An automated processing method, system and equipment for stainless steel pipes

Abstract

This invention relates to the field of stainless steel pipe processing technology, and provides an automated processing method, system, and equipment for stainless steel pipes. The method includes: tightening and fixing the stainless steel pipe using a clamping device and a supporting device, respectively; detecting the radial deflection value of the stainless steel pipe in its natural state; adjusting the support height of the supporting device based on the radial deflection value to ensure the stainless steel pipe is in a horizontal, deflection-free, coaxial state; acquiring the rotational speed of the stainless steel pipe, the rotational speed of the polishing wheel, the contact pressure threshold, and the X-axis feed speed for both rough and fine polishing stages; and synchronously driving the stainless steel pipe to rotate around its own axis and the polishing wheel to rotate according to the polishing process parameters, performing rough and fine polishing on the stainless steel pipe using the polishing wheel. Compared to existing technologies where uneven polishing and taper deformation easily occur during polishing due to pipe deflection, this invention effectively solves the problem of axial misalignment caused by the weight of stainless steel pipes with large length-to-diameter ratios.

Description

Technical Field

[0001] This invention relates to the field of stainless steel pipe processing technology, and more specifically, to an automated processing method, system, and equipment for stainless steel pipes. Background Technology

[0002] Stainless steel pipe is a hollow long steel material made of stainless steel. Due to its excellent corrosion resistance, high strength, good processing performance and hygienic and environmental protection characteristics, it is widely used in many fields such as building water supply and drainage, industrial fluid transportation, machinery manufacturing, new energy and high-end equipment.

[0003] Currently, the polishing and grinding processes for stainless steel pipes are mainly divided into two types: manual polishing and semi-automatic polishing. Manual polishing relies on the operator's experience to control the polishing force, rotation speed, and feed rate. This is not only labor-intensive but also results in poor consistency in polishing accuracy and is prone to surface scratches and other defects, making it difficult to meet the production requirements of high-precision stainless steel pipes. While semi-automatic polishing equipment reduces the labor intensity to some extent, it often uses fixed support structures in the clamping and positioning process. This makes it impossible to detect and compensate for the radial deflection of the stainless steel pipe due to its own weight. This is especially true for stainless steel pipes with a large length-to-diameter ratio, where deflection can easily cause the steel pipe axis to shift during polishing, leading to uneven polishing and pipe deformation.

[0004] Existing technologies such as the Chinese invention patent with application number CN202211254932.X, "A Polishing Device and Method for Stainless Steel Pipe Based on Dual Flexible Intelligent Positioning", the Chinese invention patent with application number CN202311254802.0, "An Inner Wall Polishing Device and Polishing Method for Stainless Steel Pipe", and the Chinese invention patent with application number CN202010802069.1, "A Surface Polishing Device and Method Applicable to Different Stainless Steel Pipes", cannot detect and compensate for the radial deflection of the stainless steel pipe caused by its own weight. During the polishing process, defects such as uneven polishing and taper deformation are easily caused by the deflection of the pipe body. Summary of the Invention

[0005] Based on this, in order to solve the problems existing in the prior art, such as the inability to detect and compensate for the radial deflection of stainless steel pipes caused by their own weight, which easily leads to uneven polishing and taper deformation during the polishing process due to pipe deflection, the present invention provides an automated processing method, system, and equipment for stainless steel pipes, the specific technical solution of which is as follows:

[0006] An automated processing method for stainless steel pipes includes the following steps:

[0007] The stainless steel pipe is tightened and fixed by a tightening device and a support device, respectively. The radial deflection value of the stainless steel pipe in its natural state is detected. The support height of the support device is adjusted according to the radial deflection value to make the stainless steel pipe in a horizontal and deflection-free coaxial state.

[0008] Polishing process parameters are set according to the pipe diameter, wall thickness and polishing precision level of the stainless steel pipe, and the rotation speed of the stainless steel pipe, the polishing wheel speed, the contact pressure threshold and the X-axis feed speed are obtained for the rough polishing and fine polishing stages.

[0009] According to the polishing process parameters, the stainless steel tube is synchronously driven to rotate around its own axis and the polishing wheel is rotated, and the stainless steel tube is rough polished and fine polished by the polishing wheel.

[0010] The described automated processing method for stainless steel pipes detects the radial deflection value of the stainless steel pipe in its natural state and adjusts the support height of the support device according to the radial deflection value, so that the stainless steel pipe is in a horizontal and deflection-free coaxial state. Compared with the defects such as uneven polishing and taper deformation caused by pipe deflection during the polishing process in the existing technology, it can effectively solve the problem of axial offset caused by the weight of stainless steel pipes with large length-to-diameter ratio, and avoid defects such as uneven polishing and taper deformation caused by pipe deflection during the polishing process. It significantly improves the polishing accuracy and surface consistency of stainless steel pipes, while reducing the risk of damage to the pipe body caused by improper clamping.

[0011] Meanwhile, by acquiring the rotational speed of the stainless steel pipe, the speed of the polishing wheel, the contact pressure threshold, and the X-axis feed speed in the two stages of rough polishing and fine polishing, differentiated process parameters for the two stages of rough polishing and fine polishing are set. Compared with the existing single-parameter polishing method, this not only improves the processing efficiency of the rough polishing stage, but also ensures the surface accuracy of the fine polishing stage, achieving a dual improvement in processing efficiency and product quality. It can be adapted to the processing of stainless steel pipes with different specifications and different precision requirements, making it more versatile.

[0012] Preferably, the automated processing method for stainless steel pipes further includes the following steps:

[0013] Detect the surface gloss of stainless steel pipes and determine whether polishing is complete based on the surface gloss.

[0014] If polishing is complete, unload the material and obtain the polished stainless steel pipe.

[0015] Preferably, the specific method for adjusting the support height of the support device includes the following steps:

[0016] Obtain the standard reference deflection value, and based on the radial deflection value and the standard reference deflection value, obtain the adaptive deflection compensation factor to avoid over-compensation or under-compensation of deflection;

[0017] The support height compensation amount is obtained based on the radial deflection value and the adaptive deflection compensation factor, and the support height of the support device is adjusted according to the support height compensation amount.

[0018] Preferably, the specific method for adjusting the support height of the support device further includes the following steps:

[0019] Obtain the length, wall thickness, and diameter of the stainless steel pipe, and obtain the stiffness coupling correction factor for quantifying the stiffness characteristics of the stainless steel pipe based on the length, wall thickness, and diameter.

[0020] Specifically, the support height compensation amount is obtained based on the radial deflection value and the adaptive deflection compensation factor as follows: the support height compensation amount is obtained based on the radial deflection value, the adaptive deflection compensation factor, and the stiffness coupling correction factor.

[0021] Preferably, the specific method for detecting the surface gloss of stainless steel pipes includes the following steps:

[0022] Obtain the average brightness, standard deviation of image brightness, texture uniformity, and reflection consistency of the stainless steel pipe surface image;

[0023] Surface gloss is obtained based on average image brightness, standard deviation of image brightness, texture uniformity, and reflectivity consistency.

[0024] Preferably, the specific method for determining whether polishing is complete based on surface gloss includes the following steps:

[0025] Obtain the polishing precision level, and then obtain the gloss threshold that is positively correlated with the polishing precision level.

[0026] If the surface gloss of the preset ratio frame is not less than the gloss threshold for several consecutive seconds, then polishing is considered complete.

[0027] An automated processing system for stainless steel pipes, used to implement the aforementioned automated processing method for stainless steel pipes, includes:

[0028] The clamping device and the supporting device are both fixedly installed on the workbench, and are used to clamp and support the stainless steel pipe respectively.

[0029] A laser displacement sensor, fixedly mounted on a workbench, is used to detect the radial deflection value of a stainless steel tube in its natural state.

[0030] The controller is used to adjust the support height of the support device to ensure that the stainless steel pipe is in a horizontal and flexibly coaxial state. It sets the polishing process parameters according to the pipe diameter, wall thickness and polishing precision level of the stainless steel pipe, and obtains the rotation speed of the stainless steel pipe, the speed of the polishing wheel, the contact pressure threshold and the X-axis feed speed for the two stages of rough polishing and fine polishing. According to the polishing process parameters, it synchronously drives the stainless steel pipe to rotate around its own axis and the polishing wheel to rotate, and performs rough polishing and fine polishing on the stainless steel pipe through the polishing wheel.

[0031] Preferably, the automated stainless steel pipe processing system further includes:

[0032] The polishing device includes a polishing wheel and a polishing motor, the polishing motor being used to drive the polishing wheel to rotate;

[0033] The lifting device is fixedly installed on the worktable and is used to drive the polishing device to rise and fall.

[0034] The X-axis feed device is fixedly mounted on the worktable and is used to drive the lifting device to move back and forth along the length of the stainless steel tube.

[0035] Preferably, the controller includes:

[0036] The compensation factor acquisition module is used to obtain the standard reference deflection value and, based on the radial deflection value and the standard reference deflection value, to obtain an adaptive deflection compensation factor to avoid over-compensation or under-compensation of deflection.

[0037] The correction factor acquisition module is used to obtain the length, wall thickness and diameter of the stainless steel pipe, and to obtain the stiffness coupling correction factor for quantifying the stiffness characteristics of the stainless steel pipe based on the length, wall thickness and pipe diameter.

[0038] The compensation amount acquisition module is used to obtain the support height compensation amount based on the radial deflection value, the adaptive deflection compensation factor, and the stiffness coupling correction factor.

[0039] The support height adjustment module is used to adjust the support height of the support device according to the support height compensation amount.

[0040] An automated processing equipment for stainless steel pipes includes:

[0041] Controller;

[0042] Memory, which stores executable instructions;

[0043] The executable instructions run on the controller and implement the automated processing method for stainless steel pipes. Attached Figure Description

[0044] The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the drawings are not necessarily drawn to scale, but rather the emphasis is on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0045] Figure 1 This is a schematic diagram of the overall process of an automated processing method for stainless steel pipes according to an embodiment of the present invention;

[0046] Figure 2 This is a schematic diagram of the overall process of an automated processing method for stainless steel pipes according to another embodiment of the present invention;

[0047] Figure 3 This is a flowchart illustrating a specific method for detecting the surface gloss of a stainless steel pipe in one embodiment of the present invention.

[0048] Figure 4 This is a flowchart illustrating a specific method for determining whether polishing is complete based on surface gloss in one embodiment of the present invention.

[0049] Figure 5 This is a flowchart illustrating a specific method for adjusting the support height of a support device according to an embodiment of the present invention;

[0050] Figure 6 This is a schematic diagram of the overall structure of an automated stainless steel pipe processing system according to an embodiment of the present invention. Figure 1 ;

[0051] Figure 7 This is a schematic diagram of the overall structure of an automated stainless steel pipe processing system according to an embodiment of the present invention. Figure 2 ;

[0052] Figure 8 This is a schematic diagram of the overall structure of an automated stainless steel pipe processing system according to an embodiment of the present invention. Figure 3 ;

[0053] Figure 9 This is a schematic diagram of the controller structure in one embodiment of the present invention.

[0054] Explanation of reference numerals in the attached drawings: 1. Tightening device; 2. Support device; 3. Polishing device; 4. Lifting device; 5. X-axis feed device; 6. Worktable; 30. Polishing wheel; 31. Polishing motor. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to its embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of protection of the invention.

[0056] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0058] In this invention, "first" and "second" do not represent a specific quantity or order, but are merely used to distinguish names.

[0059] Before describing the embodiments of the present invention, a brief introduction to the prior art will be given.

[0060] Stainless steel pipe is a hollow long steel material made of stainless steel. Due to its excellent corrosion resistance, high strength, good processing performance and hygienic and environmental protection characteristics, it is widely used in many fields such as building water supply and drainage, industrial fluid transportation, machinery manufacturing, new energy and high-end equipment.

[0061] Stainless steel pipes are mainly divided into two categories according to their manufacturing process: seamless steel pipes and welded steel pipes (seamed pipes). Seamless steel pipes are made from steel ingots or solid tube blanks through processes such as piercing, hot rolling, cold rolling, or cold drawing. They have no weld seams, resulting in more uniform overall performance, and are often used in high-pressure and high-requirement environments. They account for approximately 60% of the total volume of stainless steel pipes. Welded steel pipes are made by rolling and welding sheet metal. They are relatively cheaper, but the presence of weld seams requires attention to the risk of corrosion at the weld seams.

[0062] Currently, the polishing and grinding processes for stainless steel pipes are mainly divided into two types: manual polishing and semi-automatic polishing. Manual polishing relies on the operator's experience to control the polishing force, rotation speed, and feed rate. This not only results in high labor intensity and low production efficiency, but also poor consistency in polishing precision, easily leading to defects such as surface scratches, uneven gloss, and taper deformation, making it difficult to meet the production requirements of high-precision stainless steel pipes. At the same time, the metal dust generated by long-term polishing operations can harm the health of operators, posing a significant safety hazard.

[0063] While semi-automatic polishing equipment reduces the intensity of manual labor to some extent, it still has many technical shortcomings, including:

[0064] 1. The clamping and positioning process often uses a fixed support structure, which cannot detect and compensate for the radial deflection of stainless steel pipes caused by their own weight. This is especially true for stainless steel pipes with a large length-to-diameter ratio, which are prone to causing the steel pipe axis to shift during polishing due to deflection, resulting in uneven polishing and pipe deformation.

[0065] 2. Polishing processes often use a single parameter for the entire polishing process, without differentiating process parameters according to the different processing requirements of rough polishing and fine polishing. This results in low efficiency of rough polishing and insufficient precision of fine polishing, making it difficult to balance processing efficiency and surface quality.

[0066] 3. During the polishing process, the polishing wheel will wear down due to continuous grinding, which will cause the contact pressure between the polishing wheel and the stainless steel pipe to decrease. Existing equipment cannot achieve dynamic pressure compensation, which will lead to the subsequent reduction of polishing effect and problems such as insufficient surface gloss and excessive roughness.

[0067] 4. The polishing endpoint is mostly determined by manual visual inspection, which is highly subjective and prone to errors. Over-polishing or incomplete polishing can easily occur, further affecting the product qualification rate.

[0068] Furthermore, existing automated polishing equipment suffers from poor coordination among its various mechanisms and lacks a unified intelligent control system. This prevents it from achieving fully automated closed-loop control of the entire process, from clamping and polishing to inspection and unloading. It also makes it difficult to adapt to the processing needs of stainless steel pipes with different diameters, wall thicknesses, and precision requirements, resulting in insufficient versatility and flexibility. This limits the large-scale, high-precision production in the stainless steel pipe polishing industry. Therefore, developing an automated processing method for stainless steel pipes that can overcome these technical deficiencies has become a pressing technical problem for those skilled in the art.

[0069] One objective of this invention is to address the shortcomings of existing technologies, such as the inability to detect and compensate for the radial deflection of stainless steel tubes due to their own weight. This leads to uneven polishing and tapered deformation during the polishing process due to tube deflection, thereby improving the polishing precision and surface consistency of stainless steel tubes. To this end, as... Figure 1 As shown, an embodiment of the present invention provides an automated processing method for stainless steel pipes, comprising the following steps:

[0070] S1, the stainless steel pipe is tightened and fixed by the tightening device and the support device respectively, and the radial deflection value of the stainless steel pipe in its natural state is detected. The support height of the support device is adjusted according to the radial deflection value so that the stainless steel pipe is in a horizontal and deflection-free coaxial state.

[0071] Specifically, the radial deflection of a stainless steel tube in its natural state can be detected using laser displacement sensors. For example, at least two laser displacement sensors are arranged radially symmetrically at the midpoint of the stainless steel tube, such as directly above and below it. The sensor emitters are perpendicular to the axis of the stainless steel tube and within the sensor's measuring range from the tube surface.

[0072] First, without the steel pipe, the sensor is zero-point calibrated, and the reference output value is recorded. Then, linear calibration is performed using a standard block of known thickness to establish the correspondence between the sensor output and the actual distance. Next, the stainless steel pipe is placed horizontally on the clamping and supporting devices, but no clamping or supporting force is applied, allowing the steel pipe to be in a natural suspension / bending state under its own weight. Simultaneously, all laser displacement sensors are triggered to perform multi-point radial measurements on the same cross-section of the middle section of the steel pipe, and the output values ​​of each sensor are recorded. Next, the measured values ​​of each laser displacement sensor are filtered to remove noise and outliers, thus obtaining the average measured value in that direction. Finally, using the axes at both ends of the stainless steel pipe as the baseline, the distance difference between each measuring point in the middle section and the baseline is calculated to obtain the radial deflection value. .in, These represent the maximum measured value (corresponding to the direction of maximum deflection) and the minimum measured value, respectively.

[0073] After obtaining the radial deflection value, a deflection compensation reference table can be generated based on the radial deflection value, recording the deflection direction and deflection value of each measurement section, so as to adjust the support height of the subsequent support device.

[0074] For example, an ideal horizontal reference axis can be established using the center of the clamping devices at both ends of the stainless steel pipe as a reference. Based on the radial deflection values ​​of each cross-section detected by the laser displacement sensor, the target support height at each support point is calculated. That is, the target support height = support height corresponding to the ideal horizontal reference axis + radial deflection value of that cross-section. Wherein, the radial deflection value is positive when the deflection is downward and negative when it is upward. If there are multiple support points, the target height of the corresponding support point is calculated separately according to the deflection value of each cross-section, forming a height adjustment sequence.

[0075] Then, the top rod in the support device is driven to rise or fall according to the target support height, while the current support height is detected in real time until the difference between the current support height and the target support height is less than the preset accuracy threshold. After all support devices have completed the height adjustment synchronously, the laser displacement sensor is triggered again to re-measure the deflection value of each section. If the re-measured deflection value is less than the preset threshold, it is determined that the stainless steel pipe has reached a horizontal and deflection-free coaxial state; if it does not meet the standard, the adjustment steps are repeated.

[0076] S2 sets the polishing process parameters according to the pipe diameter, wall thickness and polishing precision level of the stainless steel pipe, and obtains the rotation speed of the stainless steel pipe, the polishing wheel speed, the contact pressure threshold and the X-axis feed speed for the two stages of rough polishing and fine polishing.

[0077] Specifically, the polishing process parameters are optimized. Based on the diameter, wall thickness, and polishing precision grade of the stainless steel pipe, the rotation speed of the steel pipe, the speed of the polishing wheel, the contact pressure threshold, and the X-axis feed speed are preset for the rough polishing and fine polishing stages. The contact pressure threshold in the rough polishing stage is greater than that in the fine polishing stage, and the feed speed in the rough polishing stage is greater than that in the fine polishing stage. The polishing precision grade is determined according to the surface roughness, such as Ra0.8, Ra0.4, Ra0.2, etc.

[0078] The core objective of rough polishing is to quickly remove oxide scale, weld marks, or machining allowances. During this stage, the rotational speed of the stainless steel tube is directly proportional to the rough polishing linear speed, which is recommended to be 15-25 m / s. The recommended polishing wheel speed is 2800-3500 rpm to ensure polishing efficiency. The contact pressure threshold can be set based on parameters such as the stainless steel tube material, wall thickness, and diameter, or empirically. Generally, it should not exceed the allowable load corresponding to the yield strength of the steel tube to prevent deformation. The recommended X-axis feed speed is 80-150 mm / min, which can be adjusted according to the amount of material to be removed.

[0079] The goal of fine polishing is to achieve high gloss and low surface roughness. During this stage, the rotational speed of the stainless steel tube is directly proportional to the fine polishing linear speed, which is recommended to be 8-15 m / s. The recommended polishing wheel speed is 1800-2500 rpm to reduce grinding force and surface damage. The contact pressure threshold can be fine-tuned according to the precision level; generally, higher precision requires lower pressure. The X-axis feed speed can also be adjusted according to the precision level; higher precision requires slower feed.

[0080] Of course, you can also first set up a process parameter mapping table based on the diameter, wall thickness and polishing precision level of the stainless steel pipe to obtain the rotation speed of the stainless steel pipe, the polishing wheel speed, the contact pressure threshold and the X-axis feed speed for the two stages of rough polishing and fine polishing.

[0081] S3, according to the polishing process parameters, synchronously drives the stainless steel pipe to rotate around its own axis and the polishing wheel to rotate, and performs rough polishing and fine polishing on the stainless steel pipe through the polishing wheel.

[0082] Specifically, the stainless steel tube rotary motor and the polishing motor are started synchronously according to the polishing process parameters, so that the stainless steel tube rotates around its own axis and the polishing wheel rotates at high speed. The polishing wheel lifting device drives the polishing wheel down to the contact pressure threshold of the coarse polishing stage, triggering the coarse polishing signal of the pressure sensor.

[0083] For example, the controller reads the target contact pressure threshold for the rough polishing stage of the current stainless steel pipe from the process database and uses this threshold as the target control value for the downward movement of the polishing wheel. The lifting device drives the polishing wheel to move towards the surface of the stainless steel pipe at a preset rapid descent speed. When the distance between the polishing wheel and the surface of the steel pipe is close to the preset safe distance, it switches to low-speed precise descent to avoid impact.

[0084] A pressure sensor installed between the polishing wheel and the lifting device collects the actual contact pressure value between the polishing wheel and the stainless steel pipe in real time, and uploads the pressure signal to the controller in real time. The controller continuously compares the real-time pressure value with the contact pressure threshold of the rough polishing stage. When the real-time pressure value first reaches or exceeds the rough polishing contact pressure threshold, the controller immediately outputs a braking signal to stop the lifting device from descending and maintain its current position.

[0085] After the contact pressure reaches the standard and braking is completed, the controller generates and outputs a coarse polishing start trigger signal. The trigger signal is used to synchronously start the rotation of the stainless steel pipe, the rotation of the polishing wheel, and the axial feed action. At the same time, the controller locks the current coarse polishing pressure state to prevent signal interruption due to vibration or false triggering.

[0086] After the coarse polishing trigger signal is valid, the system enters a stable coarse polishing processing state. The X-axis feed device drives the polishing device (including the polishing wheel and polishing motor) to feed along the axial direction of the stainless steel tube. During the polishing process, the pressure sensor collects the contact pressure between the polishing wheel and the stainless steel tube in real time. When the contact pressure is lower than the coarse polishing pressure threshold due to the wear of the polishing wheel, the lifting device dynamically compensates through the servo proportional valve until the coarse polishing stage is completed. After the coarse polishing is completed, the system automatically switches to the fine polishing parameters. The lifting device adjusts the contact pressure to the fine polishing contact pressure threshold, and the X-axis feed device slows down to complete the fine polishing.

[0087] Here, when the contact pressure falls below the coarse polishing pressure threshold due to wear of the polishing wheel, the lifting device dynamically compensates through a servo proportional valve until the coarse polishing stage is completed. Specifically, this includes:

[0088] 1. The controller pre-reads and locks the contact pressure threshold of the coarse polishing target corresponding to the current stainless steel pipe. When the polishing wheel just enters the coarse polishing stage and the pressure reaches the target for the first time, it records the axial position reference value of the current polishing wheel as the position reference for subsequent wear compensation.

[0089] 2. During the polishing process, the pressure sensor collects the actual contact pressure between the polishing wheel and the stainless steel tube in real time at a fixed sampling frequency. The controller performs mean filtering on multiple consecutive frames of pressure signals to remove vibration and burr interference, obtaining a stable actual contact pressure value.

[0090] 3. The controller compares the coarse polishing target contact pressure threshold with the actual contact pressure value. If the actual contact pressure value is greater than or equal to the coarse polishing target contact pressure threshold, it indicates that the pressure is sufficient, and the lifting device remains in its current position. Otherwise, it is determined that the polishing wheel is worn / receding, and the dynamic compensation process is initiated.

[0091] 4. The controller calculates the corresponding micro-adjustment displacement based on the pressure deviation value (coarse polishing target contact pressure threshold - actual contact pressure value) and outputs a corresponding current / voltage signal to the servo proportional valve. The servo proportional valve adjusts the output of the cylinder / servo electric cylinder, driving the polishing wheel to feed downwards slightly to achieve adjustment. During the adjustment process, the pressure sensor continuously samples the actual contact pressure value. If the actual contact pressure value is still less than the coarse polishing target contact pressure threshold, it continues to adjust slightly. When the actual contact pressure value returns to the allowable range of the coarse polishing target contact pressure threshold, the adjustment immediately stops and the current position is maintained.

[0092] For example, taking a 304 stainless steel pipe with an outer diameter of φ50mm and a wall thickness of 2mm as an example, assume that the system sets the target contact pressure threshold for rough polishing to 150N. At the beginning of polishing, the polishing wheel is pressed down into place, the pressure sensor collects a stable actual contact pressure value of 150N, the system records the position reference, and begins axial rough polishing.

[0093] After polishing a certain distance, the polishing wheel wears down due to grinding, creating a gap between it and the steel pipe surface. The actual contact pressure drops by 130N. The controller identifies this as insufficient pressure, calculates the pressure deviation ΔP = 150 - 130 = 20N, and then outputs a signal to the servo proportional valve to drive the lifting device to compensate downwards by a small margin of 0.15mm. After compensation, the polishing wheel presses firmly against the steel pipe surface again, and the actual contact pressure rises back to 148N, returning to the allowable range of the rough polishing target contact pressure threshold. Compensation stops, and polishing continues.

[0094] The actual contact pressure between the polishing wheel and the stainless steel pipe is collected in real time by a pressure sensor. When the pressure is lower than the target contact pressure threshold for rough polishing due to wear of the polishing wheel, the polishing wheel lifting device is driven by a servo proportional valve to dynamically compensate, ensuring that the actual contact pressure is always stable within the preset threshold range. This avoids defects such as surface scratches and uneven gloss caused by insufficient pressure. At the same time, the parameters are automatically switched to fine polishing after rough polishing, realizing a seamless connection between rough polishing and fine polishing, further improving the polished surface quality and reducing the product defect rate.

[0095] In summary, the automated processing method for stainless steel pipes detects the radial deflection value of the stainless steel pipe in its natural state and adjusts the support height of the support device according to the radial deflection value, so that the stainless steel pipe is in a horizontal and deflection-free coaxial state. Compared with the defects such as uneven polishing and taper deformation caused by pipe deflection during the polishing process in the prior art, this method can effectively solve the problem of axial offset caused by the weight of stainless steel pipes with large length-to-diameter ratios. It avoids defects such as uneven polishing and taper deformation caused by pipe deflection during the polishing process, significantly improves the polishing accuracy and surface consistency of stainless steel pipes, and reduces the risk of damage to the pipe due to improper clamping.

[0096] Meanwhile, by acquiring the rotational speed of the stainless steel pipe, the speed of the polishing wheel, the contact pressure threshold, and the X-axis feed speed in the two stages of rough polishing and fine polishing, differentiated process parameters for the two stages of rough polishing and fine polishing are set. Compared with the existing single-parameter polishing method, this not only improves the processing efficiency of the rough polishing stage, but also ensures the surface accuracy of the fine polishing stage, achieving a dual improvement in processing efficiency and product quality. It can be adapted to the processing of stainless steel pipes with different specifications and different precision requirements, making it more versatile.

[0097] In one embodiment, such as Figure 2 As shown, the automated processing method for stainless steel pipes further includes the following steps:

[0098] S4, Detect the surface gloss of the stainless steel pipe, and determine whether polishing is complete based on the surface gloss.

[0099] Specifically, a standard gloss level board (three levels of standard blocks: matte / semi-gloss / high gloss) is first placed at the polishing station. A gloss-grayscale value calibration curve is established based on the grayscale value of the standard board image and the intensity of reflected light, and stored in the process database. A gloss threshold is then set according to the target polishing precision level (e.g., Ra0.2, Ra0.4, Ra0.8). Next, a vision sensor continuously photographs the surface of the steel pipe at a set frame rate (e.g., 10-30 frames / second), acquiring images of the entire circumference of the stainless steel pipe. The acquired images are then subjected to noise reduction filtering to remove dust, scratches, and noise interference, extracting the effective detection area and excluding irrelevant areas such as pipe ends and fixtures. The average grayscale value of this area is then calculated. Finally, based on the obtained average grayscale value and the gloss-grayscale value calibration curve, the actual surface gloss is obtained. The polishing is then determined by comparing the actual surface gloss with the gloss threshold. If the actual surface gloss is greater than or equal to the gloss threshold, the surface gloss is acceptable, and polishing is complete; otherwise, the surface gloss is unacceptable, and polishing needs to continue.

[0100] Generally, at least three inspection sections should be taken along the axial direction of the stainless steel pipe. Multiple samples should be taken from the circumference of each section, and a weighted average of the gloss levels at these multiple locations should be calculated to avoid misjudging local defects. The overall polishing is considered complete when the average surface gloss of all inspection sections reaches or exceeds the gloss threshold.

[0101] S5. If polishing is complete, unload the material and obtain the polished stainless steel pipe.

[0102] As a preferred technical solution, in step S4, such as Figure 3 As shown, the specific method for detecting the surface gloss of stainless steel pipes includes the following steps:

[0103] S41, obtain the average brightness, standard deviation of brightness, texture uniformity, and reflection consistency of the stainless steel pipe surface image.

[0104] The average image brightness ranges from 0 to 255, reflecting the overall reflective intensity; brightness increases after polishing. The standard deviation of image brightness characterizes the degree of brightness dispersion; the more uniform the surface after polishing, the lower the value. Texture uniformity is used to evaluate surface texture roughness by detecting the number of edges, such as with the Canny operator. After polishing, edges decrease, and texture uniformity tends to 1. Reflectance consistency is used to detect local reflective uniformity; after polishing, the difference in reflectance between different areas decreases, and its value tends to 1.

[0105] When obtaining texture uniformity, edge detection can be performed first, and the Canny operator can be used to extract the image edges. Then, normalization processing is performed to compress the edge density to the [0,1] interval. Finally, through exponential mapping, high edge density is mapped to a texture uniformity U close to 0, and low edge density is mapped to a texture uniformity U close to 1.

[0106] For example, texture uniformity .in, These represent the number of effective edges detected after Gaussian filtering, the total number of pixels, and the edge detection compensation coefficient, respectively. Gaussian filtering of image edges aims to remove small-sized noisy edges, retaining only true, unpolished texture edges, thus improving the accuracy of texture uniformity. The edge detection compensation coefficient compensates for the conservatism of edge detection, typically between 1.0 and 1.2, with a default of 1.1. Generally, the more scratches and pits on a stainless steel surface, the more edges are present, and the lower the texture uniformity. Suppressing texture interference (such as residual scratches) here prevents high-brightness but rough surfaces from passing detection.

[0107] To obtain reflectivity consistency, the image is first divided into n regions (e.g., a 10×10 grid). The average brightness of each region is calculated. Then, standardized residuals are calculated to eliminate the influence of overall brightness and focus on local differences. Finally, the squared residuals are summed and averaged to obtain the reflectivity consistency C. For example, reflectivity consistency... .in, These represent the gray value of the i-th pixel, the average brightness of the image, and the standard deviation of the image brightness, respectively.

[0108] S42, obtain the surface gloss based on the average image brightness, the standard deviation of image brightness, texture uniformity, and reflection consistency.

[0109] Specifically, first, the normalized standard deviation is obtained based on the image brightness standard deviation, resulting in: Normalized Standard Deviation = Image Brightness Standard Deviation / Standard Highlight Standard Deviation, where the standard highlight standard deviation is typically taken as 10. Then, the surface gloss is obtained based on the image average brightness, normalized standard deviation, texture uniformity, and reflection consistency, resulting in: Surface Gloss G = (Image Average Brightness × Texture Uniformity × Reflection Consistency) / (Normalized Standard Deviation + Zero-Division Prevention Term). The zero-division prevention term is generally a fixed small value, such as 0.001, to prevent division by zero errors.

[0110] This embodiment combines brightness, texture, and reflection to obtain surface gloss, and performs multi-feature fusion, which is more resistant to interference than a simple brightness threshold and solves the misjudgment problem caused by the reliance on a single brightness threshold in traditional methods.

[0111] As a preferred technical solution, in step S5, such as Figure 4 As shown, the specific method for determining whether polishing is complete based on surface gloss includes the following steps:

[0112] S51, obtain the polishing precision level, and obtain the gloss threshold that is positively correlated with the polishing precision level.

[0113] The polishing precision level is preset by the user and is an integer from 1 to 5, where level 1 represents the coarsest and level 5 is the highest level, representing a mirror finish.

[0114] For example, the gloss threshold is based on the formula .in, These represent the gloss threshold, polishing precision level, and adjustment index factor, respectively. Generally, the adjustment index factor is between 0.8 and 1.0. The larger the value, the steeper the gloss threshold gradient for higher levels, and the more stringent the precision requirements. The gloss threshold benchmark can be set according to the actual situation. It is generally set to 50, or the average actual surface gloss of 20 qualified stainless steel pipe polishing samples with Q=1 can be collected as the gloss threshold benchmark.

[0115] Exemplarily, assume that the average image brightness is 200, the texture uniformity is 0.95, the reflection consistency is 0.833, and the normalized standard deviation is 0.8. Then the surface glossiness G = 197.8. If the polishing precision level Q = 4, the adjustment index factor is 0.9, and the glossiness threshold benchmark is 50, then the glossiness threshold is 174.1. Since the surface glossiness G = 197.8 > the glossiness threshold, it is determined to be qualified and the polishing is completed. If the polishing precision level Q = 5, the adjustment index factor is 0.9, and the glossiness threshold benchmark is 50, then the glossiness threshold is 212.8. Since the surface glossiness G = 197.8 < the glossiness threshold, it is determined to be unqualified and the polishing is not completed.

[0116] Here, the glossiness threshold changes exponentially with the polishing precision level, which can meet the different polishing precision requirements of stainless steel pipes.

[0117] S52. If the surface glossiness of a preset proportion of frames is not less than the glossiness threshold within several consecutive seconds, it is determined that the polishing is completed.

[0118] Exemplarily, if the surface glossiness of ≥95% of the frames is not less than the glossiness threshold within 2 consecutive seconds, it is determined that the polishing is completed.

[0119] In this way, through multi-feature fusion (brightness, texture, reflection) and the design of a dynamic glossiness threshold based on the polishing precision level, the anti-interference and adaptability problems of the determination of the polishing end point of stainless steel pipes can be solved, improving flexibility and reducing the misjudgment rate.

[0120] In one embodiment, as Figure 5 shown, the specific method for adjusting the support height of the support device includes the following steps:

[0121] S11. Obtain the standard reference deflection value, and obtain an adaptive deflection compensation factor for avoiding over-compensation or under-compensation of deflection based on the radial deflection value and the standard reference deflection value.

[0122] S12. Obtain the support height compensation amount based on the radial deflection value and the adaptive deflection compensation factor, and adjust the support height of the support device according to the support height compensation amount.

[0123] Specifically, this adaptive deflection compensation factor can be understood as the deflection compensation intensity, which avoids over-compensation resulting in reverse bending in the case of small deflections or under-compensation resulting in residual deformation in the case of large deflections. By obtaining the support height compensation amount and adjusting the support height of the support device according to the support height compensation amount, the bending of the stainless steel pipe can be eliminated and a horizontal non-deflection state can be achieved.

[0124] Exemplarily, the adaptive deflection compensation factor . Among them, These represent the basic compensation coefficient and the adjustment range, respectively, which can be set according to actual conditions. These represent the radial deflection value and the standard reference deflection value, respectively. For example, when the basic compensation coefficient and adjustment range are 0.8 and 0.4, respectively, when the radial deflection value is much smaller than the standard reference deflection value, tanh(radial deflection value / standard reference deflection value) ≈ 0, and the adaptive deflection compensation factor ≈ 0.8, performing conservative compensation for small deflections; when the radial deflection value is much larger than the standard reference deflection value, tanh(radial deflection value / standard reference deflection value) ≈ 1, and the adaptive deflection compensation factor ≈ 1.2, performing enhanced compensation for large deflections.

[0125] Thus, by using an adaptive deflection compensation factor, we can avoid overcompensation at small deflections leading to reverse bending or undercompensation at large deflections leading to residual deformation, thereby reducing compensation errors, eliminating bending of stainless steel pipes, and achieving a horizontal, deflection-free state.

[0126] Preferably, the adaptive deflection compensation factor can be limited to a certain range, such as 0.5-1.5, to better prevent overcompensation / undercompensation.

[0127] As a preferred technical solution, the specific method for adjusting the support height of the support device further includes the following steps: obtaining the length, wall thickness, and diameter of the stainless steel pipe, and obtaining a stiffness coupling correction factor for quantifying the stiffness characteristics of the stainless steel pipe based on the length, wall thickness, and diameter. Specifically, obtaining the support height compensation amount based on the radial deflection value and the adaptive deflection compensation factor involves obtaining the support height compensation amount based on the radial deflection value, the adaptive deflection compensation factor, and the stiffness coupling correction factor.

[0128] Specifically, the length of the stainless steel pipe can be determined by a laser length measuring instrument or a tape measure, while the wall thickness and pipe diameter are measured by a digital vernier caliper.

[0129] Obtaining the stiffness coupling correction factor for quantifying the stiffness characteristics of stainless steel tubes specifically includes the following steps:

[0130] The first step is to construct an industrial big data sample library. This involves collecting full-specification measured data on the polishing process of stainless steel pipes, including obtaining the length-to-diameter ratio (length / diameter) and wall thickness-to-diameter ratio (wall thickness / diameter) based on length, wall thickness, and pipe diameter. The optimal stiffness coupling correction factor for eliminating deflection of corresponding stainless steel pipe specifications is obtained through multiple compensation tests in industrial settings. Length, wall thickness, pipe diameter, length-to-diameter ratio, and wall thickness-to-diameter ratio are used as input features, and the optimal stiffness coupling correction factor is used as the label value.

[0131] The second step involves preprocessing the sample data in the industrial big data sample library to eliminate noise, inconsistencies in units, outliers, and other issues in the original data. Preprocessing includes, but is not limited to, data cleaning and unit normalization.

[0132] The third step involves constructing a mapping model based on the nonlinear and multi-feature coupling characteristics of industrial big data, where input features are coupled with stiffness coupling correction factors. For this mapping model, a multivariate nonlinear regression model, gradient boosting tree, or random forest can be chosen. The preprocessed samples are divided into training, validation, and test sets in a 7:2:1 ratio. The training set is used for model parameter learning, the validation set for hyperparameter tuning, and the test set for model accuracy verification. The fitted mapping model is then trained using the dataset to obtain the trained mapping model.

[0133] The fourth step is to input the length, wall thickness, pipe diameter, length-to-diameter ratio, and wall thickness-to-diameter ratio of the stainless steel pipe to be processed into the trained mapping model to obtain the stiffness coupling correction factor.

[0134] Meanwhile, new sample data generated during actual processing (such as the length, wall thickness, pipe diameter, length-to-diameter ratio, wall thickness and pipe diameter of the stainless steel pipe to be processed, the stiffness coupling correction factor actually used, and the compensation effect data, etc.) can be continuously added to the industrial big data sample library. The fitting mapping model can be retrained and updated with a certain pattern, such as every 30 days / 500 new samples, so that the calculation accuracy of the stiffness coupling correction factor can be continuously improved with production experience.

[0135] Once the stiffness coupling correction factor is determined, the support height compensation amount can be obtained based on the radial deflection value, the adaptive deflection compensation factor, and the stiffness coupling correction factor, resulting in: Support height compensation amount = radial deflection value × adaptive deflection compensation factor × stiffness coupling correction factor.

[0136] In summary, this stiffness coupling correction factor function is the first to couple and quantify the diameter, wall thickness, and length of stainless steel pipes, allowing the support height compensation to match the stiffness of the steel pipe itself. It solves the problem of large compensation errors for thin-walled long pipes and thick-walled short pipes in existing technologies, and realizes personalized deflection compensation for steel pipes of different specifications.

[0137] Due to factors such as installation gaps, minor sensor errors, and localized differences in steel pipe material in industrial settings, the theoretically calculated initial support height compensation can be dynamically corrected based on actual retesting, forming a closed-loop compensation to ensure the stainless steel pipe ultimately reaches a horizontal, deflection-free coaxial state. Specifically, the controller first sends the initial support height compensation to the support device, driving the push rod to complete pre-compensation. The push rod positioning accuracy is ≥0.01mm. Then, the laser displacement sensor detects the radial deflection value of the stainless steel pipe again, calculates the compensation residual error Δδ = |radial deflection value|, and compares it with the preset accuracy threshold ε. If the compensation residual error is not greater than the preset accuracy threshold, the initial support height compensation is deemed valid, and the initial support height compensation is the final support height compensation ΔH. Otherwise, it enters the dynamic correction stage. The controller calculates the correction amount based on the compensation residual error = compensation residual error × adaptive deflection compensation factor × stiffness coupling correction factor, and corrects the initial support height compensation to obtain the final support height compensation amount = initial support height compensation amount ± correction amount. If the residual deflection is upward, it is subtracted; if downward, it is added. The preset accuracy threshold is generally less than 0.02mm and can be adjusted according to the polishing accuracy requirements.

[0138] The support device is adjusted according to the final support height compensation amount, and the laser displacement sensor is re-measured until the residual error Δδ≤ε is compensated.

[0139] Thus, by quantifying the influence of the steel pipe's own stiffness on deflection compensation through the stiffness coupling correction factor, the compensation amount can be adapted to the bending characteristics of steel pipes of different specifications. Combined with the adaptive deflection compensation factor, nonlinear and accurate deflection compensation can be achieved. The two are then integrated with the radial deflection value for calculation, which can achieve dual correction of stiffness adaptation and nonlinear deflection compensation, greatly reducing compensation error.

[0140] It's important to note that the adaptive deflection compensation factor is a nonlinear compensation coefficient constructed based on the ratio of the actual radial deflection value of the stainless steel pipe to the standard reference deflection value. Its main function is to avoid overcompensation or undercompensation during the deflection compensation process, adapting to the deformation characteristics of the steel pipe under different deflection magnitudes and achieving dynamic adjustment of the deflection compensation strength. In essence, this adaptive deflection compensation factor acts as a bridge connecting the actual radial deflection value and a reasonable support height compensation amount, ensuring that the support height compensation amount is no longer a simple linear proportion of the actual radial deflection value, but rather an adaptive value that closely matches the actual deformation characteristics of the stainless steel pipe.

[0141] The stiffness coupling correction factor quantifies the inherent stiffness characteristics of stainless steel pipes of different specifications, matching the support height compensation amount with the bending resistance of the stainless steel pipe. This solves the problem of large compensation errors in existing technologies for thin-walled long pipes and thick-walled short pipes. Specifically, thin-walled long pipes have poor stiffness, and their deflection is easily amplified; the stiffness coupling correction factor will adapt to a larger support height compensation correction force. Conversely, thick-walled short pipes have high stiffness and small deflection; the stiffness coupling correction factor will adapt to a smaller support height compensation correction force. By using the stiffness coupling correction factor, deflection compensation for stainless steel pipes of different specifications can be adapted, improving the versatility of support height compensation.

[0142] In practical stainless steel pipe processing applications, the stiffness coupling correction factor is first calculated based on the length, wall thickness, and diameter of the stainless steel pipe to determine the stiffness adaptation correction coefficient for that specification of stainless steel pipe. This defines the basic range for specification adaptation of the support height compensation amount. Then, the radial deflection value is measured using a laser displacement sensor to calculate the adaptive deflection compensation factor. The support height compensation strength is dynamically adjusted by combining the measured radial deflection value, the adaptive deflection compensation factor, and the stiffness coupling correction factor to avoid over- or under-compensation. Finally, the initial support height compensation amount is obtained by multiplying the radial deflection value, the adaptive deflection compensation factor, and the stiffness coupling correction factor. Combining the residual error from the remeasurement, a closed-loop correction is performed using the adaptive deflection compensation factor × the stiffness coupling correction factor as the correction coefficient, ultimately obtaining the accurate support height compensation amount.

[0143] In summary, the combination of adaptive deflection compensation factor and stiffness coupling correction factor enables the support height compensation amount to not only conform to the actual deflection deformation characteristics of the steel pipe, but also match the stiffness characteristics of the steel pipe itself. This achieves accurate compensation for stainless steel pipes of different specifications and deflection values ​​in all scenarios, ultimately solving the problem of axial offset caused by the weight of stainless steel pipes with large length-to-diameter ratios. This makes the deflection compensation scheme accurate, universal, and adaptable, thereby effectively avoiding defects such as uneven polishing and taper deformation caused by pipe deflection during the polishing process, and improving the polishing accuracy and surface consistency of stainless steel pipes.

[0144] In one embodiment, such as Figure 6 , Figure 7 as well as Figure 8 As shown, an automated stainless steel pipe processing system is used to realize the aforementioned automated stainless steel pipe processing method. It includes a clamping device 1, a supporting device 2, a laser displacement sensor, and a controller.

[0145] The clamping device and the support device are both fixedly installed on the workbench 6, and are used to clamp and support the stainless steel pipe respectively; the laser displacement sensor is fixedly installed on the workbench to detect the radial deflection value of the stainless steel pipe in its natural state.

[0146] The controller is used to adjust the support height of the support device to ensure that the stainless steel pipe is in a horizontal and flexibly coaxial state. It sets the polishing process parameters according to the pipe diameter, wall thickness and polishing precision level of the stainless steel pipe, and obtains the rotation speed of the stainless steel pipe, the speed of the polishing wheel, the contact pressure threshold and the X-axis feed speed for the two stages of rough polishing and fine polishing. According to the polishing process parameters, it synchronously drives the stainless steel pipe to rotate around its own axis and the polishing wheel to rotate, and performs rough polishing and fine polishing on the stainless steel pipe through the polishing wheel.

[0147] like Figure 6 , Figure 7 as well as Figure 8 As shown, the automated stainless steel pipe processing system also includes a polishing device 3, a lifting device 4, and an X-axis feed device 5.

[0148] The polishing device includes a polishing wheel 30 and a polishing motor 31. The polishing motor 31 is used to drive the polishing wheel 30 to rotate. The lifting device 4 is fixedly installed on the worktable 6 and is used to drive the polishing device 3 to rise and fall. The X-axis feed device 5 is fixedly installed on the worktable 6 and is used to drive the lifting device 4 to move back and forth along the length of the stainless steel tube.

[0149] Specifically, the support device can be pneumatic or hydraulic, and the support height is adjusted by raising and lowering the drive rod. The output shaft of the polishing motor is connected to the polishing wheel via a belt drive and is controlled by a controller, whose speed is adjusted according to the quality of the controller, such as a PLC.

[0150] As a preferred technical solution, such as Figure 9 As shown, the controller includes a compensation factor acquisition module, a correction factor acquisition module, a compensation amount acquisition module, and a support height adjustment module.

[0151] The compensation factor acquisition module is used to obtain the standard reference deflection value, and obtains an adaptive deflection compensation factor to avoid over-compensation or under-compensation of deflection based on the radial deflection value and the standard reference deflection value; the correction factor acquisition module is used to obtain the length value, wall thickness and pipe diameter of the stainless steel pipe, and obtains a stiffness coupling correction factor to quantify the stiffness characteristics of the stainless steel pipe based on the length value, wall thickness and pipe diameter.

[0152] The compensation amount acquisition module is used to obtain the support height compensation amount based on the radial deflection value, the adaptive deflection compensation factor, and the stiffness coupling correction factor; the support height adjustment module is used to adjust the support height of the support device based on the support height compensation amount.

[0153] Because the constraints at both ends of a stainless steel pipe are not ideally simply supported during actual clamping, and the material's elastic modulus varies with temperature, the relationship between the support height compensation and the radial deflection value is not linear. Generally, the response of a stainless steel pipe differs between the elastic deformation zone (small deflection) and the elastoplastic transition zone (large deflection). At small deflections, the material is approximately linearly elastic and has not fully entered the elastic deformation zone, requiring relatively small conservative compensation. At large deflections, the material may undergo nonlinear yielding, such as localized plastic deformation, requiring a larger compensation force.

[0154] If the linear ratio of the radial deflection value is directly used as the support height compensation amount, it will lead to the risk of overcompensation, that is, when the deflection is small, the stainless steel pipe may be in the critical zone of elastic deformation, resulting in reverse bending, such as upward convexity after compensation. It will also lead to the risk of undercompensation, that is, when the deflection is large, the stainless steel pipe may have undergone local plastic deformation and the residual deflection cannot be completely eliminated.

[0155] To address this, an adaptive deflection compensation factor can be introduced based on the tanh function to automatically match the nonlinear relationship between the radial deflection value and the support height compensation amount. For example, the adaptive deflection compensation factor... .in, These represent the basic compensation coefficient and the adjustment range, respectively, which can be set according to actual conditions. These represent the radial deflection value and the standard reference deflection value, respectively. For example, when the basic compensation coefficient and adjustment range are 0.8 and 0.4, respectively, when the radial deflection value is much smaller than the standard reference deflection value, tanh(radial deflection value / standard reference deflection value) ≈ 0, and the adaptive deflection compensation factor ≈ 0.8, performing conservative compensation for small deflections; when the radial deflection value is much larger than the standard reference deflection value (e.g., the radial deflection value is more than twice the standard reference deflection value), tanh(radial deflection value / standard reference deflection value) ≈ 1, and the adaptive deflection compensation factor ≈ 1.2, performing enhanced compensation for large deflections.

[0156] The standard reference deflection value can be set according to the actual scenario or calculated by statistically analyzing common deflection ranges from historical data (such as taking the average of the maximum and minimum radial deflection values ​​from historical data), with a default value of 2.0 mm. Thus, when the radial deflection value is very small, the tanh function is approximately 0, and the deflection compensation factor is approximately equal to the basic compensation coefficient, ensuring minimum compensation strength and avoiding overreaction to small deformations. When the radial deflection value is very large, such as greater than twice the standard reference deflection value, the tanh function is approximately 1, and the deflection compensation factor is approximately equal to the basic compensation coefficient plus the adjustment range, increasing the compensation strength.

[0157] Based on actual measurements in the workshop, when no adaptive deflection compensation factor is set and the linear ratio of the radial deflection value is directly used as the support height compensation amount, for a thin-walled stainless steel pipe with a radial deflection value of 0.5 mm, a length of 1 m, and a pipe diameter of 30 mm, the average over-compensation amount after multiple supports is 0.12 mm, which easily leads to reverse bending of the stainless steel pipe; for a thin-walled stainless steel pipe with a radial deflection value of 8 mm, a length of 6 m, and a pipe diameter of 30 mm, the average under-compensation amount after multiple supports is 1.3 mm, which easily leads to residual deformation of the stainless steel pipe.

[0158] After introducing the adaptive deflection compensation factor, the average value of multiple over-compensation and under-compensation of the support decreased to 0.02 mm and 0.15 mm, respectively.

[0159] Here, by using an adaptive deflection compensation factor, we can avoid overcompensation at small deflections leading to reverse bending or undercompensation at large deflections leading to residual deformation, thereby reducing compensation errors, eliminating bending of stainless steel pipes, and achieving a horizontal deflection-free state.

[0160] Final support height compensation Represented as The basic compensation coefficient and adjustment range can be determined by measuring the radial deflection value and the corresponding ideal support height compensation amount through multiple experiments after determining the standard reference deflection value. Then, the coefficient can be determined by function fitting based on the measured radial deflection value, the ideal support height compensation amount, and the corresponding standard reference deflection value.

[0161] The present invention also provides an automated processing device for stainless steel pipes, comprising: a controller; a memory storing executable instructions; wherein the executable instructions run on the controller and implement the automated processing method for stainless steel pipes.

[0162] The technical features of the embodiments described can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0163] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A method for the automated processing of stainless steel tubes, characterized in that, Includes the following steps: The stainless steel pipe is tightened and fixed by a tightening device and a support device, respectively. The radial deflection value of the stainless steel pipe in its natural state is detected. The support height of the support device is adjusted according to the radial deflection value to make the stainless steel pipe in a horizontal and deflection-free coaxial state. Polishing process parameters are set according to the pipe diameter, wall thickness and polishing precision level of the stainless steel pipe, and the rotation speed of the stainless steel pipe, the polishing wheel speed, the contact pressure threshold and the X-axis feed speed are obtained for the rough polishing and fine polishing stages. According to the polishing process parameters, the stainless steel tube is synchronously driven to rotate around its own axis and the polishing wheel is rotated, and the stainless steel tube is rough polished and fine polished by the polishing wheel. Obtain the standard reference deflection value, and based on the radial deflection value and the standard reference deflection value, obtain the adaptive deflection compensation factor to avoid over-compensation or under-compensation of deflection; Obtain the length, wall thickness, and diameter of the stainless steel pipe, and obtain the stiffness coupling correction factor for quantifying the stiffness characteristics of the stainless steel pipe based on the length, wall thickness, and diameter. The support height compensation amount is obtained by multiplying the radial deflection value, the adaptive deflection compensation factor, and the stiffness coupling correction factor, and the support height of the support device is adjusted according to the support height compensation amount. Adaptive deflection compensation factor , respectively represent a basic compensation coefficient and an adjustment amplitude, respectively represent a radial deflection value and a standard reference deflection value, the standard reference deflection value taking an average of a maximum radial deflection value and a minimum radial deflection value in historical data; Obtaining the stiffness coupling correction factor specifically includes: An industrial big data sample library was constructed, and full-specification measured data of stainless steel pipe polishing were collected. The optimal stiffness coupling correction factor was obtained through multiple compensation experiments. The length value, wall thickness, pipe diameter, length-to-diameter ratio, and wall thickness-to-diameter ratio were used as input features, and the optimal stiffness coupling correction factor was used as the label value. After preprocessing the sample data from the industrial big data sample library, a dataset is obtained; Construct a mapping model of input features and stiffness coupling correction factors, and train the fitted mapping model using the dataset to obtain the trained mapping model; Input the length, wall thickness, pipe diameter, length-to-diameter ratio, and wall thickness-to-diameter ratio of the stainless steel pipe to be processed into the trained mapping model to obtain the stiffness coupling correction factor.

2. The automated processing method for stainless steel pipes as described in claim 1, characterized in that, It also includes the following steps: Detect the surface gloss of stainless steel pipes and determine whether polishing is complete based on the surface gloss. If polishing is complete, unload the material and obtain the polished stainless steel pipe.

3. The automated processing method for stainless steel pipes as described in claim 2, characterized in that, The specific method for testing the surface gloss of stainless steel pipes includes the following steps: Obtain the average brightness, standard deviation of image brightness, texture uniformity, and reflection consistency of the stainless steel pipe surface image; Surface gloss is obtained based on average image brightness, standard deviation of image brightness, texture uniformity, and reflectivity consistency.

4. The automated processing method for stainless steel pipes as described in claim 3, characterized in that, The specific method for determining whether polishing is complete based on surface gloss includes the following steps: Obtain the polishing precision level, and then obtain the gloss threshold that is positively correlated with the polishing precision level. If the surface gloss of the preset ratio frame is not less than the gloss threshold for several consecutive seconds, then polishing is considered complete.

5. An automated processing system for stainless steel pipes, used to implement the automated processing method for stainless steel pipes as described in any one of claims 1-4, characterized in that, include: The clamping device and the supporting device are both fixedly installed on the workbench, and are used to clamp and support the stainless steel pipe respectively. A laser displacement sensor, fixedly mounted on a workbench, is used to detect the radial deflection value of a stainless steel tube in its natural state. The controller is used to adjust the support height of the support device to ensure that the stainless steel pipe is in a horizontal and flexibly coaxial state. It sets the polishing process parameters according to the pipe diameter, wall thickness and polishing precision level of the stainless steel pipe, and obtains the rotation speed of the stainless steel pipe, the speed of the polishing wheel, the contact pressure threshold and the X-axis feed speed for the two stages of rough polishing and fine polishing. According to the polishing process parameters, it synchronously drives the stainless steel pipe to rotate around its own axis and the polishing wheel to rotate, and performs rough polishing and fine polishing on the stainless steel pipe through the polishing wheel.

6. The automated stainless steel pipe processing system as described in claim 5, characterized in that, Also includes: The polishing device includes a polishing wheel and a polishing motor, the polishing motor being used to drive the polishing wheel to rotate; The lifting device is fixedly installed on the worktable and is used to drive the polishing device to rise and fall. The X-axis feed device is fixedly mounted on the worktable and is used to drive the lifting device to move back and forth along the length of the stainless steel tube.

7. The automated stainless steel pipe processing system as described in claim 6, characterized in that, The controller includes: The compensation factor acquisition module is used to obtain the standard reference deflection value and, based on the radial deflection value and the standard reference deflection value, to obtain an adaptive deflection compensation factor to avoid over-compensation or under-compensation of deflection. The correction factor acquisition module is used to obtain the length, wall thickness and diameter of the stainless steel pipe, and to obtain the stiffness coupling correction factor for quantifying the stiffness characteristics of the stainless steel pipe based on the length, wall thickness and pipe diameter. The compensation amount acquisition module is used to obtain the support height compensation amount based on the radial deflection value, the adaptive deflection compensation factor, and the stiffness coupling correction factor. The support height adjustment module is used to adjust the support height of the support device according to the support height compensation amount.

8. An automated processing equipment for stainless steel pipes, characterized in that, The automated stainless steel pipe processing equipment includes: Controller; Memory, which stores executable instructions; The executable instructions run on the controller and implement the automated processing method for stainless steel pipes as described in any one of claims 1 to 4.

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