A linearized control steel pipe chamfer positioning machining device and method

Abstract

This invention discloses a linearly controlled steel pipe chamfering and positioning processing device and method, belonging to the field of steel pipe processing technology. The invention includes a support guide roller, a rotary motor, a propulsion mechanism, an inner support assembly, a deflection motor, a steering table, a base cylinder, and a grinding mechanism. The inner support assembly positions and fixes the steel pipe, and the grinding mechanism processes the outer edge of the open end of the steel pipe using a chamfering grinding surface. The method of this invention positions the inner support assembly through the propulsion mechanism, adjusts the position of the grinding mechanism using the deflection motor, and collects steel pipe deformation parameters using a distance sensing module and an angle encoding module. Based on these parameters, the current of the electromagnetic module is dynamically adjusted to achieve linearly controlled grinding. This invention can adapt to steel pipe deformation, avoid uneven grinding, and improve the quality and efficiency of chamfering processing.

Description

Technical Field

[0001] This invention relates to the field of steel pipe processing technology, and in particular to a linearized controlled steel pipe chamfering and positioning processing equipment and method. Background Technology

[0002] In the field of steel pipe production and processing, chamfering the ends of steel pipes is a key process to ensure the accuracy of pipe connections and the safety of assembly. Chamfering requires grinding the outer or inner edge of the open end of the steel pipe at a specific angle to create a smooth transition edge, avoiding installation difficulties or personnel scratches caused by burrs or sharp edges. It also ensures good fit of the steel pipe in subsequent processes such as butt welding.

[0003] However, in actual production, steel pipes are prone to deformation during rolling, transportation, or storage due to uneven stress and temperature changes, such as bending and ellipticity deviation. These deformations cause irregular undulations on the circumferential surface of the open end of the steel pipe. If traditional fixed-track grinding equipment is used directly for chamfering, the following problems will occur: the fixed-position grinding wheel cannot adapt to the irregular surface of the deformed steel pipe, resulting in over-grinding or under-grinding in some areas, ultimately leading to poor chamfering dimensional accuracy and failure to meet assembly requirements.

[0004] In existing technologies, some solutions address the aforementioned problems by first repairing the deformation of the steel pipe (such as straightening and shaping) and then performing chamfering. However, this approach has significant drawbacks: on the one hand, the additional repair process increases production time and costs, reducing processing efficiency; on the other hand, for steel pipes with slight deformation or deformation in specific areas, excessive repair may lead to material damage or decreased dimensional accuracy, thus affecting product quality.

[0005] Therefore, how to achieve precise and uniform chamfering and positioning processing directly on deformed steel pipes without relying on pre-repair procedures has become a technical problem that needs to be solved. Summary of the Invention

[0006] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution:

[0007] This invention provides a linear control steel pipe chamfering and positioning processing equipment, including multiple rolling support guide rollers for supporting steel pipe components. The equipment includes a rotary motor and a propulsion mechanism that drives the rotary motor to move in a straight line. Inner support components connected to the output end of the rotary motor are inserted at the opening positions on both sides of the steel pipe component.

[0008] The rotation angle of the rotary motor is [-2π, 2π], and the rotary motor is equipped with an angle encoding module. The equipment also includes a deflection motor, a steering table connected to the output end of the deflection motor, a base cylinder fixed to the ring side of the steering table, and a grinding mechanism movably connected to the base cylinder.

[0009] The base cylinder includes a cavity, and an adjusting rod with one end inserted into the cavity is guided and mounted on the base cylinder. A tension spring is fitted around the adjusting rod to provide elastic support. The base cylinder is equipped with a distance sensing module for detecting the movement distance of the adjusting rod. The base cylinder also includes an electromagnetic module, and a magnetic block is embedded on the side end of the adjusting rod to magnetically engage with the electromagnetic module.

[0010] The grinding mechanism includes a grinding wheel for grinding the open end of the steel pipe fitting, and the grinding wheel is provided with a chamfered grinding surface that matches the grinding area on the outer edge of the steel pipe fitting.

[0011] As a preferred technical solution of the device of the present invention: the inner support assembly includes a rotating shaft connecting rod fixedly connected to the output end of the rotary motor, a plurality of telescopic drive modules fixed to the ring side of the rotating shaft connecting rod, and a pressing positioning component connected to the output end of the telescopic drive module.

[0012] As a preferred technical solution of the device of the present invention: a set of mounting parts are provided on the ring side of the turntable, the mounting parts have screw hole structures, the base cylinder ring side is provided with a connecting plate that cooperates with the mounting parts, the connecting plate has a first through hole, the first through hole is aligned and cooperates with the screw hole structure of the mounting parts and the first bolt is fastened.

[0013] As a preferred technical solution of the device of the present invention: a cover is fixedly installed on the outer opening of the cylinder cavity, a guide groove is provided in the center of the cover, a smooth sleeve is arranged at the position of the guide groove, and an adjusting rod moves through the smooth sleeve. The base cylinder has multiple end face screw holes, and the cover has multiple second through holes. The second through holes and end face screw holes are aligned and fitted together and secured with second bolts.

[0014] As a preferred embodiment of the device of the present invention: an inner disk is fixedly installed inside the cylinder cavity, and an electromagnetic module and a distance sensing module are embedded in the inner disk, with the detection direction of the distance sensing module facing the side end face of the adjusting rod. A limiting ring is fixedly installed on the ring side of the adjusting rod, the limiting ring being located inside the cylinder cavity, and a tension spring being located between the limiting ring and the inner disk.

[0015] As a preferred technical solution of the device of the present invention: the adjusting rod has a radial slot, and the limiting ring has radial through holes and radial screw holes distributed along the same diameter. The radial through holes and radial screw holes are aligned and fitted with the radial slot and the radial screw is installed.

[0016] As a preferred technical solution of the device of the present invention: the grinding mechanism adopts a low-torque brushless DC motor with power off, the deflection motor adopts a DC servo motor, and the rotation angle of the deflection motor is [0, π / 2].

[0017] This invention also provides a linearized control method for chamfering and positioning steel pipes, comprising the following:

[0018] Step 1: Clean the impurities in the area where the steel pipe fittings are to be processed, and place the steel pipe fittings on the support guide rollers to provide stable support.

[0019] In the second step, the propulsion mechanism is activated, driving the rotary motor and the inner support assembly to move in a straight line, so that the inner support assembly is accurately inserted into the opening position on the side end of the steel pipe until the inner support assembly reaches the preset support position, and the inner support assembly is driven to complete the positioning and fixing of the steel pipe.

[0020] Step 3: Start the deflection motor to drive the steering table, base cylinder, and grinding mechanism to deflect, so that the grinding wheel of the grinding mechanism gradually approaches the outer edge grinding area of ​​the open end of the steel pipe fitting, until the chamfered grinding surface of the grinding wheel initially contacts and engages with the outer edge grinding area. At this time, the tension spring contracts due to compression.

[0021] In step four, the grinding mechanism loses power and torque, activating the distance sensing module and the angle encoding module of the rotating motor. The rotating motor is controlled to rotate the steel pipe one revolution. The distance sensing module collects the distance parameters of the adjustment rod movement caused by the grinding wheel following the undulations of the steel pipe surface in real time, and records the corresponding rotation angle parameters of the rotating motor, establishing a one-to-one mapping relationship between the distance parameters and the angle parameters.

[0022] Step 5: Control the rotation motor to drive the steel pipe to rotate in the opposite direction once. Use the distance sensor module to collect the distance parameters again, and compare the differences between the two collections to ensure that the collected parameters related to the deformation of the steel pipe are accurate and reliable.

[0023] Step six: Start the grinding mechanism to begin operation, and simultaneously restart the rotary motor to rotate the steel pipe. Based on the established mapping relationship between distance and angle parameters, adjust the current intensity of the electromagnetic module in real time.

[0024] When the distance parameter is small, the current intensity is increased, and the magnetic attraction between the electromagnetic module and the magnetic block enhances the backward force of the grinding wheel.

[0025] When the distance parameter is large, the current intensity is reduced. Under the elastic action of the tension spring, the forward tendency of the adjusting rod and the grinding wheel is enhanced, so as to achieve uniform grinding of the outer edge grinding area of ​​the steel pipe.

[0026] In step seven, after the steel pipe has completed one round of uniform grinding, the rotary motor, grinding mechanism, and electromagnetic module are shut down. The deflection motor is then controlled to drive the steering table and grinding mechanism to deflect in the opposite direction, separating the grinding wheel from the grinding area on the outer edge of the steel pipe. Next, the telescopic drive module of the inner support assembly is reset, causing the extrusion positioning component to disengage from the inner wall of the steel pipe. Finally, the inner support assembly is moved out of the open end of the steel pipe by the propulsion mechanism, completing the reset of the entire processing process.

[0027] Compared with existing technologies, the beneficial effects of this invention are:

[0028] This invention achieves precise and stable positioning of steel pipe fittings by configuring a rotary motor and an internal support assembly. It uses a distance sensing module to collect information on the overall deformation state of the steel pipe, and combines the synergistic effect of an electromagnetic module and a tension spring to dynamically adjust the grinding intensity based on the distance parameters of the real-time position. Furthermore, it uses the angle encoding module of the rotary motor to pre-match the electromagnetic intensity of the electromagnetic module, avoiding the problem of system control delay. This effectively solves the problem of uneven chamfering and grinding caused by steel pipe deformation, and improves the quality and efficiency of steel pipe chamfering. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the main components of the device of the present invention.

[0030] Figure 2 This is a schematic diagram of the structure of the grinding mechanism of the present invention when it is detached from the steel pipe.

[0031] Figure 3 This is a schematic diagram of the grinding wheel of the present invention in contact with the steel pipe during grinding.

[0032] Figure 4 This is a schematic diagram of the disassembly and separation of the steering platform, base cylinder, and grinding mechanism in this invention.

[0033] Figure 5 This is a schematic diagram of the disassembly and separation of the steering platform and base cylinder in this invention.

[0034] Figure 6 This is a schematic diagram of the disassembly and separation of the grinding mechanism, adjusting rod, and sealing cap in this invention.

[0035] Figure 7 This is a schematic diagram of the rotating motor and the inner support assembly in this invention when the steel pipe is not inserted.

[0036] Wherein: 1-Steel pipe fitting, 101-Outer edge grinding area; 2-Support guide roller; 3-Turnover motor; 4-Rotating shaft connecting rod; 5-Telescopic drive module; 6-Extrusion positioning component; 7-Deflection motor; 8-Turntable, 801-Mounting part; 9-Base cylinder, 901-Cylinder cavity, 902-Inner disc, 903-Electromagnetic module, 904-Distance sensing module, 905-Connecting plate, 906-First through hole, 907-End face screw hole; 10-Tension Spring; 11-Cap, 1101-Guide groove, 1102-Smooth sleeve, 1103-Second through hole; 12-Limiting ring, 1201-Radial through hole, 1202-Radial screw hole; 13-Grinding mechanism, 1301-Grinding wheel, 1302-Beveling and grinding surface; 14-Adjusting rod, 1401-Radial slot, 1402-Magnetic block; 15-Radial screw; 16-First bolt; 17-Second bolt; 18-Propulsion mechanism. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0038] Example 1: This invention designs a linearly controlled steel pipe chamfering and positioning processing device for chamfering and grinding the open end of a steel pipe fitting 1, such as... Figure 1 , Figure 2 , Figure 4 It mainly includes core components such as support guide roller 2, rotary motor 3, propulsion mechanism 18, inner support assembly, deflection motor 7, steering table 8, base cylinder 9, and grinding mechanism 13. These components work together to achieve linear control and precise processing of steel pipe chamfering. The specific structural configuration is as follows:

[0039] like Figure 1 , Figure 2 Supporting guide rollers 2: There are multiple rollers used to roll and support the steel pipe 1, so that the steel pipe 1 can rotate stably during processing, and at the same time facilitate the conveying and positioning of the steel pipe 1.

[0040] like Figure 1 , Figure 2 , Figure 7 Rotary motor 3: can drive the steel pipe 1 to rotate, with a rotation angle range of [-2π, 2π], and is equipped with an angle encoding module, which can monitor and record the rotation angle position of the motor in real time, providing angle parameters for subsequent positioning and grinding control.

[0041] like Figure 7 The propulsion mechanism 18 is used to drive the rotary motor 3 to move in a straight line, thereby driving the inner support assembly to enter and exit the open end of the steel pipe 1, realizing the docking and separation of the inner support assembly and the steel pipe 1.

[0042] like Figure 1 , Figure 2 , Figure 7 The internal support assembly includes a rotating shaft connecting rod 4, a telescopic drive module 5, and an extrusion positioning component 6, which are inserted into the openings at both ends of the steel pipe component 1 and connected to the output end of the rotary motor 3, for internal support and positioning of the steel pipe component 1.

[0043] Rotating shaft connecting rod 4: It is fixedly connected to the output end of the rotary motor 3 and is the main support structure of the inner support component.

[0044] Telescopic drive module 5: Fixed to the ring side of the rotating shaft connecting rod 4, there are multiple of them, which can provide telescopic power.

[0045] The extrusion positioning component 6 is connected to the output end of the telescopic drive module 5. Under the action of the telescopic drive module 5, it moves outward and forms static friction by extruding into the inner wall of the steel pipe component 1, thereby firmly positioning the inner support component and the steel pipe component 1.

[0046] like Figure 1 , Figure 2 , Figure 4 , Figure 5 Deflection motor 7: It adopts a DC servo motor with a rotation angle range of [0, π / 2], which provides power for the deflection of the steering table 8.

[0047] Bogie 8: Connected to the output end of the deflection motor 7, and has a set of mounting parts 801 on its circumferential side for mounting the base cylinder 9. The mounting parts 801 have screw holes, and the connecting plate 905 on the circumferential side of the base cylinder 9 has a first through hole 906. After the first through hole 906 is aligned with the screw holes of the mounting parts 801, the base cylinder 9 is fixed to the bogie 8 by tightening the first bolt 16.

[0048] Base cylinder 9: It is the foundation for the installation and adjustment of the grinding mechanism 13, including cylinder cavity 901, inner plate 902, electromagnetic module 903, distance sensing module 904, cover 11, etc.

[0049] Cavity 901: Provides installation space for internal components, and its outer opening is fixedly fitted with a cover 11.

[0050] Inner plate 902: Fixedly installed inside the cylinder cavity 901, the distance sensing module 904 is installed on the inner plate 902, the detection direction is directly opposite the side end face of the adjusting rod 14, and it is used to detect the moving distance of the adjusting rod 14.

[0051] Electromagnetic module 903: It is configured on the inner plate 902 of the base cylinder 9 and magnetically engages with the magnetic block 1402 embedded on the side end of the adjusting rod 14. The magnetic attraction force on the magnetic block 1402 can be changed by controlling the current intensity.

[0052] like Figure 4 , Figure 5 , Figure 6 The cover 11 has a guide groove 1101 in the center, and a smooth sleeve 1102 is arranged at the guide groove 1101. The adjusting rod 14 moves through the smooth sleeve 1102. The base cylinder 9 has multiple end face screw holes 907, and the cover 11 has multiple second through holes 1103. After the second through holes 1103 are aligned with the end face screw holes 907, the cover 11 is fixed to the base cylinder 9 by tightening the second bolts 17.

[0053] like Figure 4 , Figure 5 , Figure 6Adjusting rod 14: One end is inserted into the cavity 901 of the base cylinder 9, and a tension spring 10 is sleeved on it. The tension spring 10 is located between the limiting ring 12 and the inner plate 902, and provides elastic support for the adjusting rod 14. The limiting ring 12 is fixedly installed on the ring side of the adjusting rod 14. The limiting ring 12 is located inside the cavity 901 and is used to limit the movement range of the adjusting rod 14.

[0054] The adjusting rod 14 has a radial slot 1401, and the limiting ring 12 has a radial through hole 1201 and a radial screw hole 1202 distributed along the same diameter. After the radial through hole 1201, the radial screw hole 1202 are aligned with the radial slot 1401, the adjusting rod 14 and the limiting ring 12 can be fixed by installing the radial screw 15.

[0055] like Figure 1 , Figure 2 , Figure 4 , Figure 6 Grinding mechanism 13: Connected to the end of adjusting rod 14 away from base cylinder 9, used for chamfering and grinding the open end of steel pipe fitting 1, using a low-torque brushless DC motor with power off. Grinding mechanism 13 includes grinding wheel 1301, grinding wheel 1301 is provided with chamfered grinding surface 1302 that cooperates with the outer edge grinding area 101 of steel pipe fitting 1. The chamfered grinding surface 1302 is frustoconical and can accurately fit the outer edge grinding area 101 of steel pipe fitting 1 for grinding.

[0056] Example 2: This invention designs a linearized control method for positioning and chamfering steel pipes. The specific method is as follows:

[0057] First, the preparation stage:

[0058] After the steel pipe component 1 is in place, the support guide roller 2 provides rolling support to ensure the stable placement of the steel pipe component 1.

[0059] Step 2, Positioning Stage:

[0060] The propulsion mechanism 18 drives the rotary motor 3 and the inner support assembly to move, so that the inner support assembly is fully inserted into the side opening of the steel pipe 1.

[0061] The telescopic drive module 5 pushes the extrusion positioning component 6 outward until the extrusion positioning component 6 is fully pressed into contact with the inner wall of the steel pipe component 1 to form static friction, thus completing the positioning connection between the inner support component and the steel pipe component 1.

[0062] Step 3, parameter acquisition stage:

[0063] The deflection motor 7 drives the steering table 8 and the grinding mechanism 13 to deflect, so that the grinding wheel 1301 contacts and engages with the outer edge grinding area 101 of the steel pipe 1. At this time, the tension spring 10 is compressed and contracted.

[0064] When the grinding mechanism 13 loses power and torque, the distance sensing module 904 starts, and the rotary motor 3 drives the steel pipe 1 to rotate one revolution. The control system obtains the distance parameter set M = [x1, x2, x3, ..., x] generated by the steel pipe 1 rotating one revolution through the distance sensing module 904. n ], and combined with the position set S = [θ1, θ2, θ3, ..., θ] of the 3-angle encoding module of the rotary motor n Establish a one-to-one mapping relationship.

[0065] The rotating motor 3 drives the steel pipe 1 to rotate one revolution in the reverse direction. The distance sensing module 904 re-checks the corresponding distance information generated by the deformation of the steel pipe to ensure the accuracy of the parameters.

[0066] Step 4, beveling and polishing stage:

[0067] The rotary motor 3 drives the steel pipe 1 to rotate again, and at the same time, the grinding mechanism 13 is energized and the electromagnetic module 903 is powered on. The real-time parameters of the current intensity I and distance x of the electromagnetic module 903 are... m (x m It is inversely proportional to (1 / xm), that is, I∝(1 / xm).

[0068] When the distance parameter x m The smaller the size, the greater the current intensity of the electromagnetic module 903, the greater the magnetic attraction force on the magnetic block 1402, which enhances the backward tendency force of the adjusting rod 14 and the grinding mechanism 13, thus avoiding over-grinding.

[0069] When the distance parameter x m When the current is larger, the current intensity of the electromagnetic module 903 is smaller, the magnetic attraction force on the magnetic block 1402 is smaller, and the force of the adjusting rod 14 and the grinding mechanism 13 to move forward under the action of the tension spring 10 is enhanced.

[0070] In this way, even if the steel pipe 1 is deformed, the grinding area 101 on its outer edge can still be ground evenly.

[0071] Finally, after completing one round of grinding, the rotary motor 3 stops rotating, the grinding mechanism 13 and the electromagnetic module 903 are de-energized, and the deflection motor 7 drives the steering table 8 and the grinding mechanism 13 to rotate, so that the grinding wheel 1301 separates from the steel pipe 1, and the processing is completed.

[0072] In this method, in order to reduce system latency, a rotary motor 3 is used to drive the steel pipe 1 to pre-rotate. The deformation state information of the steel pipe 1 is collected in advance by the distance sensing module 904. During grinding, the corresponding deformation information is stored in the control system. It is only necessary to output and adjust the output electromagnetic intensity of the control electromagnetic module 903 in a timely manner according to the rotation state information of the rotary motor 3.

[0073] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A linearly controlled steel pipe chamfering and positioning processing device, comprising multiple rolling support guide rollers (2) for supporting steel pipe components (1), characterized in that: The equipment includes a rotary motor (3) and a propulsion mechanism (18) that drives the rotary motor (3) to move in a straight line. The steel pipe (1) has an inner support assembly that is connected to the output end of the rotary motor (3) inserted at the opening positions on both sides. The rotation angle of the rotary motor (3) is [-2π, 2π], and the rotary motor (3) is equipped with an angle encoding module; The equipment also includes a deflection motor (7), a steering table (8) connected to the output end of the deflection motor (7), a base cylinder (9) fixed to the ring side of the steering table (8), and a grinding mechanism (13) movably connected to the base cylinder (9); The base cylinder (9) includes a cavity (901), and an adjusting rod (14) with one end inserted into the cavity (901) is guidedly installed on the base cylinder (9). The adjusting rod (14) is fitted with a tension spring (10) that elastically supports the adjusting rod (14). The base cylinder (9) is equipped with a distance sensing module (904) for detecting the moving distance of the adjusting rod (14). The base cylinder (9) is also equipped with an electromagnetic module (903), and the side end of the adjusting rod (14) is embedded with a magnetic block (1402) that magnetically engages with the electromagnetic module (903); The grinding mechanism (13) includes a grinding wheel (1301) for grinding the open end of the steel pipe fitting (1), and the grinding wheel (1301) is provided with a chamfered grinding surface (1302) that matches the grinding area (101) on the outer edge of the steel pipe fitting (1). The inner plate (902) is fixedly installed inside the cylindrical cavity (901). The electromagnetic module (903) and the distance sensing module (904) are embedded in the inner plate (902). The detection direction of the distance sensing module (904) is directly opposite the side end face of the adjusting rod (14). The adjusting rod (14) is fixedly installed with a limiting ring (12) on the ring side. The limiting ring (12) is located inside the cylinder cavity (901). The tension spring (10) is located between the limiting ring (12) and the inner plate (902). The distance sensing module (904) is used to collect information on the overall deformation state of the steel pipe. Combined with the synergistic effect of the electromagnetic module (903) and the tension spring (10), the grinding intensity is dynamically adjusted according to the distance parameter of the real-time position. The electromagnetic intensity of the electromagnetic module (903) is pre-matched by the angle encoding module of the rotary motor (3).

2. The linearized control steel pipe chamfering and positioning processing equipment according to claim 1, characterized in that: The inner support assembly includes a rotating shaft connecting rod (4) fixedly connected to the output end of the rotary motor (3), multiple telescopic drive modules (5) fixed to the ring side of the rotating shaft connecting rod (4), and a pressing positioning component (6) connected to the output end of the telescopic drive module (5).

3. The linearized control steel pipe chamfering and positioning processing equipment according to claim 1, characterized in that: The turntable (8) is provided with a set of mounting parts (801) on the circumferential side. The mounting parts (801) have screw hole structures. The base cylinder (9) is provided with a connecting plate (905) that cooperates with the mounting parts (801) on the circumferential side. The connecting plate (905) has a first through hole (906). The first through hole (906) is aligned with the screw hole structure of the mounting parts (801) and the first bolt (16) is fastened.

4. The linearized control steel pipe chamfering and positioning processing equipment according to claim 1, characterized in that: The outer opening of the cylindrical cavity (901) is fixedly fitted with a cover (11); The cover (11) has a guide groove (1101) at its center, and a smooth sleeve (1102) is provided at the position of the guide groove (1101). The adjusting rod moves through the smooth sleeve (1102). The base cylinder (9) has multiple end face screw holes (907), and the cover (11) has multiple second through holes (1103). The second through holes (1103) and the end face screw holes (907) are aligned and fitted together and a second bolt (17) is installed.

5. The linearized control steel pipe chamfering and positioning processing equipment according to claim 1, characterized in that: The adjusting rod (14) has a radial slot (1401), and the limiting ring (12) has radial through holes (1201) and radial screw holes (1202) distributed along the same diameter. The radial through holes (1201) and radial screw holes (1202) are aligned and fitted with the radial slot (1401) and the radial screw (15) is installed.

6. The linearized control steel pipe chamfering and positioning processing equipment according to claim 1, characterized in that: The grinding mechanism (13) adopts a low-torque brushless DC motor with power off, and the deflection motor (7) adopts a DC servo motor. The rotation angle of the deflection motor (7) is [0, π / 2].

7. A linearized control method for chamfering and positioning steel pipes, characterized in that, A steel pipe chamfering and positioning processing equipment using linearized control as described in any one of claims 1 to 6 includes the following: Step 1: Clean the impurities in the area to be processed of the steel pipe fitting (1), and place the steel pipe fitting (1) on the support guide roller (2) to support it stably; Step 2: Start the propulsion mechanism (18) to drive the rotary motor (3) and the inner support assembly to move in a straight line, so that the inner support assembly is accurately inserted into the opening position of the side end of the steel pipe (1) until the inner support assembly reaches the preset support position, and drive the inner support assembly to complete the positioning and fixing of the steel pipe (1). Step 3: Start the deflection motor (7) to drive the steering table (8), base cylinder (9), and grinding mechanism (13) to deflect, so that the grinding wheel (1301) of the grinding mechanism (13) gradually approaches the outer edge grinding area (101) of the opening end of the steel pipe fitting (1) until the chamfered grinding surface (1302) of the grinding wheel (1301) initially contacts and engages with the outer edge grinding area (101). At this time, the tension spring (10) contracts due to compression. In step four, the grinding mechanism (13) loses power and torque, and the distance sensing module (904) and the angle encoding module of the rotating motor (3) are activated. The rotating motor (3) is controlled to drive the steel pipe (1) to rotate one revolution. The distance sensing module (904) collects the movement distance parameter of the adjusting rod (14) caused by the undulation of the surface of the grinding wheel (1301) along with the surface of the steel pipe (1) in real time, and records the rotation angle parameter corresponding to the rotating motor (3) to establish a one-to-one mapping relationship between the distance parameter and the angle parameter. Step 5: Control the rotation motor (3) to drive the steel pipe (1) to rotate in the opposite direction once. Use the distance sensor module (904) to collect the distance parameters again. Compare the differences between the two collected parameters to ensure that the collected deformation-related parameters of the steel pipe (1) are accurate and reliable. Step 6: Start the grinding mechanism (13) to begin operation, and simultaneously restart the rotary motor (3) to drive the steel pipe (1) to rotate. Based on the established mapping relationship between distance and angle parameters, adjust the current intensity of the electromagnetic module (903) in real time. When the distance parameter is small, the current intensity is increased, and the magnetic attraction between the electromagnetic module (903) and the magnetic block (1402) enhances the backward force of the grinding wheel (1301); When the distance parameter is large, the current intensity is reduced, and under the elastic action of the tension spring (10), the forward tendency force of the adjusting rod (14) and the grinding wheel (1301) is enhanced. Step 7: After the steel pipe fitting (1) has completed one round of uniform grinding, turn off the turnover motor (3), grinding mechanism (13) and electromagnetic module (903), and control the deflection motor (7) to drive the steering table (8) and grinding mechanism (13) to deflect in the opposite direction, so that the grinding wheel (1301) separates from the outer edge grinding area (101) of the steel pipe fitting (1).

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