CN115366184B - Numerical control carbon fiber pipeline cutting machine and circular cutting compensation method thereof - Google Patents

Numerical control carbon fiber pipeline cutting machine and circular cutting compensation method thereof Download PDF

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Publication number
CN115366184B
CN115366184B CN202211323493.3A CN202211323493A CN115366184B CN 115366184 B CN115366184 B CN 115366184B CN 202211323493 A CN202211323493 A CN 202211323493A CN 115366184 B CN115366184 B CN 115366184B
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cutting
saw blade
cutter
pipeline
ring
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CN115366184A (en
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于银
谷华更
赵书瑞
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
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
    • B26D1/01—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work
    • B26D1/12—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis
    • B26D1/14—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis with a circular cutting member, e.g. disc cutter
    • B26D1/157—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis with a circular cutting member, e.g. disc cutter rotating about a movable axis
    • B26D1/18—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member moving about an axis with a circular cutting member, e.g. disc cutter rotating about a movable axis mounted on a movable carriage
    • 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
    • B23K26/36—Removing material
    • B23K26/40—Removing material taking account of the properties of the material involved
    • B23K26/402—Removing material taking account of the properties of the material involved involving non-metallic material, e.g. isolators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/01—Means for holding or positioning work
    • B26D7/02—Means for holding or positioning work with clamping means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/18—Means for removing cut-out material or waste
    • B26D7/1845—Means for removing cut-out material or waste by non mechanical means
    • B26D7/1863—Means for removing cut-out material or waste by non mechanical means by suction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/01—Means for holding or positioning work
    • B26D2007/013—Means for holding or positioning work the work being tubes, rods or logs
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Abstract

The application relates to a circular cutting compensation method of a numerical control carbon fiber pipeline pipe cutting machine. Including the holding ring, the cutting ring, the radial position compensation system of cutter circular cutting, this compensation system includes the controller, laser distance sensor, the high frequency linear electric motor that rotatory saw bit cutter corresponds and set up the corner sensor on the blade holder, the input of controller and the corner sensor data connection on laser distance sensor and the blade holder, the high frequency linear electric motor data connection that the output corresponds with rotatory saw bit cutter, when making the cutting that becomes angle to the pipeline through the pipe cutting machine of this application and circular cutting compensation method, the cutting cross-section can correspond and become the ellipse, this thin layer's formation when having ensured the angle cutting, ensure the stability of thin layer thickness simultaneously.

Description

Numerical control carbon fiber pipeline cutting machine and circular cutting compensation method thereof
Technical Field
The invention relates to the field of machining equipment, in particular to a circular cutting compensation method of a numerical control carbon fiber pipeline pipe cutting machine.
Background
In order to solve the problem of dust generated when the ring cutting type pipe cutting machine cuts the thick-wall carbon fiber pipeline in the prior art, a commonly adopted process is that a rotary saw blade and a laser cutting head are arranged on the ring cutting type pipe cutting machine at the same time, most materials at the cutting position are removed by adopting saw blade ring cutting, only the last layer of carbon fiber is reserved, then the last layer of carbon fiber is automatically replaced by the laser cutting head, and the laser cutting head is used for cutting off the last layer of residual carbon fiber layer.
The above process produces a circle of thin layer after circular cutting by the saw blade, and when the pipeline is cut to a positive angle (the cutting section is circular), the thickness of the thin layer is certain; however, when the pipe is cut at an angle, the cut section is correspondingly elliptical, and in order to ensure the formation of the thin layer and the stability of the thickness of the thin layer, the feed amount of the cutter needs to be compensated.
Based on the technical problems, a method for ring-cutting a pipe cutter specially for large-diameter and large-wall-thickness carbon fiber pipes needs to be designed, so that when the pipe cutter performs ring-cutting on the carbon fiber pipes with angles, the feeding amount of a cutter can be compensated, and a stable and uniform thin layer is formed.
Disclosure of Invention
The invention aims to provide a numerical control carbon fiber pipeline cutting machine and a circular cutting compensation method thereof, and aims to solve the technical problems in the prior art.
In order to realize the purpose, the invention adopts the following technical scheme:
in one aspect, a numerical control carbon fiber pipeline cutting machine is provided, which comprises
The positioning ring is used for positioning and installing the pipe cutting machine on the outer wall of the pipeline;
the cutting ring is connected with the positioning ring and sleeved on the outer wall of the pipeline, a tool apron is arranged on the cutting ring, and the tool apron can perform rotary motion around the periphery of the pipeline along the cutting ring through a rotary driving structure arranged in the cutting ring; the method is characterized in that:
the cutter seat is provided with a cutter conversion seat which can rotate relative to the cutter seat, and a rotary saw blade cutter and a laser cutting head are arranged on the cutter conversion seat;
the automatic circular cutting machine is characterized by further comprising a cutter circular cutting radial position compensation system, wherein the compensation system comprises a controller, a laser distance sensor, a high-frequency linear motor corresponding to the rotary saw blade cutter and a corner sensor arranged on the cutter holder, the input end of the controller is in data connection with the laser distance sensor and the corner sensor on the cutter holder, and the output end of the controller is in data connection with the high-frequency linear motor corresponding to the rotary saw blade cutter.
On the other hand, the circular cutting compensation method of the numerical control carbon fiber pipeline pipe cutting machine comprises the following steps:
s1: plugging two ends of a pipeline to be cut, installing a positioning ring of the pipe cutting machine on the pipeline, and adjusting a telescopic translation cylinder to enable a cutting ring and the pipeline to form an angle to be cutθRotating rotary knifeThe rotary saw blade cutter is radially aligned to the center of the pipeline by the conversion seat;
s2: the rotary saw blade cutter is driven to rotate and simultaneously drives the high-frequency linear motor to feed in the radial direction, so that the rotary saw blade cutter cuts along the radial direction of the pipeline;
s3: when the laser ranging sensor detects that the radial feed of the rotary saw blade cutter is cut to a distance of penetrating the wall of the pipeline and only one thin layer is left, the radial feed of the rotary saw blade cutter is stopped, and then the cutter holder is driven to rotate for a circle along the cutting ring, so that the rotary saw blade cutter finishes removing materials for the circle of the pipeline;
s4: and rotating the cutter conversion seat to enable the laser cutting head to be radially aligned with the center of the pipeline, opening the laser cutting head and simultaneously driving the cutter seat to rotate for a circle along the cutting ring, so that the laser cutting head cuts the last thin layer of the pipeline wall, and the pipeline cutting work is finished.
Preferably, in step S3, when the rotary saw blade tool starts to rotate along the tool post along the cutting ring for one circle, the rotation angle sensor on the tool post records the rotation angle of the tool postβAt the moment, the controller can control the feeding mechanism according to the input parameters, the feeding distance D and the rotating angle of the tool apronβAnd establishing a compensation model, and then performing telescopic control on a high-frequency linear motor corresponding to the rotary saw blade cutter by the controller through the compensation model to realize radial position compensation of the rotary saw blade cutter in the circular cutting process.
Preferably, the generation method of the compensation model comprises:
s31: the controller receives input parameters including pipe diameter R, wall thickness d and cutting angleθSaw blade radius R and tool apron rotation radius R Tool apron ；
S32: the controller receives the feeding distance D recorded by the laser distance sensor;
s33: calculating the thickness X of the thin wall, and according to the shape and position relation of the cutting section, the thickness of the thin wall is as follows:
X=R tool apron -D-r-R+d
S34: establishing a coordinate system, and generating a saw blade track polar coordinate model, wherein the polar coordinate system is that an original point O is positioned at the central position of a cutting section, the polar axis direction is the radial direction of a cutter of which the original point points to the initial position of circular cutting, and the saw blade track polar coordinate model is a polar coordinate track of a saw blade rotating center M in the process of forming an oval thin layer for the circular cutting of the saw blade:
Figure DEST_PATH_IMAGE001
s35: and generating a compensation model, wherein the compensation model is the length S of the stretching amount of the high-frequency linear motor corresponding to the rotary saw blade cutter, which needs to be changed compared with the feed distance D, in the circular cutting process, and S = D- (R-OM) according to the form and position relation of the cutting section.
The invention has the beneficial effects that:
1. the utility model provides a circular cutting pipe cutting machine adopts saw bit cutting and laser cutting simultaneously, and rotatory saw bit and laser crop are installed on a cutter conversion seat, when the carbon fiber pipeline cutting of big wall thickness, at first adopt the saw bit circular cutting, get rid of most materials in cutting position, only remain last one deck carbon fiber, then automatic change becomes the laser cutting head, uses the laser cutting head ring to downcut the remaining carbon fiber layer of last one deck. When the saw blade is used for cutting, the end part of the pipeline is blocked, and a dust suction device is arranged at the edge of the saw blade. Through the process and the pipe cutting machine structure, most of the carbon tubes with thick walls can be cut by the saw blade, the cutting efficiency is improved, the cutting deformation is reduced, and meanwhile, because a thin layer of carbon fibers is cut, dust cannot enter the carbon fiber pipeline and can be directly sucked away by a dust collector; the residual last thin layer is cut by the laser cutting head, so that the influence of the laser cutting on the deformation of the end of the pipeline is reduced to the maximum extent;
2. through the establishment of cutter ring cutting radial position compensation system and compensation model, when making the cutting of angulation to the pipeline, the cutting cross-section can correspond and become the ellipse, this thin layer's formation when having ensured the angle cutting, ensures the stability of thin layer thickness simultaneously.
Drawings
Fig. 1 isbase:Sub>A schematic structural diagram ofbase:Sub>A ring-cutting pipe cutting machine of the present application, wherein 1base:Sub>A isbase:Sub>A schematic structural diagram ofbase:Sub>A ring-cutting pipe cutting machine of the present application 1,1b isbase:Sub>A schematic structural diagram ofbase:Sub>A ring-cutting pipe cutting machine of the present application inbase:Sub>A-base:Sub>A direction, and 1c isbase:Sub>A schematic structural diagram ofbase:Sub>A ring-cutting pipe cutting machine of the present application inbase:Sub>A B-B direction;
FIG. 2 is a block diagram of a tool changer according to the present application;
FIG. 3 is a schematic view of the cutting step of the present application, FIG. 1;
FIG. 4 is a schematic illustration of the cutting step of the present application 2;
FIG. 5 is a schematic view of a rotary saw blade depth control configuration of the present application;
FIG. 6 is a schematic illustration of the difference between the actual radial feed depth and the reference radial feed depth for the rotary saw blade tool of the present application;
fig. 7 is a diagram illustrating the variation trend of the difference value of the feeding depth of the present application.
Fig. 8 is a schematic cross-sectional view of the pipe cutter of the present application as it cuts at an angle.
FIG. 9 is a schematic view of the compensation system;
FIG. 10 is a schematic view of the shape of a circular cut section of a pipe when the pipe is subjected to a cutting operation at an angle θ;
figure 11 is another schematic view of the shape of a pipe circular cut section when the pipe is subjected to a cutting operation at an angle theta.
Detailed Description
The following detailed description of the preferred embodiments will be made with reference to the accompanying drawings.
Fig. 1a to 1c are schematic structural views of the circular pipe cutting machine according to 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 passes 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 size'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 around the circumference of the pipe P along the cutting ring 3 by means of a rotary drive structure (not shown) provided in the cutting ring 3, the rotary drive structure being a conventional motor-driven annular gear structure, the blade holder 5 being mounted on the inner ring gear structure, and the rotation of the blade holder 5 around the cutting ring 3 being achieved by means of the motor-driven inner ring gear. Through the rotary driving structure, 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. On the surface of the tool holder 5 facing the pipe P side, a laser ranging sensor 8 is further provided, which laser ranging sensor 8 can detect the radial distance of the tool 7 entering the pipe P surface on the one hand, and can detect the spatial position of the tool holder 5 on the other hand, 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 in a high frequency mode along the radial direction of the cutting ring 3, and further radial feeding of the cutter 7 is achieved.
Above pipe cutting machine structure examination is used for the cutting operating mode of the overwhelming majority of pipelines, however, to the technical problem of the cutting thick wall carbon fiber pipeline that this application will solve, this application has still improved to above-mentioned ring cutting formula pipe cutting machine drive blade holder 5 and cutter 7 part. As shown in fig. 2, a tool changer 9 is disposed on the tool holder 5, the tool changer 9 is a conventional motor direct-drive spindle rotation mechanism, and the tool changer 9 is connected to the tool holder 5 through a spindle that can be driven to rotate by a motor, so as to rotate the tool changer 9 relative to the tool holder 5. On the tool changing base 9, two sets of tools for cutting the carbon fiber pipe are provided, respectively, a rotary saw blade tool 71 and a laser cutting head 72. By the rotation of the tool change seat 9, the rotary saw blade tool 71 and the laser cutting head 72 can be radially aligned with the center of the pipe, respectively. The rotary blade cutter 71 can be driven by a rotary motor to complete the removal of the pipe material by the high speed rotation of the blade. Between the rotary saw blade tool 71 and the laser cutting head 72 and the tool change seat 9, there are provided high-frequency linear motors 61 and 62, respectively, for radial feeding of the rotary saw blade tool 71 and the laser cutting head 72, respectively. In addition, at the pipe circular cutting position, a dust suction device (not shown) is further provided, the dust suction device is a negative pressure dust suction device in the prior art, a negative pressure dust suction port faces the cutting position, and the dust suction device can collect dust generated outside the pipe in the cutting process.
For pipelines made of carbon fiber materials with large diameters and large wall thicknesses, if a saw blade is used for cutting, a large amount of carbon fiber dust can be generated, the carbon fiber dust is not easy to clean, and especially dust entering the interior of the pipelines can not be effectively cleaned and detected; and adopt laser cutting, to the great carbon fiber pipeline of wall thickness, laser ablation can lead to incision position deformation serious, increases the follow-up processing degree of difficulty of polishing, can reduce carbon fiber pipeline's intensity simultaneously. Therefore, in order to solve the technical problems, the method comprises the following steps of cutting the thick-wall carbon fiber pipeline. As shown in fig. 3-4, are schematic diagrams of the steps for cutting a carbon fiber pipe according to the present application.
S1: plugging two ends of a pipeline to be cut, installing a positioning ring of the pipe cutting machine on the pipeline, and adjusting a telescopic translation cylinder to enable a cutting ring and the pipeline to form an angle to be cutθRotating the cutter conversion seat to make the cutter of the rotary saw blade radially align to the center of the pipeline;
s2: the rotary saw blade cutter is driven to rotate and simultaneously drives the high-frequency linear motor to feed in the radial direction, so that the rotary saw blade cutter cuts along the radial direction of the pipeline;
s3: when the laser ranging sensor detects that the radial feed of the rotary saw blade cutter cuts a thin layer which is only left after penetrating through the wall of the pipeline, the radial feed of the rotary saw blade cutter is stopped, and then the cutter holder is driven to rotate for a circle along the cutting ring, so that the rotary saw blade cutter finishes removing materials for the whole circle of the pipeline;
s4: and rotating the cutter conversion seat to enable the laser cutting head to be radially aligned with the center of the pipeline, opening the laser cutting head and simultaneously driving the cutter seat to rotate for a circle along the cutting ring, so that the laser cutting head finishes cutting the last thin layer of the pipeline wall, and the pipe cutting work of the pipeline is finished.
According to above pipe cutting machine structure and pipe cutting step, the circular cutting pipe cutting machine adopts saw bit cutting and laser cutting simultaneously, and rotatory saw bit and laser cutting head are installed on a converter, when carrying out the carbon fiber pipeline cutting of big wall thickness, at first adopt the saw bit circular cutting, get rid of most materials in cutting position, only remain last one deck carbon fiber, then automatic change becomes the laser cutting head, uses the laser cutting head ring to cut down the remaining carbon fiber layer of last one deck. When the saw blade is used for cutting, the end part of the pipeline is blocked, and a dust suction device is arranged beside the saw blade. Through the process and the pipe cutting machine structure, most of the carbon tubes with thick walls can be cut by the saw blade, the cutting efficiency is improved, the cutting deformation is reduced, and meanwhile, because a thin layer of carbon fibers is cut, dust cannot enter the carbon fiber pipeline and can be directly sucked away by a dust collector; and the residual last layer of thin layer is cut by the laser cutting head, so that the influence of the laser cutting on the deformation of the end of the pipeline is reduced to the maximum extent.
In step S3 of the above step, it is involved that the radial feed cut of the rotary saw blade tool is detected by the laser range sensor to be a distance that leaves only a thin layer through the pipe wall. Because the error of circular cutting device location and manufacturing etc. if only adopt the scheme of setting for saw bit depth of cut through laser distance sensor to leave the thin layer, have the possibility of mistake penetration, consequently, except that the depth of cut to the saw bit is set for and is left the thin layer, this application has still designed the control mode that prevents the saw bit mistake and pierce through.
Fig. 5 is a schematic view of a depth control structure of the rotary saw blade used in the present application. The control system comprises a controller 10, a laser distance sensor 8 and a high-frequency linear motor 61 corresponding to a rotary saw blade tool 71. The controller 10 selects the TMS370C series single chip microcomputer according to the requirements of the cutting working environment, can provide real-time system control, and has the advantages of low working power consumption, wide working temperature range, noise suppression and the like. The controller 10 is connected to the laser distance sensor 8 and the high-frequency linear motor 61 corresponding to the rotary blade tool 71. Considering that the carbon fiber tube is a hard and brittle material in the length direction, when the radial feeding of the saw blade is controlled, the technical scheme of detecting the force and stopping the feeding when the torque reaches the threshold value in the prior art is abandoned, the input of the controller 10 is not a force signal but a slope type position signal, the position signal is provided by the laser distance sensor 8, as shown in fig. 6, the slope of the slope position signal is equal to the required translation feeding speed, a depth-time reference signal (a solid line part in fig. 6) of a high-frequency linear motor 61 of the radial feeding is set, simultaneously, an optical reflector is arranged on the saw blade base, an actual depth-time signal (a dotted line part in fig. 6) of the radial movement of the optical reflector on the saw blade is detected by the laser distance sensor 8, and then, a difference value (Xerr) between a reference position (Xref) and a position (X) measured by the laser distance sensor 8 is generated by a proportion controller. In the process that the saw blade cuts into the pipe wall, when the saw blade just contacts the pipe wall, the difference value Xerr is inevitably increased due to the obstruction of the pipe wall, and along with the drilling of the saw blade, when the saw blade approaches the edge of the inner wall of the pipe wall, the radial feeding speed of the saw blade is inevitably increased due to the fact that the whole pipe wall structure is fragile, and as shown in FIG. 7, the difference value Xerr is suddenly reduced. The slope of the Xerr time-domain signal is positive and becomes negative at a certain inflection point A. The idea of the invention is to detect this difference slope inflection point and then stop the radial blade feed, thereby leaving the last layer of film.
The above process produces a circle of thin layer after circular cutting by the saw blade, and when the pipeline is cut to a positive angle (the cutting section is circular), the thickness of the thin layer is certain; however, when the pipe is cut at an angle, the cut section is correspondingly elliptical, and in order to ensure the formation of the thin layer and the stability of the thickness of the thin layer, the feed amount of the cutter needs to be compensated. As shown in fig. 8, when a thick-walled long straight pipe is cut at a positive angle, the cross-sectional shape is circular, the circular cutting track of the tool holder 5 shown by the dotted line L is the circular track of the cutting ring, and both the track of the tool holder 5 and the cutting cross-section are circular, so that the radial position of the tool is not required to be compensated when the operation step of "driving the tool holder to rotate for one circle along the cutting ring to enable the rotary saw blade tool to complete the material removal for one circle of the pipe" is performed in step S3; when the pipe is cut at an angle as shown in fig. 8, the cutting section is elliptical, so that the saw blade cutter is required to form an elliptical thin layer during cutting, and the track of the tool apron 5 does not cut the circular track of the ring yet, so that the radial position of the rotary saw blade cutter is required to be adjusted at any time along with the circular cutting angle of the tool apron 5 during the circular cutting operation of the saw blade. In order to ensure the accuracy of the position adjustment of the radial cutter and form an elliptical thin layer with uniform thickness after the circular cutting of the saw blade, the radial position compensation system for the circular cutting of the cutter is further arranged.
The compensation system comprises a controller 10, a laser distance sensor 8, a high-frequency linear motor 61 corresponding to a rotary saw blade tool 71 and a rotation angle sensor 11 arranged on the tool apron 5. FIG. 9 is a schematic view of the compensation system, as shown in FIGS. 10-11, when the pipe is angledθThe shape of the circular section of the pipe is shown schematically in the cutting operation of (1). In the compensation system, the input end of the controller 10 is in data connection with the laser distance sensor 8 and the rotation angle sensor 11 on the tool apron 5, and the output end is in data connection with the high-frequency linear motor 61 corresponding to the rotary saw blade tool 71. When the radial feeding of the rotary blade tool is stopped in step S3, the laser distance sensor 8 records the feeding distance D at this time and transmits the feeding distance D to the controller 10. When the rotary saw blade tool 71 starts to rotate along the tool holder 5 along the cutting ring for one rotation, the rotation angle sensor 11 on the tool holder 5 records the rotation angle of the tool holder 5βAt this time, the controller 10 will control the feeding distance D and the rotation angle of the tool holder 5 according to the input parametersβEstablishing a compensation modelThen, the controller 10 performs expansion and contraction control on the high-frequency linear motor 61 corresponding to the rotary saw blade tool 71 through the compensation model, so as to realize radial position compensation of the rotary saw blade tool 71 in the circular cutting process.
The generation method of the compensation model comprises the following steps:
s31: the controller accepts input parameters. The input parameters comprise pipe diameter R, wall thickness d and cutting angleθRadius R of saw blade and radius R of tool apron rotation Tool apron 。
S32: the controller receives the feed distance D recorded by the laser distance sensor.
S33: the thin wall thickness X is calculated. According to the cross-sectional form and position relationship shown in fig. 11, the thin wall thickness:
X=R tool apron -D-r-R+d
S34: and establishing a coordinate system to generate a saw blade track polar coordinate model. The polar coordinate system is that the original point O is located the cutting cross section central point and puts, and the polar axis direction is the radial direction of the cutter that the original point points to the initial position of circular cutting, and saw bit orbit polar coordinate model forms the polar coordinate orbit of saw bit centre of rotation M in-process for the saw bit circular cutting:
Figure 116528DEST_PATH_IMAGE002
s35: a compensation model is generated. The compensation model is a length S of the high-frequency linear motor 61 corresponding to the rotary blade tool 71, which is required to be changed from the feed distance D during the circular cutting process, and S = D- (R-OM) according to the dimensional relationship shown in fig. 11.
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 (1)

1. A circular cutting compensation method for a numerical control carbon fiber pipeline cutting machine comprises the steps of
The positioning ring is used for positioning and installing the pipe cutting machine on the outer wall of the pipeline;
the cutting ring is connected with the positioning ring and sleeved on the outer wall of the pipeline, a tool apron is arranged on the cutting ring, and the tool apron can perform rotary motion around the periphery of the pipeline along the cutting ring through a rotary driving structure arranged in the cutting ring; the method is characterized in that:
the cutter seat is provided with a cutter conversion seat which can rotate relative to the cutter seat, and the cutter conversion seat is provided with a rotary saw blade cutter and a laser cutting head;
the compensation system comprises a controller, a laser distance sensor, a high-frequency linear motor corresponding to the rotary saw blade cutter and a corner sensor arranged on the cutter holder, wherein the input end of the controller is in data connection with the laser distance sensor and the corner sensor on the cutter holder, and the output end of the controller is in data connection with the high-frequency linear motor corresponding to the rotary saw blade cutter;
the circular cutting compensation method of the numerical control carbon fiber pipeline pipe cutting machine comprises the following steps:
s1: plugging two ends of a pipeline to be cut, installing a positioning ring of a pipe cutting machine on the pipeline, adjusting a telescopic translation cylinder to enable the cutting ring and the pipeline to form an angle theta to be cut, and rotating a cutter conversion seat to enable a rotary saw blade cutter to be radially aligned with the center of the pipeline;
s2: the rotary saw blade cutter is driven to rotate and simultaneously the high-frequency linear motor is driven to feed in the radial direction, so that the rotary saw blade cutter cuts along the radial direction of the pipeline;
s3: when the laser ranging sensor detects that the radial feed of the rotary saw blade cutter is cut to a distance of penetrating the wall of the pipeline and only one thin layer is left, the radial feed of the rotary saw blade cutter is stopped, and then the cutter holder is driven to rotate for a circle along the cutting ring, so that the rotary saw blade cutter finishes removing materials for the circle of the pipeline;
s4: rotating the cutter conversion seat to enable the laser cutting head to be radially aligned with the center of the pipeline, starting the laser cutting head and simultaneously driving the cutter seat to rotate for a circle along the cutting ring, so that the laser cutting head cuts the last thin layer of the pipeline wall, and the pipeline cutting work is finished;
in step S3, when the rotary saw blade tool starts to rotate along the tool post for a circle along the cutting ring, the rotation angle sensor on the tool post records the rotation angle β of the tool post, and at this time, the controller establishes a compensation model according to the input parameter, the feed distance D, and the rotation angle β of the tool post, and then, the controller performs telescopic control on the high-frequency linear motor corresponding to the rotary saw blade tool through the compensation model, so as to realize radial position compensation of the rotary saw blade tool in the ring cutting process;
the generation method of the compensation model comprises the following steps:
s31: the controller receives input parameters including pipe diameter R, wall thickness d, cutting angle theta, saw blade radius R and tool apron rotating radius R Tool apron ；
S32: the controller receives the feeding distance D recorded by the laser distance sensor;
s33: calculating the thickness X of the thin wall, and according to the shape and position relation of the cutting section, the thickness of the thin wall is as follows:
X＝R tool apron -D-r-R+d
S34: establishing a coordinate system, and generating a saw blade track polar coordinate model, wherein the polar coordinate model is a polar coordinate track of which the original point O is positioned at the central position of a cutting section, the polar axis direction is the radial direction of a cutter of which the original point points to the initial position of circular cutting, and the saw blade track polar coordinate model is a polar coordinate track of a saw blade rotating center M in the process of forming an elliptic thin layer by circular cutting of the saw blade:
Figure FDA0004030308840000021
s35: and generating a compensation model, wherein the compensation model is the length S of the stretching amount of the high-frequency linear motor corresponding to the rotary saw blade cutter, which needs to be changed compared with the feed distance D, in the circular cutting process, and S = D- (R-OM) according to the form and position relation of the cutting section.
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