Servo-driven planetary pipe end automatic cutting and beveling device and processing method thereof

Abstract

This invention relates to a servo-driven planetary automatic pipe end cutting and beveling device, comprising a frame (1) and a lifting base (2). The frame (1) is provided with a clamping mechanism (3) and a rotary table assembly (4). The rotary table assembly (4) is provided with a centrally symmetrical cutting unit (5) and a beveling unit (6). Each of the two units is provided with a cutter head feeding mechanism (7) and a blade rotation drive mechanism (8). An auxiliary wiring mechanism (9) and a control system are also provided outside the frame (1). The cutter head feeding mechanism (7) is connected to the blade rotation drive mechanism (8) through a mounting plate (10). The blade rotation drive mechanism (8) is provided with a blade (85). The absolute motion trajectory of any point on the blade (85) is a subcycloid. The advantages of this invention are that it integrates cutting and beveling, has fully automatic servo control capability, can adapt to the processing of small-diameter thick-walled pipes, and has an optimized cutting structure to ensure quality stability.

Description

Technical Field

[0001] This invention relates to the field of pipe processing equipment technology, and in particular to a servo-driven planetary automatic pipe end cutting and beveling device and its processing method. Background Technology

[0002] In pipeline construction, the cutting and beveling of the end faces of metal pipes are essential preparatory procedures before pipeline welding. The precision, efficiency and quality of these procedures directly determine the reliability and stability of subsequent pipeline welding, and thus affect the operational safety of the entire pipeline system.

[0003] Traditional pipe cutting methods have long suffered from numerous problems, especially for stainless steel pipes with small diameters (20mm-60mm) and wall thicknesses (1.65mm-8mm). Traditional processing methods are often inefficient and fail to meet the time requirements of large-scale pipeline prefabrication. Furthermore, processing quality is highly inconsistent, affected by factors such as operator skill level and equipment age. The smoothness of the cut, bevel angle, and dimensional accuracy are difficult to guarantee, creating potential quality issues for subsequent welding processes. In addition, traditional processing methods are prone to material damage. For example, thermal deformation caused by high-temperature cutting alters the pipe's metallographic structure, reducing its mechanical properties, increasing material waste, and potentially affecting the long-term service life of the pipeline.

[0004] In recent years, planetary pipe cutters have gradually entered the market. They consist of a hollow rotary table that drives one or more sets of cutting blades to revolve around the pipe, while the blades themselves rotate, thus achieving circumferential cutting. Compared to traditional methods, planetary pipe cutters offer advantages such as cold cutting, dust-free operation, and smooth cuts. However, planetary pipe cutters still have significant drawbacks: First, the problem of limited functionality is prominent. Most existing planetary pipe cutters only have the function of cutting pipes and cannot simultaneously complete the processing of welding bevels. This means that during the pipe prefabrication process, the pipes need to be transferred and positioned multiple times between different devices, which not only increases the complexity of the process and time costs, but also further affects the processing accuracy due to the accumulation of positioning errors from multiple times.

[0005] Secondly, the level of automation is generally low. Most existing planetary pipe cutting machines use manual or semi-automatic feeding methods, requiring operators to participate in the adjustment and monitoring of the equipment throughout the process. This not only results in high labor intensity but also makes human error difficult to avoid, severely restricting the stability of processing efficiency and quality.

[0006] Furthermore, unilateral cutting leads to pipe deformation. Most existing planetary pipe cutting machines use a structure with cutting blades arranged on one side. During the cutting process, the pipe is subjected to continuous cutting force on one side, which easily causes radial deformation. This deformation is particularly noticeable for thin-walled stainless steel pipes, directly affecting the geometric accuracy of the pipe and the quality of subsequent welding and assembly. Summary of the Invention

[0007] The purpose of this invention is to solve the problems of existing planetary pipe cutting machines, such as limited functionality, low automation, easy deformation of pipes, and insufficient processing accuracy. It provides a servo-driven planetary automatic pipe end cutting and beveling device that can achieve precise clamping and positioning, improve cutting accuracy, increase processing efficiency, integrate cutting and beveling, has fully automatic servo control capabilities, can adapt to the processing of small-diameter thick-walled pipes, and has an optimized cutting structure to ensure quality stability.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: A servo-driven planetary tube end automatic cutting and beveling device includes a frame and a lifting base that cooperate with each other. The frame is equipped with a clamping mechanism and a rotary table assembly. The rotary table assembly is equipped with a centrally symmetrical cutting unit and a beveling unit. Both the cutting unit and the beveling unit are equipped with a cooperating cutter head feeding mechanism and a blade rotation drive mechanism. An auxiliary wiring mechanism and a control system are also provided outside the frame.

[0009] The rotary table assembly includes a hollow rotary table that rotates around the axis of the pipe. The hollow rotary table is driven by a revolution drive device. The cutter head feed mechanism is connected to the hollow rotary table circumferentially. It includes a radial feed drive device. The output end of the radial feed drive device is connected to a ball screw. A matching moving block is connected to the ball screw. Parallel linear slide rails are provided on the upper and lower sides of the ball screw. A slider is connected to the linear slide rail. The two form a sliding guide engagement. The moving block and the slider are both connected to a mounting plate. The blade rotation drive mechanism is fixed on the mounting plate to drive the blade to move radially. The blade rotation drive mechanism includes a rotation servo motor, which is connected to a synchronous pulley through the output end of a reducer. The synchronous pulley is connected to the blade shaft through a synchronous belt. The blade is fixed on the blade shaft. The absolute motion trajectory of any point on the blade is a subcycloid. This motion mode ensures that the blade always contacts the pipe wall at the optimal cutting angle, resulting in stable cutting force, low vibration, and few burrs on the cut.

[0010] Furthermore, the hollow rotary table is connected to the frame via a large-diameter rotary support. The revolution drive device includes a revolution servo motor and a heavy-duty planetary reducer that cooperate with each other. The tube to be processed is fixed on the clamping mechanism and passes horizontally through the central through hole of the hollow rotary table for circumferential rotation around the tube axis at extremely low speed.

[0011] Furthermore, the clamping mechanism includes three sets of jaws mounted on the self-centering chuck, and a three-jaw chuck drive device connected to the jaws. The center of the self-centering chuck and the center of the hollow rotary table are located on the same axis. The three-jaw chuck drive device includes a clamping motor.

[0012] Furthermore, the radial feed drive device includes a radial feed servo motor and a radial feed reducer. A position sensor is provided on the linear slide rail. The position sensor transmits the collected signal to the controller of the control system. When the front end of the blade cutting section is 1mm away from the outer surface of the pipe wall, the controller sends a deceleration signal to switch the feed speed of the radial feed servo motor to a slow speed. At the same time, the self-rotating servo motor starts and accelerates to the working speed within 1 second and maintains stability.

[0013] Furthermore, the blades are divided into cutting blades and beveling blades. The blades of the cutting unit are cutting blades, and the blades of the beveling unit are beveling blades, so as to perform cutting and beveling tasks respectively.

[0014] To further achieve the objectives of this invention, a processing method for a servo-driven planetary tube end automatic beveling device is also provided, the specific steps of which include: S1, System self-check and parameter confirmation: S11, After the equipment is powered on, check that the revolution servo motor, rotation servo motor and radial feed servo motor all return to zero automatically, and the clamping mechanism is in the loosened state; S12, on the human-machine interface, select the pipe material, input the outer diameter and wall thickness of the pipe, and select the bevel angle and blunt edge height. The control system automatically calculates the total radial feed depth, feed speed, blade rotation speed and rotary table revolution speed according to the built-in cutting process database. S13, after the operator confirms that the parameters are correct, press the "Start" button.

[0015] S2, Fixing the pipe: The control system first sends a signal to the clamping motor, which drives the three sets of jaws of the self-centering chuck to move synchronously towards the center to clamp the pipe. The clamping force is fed back through the pressure sensor. When the set value is reached, the pressure holding motor locks.

[0016] S3, Pipe cutting: S31, after clamping is completed, the radial feed servo motor starts, driving the ball screw to move the entire cutting unit quickly toward the pipe wall. When the position sensor detects that the front end of the blade cutting section is 1mm away from the outer surface of the pipe wall, the controller sends a deceleration signal and the feed speed is switched to slow speed. At this time, the self-rotating servo motor starts, accelerates to the working speed within 1 second and remains stable. S32, after the blade contacts the pipe wall, the control system switches to the "cutting feed" mode. The radial feed speed continues to advance according to the set speed. Based on the changes in load parameters during the feed process, the pipe wall cutting status is identified, and in response to the identified pipe wall cutting status, the tool is controlled to switch to the beveling process.

[0017] S4, Beveling and finishing: S41, the beveling tool is fed into the area where the pipe end has been cut. Since the feed depth has reached the design value, the beveling tool will process a 37.5° bevel at the pipe end. S42, the control system immediately starts the revolution servo motor, rotates in the opposite direction one revolution, driving the entire hollow rotary table and its cutting and beveling units to rotate around the pipe axis; S43, during the revolution, the blade continues to rotate, the radial feed remains locked, the cutting blade completely separates the uncut pipe wall fiber layer along the circumferential direction, and at the same time the beveling blade polishes the already formed bevel surface to remove burrs and micro vibration marks. S44, after one revolution, the pipe is completely cut off, and the cut pipe section falls freely. The bevel surface has a surface roughness of Ra3.2 or higher, which meets the welding requirements of most pressure pipelines and does not require secondary grinding.

[0018] S5, Reset and end of cycle; after the revolution is completed, the control system executes the reset action.

[0019] Furthermore, in step S32, identifying the tube wall cutting state based on the change of load parameters during the feeding process includes: monitoring the change of torque value of the radial feed servo motor; when the torque change meets the preset conditions, it is identified as the tube wall cutting state.

[0020] Furthermore, in step S32, when the torque decreases by 20% to 30%, it is identified as the pipe wall being cut through. The controller captures this sudden change point through the differential algorithm and determines that the pipe wall has been completely cut through. After the cutting is completed, the cutter head rotates half a revolution.

[0021] Furthermore, in step S5, the reset includes: first, the revolution servo motor stops rotating and the brake is engaged to prevent the hollow rotary table from rotating on its own due to the shift in the center of gravity; second, the blade rotation servo motor decelerates and stops; then, the radial feed servo motor rotates in the opposite direction to return the cutting unit to the original position; finally, the clamping mechanism releases the jaws to remove residual chips.

[0022] Compared with the prior art, the advantages of the technical solution of the present invention are as follows: (1) The present invention adopts a planetary structure, which keeps the pipe stationary during the cutting process, with only the rotary table and the blade moving. There is no need to drive the long pipe to rotate, which is especially suitable for long pipes that cannot be rotated during on-site construction. At the same time, the fixed pipe facilitates precise clamping and positioning, avoiding the impact of centrifugal force generated by the rotation of the pipe on the cutting accuracy. In addition, the hollow rotary table allows the pipe to pass through freely, and the equipment can move along the length of the pipe to achieve online cutting at any position. (2) When the blade of the present invention rotates, the absolute motion trajectory of any point on it is a subcycloid. This motion mode makes the blade always contact the pipe wall at the optimal cutting angle, the cutting force is stable, the vibration is small, the burrs on the cut are few, and the burrs and vibration marks on the bevel surface are effectively removed through the reverse rotation finishing process, which improves the surface quality of the weld bevel and meets the high standard requirements of the automated pipe prefabrication production line. (3) The present invention adopts an integrated design for cutting bevels. Through two sets of symmetrical cutting units and bevel units, the complete cutting of the pipe wall and the precision machining of the pipe end welding bevel are completed simultaneously in radial feed and two revolutions, avoiding secondary clamping and significantly improving processing efficiency and accuracy. (4) The present invention can accurately determine the timing of pipe wall cutting through by real-time monitoring and feedback of feed torque through the controller, avoiding tool damage and pipe deformation. Furthermore, it can automatically identify the pipe wall cutting through state based on the load parameter changes of the feed mechanism and automatically switch the processing steps, realizing the integrated automatic processing of pipe end cutting and beveling, thus improving work efficiency. (5) The present invention adopts fully automatic servo control to automatically complete clamping, positioning, feeding, cutting, beveling, resetting and releasing processes. The cycle time can be controlled between 2 and 15 minutes. Compared with traditional step-by-step processing, the efficiency is improved by more than 60%, and the processing accuracy is excellent, which fully meets the requirements of automated pipeline prefabrication production line. Attached Figure Description

[0023] Figure 1 This is an overall structural diagram of the servo-driven planetary tube end automatic beveling device of the present invention. Figure 2 This is a front view of the rotary table assembly of the present invention; Figure 3 This is a rear view of the rotary table assembly of the present invention; Figure 4 This is a side view of the rotary table assembly of the present invention; Figure 5 This is a structural diagram of the cutter head feed mechanism of the present invention; Figure 6 This is a structural diagram of the blade rotation drive mechanism of the present invention; Figure 7 This is a structural diagram of the lifting base of the present invention. Detailed Implementation Example

[0024] To make the present invention clearer, the following description, in conjunction with the accompanying drawings, further illustrates a servo-driven planetary tube end automatic beveling device and its processing method. The specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0025] See Figure 1 A servo-driven planetary tube end automatic cutting and beveling device is characterized by comprising a frame 1 and a lifting base 2 that cooperate with each other. The frame 1 is provided with a clamping mechanism 3 and a rotary table assembly 4. The rotary table assembly 4 is provided with a centrally symmetrical cutting unit 5 and a beveling unit 6. Both the cutting unit 5 and the beveling unit 6 are provided with a cooperating cutter head feeding mechanism 7 and a blade rotation driving mechanism 8. The frame 1 is also provided with an auxiliary wiring mechanism 9 and a control system.

[0026] The rotary table assembly 4 is used to realize the revolution of the two sets of cutter heads around the pipe; the cutter head feed mechanism 7 uses a servo motor and a lead screw to realize the radial feed motion of the cutting cutter head and the beveling cutter head; the blade rotation drive mechanism 8 is driven by an independent rotation servo motor to drive the cutting blade to rotate at high speed; the lifting base 2 controls the vertical lifting motion of the entire cutting cutter head assembly to ensure that the center of the pipe coincides with the center of the rotary table; the cable routing mechanism 9 enables the cable to be wound and unwound while rotating around the rotary table.

[0027] See Figure 1 , Figure 2 and Figure 3 The rotary table assembly 4 includes a hollow rotary table 41 that rotates around the axis of the tube. The hollow rotary table 41 is connected to the frame 1 by a large-diameter rotary support and is driven by a revolution drive device 42. The revolution drive device 42 includes a revolution servo motor 421 and a heavy-duty planetary reducer 422 that cooperate with each other. The tube to be processed is fixed on the clamping mechanism 3 and passes horizontally through the central through hole of the hollow rotary table 41. See Figure 1 , Figure 2 , Figure 5 The cutter head feed mechanism 7 is connected to the hollow rotary table 41 along the circumference. It includes a radial feed drive device 71, which includes a radial feed servo motor 711 and a radial feed reducer 712. The output end of the radial feed drive device 71 is connected to the ball screw 72. A matching moving block 73 is connected to the ball screw 72. Parallel linear slide rails 74 are provided on the upper and lower sides of the ball screw 72. A slider 75 is connected to the linear slide rail 74. The two form a sliding guide fit. The moving block 73 and the slider 75 are both connected to a mounting plate 10. The blade rotation drive mechanism 8 is fixed on the mounting plate 10 to drive the blade to move radially. See Figure 1 , Figure 2 , Figure 6The blade rotation drive mechanism 8 includes a rotation servo motor 81. The rotation servo motor 81 is connected to the synchronous pulley 83 through the output end of the reducer 82. The synchronous pulley 83 is connected to the blade shaft 84 through the synchronous belt. A blade 85 is fixed on the blade shaft 84. The blade 85 is divided into a cutting blade 851 and a beveling blade 852. The blade of the cutting unit 5 is the cutting blade 851, and the blade of the beveling unit 6 is the beveling blade 852, so as to perform the cutting and beveling tasks respectively. The absolute motion trajectory of any point on the blade 85 is a subcycloid. This motion mode ensures that the blade always contacts the pipe wall at the optimal cutting angle, resulting in stable cutting force, low vibration, and fewer burrs on the cut surface. See Figure 2 , Figure 3 , Figure 4 The clamping mechanism 3 includes three sets of jaws 32 on the self-centering chuck 31 and a three-jaw chuck drive device 33 connected to the jaws 32. The center of the self-centering chuck 31 and the center of the hollow rotary table 41 are on the same axis. The three-jaw chuck drive device 33 includes a clamping motor 331.

[0028] In this embodiment, the lifting base 2 includes a lifting drive device 21 and a lifting plate 22, see [link / reference] Figure 1 and Figure 7 It is used to control the vertical lifting and lowering movement of the overall cutting disc assembly, thereby ensuring that the center of the pipe coincides with the center of the rotary table.

[0029] The working process of the above-mentioned servo-driven planetary tube end automatic beveling device is as follows: (1) After the equipment is powered on, the system performs a self-check: the revolution servo motor 421, the rotation servo motor 81, and the radial feed servo motor 711 all automatically return to zero; the clamping mechanism 3 is in the released state. The operator selects the pipe material "304 stainless steel" on the touch screen human-machine interface, inputs the pipe outer diameter "60mm" and wall thickness "8mm", and selects the bevel angle "37.5°" and the blunt edge height "1.5mm". The control system automatically calculates the following parameters based on the built-in cutting process database: total radial feed depth, feed speed, blade rotation speed, and rotary table revolution speed. After confirming that the parameters are correct, the operator presses the "Start" button.

[0030] (2) The control system first sends a signal to the clamping motor 331, which drives the three sets of jaws 32 of the self-centering chuck 31 to move synchronously toward the center to clamp the pipe. The clamping force is fed back through the pressure sensor. When the set value is reached, the pressure holding motor is locked.

[0031] (3) After clamping is completed, the radial feed servo motor 711 starts, driving the ball screw pair to move the entire cutting unit 5 rapidly toward the pipe wall. A position sensor 76 is installed on the linear slide rail 74. When the front end of the cutting section of the blade is 1mm away from the outer surface of the pipe wall, the controller sends a deceleration signal, and the feed speed is switched to slow speed. At this time, the blade rotation servo motor starts, accelerates to the working speed within 1 second, and remains stable.

[0032] (4) When the blade contacts the pipe wall, the control system switches to the "cutting feed" mode, and the radial feed speed continues to advance according to the set speed. At this time, the cutting blade 851 first cuts into the pipe wall, and the cutting force gradually increases as the feed depth increases. The controller monitors the torque value of the radial feed servo motor 711 in real time, which reflects the cutting resistance. When the feed depth reaches about 8mm and cuts through the pipe wall, the torque will suddenly drop by about 20%~30%. The controller captures this sudden change point through the differential algorithm and judges that the pipe wall has been completely cut through. After the cut is completed, the cutter head revolves half a circle. At the same time, the beveling blade 852 feeds into the area of ​​the pipe end that has been cut. Since the feed depth has reached the design value, the beveling blade can process a 37.5° bevel at the pipe end. At this time, the control system immediately starts the revolving servo motor 421 and rotates in the opposite direction for one revolution. This motor drives the rotary support through the planetary reducer, which drives the entire rotary table and a set of cutting units 5 and a set of beveling units 6 mounted on it to rotate around the pipe axis. During the revolution, the blade 85 continues to rotate, and the radial feed remains locked, ceasing further feeding. The cutting blade 851 completely separates the remaining pipe wall fiber layer along the circumferential direction, while the beveling blade 852 polishes the already formed bevel surface, removing burrs and minor vibration marks. After one revolution, the pipe is completely cut off, and the cut pipe section falls freely, with a receiving device below. At this point, the bevel surface has achieved a surface roughness of Ra3.2 or higher, meeting the welding requirements of most pressure pipelines, eliminating the need for secondary grinding.

[0033] (5) Reset and end of cycle; After the revolution is completed, the control system performs the reset in the following order: First, the revolution servo motor 421 stops rotating and engages the brake to prevent the turntable from rotating on its own due to the shift of the center of gravity; Second, the blade rotation servo motor 81 decelerates and stops; Then, the radial feed servo motor 711 rotates in the opposite direction to return the cutting unit 5 to the original position; Finally, the clamping mechanism 3 releases the jaws 32 to remove residual chips.

[0034] In addition to the embodiments described above, the present invention may have other implementations. All technical solutions formed by equivalent substitution or equivalent transformation fall within the protection scope claimed by the present invention.

Claims

1. A servo-driven planetary tube end automatic beveling device, characterized in that: It includes a frame (1) and a lifting base (2) that cooperate with each other. The frame (1) is equipped with a clamping mechanism (3) and a rotary table assembly (4). The rotary table assembly (4) is equipped with a centrally symmetrical cutting unit (5) and a beveling unit (6). The cutting unit (5) and the beveling unit (6) are equipped with a cooperating cutter head feeding mechanism (7) and a blade rotation drive mechanism (8). The frame (1) is also equipped with an auxiliary cooperating wiring mechanism (9) and a control system. The rotary table assembly (4) includes a hollow rotary table (41) that rotates around the axis of the pipe. The hollow rotary table (41) is driven by a revolution drive device (42). The cutter head feed mechanism (7) is connected to the hollow rotary table (41) along the circumference. It includes a radial feed drive device (71). The output end of the radial feed drive device (71) is connected to a ball screw (72). A matching moving block (73) is connected to the ball screw (72). Parallel linear slide rails (74) are provided on the upper and lower sides of the ball screw (72). A slider (75) is connected to the linear slide rail (74). The two form a sliding guide fit. The moving block (73) and the slider (75) are both connected to a mounting plate (10). The blade rotation drive mechanism (8) is fixed on the mounting plate (10). The blade rotation drive mechanism (8) includes a rotation servo motor (81). The rotation servo motor (81) is connected to the synchronous pulley (83) through the output end of the reducer (82). The synchronous pulley (83) is connected to the blade shaft (84) through the synchronous belt. The blade shaft (84) has a fixed blade (85). The absolute motion trajectory of any point on the blade (85) is a subcycloid.

2. The servo-driven planetary tube end automatic beveling device according to claim 1, characterized in that: The hollow rotary table (41) is connected to the frame (1) by a large-diameter rotary support. The revolution drive device (42) includes a revolution servo motor (421) and a heavy-duty planetary reducer (422) that cooperate with each other. The tube to be processed is fixed on the clamping mechanism (3) and passes horizontally through the central through hole of the hollow rotary table (41).

3. The servo-driven planetary tube end automatic beveling device according to claim 2, characterized in that: The clamping mechanism (3) includes three sets of jaws (32) on the self-centering chuck (31) and a three-jaw chuck drive device (33) connected to the jaws (32). The center of the self-centering chuck (31) and the center of the hollow rotary table (41) are on the same axis. The three-jaw chuck drive device (33) includes a clamping motor (331).

4. The servo-driven planetary tube end automatic beveling device according to claim 3, characterized in that: The radial feed drive device (71) includes a radial feed servo motor (711) and a radial feed reducer (712). A position sensor (76) is provided on the linear slide rail (74). The position sensor (76) transmits the collected signal to the controller of the control system. When the front end of the blade cutting section is 1mm away from the outer surface of the pipe wall, the controller sends a deceleration signal to switch the feed speed of the radial feed servo motor (711) to slow speed. At the same time, the self-rotating servo motor (81) starts and accelerates to the working speed within 1 second and remains stable.

5. The servo-driven planetary tube end automatic beveling device according to claim 4, characterized in that: The blade (85) is divided into a cutting blade (851) and a beveling blade (852). The blade of the cutting unit (5) is the cutting blade (851), and the blade of the beveling unit (6) is the beveling blade (852).

6. A processing method for the servo-driven planetary tube end automatic beveling device as described in claim 5, characterized in that: S1, System self-check and parameter confirmation: S11, after the equipment is powered on, check that the revolution servo motor (421), the rotation servo motor (81), and the radial feed servo motor (711) all return to zero automatically, and the clamping mechanism (3) is in the loosened state; S12, on the human-machine interface, select the pipe material, input the outer diameter and wall thickness of the pipe, and select the bevel angle and blunt edge height. The control system automatically calculates the total radial feed depth, feed speed, blade rotation speed and rotary table revolution speed according to the built-in cutting process database. S13, After the operator confirms that the parameters are correct, press the "Start" button; S2, Fixing the pipe: The control system first sends a signal to the clamping motor (331) to drive the three sets of jaws (32) of the self-centering chuck (31) to move synchronously toward the center to clamp the pipe. When the set value is reached, the pressure holding motor is locked. S3, Pipe cutting: S31, after clamping is completed, the radial feed servo motor (711) starts and drives the ball screw (72) to move the entire cutting unit (5) towards the pipe wall. When the front end of the blade cutting section is 1mm away from the outer surface of the pipe wall, the controller sends a deceleration signal and the feed speed is switched to slow speed. At this time, the self-rotating servo motor (81) starts and accelerates to the working speed within 1 second and remains stable. S32, after the blade contacts the pipe wall, the control system switches to the "cutting feed" mode. The radial feed speed continues to advance according to the set speed. Based on the changes in load parameters during the feed process, the pipe wall cutting state is identified, and in response to the identified pipe wall cutting state, the tool is controlled to switch to the beveling process. S4, Beveling and finishing: S41, the beveling tool (852) feeds into the area where the pipe end has been cut. Since the feed depth has reached the design value, the beveling tool (852) processes a 37.5° bevel at the pipe end. S42, the control system immediately starts the revolution servo motor (421), rotates in the opposite direction for one revolution, and drives the entire hollow rotary table (41) and its cutting unit (5) and beveling unit (6) to rotate around the pipe axis; S43, during the revolution, the blade (85) continues to rotate, the radial feed remains locked, the cutting blade (851) completely separates the uncut pipe wall fiber layer along the circumferential direction, and at the same time the beveling blade (852) polishes the already formed bevel surface to remove burrs and micro vibration marks. S44, after one revolution, the pipe is completely cut off, and the cut pipe section falls freely, with the bevel surface reaching a surface roughness of Ra3.2 or higher; S5, Reset and end of cycle; after the revolution is completed, the control system executes the reset action.

7. The processing method of the servo-driven planetary tube end automatic beveling device according to claim 6, characterized in that: In step S32, the tube wall cutting state is identified based on the change of load parameters during the feeding process, including: monitoring the change of torque value of radial feed servo motor (711); when the torque change meets the preset conditions, it is identified as the tube wall cutting state.

8. The processing method of the servo-driven planetary tube end automatic beveling device according to claim 6, characterized in that: In step S32, when the torque decreases by 20% to 30%, it is identified as the pipe wall is cut through. The controller captures this sudden change point through the differential algorithm and determines that the pipe wall has been completely cut through. After the cutting is completed, the cutter head rotates half a circle.

9. The processing method of the servo-driven planetary tube end automatic beveling device according to claim 6, characterized in that: In step S5, the reset includes: first, the revolution servo motor (421) stops rotating and the brake is engaged; second, the blade rotation servo motor (81) decelerates and stops; then, the radial feed servo motor (711) rotates in the opposite direction to return the cutting unit (5) to the origin position; finally, the clamping mechanism (3) releases the jaws (32).

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