CN102500640A - Technique optimization method of cage roll forming machine set of longitudinal welded pipe - Google Patents

Technique optimization method of cage roll forming machine set of longitudinal welded pipe Download PDF

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Publication number
CN102500640A
CN102500640A CN2011103181537A CN201110318153A CN102500640A CN 102500640 A CN102500640 A CN 102500640A CN 2011103181537 A CN2011103181537 A CN 2011103181537A CN 201110318153 A CN201110318153 A CN 201110318153A CN 102500640 A CN102500640 A CN 102500640A
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iqs
roller
row
oqs
curved
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CN102500640B (en
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李大永
蒋劲茂
任强
唐鼎
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WUXI CANBE MECHANICAL AND ELECTRICAL TECHNOLOGY Co Ltd
Shanghai Jiaotong University
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WUXI CANBE MECHANICAL AND ELECTRICAL TECHNOLOGY Co Ltd
Shanghai Jiaotong University
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Abstract

The invention discloses a technique optimization method of a cage roll forming machine set of a longitudinal welded pipe, belonging to the technical field of mechanical forming, wherein forming technique parameters are obtained by coordinate transformation and iterative process; the invention aims at solving the problem that the current welded pipe manufacturing enterprises basically rely on experience and a cut and try method to obtain the forming technique parameters of cage roll forming machine sets of welded pipes; and the technique optimization method disclosed by the invention has the advantages of providing a better theoretical reference for design methods of cage roll forming technique parameters, shortening the development periods of products with new specifications, decreasing raw material waste and reducing the production cost of longitudinal welded pipes.

Description

The process optimization method of straight welded pipe roller shaping unit
Technical field
What the present invention relates to is the method for a kind of mechanical molding technical field, specifically is a kind of process optimization method of straight welded pipe roller shaping unit.
Background technology
ERW production generally is to adopt roll forming technology.Roll forming technology is the multi-pass forming rolls through arranged in order, bends to metal plate and belt gradually from straightened condition a kind of Technology of Plastic Processing of particular cross section.The structure of early stage conventional roll o ing unit is plain-barreled roll and edger roll arranged crosswise; Be mainly used in the production small-diameter welded pipes; Through updating, early stage shaping unit begins to develop became form flat, edger roll+edger roll group, can produce caliber and also develop into middle diameter by minor diameter afterwards; After this in order to overcome in the conventional roll o ing edge deformation and resilience is excessive and the shortcoming of the shared property of shaping edger roll difference, and then develop into row roller forming.
Row roller forming is also named cage shaping (cage roll forming); Be meant that band is rolled into the roll-type forming technology of socket by some groups of passive pony roll Curved Continuous of two rows; Promptly in the continuous row roller forming process of skelp, utilize the three-point bending principle, at the passive little roller frame of essence shaping (closed type) preceding one or more groups adjustable positions of employing; The some active horizontal frames and the passive standing roller frame that replace common roll-type to be shaped, band can be deformed into socket by the pass schedule that is designed.Typical straight welded pipe roller forming machine group model is as shown in Figure 1.The strip resilience is little, the edge shaping quality is good and the shared property strong three big characteristics of roll because row roller forming technology has; The roll-type shaping in a row of the not only intermediate diameters welded tube unit of the operation all row's of employing roll-type shapings mostly newly in the world, and the also all numerous and confused transformation of in the past traditional roll-type shaping unit at present.Row roller forming technology is considered to present welded tube production technology Development Trend.For the ERW shaping unit that adopts row roller forming technology, its forming parameters has directly determined the shaping position attitude of roll in the space, is the direct factor that influences forming quality.The suitable forming parameter can be distributed the transverse curvature distortion of differing formed section following strip preferably, thereby reduces the probability that the product shaping defective takes place in theory, significantly improves the forming quality of distortion pipe.
The passage that in welded tube conventional roll o ing unit, respectively is shaped mostly adopts plain-barreled roll or edger roll to realize the transverse curvature of sheet material; The free degree of forming rolls is regulated simple relatively in the unit; The forming parameters of its each passage roll only needs to carry out simple computation according to determined band steel shaping bottom line with flower type figure and can obtain; Correspondingly; About each forming rolls also only need be done in the unit of production scene (plain-barreled roll) or about the translation adjustment of (edger roll) can put in place, so that the forming parameters of welded tube conventional roll o ing unit is confirmed is relatively easy.But; For the welded tube unit that adopts row roller forming technology; Because the float roller of being installed on the frame is to do as a whole the adjustment; And its each row's roller Duan Junyou is 5 adjustment frees degree (translation of entry and exit width and height and around the rotation of roller beam) nearly, and the forming parameters that therefore will calculate respective row roller section according to the colored type design drawing of strip also just becomes very difficult.The research of confirming for the forming parameters of straight welded pipe roller shaping unit both at home and abroad at present is in blank basically; The welded tube manufacturing enterprise of the overwhelming majority adopts empirical method or trial and error procedure to obtain to arrange the forming parameters of roller section; It is not only wasted time and energy; Increase production cost, and the theoretical foundation of lack of scientific, be difficult to reach the quantification and the optimization of forming parameters.
Summary of the invention
The present invention is directed to the above-mentioned deficiency that prior art exists; A kind of process optimization method of straight welded pipe roller shaping unit is provided; Basically rely on experience and trial and error procedure to obtain this present situation of forming parameters of welded tube row roller forming unit to current welded tube manufacturing enterprise, have better theoretical foundation, shorten the new spec Products Development cycle simultaneously in order to make the row roller forming technological parameter; Reduce waste of raw materials, reduce the ERW production cost.Through this method can science, realize that the wounded in the battle type figure of slave plate forms the shape technological parameter to straight welded pipe roller forming machine and obtains accurately, fast and efficiently; Have reliability and practicality preferably, can directly be used for the production and the manufacturing of on-the-spot ERW by its forming parameters of confirming.
The present invention realizes through following technical scheme, the present invention includes following steps:
The first step is an initial point with row's roller roll centre, sets up first local coordinate system;
Described first local coordinate system, i.e. X 3Y 3Z 3Be meant: row's roll axis is X 3Axle, the Z of first local coordinate system 3Axle is consistent with global coordinate system Z-direction down, according to the cross section profile shape of row's roller, sets up corresponding cross section profile parametric equation, and establishing P is a bit (x that arranges on the running roller profile 3, y 3, z 3), at the initial point O of first local coordinate system 3, promptly arrange under the roller roll centre, according to the contour shape of float roller, the parametric equation of the row's of writing out running roller profile
Wherein: R pBe the profile radius of float roller, R is the footpath, the end of float roller.
Second step was an initial point to cross the roller beam cross section center of circle of arranging roll axis, set up second local coordinate system and constructed all initial static of arranging running roller profiles row roller curved surfaces.
Described second local coordinate system, i.e. X 2Y 2Z 2In X 2The axle with global coordinate system under X-direction consistent, Z 2Axle is consistent with global coordinate system Z-direction down, and according to arranging the arrange rule of roller crowd in the space, the acquisition direction that longitudinally is shaped is respectively arranged the first primary dip (S of roll axis in the space Wqs=0 o'clock), and then constructed all initial static of arranging running roller profiles row roller curved surfaces Then:
Wherein: P is at local coordinate system O 2Under coordinate be (x 2, y 2, z 2), the roll centre O of row's roller 3At local coordinate system X 2Y 2Z 2Under coordinate position do 2O 3=(x 32, y 32, z 32) T, work as S Wqs=0, roller beam parallel axes when the shaping direction, 2O 3The position then confirm in the rule of arranging in space according to row roller crowd:
Write formula (2) as homogeneous form, then can be constructed the homogeneous form of initial static row's roller curved surface of all row's running roller profiles:
x 2 y 2 z 2 1 = I O 3 2 0 T 1 R ( e 1 , α ) 0 0 T 1 I - O 3 2 0 T 1 x 3 + x 32 y 3 + y 32 z 3 + z 32 1 - - - ( 3 )
Wherein: α is the Spin Control parameter S Wqs=0 o'clock, the first primary dip value of row's roller section, e1=(0,0,1) T
In the 3rd step,, the mode that adopts inclination correction under second local coordinate system obtains the relevant row of forming parameters roller curved surface after revising initial static row roller curved surface.
Described inclination correction is meant: obtaining initial static row roller curved surface The basis on, according to the Spin Control parameter S WqsThe correction value θ at the row of calculating roller inclination angle z(S Wqs), at the second local coordinate system X 2Y 2Z 2Can obtain revised and forming parameters S through a rotation transformation down, WqsRelevant row's roller curved surface Homogeneous form:
x 2 z y 2 z z 2 z 1 = R ( e 2 , θ z ( S wqs ) ) 0 0 T 1 x 2 y 2 z 2 1 - - - ( 4 )
Wherein: e2=(0,0,1) T
The 4th step; Reference point with row's roller frame is an initial point; Be the cylinder boss axis of entrance side slide block and the intersection point of round hole axial, set up the 3rd local coordinate system, and be the row's roller curved surface under transition and conversion to the global coordinate system with the 3rd local coordinate system the relevant row of forming parameters roller curved surface;
Described the 3rd local coordinate system, i.e. X 1Y 1Z 1Middle X 1The axle with global coordinate system under X-direction consistent, Z 1Axle is consistent with Z-direction under the global coordinate system, and the parallel axes of roller beam is in strip be shaped longitudinally direction, i.e. X Iqs=X Oqs, Y Iqs=Y Oqs, promptly row's roller curved surface of this moment is only by S Wqs, X IqsAnd Y IqsThree forming parameters are confirmed, according to an O 2With O 1Between relative distance relation, utilize translation transformation, will arrange the roller curved surface earlier Convert at local coordinate system O 1Under curved surface Again according to an O 1And the relation of the relative distance between O is utilized translation transformation, once more with curved surface Convert the curved surface under the global coordinate system O to Curved surface Be under the global coordinate system, cross row's running roller profile and with 3 forming parameters S Wqs, X IqsAnd Y IqsRelevant curved surface.
Described is that transition and conversion is meant with the 3rd local coordinate system: the coordinate system X of portion sets a trap 2Y 2Z 2Initial point O 2At local coordinate system X 1Y 1Z 1Under coordinate be (x 21, y 21, z 21) T, the parallel axes of considering roller beam this moment is in the strip direction that is shaped longitudinally, according to an O 2With O 1Between relative distance relation, utilize translation transformation, with local coordinate system X 2Y 2Z 2Under row's roller curved surface Convert local coordinate system X to 1Y 1Z 1Under row's roller curved surface
Wherein: local coordinate system X 1Y 1Z 1Initial point O 1Coordinate under global coordinate system XYZ is (x 10, y 10, z 10) T, because initial point O 1For the parallel axes of reference point and the roller beam of row's roller frame in strip be shaped longitudinally direction, i.e. X Oqs=X Iqs, Y Oqs=Y IqsSo, initial point O 1Coordinate position only by S Wqs, X IqsAnd Y IqsThree forming parameters are confirmed, according to an O 1And the relation of the relative distance between an O is utilized translation transformation, once more with local coordinate system X 1Y 1Z 1Under row's roller curved surface Convert the row's roller curved surface under the global coordinate system XYZ to
The 5th step was rotated correction with the row's roller curved surface under the global coordinate system, obtained the forming parameters correlation surface;
Described forming parameters correlation surface is meant:
5.1) under global coordinate system O, if Y Iqs≠ Y Oqs, X Iqs=X Oqs, promptly mean curved surface Understood the reference point O that arranges roller frame 1Around X axle rotation θ x, θ xCan be by according to Y Iqs, Y OqsDifference and the spacing of chute calculate, therefore arrange the roller curved surface The reference point O of the row's of mistake roller frame 1Around X axle rotation θ xAfter curved surface Can try to achieve by the complex transformation of coordinate:
x zx y zx z zx 1 = I O 1 0 0 T 1 R ( e 3 , θ x ) 0 0 T 1 I - O 1 0 0 T 1 x z y z z z 1 - - - ( 7 )
Wherein: e3=(1,0,0) T, curved surface Under global coordinate system, cross row's running roller profile and with 4 forming parameters S Wqs, X Iqs, Y IqsAnd Y OqsRelevant curved surface;
5.2) at the row's of trying to achieve roller curved surface The basis on, consider under global coordinate system O Y Iqs≠ Y Oqs, and X Iqs≠ X Oqs, this means curved surface The further reference point O of the row's of walking around roller frame 1And direction cosines be (0, cos θ x, sin θ x) TStraight line rotation, the anglec of rotation is according to Y IqsAnd Y OqsBetween difference, X IqsAnd X OqsBetween difference and the distance of chute calculate, finally the complex transformation according to coordinate can get:
x zxy y zxy z zxy 1 = I O 1 0 0 T 1 R ( e 4 , α 2 ) 0 0 T 1 I - O 1 0 0 T 1 x zx y zx z zx 1 - - - ( 8 )
So far curved surface Be under the global coordinate system, cross row's running roller profile and with 5 forming parameters S Wqs, X Iqs, Y Iqs, Y OqsAnd X OqsRelevant dynamic row's roller curved surface.
The 6th step; Utilize flower type method for designing to calculate the colored type figure of strip under the differing formed position of row's roller section; Thereby obtain the shape of cross section of row's roller section entry and exit side plate band, combine geometrical constraint boundary condition and the 5th to go on foot the forming parameters correlation surface that obtains, promptly can be regarded as S Wqs, X IqsAnd Y IqsInitial parameter;
Described geometrical constraint boundary condition is meant:
(a) row's roller section porch strip edge end points D iWith certain 1 P on row's running roller profile iOverlap, and
(b) contact point P on the float running roller profile iBe consistent with the tangential direction of shaping pipe EDGE CONTACT end points, specific as follows:
Investigation under global coordinate system, cross row's running roller profile and with 3 forming parameters S Wqs, X IqsAnd Y IqsRelevant row's roller curved surface Equation, (a) can obtain by the geometrical constraint boundary condition:
X z(x iqs,y iqs,s wqs,θ i,z i)=X di,z i) (9)
Y z(x iqs,y iqs,s wqs,θ i,z i)=Y di,z i) (10)
Wherein: X zAnd Y zThe XY of contact point can be according to row's roller curved surface to coordinate figure on the row's of being running roller profile Equation try to achieve; X dAnd Y dCan calculate according to flower type method for designing;
(b) can obtain by the geometrical constraint boundary condition:
T pi(s wqs,x iqs,y iqs,θ i,z i)=T dii,z i) (11)
Wherein: T PiBe the tangent line direction vector at contact point place on row's running roller profile, can be according to row's roller curved surface Equation try to achieve; T DiBe the tangent line direction vector of strip flower type, can try to achieve according to flower type method for designing at the contact terminal place.
The 7th step; Construct, strip edge, porch end points along the width X under the global coordinate system and height Y direction to dynamic row's roller curved surface apart from functional ∏; After substitution initial parameter then and the process iteration of several times, calculate all forming parameters S that satisfy particular requirement apart from functional ∏ Wqs, X Iqs, Y Iqs, Y OqsAnd X Oqs, concrete steps are following:
7.1) try to achieve the Spin Control parameter S WqsAnd initial translation parameters X Iqs0, Y Iqs0The basis on, in order further to try to achieve the forming parameters X of final entrance and exit side height and width Iqs, Y Iqs, Y OqsAnd X Oqs, structure outlet and strip edge, porch end points D oAnd D iAlong width (X) and height (Y) direction to row's roller curved surface apart from functional:
I=∏(f i(x iqs,y iqs,x oqs,y oqs,s wqs,θ i,z i),f o(x iqs,y iqs,x oqs,y oqs,s wqs,θ o,z o))
=f i(x iqs,y iqs,x oqs,y oqs,s wqs,θ i,z i)+f o(x iqs,y iqs,x oqs,y oqs,s wqs,θ o,z o) (12)
Wherein:
f i ( x iqs , y iqs , x aqs , y aqs , s wqs , θ i z i ) = ( x zxy ( x iqs , y iqs , x aqs , y aqs , s wqs , θ i , z i ) - X di ) 2 ( y zxy ( x iqs , y iqs , x aqs , y aqs , s wqs , θ i , z i ) - Y di ) 2
f o ( x iqs , y iqs , x aqs , y aqs , s wqs , θ o z o ) = ( x zxy ( x iqs , y iqs , x aqs , y aqs , s wqs , θ o , z o ) - X do ) 2 ( y zxy ( x iqs , y iqs , x aqs , y aqs , s wqs , θ o , z o ) - Y do ) 2
7.2) the control parameter of initialization outlet side width and short transverse, get x Oqs0=x Iqs0, y Oqs0=y Iqs0With X Iqs, Y Iqs, X Oqs, Y OqsAnd S WqsSubstitution row roller curved surface Equation (8) formula obtain arranging roller curved surface entrance side contact point coordinate x Zxyi, y ZxyiWith outlet side contact point coordinate x Zxyo, y Zxyo, calculate row's roller section entrance side strip marginal end point coordinates X according to flower type method for designing then Di, Y DiAnd outlet side strip marginal end point coordinates X Do, Y Do, then by (12) formula computed range functional I value and correction step-length d Xi, d Yi, d XoAnd d YoWhether judging distance functional I value satisfies condition simultaneously, if satisfy, then exports current each forming parameters; If do not satisfy; Then according to revising current each forming parameters of step-length correction; And computed range functional I again, until satisfying stopping criterion for iteration apart from functional I value, pairing each forming parameters X when promptly can be regarded as to such an extent that dynamically arrange the meeting the demands of roller curved surface apart from functional ∏ Iqs, Y Iqs, X Oqs, Y OqsAnd S WqsValue.
In the solution procedure of described iteration, the corrected Calculation formula of outlet and each forming parameters of porch is:
x iqs=x iqs-dx i,y iqs=y iqs-dy i,x oqs=x oqs-dx o,y oqs=y oqs-dy o
According to the aforementioned calculation method, the initial forming parameters of substitution, through after the several times iteration, pairing each forming parameters S when promptly can be regarded as to such an extent that dynamically arrange the meeting the demands of roller curved surface apart from functional ∏ Wqs, X Iqs, Y Iqs, Y OqsAnd X OqsValue.
The 8th step, according to calculating determined forming parameters S Wqs, X Iqs, Y Iqs, Y OqsAnd X OqsValue, be used directly in that the float roller carries out the production and the manufacturing of ERW at the shaping position in space on production scene adjustment row's roller section shaping unit.
The present invention can be used for optimizing the forming parameters of straight welded pipe roller shaping unit; Realize that the row roller forming process parameters design is by " experience " leap to " theory "; Breaking external industry blocks and technical monopoly; Have that theoretical property is strong, accuracy good, reliability is high, efficient is high and characteristics such as practicality, the Theoretical Calculation of forming parameters when being specially adapted to develop new spec welded tube product.If when exploitation new spec welded tube; Relying on traditional trial and error procedure to come straight welded pipe roller shaping unit to complicacy to form technological parameter obtains; Often need carry out repetition test and adjustment (reaching month) to the forming parameters under each the row roller forming section on the production line, it is the labor valuable time not only, increases the construction cycle of new product; And waste a large amount of examination rolling sheets, improve the cost of new product development; Yet the forming parameters that realizes straight welded pipe roller shaping unit through the present invention is obtained; Not only design time is foreshortened to 1 hour with interior (the efficient raising reaches more than 700 times); And overcome traditional trial and error procedure in adjustment and the limitation during designing and arranging roller forming parameters; Both greatly shorten the design cycle, improved the reliability and the theoretical property of design again well.
Description of drawings
Fig. 1 straight welded pipe roller shaping unit sketch map;
Among the figure: 1. for pinch passage, 2. for the crimp passage, 3. for the preform section, 4. for the line shaped segment, 5. for smart shaped segment.
Fig. 2 arranges roller section frame sketch map;
Among the figure: 1 for being equipped with the roller beam of float roller; Be used for integrally-regulated all float rollers; Also can be under the driving of motor regulate the support of spatial arrangement angle, 2 for being connected of float roller with this with the roller beam around self axis rotation; Being used for related roller beam goes out; The motion of entrance side, the 3rd, row's roller section entrance side vertical slipper is responsible for the entrance side height, the 4th of control roll beam 1, row's roller section outlet side vertical slipper, the outlet side height, 5 of being responsible for control roll beam 1 be the guide post of entrance side slide block 3,6 for the guide post of outlet side slide block 4,7 be to arrange roller section entrance side transverse slider; The entrance side width, 8 of being responsible for control roll beam 1 is row's roller section outlet side transverse slider, is responsible for outlet side width, the 9 fixedly chutes for row's roller section entrance side, the 10 fixedly chutes for row's roller section outlet side of control roll beam 1.
Fig. 3 arranges the free degree adjustment sketch map of roller section.
Fig. 4 arranges the flow chart of roller section forming parameters design.
The sketch map of each coordinate system of Fig. 5.
Fig. 6 row roller forming position effects sketch map.
Fig. 7 geometrical constraint boundary condition sketch map.
The flow chart of Fig. 8 forming parameters iterative computation.
The passage place relative curvature integrated value that respectively is shaped under new forming parameters of Fig. 9 and the production scene forming parameters distributes and compares sketch map.
The shaping geometric representation of preform section strip under the forming parameters of Figure 10 production scene.
The roll off the production line shaping geometric representation of shaped segment strip of Figure 11 production scene forming parameters.
The shaping geometric representation of preform section strip under the new forming parameters of Figure 12.
The roll off the production line shaping geometric representation of shaped segment strip of the new forming parameters of Figure 13.
The specific embodiment
Elaborate in the face of embodiments of the invention down, present embodiment provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment being to implement under the prerequisite with technical scheme of the present invention.
Embodiment 1
As shown in Figure 2, be the frame mechanism abstract schematic of row's roller section.Consider that all float rollers are installed in above the roller beam, move with the roller beam, thus the row roller forming section all row rollers the adjusting free degree have 5, as shown in Figure 3: around the rotation (S of roller beam axis w), entrance side vertical height (Y i) and transverse width (X i) translation and outlet side vertical height (Y o) and the translation (X of transverse width o), its corresponding 5 forming parameters are respectively the Spin Control parameter S Wqs, entrance side height control parameter Y Iqs, entrance side width control parameter X Iqs, outlet side height control parameter Y OqsAnd outlet side width control parameter X Oqs
Datum mark O with row's roller unit is initial point (is positioned at and pinches passage), and the strip direction that vertically is shaped is the Z axle, and the transverse horizontal direction is the X axle, sets up global coordinate system XYZ.
As shown in Figure 4, present embodiment may further comprise the steps:
The first step is with row's roller roll centre O 3Be initial point, set up local coordinate system X 3Y 3Z 3, wherein arranging roll axis is X 3Axle, Z 3Axle is consistent with Z-direction under the global coordinate system, according to the cross section profile shape of arranging roller, sets up corresponding cross section profile parametric equation.As shown in Figure 5, establish P and be a bit (x on row's running roller profile 3, y 3, z 3), at local coordinate system O 3Down, according to the contour shape of float roller, the parametric equation of the row's of writing out running roller profile
Wherein: R pProfile radius for the float roller;
R is the footpath, the end of float roller.
Second step is to cross the roller beam cross section center of circle O that arranges roll axis 2Be initial point, set up local coordinate X 2Y 2Z 2, X wherein 2The axle with global coordinate system under X-direction consistent, Z 2Axle is consistent with global coordinate system Z-direction down, and according to arranging the arrange rule of roller crowd in the space, the acquisition direction that longitudinally is shaped is respectively arranged the first primary dip (S of roll axis in the space Wqs=0 o'clock), and then constructed all initial static of arranging running roller profiles row roller curved surfaces If P is at local coordinate system O 2Under coordinate be (x 2, y 2, z 2), then have:
The roll centre O of order row roller 3At local coordinate system O 2Under coordinate position do 2O 3=(x 32, y 32, z 32) T, work as S Wqs=0, roller beam parallel axes when the shaping direction, 2O 3The position can confirm in the rule of arranging in space according to row roller crowd.Write formula (2) as homogeneous form, then can be constructed the homogeneous form of initial static row's roller curved surface of all row's running roller profiles:
x 2 y 2 z 2 1 = I O 3 2 0 T 1 R ( e 1 , α ) 0 0 T 1 I - O 3 2 0 T 1 x 3 + x 32 y 3 + y 32 z 3 + z 32 1 - - - ( 3 )
Wherein: α is the Spin Control parameter S Wqs=0 o'clock, the first primary dip value of row's roller section;
e1=(0,0,1) T
The 3rd step is on the basis that obtains initial static row roller curved surface, further at local coordinate system X 2Y 2Z 2Down, according to the Spin Control parameter S WqsThe inclination angle value that the row's of calculating roll axis need be revised, the initial static row roller curved surface before revising then, thus obtain forming parameters S WqsRelevant row's roller curved surface Obtaining initial static row roller curved surface The basis on, according to the Spin Control parameter S WqsThe correction value θ at the row of calculating roller inclination angle z(S Wqs), at local coordinate system X 2Y 2Z 2Can obtain revised and forming parameters S through a rotation transformation down, WqsRelevant row's roller curved surface Homogeneous form:
x 2 z y 2 z z 2 z 1 = R ( e 2 , θ z ( S wqs ) ) 0 0 T 1 x 2 y 2 z 2 1 - - - ( 4 )
Wherein: e2=(0,0,1) T
The 4th step is with the reference point O of row's roller frame 1(the cylinder boss axis of entrance side the slide block 3 and intersection point of round hole axial) is initial point, sets up local coordinate system X 1Y 1Z 1, X wherein 1The axle with global coordinate system under X-direction consistent, Z 1Axle is consistent with Z-direction under the global coordinate system, when the parallel axes of roller beam (is X in the strip direction that is shaped longitudinally Iqs=X Oqs, Y Iqs=Y Oqs), promptly row's roller curved surface of this moment is only by S Wqs, X IqsAnd Y IqsThree forming parameters are confirmed, according to an O 2With O 1Between relative distance relation, utilize translation transformation, will arrange the roller curved surface earlier Convert at local coordinate system O 1Under curved surface Again according to an O 1And the relation of the relative distance between O is utilized translation transformation, once more with curved surface Convert the curved surface under the global coordinate system O to Curved surface Be under the global coordinate system, cross row's running roller profile and with 3 forming parameters S Wqs, X IqsAnd Y IqsRelevant curved surface.
The coordinate system X of portion sets a trap 2Y 2Z 2Initial point O 2At local coordinate system X 1Y 1Z 1Under coordinate be (x 21, y 21, z 21) T, the parallel axes of considering roller beam this moment is in the strip direction that is shaped longitudinally, according to an O 2With O 1Between relative distance relation, utilize translation transformation, with local coordinate system X 2Y 2Z 2Under row's roller curved surface Convert local coordinate system X to 1Y 1Z 1Under row's roller curved surface
The coordinate system X of portion sets a trap 1Y 1Z 1Initial point O 1Coordinate under global coordinate system XYZ is (x 10, y 10, z 10) T, because initial point O 1For the parallel axes of reference point and the roller beam of row's roller frame in the strip direction (X that is shaped longitudinally Oqs=X Iqs, Y Oqs=Y Iqs), so initial point O 1Coordinate position only by S Wqs, X IqsAnd Y IqsThree forming parameters are confirmed.According to an O 1And the relation of the relative distance between an O is utilized translation transformation, once more with local coordinate system X 1Y 1Z 1Under row's roller curved surface Convert the row's roller curved surface under the global coordinate system XYZ to
The 5th step is under global coordinate system O, if Y Iqs≠ Y Oqs, X Iqs=X Oqs, promptly mean curved surface Understood the reference point O that arranges roller frame 1Around X axle rotation θ x, θ xCan be by according to Y Iqs, Y OqsDifference and chute 9 and 10 spacing calculate, therefore arrange the roller curved surface The reference point O of the row's of mistake roller frame 1Around X axle rotation θ xAfter curved surface Can try to achieve by the complex transformation of coordinate:
x zx y zx z zx 1 = I O 1 0 0 T 1 R ( e 3 , θ x ) 0 0 T 1 I - O 1 0 0 T 1 x z y z z z 1 - - - ( 7 )
Wherein, e3=(1,0,0) T
Curved surface Under global coordinate system, cross row's running roller profile and with 4 forming parameters S Wqs, X Iqs, Y IqsAnd Y OqsRelevant curved surface.
The 6th step is at the row's of trying to achieve roller curved surface The basis on, consider under global coordinate system O Y Iqs≠ Y Oqs, and X Iqs≠ X Oqs, this means curved surface The further reference point O of the row's of walking around roller frame 1And direction cosines be (0, cos θ x, sin θ x) TStraight line rotate to an angle, this angle can be by according to Y IqsAnd Y OqsBetween difference, X IqsAnd X OqsBetween difference and chute 9 and 10 distance calculate, finally the complex transformation according to coordinate can get:
x zxy y zxy z zxy 1 = I O 1 0 0 T 1 R ( e 4 , α 2 ) 0 0 T 1 I - O 1 0 0 T 1 x zx y zx z zx 1 - - - ( 8 )
So far curved surface Be under the global coordinate system, cross row's running roller profile and with 5 forming parameters S Wqs, X Iqs, Y Iqs, Y OqsAnd X OqsRelevant dynamic row's roller curved surface.
In the 7th step, utilize flower type method for designing, the colored type figure of strip under the row of the calculating differing formed position of roller section, thereby the shape of cross section of the row's of acquisition roller section entry and exit side plate band;
The 8th step is according to row's roller curved surface Equation and the section expression of corresponding row's roller section entry and exit side plate band, in conjunction with the geometrical constraint boundary condition, promptly can be regarded as S Wqs, X IqsAnd Y IqsInitial parameter; Consider in the actual production of ERW; If the angle excessive (seeing Fig. 6 (a)) of float roll axis and shaping pipe EDGE CONTACT end points place tangent line; Usually can make the wedge angle limit of strip limit portion directly contact with the forming rolls surface; This local stress that will cause contact area too concentrate and the strip edge deformation excessive, thereby produce forming defectses such as limit wave and bulge.In order to guarantee welded tube production process strip edge shaping quality of stability, when forming the technological parameter adjustment, should reduce the angle of row's roll axis and shaping pipe EDGE CONTACT end points place tangent line, shown in Fig. 6 (b) as far as possible.Based on above-mentioned analysis, as shown in Figure 7, the following geometrical constraint boundary condition of confirming initial forming parameters is proposed:
(a) row's roller section porch strip edge end points D iWith certain 1 P on row's running roller profile iOverlap;
(b) contact point P on the float running roller profile iBe consistent with the tangential direction of shaping pipe EDGE CONTACT end points.
Investigation under global coordinate system, cross row's running roller profile and with 3 forming parameters S Wqs, X IqsAnd Y IqsRelevant row's roller curved surface Equation, (a) can obtain by the geometrical constraint boundary condition:
X z(x iqs,y iqs,s wqs,θ i,z i)=X di,z i) (9)
Y z(x iqs,y iqs,s wqs,θ i,z i)=Y di,z i) (10)
Wherein: X zAnd Y zThe XY of contact point can be according to row's roller curved surface to coordinate figure on the row's of being running roller profile Equation try to achieve; X dAnd Y dCan calculate according to flower type method for designing.
(b) can obtain by the geometrical constraint boundary condition:
T pi(s wqs,x iqs,y iqs,θ i,z i)=T dii,z i) (11)
Wherein: T PiBe the tangent line direction vector at contact point place on row's running roller profile, can be according to row's roller curved surface Equation try to achieve; T DiBe the tangent line direction vector of strip flower type, can try to achieve according to flower type method for designing at the contact terminal place.
The Spin Control parameter S can be tried to achieve in simultaneous formula (9), (10) and (11) WqsAnd initial translation parameters X Iqs0, Y Iqs0
The 9th step; Construct, strip edge, porch end points along width (X) and height (Y) direction to dynamic row's roller curved surface apart from functional ∏; Substitution initial parameter then through after the iteration of several times, can calculate all forming parameters S that satisfy particular requirement apart from functional ∏ Wqs, X Iqs, Y Iqs, Y OqsAnd X Oqs
Try to achieve the Spin Control parameter S WqsAnd initial translation parameters X Iqs0, Y Iqs0The basis on, in order further to try to achieve the forming parameters X of final entrance and exit side height and width Iqs, Y Iqs, Y OqsAnd X Oqs, structure outlet and strip edge, porch end points D oAnd D iAlong width (X) and height (Y) direction to row's roller curved surface apart from functional:
I=∏(f i(x iqs,y iqs,x oqs,y oqs,s wqs,θ i,z i),f o(x iqs,y iqs,x oqs,y oqs,s wqs,θ o,z o))
=f i(x iqs,y iqs,x oqs,y oqs,s wqs,θ i,z i)+f o(x iqs,y iqs,x oqs,y oqs,s wqs,θ o,z o) (12)
Wherein
f i ( x iqs , y iqs , x aqs , y aqs , s wqs , θ i z i ) = ( x zxy ( x iqs , y iqs , x aqs , y aqs , s wqs , θ i , z i ) - X di ) 2 ( y zxy ( x iqs , y iqs , x aqs , y aqs , s wqs , θ i , z i ) - Y di ) 2
f o ( x iqs , y iqs , x aqs , y aqs , s wqs , θ o z o ) = ( x zxy ( x iqs , y iqs , x aqs , y aqs , s wqs , θ o , z o ) - X do ) 2 ( y zxy ( x iqs , y iqs , x aqs , y aqs , s wqs , θ o , z o ) - Y do ) 2
Normally,, all can obtain value, when apart from functional I during, can think the forming parameters X that it is corresponding less than certain value according to (12) formula apart from functional I to different forming parameters Iqs, Y Iqs, X Oqs, Y OqsAnd S WqsBe the forming parameters that finally designs.
Consider apart from functional I to be the nonlinear equation of multi-parameter; The forming parameters of correspondence when utilizing general method to be difficult to obtain apart from functional I minimalization; In order to obtain to have the parameter of practical value more quickly and accurately, as shown in Figure 8 according to the iterative method that the control characteristic of each forming parameters proposes.
The control parameter of initialization outlet side width and short transverse is got x Oqs0=x Iqs0
y oqs0=yi qs0
With X Iqs, Y Iqs, X Oqs, Y OqsAnd S WqsSubstitution row roller curved surface Equation (8) formula obtain arranging roller curved surface entrance side contact point coordinate x Zxyi, y ZxyiWith outlet side contact point coordinate x Zxyo, y Zxyo, calculate row's roller section entrance side strip marginal end point coordinates X according to flower type method for designing then Di, Y DiAnd outlet side strip marginal end point coordinates X Do, Y Do, then by (12) formula computed range functional I value and correction step-length d Xi, d Yi, d XoAnd d YoWhether judging distance functional I value satisfies condition simultaneously, if satisfy, then exports current each forming parameters; If do not satisfy, then according to revising current each forming parameters of step-length correction, and computed range functional I again, until satisfying stopping criterion for iteration apart from functional I value.
In the iterative process, the corrected Calculation formula of outlet and each forming parameters of porch is following:
x iqs=x iqs-dx i
y iqs=y iqs-dy i
x oqs=x oqs-dx o
y oqs=y oqs-dy o
According to the aforementioned calculation method, the initial forming parameters of substitution φ 244.5mm unit, through after the iteration of several times, pairing each forming parameters X when promptly can be regarded as to such an extent that dynamically arrange the meeting the demands of roller curved surface apart from functional ∏ Iqs, Y Iqs, X Oqs, Y OqsAnd S WqsValue, listed like table 1.The forming parameters such as the table 2 of straight welded pipe roller forming technology produced on-site φ 244.5mm welded tube are listed.
Row's roller section forming parameters (φ 244.5mm unit) that table 1 is new
The preform section Line is shaped and arranges first section on roller Line is shaped and arranges second section on roller Line is shaped and arranges the 3rd section on roller
X iqs/mm 1372.44 3062.44 2963.93 2877.83
X oqs/mm 1273.55 3016.59 2911.37 2827.36
Y iqs/mm 273.12 221.53 168.61 153.09
Y oqs/mm 390.00 206.81 223.62 207.19
S wqs/ degree -2.95 79.01 62.82 47.53
Table 2 production scene row's roller section forming parameters (φ 244.5mm unit)
The preform section Line is shaped and arranges first section on roller Line is shaped and arranges second section on roller Line is shaped and arranges the 3rd section on roller
X iqs/mm 1304.5 3103.4 2990.3 2914.7
X oqs/mm 1227.0 3038.4 2945.2 2824.7
Y iqs/mm 363.0 206.9 148.4 151.8
Y oqs/mm 406.9 160.35 200.9 190.9
S wqs/ degree 5.7 87.6 66.0 50.2
The passage place relative curvature integrated value that respectively is shaped under row's roller section forming parameters of new row's roller section forming parameters and production scene distributes more as shown in Figure 9.Can be known that by Fig. 9 with respect to the forming parameters of production scene, the crystallized ability of preform section row roller brings up to 0.498 by 0.332 under the new forming parameters, amplification reaches 50.2%; The roll off the production line crystallized ability of shaped segment row roller of new forming parameters also brings up to 0.712 by 0.505, and amplification reaches 41.1%; This shows that the crystallized ability of φ 244.5mm welded tube row roller forming unit is greatly improved under new forming parameters.
How much of the shapings of preform section and line shaped segment strip are respectively like Figure 10-shown in Figure 13 under row's roller section forming parameters of production scene and the new row's roller section forming parameters.Can find through contrast with respect to the forming parameters of production scene, no matter new forming parameters is that the shaping at strip edge is all more stable in preform row's roller section or online shaping row roller section, its lateral cross section degree of crook is also more abundant.

Claims (10)

1. the process optimization method of a straight welded pipe roller shaping unit may further comprise the steps:
The first step is an initial point with row's roller roll centre, sets up first local coordinate system;
Second step was an initial point to cross the roller beam cross section center of circle of arranging roll axis, set up second local coordinate system and constructed all initial static of arranging running roller profiles row roller curved surfaces;
In the 3rd step,, the mode that adopts inclination correction under second local coordinate system obtains the relevant row of forming parameters roller curved surface after revising initial static row roller curved surface;
The 4th step; Reference point with row's roller frame is an initial point; Be the cylinder boss axis of entrance side slide block and the intersection point of round hole axial, set up the 3rd local coordinate system, and be the row's roller curved surface under transition and conversion to the global coordinate system with the 3rd local coordinate system the relevant row of forming parameters roller curved surface;
The 5th step was rotated correction with the row's roller curved surface under the global coordinate system, obtained the forming parameters correlation surface;
The 6th step; Utilize flower type method for designing to calculate the colored type figure of strip under the differing formed position of row's roller section; Thereby obtain the shape of cross section of row's roller section entry and exit side plate band, combine geometrical constraint boundary condition and the 5th to go on foot the forming parameters correlation surface that obtains, promptly can be regarded as S Wqs, X IqsAnd Y IqsInitial parameter;
The 7th step; Construct, strip edge, porch end points along the width X under the global coordinate system and height Y direction to dynamic row's roller curved surface apart from functional ∏; After substitution initial parameter then and the process iteration of several times, calculate all forming parameters S that satisfy particular requirement apart from functional ∏ Wqs, X Iqs, Y Iqs, Y OqsAnd X Oqs
The 8th step, according to calculating determined each forming parameters S Wqs, X Iqs, Y Iqs, Y OqsAnd X OqsValue, be used directly in that the float roller carries out the production and the manufacturing of ERW at the shaping position in space on production scene adjustment row's roller section shaping unit.
2. method according to claim 1 is characterized in that, described first local coordinate system, i.e. X 3Y 3Z 3Be meant: row's roll axis is X 3Axle, the Z of first local coordinate system 3Axle is consistent with global coordinate system Z-direction down, according to the cross section profile shape of row's roller, sets up corresponding cross section profile parametric equation, and establishing P is a bit (x that arranges on the running roller profile 3, y 3, z 3), at the initial point O of first local coordinate system 3, promptly arrange under the roller roll centre, according to the contour shape of float roller, the parametric equation of the row's of writing out running roller profile
Wherein: R pBe the profile radius of float roller, R is the footpath, the end of float roller.
3. method according to claim 1 is characterized in that, described second local coordinate system, i.e. X 2Y 2Z 2In X 2The axle with global coordinate system under X-direction consistent, Z 2Axle is consistent with global coordinate system Z-direction down, and according to arranging the arrange rule of roller crowd in the space, the acquisition direction that longitudinally is shaped is respectively arranged the first primary dip (S of roll axis in the space Wqs=0 o'clock), and then constructed all initial static of arranging running roller profiles row roller curved surfaces Then:
Wherein: P is at local coordinate system O 2Under coordinate be (x 2, y 2, z 2), the roll centre O of row's roller 3At local coordinate system X 2Y 2Z 2Under coordinate position do 2O 3=(x 32, y 32, z 32) T, work as S Wqs=0, roller beam parallel axes when the shaping direction, 2O 3The position then confirm in the rule of arranging in space according to row roller crowd:
Write formula (2) as homogeneous form, then can be constructed the homogeneous form of initial static row's roller curved surface of all row's running roller profiles:
x 2 y 2 z 2 1 = I O 3 2 0 T 1 R ( e 1 , α ) 0 0 T 1 I - O 3 2 0 T 1 x 3 + x 32 y 3 + y 32 z 3 + z 32 1 - - - ( 3 )
Wherein: α is the Spin Control parameter S Wqs=0 o'clock, the first primary dip value of row's roller section, e1=(0,0,1) T
4. method according to claim 1 is characterized in that, described inclination correction is meant: obtaining initial static row roller curved surface The basis on, according to the Spin Control parameter S WqsThe correction value θ at the row of calculating roller inclination angle z(S Wqs), at the second local coordinate system X 2Y 2Z 2Can obtain revised and forming parameters S through a rotation transformation down, WqsRelevant row's roller curved surface Homogeneous form:
x 2 z y 2 z z 2 z 1 = R ( e 2 , θ z ( S wqs ) ) 0 0 T 1 x 2 y 2 z 2 1 - - - ( 4 )
Wherein: e2=(0,0,1) T
5. method according to claim 1 is characterized in that, described the 3rd local coordinate system, i.e. X 1Y 1Z 1Middle X 1The axle with global coordinate system under X-direction consistent, Z 1Axle is consistent with Z-direction under the global coordinate system, and the parallel axes of roller beam is in strip be shaped longitudinally direction, i.e. X Iqs=X Oqs, Y Iqs=Y Oqs, promptly row's roller curved surface of this moment is only by S Wqs, X IqsAnd Y IqsThree forming parameters are confirmed, according to an O 2With O 1Between relative distance relation, utilize translation transformation, will arrange the roller curved surface earlier Convert at local coordinate system O 1Under curved surface Again according to an O 1And the relation of the relative distance between O is utilized translation transformation, once more with curved surface Convert the curved surface under the global coordinate system O to Curved surface Be under the global coordinate system, cross row's running roller profile and with 3 forming parameters S Wqs, X IqsAnd Y IqsRelevant curved surface.
6. method according to claim 1 is characterized in that, described is that transition and conversion is meant with the 3rd local coordinate system: the coordinate system X of portion sets a trap 2Y 2Z 2Initial point O 2At local coordinate system X 1Y 1Z 1Under coordinate be (x 21, y 21, z 21) T, the parallel axes of considering roller beam this moment is in the strip direction that is shaped longitudinally, according to an O 2With O 1Between relative distance relation, utilize translation transformation, with local coordinate system X 2Y 2Z 2Under row's roller curved surface Convert local coordinate system X to 1Y 1Z 1Under row's roller curved surface
Wherein: local coordinate system X 1Y 1Z 1Initial point O 1Coordinate under global coordinate system XYZ is (x 10, y 10, z 10) T, because initial point O 1For the parallel axes of reference point and the roller beam of row's roller frame in strip be shaped longitudinally direction, i.e. X Oqs=X Iqs, Y Oqs=Y IqsSo, initial point O 1Coordinate position only by S Wqs, X IqsAnd Y IqsThree forming parameters are confirmed, according to an O 1And the relation of the relative distance between an O is utilized translation transformation, once more with local coordinate system X 1Y 1Z 1Under row's roller curved surface Convert the row's roller curved surface under the global coordinate system XYZ to
7. method according to claim 1 is characterized in that, described forming parameters correlation surface is meant:
7.1) under global coordinate system O, if Y Iqs≠ Y Oqs, X Iqs=X Oqs, promptly mean curved surface Understood the reference point O that arranges roller frame 1Around X axle rotation θ x, θ xCan be by according to Y Iqs, Y OqsDifference and the spacing of chute calculate, therefore arrange the roller curved surface The reference point O of the row's of mistake roller frame 1Around X axle rotation θ xAfter curved surface Can try to achieve by the complex transformation of coordinate:
x zx y zx z zx 1 = I O 1 0 0 T 1 R ( e 3 , θ x ) 0 0 T 1 I - O 1 0 0 T 1 x z y z z z 1 - - - ( 7 )
Wherein: e3=(1,0,0) T, curved surface Under global coordinate system, cross row's running roller profile and with 4 forming parameters S Wqs, X Iqs, Y IqsAnd Y OqsRelevant curved surface;
7.2) at the row's of trying to achieve roller curved surface The basis on, consider under global coordinate system O Y Iqs≠ Y Oqs, and X Iqs≠ X Oqs, this means curved surface The further reference point O of the row's of walking around roller frame 1And direction cosines be (0, cos θ x, sin θ x) TStraight line rotation, the anglec of rotation is according to Y IqsAnd Y OqsBetween difference, X IqsAnd X OqsBetween difference and the distance of chute calculate, finally the complex transformation according to coordinate can get:
x zxy y zxy z zxy 1 = I O 1 0 0 T 1 R ( e 4 , α 2 ) 0 0 T 1 I - O 1 0 0 T 1 x zx y zx z zx 1 - - - ( 8 )
So far curved surface Be under the global coordinate system, cross row's running roller profile and with 5 forming parameters S Wqs, X Iqs, Y Iqs, Y OqsAnd X OqsRelevant dynamic row's roller curved surface.
8. method according to claim 1 is characterized in that, described geometrical constraint boundary condition is meant:
(a) row's roller section porch strip edge end points D iWith certain 1 P on row's running roller profile iOverlap, and
(b) contact point P on the float running roller profile iBe consistent with the tangential direction of shaping pipe EDGE CONTACT end points, specific as follows:
Investigation under global coordinate system, cross row's running roller profile and with 3 forming parameters S Wqs, X IqsAnd Y IqsRelevant row's roller curved surface Equation, (a) can obtain by the geometrical constraint boundary condition:
X z(x iqs,y iqs,s wqs,θ i,z i)=X di,z i) (9)
Y z(x iqs,y iqs,s wqs,θ i,z i)=Y di,z i) (10)
Wherein: X zAnd Y zThe XY of contact point can be according to row's roller curved surface to coordinate figure on the row's of being running roller profile Equation try to achieve; X dAnd Y dCan calculate according to flower type method for designing;
(b) can obtain by the geometrical constraint boundary condition:
T pi(s wqs,x iqs,y iqs,θ i,z i)=T dii,z i) (11)
Wherein: T PiBe the tangent line direction vector at contact point place on row's running roller profile, can be according to row's roller curved surface Equation try to achieve; T DiBe the tangent line direction vector of strip flower type, can try to achieve according to flower type method for designing at the contact terminal place.
9. method according to claim 1 is characterized in that, described the 7th step concrete steps are following:
9.1) try to achieve the Spin Control parameter S WqsAnd initial translation parameters X Iqs0, Y Iqs0The basis on, in order further to try to achieve the forming parameters X of final entrance and exit side height and width Iqs, Y Iqs, Y OqsAnd X Oqs, structure outlet and strip edge, porch end points D oAnd D iAlong width (X) and height (Y) direction to row's roller curved surface apart from functional:
I=∏(f i(x iqs,y iqs,x oqs,y oqs,s wqs,θ i,z i),f o(x iqs,y iqs,x oqs,y oqs,s wqs,θ o,z o))
=f i(x iqs,y iqs,x oqs,y oqs,s wqs,θ i,z i)+f o(x iqs,y iqs,x oqs,y oqs,s wqs,θ o,z o) (12)
Wherein:
f i ( x iqs , y iqs , x aqs , y aqs , s wqs , θ i z i ) = ( x zxy ( x iqs , y iqs , x aqs , y aqs , s wqs , θ i , z i ) - X di ) 2 ( y zxy ( x iqs , y iqs , x aqs , y aqs , s wqs , θ i , z i ) - Y di ) 2
f o ( x iqs , y iqs , x aqs , y aqs , s wqs , θ o z o ) = ( x zxy ( x iqs , y iqs , x aqs , y aqs , s wqs , θ o , z o ) - X do ) 2 ( y zxy ( x iqs , y iqs , x aqs , y aqs , s wqs , θ o , z o ) - Y do ) 2
9.2) the control parameter of initialization outlet side width and short transverse, get x Oqs0=x Iqs0, y Oqs0=y Iqs0With X Iqs, Y Iqs, X Oqs, Y OqsAnd S WqsSubstitution row roller curved surface Equation (8) formula obtain arranging roller curved surface entrance side contact point coordinate x Zxyi, y ZxyiWith outlet side contact point coordinate x Zxyo, y Zxyo, calculate row's roller section entrance side strip marginal end point coordinates X according to flower type method for designing then Di, Y DiAnd outlet side strip marginal end point coordinates X Do, Y Do, then by (12) formula computed range functional I value and correction step-length d Xi, d Yi, d XoAnd d YoWhether judging distance functional I value satisfies condition simultaneously, if satisfy, then exports current each forming parameters; If do not satisfy; Then according to revising current each forming parameters of step-length correction; And computed range functional I again, until satisfying stopping criterion for iteration apart from functional I value, pairing each forming parameters X when promptly can be regarded as to such an extent that dynamically arrange the meeting the demands of roller curved surface apart from functional ∏ Iqs, Y Iqs, X Oqs, Y OqsAnd S WqsValue.
10. method according to claim 9 is characterized in that, in the solution procedure of described iteration, the corrected Calculation formula of outlet and each forming parameters of porch is: x Iqs=x Iqs-dx i, y Iqs=y Iqs-dy i, x Oqs=x Oqs-dx o, y Oqs=y Oqs-dy o
CN 201110318153 2011-10-19 2011-10-19 Technique optimization method of cage roll forming machine set of longitudinal welded pipe Expired - Fee Related CN102500640B (en)

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CN105246607A (en) * 2013-05-20 2016-01-13 杰富意钢铁株式会社 Offset correction control device and offset correction control method for continuous tack welding device
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