CN107378728A - The best processing technology method that inner surface polishes at the irregular elbow curvature in space - Google Patents
The best processing technology method that inner surface polishes at the irregular elbow curvature in space Download PDFInfo
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- CN107378728A CN107378728A CN201710650193.9A CN201710650193A CN107378728A CN 107378728 A CN107378728 A CN 107378728A CN 201710650193 A CN201710650193 A CN 201710650193A CN 107378728 A CN107378728 A CN 107378728A
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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
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
- B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
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- G06F30/17—Mechanical parametric or variational design
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Abstract
The invention belongs to magnetically grinding technical field, the best processing technology method polished more particularly, to inner surface at a kind of irregular elbow curvature in space, it is characterised in that carry out as follows：Step 1：By being processed to the straight tube of equal material specification, the straight tube processing technology optimal parameter of the material is found；Step 2：Space bent pipe inner surface polishing locus are generated with centerline reconstruction method；Step 3：Extract mechanical arm center line coideal discrete point when processing bend pipe；Step 4：Determine the radius of curvature ρ at p points；Step 5：Obtain the positive feed speed V and feed reversing speed V ' of axial direction back and forth movement when bend pipe crosses p points；Step 6：Obtain final mechanical polishing track；Step 7：Obtain the optimal process speed in the case of final mechanical polishing different curvature.Machined parameters under different curvature radius are effectively determined by the present invention, have reached preferable processing effect.
Description
Technical field
The invention belongs to magnetically grinding technical field, is thrown more particularly, to inner surface at a kind of irregular elbow curvature in space
The best processing technology method of light.
Background technology
In Aero-Space, automobile and other mechanical fields, to make space rationally be utilized, its inside is optimized and set
Meter, therefore the transporting of the less space bent pipe progress oil gas of space occupancy rate is used, to reduce unnecessary space waste, due to
Different applying working conditions so that the radius of curvature of space bent pipe becomes different, simultaneously as the factor such as state-of-art influences,
So that bend pipe inner surface cracks and the defects of pit, it is particularly acute in knee, causes to pass through flowing gas inside bend pipe
Or turbulization during liquid, cause vibration, the even running of engine is then influenceed, reduces service life.
Because space bent pipe shape is changeable, curvature is different so that the machined parameters when being polished to bend pipe are difficult to determine, only
It can be processed using constant speed, this make it that workpiece is different in knee processing effect, does not reach the ideal effect of processing.
The content of the invention
The purpose of the present invention is to overcome the shortcomings of that the optimal processing parameters at elbow curvature can not be determined in the prior art, is carried
For a kind of best processing technology method polished to inner surface at the irregular elbow curvature in space, more can accurately obtain curved
The machined parameters of pipe, to reach the optimum efficiency to bend pipe processing.
The purpose of the present invention is realized by following technical proposals：
The best processing technology method of inner surface polishing at the irregular elbow curvature in space of the present invention, it is characterised in that
Carry out as follows：
Step 1：The optimal parameter of the straight tube processing technology of the identical material of same specification is obtained, by equal material specification
Straight tube be processed, find the straight tube processing technology optimal parameter of the material；
Step 2：Polishing locus are determined, using homogeneous coordinate transformation, space is generated with centerline reconstruction method
Bend pipe inner surface polishing locus；
Step 3：By the Continuous maching path of generation, extract mechanical arm and managed when processing bend pipe on center line
Think discrete point；
Step 4：Select the front and rear 2 points p that any point p is adjacent thereto on center line-1, p1, using this 3 points, determine p
Radius of curvature ρ at point；
Step 5：It is public by the way that the radius of the radius of curvature of difference at elbow curvature and bend pipe itself is substituted into compensation
Formula, using straight tube optimal processing parameter, obtain the positive feed speed V of axial direction back and forth movement when bend pipe crosses p points and reversely enter
Give speed V '；
Step 6：Coordinate in a series of machining path is together in series and is achieved with final mechanical polishing track；
Step 7：Every reciprocating speed of point-to-point transmission manipulator in a series of machining path is together in series can
Obtain the optimal process speed in the case of final mechanical polishing different curvature.
Described step one specifically refers to：
Step 1 carries out examination processing to the straight tube under identical material same size, according to pipe fitting process control mode with
And technological parameter sets and accounted for, the principal element for influenceing inside pipe wall processing effect is subjected to response surface analysis, it is each to analyze
Factor and interaction factor design response surface analysis to pipe internal surface effect tendency from Box-Behnken methods；
Regression analysis is carried out to experimental data, roughness and specific corresponding letter when each factor and its reciprocation can be drawn
Number, with magnetic pole rotating speed, Abrasive Particle Size, gap is processed, when axial feed velocity is that condition element is analyzed, respectively with wherein
Two conditions be it is quantitative, remaining two condition be variable under conditions of interact, analyze roughness variation tendency, finally
Draw optimal processing parameters.
Described step two specifically refers to：
Step 2 is defined below to space bent pipe track,
First have to be determined the center line of bend pipe, i.e., by measuring outer surface of bent pipe contour line, generation outline sky
Between put cloud, by carrying out a data processing to cloud, delete singular point, the contour line of generation outer workpiece be fitted to a cloud,
Then the method intersected using outer contour section generates the center line of the workpiece；
Further, the center line of space bent pipe is carried out into unique step to reveal, so that it may obtain now mechanical arm and often walk fortune
Dynamic coordinate；
So as to by the homogeneous transformation to coordinate, workpiece coordinate system be converted to tool coordinates system, finally can determine that
The position of manipulator and posture；
And then by choosing any point p on the center line of space bent pipe, then it can obtain the coordinate in tool coordinates system
Origin, i.e. space bent pipe center line reveal caused (x0, y0, z0), then homogeneous coordinates form can be used in tool coordinates system
One vectorial P expression, i.e. P=[x0, y0, z0, 1]T, according to direction vector n, o, a, can obtain, space bent pipe is in manipulator hand
The position in portion is with attitude description matrix：
Finally, positions of this time point p in manipulator machining path is with posture：(x0, y0, z0, α, beta, gamma), as six
The position walked during the final processing space bend pipe of free degree manipulator and posture track.
Described step four specifically refers to：
Because the radius of curvature of space bent pipe is different, thus during polishing its axial velocity be in change, therefore
During processing, after route determination is polished, the p for the phase selection neighbour that takes up an official post in centrode-1(x-1, y-1, z-1), p (x0, y0, z0), p1(x1,
y1, z1) 3 points, due to being that computing is carried out to complex space bend pipe track, therefore 3 points chosen are not arranged on the same straight line, so
The radius of curvature ρ of its circular arc can be determined using formula 2 by 3 points,
|p-1o|2=(x-x-1)2+(y-y-1)2+(z-z-1)2
|po|2=(x-x0)2+(y-y0)2+(z-z0)2
|p1o|2=(x-x1)2+(y-y1)2+(z-z1)2
|p-1O |=| po |=| p1O |=ρ (2)
In formula (2), o was 3 points of the centre of sphere, was set to (x, y, z),
The radius of curvature ρ of each point can be drawn by solving equation.
Described step five specifically refers to：
When processing straight tube, for magnetic pole toward complex edge axial-movement, burnishing device upper magnetic pole movement velocity is identical, as shown in figure 3,
I.e. positive movement when V1=V=V2, V during counter motion1'=V '=V2',
But when burnishing device processed complex space bent pipe, its machining posture is as shown in figure 4, V during its positive movement1＞ V
＞ V2, V during counter motion1' ＜ V ' ＜ V2', understood by straight tube processing technology when axial feed velocity is V0When processing effect most
It is good, therefore need to cause that maximum polishing velocity is V when polishing bend pipe0, i.e., positive movement when V1=V0, counter motion V2=V0When, throw
Axial feed velocity of the electro-optical device in processed complex space bent pipe is respectively that V, V ' effect are best,
Therefore in being moved back and forth in step 5, the correlation formula (3) of velocity compensation, (4) are as follows：
Formula (3), in (4), R is the radius of workpiece,
By p points to p when can obtain the bend pipe processing of the different curvature radius of complexity by this mode1Axle during positive movement
To speed V, speed V ' during anti-phase motion.
Advantages of the present invention：
A kind of best processing technology method polished to inner surface at the irregular elbow curvature in space proposed by the present invention, leads to
Cross and analysis acquisition is carried out to the ideal parameters of straight tube processing, converted by dependency relation, effectively by different curvature radius
Under machined parameters be determined, reached preferable processing effect, solved to process uneven phenomenon at conventional elbow curvature, section
About process time, improve processing efficiency.
Brief description of the drawings
Fig. 1 is the burnishing device figure of the present invention.
Fig. 2 is burnishing device Grid Track Transformation Graphs of the present invention.
Fig. 3 is that straight tube of the present invention processes each point velocity analysis figure.
Fig. 4 is that bend pipe of the present invention processes each point velocity analysis figure.
Embodiment
The embodiment of the present invention is further illustrated below in conjunction with the accompanying drawings.
As shown in Fig. 1,2,3 and 4, the best processing technology of inner surface polishing at the irregular elbow curvature in space of the invention
Method, it is characterised in that carry out as follows：
Step 1：The optimal parameter of the straight tube processing technology of the identical material of same specification is obtained, by equal material specification
Straight tube be processed, find the straight tube processing technology optimal parameter of the material；
Step 2：Polishing locus are determined, using homogeneous coordinate transformation, space is generated with centerline reconstruction method
Bend pipe inner surface polishing locus；
Step 3：By the Continuous maching path of generation, extract mechanical arm and managed when processing bend pipe on center line
Think discrete point；
Step 4：Select the front and rear 2 points p that any point p is adjacent thereto on center line-1, p1, using this 3 points, determine p
Radius of curvature ρ at point；
Step 5：It is public by the way that the radius of the radius of curvature of difference at elbow curvature and bend pipe itself is substituted into compensation
Formula, using straight tube optimal processing parameter, obtain the positive feed speed V of axial direction back and forth movement when bend pipe crosses p points and reversely enter
Give speed V '；
Step 6：Coordinate in a series of machining path is together in series and is achieved with final mechanical polishing track；
Step 7：Every reciprocating speed of point-to-point transmission manipulator in a series of machining path is together in series can
Obtain the optimal process speed in the case of final mechanical polishing different curvature.
Described step one specifically refers to：
Step 1 carries out examination processing to the straight tube under identical material same size, according to pipe fitting process control mode with
And technological parameter sets and accounted for, the principal element for influenceing inside pipe wall processing effect is subjected to response surface analysis, it is each to analyze
Factor and interaction factor design response surface analysis to pipe internal surface effect tendency from Box-Behnken methods；
Regression analysis is carried out to experimental data, roughness and specific corresponding letter when each factor and its reciprocation can be drawn
Number, with magnetic pole rotating speed, Abrasive Particle Size, gap is processed, when axial feed velocity is that condition element is analyzed, respectively with wherein
Two conditions be it is quantitative, remaining two condition be variable under conditions of interact, analyze roughness variation tendency, finally
Draw optimal processing parameters.
Described step two specifically refers to：
Step 2 is defined below to space bent pipe track,
First have to be determined the center line of bend pipe, i.e., by measuring outer surface of bent pipe contour line, generation outline sky
Between put cloud, by carrying out a data processing to cloud, delete singular point, the contour line of generation outer workpiece be fitted to a cloud,
Then the method intersected using outer contour section generates the center line of the workpiece；
Further, the center line of space bent pipe is carried out into unique step to reveal, so that it may obtain now mechanical arm and often walk fortune
Dynamic coordinate；
So as to by the homogeneous transformation to coordinate, workpiece coordinate system be converted to tool coordinates system, finally can determine that
The position of manipulator and posture；
And then by choosing any point p on the center line of space bent pipe, then it can obtain the coordinate in tool coordinates system
Origin, i.e. space bent pipe center line reveal caused (x0, y0, z0), then homogeneous coordinates form can be used in tool coordinates system
One vectorial P expression, i.e. P=[x0, y0, z0, 1]T, according to direction vector n, o, a, can obtain, space bent pipe is in manipulator hand
The position in portion is with attitude description matrix：
Finally, positions of this time point p in manipulator machining path is with posture：(x0, y0, z0, α, beta, gamma), as six
The position walked during the final processing space bend pipe of free degree manipulator and posture track.
Described step four specifically refers to：
Because the radius of curvature of space bent pipe is different, thus during polishing its axial velocity be in change, therefore
During processing, after route determination is polished, the p for the phase selection neighbour that takes up an official post in centrode-1(x-1, y-1, z-1), p (x0, y0, z0), p1(x1,
y1, z1) 3 points, due to being that computing is carried out to complex space bend pipe track, therefore 3 points chosen are not arranged on the same straight line, so
The radius of curvature ρ of its circular arc can be determined using formula 2 by 3 points,
|p-1o|2=(x-x-1)2+(y-y-1)2+(z-z-1)2
|po|2=(x-x0)2+(y-y0)2+(z-z0)2
|p1o|2=(x-x1)2+(y-y1)2+(z-z1)2
|p-1O |=| po |=| p1O |=ρ (2)
In formula (2), o was 3 points of the centre of sphere, was set to (x, y, z),
The radius of curvature ρ of each point can be drawn by solving equation.
Described step five specifically refers to：
When processing straight tube, for magnetic pole toward complex edge axial-movement, burnishing device upper magnetic pole movement velocity is identical, as shown in figure 3,
I.e. positive movement when V1=V=V2, V during counter motion1'=V '=V2',
But when burnishing device processed complex space bent pipe, its machining posture is as shown in figure 4, V during its positive movement1＞ V
＞ V2, V during counter motion1' ＜ V ' ＜ V2', understood by straight tube processing technology when axial feed velocity is V0When processing effect most
It is good, therefore need to cause that maximum polishing velocity is V when polishing bend pipe0, i.e., positive movement when V1=V0, counter motion V2=V0When, throw
Axial feed velocity of the electro-optical device in processed complex space bent pipe is respectively that V, V ' effect are best,
Therefore in being moved back and forth in step 5, the correlation formula (3) of velocity compensation, (4) are as follows：
Formula (3), in (4), R is the radius of workpiece,
By p points to p when can obtain the bend pipe processing of the different curvature radius of complexity by this mode1Axle during positive movement
To speed V, speed V ' during anti-phase motion.
Final coordinate system converts as shown in figure 1, the bend pipe that the different curvature radius of complexity can be obtained by this mode adds
Man-hour is by p points to p1Axial velocity V during positive movement, speed V ' during anti-phase motion, and the track walked of each step and processing
When magnetic pole rotating speed, Abrasive Particle Size, process the occurrence in gap.
Therefore a kind of best processing technology side polished to inner surface at the irregular elbow curvature in space provided by the invention
Method, effectively the machined parameters under different curvature radius are determined, have reached preferable processing effect, solve conventional bend pipe
The uneven phenomenon of knee processing, has saved process time, has improved processing efficiency.
Claims (5)
1. a kind of best processing technology method that inner surface polishes at irregular elbow curvature in space, it is characterised in that by as follows
Step is carried out：
Step 1：The optimal parameter of the straight tube processing technology of the identical material of same specification is obtained, by the straight of equal material specification
Pipe is processed, and finds the straight tube processing technology optimal parameter of the material；
Step 2：Polishing locus are determined, using homogeneous coordinate transformation, space bent pipe is generated with centerline reconstruction method
Inner surface polishing locus；
Step 3：By the Continuous maching path of generation, extract mechanical arm when processing bend pipe center line coideal from
Scatterplot；
Step 4：Select the front and rear 2 points p that any point p is adjacent thereto on center line-1, p1, using this 3 points, determine at p points
Radius of curvature ρ；
Step 5：By the way that the radius of the radius of curvature of difference at elbow curvature and bend pipe itself is substituted into compensation formula, profit
With straight tube optimal processing parameter, the positive feed speed V and feed reversing speed of axial direction back and forth movement when acquisition bend pipe crosses p points
V′；
Step 6：Coordinate in a series of machining path is together in series and is achieved with final mechanical polishing track；
Step 7：Every reciprocating speed of point-to-point transmission manipulator in a series of machining path is together in series and is achieved with
Optimal process speed in the case of final mechanical polishing different curvature.
2. the best processing technology method that inner surface polishes at the irregular elbow curvature in space according to claim 1, its
It is characterised by that described step one specifically refers to：
Step 1 carries out examination processing to the straight tube under identical material same size, according to pipe fitting process control mode and work
Skill parameter setting accounts for, and the principal element for influenceing inside pipe wall processing effect is carried out into response surface analysis, to analyze each factor
And interaction factor designs response surface analysis to pipe internal surface effect tendency from Box-Behnken methods；
Regression analysis is carried out to experimental data, roughness and specific respective function when each factor and its reciprocation can be drawn,
With magnetic pole rotating speed, Abrasive Particle Size, gap is processed, when axial feed velocity is that condition element is analyzed, respectively with therein
Two conditions are quantitative, and remaining two condition is interacts under conditions of variable, analysis roughness variation tendency, final
Go out optimal processing parameters.
3. the best processing technology method that inner surface polishes at the irregular elbow curvature in space according to claim 1, its
It is characterised by that described step two specifically refers to：
Step 2 is defined below to space bent pipe track,
First have to be determined the center line of bend pipe, i.e., by measuring outer surface of bent pipe contour line, generate outline spatial point
Cloud, by carrying out data processing to a cloud, singular point is deleted, the contour line of generation outer workpiece is fitted to a cloud, then
The method intersected using outer contour section generates the center line of the workpiece；
Further, the center line of space bent pipe is carried out into unique step to reveal, so that it may obtain now mechanical arm and often walk motion
Coordinate；
So as to by the homogeneous conversion to coordinate, workpiece coordinate system be converted to tool coordinates system, finally can determine that machinery
The position of hand and posture；
And then by choosing any point p on the center line of space bent pipe, then the coordinate that can obtain in tool coordinates system is former
Point, i.e. space bent pipe center line reveal caused (x0, y0, z0), then the one of homogeneous coordinates form can be used in tool coordinates system
Individual vectorial P expressions, i.e. P=[x0, y0, z0, 1]T, according to direction vector n, o, a, can obtain, space bent pipe is in Manipulator Hand
Position be with attitude description matrix：
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Finally, positions of this time point p in manipulator machining path is with posture：(x0, y0, z0, α, beta, gamma), as six freely
The position and posture track walked during the degree final processing space bend pipe of manipulator.
4. the best processing technology method that inner surface polishes at the irregular elbow curvature in space according to claim 1, its
It is characterised by that described step four specifically refers to：
Because the radius of curvature of space bent pipe is different, so its axial velocity is in change during polishing, therefore processing
When, after route determination is polished, the p for the phase selection neighbour that takes up an official post in centrode-1(x-1, y-1, z-1), p (x0, y0, z0), p1(x1, y1,
z1) 3 points, due to being that computing is carried out to complex space bend pipe track, therefore 3 points chosen are not arranged on the same straight line, so logical
3 points of radius of curvature ρ that its circular arc can be determined using formula 2 are crossed,
|p-1o|2=(x-x-1)2+(y-y-1)2+(z-z-1)2
|po|2=(x-x0)2+(y-y0)2+(z-z0)2
|p1o|2=(x-x1)2+(y-y1)2+(z-z1)2
|p-1O |=| po |=| p1O |=ρ (2)
In formula (2), o was 3 points of the centre of sphere, was set to (x, y, z),
The radius of curvature ρ of each point can be drawn by solving equation.
5. the best processing technology method that inner surface polishes at the irregular elbow curvature in space according to claim 1, its
It is characterised by that described step five specifically refers to：
When processing straight tube, magnetic pole is toward complex edge axial-movement, and burnishing device upper magnetic pole movement velocity is identical, as shown in figure 3, i.e. just
To V during motion1=V=V2, V during counter motion1'=V '=V2',
But when burnishing device processed complex space bent pipe, its machining posture is as shown in figure 4, V during its positive movement1＞ V ＞ V2,
V during counter motion1' ＜ V ' ＜ V2', understood by straight tube processing technology when axial feed velocity is V0When processing effect it is best, therefore
It need to make it that maximum polishing velocity is V when polishing bend pipe0, i.e., positive movement when V1=V0, counter motion V2=V0When, burnishing device is again
Axial feed velocity during processed complex space bent pipe is respectively that V, V ' effect are best,
Therefore in being moved back and forth in step 5, the correlation formula (3) of velocity compensation, (4) are as follows：
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Formula (3), in (4), R is the radius of workpiece,
By p points to p when can obtain the bend pipe processing of the different curvature radius of complexity by this mode1It is axially fast during positive movement
V is spent, speed V ' during anti-phase motion.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161599A (en) * | 2018-01-11 | 2018-06-15 | 辽宁科技大学 | A kind of self- steering bend pipe inner surface magnetic grinder and method |
| CN108857602A (en) * | 2018-08-03 | 2018-11-23 | 辽宁科技大学 | A kind of spatial complex bend pipe inner surface magnetic grinder and method |
| CN109015280A (en) * | 2018-09-12 | 2018-12-18 | 辽宁科技大学 | Any axis variable diameter complexity bend pipe surfaces externally and internally magnetic grinder in space and method |
| CN109352508A (en) * | 2018-12-19 | 2019-02-19 | 湖北三江航天万山特种车辆有限公司 | A kind of magnetic force abnormal shape inside pipe wall polissoir |
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| CN108161599A (en) * | 2018-01-11 | 2018-06-15 | 辽宁科技大学 | A kind of self- steering bend pipe inner surface magnetic grinder and method |
| CN108857602A (en) * | 2018-08-03 | 2018-11-23 | 辽宁科技大学 | A kind of spatial complex bend pipe inner surface magnetic grinder and method |
| CN109015280A (en) * | 2018-09-12 | 2018-12-18 | 辽宁科技大学 | Any axis variable diameter complexity bend pipe surfaces externally and internally magnetic grinder in space and method |
| CN109015280B (en) * | 2018-09-12 | 2023-05-23 | 辽宁科技大学 | Magnetic grinding device and method for inner and outer surfaces of space arbitrary axis reducing complex bent pipe |
| CN109352508A (en) * | 2018-12-19 | 2019-02-19 | 湖北三江航天万山特种车辆有限公司 | A kind of magnetic force abnormal shape inside pipe wall polissoir |
| CN111438635A (en) * | 2018-12-30 | 2020-07-24 | 中国科学院宁波材料技术与工程研究所 | Method for improving polishing surface uniformity of free-form surface |
| CN111438635B (en) * | 2018-12-30 | 2021-08-17 | 中国科学院宁波材料技术与工程研究所 | Method for improving polishing surface uniformity of free-form surface |
| CN111993203A (en) * | 2020-09-03 | 2020-11-27 | 杭州宜科智能科技有限公司 | Processing system for ventilating pipeline of coal-electricity heating system |
| CN111993203B (en) * | 2020-09-03 | 2021-10-15 | 中电神头发电有限责任公司 | Processing system for ventilating pipeline of coal-electricity heating system |
| CN113400201A (en) * | 2021-07-09 | 2021-09-17 | 南通大学 | High-pressure water rust removal device for inner and outer walls of metal bent pipe |
| CN113400201B (en) * | 2021-07-09 | 2022-02-25 | 南通大学 | High-pressure water rust removal device for inner and outer walls of metal bent pipe |
| CN115042075A (en) * | 2022-08-17 | 2022-09-13 | 江苏顺律机电有限公司 | Outer surface polishing equipment for bent pipeline |
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