0031] The portable intelligent pipe beveling method, implemented using the aforementioned device, improves upon the problems of insufficient beveling accuracy and low efficiency caused by the traditional beveling device, which requires precise fixing of the pipe or processing equipment and multiple segmented processing steps supplemented by manual measurement and control of processing accuracy. Attached Figure Description

[0032] The above-described features and advantages of the present invention will be better understood after reading the following detailed description of embodiments of the present disclosure in conjunction with the accompanying drawings. In the drawings, components are not necessarily drawn to scale, and components having similar related characteristics or features may have the same or similar reference numerals.

[0033] Figure 1This is a schematic diagram of the structure of the portable intelligent pipe beveling device provided in an embodiment of the present invention;

[0034] Figure 2 A flowchart of a portable intelligent pipe beveling method provided in an embodiment of the present invention.

[0035] Icons: Pipe-10; Portable intelligent pipe beveling device-20; Fixed base-100; Control system-200; Connecting cable-210; Connecting rod-300; Rotating rod-310; First radial sliding guide rail-400; Axial guide rail-410; First fixed seat-420; Processing device-430; Processing cutter head-440; Second radial sliding guide rail-500; Second fixed seat-510; Vision camera-520; 3D laser scanner-530. Detailed Implementation

[0036] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. It should be noted that the aspects described below with reference to the accompanying drawings and specific embodiments are merely exemplary and should not be construed as limiting the scope of protection of the present invention in any way.

[0037] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," "outer," or "vertical" appear, the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use, and does not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0038] At the same time, it should be noted that the terms "first" and "second" are used only for distinguishing descriptions and should not be interpreted as indicating or implying relative importance.

[0039] In the description of this invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an integral connection, or a detachable connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or a connection within two components, etc. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0040] The following is combined Figures 1 to 2 The portable intelligent pipe beveling device 20 provided in this embodiment will be described in detail.

[0041] Please refer to Figure 1This invention provides a portable intelligent pipe beveling device 20, including a fixed base 100, a rotating component, a processing assembly, a scanning assembly, and a control system 200. The fixed base 100 is fixed inside a pipe 10. The rotating component is rotatably connected to the fixed base 100, and the rotation connection point between the rotating component and the fixed base 100 serves as the origin of a three-dimensional coordinate system. The processing assembly is movably disposed on the rotating component along its radial and axial directions and rotates circumferentially with the rotating component. The processing assembly is used to perform beveling processing. The scanning assembly is movably disposed on the rotating component along its radial direction and rotates circumferentially with the rotating component. The component rotates circumferentially, and the scanning component is used to acquire three-dimensional data of the pipe 10. Both the scanning component and the processing component are connected to the control system 200. The control system 200 is used to construct a three-dimensional spatial model of the area to be processed in the pipe 10 based on the scanning data of the scanning component. It is also used to generate an adaptive processing path based on the model and the target bevel parameters, and to control the driving component to move in circumferentially, radially, or axially to continuously process the target bevel in one go. The control system 200 is also used to compare the three-dimensional data of the processed area acquired in real time by the scanning component with the target bevel parameters, and dynamically adjust the processing parameters to achieve closed-loop correction.

[0042] The mechanical zero point is established by embedding the pipe 10 within the fixed base 100. An absolute spatial coordinate system is constructed using the rotation connection point of the rotating component as the origin of the three-dimensional coordinate system, overcoming the shortcomings of traditional equipment positioning that relies on the shape of the pipe 10. The scanning component achieves full-view coverage through radial movement and circumferential rotation, collecting point cloud data to construct parameters with deviations, such as wall thickness and ellipticity, replacing manual measurement. The control system 200 discretizes the three-dimensional model into N circumferential processing sections, comparing them with the target bevel parameters to calculate the compensation amount at each point. The processing component executes: the rotating component drives directional rotation, radial feed, axial displacement, and cutter head rotation; these four degrees of freedom work together to achieve continuous one-time forming, eliminating segmented joints. Closed-loop dynamic correction scans the processed area in real time, calculating the deviation matrix through a point cloud matching algorithm.

[0043] Improved accuracy: adaptive path compensation for pipe wall thickness deviation; increased efficiency: one-time continuous processing enables single-pass beveling, shortening processing time; optimized pairing: closed-loop correction; intelligent implementation: fully automated operation eliminates manual intervention, providing standardized beveling for welding robots, ultimately achieving the core benefit of significantly improving welding automation rate.

[0044] The adaptive machining path refers to the tool movement trajectory dynamically generated by the control system 200 based on the real-time constructed 3D spatial model and target bevel parameters. This path has the following characteristics: dynamic compensation, actively correcting inherent deviations of the pipe 10 (uneven wall thickness / ellipticity / eccentricity), for example: when the scan detects a 2mm increase in wall thickness at a certain circumferential position, the radial feed at that point is automatically increased; continuity, completing the entire bevel machining in one continuous operation (non-segmented machining), for example: the tool moves continuously along a helical trajectory (axial + circumferential + radial linkage); and real-time adjustability, dynamically optimizing subsequent paths based on measured data during machining, for example: if the angle deviation of the machined area is 0.5°, the radial compensation amount is increased in subsequent paths. Specifically, 3D modeling is used to establish a 3D spatial model through vision and laser scanning, and an initial path is generated based on the actual geometry; deviation compensation is used to solve the beveling deviation caused by deviations such as pipe wall thickness and ellipticity, and a differentiated feed amount is embedded in the path; closed-loop correction is used to scan the processed area in real time, dynamically adjust the processing deviation, and correct the subsequent trajectory in real time during path execution; and double-sided associated processing is achieved by fitting the data model to realize the associated processing of the beveling on both sides of the weld, with the second side path inheriting the compensation logic of the first side.

[0045] The control system 200 is the control unit of the entire processing device 430. By receiving the initial information from the vision camera 520, it establishes a three-dimensional model of the beveling process through three-dimensional laser scanning, designs the processing path, controls the processing module to perform one-time processing of the beveling of the pipe 10, and performs real-time detection of the beveling processing data to compare and correct the theoretical and actual data, so as to ensure the processing quality.

[0046] Reference Figure 1 In this embodiment, the rotating component includes a connecting rod 300 and a rotating rod 310; one end of the connecting rod 300 is fixed to the fixed base 100, and the other end of the connecting rod 300 is connected to the rotating rod 310. The rotating rod 310 rotates circumferentially around the axis of the connecting rod 300, and the rotation connection point between the rotating rod 310 and the connecting rod 300 is the origin of the three-dimensional coordinate system.

[0047] The fixed base 100, connecting rod 300, and rotating rod 310 form the base of the entire processing equipment. They are fixed to the end of the pipe 10 and are used to support the scanning and processing components, providing support and positioning for the processing device 430. A three-dimensional coordinate origin is also set to provide a three-dimensional spatial point for the entire equipment and processing method, establishing a three-dimensional model reference point.

[0048] Specifically, the rotating component structure establishes a fixed reference (fixed to the base) through the connecting rod 300. The rotating rod 310 rotates circumferentially around its axis, and the rotation connection point is set as the origin of the three-dimensional spatial coordinate system, forming a dynamic spatial coordinate system. The principle is as follows: using the mechanical rotation center as the absolute positioning reference, regardless of the fixed position of the fixed base 100 within the pipe 10, and without needing to guarantee the installation accuracy of the fixed base 100, the processing coordinates can be calculated, eliminating accumulated assembly errors. When the rotating rod 310 carries the scanning / processing components, it ensures that all motion trajectories are calculated with the origin as the reference. This improves positioning accuracy and ensures the accuracy of 3D modeling; simplifies motion control, allowing scanning and processing paths to be directly calculated using polar coordinates; enhances portability, eliminating the precision leveling process of traditional equipment and reducing installation time.

[0049] Reference Figure 1 In this embodiment, the rotating rod 310 is provided with a first radial sliding guide rail 400 and a second radial sliding guide rail 500 for radial displacement guidance. The processing component is installed on the first radial sliding guide rail 400 and moves radially, and the scanning component is installed on the second radial sliding guide rail 500 and moves radially.

[0050] By employing a dual-rail separation design, the machining component and the scanning component are respectively mounted on the first and second radial sliding guide rails 500, enabling independent radial displacement control of the functional modules. The scanning component is unaffected by machining vibrations, and machining and scanning can be performed synchronously. The independent movement of the machining and scanning components avoids mechanical interference and reduces the failure rate.

[0051] Reference Figure 1 In this embodiment, the first radial sliding guide rail 400 and the second radial sliding guide rail 500 are symmetrically distributed at 180° along the circumference of the rotating rod 310.

[0052] The 180° symmetrical distribution design utilizes the principles of mass balance and spatial isolation to arrange the processing and scanning components symmetrically on both sides of the rotating rod 310. This symmetrical structure eliminates rotational eccentricity vibrations, ensuring stability during high-speed rotation; simultaneously, it maximizes spacing, isolating processing vibrations from interfering with scanning accuracy. Improved dynamic balance results in zero scanning interference, optimized space utilization, avoidance of component collision risks, and reduced equipment size.

[0053] Reference Figure 1 In this embodiment, the processing assembly includes an axial guide rail 410, a first fixed base 420, a processing device 430, and a processing head 440. The axial guide rail 410 is mounted on a first radial sliding guide rail 400 and moves radially. The first fixed base 420 is mounted on the axial guide rail 410 and moves axially. The processing device 430 is fixed to the first fixed base 420 and is connected to the processing head 440. The processing device 430 is used to drive the processing head 440 to rotate.

[0054] The axial guide rail 410 is connected to the end of the rotating rod 310, and is distributed at 180 degrees with the scanning component. It corresponds to the three-dimensional coordinate origin and is controlled and recorded in real time by the control system 200. It is used to support the processing device 430 and the processing head 440, and to perform beveling processing according to the processing data provided by the control system 200.

[0055] Specifically, three-degree-of-freedom precision control is achieved through the principle of kinematic chain superposition: the axial guide rail 410 is supported by the radial sliding guide rail to provide radial feed, the first fixed seat 420 achieves axial displacement along the axial guide rail 410, and the machining device 430 drives the tool head to rotate. The accuracy of composite machining is improved, and the three-axis linkage reduces positioning errors; the adaptability to complex bevels is enhanced, and V / U-shaped and other irregular bevels can be machined through axis coordination; the separation of the tool head rotation and feed motion reduces vibration.

[0056] Reference Figure 1 In this embodiment, the scanning component includes a second fixed base 510, a visual camera 520, and a three-dimensional laser scanner 530. The second fixed base 510 is mounted on a second radial sliding guide rail 500 and moves radially. The visual camera 520 and the three-dimensional laser scanner 530 are fixed on the second fixed base 510, and both the visual camera 520 and the three-dimensional laser scanner 530 are communicatively connected to the control system 200. The visual camera 520 is used for image recognition, and the three-dimensional laser scanner 530 is used for three-dimensional modeling.

[0057] The system comprises a second fixed base 510, a vision camera 520, and a 3D laser scanning device. It is connected to the end of the rotating rod 310 via a fixed base 100, corresponding to the origin of the 3D coordinate system. The control system 200 controls and records the real-time spatial position of the fixed base 510, which supports the vision camera 520 and the 3D laser scanning device. The rotating rod 310 rotates circumferentially, providing specific data for the processing device 430 to scan the area to be processed and establish an actual processing model. Simultaneously, it scans and models the completed bevel data, and the control system 200 performs data fitting to determine if it meets dimensional requirements.

[0058] Specifically, the second fixed seat 510 moves radially along the second radial sliding guide rail 500 to adjust the scanning distance, and simultaneously rotates circumferentially with the rotating rod 310 to cover the 360° surface of the pipe 10; the visual camera 520 captures surface feature images, and the 3D laser scanner 530 simultaneously emits laser point clouds. The data from the two sensors are fused by the control system 200 to reconstruct the 3D model. Full-circumference scanning without blind spots is achieved, and radial movement compensates for changes in pipe diameter.

[0059] Reference Figure 1 In this embodiment, the fixed base 100 is an expandable chuck structure, which is fixed to the inner wall of the pipe 10 by radial telescopic claws.

[0060] The expandable chuck structure works based on the principle of radial synchronous drive: the central conical drive shaft of the chuck is pushed axially in a controlled manner, which forces the circumferentially distributed wedge-shaped sliders to expand outward synchronously in the radial direction, driving the jaws to fit tightly against the inner wall of the pipe 10; after locking, a rigid support is formed.

[0061] Reference Figure 2 The present invention also provides a portable intelligent pipe beveling method. Based on the portable intelligent pipe beveling device 20 of the present invention, the method includes the following steps:

[0062] Step S1: Fix the portable intelligent pipe beveling device 20 to the end of the pipe 10 using the fixed base 100, and establish the three-dimensional coordinate origin.

[0063] Step S2: The scanning component scans the area to be processed in the pipeline 10, and the control system 200 constructs a three-dimensional spatial model.

[0064] Step S3: The control system 200 compares the model with the target bevel parameters, calculates the processing amount, and generates an adaptive processing path.

[0065] Step S4: The control system 200 drives the processing components to continuously process and form the shape in one go according to the adaptive processing path, and performs real-time closed-loop feedback control.

[0066] Step S5: The processed area is scanned in real time by the scanning component, and the processing parameters are dynamically corrected by the control system 200.

[0067] This processing method utilizes a control system 200 to acquire and establish a three-dimensional model through a vision camera 520. Combined with theoretical data for processing bevels, it calculates the processing amount at each point in the circumferential, axial, and radial directions of the bevel, and establishes the processing path and processing amount. During the processing, the position and feed rate of the processing module are automatically adjusted to drive the processing module to process the bevel, thereby achieving one-time processing and forming of the bevel.

[0068] Specifically, using the three-dimensional coordinate origin as a reference (S1), a digital model with deviation parameters is constructed through scanning (S2); the control system 200 compares the model with the target parameters to generate an adaptive path with dynamic compensation (S3), driving the processing components to achieve continuous one-time forming through three-axis linkage (S4); simultaneously, the processed area is scanned in real time (S5), and subsequent path parameters are dynamically corrected through point cloud comparison, forming a closed loop of "scanning-decision-processing-verification". This compensates for the pipe wall thickness deviation, and the one-time processing reduces the time required for a single port.

[0069] In this embodiment, step S5, dynamic correction includes: generating a measured model of the machined bevel in real time through the scanning component; comparing the measured model with the theoretical model using three-dimensional data by the control system 200; and adjusting the radial feed and axial feed of subsequent machining points based on the comparison results.

[0070] The state correction principle is based on feedforward-feedback composite control: the scanning component generates a high-precision measured model in real time, and the control system 200 calculates the three-dimensional deviation matrix between the measured model and the theoretical model through the ICP point cloud registration algorithm.

[0071] In this embodiment, a portable intelligent pipe beveling method is performed on the pipe 10 on the other side of the weld joint; the control system 200 performs data correlation analysis based on the beveling scanning models on both sides; the control system 200 generates mirror compensation processing parameters to control the beveling of the second side of the processing component.

[0072] In the field of pipe welding technology, "bevels on both sides of the weld" specifically refers to the bevel structures processed at the ends of the two pipes 10 to be welded. The "weld joint" is the area to be welded formed by the butt joint of the ends of the two pipes 10. "Bevels on both sides" refers to: Pipe 10A bevel: the angled structure formed by cutting at the end of pipe 10A before welding; Pipe 10B bevel: the angled structure formed by cutting at the end of pipe 10B before welding.

[0073] By utilizing the data model's fitting and reuse capabilities, the bevels on both sides of the weld are correlated and their dimensions are made consistent. This correlation between the bevel data and the weld assembly data improves precision, providing a fundamental guarantee for automated welding.

[0074] According to the portable intelligent pipe beveling device 20 provided in this embodiment, the working principle of the portable intelligent pipe beveling device 20 includes:

[0075] Based on the requirements of mechanized and automated welding, and with the aim of reducing process difficulty and ensuring processing accuracy, a portable intelligent pipe beveling device and method are designed. Through portable installation, tool-driven cutting with the rotation of the selectable rotating rod 310 and its own rotational motion, combined with visual recognition and laser scanning 3D modeling, and data fitting, the entire pipe beveling process is fully controlled and completed in one operation using CNC methods and control terminals, ensuring the consistency of circumferential beveling dimensions. Simultaneously, by fitting the circumferential data of the 3D modeling data of both sides of the weld joint, a comparison of the circumferential data of the beveling on both sides of the weld joint is established. The control system 200 calculates the processing data and dimensions of the beveling on both sides of the weld joint, realizing the correlated processing of the beveling dimensions on both sides of the weld joint, minimizing the deviation of the beveling dimensions on both sides, avoiding various deviations in subsequent assembly, improving processing assembly accuracy, and reducing the difficulty of mechanized and automated welding.

[0076] Specifically, the fixed base 100 is connected to the end of the pipe 10 to fix the processing equipment. After the fixed base 100 is installed, the three-dimensional coordinate origin is fixed, and the three-dimensional spatial position of the entire equipment and pipe 10 is determined. One end of the connecting rod 300 is fixed to the fixed base 100, and the other end is used to connect to the rotating rod 310, so that the components on the rotating rod 310 can rotate circumferentially around the connecting rod 300. The rotating rod 310 is provided with a first radial sliding guide rail 400 and a second radial sliding guide rail 500.

[0077] The machining assembly includes an axial guide rail 410, a first fixed base 420, a machining device 430, and a machining head 440, forming a three-dimensional spatial position with the three-dimensional coordinate origin. The axial and radial movements of the fixed base are achieved through the axial movement of the axial guide rail 410 and the radial movement of the first radial sliding guide rail 400. The machining device 430 is mounted on the first fixed base 420. The rotation of the rotating rod 310, the radial movement of the first radial sliding guide rail 400, and the axial movement of the axial guide rail 410 drive the circumferential, radial, and axial movements of the machining device 430, thus realizing the three-dimensional movement of the machining module. The machining head 440 is mounted on the machining device 430 and is driven by the machining device 430 to rotate, thus moving the machining head 440 to perform beveling machining. In other words, the machining module performs beveling machining of the pipe 10 through circumferential, axial, and radial three-dimensional movement and the rotational movement of the machining head 440.

[0078] The scanning assembly comprises a second fixed base 510, a vision camera 520, and a 3D laser scanner 530. The second fixed base 510 is connected to a second radial sliding guide rail 500 on a rotating rod 310 and can move radially along the rotating rod 310. The vision camera 520 and the 3D laser scanner 530 are mounted on the second fixed base 510 and form a 3D spatial position with the 3D coordinate origin. The rotation of the rotating rod 310 and the radial movement of the second radial sliding guide rail 500 drive the camera and the 3D laser scanner to move circumferentially and radially, thereby realizing the data acquisition and input modeling of the end of the pipe 10 to be processed and the processing bevel.

[0079] The control system 200 is the control unit of the entire processing equipment. It drives the fixed base 100 through controllers and drivers to install and fix the device, and drives the movement of the scanning components to acquire and input modeling data from the end of the pipe 10 to be processed, as well as acquiring, modeling, and comparing the bevel data of the processed area. Simultaneously, the control system 200 generates the processing quantity and sequence for each part based on the 3D modeling information acquired by the scanning components and the required bevel dimensions, controlling the processing module to achieve precise bevel processing.

[0080] The portable intelligent pipe beveling device 20 provided in this embodiment has at least the following advantages:

[0081] The three-dimensional model is established by data acquisition from the vision module before processing. Combined with the theoretical data of the bevel to be processed, the processing amount at each point in the circumferential, axial and radial directions is calculated in the background. The processing path and processing amount are established, and the processing module is driven to process the bevel. During the processing, the position of the processing module and the feed rate are automatically adjusted to achieve one-time processing of the bevel.

[0082] Meanwhile, the processing module uses real-time scanning and modeling of the processed parts, compares and analyzes the data with theoretical processing data, controls processing deviations and abnormal situations, and adjusts process deviations in real time, which can effectively control the deviations in the processing process.

[0083] Meanwhile, the processing device 430 can realize the associated processing of the bevels on both sides of the weld through data simulation, reduce the dimensional deviation of the bevels on both sides, ensure the consistency of the bevel dimensions on both sides, and reduce the difficulty of welding mechanization, automation and intelligence.

[0084] By using 3D modeling and processing planning, different beveling amounts at different circumferential locations are achieved, resolving beveling deviations caused by variations in pipe wall thickness and ellipticity. The control system 200 enables one-time beveling of pipe 10, eliminating the need for traditional multi-stage processing supplemented by process measurement to control beveling dimensions.

[0085] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A portable intelligent pipe beveling device, characterized in that, include: A fixed base, which is used to fix the pipe inside; A rotating component is rotatably connected to the fixed base, and the rotational connection point between the rotating component and the fixed base serves as the origin of a three-dimensional coordinate system. A processing assembly is movably disposed on the rotating member along the radial and axial directions and rotates circumferentially with the rotating member; the processing assembly is used to perform beveling processing. A scanning component is movably disposed on the rotating component along the radial direction and rotates circumferentially with the rotating component. The scanning component is used to acquire three-dimensional data of the pipeline. The scanning component and the processing component are both connected to the control system. The control system is used to construct a three-dimensional spatial model of the pipe to be processed area based on the scanning data of the scanning component; and to generate an adaptive processing path and control the driving processing component to move in circumferential, radial or axial linkage according to the model and the target bevel parameters, so as to continuously process and form the target bevel in one go. The control system is also used to compare the three-dimensional data of the processed area collected in real time by the scanning component with the target bevel parameters, and dynamically adjust the processing parameters to achieve closed-loop correction.

2. The portable intelligent pipe beveling device according to claim 1, characterized in that: The rotating component includes a connecting rod and a rotating rod; one end of the connecting rod is fixed to the fixed base, and the other end of the connecting rod is connected to the rotating rod. The rotating rod rotates circumferentially around the axis of the connecting rod, and the rotation connection point between the rotating rod and the connecting rod is the origin of the three-dimensional coordinate system.

3. The portable intelligent pipe beveling device according to claim 2, characterized in that: The rotating rod is provided with a first radial sliding guide and a second radial sliding guide for radial displacement guidance. The processing component is mounted on the first radial sliding guide and moves radially, and the scanning component is mounted on the second radial sliding guide and moves radially.

4. The portable intelligent pipe beveling device according to claim 3, characterized in that: The first radial sliding guide rail and the second radial sliding guide rail are symmetrically distributed at 180° along the circumference of the rotating rod.

5. The portable intelligent pipe beveling device according to claim 3, characterized in that: The machining assembly includes a axial guide rail, a first fixed seat, a machining device, and a machining head. The axial guide rail is mounted on the first radial sliding guide rail and moves radially. The first fixed seat is mounted on the axial guide rail and moves axially. The machining device is fixed to the first fixed seat and connected to the machining head. The machining device is used to drive the machining head to rotate.

6. The portable intelligent pipe beveling device according to claim 3, characterized in that: The scanning assembly includes a second fixed base, a vision camera, and a 3D laser scanner; the second fixed base is mounted on the second radial sliding guide rail and moves radially, the vision camera and the 3D laser scanner are fixed on the second fixed base, and both the vision camera and the 3D laser scanner are communicatively connected to the control system, the vision camera is used for image recognition, and the 3D laser scanner is used for 3D modeling.

7. The portable intelligent pipe beveling device according to claim 1, characterized in that: The fixed base is an expandable chuck structure, which is fixed to the inner wall of the pipe by radial telescopic claws.

8. A portable intelligent pipe beveling method, implemented based on the portable intelligent pipe beveling device according to any one of claims 1-7, characterized in that, Including the following steps: The portable intelligent pipe beveling device is fixed to the end of the pipe by a fixed base, and a three-dimensional coordinate origin is established. The scanning component scans the area of ​​the pipeline to be processed, and the control system constructs a three-dimensional spatial model. The control system compares the model with the target bevel parameters, calculates the processing amount, and generates an adaptive processing path. The control system drives the processing components to continuously process and shape the material in one go according to an adaptive processing path, and performs real-time closed-loop feedback control. The scanning component scans the processed area in real time, and the control system dynamically corrects the processing parameters.

9. The portable intelligent pipe beveling method according to claim 8, characterized in that, The dynamic correction includes: The actual measurement model of the processed bevel is generated in real time by scanning components; The control system compares the measured model with the theoretical model using three-dimensional data. Based on the comparison results, the control system adjusts the radial feed rate and axial feed rate of subsequent machining points.

10. The portable intelligent pipe beveling method according to claim 8, characterized in that: Perform the portable intelligent pipe beveling method on the pipe on the other side of the weld joint; The control system performs data correlation analysis based on the scanning models of the bevels on both sides. The control system generates mirror compensation machining parameters to control the machining of the second side bevel of the machining component.

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