Method for optimizing hoisting in-place scheme of large-sized component for hot isostatic press

Abstract

The invention relates to the technical field of hot isostatic pressing equipment, and provides a large part hoisting in-place scheme optimization method for a hot isostatic pressing machine, the hot isostatic pressing equipment is adjusted from a first posture to a second posture through slings, and the method comprises the steps that the initial length of each sling in the first posture and the final length of each sling in the second posture are obtained, the length variation of each sling is calculated; discretizing each length variation into a plurality of sections; a plurality of operation schemes are obtained through permutation and combination according to a segment-by-segment adjustment mode, and each operation scheme comprises a plurality of middle postures; calculating the tension of each sling corresponding to the middle posture through mechanical analysis, and judging whether the tension exceeds the stress limit of the corresponding sling or not; sequentially carrying out stress analysis on the middle postures in the multiple operation schemes; and selecting an optimal execution scheme from a plurality of operation schemes. The problems that during hoisting operation, the positioning precision is not high, multiple sets of slings are difficult to match well, the pulling force on the slings is difficult to monitor in real time, and operation is tedious can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of hot isostatic pressing equipment, and particularly to an optimization method for the hoisting and positioning scheme of large components of a hot isostatic press. Background Technique

[0002] A hot isostatic press (HIP) is a process equipment that uses high-pressure gas (usually argon) as the pressure medium to densify and sinter powder metallurgy, ceramics or composite materials under the action of high temperature and isotropic pressure. It is widely used in fields such as aerospace, automotive manufacturing, and medical devices. With the rapid development of additive manufacturing technology and the increasing maturity of casting technology, the shapes of the workpieces to be processed tend to be more complex, and at the same time, the demand for the development of hot isostatic presses towards large-scale is also increasing rapidly. With the large-scale of hot isostatic pressing equipment, the diameter and height of the hot isostatic pressing equipment both increase accordingly. Correspondingly, during the hoisting operation, a hoisting equipment with a greater hoisting capacity is required to hoist large components in the hot isostatic press into place.

[0003] However, in the prior art, the hoisting process of large components is manually operated. During the hoisting process of large components by operators, it is necessary to adjust the posture of the components. During the change of the component posture, the tension of each sling connected to the component will change in real time. It is very likely that the tension on a certain sling exceeds the limit that the hoisting equipment can bear during the manual operation process, thereby causing damage to the hoisting equipment. Therefore, it is necessary to design a method that can plan the hoisting path of the component according to the force conditions of each sling. Summary of the Invention

[0004] The purpose of the present invention is to provide an optimization method for the hoisting and positioning scheme of large components of a hot isostatic press, which solves the problems of low positioning accuracy, difficulty in real-time monitoring of the tension on the sling, and cumbersome operation when manually hoisting large components in the hot isostatic press.

[0005] The above technical object of the present invention is mainly achieved through the following technical solutions:

[0006] The present invention provides an optimization method for the hoisting and positioning scheme of large components of a hot isostatic press, which uses A slings to adjust the hot isostatic pressing equipment from the first posture to the second posture, where A is a positive integer greater than or equal to 2. The method includes the following steps:

[0007] Step S1: Obtain the initial lengths of the respective slings in the first posture;

[0008] Step S2: The second posture is the target posture of the hot isostatic pressing equipment. According to the corresponding relationship between the target posture and the sling lengths, model to obtain the final lengths of the slings in the second posture, and calculate the length change amounts of the slings.

[0009] Step S3: Discretize each of the length change amounts into B segments.

[0010] Step S4: Adopt a step-by-step adjustment method, and use the method of permutation and combination to obtain M operation plans from the first posture to the second posture. The implementation process of each operation plan includes A×B intermediate postures.

[0011] Step S5: Calculate the tensions of the slings corresponding to the intermediate postures through mechanical analysis and determine whether they exceed the force-bearing limits of the corresponding slings.

[0012] Step S6: Perform the above-mentioned force analysis on the intermediate postures in the M operation plans in sequence.

[0013] Step S7: Select an execution plan from the M operation plans. In the execution plan, the tensions of the slings corresponding to all the intermediate postures do not exceed the force-bearing limits and the force fluctuations of the slings are the smallest.

[0014] Step S8: Implement the execution plan. The hot isostatic pressing equipment enters each intermediate posture in the execution plan one by one under the action of the slings to complete the hoisting work of the hot isostatic pressing equipment.

[0015] In a preferred embodiment of the present invention, through image recognition and three-dimensional modeling, according to the corresponding relationship between the posture of the hot isostatic pressing equipment and the lengths of the slings, the initial lengths of the slings are obtained.

[0016] In a preferred embodiment of the present invention, according to the position requirements of the second posture target, according to the corresponding relationship between the posture of the hot isostatic pressing equipment and the lengths of the slings, the final lengths of the slings are obtained through three-dimensional modeling.

[0017] In a preferred embodiment of the present invention, in the way of step-by-step adjustment, using the method of permutation and combination to obtain M operation plans from the first posture to the second posture, and the implementation process of each operation plan includes A×B intermediate postures, including:

[0018] According to the first posture and the discretized values of the length change amounts of the slings, based on the corresponding relationship between the lengths of the slings and the posture of the hot isostatic pressing equipment, the intermediate postures in the operation plan are obtained through three-dimensional modeling.

[0019] In a preferred embodiment of the present invention, calculating the tension of each sling corresponding to each intermediate posture by means of mechanical analysis includes:

[0020] Based on three-dimensional modeling, calculate the tension of each sling according to the force balance and moment balance of the hot isostatic pressing equipment in each intermediate posture.

[0021] In a preferred embodiment of the present invention, in the process of analyzing the forces of the intermediate postures in M operation schemes in sequence, if the tension of a sling exceeds its force limit in an operation scheme, discard this operation scheme and perform the force analysis of the next operation scheme.

[0022] In a preferred embodiment of the present invention, in an operation scheme, the maximum difference between the tensions of each sling corresponding to each intermediate posture is X 1 、X 2 、……X A , and the X 1 +X 2 +……+X A in the execution scheme is the minimum value among all the operation schemes.

[0023] In a preferred embodiment of the present invention, the number A of the slings is 2 or 3.

[0024] In a preferred embodiment of the present invention, in the process of implementing the execution scheme, obtain the actual intermediate posture of the hot isostatic pressing equipment by means of image recognition, and compare the actual intermediate posture with each intermediate posture of the modeling and simulation. If the deviation exceeds the predetermined range, reselect the first posture and optimize the execution scheme anew.

[0025] Compared with the prior art, the technical solution of the present invention has the following characteristics and advantages:

[0026] 1. The optimization method for the hoisting and positioning scheme of large components of the hot isostatic press of the present invention can realize the hoisting of large components in the hot isostatic press by multiple small-sized cranes, reduce the investment cost of hoisting equipment, and achieve cost reduction and efficiency increase.

[0027] 2. The optimization method for the hoisting and positioning scheme of large components of the hot isostatic press of the present invention plans a hoisting path with relatively small forces on each sling and relatively small fluctuations in the tension on the sling by analyzing the forces on each sling, ensuring that the tension on each sling does not exceed the force limit of the hoisted equipment.

[0028] 3. The optimization method for the hoisting and positioning scheme of large components used in the hot isostatic press of the present invention plans the path through computer assistance and automatically controls the elongation of each sling, avoiding manual operation, and having high hoisting accuracy and hoisting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. In the drawings:

[0030] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present disclosure in any way. Additionally, the shapes and proportional dimensions of the components in the drawings are only schematic and are used to assist in the understanding of the present invention, rather than specifically limiting the shapes and proportional dimensions of the components of the present invention. Those skilled in the art can, under the teachings of the present invention, select various possible shapes and proportional dimensions according to specific circumstances to implement the present invention.

[0031] Figure 1 is a flowchart of the optimization method for the hoisting and positioning scheme of large components used in the hot isostatic press of the present invention;

[0032] Figure 2 is a structural schematic diagram of the hoisting equipment of the present invention.

[0033] Description of the reference numerals in the drawings:

[0034] 10. Gantry crane; 20. Sling; 30. Hot isostatic pressing equipment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0036] It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this invention belongs. The terms used herein in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0038] As Figure 1 and Figure 2 As shown, the present invention provides an optimization method for the hoisting and positioning scheme of large components for a hot isostatic press, using A slings 20 to adjust the hot isostatic pressing equipment 30 from a first posture to a second posture, where A is a positive integer greater than or equal to 2. The method includes the following steps:

[0039] Step S1: Obtain the initial lengths of the respective slings 20 in the first posture;

[0040] Step S2: The second posture is the target posture of the hot isostatic pressing equipment 30. According to the corresponding relationship between the target posture and the lengths of the slings 20, model to obtain the final lengths of the respective slings 20 in the second posture, and calculate the length change amounts of the respective slings 20;

[0041] Step S3: Discretize each of the length change amounts into B segments;

[0042] Step S4: Adopt a step-by-step adjustment method, and use the method of permutation and combination to obtain M operation schemes from the first posture to the second posture. The implementation process of each operation scheme includes A×B intermediate postures;

[0043] Step S5: Calculate the tension of each sling 20 corresponding to the intermediate posture by means of mechanical analysis and determine whether it exceeds the force-bearing limit of the corresponding sling 20;

[0044] Step S6: Perform the above-mentioned force analysis on the intermediate postures in the M operation schemes in sequence;

[0045] Step S7: Select an execution scheme from the M operation schemes. In the execution scheme, the tension of each sling 20 corresponding to all the intermediate postures does not exceed the force-bearing limit and the force fluctuation of each sling 20 is the smallest;

[0046] Step S8: Implement the implementation plan. Under the action of each sling 20, the hot isostatic pressing equipment 30 enters each intermediate posture in the implementation plan one by one to complete the hoisting work of the hot isostatic pressing equipment 30.

[0047] The optimization method for the hoisting and positioning plan of large components of the hot isostatic press described in the present invention can realize the hoisting of large components in the hot isostatic press by multiple small-sized cranes, reduce the investment cost of hoisting equipment, and achieve cost reduction and efficiency increase.

[0048] The optimization method for the hoisting and positioning plan of large components of the hot isostatic press described in the present invention plans a hoisting path with relatively small forces on each sling and relatively small fluctuations in the tension on the sling by analyzing the forces on each sling, ensuring that the tension on each sling does not exceed the force limit of the hoisted equipment.

[0049] The optimization method for the hoisting and positioning plan of large components of the hot isostatic press described in the present invention plans the path by computer-aided means and automatically controls the elongation of each sling, avoiding manual operation, and having relatively high hoisting accuracy and hoisting efficiency.

[0050] The following will describe in detail the detailed operation process of each step of the optimization method for the hoisting and positioning plan of large components of the hot isostatic press described in the present invention.

[0051] In step S1, through image recognition and three-dimensional modeling, according to the correspondence between the posture of the hot isostatic pressing equipment 30 and the lengths of the slings 20, the initial lengths L of the slings 20 are obtained. 初 . Specifically, in order to realize automated hoisting operations and avoid human participation, at least three image recognition probes are set in the space where the slings 20 are located. The computer performs three-dimensional modeling on the slings 20 and the hot isostatic pressing equipment 30 thereon through images from at least three different directions, and then obtains the initial lengths of the slings 20 according to the ratio between the model and the actual object.

[0052] In other embodiments of the present invention, the initial lengths of the slings 20 can also be obtained by other means, such as monitoring the extended lengths of the slings 20 by setting absolute value encoders on the motors controlling the slings 20. The method of image recognition and three-dimensional modeling can facilitate the analysis of the above-mentioned tensions on the slings 20 and is convenient for the subsequent optimization design of the hoisting path.

[0053] In step S2, according to the position requirements of the second posture target, according to the correspondence between the posture of the hot isostatic pressing equipment 30 and the lengths of the slings 20, the final lengths L of the slings 20 are obtained through three-dimensional modeling. 终 , and calculate the length change amount ΔL of each sling 20 = (L 终-L 初 )。

[0054] To achieve automated hoisting operations and avoid manual participation, since the second posture (final state) of the hot isostatic pressing equipment 30 has been determined, the positions and directions of the respective slings 20 in the second posture are three-dimensionally modeled in the computer, and then the final lengths of the respective slings 20 are obtained according to the ratio between the model and the physical object.

[0055] In step S3, each of the length change amounts is discretized into B segments.

[0056] Taking one sling as an example, if the length change amount of the sling obtained through steps S1 and S2 is ΔL, then this is discretely divided into B segments, namely L 1 , L 2 , L 3 , …… L B , where L 1 +L 2 +L 3 ……+L B =ΔL, that is, for this sling, its elongation process from the first posture to the second posture is evenly divided into B segment operations.

[0057] In step S4, in a way of adjusting segment by segment, M operation schemes from the first posture to the second posture are obtained by using permutation and combination. The implementation process of each operation scheme includes A×B intermediate postures, including: according to the first posture and the discretized values of the length change amounts of the respective slings 20, based on the corresponding relationship between the length of each sling and the posture of the hot isostatic pressing equipment, the intermediate postures in the operation scheme are obtained by three-dimensional modeling. Taking two cables 20 (A = 2) as an example, and the elongation amount of each cable 20 is divided into 5 segments (B = 5), in the way of adjusting segment by segment (only adjusting one segment on one cable 20 each time), each scheme contains a total of 2×5 = 10 operation processes. As long as it is determined which five operations among the ten operations are for the first cable, multiple schemes can be obtained. By using permutation and combination, there are kinds of schemes If A = 3, B = 5, then The A×B intermediate postures in each operation scheme include the second posture corresponding to the target posture.

[0058] In step S5, calculating the tension of each sling 20 corresponding to each intermediate posture by means of mechanical analysis includes: on the basis of three-dimensional modeling, calculating the tension of each sling 20 according to the force balance and moment balance of the hot isostatic pressing equipment 30 in each intermediate posture. Among them, when the model is known, analyzing the forces on an object in three-dimensional space is a known technique and will not be elaborated here.

[0059] In step S6, during the force analysis of the intermediate postures in M operation plans in sequence, if the tension of a sling 20 in an operation plan exceeds its force limit, then discard this operation plan and conduct the force analysis of the next operation plan.

[0060] Since a large number of operation plans (M) are combined, and each operation plan has a large number of intermediate postures, the calculation amount is relatively large. If the tension on a certain sling in an intermediate posture in one operation plan exceeds the force limit of the lifting equipment, it means that this operation plan is not feasible. There is no need to conduct the force analysis of the subsequent intermediate postures in this operation plan. Just directly conduct the force analysis of the intermediate postures in the next operation plan, thereby reducing the force analysis process and improving the analysis and screening efficiency of the operation plans.

[0061] In step S7, the tensions of all the intermediate postures in the execution plan corresponding to each sling 20 do not exceed the force limit, and the force fluctuations of each sling 20 are the smallest.

[0062] That the tensions of all the slings 20 do not exceed the force limit means that: during the force analysis in steps S5 and S6, in each intermediate posture in this execution plan, the tensions on each sling do not exceed the force limit of the lifting equipment, thereby ensuring the safety during lifting.

[0063] That the force fluctuations of each sling 20 are the smallest means that: in an operation plan, the maximum differences between the respective tensions corresponding to each of the slings 20 (A) in each intermediate posture are X 1 、X 2 、……X A ,and the X 1 +X 2 +……+X A in the execution plan is the minimum value among all operation plans.

[0064] In step S8, implement the implementation plan, that is, start the hoisting equipment to transfer the hot isostatic pressing equipment 30. Under the action of each sling 20, the hot isostatic pressing equipment 30 enters each intermediate posture in the implementation plan one by one until the hot isostatic pressing equipment 30 runs from the first posture to the second posture. The above steps S1 to S8 can be repeated for the same hot isostatic pressing equipment 30 until the entire hoisting work is completed.

[0065] According to an embodiment of the present invention, the number A of the slings 20 is 2 or 3. In this embodiment, as Figure 2 shown, two gantry cranes 10 arranged in parallel are used to hoist the hot isostatic pressing equipment 30, and one or two of the above-mentioned slings 20 are provided on each gantry crane 10.

[0066] According to an embodiment of the present invention, during the implementation of the implementation plan, the actual intermediate posture of the hot isostatic pressing equipment 30 is obtained by image recognition, and the actual intermediate posture is compared with each intermediate posture of the computer-aided design and simulation in step S4. If the deviation exceeds the predetermined range, reselect the first posture and optimize the implementation plan again, that is, repeat the above steps S1 to S8.

[0067] The above specific embodiments have further elaborated the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for optimizing the hoisting scheme of large components for hot isostatic presses, using A slings to adjust the hot isostatic press equipment from a first posture to a second posture, where A is a positive integer greater than or equal to 2, characterized in that: include: Obtaining the initial length of each of the slings in the first posture; The second posture is the target posture of the hot isostatic pressing equipment. According to the corresponding relationship between the target posture and the length of the sling, a model is built to obtain the final length of each sling under the second posture, and the length change of each sling is calculated; Discretize each length variation into B segments respectively; Adopting a step-by-step adjustment method, using a permutation and combination method to obtain M operation schemes from the first posture to the second posture, and the implementation process of each operation scheme includes A×B intermediate postures; Calculating the tension of each sling corresponding to the intermediate posture by means of mechanical analysis and determining whether it exceeds the force limit of the corresponding sling; Performing the above force analysis on the intermediate postures in the M types of operation schemes in sequence; Selecting an execution scheme from the M operation schemes, wherein the tension of each sling corresponding to all the intermediate postures in the execution scheme does not exceed the force limit and the force fluctuation of each sling is minimal; When the execution plan is implemented, the hot isostatic pressing equipment enters each of the intermediate postures in the execution plan one by one under the action of each of the slings to complete the lifting work of the hot isostatic pressing equipment.

2. The optimization method for lifting and placing large components for hot isostatic press according to claim 1, characterized in that: By means of image recognition and three-dimensional modeling, the initial length of each sling is obtained according to the corresponding relationship between the posture of the hot isostatic pressing equipment and the length of each sling.

3. The optimization method for lifting and placing large components for hot isostatic press according to claim 1, characterized in that: According to the position requirement of the second posture target and the corresponding relationship between the posture of the hot isostatic pressing equipment and the length of each sling, the final length of each sling is obtained by three-dimensional modeling.

4. The optimization method for the lifting and positioning scheme of large components for hot isostatic press according to claim 1, characterized in that: In a step-by-step adjustment manner, M operation schemes from the first posture to the second posture are obtained by using a permutation and combination method, and the implementation process of each operation scheme includes A×B intermediate postures including: According to the first posture and the discretized value of the length change of each sling, and based on the corresponding relationship between the length of each sling and the posture of the hot isostatic pressing equipment, the intermediate posture in the operation scheme is obtained through three-dimensional modeling.

5. The optimization method for lifting and placing large components for hot isostatic press according to claim 1, characterized in that: Calculating the tension of each sling corresponding to each intermediate posture by mechanical analysis includes: On the basis of the three-dimensional modeling, the tension of each sling is calculated according to the force balance and moment balance of the hot isostatic pressing equipment in each intermediate posture.

6. The optimization method for lifting and placing large components for hot isostatic press according to claim 1, characterized in that: In sequentially performing force analysis on the intermediate postures in the M kinds of operation schemes, if the tension of the sling in one of the operation schemes exceeds its force limit, the operation scheme is discarded and the force analysis of the next operation scheme is performed.

7. The optimization method for lifting and placing large components for hot isostatic press according to claim 1, characterized in that: In one of the operation schemes, the maximum difference between the tensions corresponding to the intermediate postures of the slings is X1, X2, ... X A , X1+X2+……+X in the execution scheme A is the minimum value among all the operation schemes.

8. The optimization method for lifting and placing large components for hot isostatic press according to claim 1, characterized in that: The number A of the slings is 2 or 3.

9. The optimization method for lifting and placing large components for hot isostatic press according to claim 4, characterized in that: In the process of implementing the execution plan, the actual intermediate posture of the hot isostatic pressing equipment is obtained by image recognition, and the actual intermediate posture is compared with the intermediate postures of the modeling simulation. If the deviation exceeds the predetermined range, the first posture is reselected and the execution plan is optimized again.

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