CN107363668B - The measurement and processing method of thin-wall barrel weld seam - Google Patents
The measurement and processing method of thin-wall barrel weld seam Download PDFInfo
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- CN107363668B CN107363668B CN201710359075.2A CN201710359075A CN107363668B CN 107363668 B CN107363668 B CN 107363668B CN 201710359075 A CN201710359075 A CN 201710359075A CN 107363668 B CN107363668 B CN 107363668B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention discloses the measurements and processing method of a kind of thin-wall barrel weld seam, with following steps: finding the right boundary for determining weld seam；Weld profile is measured by the right boundary of weld seam, obtains the basic parameter of weld profile, the right boundary parameter of weld seam, the basic polar diameter parameter of weld seam matrix and weld seam extreme higher position point；Grinding wheel current radius is determined to knife with weld seam extreme higher position point；Grinding correction process is carried out to weld seam elementary contour and obtains weld seam residual altitude parameter；According to the basic parameter of weld profile, the basic polar diameter parameter of weld seam matrix, the right boundary parameter and weld seam residual altitude parameter of weld seam generate machining code, are processing starting point with weld seam extreme higher position point, it is controlled by machining code, that realizes weld seam determines height grinding.The present invention can measure complex-shaped weld seam, and process on the basis of the measurement to weld seam, realize measurement process integration.
Description
Technical field
The present invention relates to the measurement of thin-wall barrel weld seam and processing methods, belong to measurement process integration technical research neck
Domain.
Background technique
Thin-walled tube kind part with many merits such as compact-sized, light weight, specific strength height due to being widely used in
The key areas such as Aeronautics and Astronautics, petroleum, wherein the biggish thin-walled tube kind part of draw ratio is because different parts are with different structures
Or because length is too long, it is difficult to which one-pass molding, in process, often segmental machining, finally takes the side of welding to such cylinder part
Formula is combined, and the welding method generallyd use is vacuum electron beam welding or argon arc welding, from outside to thin-wall barrel
It is welded, the weld seam of certain altitude will be generated inside cylinder part, and the weld shape that welding obtains is generally irregular, in addition,
When due to thin-wall barrel docking, the axis of two sections of left and right often has certain error of centralization, this results in internal weld seams away from left and right
The height of two sides matrix is inconsistent, in addition, a large amount of heat that welding process generates makes welding region due to the thin-walled feature of cylinder part
Have occurred severely deformed, that is, the thin-wall barrel after welding no longer has been the cylindrical shape of standard in circumferencial direction.
Cylinder part described above requirement such as to be reached, it is necessary to weld seam is machined to certain altitude, but again in processing
Two sides matrix cannot be injured, therefore just needs to control the height of weld seam.And existing processing method mostly uses and adds manually
Work method lacks measurement to weld seam before processing, and when processing, the amount of feeding is manually controlled by worker, machining accuracy and effect
Rate is all difficult to meet production requirement, and the labor intensity of worker is high.Therefore it is processed as one there is an urgent need to a kind of collection measurement
Technology solves this problem.The present invention is based on this statuses, and processing is established in the base accurately measured cylinder part weld profile
On plinth, under the conditions of clamped one time, the measurement and processing of weld seam can be completed.
Summary of the invention
According to technical problem set forth above, and provide the measurement and processing method of a kind of thin-wall barrel weld seam.The present invention
The technological means of use is as follows:
A kind of measurement and processing method of thin-wall barrel weld seam have following steps:
S1, the right boundary for determining weld seam is found；
S2, weld profile is measured by the right boundary of weld seam, obtains the basic parameter of weld profile, a left side for weld seam
Right margin parameter, the basic polar diameter parameter of weld seam matrix and weld seam extreme higher position point；
S3, grinding wheel current radius is determined to knife with weld seam extreme higher position point；
S4, to weld seam elementary contour carry out grinding correction process obtain weld seam residual altitude parameter；
S5, the basic parameter according to weld profile, the basic polar diameter parameter of weld seam matrix, the right boundary parameter of weld seam and weldering
It stitches residual altitude parameter and generates machining code, be processing starting point with weld seam extreme higher position point, controlled by machining code, realized
Weld seam determines height grinding.
The step S1 the following steps are included:
If thin-wall barrel be axially Z-direction, thin-wall barrel be circumferentially C to, thin-wall barrel horizontal radial be X to lathe can edge
X, Z axis is mobile, and thin-wall barrel is able to achieve the rotation of C axis, and is able to achieve the linkage in tri- directions X, Z, C, measures weld seam manually
Physical location, and the scanning range L of weld seam is provided, N bus is selected for thin-wall barrel circumference, when measurement starts, thin-wall barrel
Successively go to When at position, laser position
Displacement sensor moves in given scanning range along Z-direction, and the acquisition of data is carried out according to sampling interval λ；
?At position, industrial personal computer handles to determine weld seam the data of acquisition
Right boundary, data processing method are as follows: the right boundary in order to determine weld seam, set data mutation threshold value as f1, for m
(1≤m≤N) bus, the data point position acquired in scanning range are successively denoted as Z from left to rightm1、Zm2、Zm3…Zmt…Thin-wall barrel axial position takes positive value, measures result and is successively denoted as Xm1、Xm2、Xm3…Xmt…WhenWhen, i.e. judgement ZmtFor the profile point of weld seam, wherein left border point Zmtl=Min (Zmt), right edge
Boundary point Zmtr=Max (Zmt)；
After carrying out above-mentioned processing to N bus, it is rounded the left border point Z of a weld seaml=Min (Z1tl,Z2tl…Zmtl…
ZNtl), it is rounded the right side boundary point Z of a weld seamr=Max (Z1tr,Z2tr…Zmtr…ZNtr)。
The step S2 the following steps are included:
The axial position for providing section of weld joint to be measured is divided, division methods are as follows:
With [Zl, Zr] it is to wait by stages, section is divided into b parts, then measurement position is denoted as Z respectively1、Z2、Z3…Zn…Zb、
Z(b+1), wherein Z1For Zl, Z(b+1)For Zr, 1≤n≤(b+1), total (b+1) a measurement position；
Laser displacement sensor is respectively in Z1、Z2、Z3…Zn…Zb、Z(b+1)Weld profile is measured, laser displacement is worked as
Sensor is parked in ZnWhen at position, thin-wall barrel uniform rotation, laser displacement sensor carries out angularly data and acquires, 360 ° of circles
In week, sampling number is S, the sampling interval isSampling angle position is denoted as C respectively1、C2…Ck…CS(1≤k≤S), acquisition
As a result it is denoted as Xn1、Xn2…Xnk…XnS(1≤k≤S), collection result are to be measured point relative to the thin-wall barrel centre of gyration
Absolute value, after acquisition, industrial personal computer handles data, and treatment process is as follows:
Take the polar diameter of the minimum values of all collection results of the same angle position weld seam of angular position thus, such as CKAngle
The polar diameter of weld seam at degree position is denoted as Xk=Min (X1k、X2k…Xnk…X(b+1)k), weld seam left border polar diameter is denoted as X1k, right
Lateral boundaries polar diameter is denoted as X(b+1)k；
After processing, the basic parameter P of weld profile is obtainedk(Ck,Xk) (k=1,2,3 ... S), take all angular positions
The minimum value of weld seam polar diameter is weld seam extreme higher position point, is denoted as Xh=Min (Xk) (k=1,2,3 ... S), corresponding angle
Position is denoted as Ch, weld seam right boundary parameter is denoted as L respectivelyk(Ck,X1k) (k=1,2,3 ... S), Rk(Ck,X(b+1)k) (k=1,2,
3 ... S), the polar diameter at more same angular position right boundary is minimized, is denoted as X0k=Min (X1k,X(b+1)k), X0kFor
The basic polar diameter of weld seam matrix of the angular position, the basic polar diameter parameter of weld seam matrix are denoted as Mk(Ck,X0k) (k=1,2,3 ...
S)。
The step S3 the following steps are included:
Thin-wall barrel rotation is controlled, makes the thin-wall barrel centre of gyration, grinding wheel center, weld seam extreme higher position point are in same level
On line, control grinding wheel is moved in the horizontal direction, and makes grinding wheel in rotation close to weld seam extreme higher position point, when touching weld seam highest
When location point, at this time according to grinding wheel position in the horizontal direction and XhGrinding wheel radius r can be calculated.
The step S4 the following steps are included:
Weld seam residual altitude is set as h, with the basic polar diameter parameter M of weld seam matrixk(Ck,X0k) and h based on, and not hurt
And thin-wall barrel matrix is that principle is corrected grinding feed, determines all angles position according to the grinding feed after correction
Set the residual altitude at placeIt is as follows to the method for the grinding feed correction at all angles position:
It is ground CkWhen the weld seam of angular position, grinding wheel center O2, thin-wall barrel centre of gyration O1With CkAngle position is corresponding
Weld seam grinding position A on the same line, relative to weld seam matrix be ground feed O1O2=X0k- h-r is, it is specified that may hurt
And the region of thin-wall barrel matrix is opposite Ck- 90 ° of the angle position~90 ° band of position, to remove C in the regionkOutside angle position
The corresponding weld profile point in all angle positions is reference pair CkThe grinding feed of the corresponding weld profile point in angle position into
Row correction process, correction process process are as follows:
C is removed in the regionkThe certain point in the corresponding weld profile point in all angle positions is B, B, O outside2And O1Constitute three
It is angular, for angle position corresponding to B, if the corresponding basic polar diameter of weld seam matrix in the angle position is XB, grinding wheel is at the angle
When degree position is just ground to thin-wall barrel matrix, grinding feed is XB- r, at this time by grinding wheel and thin-wall barrel matrix
Contact point and O1Distance be denoted as a, a=XB, as wheel grinding position A, it is calculated according to the cosine law, at this time corresponding to B
Angle position corresponding to point on grinding wheel be denoted as C, C and O1Distance beWherein, θ O1O2With O1Angle between C, if a0≤, then Ck
The grinding feed of the corresponding weld seam grinding position A in angle position is not required to correct, if a0> a then should correct C with a, r, θkAngle
The grinding feed of the corresponding weld seam grinding position A in position enablesGrinding feed after correction isWherein, O2 *For grinding wheel center after correction, at this time CkAngle position is corresponding
Weld seam grinding position A residual altitudeIt is corrected, residual altitudeSchool one by one
Just to get weld seam residual altitude parameterData processing described above is completed by industrial personal computer and by data communication
It is transferred to digital control system.
The step S5 the following steps are included:
According to the basic parameter P of weld profilek(Ck,Xk) (k=1,2,3 ... S), the basic polar diameter parameter M of weld seam matrixk(Ck,
X0k), the right boundary parameter L of weld seamk(Ck,X1k) (k=1,2,3 ... S), Rk(Ck,X(b+1)k) (k=1,2,3 ... S) and weld seam be surplus
Remaining height parameterMachining code is generated, machining code controls X, Z, C three-shaft linkage, and specific process is such as
Under:
With angle position C corresponding to the point of weld seam extreme higher positionhTo process starting point, thin-wall barrel rotation, from an angle
Degree position turns to next angle position, X to the amount of feeding according to the total feed amount and grinding method at all angles position
It is fed, while being directed to the weld seam of same angular position, Z-direction is fed into another lateral boundaries from weld seam side boundary, goes to
When next angle position, then it is fed into from another lateral boundaries the beginning boundary of previous angle position；Wherein, X to the amount of feeding
And initial position determines in the following manner:
For CkThe weld seam of angular position, total feed amountLeft side
The initial position on boundary isThe initial position of right side boundary is Its
In, machining code is generated by digital control system and is controlled by it the movement of each axis.
The beneficial effects of the present invention are: can be measured to complex-shaped weld seam, and butt welding on the basis of the measurement
Seam is processed, and can be corrected processing to grinding feed for non-standard cylindrical part, to avoid weld metal zone is injured
Matrix except domain can be realized measurement process integration, the especially weld seam of thin-wall barrel inner wall depths using traditional
Processing method large labor intensity, processing consistency are poor, and processing quality and efficiency are all in urgent need to be improved, thin-walled according to the present invention
The measurement of cylinder part weld seam and processing method can be well solved these problems.
The present invention can be widely popularized in fields such as measurement process integration technical research based on the above reasons.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to do one simply to introduce, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is thin-wall barrel weld measurement schematic diagram of the process in a specific embodiment of the invention.
Fig. 2 is thin-wall barrel internal weld seams schematic diagram in a specific embodiment of the invention.
Fig. 3 is that thin-wall barrel is circumferentially determining bus position before finding position while welding in a specific embodiment of the invention
Schematic diagram (being illustrated as 6 buses).
Fig. 4 is the to be measured of section of weld joint circumferential direction of the thin-wall barrel when measuring in a specific embodiment of the invention
Angle position schematic diagram.
Fig. 5 is thin-wall barrel grinding feed correction schematic diagram in a specific embodiment of the invention.
Fig. 6 be in a specific embodiment of the invention when generating machining code thin-wall barrel CkAngular position grinding wheel rail
Mark schematic diagram (it is assumed that polar diameter reading is less than right side polar diameter reading on the left of weld seam herein).
Fig. 7 is thin-wall barrel weld measurement process integration lathe in a specific embodiment of the invention.
Fig. 8 is control system and processing, measurement relationship schematic block diagram in a specific embodiment of the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, thin-wall barrel weld measurement processing flow of the invention: finding the right boundary for determining weld seam；By
The right boundary of weld seam measures weld profile, obtains the basic parameter of weld profile, the right boundary parameter of weld seam, weldering
Stitch the basic polar diameter parameter of matrix and weld seam extreme higher position point；Grinding wheel current radius is determined to knife with weld seam extreme higher position point；It is right
Weld seam elementary contour carries out grinding correction process and obtains weld seam residual altitude parameter；According to the basic parameter of weld profile, weld seam
The basic polar diameter parameter of matrix, the right boundary parameter and weld seam residual altitude parameter of weld seam generate machining code, with weld seam highest
Location point is processing starting point, is controlled by machining code, that realizes weld seam determines height grinding.
As shown in Fig. 2-Fig. 8, if it be Z-direction that thin-wall barrel 1 is axial, 1 circumferential direction of thin-wall barrel is C to, the horizontal diameter of thin-wall barrel 1
To be X to the material of, thin-wall barrel 1 be high strength alloy steel, the diameter 160mm of thin-wall barrel 1, wall thickness 2mm, with wherein
A weld seam 2 measurement processing for, the measurement and processing method forgiven this patent are specifically addressed.Using flat shape
Grinding wheel 5 carries out welding seam grinding processing, is illustrated in figure 7 the thin-wall barrel weld measurement process integration lathe 7 of use.Mill bar 9
With 10 parallel arrangement of measuring staff on X-axis supporting plate 13, X-axis supporting plate 13 can in certain stroke range along X to moving, X-axis supporting plate
13 are fixed on X-axis pedestal 14 by guide rail, and X-axis pedestal 14 is fixed on Z axis supporting plate 11, and Z axis supporting plate 11 can be along bed ways
12 move along Z-direction；Measurement and grinding system for lathe, laser displacement sensor 8 is fixed on 10 front end of measuring staff, in measuring staff 10
When putting in 1 inside of thin-wall barrel, weld seam 2 can be measured in suitable position, grinding wheel 5 is fixed on 9 front end of mill bar, grinding wheel
5, which are fed into suitable position, to process weld seam 2.
In addition, control system is mainly made of digital control system and industrial personal computer, it is as shown in Figure 8 with the relationship of measurement, processing:
Measurement data is sent to digital control system through amplifier by laser displacement sensor 8, and digital control system and industrial personal computer are able to achieve two-way
News, industrial personal computer is after obtaining measurement data, and to Measurement and Data Processing, after the completion of Measurement and Data Processing, industrial personal computer is by basic parameter
Send digital control system to, digital control system generates machining code according to processing request, while controlling tri- axis of X, Z, C according to machining code
Linkage, while 5 revolving speed of grinding wheel can be changed.
A kind of measurement and processing method of thin-wall barrel weld seam have following steps:
S1, the right boundary for determining weld seam 2 is found；
S2,2 profile of weld seam is measured by the right boundary of weld seam 2, obtains the basic parameter of 2 profile of weld seam, weld seam 2
Right boundary parameter, 2 extreme higher position point of the basic polar diameter parameter of 2 matrix of weld seam and weld seam；
S3,5 current radius of grinding wheel is determined to knife with 2 extreme higher position point of weld seam；
S4, to 2 elementary contour of weld seam carry out grinding correction process obtain 2 residual altitude parameter of weld seam；
S5, according to the basic parameter of 2 profile of weld seam, the basic polar diameter parameter of 2 matrix of weld seam, the right boundary parameter of weld seam 2
Machining code is generated with 2 residual altitude parameter of weld seam, is processing starting point with 2 extreme higher position point of weld seam, passes through machining code control
System, that realizes weld seam 2 determines height grinding.
The step S1 the following steps are included:
After the completion of 1 clamping of thin-wall barrel, the approximate location of weld seam 2 is measured using tape measure, and provides the scanning model of weld seam 2
Enclose L=30mm, for 1 circumference of thin-wall barrel select 6 buses, measurement start when, thin-wall barrel 1 successively go to 0 °, 60 °, 120 °,
180 °, 240 °, at 300 ° of positions when, laser displacement sensor 8 moves in given scanning range along Z-direction, is unidirectionally swept
Retouch (thin-wall barrel 1 is gone at 0 ° of position, and laser displacement sensor 8 scans from left to right, when going to next angle position, from
The left scanning ... of dextrad), and according to the acquisition of sampling interval λ=0.1mm progress data, each angle obtains 300 data；
At 0 °, 60 °, 120 °, 180 °, 240 °, 300 ° of positions, the data of acquisition are transmitted to industrial personal computer through digital control system,
Industrial personal computer is handled the data of acquisition the right boundary to determine weld seam 2, and data processing method is as follows: in order to determine weld seam
2 right boundary sets data mutation threshold value as f1=0.05, for m (1≤m≤6) article bus, adopted in scanning range
The data point position of collection is successively denoted as Z from left to rightm1、Zm2、Zm3…Zmt…Zm300, 1 axial position of thin-wall barrel takes positive value,
It measures result and is successively denoted as Xm1、Xm2、Xm3…Xmt…Xm600, whenWhen, i.e. judgement ZmtFor weld seam 2
Profile point, wherein left border point Zmtl=Min (Zmt), right side boundary point Zmtr=Max (Zmt)；；
After carrying out above-mentioned processing to 6 buses, it is rounded the 3 point Z of left border of a weld seam 2l=Min (Z1tl,Z2tl…
Zmtl…Z6tl), it is rounded the 4 point Z of right side boundary of a weld seam 2r=Max (Z1tr,Z2tr…Zmtr…Z6tr), thereby determine that whole weldering
The right boundary of seam 2.
The step S2 the following steps are included:
The axial position for providing 2 section of weld seam to be measured is divided, division methods are as follows:
With [Zl, Zr] it is to wait by stages, section is divided into 10 parts, then measurement position is denoted as Z respectively1、Z2、Z3…Z10、
Z11, wherein Z1For Zl, Z11For Zr, totally 11 measurement positions；
Laser displacement sensor 8 is respectively in Z1、Z2、Z3…Z10、Z112 profile of weld seam is measured, when laser displacement passes
Sensor 8 is parked in ZnWhen at (1≤n≤11) position, thin-wall barrel 1 is with revolving speed nw1=4r/min uniform rotation, laser displacement sensing
Device 8 carries out angularly data and acquires, and 360 ° of circumference, sampling number is 360, the sampling interval is 1 °, sampling angle position difference
It is denoted as C1、C2…Ck…C360(1≤k≤360), collection result is denoted as Xn1、Xn2…Xnk…Xn360(1≤k≤360), collection result
It is the absolute value being measured point relative to 1 centre of gyration of thin-wall barrel, after acquisition, industrial personal computer handles data,
Treatment process is as follows:
Take the polar diameter of the minimum values of all collection results of the same angle position weld seam 2 of angular position thus, such as CK
The polar diameter of the weld seam 2 of angular position is denoted as Xk=Min (X1k、X2k…X11k), 2 left border of weld seam, 3 polar diameter is denoted as X1k, right side
4 polar diameter of boundary is denoted as X11k；
After processing, the basic parameter P of 2 profile of weld seam is obtainedk(Ck,Xk), take 2 polar diameter of weld seam of all angular positions
Minimum value is 2 extreme higher position point of weld seam, is denoted as Xh=Min (Xk) (k=1,2,3 ... 360), and corresponding angle position is denoted as
Ch, 2 right boundary parameter of weld seam is denoted as L respectivelyk(Ck,X1k) (k=1,2,3 ... 360), Rk(Ck,X(b+1)k) (k=1,2,3 ...
360), the polar diameter at more same angular position right boundary, is minimized, is denoted as X0k=Min (X1k,X(b+1)k), X0kFor
The basic polar diameter of 2 matrix of weld seam of the angular position, the basic polar diameter parameter of 2 matrix of weld seam are denoted as Mk(Ck,X0k) (k=1,2,3 ...
360)。
The step S3 the following steps are included:
It controls thin-wall barrel 1 to rotate, makes 1 centre of gyration of thin-wall barrel, 5 center of grinding wheel, 2 extreme higher position point of weld seam are same
It on horizontal line, manually to knife, manually controls grinding wheel 5 and moves in the horizontal direction, make grinding wheel 5 in rotation close to 2 highest order of weld seam
It sets a little, when touching 2 extreme higher position point of weld seam (hear sharp fizz), feed-disabling, at this time according to grinding wheel 5 in level
The position in direction and Xh5 radius r of grinding wheel can be calculated, specific as follows:
Horizontal direction is using 1 centre of gyration of thin-wall barrel as origin, and 5 center of grinding wheel is away from 1 centre of gyration X of thin-wall barrel at this timeg,
Then 5 radius r=X of grinding wheelh-Xg。
The step S4 the following steps are included:
2 residual altitude of weld seam is set as h=0.3mm, with the basic polar diameter parameter M of 2 matrix of weld seamk(Ck,X0k) and h based on
Formulate the grinding feed at all angles position, CkThe grinding feed of angular position is X0k- h-r, and not injure weldering
Stitching the thin-wall barrel matrix 6 at 2 is that principle is corrected grinding feed, is determined according to the grinding feed after correction each
The residual altitude of angular positionIt is as follows to the method for the grinding feed correction at all angles position:
It is ground CkWhen the weld seam of angular position, 5 center O of grinding wheel2, 1 centre of gyration O of thin-wall barrel1With CkAngle position pair
At the 2 grinding position A of weld seam answered on the same line, feed O is ground relative to 2 matrix of weld seam1O2=X0k- h-r is, it is specified that can
The region that the thin-wall barrel matrix 6 at weld seam 2 can be injured is opposite Ck- 90 ° of the angle position~90 ° band of position, with the region
It is interior to remove CkCorresponding 2 profile point of weld seam in all angle positions is reference pair C outside angle positionkCorresponding 2 profile of weld seam in angle position
The grinding feed of point is corrected processing, and correction process process is as follows:
C is removed in the regionkThe certain point in corresponding 2 profile point of weld seam in all angle positions is B, B, O outside2And O1It constitutes
Triangle, for angle position corresponding to B, if the corresponding basic polar diameter of weld seam matrix in the angle position is XB, grinding wheel is at this
When angle position is just ground to thin-wall barrel matrix 6, grinding feed is denoted as XB- r, at this time by grinding wheel 5 and (at weld seam 2
) contact point of thin-wall barrel matrix 6 and O1Distance be denoted as a, a=XB, as 5 grinding position A of grinding wheel, according to the cosine law
It is calculated, the point on grinding wheel 5 corresponding to angle position corresponding to B is denoted as C, C and O at this time1Distance be Wherein, θ O1O2With O1Angle between C, if a0≤ a, then CkAngle
The grinding feed of the corresponding 2 grinding position A of weld seam in position is not required to correct, if a0> a then should correct C with a, r, θkAngle position
The grinding feed of corresponding 2 grinding position A of weld seam enables
Grinding feed after correction is Wherein, O2 *For in grinding wheel 5 after correction
The heart, at this time CkThe residual altitude of the corresponding 2 grinding position A of weld seam in angle positionIt is corrected, residual altitude Calibration one by one is to get 2 residual altitude parameter of weld seamData described above
Processing is completed by industrial personal computer and data communication is transferred to digital control system.
The step S5 the following steps are included:
According to the basic parameter P of 2 profile of weld seamk(Ck,Xk) (k=1,2,3 ... 360), the basic polar diameter parameter of 2 matrix of weld seam
Mk(Ck,X0k), the right boundary parameter L of weld seam 2k(Ck,X1k) (k=1,2,3 ... 360), Rk(Ck,X11k) (k=1,2,3 ...
And 2 residual altitude parameter of weld seam 360)Machining code is generated, machining code controls X, Z, C three-shaft linkage, specifically
Process is as follows:
With angle position C corresponding to 2 extreme higher position point of weld seamhTo process starting point, 5 revolving speed of grinding wheel is ng=6000r/
Min, thin-wall barrel 1 rotates, and with 1 ° for interval, turns to next angle position from an angle position, while in X to circular arc
Interpolation, Z-direction linear interpolation, X to the amount of feeding according at all angles position total feed amount and grinding method fed, it is right
In CkThe weld seam 2 of angular position, total feed amountThe starting of left border 3
Position isThe initial position of right side boundary 4 isWherein, generation is processed
Code is generated by digital control system and is controlled by it the movement of each axis.
It is directed to the weld seam 2 of same angular position simultaneously, Z-direction is fed into another lateral boundaries from 2 side boundary of weld seam, goes to
When next angle position, then it is fed into from another lateral boundaries the beginning boundary of previous angle position, realizes grinding wheel 5 to weld seam 2
Determine height grinding.
Thin-wall barrel 1 is measured using this method and grinding, comparison using manual manual measurement and added in the past
The method of work, improves machining accuracy, improves processing efficiency, reduces labor intensity of workers, after finishing weld seam 2 remaining as
0.3 ± 0.05mm meets requirement.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (5)
1. a kind of measurement and processing method of thin-wall barrel weld seam, it is characterised in that have following steps:
S1, the right boundary for determining weld seam is found；
S2, weld profile is measured by the right boundary of weld seam, obtains the basic parameter of weld profile, the left and right side of weld seam
Boundary's parameter, the basic polar diameter parameter of weld seam matrix and weld seam extreme higher position point；
S3, grinding wheel current radius is determined to knife with weld seam extreme higher position point；
S4, to weld seam elementary contour carry out grinding correction process obtain weld seam residual altitude parameter；
S5, the basic parameter according to weld profile, the basic polar diameter parameter of weld seam matrix, the right boundary parameter and weld seam of weld seam are surplus
Remaining height parameter generates machining code, is processing starting point with weld seam extreme higher position point, is controlled by machining code, realizes weld seam
Determine height grinding；
The step S1 the following steps are included:
If thin-wall barrel be axially Z-direction, thin-wall barrel be circumferentially C to, thin-wall barrel horizontal radial be X to measuring weld seam manually
Physical location, and provide the scanning range L of weld seam, select N bus for thin-wall barrel circumference, when measurement starts, thin wall cylinder
Part is successively gone to When at position, laser position
Displacement sensor moves in given scanning range along Z-direction, and the acquisition of data is carried out according to sampling interval λ；
?At position, industrial personal computer is handled the data of acquisition the left and right to determine weld seam
Boundary, data processing method are as follows: the right boundary in order to determine weld seam, set data mutation threshold value as f1, for m (1≤
M≤N) bus, the data point position acquired in scanning range is successively denoted as from left to rightThin-wall barrel axial position takes positive value, measures result and is successively denoted asWhenWhen, i.e. judgement ZmtFor the profile point of weld seam,
Middle left border point Zmtl=Min (Zmt), right side boundary point Zmtr=Max (Zmt)；
After carrying out above-mentioned processing to N bus, it is rounded the left border point Z of a weld seaml=Min (Z1tl, Z2tl…Zmtl…ZNtl),
It is rounded the right side boundary point Z of a weld seamr=Max (Z1tr, Z2tr…Zmtr…ZNtr)。
2. the measurement and processing method of thin-wall barrel weld seam according to claim 1, it is characterised in that: the step S2 packet
Include following steps:
The axial position for providing section of weld joint to be measured is divided, division methods are as follows:
With [Z1, Zr] it is to wait by stages, section is divided into b parts, then measurement position is denoted as Z respectively1、Z2、Z3…Zn…Zb、
Z(b+1), wherein Z1For Zl, Z(b+1)For Zr, 1≤n≤(b+1), total (b+1) a measurement position；
Laser displacement sensor is respectively in Z1、Z2、Z3…Zn…Zb、Z(b+1)Weld profile is measured, when laser displacement senses
Device is parked in ZnWhen at position, thin-wall barrel uniform rotation, laser displacement sensor carries out angularly data and acquires, 360 ° of circumference,
Sampling number is S, the sampling interval isSampling angle position is denoted as C respectively1、C2…Ck…CS(1≤k≤S), acquisition knot
Fruit is denoted as Xn1、Xn2…Xnk…XnS(1≤k≤S), collection result are to be measured point relative to the exhausted of the thin-wall barrel centre of gyration
To value, after acquisition, industrial personal computer handles data, and treatment process is as follows:
Take the polar diameter of the minimum values of all collection results of the same angle position weld seam of angular position thus, such as CKAngle position
The polar diameter of the weld seam at the place of setting is denoted as Xk=Min (X1k、X2k…Xnk…X(b+1)k), weld seam left border polar diameter is denoted as X1k, right edge
Boundary's polar diameter is denoted as X(b+1)k；
After processing, the basic parameter P of weld profile is obtainedk(Ck, Xk) (k=1,2,3 ... S), take the weld seam of all angular positions
The minimum value of polar diameter is weld seam extreme higher position point, is denoted as Xh=Min (Xk) (k=1,2,3 ... S), corresponding angle position
It is denoted as Ch, weld seam right boundary parameter is denoted as L respectivelyk(Ck, X1k) (k=1,2,3 ... S), Rk(Ck, X(b+1)k) (k=1,2,3 ...
S), the polar diameter at more same angular position right boundary, is minimized, is denoted as X0k=Min (X1k, X(b+1)k), X0kFor this
The basic polar diameter of weld seam matrix of angular position, the basic polar diameter parameter of weld seam matrix are denoted as Mk(Ck, X0k) (k=1,2,3 ... S).
3. the measurement and processing method of thin-wall barrel weld seam according to claim 2, it is characterised in that: the step S3 packet
Include following steps:
Thin-wall barrel rotation is controlled, makes the thin-wall barrel centre of gyration, grinding wheel center, weld seam extreme higher position point are in same horizontal line
On, control grinding wheel moves in the horizontal direction, and makes grinding wheel in rotation close to weld seam extreme higher position point, when touching weld seam highest order
When setting, grinding wheel radius r can be calculated according to grinding wheel position in the horizontal direction and Xh at this time.
4. the measurement and processing method of thin-wall barrel weld seam according to claim 3, it is characterised in that: the step S4 packet
Include following steps:
Weld seam residual altitude is set as h, with the basic polar diameter parameter M of weld seam matrixk(Ck, X0k) and h based on, and it is thin not injure
Wall cylinder part matrix is that principle is corrected grinding feed, is determined at all angles position according to the grinding feed after correction
Residual altitudeIt is as follows to the method for the grinding feed correction at all angles position:
It is ground CkWhen the weld seam of angular position, grinding wheel center O2, thin-wall barrel centre of gyration O1With CkThe corresponding weldering in angle position
It stitches at grinding position A on the same line, is ground feed O relative to weld seam matrix1O2=X0k- h-r is, it is specified that may injure thin
The region of wall cylinder part matrix is opposite Ck- 90 ° of the angle position~90 ° band of position, to remove C in the regionkOwn outside angle position
The corresponding weld profile point in angle position is reference pair CkThe grinding feed of the corresponding weld profile point in angle position carries out school
Positive processing, correction process process are as follows:
C is removed in the regionkThe certain point in the corresponding weld profile point in all angle positions is B, B, O outside2And O1Constitute triangle
Shape, for angle position corresponding to B, if the corresponding basic polar diameter of weld seam matrix in the angle position is XB, grinding wheel is in the angle
When position is just ground to thin-wall barrel matrix, grinding feed is XB- r, at this time connecing grinding wheel and thin-wall barrel matrix
Contact and O1Distance be denoted as a, a=XB, as wheel grinding position A, it is calculated according to the cosine law, at this time corresponding to B
Point on grinding wheel corresponding to angle position is denoted as C, C and O1Distance beWherein, θ O1O2With O1Angle between C, if a0≤ a, then Ck
The grinding feed of the corresponding weld seam grinding position A in angle position is not required to correct, if a0> a then should correct C with a, r, θkAngle
The grinding feed of the corresponding weld seam grinding position A in position enablesGrinding feed after correction isWherein, O2 *For grinding wheel center after correction, at this time CkAngle position is corresponding
Weld seam grinding position A residual altitudeIt is corrected, residual altitudeSchool one by one
Just to get weld seam residual altitude parameterAbove-mentioned correction process is completed by industrial personal computer and is transferred to data communication
Digital control system.
5. the measurement and processing method of thin-wall barrel weld seam according to claim 4, it is characterised in that: the step S5 packet
Include following steps:
According to the basic parameter P of weld profilek(Ck, Xk) (k=1,2,3 ... S), the basic polar diameter parameter M of weld seam matrixk(Ck, X0k)、
The right boundary parameter L of weld seamk(Ck, X1k) (k=1,2,3 ... S), Rk(Ck, X(b+1)k) (k=1,2,3 ... S) and the remaining height of weld seam
Spend parameterMachining code is generated, machining code controls X, Z, C three-shaft linkage, and specific process is as follows:
With angle position C corresponding to the point of weld seam extreme higher positionhTo process starting point, thin-wall barrel rotation, from an angle position
Turn to next angle position, X to the amount of feeding according at all angles position total feed amount and grinding method carry out into
It gives, while being directed to the weld seam of same angular position, Z-direction is fed into another lateral boundaries from weld seam side boundary, goes to next
When angle position, then it is fed into from another lateral boundaries the beginning boundary of previous angle position；Wherein, X to the amount of feeding and starting
Position determines in the following manner:
For CkThe weld seam of angular position, total feed amountLeft border
Initial position beThe initial position of right side boundary is Its
In, machining code is generated by digital control system and is controlled by it the movement of each axis.
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| CN111347329B (en) * | 2020-02-28 | 2021-07-13 | 宝鸡宇喆工业科技有限公司 | Grinding and polishing method of grinding and polishing robot for weld joints at pipe ends of spiral steel pipes |
| CN111515761A (en) * | 2020-04-20 | 2020-08-11 | 重庆长征重工有限责任公司 | Method and system for reducing polishing errors |
| CN111496679A (en) * | 2020-04-20 | 2020-08-07 | 重庆长征重工有限责任公司 | Method and system for automatically detecting polishing allowance |
| CN114193240B (en) * | 2021-12-16 | 2022-10-04 | 大连理工大学 | Shape following machining process method for weld joint in shell of special mobile robot |
| CN114654332B (en) * | 2022-03-02 | 2024-03-22 | 海洋石油工程股份有限公司 | Circumferential weld surface polishing process method for deepwater steel catenary riser |
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| DE3711278A1 (en) * | 1987-04-03 | 1988-10-13 | Daimler Benz Ag | Belt-grinding device for cleaning welding beads on sheet-metal components, in particular on vehicle bodies |
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