A pipe component pre-bending adjustment device and a pre-bending adjustment method

Abstract

A pre-bending adjustment device and method for pipe components, wherein the bending adjustment device includes an optical precision platform, a pre-bending degree adjustment system, a pre-bending degree measurement system, an industrial control computer and a computer. The pre-bending degree adjustment system includes a plurality of moving wheel assemblies for realizing the pre-bending of pipe components. Each moving wheel assembly includes a base, a moving wheel component and a moving wheel position adjustment component. The moving wheel component includes a moving wheel support frame, a moving wheel capable of tightly pressing the pipe component on the side and a moving wheel support shaft for supporting the rotation of the moving wheel. The pre-bending degree measurement system includes a laser tracker, a support steel frame and a contour scanning component. The contour scanning component includes a profiler and a translation component. The laser tracker is used to locate the axial coordinates of the measurement surface of the profiler, the axial coordinates of the moving wheel support shaft and the coordinates of the center point of the contact position between the side of the moving wheel and the pipe component. The pre-bending adjustment device and method of the present invention have the characteristics of accurate deflection measurement and high pre-bending efficiency, and are suitable for the pre-bending and straightening of various pipe components.

Description

Technical Field

[0001] The present invention relates to a pre-bending adjustment device and a pre-bending adjustment method for pipe components, belonging to the technical field of metal preforming. Background Art

[0002] In machinery such as vehicles, ships, and large industrial equipment, during the installation process of shaft pipe parts, especially for long thin-walled pipe components to achieve their specific functions and ensure requirements such as straightness, it is necessary to measure the straightness and pre-bend the pipe so that the straightness of the thin-walled long pipe can be ensured after installation. Therefore, how to achieve automatic measurement and pre-bending of the straightness of long pipe parts is the key to ensuring the quality of such parts and even the premise for ensuring the normal operation of the equipment. The existing technology usually applies force to the pipe component between the two molds by means of hydraulic pressure, servo motors, etc. to cause plastic deformation to complete the pre-bending; or it is manual operation, and the operator adjusts the distance and pressure between the convex and concave dies according to experience. However, the pre-bending amounts are different for different materials and sizes, the adjustment is complex and the efficiency is low. At the same time, the existing processing methods do not distinguish between the pre-bending amount and the deformation amount of the steel pipe, and the springback phenomenon occurring after pre-bending has not been taken seriously, making it difficult to meet the requirements for the final pre-bending effect of the steel pipe; the required pre-bending amount of the thin-walled pipe component to be processed is very small, and if the hydraulic pressure or servo motor drive method is continued to be used, the production cost will be greatly increased; although there are existing automatic measurement and pre-bending machines that integrate measurement and adjustment, their straightness measurement accuracy is not high and the manufacturing cost of the mechanical adjustment part is high. Therefore, it is very necessary to invent a pre-bending adjustment and measurement mechanism suitable for thin-walled steel pipe components with small deformation amounts. Summary of the Invention

[0003] The invention object of the present invention is to provide a pre-bending adjustment device and a pre-bending adjustment method for pipe components. The pre-bending adjustment device of the present invention can accurately measure and adjust the deflection of pipe components, with accurate measurement, high stability, and the characteristics of high pre-bending efficiency, and is suitable for the straightness measurement, pre-bending, and straightening of various medium-length pipe and slender steel components.

[0004] The technical solution adopted by the present invention to achieve its invention object is as follows:

[0005] A pre-bending adjustment device for pipe components, including an optical precision platform, a pre-bending degree adjustment system, a pre-bending degree measurement system, an industrial control computer, and a computer. Its structural characteristics are:

[0006] The pre-bending adjustment system includes a plurality of moving wheel assemblies installed on an optical precision platform and distributed on both sides of the pipe-like component for pre-bending the pipe-like component. Each moving wheel assembly includes a base installed on the optical precision platform and having a guide rail, the direction of the guide rail being perpendicular to the axial direction of the pipe-like component. A moving wheel component that can slide along the guide rail and a moving wheel position adjustment component that can accurately adjust the position of the moving wheel component on the guide rail are provided on the base. The moving wheel component includes a moving wheel support frame, a moving wheel whose side can press against the pipe-like component, and a moving wheel support shaft that supports the rotation of the moving wheel;

[0007] The pre-bending measurement system includes a laser tracker and a support steel frame installed on the optical precision platform, and a contour scanning assembly installed on the support steel frame. The contour scanning assembly includes a profiler and a translation component that can drive the profiler to move axially along the pipe-like component. The laser tracker is used to locate the axial coordinates of the measurement surface of the profiler, the axial coordinates of the moving wheel support shaft, and the coordinates of the center point of the contact position between the side of the moving wheel and the pipe-like component;

[0008] The industrial control computer is used to control the laser tracker, the profiler, and the translation component to work, and transmit the data collected by the laser tracker and the profiler to a computer for data processing and feedback to the pre-bending adjustment system.

[0009] Compared with the prior art, the beneficial effects of the pre-bending adjustment device of the present invention are as follows:

[0010] First, the present invention can select different numbers of moving wheel assemblies, installation positions, and different-shaped moving wheels according to the size and shape of the pipe-like component, so as to realize the pre-bending and straightening of various-shaped steel pipes or long steel bars with small deformation amounts. It has strong versatility, high practical value, and a wide range of applications.

[0011] Second, the present invention combines the use of a laser tracker and a profiler. The laser tracker locates the measurement surface (cross-section of the pipe-like component) of the profiler, realizing more accurate measurement of the deflection of the pipe-like component. It not only greatly reduces the time of manual adjustment and improves efficiency, but also has a higher accuracy of the deflection curve of the steel pipe after actual pre-bending.

[0012] Third, the present invention adjusts the position of the moving wheels of each moving wheel assembly through the moving wheel position adjustment component, thereby realizing the pre-bending of the pipe-like component. Different moving wheel position adjustment components can be selected according to the magnitude of the required adjustment force, such as a manual component, or a servo motor or hydraulic device that can be automatically controlled in real time, realizing the precise pre-bending and straightening of thin-walled or thick-walled steel pipes or other long bar components.

[0013] Fourth, the moving wheels in the moving wheel assembly can rotate around the moving wheel support shaft, so as to adapt to the movement of the pipe-like component during the pre-bending process and avoid wear of the pipe-like component caused by pre-bending.

[0014] Further, optical targets are provided on both the profiler and the moving wheel support frame of the pre-bending adjustment device of the present invention. The axial distance between the optical target on the profiler and the axial coordinate of the measurement surface of the profiler, the axial distance between the optical target on the moving wheel support frame and the axial coordinate of the moving wheel support shaft, and the distance between the optical target on the moving wheel support frame and the coordinate of the center point of the contact position between the side surface of the moving wheel and the pipe component are stored in the laser tracker. The laser tracker determines the axial coordinate of the measurement surface of the profiler, the axial coordinate of the moving wheel support shaft, and the coordinate of the center point of the contact position between the side surface of the moving wheel and the pipe component by positioning the optical targets on the profiler and the moving wheel support frame.

[0015] Further, the moving wheel position adjustment component of the pre-bending adjustment device of the present invention includes a support seat perpendicular to the base and having a threaded hole, a handwheel with a threaded shaft, and a rolling bearing provided on the back of the moving wheel support frame. The threaded shaft of the handwheel is matched with the threaded hole of the support seat, and the tail end of the threaded shaft of the handwheel is fixedly connected to the inner ring of the rolling bearing; precise scales are provided on the handwheel; rotating the handwheel to rotate its threaded shaft can drive the moving wheel support frame to slide along the guide rail on the base, so as to accurately adjust the position of the moving wheel component on the guide rail.

[0016] In this way, the displacement required for pre-bending adjustment can be converted into the rotation amount of the handwheel. Precise scales are provided on the handwheel, so that the displacement can be accurately controlled to realize the pre-bending of the pipe component. This moving wheel position adjustment component has a self-locking ability and excellent device stiffness.

[0017] Further, the translation component of the profile scanning assembly of the pre-bending adjustment device of the present invention includes a precision lead screw guide rail arranged along the axial direction of the pipe component and installed on the support steel frame, a lead screw nut threadedly engaged with the precision lead screw guide rail, and a servo motor for driving the precision lead screw guide rail to rotate. The profiler is installed on the lead screw nut of the precision lead screw guide rail, and the servo electrode drives the precision lead screw guide rail to realize the movement of the profiler along the precision lead screw guide rail.

[0018] Further, the moving wheel components of the pre-bending adjustment device of the present invention are arranged axially staggered with each other along the pipe component, and the pipe component is bent and deformed under the simultaneous action of multiple moving wheel components.

[0019] The present invention also provides a pre-bending adjustment method for the above pre-bending adjustment device to achieve its invention purpose, and the steps are as follows:

[0020] S1. Input the data of the dimensions and material parameters of the pipe component to be pre-bent into the computer to obtain the number of moving wheel components required for the pipe component to be pre-bent and the optimal installation distance between the moving wheel components;

[0021] S2. Install the driving wheel assemblies on the optical precision platform according to the number of driving wheel assemblies determined in step S1 and the optimal installation distance between the driving wheel assemblies, and use a laser tracker to locate the axial coordinates of the driving wheel support shafts; ensure that the actual axial distance between the driving wheel assemblies is accurate;

[0022] S3. Place the pipe component to be pre-bent between the driving wheel assemblies on the optical precision platform and clamp it. Control the translation component through the industrial control computer to drive the profiler to move along the axial direction of the pipe component to measure the profiles of each cross-section of the pipe component. At the same time, use a laser tracker to locate the axial coordinates of each measurement surface of the profiler, and then obtain the profile and axial coordinates of each cross-section of the pipe component. Calculate the deflection curve of the pipe component based on the profile and axial coordinates of each cross-section of the pipe component, which is recorded as the initial deflection curve; determine the target deflection curve of the pipe component according to the size, material parameters and actual working conditions of the pipe component to be pre-bent;

[0023] S4. Import the initial deflection curve and the target deflection curve of the pipe component to be pre-bent into the computer, and compare the initial deflection curve and the target deflection curve by the two-end point connection method to obtain the displacement amount that the driving wheels in each driving wheel assembly need to move to realize the pre-bending of the pipe component and the coordinates of the center point of the contact position between the side surface of the driving wheel and the pipe component after the pre-bending of the pipe component;

[0024] S5. According to the displacement amount that the driving wheels in each driving wheel assembly need to move determined in step S4, adjust the positions of the driving wheels of each driving wheel component through the driving wheel position adjustment component, and use a laser tracker to determine the coordinates of the center point of the contact position between the side surface of the driving wheel and the pipe component, ensuring that the coordinates of the center point of the contact position between the side surface of the driving wheel and the pipe component in each driving wheel assembly are the coordinates of the center point of the contact position between the side surface of the driving wheel and the pipe component after the pre-bending of the pipe component determined in step S4;

[0025] S6. Keep the positions of the driving wheels in each driving wheel assembly in step S5 for 5 - 10 minutes;

[0026] S7. Adjust the positions of the driving wheels of each driving wheel component through the driving wheel position adjustment component, unload the force applied to the pipe component, and make the pipe component rebound;

[0027] S8. After the pipe component has completely rebounded, control the translation component through the industrial control computer to drive the profiler to move along the axial direction of the pipe component to measure the profiles of each cross-section of the pipe component. At the same time, use a laser tracker to locate the axial coordinates of each measurement surface of the profiler, and then obtain the profile and axial coordinates of each cross-section of the pipe component. Calculate the deflection curve of the pipe component based on the profile and axial coordinates of each cross-section of the pipe component, which is recorded as the deflection curve of the pre-bent pipe component;

[0028] S9. Compare the deflection curve of the pre-bent tubular component with the target deflection curve. If they match, end the pre-bending. If they do not match, it means the pre-bending requirements are not met, and proceed to step S10.

[0029] S10. Take the deflection curve of the pre-bent tubular component as the initial deflection curve, and repeat steps S4 - S9 until the deflection curve of the pre-bent tubular component matches the target deflection curve, then end the pre-bending.

[0030] Furthermore, the specific method for the industrial control computer to control the translation component in steps S3 and S8 of the pre-bending adjustment method of the present invention to drive the profiler to move axially along the tubular component to measure the profiles of each cross-section of the tubular component is as follows:

[0031] The translation component of the pre-bending degree measurement system includes a precision lead screw guide rail arranged along the axial direction of the tubular component on the support steel frame, a lead screw nut threadedly engaged with the precision lead screw guide rail, and a servo motor driving the rotation of the precision lead screw guide rail. The profiler is installed on the lead screw nut of the precision lead screw guide rail;

[0032] The industrial control computer controls the servo motor to work, driving the rotation of the precision lead screw guide rail, so that the profiler installed on the lead screw nut moves along the precision lead screw guide rail. Every time the profiler moves a certain distance, the precision lead screw guide rail stops rotating, and the profiler scans the outer profile of the tubular component. During the movement and scanning process of the profiler, the laser tracker locates the axial coordinates of the measurement surface of the profiler, thereby realizing the profile measurement of each cross-section of the tubular component.

[0033] Furthermore, the specific method for calculating the deflection curve of the tubular component according to the profile and axial coordinates of each cross-section of the tubular component in steps S3 and S8 of the pre-bending adjustment method of the present invention is as follows:

[0034] A. The profiler obtains the half-side profile data of M cross-sections of the tubular component. Denote the cross-section number as m, m = 1, 2,..., M. The profile data on each cross-section is N groups. Then the profile data of the m-th cross-section of the tubular component is

[0035] (Y m1 , Z m1 ), (Y m2 , Z m2 )...(Y m(N-1) , Z m(N-1) ), (Y mN , Z mN );

[0036] B. Based on the general equation of an elliptical cross-section: P1·Y 2 +P2·Z 2+P3·Y·Z+P4·Y+P5·Z+P6 = 0, where P1, P2, P3, P4, P5, P6 are the coefficients of the ellipse equation; perform least-squares ellipse fitting on N groups of profilometer data of the m-th cross-section of the pipe component, and calculate the ellipse equation coefficients P m1 、P m2 、P m3 、P m4 、P m5 、P m6 ;

[0037] C. Through the ellipse equation coefficients calculated in step B, find the Y coordinate Y m and Z coordinate Z m of the center point of the m-th cross-section of the pipe component:

[0038]

[0039] Then, according to the laser tracker, determine the axial coordinate X m of the m-th cross-section of the pipe component, and the center coordinate O m (X m , Y m , Z m ) of the m-th cross-section of the pipe component can be obtained;

[0040] D. Obtain the center coordinates O1(X1, Y1, Z1), O2(X2, Y2, Z2), O3(X3, Y3, Z3), … O M (X M , Y M , Z M ) of each cross-section of the pipe component according to the methods in step B and step C, and perform curve fitting on the center coordinates O1, O2, O3, …, O M of the M cross-sections by the least-squares method to obtain the deflection curve of the pipe component.

[0041] Further, the target deflection curve determined in step S3 of the present invention according to the size, material parameters and actual working conditions of the pipe component to be pre-bent is the sum of the deflection curves of the pipe component only under concentrated force, only under couple force and only under gravity.

[0042] Furthermore, the pipe component in the pre-bending adjustment method of the present invention is a hollow steel pipe, the deflection curve of the pipe component only under gravity is w q , the deflection curve of the pipe component only under concentrated force is The deflection curve of the pipe component only under couple force is The target deflection curve is w;

[0043]

[0044]

[0045] Among them, E is the elastic modulus of the pipe component, I is the moment of inertia of the cross-section of the pipe component, x represents the abscissa, q is the self-weight of the pipe component, A is the cross-sectional area of the pipe component, L is the length of the pipe component, X1 is the vertical reaction force, and X2 is the reaction bending moment.

[0046] Calculating the target deflection curve of the pipe component avoids the situation that the deflection curve under the action of a single calculation of gravity cannot fully reflect the true state of the component in the natural state. After considering the deflection curves of the component under concentrated force and couple moment, it can reflect the partial rebound of the component under the action of true gravity and can more accurately represent the target deflection curve of the pipe component. Description of the Drawings

[0047] Figure 1 It is a schematic diagram of the overall structure of the pipe component pre-bending adjustment device according to the embodiment of the present invention.

[0048] Figure 2 It is a schematic diagram of the structure of the driving wheel assembly according to the embodiment of the present invention.

[0049] Figure 3 It is a schematic diagram of the basic system for force analysis of the pipe component under actual working conditions according to the embodiment of the present invention.

[0050] In the figure, 1 is an optical precision platform, 2 is a driving wheel assembly, 3 is a support steel frame, 4 is a laser tracker, 5 is a precision lead screw guide rail, 6 is a lead screw nut, 7 is a servo motor, 8 is a profiler, 9 is a pipe component, 2.1 is a base, 2.2 is a base, 2.3 is a driving wheel support frame, 2.4 is a driving wheel support shaft, and 2.5 is a driving wheel. Detailed Embodiment

[0051] Embodiment

[0052] A pipe component pre-bending adjustment device includes an optical precision platform, a pre-bending degree adjustment system, a pre-bending degree measurement system, an industrial control computer, and a computer. Its structural characteristics are:

[0053] The pre-bending degree adjustment system includes a plurality of driving wheel assemblies installed on the optical precision platform and distributed on both sides of the pipe component for realizing the pre-bending of the pipe component. Each driving wheel assembly includes a base with a guide rail installed on the optical precision platform, the direction of the guide rail is perpendicular to the axial direction of the pipe component, a driving wheel component that can slide along the guide rail and a driving wheel position adjustment component that can accurately adjust the position of the driving wheel component on the guide rail are arranged on the base. The driving wheel component includes a driving wheel support frame, a driving wheel whose side can press against the pipe component, and a driving wheel support shaft for supporting the rotation of the driving wheel;

[0054] The pre-bending measurement system includes a laser tracker and a support steel frame installed on an optical precision platform, and a contour scanning assembly installed on the support steel frame. The contour scanning assembly includes a profiler and a translation component that can drive the profiler to move axially along the pipe component. The laser tracker is used to locate the axial coordinates of the measurement surface of the profiler, the axial coordinates of the moving wheel support shaft, and the coordinates of the center point of the contact position between the side of the moving wheel and the pipe component.

[0055] The industrial control computer is used to control the laser tracker, profiler, and translation component, and transmit the data collected by the laser tracker and profiler to a computer for data processing and feedback to the pre-bending adjustment system.

[0056] Preferably, in this example, optical targets are provided on both the profiler and the moving wheel support frame. The axial distance between the optical target on the profiler and the axial coordinates of the measurement surface of the profiler, the axial distance between the optical target on the moving wheel support frame and the axial coordinates of the moving wheel support shaft, and the distance between the optical target on the moving wheel support frame and the coordinates of the center point of the contact position between the side of the moving wheel and the pipe component are stored in the laser tracker. The laser tracker determines the axial coordinates of the measurement surface of the profiler, the axial coordinates of the moving wheel support shaft, and the coordinates of the center point of the contact position between the side of the moving wheel and the pipe component by positioning the optical targets on the profiler and the moving wheel support frame.

[0057] Preferably, in this example, the moving wheel position adjustment component includes a support with a threaded hole perpendicular to the base, a handwheel with a threaded shaft, and a rolling bearing provided on the back of the moving wheel support frame. The threaded shaft of the handwheel is matched with the threaded hole of the support, and the end of the threaded shaft of the handwheel is fixedly connected to the inner ring of the rolling bearing. The handwheel is provided with precise scales. Rotating the handwheel to rotate its threaded shaft can drive the moving wheel support frame to slide along the guide rail on the base, so as to accurately adjust the position of the moving wheel component on the guide rail. Figure 2 This is a schematic structural diagram of the moving wheel assembly in this example. In this example, the moving wheel is a round-waisted moving wheel, and the guide rail of the base of the moving wheel assembly is a dovetail groove guide rail with a trapezoidal cross-section. The bottom of the moving wheel support frame is fixedly connected to the slider of the dovetail groove guide rail, so as to realize the sliding of the moving wheel component along the guide rail. In the figure, 2.1 is the base, 2.2 is the support, 2.3 is the moving wheel support frame, 2.4 is the moving wheel support shaft, 2.5 is the moving wheel, 2.6 is the handwheel, and the rolling bearing on the back of the moving wheel support frame is not shown in the figure.

[0058] Preferably, in this example, the translation component of the contour scanning assembly includes a precision lead screw guide rail arranged along the axial direction of the pipe component and installed on the support steel frame, a lead screw nut threadedly matched with the precision lead screw guide rail, and a servo motor that drives the precision lead screw guide rail to rotate. The profiler is installed on the lead screw nut of the precision lead screw guide rail, and the servo electrode drives the precision lead screw guide rail to realize the movement of the profiler along the precision lead screw guide rail.

[0059] Preferably, the driving wheel assemblies in this example are arranged axially staggered with respect to each other along the pipe component, and the pipe component is bent and deformed under the simultaneous action of multiple driving wheel assemblies.

[0060] Figure 1 This is a schematic diagram of the overall structure of the pre-bending adjustment device for the pipe component in this example. In the figure, 1 is an optical precision platform, 2 is a driving wheel assembly, 3 is a support steel frame, 4 is a laser tracker, 5 is a precision lead screw guide rail, 6 is a lead screw nut, 7 is a servo motor, 8 is a profiler, 9 is a pipe component, and the optical target, industrial control computer, and computer are not shown in the figure.

[0061] A pre-bending adjustment method for the above-mentioned pre-bending adjustment device for pipe components is as follows:

[0062] S1. Input the data of the dimensions and material parameters of the pipe component to be pre-bent into the computer to obtain the number of driving wheel assemblies required for the pipe component to be pre-bent and the optimal installation distance between the driving wheel assemblies.

[0063] S2. Install the driving wheel assemblies on the optical precision platform according to the number of driving wheel assemblies and the optimal installation distance between the driving wheel assemblies determined in step S1, and use the laser tracker to position the axial coordinates of the driving wheel support shafts; ensure that the actual axial distance between the driving wheel assemblies is accurate.

[0064] S3. Clamp the pipe component to be pre-bent between the driving wheel assemblies on the optical precision platform, control the translation component through the industrial control computer, drive the profiler to move along the axial direction of the pipe component to measure the profiles of each cross-section of the pipe component, and at the same time use the laser tracker to position the axial coordinates of each measurement surface of the profiler, so as to obtain the profile and axial coordinates of each cross-section of the pipe component, calculate the deflection curve of the pipe component based on the profile and axial coordinates of each cross-section of the pipe component, and record it as the initial deflection curve; determine the target deflection curve of the pipe component according to the dimensions, material parameters and actual working conditions of the pipe component to be pre-bent.

[0065] S4. Import the initial deflection curve and the target deflection curve of the pipe component to be pre-bent into the computer, compare the initial deflection curve and the target deflection curve by the two-end point connection method to obtain the displacement amount that the driving wheels in each driving wheel assembly need to move to realize the pre-bending of the pipe component and the coordinates of the center point of the contact position between the side surface of the driving wheel and the pipe component after the pre-bending of the pipe component is realized.

[0066] S5. According to the displacement amount that the driving wheels in each driving wheel assembly need to move determined in step S4, adjust the positions of the driving wheels of each driving wheel component through the driving wheel position adjustment component, and use the laser tracker to determine the coordinates of the center point of the contact position between the side surface of the driving wheel and the pipe component, and ensure that the coordinates of the center point of the contact position between the side surface of the driving wheel and the pipe component in each driving wheel assembly are the coordinates of the center point of the contact position between the side surface of the driving wheel and the pipe component after the pre-bending of the pipe component is realized as determined in step S4.

[0067] S6. Hold the position of the driving wheels in each driving wheel assembly in step S5 for 5 - 10 minutes;

[0068] S7. Adjust the position of the driving wheels of each driving wheel component through the driving wheel position adjustment component, unload the force applied to the pipe - like component, and make the pipe - like component rebound;

[0069] S8. After the pipe - like component has fully rebounded, control the translation component through the industrial control computer to drive the profiler to move along the axial direction of the pipe - like component to measure the profiles of each cross - section of the pipe - like component. At the same time, use the laser tracker to locate the axial coordinates of each measurement surface of the profiler, and then obtain the profile and axial coordinates of each cross - section of the pipe - like component. Calculate the deflection curve of the pipe - like component based on the profile and axial coordinates of each cross - section of the pipe - like component, and record it as the deflection curve of the pre - bent pipe - like component;

[0070] S9. Compare the deflection curve of the pre - bent pipe - like component with the target deflection curve. If the two match, end the pre - bending. If they do not match, it means that the pre - bending requirements are not met, and proceed to step S10;

[0071] S10. Take the deflection curve of the pre - bent pipe - like component as the initial deflection curve, and repeat steps S4 - S9 until the deflection curve of the pre - bent pipe - like component matches the target deflection curve, and then end the pre - bending.

[0072] Preferably, the specific method for the industrial control computer to control the translation component in steps S3 and S8 of the above pre - bending adjustment method to drive the profiler to move along the axial direction of the pipe - like component to measure the profiles of each cross - section of the pipe - like component is as follows:

[0073] The translation component of the pre - bending degree measurement system includes a precision lead screw guide rail arranged along the axial direction of the pipe - like component on the support steel frame, a lead screw nut thread - fitted with the precision lead screw guide rail, and a servo motor for driving the precision lead screw guide rail to rotate. The profiler is installed on the lead screw nut of the precision lead screw guide rail;

[0074] The industrial control computer controls the servo motor to work, driving the precision lead screw guide rail to rotate, so that the profiler installed on the lead screw nut moves along the precision lead screw guide rail. Every time the profiler moves a certain distance, the precision lead screw guide rail stops rotating, and the profiler scans the outer profile of the pipe - like component. During the movement and scanning process of the profiler, the laser tracker locates the axial coordinates of the measurement surface of the profiler, thereby realizing the measurement of the profiles of each cross - section of the pipe - like component.

[0075] Preferably, the specific method for calculating the deflection curve of the pipe - like component based on the profile and axial coordinates of each cross - section of the pipe - like component in steps S3 and S8 of the above pre - bending adjustment method is as follows:

[0076] A. The profilometer obtains the half-profile data of M cross-sections of the pipe component. Denote the cross-section number as m, where m = 1, 2, …, M. The profile data for each cross-section is N groups. Then the profile data of the m-th cross-section of the pipe component is

[0077] (Y m1 , Z m1 ), (Y m2 , Z m2 )…(Y m(N-1) , Z m(N-1) ), (Y mN , Z mN );

[0078] B. Based on the general equation of an elliptical cross-section: P1·Y 2 +P2·Z 2 +P3·Y·Z+P4·Y+P5·Z+P6 = 0, where P1, P2, P3, P4, P5, P6 are the coefficients of the elliptical equation; perform least-squares ellipse fitting on the N groups of profilometer data of the m-th cross-section of the pipe component to calculate the elliptical equation coefficients P m1 , P m2 , P m3 , P m4 , P m5 , P m6 ;

[0079] C. Using the elliptical equation coefficients calculated in step B, find the Y coordinate Y m and the Z coordinate Z m of the center point of the m-th cross-section of the pipe component:

[0080]

[0081] Then, according to the laser tracker, determine the axial coordinate X m of the m-th cross-section of the pipe component, and the center coordinate O m (X m , Y m , Z m ) of the m-th cross-section of the pipe component can be obtained;

[0082] D. According to the methods in step B and step C, obtain the center coordinates O1(X1, Y1, Z1), O2(X2, Y2, Z2), O3(X3, Y3, Z3), … O M (X M , Y M , Z m ) of each cross-section of the pipe component. Perform curve fitting on the center coordinates O1, O2, O3, …, O M of the M cross-sections by the least-squares method to obtain the deflection curve of the pipe component.

[0083] Preferably, the target deflection curve determined in step S3 according to the dimensions, material parameters, and actual working conditions of the pipe component to be pre-bent is the sum of the deflection curves of the pipe component under concentrated force only, under couple force only, and under gravity only.

[0084] More preferably, the pipe component in the pre-bending adjustment method is a hollow steel pipe, and the deflection curve of the pipe component under gravity only is w q , the deflection curve of the pipe component under concentrated force only is the deflection curve of the pipe component under couple force only is the target deflection curve is w;

[0085]

[0086]

[0087] wherein, E is the elastic modulus of the pipe component, I is the cross-sectional moment of inertia of the pipe component, x represents the abscissa (the coordinate in the axial direction of the pipe component), q is the self-weight of the pipe component, A is the cross-sectional area of the pipe component, L is the length of the pipe component, X1 is the vertical reaction force, X2 is the reaction bending moment, Figure 3 This is a schematic diagram of the basic system for the force analysis of the pipe component in this example under actual working conditions.

Claims

1. A pre-bending adjustment method for a pipe component pre-bending adjustment device, the pipe component pre-bending adjustment device comprising an optical precision platform, a pre-bending degree adjustment system, a pre-bending degree measurement system, an industrial control computer and a computer; The pre-bending degree adjustment system includes a plurality of moving wheel assemblies installed on the optical precision platform and distributed on both sides of the pipe component for pre-bending the pipe component. Each moving wheel group includes a base with a guide rail installed on the optical precision platform, the direction of the guide rail being perpendicular to the axial direction of the pipe component. A moving wheel component that can slide along the guide rail and a moving wheel position adjustment component that can accurately adjust the position of the moving wheel component on the guide rail are provided on the base. The moving wheel component includes a moving wheel support frame, a moving wheel whose side can press against the pipe component, and a moving wheel support shaft for supporting the rotation of the moving wheel; The pre-bending degree measurement system includes a laser tracker and a support steel frame installed on the optical precision platform, and a contour scanning component installed on the support steel frame. The contour scanning component includes a profiler and a translation component that can drive the profiler to move axially along the pipe component. The laser tracker is used to locate the axial coordinates of the measurement surface of the profiler, the axial coordinates of the moving wheel support shaft, and the coordinates of the center point of the contact position between the side of the moving wheel and the pipe component; The industrial control computer is used to control the laser tracker, the profiler and the translation component to work, and transmit the data collected by the laser tracker and the profiler to the computer for data processing and feedback to the pre-bending degree adjustment system; The pre-bending adjustment method steps of the pipe component pre-bending adjustment device are as follows: S1. Input the data of the size and material parameters of the pipe component to be pre-bent into the computer to obtain the number of moving wheel assemblies required for the pipe component to be pre-bent and the optimal installation distance between the moving wheel assemblies; S2. Install the moving wheel assemblies on the optical precision platform according to the number of moving wheel assemblies and the optimal installation distance between the moving wheel assemblies determined in step S1, and use the laser tracker to locate the axial coordinates of the moving wheel support shaft; ensure that the actual axial distance between the moving wheel assemblies is accurate; S3. Place the pipe component to be pre-bent between the moving wheel assemblies on the optical precision platform and clamp it. Control the translation component through the industrial control computer to drive the profiler to move axially along the pipe component to realize the contour measurement of each cross-section of the pipe component. At the same time, use the laser tracker to locate the axial coordinates of each measurement surface of the profiler, and then obtain the contour and axial coordinates of each cross-section of the pipe component. Calculate the deflection curve of the pipe component according to the contour and axial coordinates of each cross-section of the pipe component, which is recorded as the initial deflection curve; determine the target deflection curve of the pipe component according to the size, material parameters and actual working conditions of the pipe component to be pre-bent; S4. Import the initial deflection curve and the target deflection curve of the pipe component to be pre-bent into the computer, and use the two-end point connection method to compare the initial deflection curve and the target deflection curve to obtain the displacement amount that the moving wheels in each moving wheel assembly need to move to realize the pre-bending of the pipe component and the coordinates of the center point of the contact position between the side of the moving wheel and the pipe component after the pre-bending of the pipe component; S5. According to the required displacement of the driving wheels in each driving wheel assembly determined in step S4, adjust the positions of the driving wheels of each driving wheel component through the driving wheel position adjustment component, and use a laser tracker to determine the coordinates of the center point of the contact position between the side of the driving wheel and the pipe component, ensuring that the coordinates of the center point of the contact position between the side of the driving wheel and the pipe component in each driving wheel assembly are the coordinates of the center point of the contact position between the side of the driving wheel and the pipe component determined in step S4 after the pipe component is pre-bent; S6. Keep the positions of the driving wheels in each driving wheel assembly in step S5 for 5 - 10 minutes; S7. Adjust the positions of the driving wheels of each driving wheel component through the driving wheel position adjustment component, unload the force applied to the pipe component, and make the pipe component rebound; S8. After the pipe component is completely rebounded, control the translation component through the industrial control computer to drive the profiler to move along the axial direction of the pipe component to measure the profiles of each cross-section of the pipe component. At the same time, use a laser tracker to position the axial coordinates of each measurement surface of the profiler, and then obtain the profile and axial coordinates of each cross-section of the pipe component. Calculate the deflection curve of the pipe component according to the profile and axial coordinates of each cross-section of the pipe component, which is recorded as the deflection curve of the pre-bent pipe component; S9. Compare the deflection curve of the pre-bent pipe component with the target deflection curve. If the two match, the pre-bending ends. If they do not match, it means that the pre-bending requirements are not met, and go to step S10; S10. Take the deflection curve of the pre-bent pipe component as the initial deflection curve, and repeat steps S4 - S9 until the deflection curve of the pre-bent pipe component matches the target deflection curve, and then end the pre-bending.

2. The pre-bending adjustment method of a pre-bending adjustment device for pipe components according to claim 1, characterized in that: Optical targets are provided on both the profiler and the driving wheel support frame. The laser tracker stores the axial distance between the optical target on the profiler and the axial coordinates of the measurement surface of the profiler, the axial distance between the optical target on the driving wheel support frame and the axial coordinates of the driving wheel support shaft, and the distance between the optical target on the driving wheel support frame and the coordinates of the center point of the contact position between the side of the driving wheel and the pipe component. The laser tracker determines the axial coordinates of the measurement surface of the profiler, the axial coordinates of the driving wheel support shaft, and the coordinates of the center point of the contact position between the side of the driving wheel and the pipe component by positioning the optical targets on the profiler and the driving wheel support frame.

3. The pre-bending adjustment method of a pipe component pre-bending adjustment device according to claim 1, characterized in that: The driving wheel position adjustment component includes a support with a threaded hole perpendicular to the base, a handwheel with a threaded shaft, and a rolling bearing arranged on the back of the driving wheel support frame. The threaded shaft of the handwheel is matched with the threaded hole of the support, and the end of the threaded shaft of the handwheel is fixedly connected to the inner ring of the rolling bearing; precise scales are provided on the handwheel; rotating the handwheel to make its threaded shaft rotate can drive the driving wheel support frame to slide along the guide rail on the base, so as to accurately adjust the position of the driving wheel component on the guide rail.

4. The pre-bending adjustment method of a pre-bending adjustment device for pipe components according to claim 1, characterized in that: The translation component of the profile scanning assembly includes a precision lead screw guide rail arranged along the axial direction of the pipe component on the support steel frame, a lead screw nut threadedly matched with the precision lead screw guide rail, and a servo motor driving the precision lead screw guide rail to rotate. The profiler is installed on the lead screw nut of the precision lead screw guide rail, and the servo electrode drives the precision lead screw guide rail to realize the movement of the profiler along the precision lead screw guide rail.

5. The pre-bending adjustment method of a pre-bending adjustment device for pipe components according to claim 1, characterized in that: The driving wheel assemblies are arranged axially staggered with respect to the tubular component, and the tubular component undergoes bending deformation under the simultaneous action of multiple driving wheel groups.

6. The pre-bending adjustment method of a pre-bending adjustment device for a tubular component according to claim 1, characterized in that: The specific method for the step S3 and the step S8 to control the translation component by an industrial control computer to drive the profiler to move axially along the tubular component to measure the profile of each cross-section of the tubular component is as follows: The translation component of the pre-bending degree measurement system includes a precision lead screw guide rail arranged along the axial direction of the tubular component on a support steel frame, a lead screw nut threadedly engaged with the precision lead screw guide rail, and a servo motor for driving the precision lead screw guide rail to rotate. The profiler is installed on the lead screw nut of the precision lead screw guide rail; The industrial control computer controls the servo motor to work, driving the precision lead screw guide rail to rotate, so that the profiler installed on the lead screw nut moves along the precision lead screw guide rail. Each time the profiler moves a certain distance, the precision lead screw guide rail stops rotating, and the profiler scans the outer profile of the tubular component. During the movement and scanning process of the profiler, the laser tracker locates the axial coordinates of the measurement surface of the profiler, thereby realizing the profile measurement of each cross-section of the tubular component.

7. The pre-bending adjustment method of a pre-bending adjustment device for pipe components according to claim 1, characterized in that: The specific method for the step S3 and the step S8 to calculate the deflection curve of the tubular component according to the profile and axial coordinates of each cross-section of the tubular component is as follows: A profile instrument obtains the half-profile data of M cross-sections of a pipe component. Denote the cross-section number as m, where m = 1, 2, …, M. The profile data for each cross-section is N groups. Then the profile data of the m-th cross-section of the pipe component is (Y m1 , Z m1 ), (Y m2 , Z m2 ), …, (Y m(N-1) , Z m(N-1) ), (Y mN , Z mN ); B. Based on the general equation of an elliptical cross-section: P1·Y 2 +P2·Z 2 +P3·Y·Z+P4·Y+P5·Z+P6 = 0, where P1, P2, P3, P4, P5, and P6 are the coefficients of the elliptical equation; perform least-squares ellipse fitting on N sets of profilometer data for the m-th cross-section of the pipe component to calculate the elliptical equation coefficients P m1 、P m2 、P m3 、P m4 、P m5 、P m6 ; C. Obtain the Y coordinate Y and the Z coordinate Z of the center point of the m-th cross-section of the pipe component by using the coefficients of the ellipse equation calculated in step B m and Z coordinate Z m : Then, according to the laser tracker, determine the axial coordinate X of the m-th cross-section of the pipe component m , and the center coordinate O of the m-th cross-section of the pipe component can be obtained m (X m , Y m , Z m ); D. Obtain the central coordinates O1(X1, Y1, Z1), O2(X2, Y2, Z2), O3(X3, Y3, Z3), …, O of each cross-section of the pipe component according to the methods in steps B and C M (X M , Y M , Z M ). For the central coordinates O1, O2, O3, …, O of M cross-sections M Perform curve fitting by the least squares method to obtain the deflection curve of the pipe component.

8. The pre-bending adjustment method of a pre-bending adjustment device for pipe components according to claim 1, characterized in that: The target deflection curve determined in the step S3 according to the dimensions, material parameters and actual working conditions of the tubular component to be pre-bent is the sum of the deflection curves of the tubular component only under concentrated forces, only under couples, and only under gravity.

9. The pre-bending adjustment method of a pipe component pre-bending adjustment device according to claim 8, characterized in that: The pipe-like component is a hollow steel pipe, and the deflection curve of the pipe-like component under the action of gravity alone is w q , and the deflection curve of the pipe-like component under the action of a concentrated force alone is w X1 , and the deflection curve of the pipe-like component under the action of a couple force alone is w X2 , and the target deflection curve is w; Among them, E is the elastic modulus of the pipe component, I is the cross-sectional moment of inertia of the pipe component, x represents the abscissa, q is the self-weight of the pipe component, A is the cross-sectional area of the pipe component, L is the length of the pipe component, X1 is the vertical reaction force, and X2 is the reaction bending moment.

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