CN113369716A - Numerical control laser pipe cutting machine and circular cutting method thereof - Google Patents

Numerical control laser pipe cutting machine and circular cutting method thereof Download PDF

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Publication number
CN113369716A
CN113369716A CN202110753485.1A CN202110753485A CN113369716A CN 113369716 A CN113369716 A CN 113369716A CN 202110753485 A CN202110753485 A CN 202110753485A CN 113369716 A CN113369716 A CN 113369716A
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cutting
ring
laser
numerical control
tool
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CN113369716B (en
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于银
冯治
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Jinan Dingdian Cnc Equipment Co ltd
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Jinan Dingdian Cnc Equipment Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/36—Removing material
    • B23K26/38—Removing material by boring or cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70—Auxiliary operations or equipment
    • B23K26/702—Auxiliary equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • B23K2101/06—Tubes

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  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)

Abstract

The application relates to a numerical control laser pipe cutting machine and a circular cutting method of the numerical control laser pipe cutting machine. The device comprises a positioning ring, a cutting ring, a control module, an input module, a clamping cylinder structure and a translation cylinder structure. Through setting up laser location, laser range finding sensor, fix a position the angle of pipe cutter cutting ring to the initial position of blade holder is rectified, has guaranteed that the cutter is when the circular cutting groove angle, and the cutter contacts with the pipeline all the time, improves cutting accuracy from this. Meanwhile, a corresponding track correction numerical control model is intelligently generated through a numerical control module under the condition that only the incision angle and the diameter of the pipeline are input, and the circular cutting process is automatically controlled through a rotary driving structure rotary driving model, a radial feeding motor feed driving model and a high-frequency linear reciprocating motor track correction model.

Description

Numerical control laser pipe cutting machine and circular cutting method thereof
Technical Field
The invention relates to pipeline cutting equipment, in particular to a numerical control laser pipe cutting machine and a using method thereof.
Background
Most of the existing pipe cutting machines adopt a saw blade mode to cut a pipe body from top to bottom in a multi-angle mode, but large pipes with large diameters and large wall thicknesses cannot be placed on the traditional pipe cutting machines to be cut. In the prior art, a circular cutting mode is adopted, frame-type pipe cutting equipment capable of rotating around a pipeline is fixed on the pipeline, and the pipeline is finally circularly cut through the rotation of a tool rest around the pipeline and the gradual feeding of a tool along the radial direction of the pipeline.
When the circular cutting pipe cutting machine is used for cutting the pipeline groove at a certain angle, the frame must be rotated along the X axis and the Y axis in an absolute space coordinate system for cutting the groove at a certain large angle due to the limitation of the frame of the pipe cutting machine. After the rotation of the mode is carried out, the section of the final pipeline cutting is an elliptical section, the absolute space coordinate system established by the orthogonal axes of the elliptical section relative to the laser positioning of the original pipe cutting machine is deviated, and the circular cutting path of the cutter is a circle based on the absolute space coordinate system. Therefore, when the cutter performs circular cutting, the cutter cuts the pipeline unevenly, and the cutter is cut and separated twice at least every circle of circular cutting, so that the cutter is always in stress alternation under the working condition, and the service life of the cutter is shortened. Due to the fact that the cutter is repeatedly separated from and contacted with the pipeline, the cutting track is also discontinuous, and the cutting precision of circular cutting is further reduced.
Based on the technical problems, a numerical control laser pipe cutting machine capable of correcting the track of a cutter needs to be designed, and a circular cutting parameter model of the pipe cutting machine is established based on the numerical control laser pipe cutting machine so as to ensure that the cutter is always in contact with a pipeline when the cutter is in circular cutting of the groove angle, so that the cutting precision is improved.
Disclosure of Invention
The invention aims to provide a numerical control laser pipe cutting machine capable of correcting a tool track, and a circular cutting parameter model of the pipe cutting machine is established based on the numerical control laser pipe cutting machine so as to ensure that a tool is always in contact with a pipeline when the tool is in circular cutting of a groove angle, thereby improving the cutting precision.
In order to achieve the purpose, the invention adopts the following technical scheme: .
A numerically controlled laser pipe cutter comprising:
the cutting device comprises a positioning ring, a cutting ring, a control module and an input module;
three telescopic clamping cylinders are uniformly distributed and fixed on the end face of one side of the positioning ring along the circumferential direction, and the pipe positioning ring is fixed on the peripheries of pipelines with different outer diameter sizes through the three telescopic clamping cylinders;
three telescopic translation cylinders are uniformly distributed on the end face of the other side of the positioning ring along the circumferential direction, ball head connecting structures are arranged at the free ends of the telescopic rod parts of the three telescopic translation cylinders, and the cutting ring is connected with the telescopic translation cylinders through the three ball head connecting structures, so that the positioning ring is connected with the cutting ring;
a cutter holder is arranged on the cutting ring, and a cutter facing the radial inner part of the cutting ring is arranged on the cutter holder;
be provided with rotary drive structure and radial feed motor on the blade holder, its characterized in that:
the cutting ring comprises a cutting ring inner ring, wherein the surface of the cutting ring inner ring is provided with three telescopic translation cylinders, the positions of the three telescopic translation cylinders correspond to the positions of the three telescopic translation cylinders, the laser sensors can detect and calibrate the plane position of the cutting ring, the surface of a tool apron facing a pipeline side is also provided with a laser ranging sensor, the laser ranging sensor can detect the radial distance between the tool apron and the pipeline surface on one hand and can detect the space position of the tool apron on the other hand, and a high-frequency linear motor is arranged between the tool and the tool apron and can drive the tool to reciprocate in a high frequency mode along the radial direction of the cutting ring so as to correct the circular cutting track of the tool;
the control module is electrically connected with the laser sensor, the laser ranging sensor, the high-frequency linear motor, the radial feeding motor and the rotary driving structure.
The circular cutting method is used for correcting the cutter path and specifically comprises the following steps:
the method comprises the following steps: positioning the cutting ring in an angle;
step two: the tool apron corrects the initial position on the cutting ring;
step three: and generating a circular cutting parameter model.
The cutting ring angle positioning specifically comprises the following steps:
the method comprises the following steps: controlling the three telescopic clamping cylinders to have the same extension rate and ensuring the clamping of the pipeline;
step two: controlling the three telescopic translation cylinders to have the same telescopic rate;
step three: the control module measures the spatial positions of the three laser sensors, establishes a spatial rectangular coordinate system, and defines the position of the plane where the cutting ring is located at the moment as a reference plane;
step four: inputting a pipeline cutting angle theta and the radius R of the pipeline P through an input module;
step five: the control module calculates the expansion and contraction rates of the three telescopic translation cylinders through the cutting angle theta and the radius R, further controls the telescopic translation cylinders to move, and finally adjusts the cutting ring to rotate to a position forming an angle theta with the reference plane; the control module records the spatial positions of the three laser sensors on the cutting ring at the moment and defines a plane established by the three laser sensors at the moment as a cutting plane;
step six: the rotary driving structure drives the tool apron to rotate to an initial position.
In the cutting ring angle positioning step, the three spatial rectangular coordinate systems take the cutting ring plane positioned by the three laser sensors as an XOY plane, the radial direction of the cutting ring passing through one of the laser sensors as an X axis, the direction perpendicular to the reference plane as a Z axis, and the central point of the cutting ring as an origin O point.
And in the sixth cutting ring angle positioning step, the specific control mode of driving the tool apron to rotate to the initial position by the rotary driving structure is to monitor the real-time coordinate position of the laser ranging sensor on the tool apron in the established space rectangular coordinate system in real time until the Y-axis coordinate Y of the laser ranging sensor is 0, namely the tool apron reaches the initial position.
The initial position correction specifically includes the steps of:
the method comprises the following steps: driving the tool apron to rotate for a circle through the rotation driving structure, and measuring the distance delta S between the tool apron and the periphery of the pipeline through the laser ranging sensor to obtain a scanning track curve delta S (t);
step two: the control module records a scanning track curve delta S (t) and a first wave valley value delta SLAnd the trough value Δ SLCorresponding time tL。
Step three: the control module calculates a tool apron position correction angle;
step four: the tool apron is driven to rotate by a rotation angle theta through the rotation driving structureSchoolTo the corrected initial position;
step five: and establishing a tool path correction coordinate system.
In the first initial position correction step, the angular velocity ω of the rotation of the tool holder is a constant value and is a scanning velocity, and the scanning trajectory curve has two troughs Δ SLAnd two peaks Δ STThe waveform curve of (2).
The calculation formula of the tool apron position correction angle in the initial position correction step III is thetaSchool＝ωtL。
And in the initial position correction step five, the major axis of the elliptical track is used as a Y ' axis, the minor axis is used as an X ' axis, a tool track correction coordinate system X ' OY ' is established, and the corrected initial position is located on the Y ' axis.
The circular cutting parameter model specifically comprises:
the system comprises a rotary driving model of a rotary driving structure, a radial feeding motor feeding driving model and a high-frequency linear reciprocating motor track correction model;
wherein the track correction model of the high-frequency linear reciprocating motor is as follows:
Figure RE-GDA0003180693440000031
wherein: Δ U (θ) represents a displacement amount of the high-frequency linear motor, and is a function of a tool holder rotation angle θ; a represents the major axis of the elliptical trajectory, b represents the minor axis of the elliptical trajectory;
major axis of the elliptical orbit, a ═ R + Δ ST-ΔSLThe minor axis b of the elliptical trajectory is R.
The invention has the beneficial effects that:
1. a high-frequency linear reciprocating motor is arranged between the tool apron and the tool and is used for correcting the tool track of the bevel section of the pipeline with an angle;
2. the correction of the cutter track firstly finishes the positioning of the angle of the cutting ring, then finishes the correction of the initial position of the cutter holder on the cutting ring, and finally generates an annular cutting parameter model;
3. after the cutting ring is adjusted to the corresponding angle position, the rotary driving structure drives the tool apron to rotate to the initial position. The specific control mode is that the real-time coordinate position of a laser ranging sensor of the tool apron in an established space rectangular coordinate system is monitored in real time until the Y-axis coordinate Y of the laser ranging sensor is 0, namely the tool apron reaches the initial position, and after the initial position is reached, the initial position of the tool apron is corrected to enable the initial position to be accurately positioned on the end point of the major axis and the minor axis of the elliptical track, so that the cutting of the tool from the minimum cutting depth is ensured, the service life of the tool is prolonged, and the cutting precision of the pipeline is improved;
4. in order to ensure accurate fitting of the elliptical cutting track, the initial position is corrected by adopting a direct measurement mode. The laser distance sensor is arranged on the cutter holder, the cutter holder is driven to rotate for a circle through the rotation driving structure, the distance between the cutter holder and the periphery of the pipeline is measured through the laser distance measuring sensor, the corrected target angle value is determined through the measured distance waveform curve and the angular speed of rotary scanning, and the correction precision and the correction adaptability are improved;
5. in order to ensure that the cutter can synchronously fit an elliptical cutting track along with the circular motion of the cutter holder, a high-frequency linear reciprocating motor track correction model is established, and the model is a function of the rotation angle theta of the cutter holder, so that the cutter holder can rotate on a cutting ring, the elliptical track is synchronously fitted through the high-frequency linear reciprocating motor, the cutter is ensured to be always in contact with a pipeline when the cutter is in circular groove angle, and the cutting precision is improved;
6. and (3) intelligently generating a corresponding track correction numerical control model through a numerical control module under the condition of only inputting the incision angle and the diameter of the pipeline, and automatically controlling the circular cutting process through a rotary driving structure rotary driving model, a radial feeding motor feed driving model and a high-frequency linear reciprocating motor track correction model.
Drawings
FIG. 1 is a schematic diagram of the pipe cutter of the present invention;
FIG. 2 is a sectional view A-A of FIG. 1;
FIG. 3 is a cross-sectional view B-B of FIG. 1;
FIG. 4 is a cross-sectional view C-C of FIG. 1;
FIG. 5 is a flow chart of tool path correction according to the present invention;
FIG. 6 is a flow chart of specific steps for angular positioning of the cutting ring;
FIG. 7 is a schematic view of the cutting ring after angular positioning;
FIG. 8 is a flow chart of initial position correction;
FIG. 9 is a diagram of a scanning trajectory Δ S (t);
fig. 10 is a schematic view of a cut plane structure.
Detailed Description
The following detailed description of the preferred embodiments will be made with reference to the accompanying drawings.
Fig. 1-4 are schematic structural diagrams of a numerical control laser pipe cutting machine according to an embodiment of the present invention. It includes: the positioning ring 1 and the cutting ring 3, and the positioning ring 1 and the cutting ring 3 are both in an annular frame structure.
On the terminal surface of holding ring 1 one side, be fixed with three flexible die clamping cylinder 2 along the circumferencial direction equipartition, three flexible die clamping cylinder 2 has cylinder body portion and telescopic rod portion, and wherein cylinder body portion is along the radial direction fixed mounting of holding ring 1 on the terminal surface of holding ring 1, and this mounting means includes but not limited to fixed mode such as bolt, welding. A clamping plate is arranged at the free end of the telescopic rod part of the telescopic clamping cylinder 2. The flexible centre gripping cylinder 2 of three equipartition is through the removal of flexible pole portion, finally makes splint and pipeline P's periphery contact compress tightly, through three splint, fixes pipe holding ring 1 in the periphery of different external diameter's pipeline P.
On the terminal surface of the opposite side of holding ring 1, along the circumferencial direction equipartition have three flexible translation cylinder 4, and three flexible translation cylinder 4 has cylinder portion and flexible pole portion, and wherein the articulated fixed mounting in the vertical direction of holding ring 1 terminal surface of cylinder portion along the holding ring of flexible translation cylinder 4 is on the terminal surface of holding ring 1. And a ball head connecting structure is arranged at the free end of the telescopic rod part of the three telescopic translation cylinders 4. The cutting ring 3 is connected with the telescopic translation cylinder 4 through the three ball head connecting structures, so that the positioning ring 1 is connected with the cutting ring 3. Through the removal of three flexible translation cylinders 4, the angle of adjustable cutting ring 3 and pipeline P realizes the cutting of different groove angles.
On the cutting ring 3, a tool holder 5 is provided, the tool holder 5 being fitted with a tool 7 facing radially inwards of the cutting ring 3. The blade holder 5 is rotatable along the cutting ring 3, with a rotary motion about the circumference of the pipe P, by means of a rotary drive structure (not shown) arranged within the cutting ring 3. Meanwhile, a radial feeding motor is arranged on the cutter holder 5, and the radial feeding motor can drive the cutter holder 5 to feed along the radial direction of the cutting ring 3 while rotating along the circumferential direction of the cutting ring 3. Through the rotation driving structure and the movement of the radial feeding motor, the circumferential cutting of the periphery of the pipeline by the cutter 7 on the cutter holder 5 is realized, and the pipeline cutting work is finally completed. As shown in fig. 4, the laser sensors 9 are respectively disposed on the inner ring surface of the cutting ring 3 at positions corresponding to the three telescopic translation cylinders 4, and the three laser sensors 9 can detect and calibrate the plane position of the cutting ring 3. As shown in fig. 1 and 4, a laser distance measuring sensor 8 is further disposed on a surface of the tool holder 5 facing the pipe P, and the laser distance measuring sensor 8 can detect a radial distance between the tool holder 5 and the surface of the pipe P, and can detect a spatial position of the tool holder 5 for controlling the position of the tool holder 5.
A high-frequency linear motor 6 is also arranged between the cutter 7 and the cutter holder 5. The high-frequency linear motor 6 can drive the cutter 7 to reciprocate at high frequency along the radial direction of the cutting ring 3, so that the circular cutting track of the cutter 7 is corrected. In addition, the system also comprises auxiliary modules such as a control module, a touch parameter input module and the like which are electrically connected with the laser sensor 9, the laser ranging sensor 8, the high-frequency linear motor 6, the radial feeding motor and the rotary driving structure.
The manner in which the tool path is corrected is explained below.
Fig. 5 shows a flowchart of tool path correction according to the present invention. The correction of the cutter track firstly completes the positioning of the angle of the cutting ring 3, then completes the correction of the initial position of the cutter seat 5 on the cutting ring 3, and finally generates a circular cutting parameter model, and the rotary driving structure, the radial feeding motor and the high-frequency linear reciprocating motor of the pipe cutting machine operate according to the parameters generated by the circular cutting parameter model so as to control the cutter 7 to complete the circular cutting of the pipeline P.
As shown in fig. 6, the specific steps for the angular positioning of the cutting ring. The specific steps of cutting ring angle positioning are as follows:
the method comprises the following steps: the three telescopic clamping cylinders 2 are controlled to have the same extension rate, and the clamping of the pipeline is ensured. From this guarantee holding ring 1 location pipe cutting machine's axis and pipeline P's axis coincidence, simultaneously through the rate of extension unanimous of controlling three flexible centre gripping cylinder 2, also guaranteed that holding ring 1 is on the plane perpendicular with pipeline P axis.
Step two: the three telescopic translation cylinders 4 are controlled to have the same telescopic ratio. This step ensures that the cutting ring 3 is parallel to the positioning ring 1 and that the cutting ring 3 is perpendicular to the central axis of the pipe P.
Step three: the control module measures the spatial positions of the three laser sensors 9, establishes a spatial rectangular coordinate system, and defines the position of the plane where the cutting ring 3 is located as a reference plane. The rectangular spatial coordinate system uses the cutting ring plane positioned by the three laser sensors 9 as an XOY plane, the radial direction of the cutting ring passing through one of the laser sensors 9 as an X axis, the direction perpendicular to the reference plane as a Z axis, and the central point of the cutting ring 3 as an origin O point.
Step four: the pipe cutting angle theta and the radius R of the pipe P are input through the input module.
Step five: the control module calculates the expansion and contraction rates of the three telescopic translation cylinders through the cutting angle theta and the radius R, then controls the telescopic translation cylinders to move, and finally adjusts the cutting ring 3 to rotate to the position forming the angle theta with the reference plane. The control module records the spatial positions of the three laser sensors 9 on the cutting ring 3 at the moment, and defines the plane established by the three laser sensors 9 at the moment as a cutting plane.
Step six: the rotation driving structure drives the tool holder 5 to rotate to the initial position. The specific control mode is to monitor the real-time coordinate position of the laser ranging sensor 8 on the tool apron 5 in the established space rectangular coordinate system in real time until the Y-axis coordinate Y is 0, that is, the tool apron 5 reaches the initial position.
As shown in fig. 7, the tool holder 5 after being angularly positioned by the cutting ring is shown in the initial position, which shows the relationship among the position of the spatial rectangular coordinate system, the reference plane 10, the cutting plane 11, the initial position 12, and the corrected initial position 13. Fig. 10 is a top view of the cutting plane of fig. 7, from which it can be seen that the cutting plane is elliptical relative to the cutting profile formed by the pipe P after angular adjustment. Due to the size limitation and the relative position limitation of the cutting ring 3 relative to the pipeline P and the randomness of the position for mounting the pipe cutting machine on the pipeline, the ellipse long axis and the ellipse short axis of the ellipse cutting outline are superposed with the X axis and the Y axis after the angle adjustment cannot be ensured, the model of the ellipse cutting outline cannot be directly obtained, the cutter holder is located at the initial position at the moment and is not located at the long and short shaft ends of the ellipse track, and the control of the cutter holder 5 by the high-frequency linear reciprocating motor is inconvenient. Therefore, it is necessary to correct the initial position of the tool holder 5 so that the initial position is exactly located at the end point of the major and minor axes of the elliptical trajectory.
Fig. 8 shows a flowchart of the initial position correction. In order to ensure accurate fitting of the elliptical cutting track, the initial position is corrected by adopting a direct measurement mode. The method specifically comprises the following steps:
the method comprises the following steps: the tool apron 5 is driven to rotate for a circle by the rotation driving structure, and the distance delta S between the tool apron 5 and the periphery of the pipeline is measured by the laser ranging sensor 8 to obtain a scanning track curve delta S (t). The angular velocity ω at which the tool rest 5 rotates is a constant value and is a scanning velocity. Fig. 9 and 10 are schematic diagrams of an exemplary set of scanning trajectory curves and tool post movements. Because the motion track of the tool apron 5 is a circle defined by the cutting ring 3, and because of the adjustment of the angle of the cutting ring, the formed scanning track curve is a curve with two wave troughs Delta SLAnd two peaks Δ STThe waveform curve of (2).
Step two: the control module records a scanning track curve delta S (t) and a first wave valley value delta SLAnd the trough value Δ SLCorresponding time tL。
Step three: the control module calculates a tool apron position correction angle. The calculation formula is thetaSchool＝ωtL。
Step four: the tool apron 5 is driven by a rotary driving structure to rotate by a certain angle thetaSchoolTo the corrected initial position.
Step five: and establishing a tool path correction coordinate system. As shown in fig. 10, a tool trajectory correction coordinate system X ' OY ' is established with the major axis of the elliptical trajectory as the Y ' axis and the minor axis as the X ' axis, and the corrected initial position is located on Y '. The correction of the initial position of the tool holder 5 is completed.
Finally, the establishment of the circular cutting parameter model is explained.
The circular cutting parameter model comprises a rotary driving structure rotary driving model, a radial feeding motor feeding driving model and a high-frequency linear reciprocating motor track correction model.
Wherein, the rotation driving model mainly focuses on the rotation angular velocity of the tool apron 5 around the cutting ring, and the feeding driving model mainly focuses on the feeding amount and the feeding velocity, which belong to the prior art. The method mainly focuses on establishing a track correction model of the high-frequency linear reciprocating motor.
Since the cutting ring 3 is angled with respect to the pipe, the initial position of the tool holder is corrected to the position of the end point of the major axis of the elliptical cutting path. Under the condition that the blade holder does not radially feed, in order to guarantee that cutter 7 can follow the elliptical cutting orbit of the circular motion synchronization laminating of blade holder 5, need install the relative blade holder 5 of high frequency linear reciprocating motor drive cutter 7 on the blade holder and carry out radial displacement adjustment, establish high frequency linear reciprocating motor orbit correction model:
Figure RE-GDA0003180693440000071
wherein: Δ U (θ) represents a displacement amount of the high-frequency linear motor, and is a function of a tool holder rotation angle θ; a denotes the major axis of the elliptical trajectory, and b denotes the minor axis of the elliptical trajectory.
From the measurement of the initial position correction, the major axis of the elliptical trajectory, a ═ R + Δ ST-ΔSLThe minor axis b of the elliptical trajectory is R.
Therefore, a high-frequency linear reciprocating motor track correction model is obtained.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. A numerically controlled laser pipe cutter comprising:
the cutting device comprises a positioning ring, a cutting ring, a control module and an input module;
three telescopic clamping cylinders are uniformly distributed and fixed on the end face of one side of the positioning ring along the circumferential direction, and the pipe positioning ring is fixed on the peripheries of pipelines with different outer diameter sizes through the three telescopic clamping cylinders;
three telescopic translation cylinders are uniformly distributed on the end face of the other side of the positioning ring along the circumferential direction, ball head connecting structures are arranged at the free ends of the telescopic rod parts of the three telescopic translation cylinders, and the cutting ring is connected with the telescopic translation cylinders through the three ball head connecting structures, so that the positioning ring is connected with the cutting ring;
a cutter holder is arranged on the cutting ring, and a cutter facing the radial inner part of the cutting ring is arranged on the cutter holder;
be provided with rotary drive structure and radial feed motor on the blade holder, its characterized in that:
the cutting ring comprises a cutting ring inner ring, wherein the surface of the cutting ring inner ring is provided with three telescopic translation cylinders, the positions of the three telescopic translation cylinders correspond to the positions of the three telescopic translation cylinders, the laser sensors can detect and calibrate the plane position of the cutting ring, the surface of a tool apron facing a pipeline side is also provided with a laser ranging sensor, the laser ranging sensor can detect the radial distance between the tool apron and the pipeline surface on one hand and can detect the space position of the tool apron on the other hand, and a high-frequency linear motor is arranged between the tool and the tool apron and can drive the tool to reciprocate in a high frequency mode along the radial direction of the cutting ring so as to correct the circular cutting track of the tool;
the control module is electrically connected with the laser sensor, the laser ranging sensor, the high-frequency linear motor, the radial feeding motor and the rotary driving structure.
2. A circular cutting method of a numerical control laser pipe cutting machine, which employs the numerical control laser pipe cutting machine according to claim 1, characterized in that: the circular cutting method is used for correcting the cutter path and specifically comprises the following steps:
the method comprises the following steps: positioning the cutting ring in an angle;
step two: the tool apron corrects the initial position on the cutting ring;
step three: and generating a circular cutting parameter model.
3. The ring cutting method of the numerical control laser pipe cutting machine according to claim 2, characterized in that: the cutting ring angle positioning specifically comprises the following steps:
the method comprises the following steps: controlling the three telescopic clamping cylinders to have the same extension rate and ensuring the clamping of the pipeline;
step two: controlling the three telescopic translation cylinders to have the same telescopic rate;
step three: the control module measures the spatial positions of the three laser sensors, establishes a spatial rectangular coordinate system, and defines the position of the plane where the cutting ring is located at the moment as a reference plane;
step four: inputting a pipeline cutting angle theta and the radius R of the pipeline P through an input module;
step five: the control module calculates the expansion and contraction rates of the three telescopic translation cylinders through the cutting angle theta and the radius R, further controls the telescopic translation cylinders to move, and finally adjusts the cutting ring to rotate to a position forming an angle theta with the reference plane; the control module records the spatial positions of the three laser sensors on the cutting ring at the moment and defines a plane established by the three laser sensors at the moment as a cutting plane;
step six: the rotary driving structure drives the tool apron to rotate to an initial position.
4. The circular cutting method of the numerical control laser pipe cutting machine according to claim 3, characterized in that: in the cutting ring angle positioning step, the three spatial rectangular coordinate systems take the cutting ring plane positioned by the three laser sensors as an XOY plane, the radial direction of the cutting ring passing through one of the laser sensors as an X axis, the direction perpendicular to the reference plane as a Z axis, and the central point of the cutting ring as an origin O point.
5. The circular cutting method of the numerical control laser pipe cutting machine according to claim 3, characterized in that: and in the sixth cutting ring angle positioning step, the specific control mode of driving the tool apron to rotate to the initial position by the rotary driving structure is to monitor the real-time coordinate position of the laser ranging sensor on the tool apron in the established space rectangular coordinate system in real time until the Y-axis coordinate Y of the laser ranging sensor is 0, namely the tool apron reaches the initial position.
6. The ring cutting method of the numerical control laser pipe cutting machine according to claim 2, characterized in that: the initial position correction specifically includes the steps of:
the method comprises the following steps: driving the tool apron to rotate for a circle through the rotation driving structure, and measuring the distance delta S between the tool apron and the periphery of the pipeline through the laser ranging sensor to obtain a scanning track curve delta S (t);
step two: the control module records a scanning track curve delta S (t) and a first wave valley value delta SLAnd the trough value Δ SLCorresponding time tL。
Step three: the control module calculates a tool apron position correction angle;
step four: the tool apron 5 is driven by a rotary driving structure to rotate by a certain angle thetaSchoolTo the corrected initial position;
step five: and establishing a tool path correction coordinate system.
7. The circular cutting method of the numerical control laser pipe cutting machine according to claim 6, characterized in that: in the first initial position correction step, the angular velocity omega of the rotation of the tool rest is a fixed value and is a scanning velocity, and the scanning track curve is a stripHaving two troughs Δ SLAnd two peaks Δ STThe waveform curve of (2).
8. The circular cutting method of the numerical control laser pipe cutting machine according to claim 6, characterized in that: the calculation formula of the tool apron position correction angle in the initial position correction step III is thetaSchool＝ωtL。
9. The circular cutting method of the numerical control laser pipe cutting machine according to claim 6, characterized in that: and in the initial position correction step five, the major axis of the elliptical track is used as a Y ' axis, the minor axis is used as an X ' axis, a tool track correction coordinate system X ' OY ' is established, and the corrected initial position is located on the Y ' axis.
10. The ring cutting method of the numerical control laser pipe cutting machine according to claim 2, characterized in that: the circular cutting parameter model specifically comprises:
the system comprises a rotary driving model of a rotary driving structure, a radial feeding motor feeding driving model and a high-frequency linear reciprocating motor track correction model;
wherein the track correction model of the high-frequency linear reciprocating motor is as follows:
Figure FDA0003146199810000031
wherein: Δ U (θ) represents a displacement amount of the high-frequency linear motor, and is a function of a tool holder rotation angle θ; a represents the major axis of the elliptical trajectory, b represents the minor axis of the elliptical trajectory;
major axis of the elliptical orbit, a ═ R + Δ ST-ΔSLThe minor axis b of the elliptical trajectory is R.
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