Mechatronics pipe fitting cutting machine

Abstract

The invention relates to the technical field of pipe fitting machining, in particular to an electromechanical integrated pipe fitting cutting machine which comprises a pipe fitting cutting frame body, a feeding driving assembly and a cutting state control system. The feeding driving assembly is arranged on the frame body to form a feeding cutting space, a pipe fitting cutting assembly (comprising a cutting motor, a main shaft and a cutting blade) and a cooling system (comprising a pipeline and a spray pipe) are arranged on the feeding driving assembly, and the cutting assembly is located in the space; the mechanical-electrical integrated pipe fitting cutting machine is in signal connection with the cutting assembly, the cutting state control system is in signal connection with the cutting assembly, the real-time load current of the cutting assembly is detected and compared with a reference current threshold value, the feeding speed, cooling parameters and the like are automatically and cooperatively adjusted to cope with pipe fitting wall thickness changes, and the mechanical-electrical integrated pipe fitting cutting machine can adapt to wall thickness fluctuation, guarantee notch quality and machining precision and improve machining efficiency. The cutting efficiency is improved, the service life of the cutter is prolonged, the automation level is improved, and large-scale pipe fitting machining is achieved.

Description

Technical Field

[0001] This invention relates to the field of pipe fitting processing technology, specifically to a mechatronics pipe fitting cutting machine. Background Technology

[0002] In the field of pipe processing technology, mechatronic pipe cutting machines, as core equipment for achieving efficient pipe cutting, are widely used in the large-scale production of various scenarios such as hydraulic pipes, aerospace pipes, and conventional industrial pipes. They can cut pipes of different materials, such as carbon steel, stainless steel, and aluminum alloys, as well as pipes with different standard wall thicknesses. As the application scenarios of pipe fittings continue to increase the requirements for processing accuracy and production efficiency, the market has placed higher demands on the automation level and adaptability of mechatronic pipe cutting machines. Especially when dealing with non-standard wall thickness pipes such as irregularly shaped pipes, variable cross-section pipes, and seamless steel pipes, which have local wall thickness deviations caused by the rolling process, the equipment needs to balance cutting stability, cut quality, and processing efficiency to meet the assembly and use needs of different industries after pipe cutting.

[0003] Existing mechatronic pipe cutting machines generally suffer from poor adaptability to variations in pipe wall thickness. Most machines use fixed feed rates, spindle speeds, and cooling parameters during the cutting process, failing to dynamically adjust according to actual wall thickness fluctuations. When the pipe wall thickness increases, the contact area between the cutting blade and the pipe increases under fixed parameters, leading to increased cutting resistance and potentially causing blade overload, wear, or even chipping. Simultaneously, heat accumulation in the cutting area can cause thermal deformation of the pipe cut. When the pipe wall thickness decreases, the fixed low feed rate results in low cutting efficiency, and excessive cooling medium supply leads to resource waste. Furthermore, cutting quality issues caused by wall thickness fluctuations require frequent manual intervention to adjust parameters, increasing labor costs and further impacting the continuity of cutting operations and overall production efficiency, making it difficult to meet the demands of high-precision, high-efficiency pipe processing. Therefore, there is an urgent need to develop a mechatronic pipe cutting machine to overcome the shortcomings in current practical applications. Summary of the Invention

[0004] The purpose of this invention is to provide an electromechanical integrated pipe cutting machine to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A mechatronics pipe cutting machine includes a pipe cutting frame and further includes:

[0007] A feed drive assembly is located on the pipe cutting frame and forms a feeding and cutting space with the pipe cutting frame;

[0008] The feed drive assembly is also equipped with a pipe cutting assembly and a cooling system, and the pipe cutting assembly is located in the feeding and cutting space.

[0009] And a cutting status control system, which is located on the pipe cutting frame and is connected to the feed drive assembly, the pipe cutting assembly and the cooling system respectively;

[0010] The cutting status control system detects the real-time load current of the pipe cutting assembly and compares it with a set reference current threshold. Based on the comparison result, it automatically and collaboratively adjusts at least one of the feed speed and cooling parameters to cope with changes in the pipe wall thickness.

[0011] As a further aspect of the present invention: the feed drive component includes:

[0012] A lifting drive motor is fixedly installed on the pipe cutting frame and is connected to the cutting status control system signal.

[0013] And a feed screw, which is rotatably connected to the pipe cutting frame and is also fixedly connected to the output end of the lifting drive motor;

[0014] The feed screw is fitted with a threaded fitting, which is connected to the pipe cutting assembly.

[0015] As a further aspect of the present invention: the pipe cutting assembly includes:

[0016] A cutting support, which is fixedly connected to the threaded fitting;

[0017] A cutting protective groove is located in the middle of the cutting support;

[0018] The system also includes a cutting control module, which is connected to the cutting support and positioned close to the cutting protection groove.

[0019] As a further aspect of the present invention: the cutting control module includes:

[0020] A cutting motor is fixedly mounted on the cutting support and is connected to the cutting status control system via a current detector.

[0021] The main shaft is rotatably mounted in the cutting protective groove, and the main shaft is also fixedly connected to the output end of the cutting motor;

[0022] And a cutting blade, which is fixedly mounted on the main shaft and located within the cutting protection groove.

[0023] As a further aspect of the present invention: the cooling system includes:

[0024] The cooling system piping is fixedly installed on the cutting support and connected to an external cooling device, which is also connected to the cutting status control system.

[0025] And a nozzle, one end of which is connected to the cooling system pipeline, and the other end of which is located near the cutting blade.

[0026] As a further aspect of the present invention: the cutting state control system includes a sensing module, a decision-making module, an execution module, and a human-computer interaction unit;

[0027] The sensing module includes a current detector electrically connected to the cutting motor and an encoder mounted on the end of the spindle. The current detector is used to collect the real-time load current of the cutting motor, and the encoder is used to correlate the current signal with the real-time position and speed of the spindle.

[0028] The decision-making module uses an industrial PLC or embedded industrial computer, which has a built-in expert process database of material-wall thickness-optimal parameters, as well as a threshold manager for setting the current deviation threshold.

[0029] The execution module is connected to the servo driver of the lifting drive motor, the servo driver of the cutting motor, and the proportional valve of the cooling system via signal cables, and is used to output adjustment commands for feed speed, spindle speed and cooling flow rate.

[0030] The human-machine interaction unit is integrated into the pipe cutting frame and supports parameter preset, real-time data display and fault alarm functions.

[0031] As a further aspect of the present invention: the current detector detects the three-phase stator current of the cutting motor, so as to output analog or digital signals to the cutting status control system.

[0032] When the current is detected to exceed a certain proportion of the reference current for a continuous set time, an alarm signal is automatically sent to the cutting status control system.

[0033] The real-time spindle speed of the pipe cutting assembly is achieved by a cutting motor. The servo driver of the cutting motor receives the speed command from the cutting status control system and controls the fluctuation of the spindle speed within a set range.

[0034] When the current deviation exceeds the set current deviation threshold, the cutting status control system prioritizes adjusting the feed speed. If the current deviation does not decrease within the set time, the speed of the cutting motor is adjusted.

[0035] When the current deviation is less than the negative current deviation threshold, the cutting status control system adjusts the feed speed and the cutting motor speed simultaneously.

[0036] As a further aspect of the present invention: the feed speed of the feed drive assembly is based on the rotational speed of the lifting drive motor, and the cutting state control system achieves step-by-step adjustment of the feed speed by controlling the servo driver of the lifting drive motor.

[0037] The cooling flow rate of the cooling system is controlled by a proportional valve installed in the cooling system pipeline. The opening degree of the proportional valve is linearly related to the analog signal output by the cutting state control system.

[0038] The cooling flow rate, feed rate, and spindle speed satisfy a preset correlation relationship. This correlation relationship is constructed based on the feed rate coefficient and spindle speed coefficient, and the feed rate coefficient and spindle speed can be adjusted according to the material of the pipe fitting.

[0039] As a further aspect of the present invention: the cutting state control system adopts a weighted normalization formula to normalize the real-time current, feed rate, spindle speed and cooling flow rate into a single optimized target value;

[0040] In the weighted normalization formula, the weight coefficients of each parameter are set based on the cutting quality priority, and the ideal value and allowable fluctuation range of the optimization target value are preset.

[0041] When the target value is within the allowable fluctuation range, maintain the current cutting parameters; when the target value exceeds the allowable fluctuation range, adjust the feed rate first based on the deviation of the main contributing parameters; if the feed rate has reached the limit, adjust the spindle speed and simultaneously adjust the cooling flow rate.

[0042] The cutting status control system executes a time-series process of data acquisition, parameter calculation, range judgment, and command sending in a set cycle to ensure the synchronization of multiple parameter adjustments.

[0043] As a further aspect of the present invention, the working process of the cutting state control system includes the following steps:

[0044] Step 1: Initial calibration and parameter preset. Select multiple pipe fittings with standard wall thicknesses to be processed, and conduct cutting experiments under different processing parameters. Record the reference current and corresponding optimal processing parameters that result in the best cut quality. Store the correspondence between material, wall thickness, reference current and optimal processing parameters in the expert process database, and set the current deviation threshold according to the pipe fitting material.

[0045] Step 2: Processing parameter call and start. Input the material and standard wall thickness of the pipe to be processed through the human-machine interaction unit. The cutting status control system calls the corresponding reference parameters and sends initial instructions to each execution module to adjust each processing parameter to the optimal value.

[0046] Step 3: Real-time data acquisition, to collect real-time current, real-time spindle speed, real-time feed rate and real-time cooling flow rate at set intervals;

[0047] Step 4: Deviation calculation and threshold judgment. Calculate the deviation between the real-time current and the reference current. If the absolute value of the deviation is less than or equal to the current deviation threshold, maintain the current parameters and return to step 3. If the absolute value of the deviation is greater than the current deviation threshold, proceed to step 5.

[0048] Step 5: Adaptive parameter adjustment. If the deviation is positive, gradually reduce the feed rate until the feed rate reaches the lower limit or the deviation falls back to the threshold. If the deviation still cannot be reduced even after the feed rate has reached the lower limit, adjust the spindle speed.

[0049] If the deviation is negative, gradually increase the feed rate and adjust the cooling flow rate simultaneously. If the feed rate has reached the upper limit, adjust the spindle speed until the deviation falls back to within the threshold.

[0050] Step 6: Cyclic monitoring and shutdown. After parameter adjustment, return to step 3. When the spindle position encoder determines that the cutting length has reached the set value, send a shutdown command to stop the cutting motor, reset the lifting drive motor, and shut down the cooling system.

[0051] Compared with the prior art, the beneficial effects of the present invention are:

[0052] 1. It has the ability to adaptively adjust to changes in pipe wall thickness. The cutting status control system detects the real-time load current of the cutting motor and compares it with the reference current threshold. It automatically and collaboratively adjusts the feed speed, spindle speed and cooling parameters, effectively avoiding problems such as blade overload, excessive burrs or thermal deformation when the pipe wall thickness fluctuates. This ensures the cut quality (such as reducing cut roughness and reducing thermal stress) and processing accuracy of pipes with different wall thicknesses.

[0053] 2. Significantly improves cutting efficiency. When the wall thickness of the pipe is reduced, the system can adaptively increase the feed rate and spindle speed according to the current deviation, avoiding the waste of efficiency caused by a fixed low feed rate. At the same time, through precise matching of cooling parameters and cutting parameters, it ensures efficient cutting without affecting the processing quality, making it suitable for large-scale pipe production scenarios.

[0054] 3. Extend the service life of cutting tools. By adjusting cutting parameters in real time (such as reducing the feed rate and increasing the cooling flow when the wall thickness increases), the wear or tempering softening of the cutting blade caused by overload and high temperature can be reduced. Experimental data shows that the blade life can be extended by more than 30%, reducing the cost of replacing equipment consumables.

[0055] 4. Improve the automation level of equipment, eliminating the need for frequent manual intervention in parameter adjustment. The system achieves an automated process of real-time data acquisition, deviation judgment and parameter adjustment through a closed-loop architecture of perception-decision-execution. At the same time, the human-machine interaction unit supports parameter preset, real-time data display and fault alarm, reducing the workload of operators and reducing human operation errors.

[0056] 5. Achieve efficient utilization of cooling medium. The cooling flow rate is dynamically adjusted based on the preset correlation between feed speed and spindle speed, avoiding waste caused by excessive supply of cooling medium when the wall thickness decreases, while ensuring sufficient cooling of the cutting area when the wall thickness increases, thus balancing cooling effect and resource conservation.

[0057] 6. To ensure the synchronization and stability of multi-parameter adjustments, the cutting status control system cyclically executes the data acquisition, parameter calculation, range judgment and command sending process in a set period (e.g., 50ms). It integrates multiple parameters into a single optimization target through a weighted normalization formula, prioritizes the adjustment of core parameters (e.g., feed rate), ensures the coordinated action of each execution module, and avoids cutting instability caused by timing errors. Attached Figure Description

[0058] Figure 1 This is a three-dimensional structural diagram of the pipe cutting frame in an embodiment of the present invention.

[0059] Figure 2 This is a three-dimensional structural diagram of the cutting support in an embodiment of the present invention.

[0060] Figure 3 This is a three-dimensional structural diagram of the feed drive component in an embodiment of the present invention.

[0061] Figure 4 This is a three-dimensional structural diagram of the pipe cutting assembly in an embodiment of the present invention.

[0062] Figure 5 This is a three-dimensional structural diagram of the nozzle in an embodiment of the present invention.

[0063] Figure 6 This is a three-dimensional structural diagram of the cutting protective groove in an embodiment of the present invention.

[0064] Figure 7 This is a schematic diagram of the working process of the cutting state control system in an embodiment of the present invention.

[0065] In the diagram: 1-pipe cutting frame, 2-cutting status control system, 3-feed screw, 4-thread assembly, 5-lifting drive motor, 6-feeding and cutting space, 7-cutting support, 8-cutting blade, 9-cooling system piping, 10-nozzle, 11-cutting motor, 12-current detector, 13-reinforcing beam, 14-spindle, 15-cutting protective groove. Detailed Implementation

[0066] 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, and 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.

[0067] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0068] Please see Figures 1-7 The present invention provides an electromechanical integrated pipe cutting machine, including a pipe cutting frame 1, and further comprising:

[0069] A feed drive assembly is located on the pipe cutting frame 1 and forms a feeding and cutting space 6 with the pipe cutting frame 1;

[0070] The feed drive assembly is also equipped with a pipe cutting assembly and a cooling system, and the pipe cutting assembly is located at the feeding and cutting space 6.

[0071] And a cutting status control system 2, which is located on the pipe cutting frame 1 and is connected to the feed drive assembly, the pipe cutting assembly and the cooling system respectively.

[0072] The cutting status control system 2 detects the real-time load current of the pipe cutting assembly and compares it with a set reference current threshold. Based on the comparison result, it automatically and collaboratively adjusts at least one of the feed speed and cooling parameters to cope with changes in the pipe wall thickness.

[0073] In the field of pipe cutting, existing mechatronic pipe cutting machines generally have poor adaptability to changes in pipe wall thickness. Most equipment uses fixed feed speed and cooling parameters for cutting. When the pipe wall thickness fluctuates (such as special-shaped pipes, variable cross-section pipes, and local wall thickness deviations caused by rolling processes in the production of seamless steel pipes), problems such as overload wear of cutting blades, excessive burrs on the pipe cut or thermal deformation are likely to occur. Moreover, frequent manual intervention and adjustment are required, which seriously affects cutting efficiency and processing quality.

[0074] In this invention, after the equipment is started and enters the cutting operation state, the pipe to be cut is first transported into the feeding and cutting space 6 formed by the feed drive assembly and the pipe cutting frame 1. At this time, the cutting state control system 2, as the core control unit, starts to work: it collects the load current signal of the cutting assembly in real time through the detection module connected to the pipe cutting assembly. This current signal is directly related to the cutting resistance during the cutting process. When the pipe wall thickness increases, the contact area between the cutting blade and the pipe increases, the cutting resistance increases, and the load current of the drive motor of the cutting assembly increases; when the pipe wall thickness decreases, the cutting resistance decreases, and the load current decreases accordingly. The cutting status control system 2 compares the real-time load current collected with the reference current threshold set in advance according to the pipe material (such as carbon steel, stainless steel and aluminum alloy), standard wall thickness and cutting process requirements. If the real-time current is higher than the reference threshold, the system determines that the current cutting resistance is too large and immediately sends a control signal to the feed drive component to reduce the running speed of the feed drive component, so as to reduce the cutting amount of the cutting blade per unit time and avoid the blade from chipping or excessive wear due to overload. At the same time, it sends a command to the cooling system to increase the supply of cooling medium (such as cutting fluid) or the spray pressure to enhance the heat dissipation effect on the cutting area and prevent the blade hardness from decreasing or the pipe cut from thermal deformation due to the accumulation of cutting heat. If the real-time current is lower than the reference threshold, the system determines that the current cutting resistance is low and can appropriately increase the feed speed of the feed drive component to improve the overall cutting efficiency. At the same time, it fine-tunes the cooling parameters according to the actual temperature of the cutting area (combined with the industry's conventional temperature monitoring logic, which can be indirectly calculated through current or assisted by adding a temperature sensor) to avoid unnecessary waste of cooling medium. Through this real-time closed-loop collaborative control based on load current feedback, the dynamic adaptation of feed speed and cooling parameters to changes in pipe wall thickness is achieved. This effectively solves the defects of existing equipment that rely on manual adjustment and have poor adaptability to wall thickness fluctuations, ensuring the processing accuracy, cut quality and equipment stability during the cutting of pipes with different wall thicknesses, and significantly improving the automation level and production efficiency of pipe cutting.

[0075] In one embodiment of the present invention, please refer to Figures 1-7 The feed drive component includes:

[0076] A lifting drive motor 5 is fixedly installed on the pipe cutting frame 1 and is signal-connected to the cutting status control system 2.

[0077] And a feed screw 3, which is rotatably connected to the pipe cutting frame 1, and the feed screw 3 is also fixedly connected to the output end of the lifting drive motor 5;

[0078] The feed screw 3 is fitted with a threaded fitting 4, which is connected to the pipe cutting assembly.

[0079] The pipe cutting assembly includes:

[0080] Cutting support 7, which is fixedly connected to the threaded fitting 4;

[0081] Cutting protective groove 15, the cutting protective groove 15 is located in the middle of the cutting support 7;

[0082] And a cutting control module, which is connected to the cutting support 7 and is located near the cutting protection groove 15.

[0083] The cutting control module includes:

[0084] A cutting motor 11 is fixedly mounted on the cutting support 7 and is connected to the cutting status control system 2 via a current detector 12.

[0085] The main shaft 14 is rotatably mounted in the cutting protective groove 15, and the main shaft 14 is also fixedly connected to the output end of the cutting motor 11;

[0086] And a cutting blade 8, which is fixedly mounted on the main shaft 14 and located in the cutting protection groove 15.

[0087] Please see Figures 1-7 The cooling system includes:

[0088] Cooling system pipe 9 is fixedly installed on the cutting support 7 and connected to an external cooling device, which is also connected to the cutting status control system 2 via a signal.

[0089] And a nozzle 10, one end of which is connected to the cooling system pipe 9, and the other end of which is located near the cutting blade 8.

[0090] In the design of the feeding and cutting system of pipe cutting equipment, existing technologies often suffer from low feeding accuracy, insufficient protection of cutting components, and poor linkage between cooling and cutting actions. In this invention, the components work together to achieve integrated collaborative operation of feeding, cutting, and cooling: First, the cutting status control system 2 sends start and speed control commands to the lifting drive motor 5 of the feeding drive component according to the cutting requirements (such as pipe specifications and material parameters) or real-time load current signals. After the lifting drive motor 5 starts, its output end drives the feed screw 3, which is fixedly connected to it, to rotate stably around its own axis on the pipe cutting frame 1 (the feed screw 3 and the pipe...). Precision bearings are installed between the cutting frame 1 to reduce rotational friction and ensure transmission accuracy. Since the feed screw 3 and the threaded assembly 4 are precision threadedly fitted, and the threaded assembly 4 is fixedly connected to the cutting support 7 of the pipe cutting component (bolted or welded to ensure connection rigidity), the rotational motion of the feed screw 3 is converted into the linear motion of the threaded assembly 4 along the feed screw axis through thread transmission. This drives the cutting support 7 and the cutting control module and cooling system installed on it to achieve precise feeding synchronously. Compared with cylinder drive, the feeding accuracy of the screw transmission structure can be improved to the 0.01mm level, effectively ensuring the relative positional accuracy of the cutting blade 8 and the pipe.

[0091] When the cutting support 7 is fed to the designated cutting position within the feeding cutting space 6, the cutting motor 11 in the cutting control module starts under the command of the cutting status control system 2. It drives the fixedly installed cutting blade 8 to rotate at high speed in the cutting protection groove 15 through the spindle 14 (a sealed bearing is set between the spindle 14 and the cutting protection groove 15 to prevent chips from entering and affecting the rotation). The groove structure of the cutting protection groove 15 is adapted to the movement trajectory of the cutting blade 8. During this process, the current detector 12 collects the operating current of the cutting motor 11 in real time and feeds the current signal back to the cutting status control system 2 in real time, providing data support for the system to judge the cutting resistance and the change of pipe wall thickness. Meanwhile, the cooling system works synchronously: the cooling system pipe 9 is connected to external cooling equipment (such as coolant circulation pump, refrigeration unit) through quick-connect couplings. The external cooling equipment adjusts the output pressure and flow rate of the coolant according to the instructions of the cutting status control system 2 (such as the cutting load based on the real-time load current). The coolant is delivered to the nozzle 10 through the cooling system pipe 9. The outlet end of the nozzle 10 is designed with an optimized angle (aligned with the contact point between the cutting blade and the pipe fitting) to accurately spray the coolant into the cutting area. On the one hand, it quickly removes a large amount of cutting heat generated during the cutting process, avoiding the softening of the cutting blade 8 due to high temperature (which can extend the blade life by more than 30%). On the other hand, it reduces the thermal stress of the pipe fitting cut, reduces cut deformation and burr generation. At the same time, the coolant can also play a lubricating role, reducing the friction coefficient between the cutting blade and the pipe fitting, and further improving the cut quality.

[0092] Through the close cooperation of the above-mentioned feed drive components, pipe cutting components and cooling system and the unified control of the cutting status control system 2, the entire process of pipe cutting from precise feed and safe cutting to efficient cooling is automated, which effectively solves the shortcomings of existing equipment in terms of feed accuracy, protection effect and cooling coordination. It is especially suitable for the large-scale production needs of high-precision pipe processing fields (such as hydraulic pipes, aerospace pipes, etc.).

[0093] In one embodiment of the present invention, please refer to Figures 1-7 The cutting status control system 2 specifically includes the following:

[0094] The current detector 12 (model optional ACS712, detection accuracy ±0.1A, response time ≤1ms) is electrically connected to the sensing module and the cutting motor 11. It is used to collect the real-time load current I1 of the cutting motor 11. An encoder (mounted at the end of the spindle 14, resolution 1024p / r) is configured to associate the current signal with the real-time position and speed of the spindle 14 to achieve synchronous matching of current-position-speed.

[0095] The decision-making module's hardware uses an industrial PLC (such as a Siemens S7-1200, supporting high-speed digital input / output and analog control) or an embedded industrial computer (equipped with an ARM Cortex-A9 processor). The software consists of two parts: one is a material-wall thickness-optimal parameter expert process database (storing the reference current I corresponding to different pipe fitting materials and standard wall thicknesses). ref Optimal feed rate F opt Optimal spindle speed N opt and optimal cooling flow rate Q opt For example, when the carbon steel pipe δ=5mm, I ref =15A, F opt =30mm / min, N opt =3000rpm, Q opt =2L / min); secondly, the threshold manager, used to set the configurable current deviation threshold ΔI1 (the default value is I). ref (±5%)

[0096] The execution module is connected to the servo driver of the lifting drive motor 5 (such as Panasonic A6 series), the servo driver of the cutting motor 11 and the proportional valve of the cooling system (installed at the inlet of the cooling system pipe 9, model ASCONF8327) via signal cables, and is used to output adjustment commands for feed speed, spindle speed and cooling flow.

[0097] The human-machine interface unit is integrated into the touch screen (7 inches in size, 800×480 resolution) of the pipe cutting frame 1, which supports parameter preset, real-time data display (I1, F, N, Q) and fault alarm functions.

[0098] In this invention, the cutting status control system 2 achieves integrated control through a "sensing-decision-execution" closed-loop architecture: the current detector 12 of the sensing module collects the load current of the cutting motor 11 in real time (this current is directly positively correlated with the cutting resistance and can indirectly reflect the change in the pipe wall thickness), and the encoder synchronously collects the speed and position data of the spindle 14. Both transmit the signals to the PLC of the decision module via the 485 communication protocol; the PLC first calls the expert process database and matches the corresponding reference parameters (such as I) according to the material of the currently processed pipe (such as stainless steel 304) and the standard wall thickness (such as δ=8mm). ref =22A、F opt =25mm / min), and then the threshold manager is used to determine the real-time current I1 and I. ref Whether the deviation is within the range of ΔI1; if it exceeds the range, the PLC immediately generates execution instructions: sending a feed speed adjustment signal to the servo driver of the lifting drive motor 5, a speed correction signal to the servo driver of the cutting motor 11, and a flow control signal to the proportional valve of the cooling system, while simultaneously updating the parameter curve in real time through the human-machine interface unit; in addition, when the system malfunctions (such as a sudden increase in current to I), ref When the load reaches 150%, the PLC can trigger an emergency stop protection, cutting off the power to the cutting motor 11 and the lifting drive motor 5 to prevent equipment damage. This modular design solves the shortcomings of traditional control systems, such as "single perception, delayed decision-making, and decentralized execution." Through hardware standardization (such as the selection of general-purpose PLCs and sensors) and software configurability (such as database support for custom parameter input), the system's versatility and feasibility in different pipe processing scenarios are ensured.

[0099] In one embodiment of the present invention, the current detector 12 detects the three-phase stator current of the cutting motor 11, with a detection range of 0-50A and a sampling frequency of 1kHz. It can output analog signals (0-5V) or digital signals (RS485) to the cutting status control system 2 in real time. In addition to basic current acquisition, it also has an overcurrent diagnosis function; when the detected current exceeds I for more than 300ms... ref When the cutting status reaches 120%, an alarm signal is automatically sent to the cutting status control system 2.

[0100] The rotational speed of the pipe cutting assembly is based on the real-time rotational speed N1 of the spindle 14. N1 is achieved by the cutting motor 11 driving the cutting blade 8 through the spindle 14. The servo driver of the cutting motor 11 receives the rotational speed command from the cutting status control system 2 and keeps N1 stably controlled within the set range (rotational speed fluctuation ≤ ±2%).

[0101] When current detector 12 detects ΔI=I1-I ref >ΔI1 (e.g., ΔI=2A, Iref When ΔI = 15A, the cutting status control system 2 prioritizes reducing the feed speed. If ΔI does not drop within 1 second, the speed of the cutting motor 11 is controlled to decrease from N. opt Reduce by 5%-10% (e.g., from 3000 rpm to 2700 rpm); when ΔI < -ΔI1, while increasing the feed rate, the rotational speed can be reduced from N. opt Increase the speed by 3%-5% (e.g., from 3000rpm to 3150rpm) to improve the cutting efficiency of thin-walled tubes.

[0102] In this invention, the current detector 12 is deeply integrated with the speed control. First, the current detector 12 samples the load current of the cutting motor 11 at a high frequency of 1kHz to ensure that it captures the minute current fluctuations caused by changes in the pipe wall thickness (e.g., when the wall thickness increases by 0.5mm, the current can rise from 15A to 16.2A), avoiding the response lag caused by traditional low-frequency sampling (e.g., 100Hz). The cutting status control system 2 compares the collected I1 with the corresponding I in the expert database. ref In comparison, the decision is made by calculating ΔI and then combining it with the rotational speed N1. For example, when cutting an alloy steel pipe with δ=6mm, I... ref =18A、N opt =2800rpm. When I1=20A is detected (ΔI=2A>0.9A, ΔI1=18A×5%=0.9A), the system first reduces the feed rate from 30mm / min to 25mm / min. If I1 is still 19.5A after 0.8 seconds, a command is sent to the servo driver of cutting motor 11 to reduce the speed to 2600rpm. At this time, the cutting resistance decreases with the decrease in speed, and I1 gradually falls back to 18.5A, which is within the threshold range. Conversely, when cutting a thin-walled aluminum tube with δ=3mm, if I1=12A (ΔI=-3A<-0.75A, I... ref =15A, ΔI1=0.75A), the system increases the feed rate from 35mm / min to 45mm / min while simultaneously increasing the rotational speed from 3200rpm to 3360rpm. This avoids localized overheating and melting of thin-walled pipes due to slow feed, while also ensuring the smoothness of the cut by increasing the rotational speed. Through the correlation control of current and rotational speed, the system solves the problem of poor adaptability caused by the fixed rotational speed of traditional equipment, enabling the cutting assembly to dynamically adjust the rotational speed according to the actual cutting load, thus balancing machining quality and tool life.

[0103] In one embodiment of the present invention, the feed speed F of the cutting blade 8 is based on the rotational speed of the lifting drive motor 5 and is achieved through the threaded transmission between the feed screw 3 and the threaded assembly 4 (the pitch P of the feed screw 3 is 5mm, and the relationship between the rotational speed n of the lifting drive motor 5 and the feed speed F satisfies the formula: F=(n×P) / 60, unit: mm / min); the cutting state control system 2 adjusts the motor speed n by controlling the output frequency of the servo driver of the lifting drive motor 5, thereby realizing the step adjustment of the feed speed F. The adjustment step can be set to 5mm / min (e.g., from 30mm / min→25mm / min→20mm / min), and the maximum feed speed range is 5-100mm / min;

[0104] The cooling flow rate Q is controlled by a proportional valve installed in the cooling system pipe 9. The opening degree of the proportional valve is linearly related to the 0-10V analog signal output by the cutting state control system 2 (0%-100% opening degree corresponds to Q=0-5L / min); the relationship between the cooling flow rate Q and the feed speed F and the spindle speed N of spindle 14 satisfies the empirical formula:

[0105] Q = k1 × F + k2 × N;

[0106] Where k1 is the feed rate coefficient (value is 0.05L / ( k2 is the spindle speed coefficient (value is 0.0005L / ( Ensure that the cooling flow rate matches the amount of cutting heat generated;

[0107] When the feed rate needs to be reduced due to an increase in pipe wall thickness (e.g., F is reduced from 30 mm / min to 25 mm / min), according to the formula:

[0108] Q=0.05×25+0.0005×3000=1.25+1.5=2.75L / min;

[0109] The cooling flow rate was adjusted from the original 3L / min (Q=0.05×30+0.0005×3000=1.5+1.5=3L / min when F=30mm / min) to 2.75L / min; when the feed rate is increased due to the decrease in wall thickness (e.g., F increases from 30mm / min to 40mm / min), Q=0.05×40+0.0005×3200=2+1.6=3.6L / min, and the cooling flow rate is increased accordingly.

[0110] First, the feed rate F is calculated based on the mechanical transmission formula of the feed screw pitch and motor speed to ensure the adjustment accuracy of F. For example, when the speed of the lifting drive motor 5 decreases from 1800 rpm to 1500 rpm:

[0111] F=(1500×5) / 60=125mm / min→(1800×5) / 60=150mm / min, error ≤±0.1mm / min, avoiding feed slippage caused by traditional belt drive;

[0112] Secondly, the empirical formula for cooling flow rate Q is based on fitting of a large amount of experimental data (e.g., when cutting carbon steel, k1=0.05, k2=0.0005; when cutting stainless steel, due to the poor thermal conductivity of stainless steel, k1 is adjusted to 0.06, and k2 is adjusted to 0.0006), ensuring that the cooling flow rate can accurately match the amount of cutting heat generated under different cutting parameters. For example, when cutting a stainless steel pipe with δ=7mm, F=22mm / min, N=2800rpm:

[0113] Q=0.06×22+0.0006×2800=1.32+1.68=3L / min;

[0114] This flow rate can quickly remove cutting heat (keeping the temperature in the cutting area below 200℃ to prevent the blade from backfired), and it will not cause excessive mixing of chips and coolant due to excessive flow rate, making subsequent cleaning easier;

[0115] Finally, when a change in pipe wall thickness triggers a feed rate adjustment, the cooling flow rate responds in real time via a proportional valve (the proportional valve's response time is ≤200ms), ensuring synchronization between feeding and cooling. For example, if the wall thickness suddenly increases from 5mm to 8mm, the system reduces F from 30mm / min to 20mm / min within 0.5 seconds, while Q is adjusted from 3L / min to:

[0116] 0.05×20+0.0005×2700=1+1.35=2.35L / min;

[0117] This avoids short-term overheating caused by cooling lag, which not only improves cooling efficiency but also saves cooling medium.

[0118] In one embodiment of the present invention, a weighted normalization formula is used to normalize the real-time current I1, feed rate F, spindle speed N, and cooling flow rate Q into a single optimized target value S. The formula is as follows:

[0119] S=ω1×(I1 / I ref )+ω2×(F / F opt )+ω3×(N / N opt )+ω4×(Q / Q opt );

[0120] Wherein, ω1-ω4 are the weighting coefficients of each parameter (based on the priority of cutting quality: ω1=0.4, current deviation has the greatest impact on cutting quality; ω2=0.3, feed rate affects efficiency and cut smoothness; ω3=0.15, spindle speed affects cutting force; ω4=0.15, cooling flow rate affects tool life), the ideal target value of S is 1 (all parameters are in the optimal state), and the allowable fluctuation range is 0.9-1.1;

[0121] When S∈[0.9,1.1], determine that the current cutting parameters are suitable for the pipe wall thickness and keep the parameters unchanged; when S>1.1, if the main contribution term is ω1×(I1 / I ref );

[0122] Such as I1 / I ref =1.2, which leads to S=0.4×1.2+0.3×1+0.15×1+0.15×1=1.18>1.1. Therefore, the feed rate F should be reduced first (in 5mm / min). If F has been reduced to the minimum value (5mm / min), the spindle speed N should be reduced (in 5%). At the same time, the cooling flow rate should be adjusted synchronously according to the Q formula.

[0123] When S < 0.9, if the main contribution term is ω2 × (F / F) opt );

[0124] Such as F / F opt =0.8, which results in S=0.4×1+0.3×0.8+0.15×1+0.15×1=0.89<0.9. Therefore, the feed rate F (step size 5mm / min) should be increased first, and the spindle speed N (step size 3%) should be increased at the same time. The cooling flow rate increases synchronously with the increase of F and N.

[0125] The cutting status control system 2 operates on a 50ms control cycle, and the timing sequence is as follows:

[0126] (1) Acquire I1 and N1 (0-10ms);

[0127] (2) Calculate the actual value of F (based on motor speed) and the actual value of Q (based on proportional valve opening) (10-20ms);

[0128] (3) Substitute into the normalization formula to calculate S (20-25ms);

[0129] (4) Determine the range of S and generate parameter adjustment instructions (25-35ms);

[0130] (5) Send instructions (35-50ms) to each execution module to ensure the synchronization of multi-parameter adjustment and avoid unstable cutting caused by timing disorder.

[0131] This invention integrates scattered parameters into a unified optimization objective through a normalization model, thereby achieving collaborative control of multiple modules.

[0132] First, the weighting coefficients were set based on orthogonal experimental verification. Cutting experiments were conducted on three common pipe materials: carbon steel, stainless steel, and aluminum alloy. The effects of different parameter deviations on kerf roughness (Ra), tool life, and cutting efficiency were statistically analyzed. Finally, the following values ​​were determined: ω1=0.4 (Ra increases by 0.8μm for every 10% increase in current deviation), ω2=0.3 (cutting efficiency decreases by 10% for every 10% decrease in feed rate, but Ra decreases by 0.3μm), ω3=0.15 (the impact on cutting quality is small when the speed deviation is within ±10%), and ω4=0.15 (the tool life change is ≤5% when the cooling flow deviation is within ±20%). This ensures that the weighting allocation meets the actual cutting requirements.

[0133] Secondly, the application of the normalization formula enables the system to quickly locate the core problem parameters, such as when cutting a carbon steel pipe with δ=6mm, I ref =18A, F opt =28mm / min, N opt =3000rpm, Q opt =2.9 L / min. If I1=20A, F=28 mm / min, N=3000 rpm, and Q=2.9 L / min are detected, calculate:

[0134] S = 0.4 × (20 / 18) + 0.3 × 1 + 0.15 × 1 + 0.15 × 1 ≈ 0.4 × 1.11 + 0.6 = 1.044 ∈ [0.9, 1.1], thus determining parameter fit;

[0135] If I1 = 22A, S = 0.4 × (22 / 18) + 0.6 ≈ 0.4 × 1.22 + 0.6 = 1.088, which is still within the range;

[0136] If I1 = 24A, S = 0.4 × (24 / 18) + 0.6 ≈ 0.4 × 1.33 + 0.6 = 1.132 > 1.1, the system determines that the current deviation is the core issue, and immediately reduces F from 28 mm / min to 23 mm / min. At this time, F / F opt =23 / 28≈0.82, calculate:

[0137] S = 0.4 × (21 / 18) + 0.3 × 0.82 + 0.15 × 1 + 0.15 × 1 ≈ 0.4 × 1.17 + 0.246 + 0.3 = 1.014, returning to the ideal range;

[0138] Finally, the 50ms control cycle ensures that the system can respond quickly to changes in wall thickness (e.g., when the wall thickness of the pipe suddenly increases by 1mm, the system completes parameter adjustment within 100ms), avoiding the cutting quality fluctuations caused by traditional control systems (control cycle ≥200ms).

[0139] In one embodiment of the present invention, please refer to Figures 1-7 The working steps of the cutting status control system 2 include:

[0140] Step 1: Initial calibration and parameter preset;

[0141] During the system debugging phase, cutting experiments are conducted based on the material of the pipe fittings to be processed (e.g., carbon steel, stainless steel) and the standard wall thickness δ (e.g., 3-10mm). Three to five pipe fittings with standard wall thicknesses are selected and cut at different feed rates and rotation speeds. The current value that produces the best cut quality (minimum Ra, no burrs) is recorded as the reference current I. ref Simultaneously record the corresponding feed rate F. opt Spindle speed N opt and cooling flow rate Q opt , will "material-δ-I ref -F opt -N opt -Q opt "The corresponding relationship is stored in the expert process database; based on the process sensitivity of the pipe fitting material, a current deviation threshold ΔI1 is set (e.g., for carbon steel δ=5mm, ΔI1=I..." ref ×5%=0.75A);

[0142] Step 2: Calling and starting processing parameters;

[0143] The operator inputs the material of the pipe to be processed (e.g., "stainless steel 304") and the standard wall thickness (e.g., δ=6mm) through the human-machine interface unit. The cutting status control system 2 then retrieves the corresponding parameters (e.g., I) from the expert database. ref =20A, F opt =25mm / min, N opt =2800rpm, Q opt =3L / min), and sends initial commands to each execution module: start the lifting drive motor 5, and adjust the feed speed to F. opt Cutting motor 11 is started, and the speed is adjusted to N. opt The cooling system proportional valve opens, adjusting the flow rate to Q. opt ;

[0144] Step 3: Real-time data acquisition;

[0145] After the system enters the cutting operation, it collects the real-time load current I1 of the cutting motor 11 through the current detector 12 with a period of 50ms, collects the real-time speed N1 of the spindle 14 through the encoder, reads the real-time feed speed F1 through the servo driver of the lifting drive motor 5, and reads the real-time cooling flow rate Q1 through the flow sensor of the cooling system pipe 9.

[0146] Step 4: Deviation calculation and threshold determination;

[0147] The cutting status control system 2 calculates the deviation ΔI = I1 - I from the real-time current and the reference current. ref :

[0148] If |ΔI|≤ΔI1 (e.g., |ΔI|≤0.75A), it is determined to be a normal process fluctuation. The current parameters are kept unchanged, and the process returns to step 3 to continue collecting data. If |ΔI|>ΔI1, it is determined that the pipe wall thickness has changed significantly, and the process proceeds to step 5.

[0149] Step 5: Adaptive parameter adjustment;

[0150] If ΔI > 0 (wall thickness increases, e.g., ΔI = 1.2A > 0.75A):

[0151] ①Prioritize reducing the feed rate F1, adjusting the step size by 5 mm / min each time (e.g., from 25 mm / min to 20 mm / min).

[0152] ②If ΔI is still greater than ΔI1 after one adjustment, continue to reduce F1 until F1 drops to the minimum value of 5 mm / min or ΔI ≤ ΔI1;

[0153] ③ Synchronously adjust the cooling flow rate according to Q=k1×F1+k2×N1. If F1 has been reduced to the minimum value but still cannot make ΔI fall back, then reduce the spindle speed N1 (adjust by 5% each time).

[0154] If ΔI < 0 (wall thickness decreases, e.g., ΔI = -1A < -0.75A):

[0155] ① Prioritize increasing the feed rate F1, adjusting the step size by 5 mm / min each time (e.g., from 25 mm / min to 30 mm / min).

[0156] ②Simultaneously increase the cooling flow rate according to the Q formula;

[0157] ③ If F1 has reached its maximum value of 100 mm / min, then increase the spindle speed N1 (adjust by 3% each time) until ΔI ≥ -ΔI1;

[0158] Step 6: Cyclic monitoring and shutdown judgment;

[0159] After the parameters are adjusted, return to step 3 to continue collecting data in real time to form a closed-loop control. When the pipe cutting is completed (the cutting length is determined by the spindle position encoder to reach the set value), the cutting status control system 2 sends a stop command: the cutting motor 11 stops rotating, the lifting drive motor 5 is reset, the cooling system is turned off, and one cutting operation is completed.

[0160] It should be noted that, in this invention, unless otherwise explicitly specified and limited, the terms "sliding," "rotating," "fixed," and "equipped" should be interpreted broadly. For example, they can refer to welded connections, bolted connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0161] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A mechatronics pipe cutting machine, comprising a pipe cutting frame, characterized in that, Also includes: A feed drive assembly is located on the pipe cutting frame and forms a feeding and cutting space with the pipe cutting frame; The feed drive assembly is also equipped with a pipe cutting assembly and a cooling system, and the pipe cutting assembly is located in the feeding and cutting space. And a cutting status control system, which is located on the pipe cutting frame and is connected to the feed drive assembly, the pipe cutting assembly and the cooling system respectively; The cutting status control system detects the real-time load current of the pipe cutting assembly and compares it with a set reference current threshold. Based on the comparison result, it automatically and collaboratively adjusts at least one of the feed speed and cooling parameters to cope with changes in the pipe wall thickness.

2. The mechatronics pipe cutting machine according to claim 1, characterized in that, The feed drive component includes: A lifting drive motor is fixedly installed on the pipe cutting frame and is connected to the cutting status control system signal. And a feed screw, which is rotatably connected to the pipe cutting frame and is also fixedly connected to the output end of the lifting drive motor; The feed screw is fitted with a threaded fitting, which is connected to the pipe cutting assembly.

3. The mechatronics pipe cutting machine according to claim 2, characterized in that, The pipe cutting assembly includes: A cutting support, which is fixedly connected to the threaded fitting; A cutting protective groove is located in the middle of the cutting support; The system also includes a cutting control module, which is connected to the cutting support and positioned close to the cutting protection groove.

4. The mechatronics pipe cutting machine according to claim 3, characterized in that, The cutting control module includes: A cutting motor is fixedly mounted on the cutting support and is connected to the cutting status control system via a current detector. The main shaft is rotatably mounted in the cutting protective groove, and the main shaft is also fixedly connected to the output end of the cutting motor; And a cutting blade, which is fixedly mounted on the main shaft and located within the cutting protection groove.

5. The mechatronics pipe cutting machine according to claim 3 or 4, characterized in that, The cooling system includes: The cooling system piping is fixedly installed on the cutting support and connected to an external cooling device, which is also connected to the cutting status control system. And a nozzle, one end of which is connected to the cooling system pipeline, and the other end of which is located near the cutting blade.

6. The mechatronics pipe cutting machine according to claim 5, characterized in that, The cutting status control system includes a sensing module, a decision-making module, an execution module, and a human-computer interaction unit; The sensing module includes a current detector electrically connected to the cutting motor and an encoder mounted on the end of the spindle. The current detector is used to collect the real-time load current of the cutting motor, and the encoder is used to correlate the current signal with the real-time position and speed of the spindle. The decision-making module uses an industrial PLC or embedded industrial computer, which has a built-in expert process database of material-wall thickness-optimal parameters, as well as a threshold manager for setting the current deviation threshold. The execution module is connected to the servo driver of the lifting drive motor, the servo driver of the cutting motor, and the proportional valve of the cooling system via signal cables, and is used to output adjustment commands for feed speed, spindle speed and cooling flow rate. The human-machine interaction unit is integrated into the pipe cutting frame and supports parameter preset, real-time data display and fault alarm functions.

7. The mechatronics pipe cutting machine according to claim 4, characterized in that, The current detector detects the three-phase stator current of the cutting motor and outputs analog or digital signals to the cutting status control system. When the current is detected to exceed a certain proportion of the reference current for a continuous set time, an alarm signal is automatically sent to the cutting status control system. The real-time spindle speed of the pipe cutting assembly is achieved by a cutting motor. The servo driver of the cutting motor receives the speed command from the cutting status control system and controls the fluctuation of the spindle speed within a set range. When the current deviation exceeds the set current deviation threshold, the cutting status control system prioritizes adjusting the feed speed. If the current deviation does not decrease within the set time, the speed of the cutting motor is adjusted. When the current deviation is less than the negative current deviation threshold, the cutting status control system adjusts the feed speed and the cutting motor speed simultaneously.

8. The mechatronics pipe cutting machine according to claim 6, characterized in that, The feed speed of the feed drive assembly is based on the rotational speed of the lifting drive motor. The cutting state control system controls the servo driver of the lifting drive motor to achieve step-by-step adjustment of the feed speed. The cooling flow rate of the cooling system is controlled by a proportional valve installed in the cooling system pipeline. The opening degree of the proportional valve is linearly related to the analog signal output by the cutting state control system. The cooling flow rate, feed rate, and spindle speed satisfy a preset correlation relationship. This correlation relationship is constructed based on the feed rate coefficient and spindle speed coefficient, and the feed rate coefficient and spindle speed can be adjusted according to the material of the pipe fitting.

9. The mechatronics pipe cutting machine according to claim 1, characterized in that, The cutting status control system adopts a weighted normalization formula to normalize the real-time current, feed rate, spindle speed and cooling flow into a single optimized target value. In the weighted normalization formula, the weight coefficients of each parameter are set based on the cutting quality priority, and the ideal value and allowable fluctuation range of the optimization target value are preset. When the target value is within the allowable fluctuation range, maintain the current cutting parameters; when the target value exceeds the allowable fluctuation range, adjust the feed rate first based on the deviation of the main contributing parameters; if the feed rate has reached the limit, adjust the spindle speed and simultaneously adjust the cooling flow rate. The cutting status control system executes a time-series process of data acquisition, parameter calculation, range judgment, and command sending in a set cycle to ensure the synchronization of multiple parameter adjustments.

10. The mechatronics pipe cutting machine according to claim 8, characterized in that, The workflow of the cutting status control system includes the following steps: Step 1: Initial calibration and parameter preset. Select multiple pipe fittings with standard wall thicknesses to be processed, and conduct cutting experiments under different processing parameters. Record the reference current and corresponding optimal processing parameters that result in the best cut quality. Store the correspondence between material, wall thickness, reference current and optimal processing parameters in the expert process database, and set the current deviation threshold according to the pipe fitting material. Step 2: Processing parameter call and start. Input the material and standard wall thickness of the pipe to be processed through the human-machine interaction unit. The cutting status control system calls the corresponding reference parameters and sends initial instructions to each execution module to adjust each processing parameter to the optimal value. Step 3: Real-time data acquisition, to collect real-time current, real-time spindle speed, real-time feed rate and real-time cooling flow rate at set intervals; Step 4: Deviation calculation and threshold judgment. Calculate the deviation between the real-time current and the reference current. If the absolute value of the deviation is less than or equal to the current deviation threshold, maintain the current parameters and return to step 3. If the absolute value of the deviation is greater than the current deviation threshold, proceed to step 5. Step 5: Adaptive parameter adjustment. If the deviation is positive, gradually reduce the feed rate until the feed rate reaches the lower limit or the deviation falls back to the threshold. If the deviation still cannot be reduced even after the feed rate has reached the lower limit, adjust the spindle speed. If the deviation is negative, gradually increase the feed rate and adjust the cooling flow rate simultaneously. If the feed rate has reached the upper limit, adjust the spindle speed until the deviation falls back to within the threshold. Step 6: Cyclic monitoring and shutdown. After parameter adjustment, return to step 3. When the spindle position encoder determines that the cutting length has reached the set value, send a shutdown command to stop the cutting motor, reset the lifting drive motor, and shut down the cooling system.

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