CN107423510B - Rotary deviation quantification method for intersecting pipeline branch pipe and application - Google Patents

Abstract

The invention discloses a method and application for quantifying the rotation deviation of a branch pipe of an intersecting pipeline. Ranging scanning is performed perpendicular to the welding seam direction of an intersecting pipeline with a clamping rotation deviation, and the ranging waveform is analyzed to obtain the actual welding seam point. Coordinates; according to the equation of the theoretical intersecting line, the theoretical coordinates of the theoretical intersecting line are obtained; based on the actual weld point coordinates and the theoretical coordinates, the branch pipe rotation deviation angle of the two points is calculated to realize the deviation quantification. It can quantify and compensate the deviation of the intersecting line formed by the intersecting steel pipe of the non-ideal model, so as to realize the automatic and precise welding of the non-ideal intersecting steel pipe, and improve the welding efficiency.

Description

Quantification method and application of rotation deviation of branch pipes in intersecting pipelines

technical field

The invention relates to a method and application for quantifying the rotation deviation of branch pipes of intersecting pipes.

Background technique

The intersecting line is the common intersecting line of two cylindrical surfaces, which is a regular (segment-by-segment regular when the equal diameter intersects) and a simple closed space curve. The two-pipe intersecting pipeline can be divided into the main pipe of the intersecting line and the branch pipe of the intersecting line. Given a set of intersecting pipes, according to whether all intersecting lines are attached to the same common pipe, the multi-pipe intersecting can be divided into co-managing intersecting and non-co-managing intersecting. If the common pipe is the supervisor of all intersecting lines, then It is called the intersection of two pipes.

The multi-pipe intersection can be divided into multiple sets of two-pipe intersection forms. The description of the intersection line generated by each group of intersecting pipes is different from the coordinates of the fixed workpiece coordinate system, which are called branch pipe coordinates. . The branch pipe coordinates include the branch pipe offset distance Y and the branch pipe rotation angle.

Intersecting pipelines are widely used in various gas and liquid transportation pipelines and distribution equipment, especially when two pipes intersect, which is the most common form of intersecting. The theoretical research on the intersecting line has been relatively mature, but in practical production applications, the straightness and roundness of the steel pipe are quite different. At this time, if the welding is directly performed according to the theoretical intersecting line, it is difficult to ensure the accuracy and reliability of the welding.

The deviation between the actual weld and the weld constructed from the ideal model is called the weld deviation. There are many sources of weld deviation, mainly including the straightness of the steel pipe and the coordinate deviation of the branch pipe caused by the clamping deviation. Generally speaking, the influences of various deviations on the pose of the intersecting line are coupled with each other. In order to obtain accurate information of the actual weld, it is necessary to quantify and compensate the weld deviation in combination with the weld point information of the weld location.

SUMMARY OF THE INVENTION

In order to solve the above problems, the present invention proposes a method and application for quantifying the rotation deviation of the branch pipes of intersecting pipelines. The present invention scans the actual intersecting line welds in combination with distance measuring equipment, and identifies the waveform of the distance measuring equipment to obtain the actual Weld point, and then calculate the rotation deviation of the branch pipe of the two intersecting pipes, which can effectively reduce the influence of the deviation on the welding accuracy, thereby improving the welding efficiency.

In order to achieve the above object, the present invention adopts the following technical solutions:

A method for quantifying the rotation deviation of a branch pipe of an intersecting pipeline, comprising the following steps:

(1) Perform ranging scanning perpendicular to the welding seam direction of the intersecting pipeline with clamping rotation deviation, analyze the ranging waveform, and obtain the actual welding seam point coordinates;

(2) According to the equation of the theoretical intersecting line, find the theoretical coordinates of the theoretical intersecting line at this place;

(3) Based on the actual weld point coordinates and theoretical coordinates, the branch pipe rotation deviation angle of the two points is calculated to realize deviation quantification.

In the step (1), at the circumferential angle of the branch pipe The position of the weld is scanned by using the distance measuring device to translate in the direction perpendicular to the welding seam.

In the step (1), the distance measuring device is clamped and moved smoothly in the same direction by an automatically moving mechanical arm.

In the step (1), the coordinates of the weld point are recorded at the maximum value of the waveform of the ranging device.

In the step (2), according to the characteristics of the intersecting line of the two pipes intersecting the pipeline, the parametric equation of the intersecting line about the circumferential angle θ of the branch pipe is obtained.

代入到上述方程中，得到了理论相贯线在该处的理论坐标P₁。其中r_o为支管外半径，R_o为主管外半径，e为支管偏距。Will

Substituting into the above equation, the theoretical coordinate P ₁ where the theoretical intersecting line is obtained is obtained. Among them, ro is the outer radius of the branch pipe, _Ro is the outer radius of the main pipe, and _e is the offset distance of the branch pipe.

In the step (3), according to the coordinate P ₂ of the actual weld point obtained by scanning the weld, and the coordinate of the weld point of the intersecting line of the processing theory, according to the formula

The corresponding branch pipe rotation angle can be obtained by calculation, and the deviation between the two is the branch pipe rotation deviation. Among them, P _1z and P _1x are the Z and X coordinates of the point P ₁ , and P _2z and P _2x are the Z and X coordinates of the point P ₂ .

The order of step (1) and step (2) can be interchanged.

The welding method using the above method further includes: compensating for the welding seam deviation according to the obtained branch pipe rotation deviation angle.

Compared with the prior art, the beneficial effects of the present invention are:

Combined with the welding seam point information of the welding seam locating, the present invention can quantify and compensate the deviation of the intersecting line formed by the intersecting steel pipes of the non-ideal model, so as to realize the automatic and precise welding of the non-ideal intersecting steel tubes, and improve the welding performance. efficiency.

Description of drawings

The accompanying drawings that form a part of the present application are used to provide further understanding of the present application, and the schematic embodiments and descriptions of the present application are used to explain the present application and do not constitute improper limitations on the present application.

Figure 1 is a schematic diagram of the relative position of the theoretical intersection line weld point and the actual weld point.

Detailed ways:

The present invention will be further described below with reference to the accompanying drawings and embodiments.

It should be noted that the following detailed description is exemplary and intended to provide further explanation of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components, and/or combinations thereof.

As described in the background art, the prior art has the disadvantage that it is difficult to obtain accurate information of the actual weld. In order to solve the above technical problem, the present application proposes a method for quantifying the rotation deviation of the branch pipe of an intersecting pipeline.

As a typical embodiment of the present invention, in FIG. 1, the deviation quantification method of the present invention is:

Step 1: Suppose a group of two intersecting pipes (D _o =220, r _o =140, e = 0, α = 90°), the branch pipe has a clamping rotation deviation, Do is the outer diameter of the main pipe, ro is the outer diameter of the branch pipe diameter, e is the offset distance of the branch pipe, α is the intersection angle of the main branch pipe.

Step 2: Combined with the schematic diagram, use a robot or special equipment to clamp the distance measuring device at the position shown in the figure to scan in the direction perpendicular to the welding seam, and analyze the waveform of the distance measuring device, so as to obtain the actual welding seam point on the robot or equipment the coordinate P ₂ ;

The third step: according to the equation of the theoretical intersecting line, obtain the theoretical coordinate P ₁ of the theoretical intersecting line there;

Step 4: Calculate the branch pipe rotation deviation angle Δβ at two points.

In the second step, combined with schematic diagram 1, at the circumferential angle of the branch pipe Use a robot or special equipment to clamp the distance measuring device to scan the position perpendicular to the welding seam. It can be seen from the figure that during the scanning process of the ranging device, the distance between the ranging device and the actual weld point is the largest, so the coordinate P ₂ of the weld point is recorded at the maximum value of the waveform of the ranging device. This coordinate can be obtained from Obtained on a robot or special device.

In the third step, according to the characteristics of the intersecting line of the two pipes intersecting the pipeline, the parametric equation of the intersecting line about the circumferential angle θ of the branch pipe can be obtained.

Will Substituting into the above equation, the theoretical coordinate P ₁ where the theoretical intersecting line is obtained is obtained.

In the fourth step, according to the coordinate P ₂ of the actual weld point obtained by scanning the weld, and the coordinate of the weld point of the intersecting line of the processing theory, according to the formula

The corresponding branch pipe rotation angle can be obtained by calculation, and the deviation between the two is the branch pipe rotation deviation Δβ.

Δβ=β ₂ -β ₁

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Although the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, they do not limit the scope of protection of the present invention. Those skilled in the art should understand that on the basis of the technical solutions of the present invention, those skilled in the art do not need to pay creative work. Various modifications or deformations that can be made are still within the protection scope of the present invention.

Claims (4)

1. A method for quantifying rotation deviation of intersecting pipeline branch pipes is characterized by comprising the following steps: the method comprises the following steps:

(1) performing ranging scanning in the direction perpendicular to the welding line direction of the intersecting pipeline with clamping rotation deviation, analyzing the waveform of the ranging equipment to obtain the actual welding line point coordinate P ₂；

(2) According to the equation of the theoretical intersecting line, the theoretical coordinate P of the theoretical intersecting line at the position is obtained ₁；

(3) Calculating the rotation deviation angle of the branch pipes of the two points based on the actual welding line point coordinates and the theoretical coordinates to realize deviation quantification;

in step (1), at a branch circumferential angle

The position is scanned by utilizing the distance measuring equipment to translate in the direction vertical to the welding seam;

in the scanning process of the distance measuring equipment, when the distance from the distance measuring equipment to the actual welding seam point is maximum, the coordinate P of the actual welding seam point at the moment is recorded at the maximum value of the waveform of the distance measuring equipment ₂；

In the step (3), the coordinate P of the actual welding seam point obtained by the welding seam scanning is used as the basis ₂Theoretical coordinate P of weld point intersecting the theory of processing ₁According to the formula

Calculating to obtain corresponding rotation angle of the branch pipe, wherein the deviation of the rotation angle of the branch pipe and the deviation of the rotation angle of the branch pipe is the rotation deviation of the branch pipe, and P is the rotation deviation of the branch pipe _1z、P _1xIs a point P ₁Z and X coordinates of (A), P _2z、P _2xIs a point P ₂Z and X coordinates of (a);

and compensating the welding seam deviation according to the obtained rotation deviation angle of the branch pipe.

2. The method for quantifying the rotational deviation of a coherent pipe branch according to claim 1, wherein: in the step (1), the distance measuring equipment is clamped by the mechanical arm which moves automatically and stably along the same direction.

3. The method for quantifying the rotational deviation of a coherent pipe branch according to claim 1, wherein: in the step (2), a parameter equation of the theoretical intersecting line relative to the circumferential angle theta of the branch pipe is obtained according to the characteristics of the intersecting line of the two intersecting pipes

Will be provided with

Substituting into the above equation to obtain the theoretical coordinate P of the theoretical intersecting line at the position ₁Wherein r is _oIs the outer radius of the branch pipe, R _oIs the outer radius of the main pipe, e is the offset distance of the branch pipes, and α is the crossing angle of the main branch pipes.

4. The method for quantifying the rotational deviation of a coherent pipe branch according to claim 1, wherein: the order of step (1) and step (2) may be interchanged.

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