High-precision assembling and positioning method and device for steel pipe sections

Abstract

The invention discloses a steel pipe section high-precision assembling and positioning method and device. The method comprises the steps that port circle center coordinates of all chord members of an assembling section are obtained; determining the position deviation of the chord member according to the port circle center coordinates; adjusting the port of the chord member to enable the positioning error of the chord member to meet the set requirement; welding the cross braces, the inclined struts and the web members to preliminarily form the currently manufactured segment; positioning a chord member inner flange of the currently manufactured section; and fixing the flange according to the positioned chord member inner flange. Accurate blanking and pipe orifice positioning can be quickly controlled when the rod pieces are assembled, so that the final bridge forming linear precision of the main arch is ensured.

Description

Technical Field

[0001] The invention relates to the field of arch bridge construction, and in particular to a high-precision assembly and positioning method and device for steel pipe segments. Background Art

[0002] High-precision arching of large-span steel tube concrete is crucial to ensure construction quality and bridge safety. The arching process goes through multiple links: rod assembly → segment pre-assembly → cantilever assembly → closure. Among them, the rod assembly stage largely determines the quality of the arch line shape. If the assembly accuracy is insufficient, no matter how it is adjusted later, it is difficult to achieve the ideal stress-free closure state.

[0003] During the manufacturing and assembly of steel pipe arch segments, the following four deviations often occur: (1) When the flange is installed, the hole alignment is not fully considered, causing the flange to rotate along the axis, and the hole must be enlarged later, which reduces efficiency; (2) When using traditional total station measurement, only the position of a single prism is focused on, and the flange cannot be accurately laid out, resulting in hole translation. In addition, the cutting errors of the cross brace and web member of the segment lead to pipe mouth spacing deviations, and the flange cannot be strictly aligned. The hole must still be enlarged after the segment is formed; (3) The flange is flipped, causing a gap on one side of the plate, which requires additional gaskets for adjustment; (4) The cutting error of the segment chord causes the pipe mouth end faces to be not in the same plane. In actual situations, at most 3 of the 4 pipe mouth flanges at one end of the segment can be fitted, which is difficult to detect and compensate for by accurate measurement through existing means when the flange is welded. Therefore, gaskets must be added circumferentially between the flanges.

[0004] In summary, the existing technology still focuses on the placement of the flange itself, ignoring the key role of the flange end hole position in the main arch splicing. It adopts the main arch segment entity pre-assembly, adjusts the adjacent segments to a fixed position in advance, reserves a certain distance between each other, and then welds and positions the stiffening plate inside the chord steel pipe, and finally fixes the flange inside the steel pipe. By repeatedly adjusting the overall spatial placement of the main arch segment and repeatedly adjusting the front and rear positions of the segment with a gantry crane, the existing technology has the problems of low efficiency and difficulty in ensuring the linear accuracy of the main arch.

[0005] Therefore, in order to solve the above problems, a high-precision assembly and positioning method and device for steel pipe segments is needed, which can quickly control the precise cutting and pipe mouth positioning during the assembly of rods, thereby ensuring the final bridge line accuracy of the main arch. Summary of the invention

[0006] In view of this, the purpose of the present invention is to overcome the defects in the prior art and provide a high-precision assembly and positioning method and device for steel pipe segments, which can quickly control the precise cutting and pipe mouth positioning during the assembly of rods, thereby ensuring the final bridge line accuracy of the main arch.

[0007] The high-precision assembly and positioning method of steel pipe segments of the present invention comprises:

[0008] Get the coordinates of the center of the ports of all chords of the assembled segment;

[0009] According to the coordinates of the center of the port circle, determine the position deviation of the chord;

[0010] Adjust the port of the chord rod so that the positioning error of the chord rod meets the set requirements;

[0011] Welding of cross braces, diagonal braces and web members to give the current manufacturing segment a preliminary shape;

[0012] Position the inner flange of the chord of the currently manufactured segment;

[0013] Fix the flange according to the positioned inner flange of the chord.

[0014] Further, the coordinates of the center of the ports of all chords of the assembled segment are obtained, including:

[0015] Fix at least 3 optical prisms to the edge of the end of the chord;

[0016] Get the spatial coordinates of the center point of the optical prism and determine the following formula:

[0017]

[0018] Among them, X i , Y i , Z i represents the X, Y, and Z coordinates of the center point of the i-th chord pipe opening positioning device in the local coordinate system, R i represents the radius of the i-th nozzle; the global X, Y, and Z coordinates of the center of the i-th chord nozzle are X O,i , Y O,i , Z O,i ;

[0019] Solve the above equation by the least square method to obtain the spatial coordinates of the center of the port circle of the i-th chord;

[0020] By analogy with the above steps, we can obtain the coordinates of the center of the ports of all chords.

[0021] Further, the position deviation of the chord is determined, specifically including:

[0022] The centers of the chords are connected in pairs to obtain the relative spacing between the chords, which is then compared with the spacing on the design drawing to obtain the position deviation.

[0023] Furthermore, the inner flange of the chord of the currently manufactured segment is positioned, specifically including:

[0024] The inner flange of the chord rod is fixed to the flange positioning tool as a whole, and the position and posture of the inner flange of the chord rod is calculated according to the spatial position and posture of the flange positioning tool; wherein the flange positioning tool is installed on the flange adjustment device, and the flange adjustment device is sleeved on the chord rod; the flange adjustment device is used to adjust the position and posture of the inner flange of the chord rod;

[0025] The segment end face reference coordinate system is established through the four welded chord end center points O1, O2, O3, and O4:

[0026]

[0027] in, are the coordinate axis direction vectors of the reference coordinate system with the center O1 of the nozzle of one of the chords as the coordinate origin; (X O1 ,Y O1 ,Z O1 ) is the global coordinate of O1; (X O2 ,Y O2 ,Z O2 ) is the global coordinate of O2; (X O4 ,Y O4 ,Z O4 ) is the global coordinate of O4;

[0028] Set the checkerboard target on the flange positioning fixture, take an image of the checkerboard target, obtain the (x, y, z) coordinates of the center point c of the checkerboard and the spatial posture of the checkerboard target; adjust the angle posture of the flange coordinate system xyz so that its coordinate axis direction vector With the segment end face reference coordinate axis The vectors are parallel, and the spatial position of the center point c of the chessboard target is adjusted; so that the center point of the flange hole group falls on the central axis of the corresponding chord, and the line connecting the center points of the chord pipe mouth is parallel to the symmetry axis of the flange hole group.

[0029] Furthermore, the inner flange end faces of the chord members to be spliced ​​are located on the same spatial plane, and the spatial plane is parallel to any pipe orifice end face at the same end of the segment.

[0030] Furthermore, the projections of the two spliced ​​front and rear flange holes on the end surface of the flange plate overlap.

[0031] A high-precision assembly and positioning device for steel pipe segments, comprising a segment preliminary forming unit and a chord inner flange fixing unit;

[0032] The segment preliminary forming unit is used to obtain the coordinates of the center of the ports of all chords of the assembled segment; determine the position deviation of the chord according to the coordinates of the center of the ports; adjust the ports of the chord so that the positioning error of the chord meets the set requirements; weld the cross braces, diagonal braces and web members to make the current manufacturing segment preliminary formed;

[0033] The chord inner flange fixing unit is used to position the chord inner flange of the currently manufactured segment; and fix the flange according to the positioned chord inner flange.

[0034] Further, the coordinates of the center of the ports of all chords of the assembled segment are obtained, including:

[0035] Fix at least 3 optical prisms to the edge of the end of the chord;

[0036] Get the spatial coordinates of the center point of the optical prism and determine the following formula:

[0037]

[0038] Among them, X i , Y i , Z i represents the X, Y, and Z coordinates of the center point of the i-th chord pipe opening positioning device in the local coordinate system, R i represents the radius of the i-th nozzle; the global X, Y, and Z coordinates of the center of the i-th chord nozzle are X O,i , Y O,i , Z O,i ;

[0039] Solve the above equation by the least square method to obtain the spatial coordinates of the center of the port circle of the i-th chord;

[0040] By analogy with the above steps, we can obtain the coordinates of the center of the ports of all chords.

[0041] Furthermore, the inner flange of the chord of the currently manufactured segment is positioned, specifically including:

[0042] The inner flange of the chord rod is fixed to the flange positioning tool as a whole, and the position and posture of the inner flange of the chord rod is calculated according to the spatial position and posture of the flange positioning tool; wherein the flange positioning tool is installed on the flange adjustment device, and the flange adjustment device is sleeved on the chord rod; the flange adjustment device is used to adjust the position and posture of the inner flange of the chord rod;

[0043] The segment end face reference coordinate system is established through the four welded chord end center points O1, O2, O3, and O4:

[0044]

[0045] in, are the coordinate axis direction vectors of the reference coordinate system with the center O1 of the nozzle of one of the chords as the coordinate origin; (X O1 ,Y O1 ,Z O1 ) is the global coordinate of O1; (X O2 ,YO2 ,Z O2 ) is the global coordinate of O2; (X O4 ,Y O4 ,Z O4 ) is the global coordinate of O4;

[0046] Set the checkerboard target on the flange positioning fixture, take an image of the checkerboard target, obtain the (x, y, z) coordinates of the center point c of the checkerboard and the spatial posture of the checkerboard target; adjust the angle posture of the flange coordinate system xyz so that its coordinate axis direction vector With the segment end face reference coordinate axis The vectors are parallel, and the spatial position of the center point c of the chessboard target is adjusted; so that the center point of the flange hole group falls on the central axis of the corresponding chord, and the line connecting the center points of the chord pipe mouth is parallel to the symmetry axis of the flange hole group.

[0047] Furthermore, the inner flange end faces of the chord members to be spliced ​​are located on the same spatial plane, and the spatial plane is parallel to any pipe orifice end face at the same end of the segment.

[0048] The beneficial effects of the present invention are as follows: a high-precision assembly and positioning method and device for steel pipe segments disclosed in the present invention utilizes an optical prism to locate the surface of the chord of the steel pipe segment, and locates the spatial position of its central axis by fitting with millimeter-level accuracy, thereby ensuring the manufacturing linearity of the rods of the steel pipe segment and accurate feedback of the center point of each pipe opening; the flange adjustment device is utilized to accurately adjust the position of the flange central axis, so that the flange central axis coincides with the chord central axis, and ensures that the spatial relative relationship between the flange hole position and the end face of the segment chord is regular. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0050] Figure 1 It is a schematic diagram of positioning the segment chord of the current manufacturing of the present invention;

[0051] Figure 2 It is a schematic diagram of the reference coordinate system of the end face of the current manufacturing segment of the present invention;

[0052] Figure 3 It is a schematic diagram of the positioning of the flange of the current manufacturing segment of the present invention;

[0053] Figure 4 It is a schematic diagram of the bottom bearing flange adjustment device of the present invention;

[0054] Figure 5 It is a schematic diagram of the upper-mounted flange adjustment device of the present invention;

[0055] Figure 6 It is a schematic diagram of flange posture adjustment based on checkerboard target of the present invention;

[0056] Figure 7 It is a schematic diagram of the spatial position adjustment of the checkerboard target of the present invention;

[0057] Among them, 1-manufactured segment projection, 2-currently manufactured segment, 3-chord, 4-optical prism, 5-chord axis, 6-flange adjustment device, 7-flange positioning tooling, 9-bottom-supported flange adjustment device, 10-chord inner flange, 11-stiffening plate, 12-steel pipe, 13-detachable clamp, 14-top-mounted flange adjustment device, 15-chessboard target, 16-flange limit bolt, 17-adjustment plate, 18-lifting hole, 19-binocular camera, 20-slide rail, 21-arc guide rail, 22-arc slider, 23-height adjustment screw, 24-pulley, 25-lateral adjustment screw, 26-adjustment wrench. DETAILED DESCRIPTION

[0058] The present invention is further described below in conjunction with the accompanying drawings, as shown in the drawings:

[0059] This embodiment discloses a high-precision assembly and positioning method for steel pipe segments, comprising the following steps:

[0060] Get the coordinates of the center of the ports of all chords of the assembled segment;

[0061] According to the coordinates of the center of the port circle, determine the position deviation of the chord;

[0062] Adjust the port of the chord rod so that the positioning error of the chord rod meets the set requirements;

[0063] Welding of cross braces, diagonal braces and web members to give the current manufacturing segment a preliminary shape;

[0064] Position the inner flange of the chord of the currently manufactured segment;

[0065] Fix the flange according to the positioned inner flange of the chord.

[0066] In this embodiment, the chord rod is assembled and positioned, such as Figure 1 As shown, in the segment assembly positioning stage, especially when the chord parts are positioned, the port center coordinates of all chords of the assembled segment are obtained, specifically including:

[0067] No less than three optical prisms 4 are fixed to the edge of the end of the chord rod, and the spatial coordinates of the center points of the optical prisms 4 are quickly scanned by a measuring robot;

[0068] Then, the spatial coordinates of the center of the chord port are obtained by least square fitting (Formula (1));

[0069]

[0070] Among them, Xi , Y i , Z i represents the X, Y, and Z coordinates of the center point of the i-th chord pipe opening positioning device in the local coordinate system, R i It represents the radius of the i-th pipe mouth, which is the radius of the steel pipe after deducting the height of the positioning device.

[0071] Solve the above equation (1) for each nozzle by the least square method to obtain the global X, Y, and Z coordinates of the center of the i-th nozzle: O,i , Y O,i , Z O,i .

[0072] Repeat the above operation to obtain the center coordinates of the ports of all chords in the current assembled segment.

[0073] The optical prism 4 is used to locate the surface of the steel pipe segment chord, and the spatial position of the central axis is fitted and located with millimeter-level accuracy, ensuring the manufacturing line shape of the steel pipe segment and the accurate feedback of the center point of each pipe mouth. The prism left on the outer surface of the steel pipe can accurately feedback the spatial posture of the entire segment, and the operation is simple. The measuring robot automatically scans and identifies the spatial position of the optical prism 4 in one stop, and the spatial posture of the two end faces of the steel pipe arch rib segment can be quickly completed within 1 minute, as well as the spatial position and posture of the flange during the entire adjustment process.

[0074] In this embodiment, determining the position deviation of the chord rod specifically includes:

[0075] By connecting the centers of the circles in pairs, we can get the relative spacing between the chords, and compare it with the spacing on the design drawing to get the position deviation.

[0076] Based on the above processing, the port of the chord is adjusted, and the above measurement and calculation are repeated until the positioning error requirements of the chord are met, and the cross braces, diagonal braces and web members are welded to give the current manufacturing segment a preliminary shape.

[0077] In this embodiment, the inner flange of the chord of the current manufacturing segment is then positioned:

[0078] like Figure 2 and Figure 3 As shown, before positioning, the chord inner flange 10 and the flange positioning fixture 7 are fixed together by bolts, and the position and posture of the chord inner flange 10 are calculated based on the spatial position and posture of the flange positioning fixture 7. The initial positioning method of the flange positioning fixture 7 is as follows: the flange positioning fixture 7 is installed on the flange adjustment device 6, and the flange adjustment device 6 is placed on the chord. The operation is shown in FIG. Figure 4 and Figure 5, hoist the detachable clamp 13 below or above the chord, and tighten the clamp with the tension screw to clamp it on the steel pipe. The flange adjustment device is used to adjust the position of the flange inside the chord; the flange adjustment device includes two types: upper hanging type and lower bearing type, so as to adapt the clamp and the slide rail 20 to be close to the outer wall of the chord and avoid the obstruction of the horizontal brace, diagonal brace or web.

[0079] The position and posture of the flange inside the chord are finely adjusted as follows: Figure 2 As shown in the figure, the segment end face reference coordinate system is established through the centers of the four welded chord ends O1, O2, O3, and O4:

[0080]

[0081] in, are the coordinate axis direction vectors of the reference coordinate system with the center O1 of the nozzle of one of the chords as the coordinate origin; (X O1 ,Y O1 ,Z O1 ) is the global coordinate of O1, (X O2 ,Y O2 ,Z O2 ) is the global coordinate of O2, (X O4 ,Y O4 ,Z O4 ) are the global coordinates of O4.

[0082] Set the checkerboard target 15 on the flange positioning fixture 7, and ensure that the edge of the checkerboard target 15 is parallel to Figure 2 The O1O2 connection or O1O4 connection. Figure 6 As shown, a binocular camera 19 is used to capture an image of the checkerboard target 15, and the depth information is used to obtain the (x, y, z) coordinates of the center point c of the checkerboard and the spatial posture of the checkerboard target 15. The angle posture of the flange coordinate system xyz is adjusted so that its coordinate axis direction vector With the segment end face reference coordinate axis The vectors are parallel, and the spatial position of the center point c of the chessboard target 15 is adjusted so that the center point of the flange hole group falls on the central axis of the corresponding chord, and the line connecting the center points of the chord pipe openings is parallel to the symmetry axis of the flange hole group. Among them, the flange end faces of the chord to be spliced ​​are on the same spatial plane, and the spatial plane is parallel to any pipe opening end face at the same end of the segment. The projections of the two spliced ​​front and rear flange holes on the flange end face coincide.

[0083] The flange centerline position is precisely adjusted by using the flange adjustment device, so that the centerline of the flange coincides with the centerline of the chord, and the spatial relative relationship between the flange hole and the end face of the segment chord is guaranteed to be regular. By screwing the screw or bolt, the six spatial degrees of freedom of the flange can be easily adjusted: three translational degrees of freedom and three rotational degrees of freedom.

[0084] The spatial position of the center point c of the chessboard target 15 is adjusted according to the following method: Figure 7 As shown, by turning the adjusting wrench 26 to slide the slide rail 20 forward and backward, the position in the x direction can be adjusted; by sliding the slide rail 20 left and right, the position in the y direction can be adjusted; the position in the z direction can be adjusted by the height adjusting screw 23; the rotation angle around the x-axis can be adjusted by the height difference between the height adjusting screws 23 on the left and right sides; the rotation angle around the y-axis can be adjusted by the height difference between the front and rear rows of height adjusting screws 23; the rotation angle around the z-axis can be adjusted by the arc guide rail 21.

[0085] Repeat the above operation until the error is small enough to complete the positioning of the inner flange of the chord of the current manufacturing segment. After completion, it can be ensured that it is aligned with the flange hole position of the previous segment and the center axis of the chord, and temporarily fixed.

[0086] Finally, according to the positioned inner flange of the chord, Figure 5 As shown, the stiffening plate 11 is pushed against the surface of the inner flange 10 of the chord and is welded and fixed to the inner wall of the steel pipe 12 to complete the final flange fixation.

[0087] The present invention also relates to a high-precision assembly and positioning device for steel pipe segments. The positioning device corresponds to the high-precision assembly and positioning method for steel pipe segments in the above embodiment, and can be understood as a positioning device for implementing the above positioning method. The positioning device includes a segment preliminary forming unit and a chord inner flange fixing unit;

[0088] The segment preliminary forming unit is used to obtain the coordinates of the center of the ports of all chords of the assembled segment; determine the position deviation of the chord according to the coordinates of the center of the ports; adjust the ports of the chord so that the positioning error of the chord meets the set requirements; weld the cross braces, diagonal braces and web members to make the current manufacturing segment preliminary formed;

[0089] The chord inner flange fixing unit is used to position the chord inner flange of the currently manufactured segment; and fix the flange according to the positioned chord inner flange.

[0090] The present invention provides an objective and scientific method and device for high-precision assembly and positioning of steel pipe segments. After the position is adjusted by the flange adjustment device, the center point of the flange hole group accurately falls on the central axis of the corresponding chord, and the line connecting the center points of the chord pipe mouths is parallel to the symmetry axis of the flange hole group; the inner flange end faces of the chord to be spliced ​​are on the same spatial plane, and the spatial plane is parallel to any pipe mouth end face at the same end of the segment, thereby ensuring the assembly accuracy of the main arch segment.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A high-precision assembly and positioning method for steel pipe segments, characterized in that: include: Get the coordinates of the center of the ports of all chords of the assembled segment; According to the coordinates of the center of the port circle, determine the position deviation of the chord; Adjust the port of the chord rod so that the positioning error of the chord rod meets the set requirements; Welding of cross braces, diagonal braces and web members to give the current manufacturing segment a preliminary shape; Position the inner flange of the chord of the currently manufactured segment; Fix the flange according to the positioned inner flange of the chord.

2. The high-precision assembly and positioning method for steel pipe segments according to claim 1 is characterized in that: Get the center coordinates of all chords of the assembled segment, including: Fix at least 3 optical prisms to the edge of the end of the chord; Get the spatial coordinates of the center point of the optical prism and determine the following formula: Among them, X i , Y i , Z i represents the X, Y, and Z coordinates of the center point of the i-th chord pipe opening positioning device in the local coordinate system, R i represents the radius of the i-th nozzle; the global X, Y, and Z coordinates of the center of the i-th chord nozzle are X O,i , Y O,i , Z O,i ; Solve the above equation by the least square method to obtain the spatial coordinates of the center of the port circle of the i-th chord; By analogy with the above steps, we can obtain the coordinates of the center of the ports of all chords.

3. The high-precision assembly and positioning method of steel pipe segments according to claim 1 is characterized in that: Determine the position deviation of the chord, including: The centers of the chords are connected in pairs to obtain the relative spacing between the chords, which is then compared with the spacing on the design drawing to obtain the position deviation.

4. The high-precision assembly and positioning method of steel pipe segments according to claim 1 is characterized in that: Position the inner flange of the chord of the currently manufactured segment, including: The inner flange of the chord rod is fixed to the flange positioning tool as a whole, and the position and posture of the inner flange of the chord rod is calculated according to the spatial position and posture of the flange positioning tool; wherein the flange positioning tool is installed on the flange adjustment device, and the flange adjustment device is sleeved on the chord rod; the flange adjustment device is used to adjust the position and posture of the inner flange of the chord rod; The segment end face reference coordinate system is established through the four welded chord end center points O1, O2, O3, and O4: in, are the coordinate axis direction vectors of the reference coordinate system with the center O1 of the nozzle of one of the chords as the coordinate origin; (X O1 ,Y O1 ,Z O1 ) is the global coordinate of O1; (X O2 ,Y O2 ,Z O2 ) is the global coordinate of O2; (X O4 ,Y O4 ,Z O4 ) is the global coordinate of O4; Set the checkerboard target on the flange positioning fixture, take an image of the checkerboard target, obtain the (x, y, z) coordinates of the center point c of the checkerboard and the spatial posture of the checkerboard target; adjust the angle posture of the flange coordinate system xyz so that its coordinate axis direction vector With the segment end face reference coordinate axis The vectors are parallel, and the spatial position of the center point c of the chessboard target is adjusted; so that the center point of the flange hole group falls on the central axis of the corresponding chord, and the line connecting the center points of the chord pipe mouth is parallel to the symmetry axis of the flange hole group.

5. The high-precision assembly and positioning method of steel pipe segments according to claim 4 is characterized in that: The inner flange end faces of the chords to be spliced ​​are located on the same spatial plane, and the spatial plane is parallel to any pipe end face at the same end of the segment.

6. The high-precision assembly and positioning method of steel pipe segments according to claim 5 is characterized in that: The projections of the two spliced ​​front and rear flange holes on the end surface of the flange plate overlap.

7. A high-precision assembly and positioning device for steel pipe segments, characterized in that: It includes a segment preliminary forming unit and a chord inner flange fixing unit; The segment preliminary forming unit is used to obtain the coordinates of the center of the ports of all chords of the assembled segment; determine the position deviation of the chord according to the coordinates of the center of the ports; adjust the ports of the chord so that the positioning error of the chord meets the set requirements; weld the cross braces, diagonal braces and web members to make the current manufacturing segment preliminary formed; The chord inner flange fixing unit is used to position the chord inner flange of the currently manufactured segment; and fix the flange according to the positioned chord inner flange.

8. The high-precision assembly and positioning device for steel pipe segments according to claim 7 is characterized in that: Get the center coordinates of all chords of the assembled segment, including: Fix at least 3 optical prisms to the edge of the end of the chord; Get the spatial coordinates of the center point of the optical prism and determine the following formula: Among them, X i , Y i , Z i represents the X, Y, and Z coordinates of the center point of the i-th chord pipe opening positioning device in the local coordinate system, R i represents the radius of the i-th nozzle; the global X, Y, and Z coordinates of the center of the i-th chord nozzle are X O,i , Y O,i , Z O,i ; Solve the above equation by the least square method to obtain the spatial coordinates of the center of the port circle of the i-th chord; By analogy with the above steps, we can obtain the coordinates of the center of the ports of all chords.

9. The high-precision assembly and positioning device for steel pipe segments according to claim 7, characterized in that: Position the inner flange of the chord of the currently manufactured segment, including: The inner flange of the chord rod is fixed to the flange positioning tool as a whole, and the position and posture of the inner flange of the chord rod is calculated according to the spatial position and posture of the flange positioning tool; wherein the flange positioning tool is installed on the flange adjustment device, and the flange adjustment device is sleeved on the chord rod; the flange adjustment device is used to adjust the position and posture of the inner flange of the chord rod; The segment end face reference coordinate system is established through the four welded chord end center points O1, O2, O3, and O4: in, are the coordinate axis direction vectors of the reference coordinate system with the center O1 of the nozzle of one of the chords as the coordinate origin; (X O1 ,Y O1 ,Z O1 ) is the global coordinate of O1; (X O2 ,Y O2 ,Z O2 ) is the global coordinate of O2; (X O4 ,Y O4 ,Z O4 ) is the global coordinate of O4; Set the checkerboard target on the flange positioning fixture, take an image of the checkerboard target, obtain the (x, y, z) coordinates of the center point c of the checkerboard and the spatial posture of the checkerboard target; adjust the angle posture of the flange coordinate system xyz so that its coordinate axis direction vector With the segment end face reference coordinate axis The vectors are parallel, and the spatial position of the center point c of the chessboard target is adjusted; so that the center point of the flange hole group falls on the central axis of the corresponding chord, and the line connecting the center points of the chord pipe mouth is parallel to the symmetry axis of the flange hole group.

10. The high-precision assembly and positioning device for steel pipe segments according to claim 9, characterized in that: The inner flange end faces of the chords to be spliced ​​are located on the same spatial plane, and the spatial plane is parallel to any pipe end face at the same end of the segment.

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