Pipe cutting and cleaning device and method

Abstract

The invention relates to the technical field of automation of special equipment, in particular to a pipe cutting and cleaning device and method.The pipe cutting and cleaning device comprises a rack, and the rack is provided with a grabbing mechanism comprising an electromagnetic adsorption unit and a grabbing displacement assembly driving the electromagnetic adsorption unit to move; the supporting mechanism comprises two supporting workbenches and a supporting displacement assembly for driving the supporting workbenches to move, each supporting workbench is provided with a roller set for bearing a pipe, the end, away from the other supporting workbench, of each supporting workbench is provided with a clamping component, and the two clamping components are matched to achieve axial limiting of the pipe; the cutting mechanism comprises a cutting execution unit and a cutting displacement assembly; the cleaning mechanism comprises a cleaning execution unit; and the control mechanism is in signal connection with the grabbing mechanism, the supporting mechanism, the cutting mechanism and the cleaning mechanism and is configured to control all the mechanisms to cooperatively complete grabbing, positioning, cutting and cleaning operation of the pipes according to a preset program. The robot can automatically complete grabbing and cutting of alloy steel cylindrical pipes and cleaning of inner cavity attachments.

Description

Technical Field

[0001] This invention relates to the field of special equipment automation technology, specifically to a pipe cutting and cleaning device and method. Background Technology

[0002] In the petroleum, chemical, power, and defense engineering fields, it is often necessary to perform on-site cutting and cleaning of internal residues (such as cement, powder, etc.) from large-diameter alloy steel cylindrical pipes (typically 250mm to 350mm in diameter). Traditional methods mainly rely on manual labor combined with handheld cutting equipment (such as angle grinders and flame cutters) or fixed waterjet workstations, which have the following serious drawbacks:

[0003] 1. Handheld cutting can easily generate high-temperature molten slag and sparks, which can easily cause combustion / explosion accidents in energetic materials (such as charge tubes) or flammable environments. Although fixed waterjet cutting is a cold process, during conventional abrasive waterjet cutting, local transient high temperatures may still trigger the thermal sensitivity response of sensitive charge, and without an effective protective cover, high-speed jet debris can easily injure people.

[0004] 2. Existing equipment often requires manual handling, positioning, and clamping of pipes. This is especially true for alloy steel pipes, where manual loading is labor-intensive and has low precision. The separation status of the two pipe sections after cutting cannot be automatically determined, requiring manual visual confirmation of whether they have been cut. This can easily lead to repeated cutting or incomplete cutting before entering the cleaning process, affecting efficiency and quality.

[0005] 3. In a typical solution, the cutting mechanism and the cleaning mechanism are set up with separate workstations, requiring two sets of displacement systems and power sources. The whole machine is bulky and exceeds the weight limit, which cannot meet the needs of vehicle transportation and rapid deployment in the field without water or electricity. Summary of the Invention

[0006] The purpose of this invention is to provide a pipe cutting and cleaning device and method that can automatically complete the gripping, cutting, and cleaning of internal deposits of alloy steel cylindrical pipes.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0008] In a first aspect, the present invention discloses a pipe cutting and cleaning device, which includes a frame, on which are disposed:

[0009] A gripping mechanism for gripping or releasing tubing, comprising an electromagnetic adsorption unit and a gripping displacement assembly that drives the electromagnetic adsorption unit to move.

[0010] The support mechanism includes two support worktables and a support displacement assembly that drives the support worktables to move. Each support worktable is provided with a roller assembly for supporting the pipe material, and a clamping member is provided at the end away from the other support worktable. The two clamping members cooperate to achieve axial positioning of the pipe material.

[0011] A cutting mechanism, comprising a cutting execution unit and a cutting displacement assembly that drives the cutting execution unit to move;

[0012] The cleaning mechanism includes a cleaning execution unit connected to the cutting displacement assembly;

[0013] The control mechanism is signal-connected to the gripping mechanism, support mechanism, cutting mechanism and cleaning mechanism, and is configured to control each mechanism to work together to complete the gripping, positioning, cutting and cleaning of the pipe according to a preset program.

[0014] Furthermore, the gripping displacement component includes two first slide rails extending along the X direction, a second slide rail extending along the Y direction and spanning between the two first slide rails, a first slider that slides with the second slide rail, and a first lifting mechanism; the two ends of the second slide rail respectively form sliding pairs with the two first slide rails, the first lifting mechanism is fixed to the first slider, and the electromagnetic adsorption unit is fixed to the output end of the first lifting mechanism.

[0015] Furthermore, the support displacement assembly includes a third slide rail extending along the X direction, a second slider that slides with the third slide rail, and a second lifting mechanism. One end of the support worktable is hinged to the second slider, and the other end is fixedly connected to the output end of the second lifting mechanism.

[0016] Furthermore, the cutting execution unit includes a water tank, a high-pressure pump, a mixing chamber, an abrasive jar, and a nozzle; the water outlet of the water tank is connected to the water inlet of the high-pressure pump, the water outlet of the high-pressure pump is connected to the water inlet of the mixing chamber through a delivery pipeline, the discharge end of the abrasive jar is connected to the discharge end of the mixing chamber, and the discharge end of the mixing chamber is connected to the nozzle, configured to mix the abrasive with high-pressure water and then eject it through the nozzle.

[0017] Furthermore, the cutting execution unit also includes a temperature monitoring component and an auxiliary cooling component. The temperature monitoring component is used to collect the temperature signal of the pipe cutting area in real time. The auxiliary cooling component includes a cooling medium supply pipeline and a cooling nozzle. The cooling medium supply pipeline is connected to the cooling medium source via a proportional control valve. The signal output terminal of the temperature monitoring component and the control terminal of the proportional control valve are both electrically connected to the control mechanism. The control mechanism is configured to dynamically adjust the opening of the proportional control valve according to the temperature signal to regulate the cooling medium flow rate.

[0018] Furthermore, the cleaning execution unit includes a cleaning nozzle, and the outlet of the high-pressure pump is connected to the inlet of the cleaning nozzle through a delivery pipeline.

[0019] Furthermore, the cutting displacement assembly includes a fourth slide rail extending along the Y direction, a third slider slidably engaged with the fourth slide rail, a third lifting mechanism fixedly connected to the third slider, and a rotary drive unit connected to the output end of the third lifting mechanism. The nozzles of the cutting execution unit and the cleaning nozzles of the cleaning execution unit are both rigidly mounted on the rotary drive unit, and are driven by the rotary drive unit to rotate synchronously around a rotation axis perpendicular to the pipe axis, so as to switch the working position between the cutting station and the cleaning station. The control mechanism is configured such that after the cutting operation is completed, the rotary drive unit is controlled to rotate the cleaning execution unit to a cleaning position facing the inside of the pipe, and the cutting displacement assembly is driven to move along the axial and / or radial direction of the pipe to perform the cleaning operation.

[0020] Furthermore, it also includes an openable protective cover, which includes a fixed cover body and a movable door panel. The fixed cover body is installed around the periphery of the cutting execution unit, with its opening facing the pipe feeding direction. The movable door panel is connected to the fixed cover body via a hinge or linear guide rail and is equipped with a locking mechanism. The control mechanism is signal-connected to the locking mechanism and is configured to detect whether the movable door panel is in a closed and locked state before the cutting operation starts. If it is not locked, the cutting execution unit is prohibited from working.

[0021] Furthermore, the frame is fixedly installed on the vehicle's cargo platform.

[0022] Secondly, the present invention discloses a pipe cutting and cleaning method, which uses the aforementioned pipe cutting and cleaning device to perform pipe cutting and cleaning, and includes the following steps:

[0023] S1, the gripping mechanism is activated to adsorb the pipe and the support mechanism limits the axial position of the pipe;

[0024] S2 controls the roller groups of the two support worktables to rotate synchronously in the same direction, driving the pipe to rotate around its own axis at a set linear speed.

[0025] S3, start the cutting execution unit to cut the rotating pipe;

[0026] S4, after the cutting operation is completed, control the roller groups of the two support worktables to rotate synchronously in opposite directions, and collect the torque signals of the drive motors of the two support worktables in real time. , and angular velocity signal , ;

[0027] S5, calculate the torque difference and angular velocity change rate of the two drive motors. The pipe is considered completely cut when any of the following conditions are met:

[0028] a. Torque difference ≥ preset torque threshold and angular velocity change rate > 0;

[0029] b. or The value suddenly drops to zero and the duration is greater than or equal to a preset time threshold. ;

[0030] S6, in response to the complete cutting of the pipe, alternately performs a cleaning process on the two cut sections of the pipe.

[0031] The present invention has the following unexpected beneficial effects:

[0032] 1. The pipe cutting and cleaning device of this invention, through the coordinated integration of a gripping mechanism, a supporting mechanism, a cutting mechanism, a cleaning mechanism, and a control mechanism, enables the device to automatically complete the entire process of pipe gripping, axial positioning, cutting, and cleaning according to a preset program, without the need for on-site manual intervention. In high-risk outdoor environments, operators can remotely start operations from ≥1km away, fundamentally avoiding fatal risks such as cutting spatter, high-pressure jets, and pipe falling, thus improving operational safety.

[0033] 2. The cleaning execution unit of the pipe cutting and cleaning device of the present invention is directly connected to the cutting displacement assembly, eliminating the need for a separate cleaning displacement mechanism, and the weight is controlled within the load-bearing threshold of the vehicle platform. Furthermore, since cutting and cleaning share the same motion execution platform, no secondary positioning is required during process transitions; the control mechanism schedules the actions of each module according to a preset sequence, triggering cleaning displacement as soon as cutting is completed; especially for hardened cement inside the pipe cavity, the cleaning execution unit can be precisely positioned at the pipe opening, laying the foundation for subsequent full-coverage impact on the inner wall in conjunction with pipe rotation.

[0034] 3. The frame of the pipe cutting and cleaning device described in this invention serves as a unified base and can be quickly fixed to a standard cargo platform, enabling it to be loaded and driven away immediately and used immediately upon landing, thus completely solving the shortcomings of traditional waterjet equipment in terms of its reliance on fixed factory buildings and the need for external water and electricity connections for field applicability.

[0035] 4. Based on the independent drive structure of the dual-support workbench, this invention achieves high-precision intelligent judgment of the cutting state by real-time fusion analysis of the torque difference and angular velocity change rate of the two drive motors with zero additional sensor cost, completely avoiding the risk of cleaning before cutting through, and significantly improving the safety and full-process automation reliability of remote unmanned operation in the field without water or electricity. Attached Figure Description

[0036] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention.

[0037] Figure 1A schematic diagram of the pipe cutting and cleaning device provided in an embodiment of this application is shown.

[0038] Figure 2 A schematic diagram of the vehicle structure provided in an embodiment of this application is shown.

[0039] Figure 3 A schematic diagram of the gripping displacement component and the cutting displacement component provided in the embodiments of this application is shown.

[0040] Figure 4 A schematic diagram of the structure of the support displacement assembly provided in an embodiment of this application is shown.

[0041] Figure 5 A schematic diagram of the cutting execution unit provided in an embodiment of this application is shown.

[0042] Figure 6 A schematic diagram of the structure of the protective cover provided in an embodiment of this application is shown.

[0043] Figure 7 This diagram illustrates the state of the pipe cutting and cleaning device provided in this embodiment gripping the pipe.

[0044] Figure 8 This diagram illustrates the state of the pipe cutting and cleaning device provided in this application cutting pipes.

[0045] Figure 9 This diagram illustrates the state of the pipe cutting and cleaning device provided in this embodiment of the application cleaning pipes.

[0046] In the diagram, 1 - rack,

[0047] 2-Gripping mechanism, 21-Electromagnetic adsorption unit, 22-Gripping displacement component, 221-First slide rail, 222-Second slide rail, 223-First slider, 224-First lifting mechanism

[0048] 3-Support mechanism, 31-Support worktable, 32-Support displacement component, 321-Third slide rail, 322-Second slider, 323-Second lifting mechanism, 33-Roller assembly, 34-Clamping component.

[0049] 4-Cutting mechanism, 41-Cutting execution unit, 411-Water tank, 412-High-pressure pump, 413-Mixing chamber, 414-Abrasive jar, 415-Nozzle, 42-Cutting displacement assembly, 421-Fourth slide rail, 422-Third slider, 423-Third lifting mechanism, 424-Rotary drive unit.

[0050] 5-Cleaning mechanism, 51-Cleaning execution unit, 511-Cleaning nozzle,

[0051] 6-Control mechanism,

[0052] 7- Pipes,

[0053] 8-Protective cover, 81-Fixed cover body, 82-Moving door panel,

[0054] 9-Vehicle, 91-Cargo platform, 92-Leveling mechanism. Detailed Implementation

[0055] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0056] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0057] In one embodiment, this application provides a pipe cutting and cleaning device, see below. Figures 1 to 8 As shown, the device includes a frame 1, on which:

[0058] The gripping mechanism 2 is used to grip or release the pipe 7, and includes an electromagnetic adsorption unit 21 and a gripping displacement component 22 that drives the electromagnetic adsorption unit 21 to move.

[0059] The support mechanism 3 includes two support worktables 31 and a support displacement assembly 32 that drives the support worktables 31 to move. Each support worktable 31 is provided with a roller assembly 33 for supporting the pipe 7, and a clamping member 34 is provided at the end away from the other support worktable 31. The two clamping members 34 cooperate to achieve axial positioning of the pipe 7.

[0060] The cutting mechanism 4 includes a cutting execution unit 41 and a cutting displacement component 42 that drives the cutting execution unit 41 to move;

[0061] The cleaning mechanism 5 includes a cleaning execution unit 51 connected to the cutting displacement assembly 42;

[0062] The control mechanism 6 is signal-connected to the gripping mechanism 2, the support mechanism 3, the cutting mechanism 4, and the cleaning mechanism 5, and is configured to control each mechanism to work together to complete the gripping, positioning, cutting, and cleaning of the pipe 7 according to a preset program.

[0063] Through the coordinated integration of the gripping mechanism 2, supporting mechanism 3, cutting mechanism 4, cleaning mechanism 5, and control mechanism 6, the device can automatically complete the entire process of gripping, axially positioning, cutting, and cleaning the pipe 7 according to a preset program, without the need for manual on-site intervention. In high-risk outdoor environments, operators can remotely start operations from ≥1km away, fundamentally avoiding fatal risks such as cutting spatter, high-pressure jets, and pipe falling, thus improving operational safety.

[0064] The electromagnetic adsorption unit 21 is an electro-permanent magnet.

[0065] Specifically, a four-group (33) roller structure with a total of 12 rollers is adopted, with three rollers evenly distributed in each group. The roller diameter is 180mm, and the center-to-center distance between the rollers is 300mm. The design load-bearing capacity fully considers the weight of the cylindrical tube 7. Each roller supports a load of approximately 1667N, with a total support load exceeding 450kg, enabling autonomous variable-speed rotation of tubes 7 with diameters ranging from 250mm to 350mm. The roller surface is covered with a high-strength, wear-resistant rubber layer to ensure the stability and reliability of rolling contact.

[0066] The roller assembly 33 also provides rotational drive for the cylinder, using an AC servo motor to drive the roller rotation. Stepless speed regulation is possible, with the roller surface linear velocity ranging from 0 to 100 mm / min, thus allowing precise adjustment of the cylindrical tube 7's rotational speed within the 0-100 mm / min range. The motor, coupled with a 1:10 reduction ratio, achieves stable high torque output, with a total power design of 600W, ensuring ample power and smooth operation. The roller shaft diameter is designed to be 30 mm, made of high-strength alloy steel, possessing excellent bending resistance and wear resistance.

[0067] The clamping component 34, acting on the end of the tube 7, employs a pneumatic floating pressure head, designed based on the high weight characteristics of the cylindrical tube 7. The cylinder diameter is 80mm, the working pressure is 0.6MPa, and the clamping force provided by the pressure head exceeds 12000N. The floating design effectively adapts to minor deviations at the end of the cylindrical tube 7, avoiding surface damage and ensuring clamping stability. The pneumatic floating pressure head is precisely controlled by a PLC control system, i.e., control mechanism 6, ensuring coordination between clamping actions and platform movement. The rotation function is achieved through rotating wheels in the clamping device. A servo motor directly drives the rotating wheels, controlling the rotation angle of the cylindrical tube 7 with an angular positioning accuracy of 0.1°. The rotating wheels and roller assembly 33 work together to form a multi-point support and dynamic rotation system, meeting the high-precision requirements for angle adjustment during the cutting process. The servo motor output power is 600W, enabling precise control of the angular velocity and attitude adjustment of the cylindrical tube 7.

[0068] As a preferred embodiment of this application, see [link to application]. Figure 2 and Figure 3 As shown, the gripping displacement assembly 21 includes two first slide rails 221 extending along the X direction, a second slide rail 222 extending along the Y direction and spanning between the two first slide rails 221, a first slider 223 slidably engaged with the second slide rail 222, and a first lifting mechanism 224. The two ends of the second slide rail 222 respectively form sliding pairs with the two first slide rails 221. The first lifting mechanism 224 is fixed to the first slider 223, and the electromagnetic adsorption unit 21 is fixed to the output end of the first lifting mechanism 224.

[0069] The "cross slide" structure, formed by the X-axis double first slide rails 221 and the Y-axis second slide rail 222, combined with the first lifting mechanism 224, enables high-precision, long-stroke, and rigid positioning of the electromagnetic adsorption unit 21 in three-dimensional space (X / Y / Z). This layout allows the gripping mechanism 2 to quickly cover the entire path from the pipe material loading area to the cutting station without moving the entire machine, significantly improving its adaptability to operation in confined outdoor spaces and enhancing the accuracy of repeated gripping and positioning.

[0070] The first slide rail 221, the second slide rail 222, and the first slider 223 are designed to meet a load-bearing capacity of 400 kg while maintaining smooth movement. The control mechanism 7 is responsible for scheduling the planar movement, clamping, and rotation of the cylindrical tube 7, and simultaneously works in conjunction with the cutting mechanism 4 to ensure that the cutting path and processing accuracy meet the requirements within 2 mm.

[0071] Specifically, the first lifting mechanism 224 is a multi-stage electric servo cylinder, which is a high-precision linear actuator that combines an electric servo motor with a multi-stage telescopic cylinder. Driven by the electric servo motor, it realizes multi-stage telescopic motion and features high precision, high rigidity, and strong controllability.

[0072] As a preferred embodiment of this application, see [link to application]. Figure 3 and Figure 4 As shown, the support displacement assembly 32 includes a third slide rail 321 extending along the X direction, a second slider 322 that slides with the third slide rail 321, and a second lifting mechanism 323. One end of the support worktable 31 is hinged to the second slider 322, and the other end is fixedly connected to the output end of the second lifting mechanism 323.

[0073] The support displacement component 32 drives one end of the support workbench 31 to rise through the second lifting mechanism 323. After the cleaning operation is completed, it can actively form an axial tilt angle of the pipe, so that the residual sewage and peeled hardened cement debris in the pipe cavity will automatically slide down to the collection area below under the action of gravity. This design does not require additional suction or purging devices, and realizes zero energy consumption and intervention-free self-discharge of waste liquid / solid waste, which significantly improves the environmental protection and operation continuity of field operations.

[0074] As a preferred embodiment of this application, see [link to application]. Figure 3 and Figure 5 As shown, the cutting execution unit 41 includes a water tank 411, a high-pressure pump 412, a mixing chamber 413, an abrasive tank 414, and a nozzle 415. The water outlet of the water tank 411 is connected to the water inlet of the high-pressure pump 412. The water outlet of the high-pressure pump 412 is connected to the water inlet of the mixing chamber 413 through a conveying pipeline. The discharge end of the abrasive tank 414 is connected to the discharge end of the mixing chamber 413. The discharge end of the mixing chamber 413 is connected to the nozzle 415. The unit is configured to mix the abrasive with high-pressure water and then eject the mixture through the nozzle 415.

[0075] By integrating the water tank 411 into the main body of the device, water for cutting and cleaning can be pre-stored, thus overcoming the bottleneck of having no external water source in the field.

[0076] Specifically, the clean water tank 411 for cutting and cleaning is located on top of the vehicle-mounted system, below the high-pressure pump 412. The tank has a capacity of 1120L, is made of 304 stainless steel, and features a liquid level alarm and a water temperature regulation system. The device also includes a wastewater tank, located at the bottom of the main cutting unit, with a capacity of 1120L.

[0077] In a preferred embodiment of this application, the cutting execution unit 41 further includes a temperature monitoring component and an auxiliary cooling component. The temperature monitoring component is used to collect the temperature signal of the pipe cutting area in real time. The auxiliary cooling component includes a cooling medium supply pipeline and a cooling nozzle. The cooling medium supply pipeline is connected to a cooling medium source via a proportional control valve. The signal output terminal of the temperature monitoring component and the control terminal of the proportional control valve are both electrically connected to the control mechanism 6. The control mechanism 6 is configured to dynamically adjust the opening of the proportional control valve according to the temperature signal to regulate the cooling medium flow rate.

[0078] The temperature monitoring component provides real-time feedback on the thermal status of the cutting area, and the control mechanism 6 dynamically adjusts the opening of the proportional control valve according to the preset threshold, so that the cooling medium flow rate is precisely matched with the heat load. This effectively keeps the surface temperature of the pipe 7 stable within the safe threshold, completely eliminating the risk of micro-cracks in the cut and pipe deformation caused by heat accumulation, and preventing the internal hardened cement from carbonizing or producing harmful gases. At the same time, the on-demand liquid supply is more water-saving than the fixed flow rate solution, and significantly extends the single-operation endurance under self-sufficient water conditions in the field, taking into account the triple goals of operation quality, inherent safety and efficient resource utilization.

[0079] As a preferred embodiment of this application, see [link to application]. Figure 3 and Figure 8 As shown, the cleaning execution unit 51 includes a cleaning nozzle 511, and the outlet of the high-pressure pump 412 is connected to the inlet of the cleaning nozzle 511 via a delivery pipeline. This configuration eliminates the need for a separate cleaning pump and its associated piping, reducing the overall weight and size of the machine and significantly improving the load adaptability and field deployment efficiency of the vehicle platform. Furthermore, under conditions of limited self-sufficient water supply, the high-pressure pump 412 switches its supply as needed, supplying the mixing chamber 413 during cutting and the cleaning nozzle 511 during cleaning, avoiding redundant energy consumption from dual pumps and improving the endurance of a single operation.

[0080] As a preferred embodiment of this application, see [link to application]. Figure 3As shown, the cutting displacement assembly 42 includes a fourth slide rail 421 extending along the Y direction, a third slider 422 slidably engaged with the fourth slide rail 421, a third lifting mechanism 423 fixedly connected to the third slider 422, and a rotary drive unit 424 connected to the output end of the third lifting mechanism 423. The nozzle 415 of the cutting execution unit 41 and the cleaning nozzle 511 of the cleaning execution unit 51 are both rigidly mounted on the rotary drive unit 424. The rotary drive unit 424 drives the nozzles to rotate synchronously around a rotation axis perpendicular to the axis of the pipe 7, so as to switch the working position between the cutting station and the cleaning station. The control mechanism 6 is configured to: after the cutting operation is completed, control the rotary drive unit 424 to rotate the cleaning execution unit 51 to a cleaning position facing the inside of the pipe 7, and drive the cutting displacement assembly 42 to move along the axial and / or radial direction of the pipe to perform the cleaning operation.

[0081] As a preferred embodiment of this application, see [link to application]. Figure 6 and Figure 7 As shown, it also includes an openable protective cover 8, which includes a fixed cover body 81 and a movable door panel 82. The fixed cover body 81 is installed around the periphery of the cutting execution unit 41, with its opening facing the feed direction of the pipe 7. The movable door panel 82 is connected to the fixed cover body 81 by a hinge or a linear guide rail and is equipped with a locking mechanism. The control mechanism 6 is signal-connected to the locking mechanism and is configured to detect whether the movable door panel 82 is in a closed and locked state before the cutting operation starts. If it is not locked, the cutting execution unit 41 is prohibited from working.

[0082] This preferred embodiment integrates the cutting execution unit 41 and the cleaning execution unit 51 onto the rotary drive unit 424 and shares a displacement system, eliminating the need for a separate cleaning displacement mechanism, reducing the overall weight and size of the machine, and significantly improving the deployment adaptability of the vehicle platform in confined outdoor spaces. After cutting, the rotary drive unit 424 precisely positions the cleaning nozzle 511 to a dedicated cleaning position facing the inside of the pipe, and achieves full coverage scanning of the inner cavity with axial / radial movement, shortening the cycle time for a single operation.

[0083] As a preferred embodiment of this application, see [link to application]. Figure 2 As shown, the frame 1 is fixedly installed on the cargo platform 91 of the vehicle 9.

[0084] This preferred embodiment rigidly integrates the frame with the vehicle's cargo platform, which can eliminate the dependence on infrastructure. After the device arrives at the waterless and electricityless field site with the vehicle, it can start the entire process operation without the need for external power grid, water source or level foundation, thus breaking the industry bottleneck of traditional waterjet equipment relying on fixed factory buildings.

[0085] Further, see Figure 2As shown, the bottom of the cargo platform 91 is equipped with multiple leveling mechanisms 92, which enables the cargo platform 91 to have an automatic leveling function with a leveling accuracy better than 0.2°.

[0086] In one embodiment, this application provides a pipe cutting and cleaning method, which uses the aforementioned pipe cutting and cleaning device to perform pipe cutting and cleaning, and includes the following steps:

[0087] S1, the gripping mechanism 2 is activated to adsorb the pipe 7, and the pipe 7 is axially limited by the support mechanism 3.

[0088] Specifically, see Figure 3 As shown, the gripping displacement component 22 is activated by the control mechanism 6, causing the electromagnetic adsorption unit 21 to move along the X, Y, and Z directions to above the pipe 7 to be processed. After the electromagnetic adsorption unit 21 (electro-permanent magnet) is energized, it generates a strong magnetic field, which firmly adsorbs the pipe 7, ensuring that the pipe 7 is stably gripped and preventing it from sliding or falling off during subsequent movement.

[0089] The support displacement assembly 32 moves two support worktables 31 to the loading position, and the gripping displacement assembly 22 moves the pipe 7 to the support worktable 31. The roller sets 33 of the two support worktables 31 work together with the clamping component 34 to axially limit the pipe 7. The roller sets 33 support the main body of the pipe 7, with three rollers evenly distributed in each set to ensure stable placement of the pipe 7. The clamping component 34 (pneumatic floating pressure head) applies sufficient clamping force to ensure that the pipe 7 does not move axially during rotation, accurately fixing the pipe 7 and ensuring stability during subsequent cutting and cleaning processes.

[0090] S2 controls the roller assembly 33 of the two supporting worktables 31 to rotate synchronously and in the same direction, driving the pipe 7 to rotate around its own axis at a set linear speed.

[0091] Specifically, the support displacement assembly 32 drives the two support worktables 31 to move along the X direction to the cutting position, and the control mechanism 6 starts the drive motor of the support worktable 31, so that the roller assembly 33 drives the pipe 7 to rotate around its own axis at a set linear speed.

[0092] S3, see S3. Figure 8 As shown, the cutting execution unit 41 is activated to perform a cutting operation on the rotating pipe 7.

[0093] Specifically, the high-pressure pump 412 of the cutting execution unit 41 mixes water from the water tank 411 with abrasive from the abrasive jar 414 through the mixing chamber 413, and then ejects the mixture through the nozzle 415 to form a high-pressure abrasive water jet for cutting the rotating pipe 7. The temperature monitoring component collects the temperature signal of the cutting area in real time, and the auxiliary cooling component adjusts the flow rate of the cooling medium as needed to prevent overheating. This process efficiently and accurately cuts the pipe 7, producing a high-quality cut with no obvious burrs or heat-affected zones.

[0094] S4, after the cutting operation is completed, control the roller groups 33 of the two support worktables 31 to rotate synchronously in opposite directions, and collect the torque signals of the drive motors of the two support worktables 31 in real time. , and angular velocity signal , .

[0095] S5, calculate the torque difference and angular velocity change rate of the two drive motors. The pipe is considered completely cut when any of the following conditions are met:

[0096] a. Torque difference ≥ preset torque threshold and angular velocity change rate > 0;

[0097] b. or The value suddenly drops to zero and the duration is greater than or equal to a preset time threshold. .

[0098] Intelligent identification of cutting status avoids equipment damage or secondary cutting caused by cleaning before complete cutting, thus improving the reliability of the entire process automation.

[0099] S6, in response to the complete cutting of pipe 7, alternately performs cleaning processes on the two cut pipe sections.

[0100] Specifically, see Figure 9As shown, the support displacement assembly 32 moves one support worktable 31 along the X-axis to the loading position, while the other support worktable 32 remains in the cutting position. The cutting displacement assembly 42 moves the cleaning nozzle 511 along the Y-axis to the first cleaning position. The control mechanism 6 instructs the rotation drive unit 424 to rotate the cleaning nozzle 511 to a dedicated cleaning position facing the inside of the pipe 7. The high-pressure pump 412 switches the water supply to the cleaning nozzle 511, using high-pressure water to flush the inner wall of the pipe 7 and remove residual cement debris. After cleaning, the second lifting mechanism 323 of the support worktable 31 raises one end of the pipe 7, forming an angle, so that sewage and residue automatically slide down to the collection area below. Then the positions of the two support worktables 31 are reversed: the support worktable 31 in the cutting position is moved along the X-axis to the loading position by the support displacement assembly 32, and the support worktable 31 in the loading position is moved along the X-axis to the cutting position by the support displacement assembly 32, cleaning the inside of the pipe 7 through the cleaning nozzle 511.

[0101] The control mechanism 6 instructs the gripping displacement component 22 to move the cleaned pipe 7 to the designated unloading area. The electromagnetic adsorption unit 21 is de-energized and releases the pipe 7. If there is a next cycle task, the above steps are repeated; otherwise, the current operation ends.

[0102] The above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention.

Claims

1. A pipe cutting and cleaning device, characterized in that: Includes a frame (1), on which are provided: The gripping mechanism (2) is used to grip or release the pipe (8), including an electromagnetic adsorption unit (21) and a gripping displacement assembly (22) that drives the electromagnetic adsorption unit (21) to move. The support mechanism (3) includes two support worktables (31) and a support displacement assembly (32) that drives the support worktables (31) to move. Each support worktable (31) is provided with a roller assembly (33) for supporting the pipe (8), and a clamping member (34) is provided at the end away from the other support worktable (31). The two clamping members (34) cooperate to achieve axial positioning of the pipe (8). The cutting mechanism (4) includes a cutting execution unit (41) and a cutting displacement assembly (42) that drives the cutting execution unit (41) to move. The cleaning mechanism (5) includes a cleaning execution unit (51) connected to the cutting displacement assembly (42); The control mechanism (6) is connected to the gripping mechanism (2), the support mechanism (3), the cutting mechanism (4) and the cleaning mechanism (5) by signal connection, and is configured to control each mechanism to work together to complete the gripping, positioning, cutting and cleaning of the pipe (8) according to a preset program.

2. The pipe cutting and cleaning device according to claim 1, characterized in that: The gripping displacement component (22) includes two first slide rails (221) extending along the X direction, a second slide rail (222) extending along the Y direction and spanning between the two first slide rails (221), a first slider (223) slidably engaged with the second slide rail (222), and a first lifting mechanism (224); the two ends of the second slide rail (222) respectively form sliding pairs with the two first slide rails (221), the first lifting mechanism (224) is fixed to the first slider (223), and the electromagnetic adsorption unit (21) is fixed to the output end of the first lifting mechanism (224).

3. The pipe cutting and cleaning device according to claim 1, characterized in that: The support displacement assembly (32) includes a third slide rail (321) extending along the X direction, a second slider (322) that slides with the third slide rail (321), and a second lifting mechanism (323). One end of the support worktable (31) is hinged to the second slider (322), and the other end is fixedly connected to the output end of the second lifting mechanism (323).

4. The pipe cutting and cleaning device according to claim 1, characterized in that: The cutting execution unit (41) includes a water tank (411), a high-pressure pump (412), a mixing chamber (413), an abrasive tank (414), and a nozzle (415). The water outlet of the water tank (411) is connected to the water inlet of the high-pressure pump (412). The water outlet of the high-pressure pump (412) is connected to the water inlet of the mixing chamber (413) through a conveying pipeline. The discharge end of the abrasive tank (414) is connected to the discharge end of the mixing chamber (413). The discharge end of the mixing chamber (413) is connected to the nozzle (415). The unit is configured to mix the abrasive with high-pressure water and then eject it through the nozzle (415).

5. The pipe cutting and cleaning device according to claim 4, characterized in that: The cutting execution unit (41) further includes a temperature monitoring component and an auxiliary cooling component. The temperature monitoring component is used to collect the temperature signal of the pipe cutting area in real time. The auxiliary cooling component includes a cooling medium supply pipeline and a cooling nozzle. The cooling medium supply pipeline is connected to the cooling medium source (11) via a proportional control valve. The signal output end of the temperature monitoring component and the control end of the proportional control valve are both electrically connected to the control mechanism. The control mechanism is configured to dynamically adjust the opening of the proportional control valve according to the temperature signal to regulate the cooling medium flow rate.

6. The pipe cutting and cleaning device according to claim 4, characterized in that: The cleaning execution unit (51) includes a cleaning nozzle (511), and the outlet of the high-pressure pump (412) is connected to the inlet of the cleaning nozzle (511) through a delivery pipeline.

7. The pipe cutting and cleaning device according to claim 1, characterized in that: The cutting displacement assembly (42) includes a fourth slide rail (421) extending along the Y direction, a third slider (422) slidably engaged with the fourth slide rail (421), a third lifting mechanism (423) fixedly connected to the third slider (422), and a rotary drive unit (424) connected to the output end of the third lifting mechanism (423). The nozzle (415) of the cutting execution unit (41) and the cleaning nozzle (511) of the cleaning execution unit (51) are both rigidly mounted on the rotary drive unit (424). The rotary drive unit (424) drives the nozzle to rotate synchronously around a rotation axis perpendicular to the axis of the pipe (8) to switch the working position between the cutting station and the cleaning station. The control mechanism (6) is configured to: after the cutting operation is completed, control the rotary drive unit (424) to rotate the cleaning execution unit (51) to the cleaning position facing the inside of the pipe (8), and drive the cutting displacement assembly (42) to move along the axial and / or radial direction of the pipe (8) to perform the cleaning operation.

8. The pipe cutting and cleaning device according to claim 1, characterized in that: It also includes an openable protective cover (8), which includes a fixed cover (81) and a movable door panel (82). The fixed cover (81) is installed around the periphery of the cutting execution unit (41), and its opening faces the feed direction of the pipe (7). The movable door panel (82) is connected to the fixed cover (81) by a hinge or a linear guide rail and is equipped with a locking mechanism. The control mechanism (6) is signal-connected to the locking mechanism and is configured to detect whether the movable door panel (82) is in a closed and locked state before the cutting operation starts. If it is not locked, the cutting execution unit (41) is prohibited from working.

9. The pipe cutting and cleaning device according to claim 1, characterized in that: The frame (1) is fixedly installed on the cargo platform (91) of the vehicle (9).

10. A method for cutting and cleaning pipes, characterized in that: The pipe cutting and cleaning process using the pipe cutting and cleaning apparatus as described in any one of claims 1 to 9 includes the following steps: S1, the gripping mechanism (2) is activated to adsorb the pipe (8), and the pipe (8) is axially limited by the support mechanism (3); S2 controls the roller groups (33) of the two support worktables (31) to rotate synchronously in the same direction, driving the pipe (8) to rotate around its own axis at a set linear speed; S3, start the cutting execution unit (41) to cut the rotating pipe (8); S4. After the cutting operation is completed, the roller groups (33) of the two support worktables (31) are controlled to rotate synchronously in opposite directions, and the torque signals of the drive motors of the two support worktables (31) are collected in real time. , and angular velocity signal , ; S5, calculate the torque difference and angular velocity change rate of the two drive motors, and determine that the pipe (8) has been completely cut when any of the following conditions are met: a. Torque difference ≥ preset torque threshold and angular velocity change rate > 0; b. or The value suddenly drops to zero and the duration is greater than or equal to a preset time threshold. ; S6, in response to the complete cutting of the pipe (8), the two cut sections of pipe (8) are alternately cleaned.

Images