CN111561890B - Large-size steel structure curved plate and curved plate segment manufacturing error adjusting method thereof - Google Patents

Large-size steel structure curved plate and curved plate segment manufacturing error adjusting method thereof Download PDF

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CN111561890B
CN111561890B CN202010488331.XA CN202010488331A CN111561890B CN 111561890 B CN111561890 B CN 111561890B CN 202010488331 A CN202010488331 A CN 202010488331A CN 111561890 B CN111561890 B CN 111561890B
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coordinate system
design
axis
curved plate
model
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CN111561890A (en
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何辉斌
刘鹏
刘长宇
丛阳
张仕睿
张雪鹏
戴博
于洋
范红菊
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BEIJING URBAN CONSTRUCTION ROAD & BRIDGE GROUP Co.,Ltd.
Beijing Urban Construction Group Co Ltd
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Beijing Urban Construction Road & Bridge Group Co ltd
Beijing Urban Construction Group Co Ltd
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    • G01—MEASURING; TESTING
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Abstract

The invention discloses a large-size steel structure curved plate and a curved plate segment manufacturing error adjusting method thereof, and belongs to the field of measurement and adjustment of machining accuracy of complex parts. Firstly, simplifying a large-size steel structure curved plate, and dividing the large-size steel structure curved plate into a plurality of curved plate sections; error values of the three-dimensional coordinates of the plane characteristic points of the longitudinal control baselines of the sections corresponding to the actual processing parts are determined respectively, a factory coordinate system is established, a three-dimensional scanner with a total station function is used for scanning the corresponding characteristic points of the curved plate sections, and a plurality of curved plate section error values are obtained so as to guide and adjust original processing parameters, meet precision requirements and improve building installation speed and quality requirements. The invention can analyze, detect and adjust the manufacturing errors of common curved plates, multi-directional curved plates and curved plates with non-uniform curvatures. And matching and calculating the characteristic points in the selected area to form a fitting corner, matching the three-dimensional scanning reverse model with the design model to realize fitting of all point positions and search for manufacturing errors, and correcting the component.

Description

Large-size steel structure curved plate and curved plate segment manufacturing error adjusting method thereof
Technical Field
The invention belongs to the technical field of measurement and adjustment of machining precision of complex parts, and particularly relates to a large-size steel structure curved plate and a curved plate segment manufacturing error adjustment method thereof.
Background
In the manufacturing of constructional engineering and equipment, steel structure multidirectional curved surface parts are visible everywhere, the requirements of complex shapes of products on the production, manufacturing and processing precision are higher and higher, and the requirements on the installation speed and the quality of the constructional engineering can be met only by accurate measurement and timely adjustment. The commercial three-coordinate measuring machine has the characteristics of strong universality, high measurement precision, large measurement range and the like, is mature in technology, and the measurement precision can meet the requirements of common commercial application and research application. However, with the continuous development of industrial technologies such as various building engineering and the like, the precision requirement of workpieces is higher and higher, and the existing three-coordinate measurement precision cannot meet the detection requirements of some high-precision parts. Particularly, for parts with complex curved surfaces, the requirements on processing and detection precision are extremely high, and the curvature change of the molded surface of the workpiece is large; for example, fig. 1 a shows a multi-directional curved elbow, and b shows a segment of the multi-directional curved elbow; the multi-directional curved surface bent pipe is a typical structure of a large complex curved surface, the measurement area is large, the curvature change of the surface of a workpiece is large, and the conventional three-coordinate measuring machine cannot meet the requirement of accurate measurement.
The measurement accuracy of the three-coordinate measuring machine can be analyzed from two aspects, namely the motion accuracy of the three-degree-of-freedom motion device and the compensation accuracy of the radius error of the ball head of the measuring needle. The motion precision mainly depends on the precision of a servo motor and the precision of a lead screw slider, and at present, famous manufacturers at home and abroad, such as Anchuan, FANUC, Suo, Siemens, LenzeAG and the like, have achieved huge results on the aspect. The radius compensation of the ball head of the measuring probe is a main measure for improving the three-coordinate measuring precision, and researchers at home and abroad make a great deal of research on the radius compensation, and the radius compensation can be mainly divided into two types: one is to estimate the error compensation direction of the measuring point according to the CAD model information of the workpiece, and the other is to calculate the error compensation direction of the measuring point according to the geometric relation of the measured coordinate of the sphere center of the measuring needle. Because the curvature of the complex curved surface type part is changed greatly, the contact direction of the measuring probe and the surface of the workpiece is changed along with the fluctuation of the curved surface, the actual contact direction of the measuring probe cannot be accurately estimated by using the two methods, and therefore the approximate position of the real contact point cannot be accurately calculated.
In chinese patent 201810252391.8, a complex curved surface three-coordinate measuring device and an error compensation method, the complex curved surface three-coordinate measuring device includes a three-degree-of-freedom motion platform and a force control probe, the force control probe is in the same direction as the Z axis of the three-degree-of-freedom motion platform, the probe is kept in constant force contact with the surface of a workpiece, and the constant force contact between the probe and the surface of the workpiece is collected by a six-dimensional force sensor; meanwhile, the contact force between the measuring probe and the surface of the workpiece is measured, the error compensation direction is judged according to the resultant force direction of the contact force, the effective radius of the ball head of the measuring probe is compensated in the direction, and the coordinate of the actual contact point between the measuring probe and the surface of the workpiece is obtained (as shown in figure 2). Simultaneously reading the displacements xs, ys and zs of the X-axis linear module, the Y-axis linear module and the Z-axis linear module through the grating ruler; calculating the real-time coordinate Pt of the sphere center of the spherical head of the measuring needle: pt (xt, yt, zt) ═ P0(x0, y0, z0) + (xs, ys, zs- δ s), from which the coordinates of the actual contact point Pw of the stylus with the workpiece surface in the working coordinate system are further calculated: (xw, yw, zw) ═ Pt (xt, yt, zt) + (xb, yb, zb);
wherein (xb, yb, zb) are the three components of the error compensation vector; according to the method, the contact between the measuring needle and the surface of the workpiece is acquired by the sensor, the motion and contact path of the measuring needle is the content of acquired data, all data of the curved surface cannot be measured, only the set route reflection condition can be measured, the evaluation is inaccurate, and the problem of manufacturing errors of the whole curved surface cannot be solved. Moreover, the steel structure curved plate and the segment thereof have larger and higher sizes and do not have the condition of collection by using the method.
Disclosure of Invention
The invention aims to provide a large-size steel structure curved plate and a curved plate segment manufacturing error adjusting method thereof, which are characterized in that the large-size steel structure curved plate is simplified and divided into a plurality of curved plate segments; determining error values of the three-dimensional coordinates of the plane characteristic points where the longitudinal control baselines of the corresponding sections of the actual processing parts are located, establishing a factory coordinate system in a processing plant, and scanning 4 baselines of the curved plate sections by using a three-dimensional scanner with a total station function; guiding a factory processing program according to the obtained error values of the plurality of bent plate segments, adjusting original processing parameters, meeting the precision requirement and being beneficial to the installation speed and quality requirement of the building engineering; the method specifically comprises the following steps:
1) the control edge of the upper port of the design model in the three-dimensional model design coordinate system o-xyz space is 50mm inward, 4 characteristic points are determined corresponding to the longitudinal control base line of the manufactured bent plate segment, and A of the 4 characteristic points is under the design coordinate system1(Xsj1,Ysj1,Zsj1)、A2(Xsj2,Ysj2,Zsj2)、A3(Xsj3,Ysj3,Zsj3)、A4(Xsj4,Ysj4,Zsj4)；
2) The characteristic points form a quadrilateral centroid under the design coordinate system and are marked as Osj：
Figure BDA0002520083840000031
Figure BDA0002520083840000032
Figure BDA0002520083840000033
3) Establishing a factory coordinate system in a processing factory, and scanning 4 base line corresponding characteristic points B of the curved plate segment by using a three-dimensional scanner with a total station1(Xgb1,Ygb1,Zgb1)、B2(Xgb2,Ygb2,Zgb2)、B3(Xgb3,Ygb3,Zgb3)、B4(Xgb4,Ygb4,Zgb4) And 8 angular points, C, 50mm inward of the upper and lower ports of the segment1、C2、C3、C4、D1、D2、D3、D4
4) Solving for B1、B2、B3、B4Centroid coordinate O of the quadrilateralgc：
Figure BDA0002520083840000041
Figure BDA0002520083840000042
Figure BDA0002520083840000043
Moving the plant coordinate system origin to OgcThe direction of the coordinate system is unchanged, and a new factory coordinate system o of a new coordinate system is obtained1-x1y1z1And the new coordinates of the corresponding 8 corner points are marked as C1(Xgc1,Ygc1,Zgc1)、C2(Xgc2,Ygc2,Zgc2)、C3(Xgc3,Ygc3,Zgc3)、C4(Xgc4,Ygc4,Zgc4)、D1(Xgd1,Ygd1,Zgd1)、D2(Xgd2,Ygd2,Zgd2)、D3(Xgd3,Ygd3,Zgd3)、D4(Xgd4,Ygd4,Zgd4)
5) The three-dimensional scanning point cloud data is reversely processed, the reverse data is led into the design model, and the reverse digital-analog model is moved to enable the point OgcAnd point OsjOverlapping; at this time, the design coordinate system o-xyz and the plant coordinate system o1-x1y1z1The angular relationship of (a) is labeled as: the design coordinate system o-xyz rotates around the z axis by an angle alpha in a counterclockwise direction from the z axis to the origin, rotates around the x axis by an angle beta in a counterclockwise direction from the x axis to the origin, rotates around the y axis by an angle gamma in a counterclockwise direction from the y axis to the origin, and then rotates together with the coordinate o1-x1y1z1All the shafts are parallel and in the same direction;
converting the factory coordinate system into a design coordinate system, and establishing a rotation formula R; according to the existing mathematical common sense, the coordinate system is formed by the coordinates in the factoryIs o of1-x1y1z1The coordinate of the middle P point is (x)1,y1,z1) Then the coordinate representation in the design coordinate system o-xyz is obtained by translation and rotation, assuming o1The coordinate in the design o-xyz coordinate system is (x)0,y0,z0) In the coordinate system design, o-xyz rotates around the z axis by an angle alpha in a counterclockwise direction from the z axis to the origin, rotates around the x axis by an angle beta in a counterclockwise direction from the x axis to the origin, rotates around the y axis by an angle gamma in a counterclockwise direction from the y axis to the origin, and then rotates together with the factory coordinate o1-x1y1z1The axes are parallel and in the same direction, and the coordinate of the point P in the design o-xyz coordinate system is represented as follows:
Figure BDA0002520083840000051
Figure BDA0002520083840000052
then
Figure BDA0002520083840000053
Namely a rotation formula; then, the characteristic point B of the actually processed curved plate segment data1、B2、B3、B4And 8 angular points, C, 50mm inward of the upper and lower ports of the segment1、C2、C3、C4、D1、D2、D3、D4Transformed by a coordinate system from a factory coordinate system o1-x1y1z1And converting the new coordinate into the new coordinate under the design coordinate system o-xyz, wherein the obtained new coordinate under the new coordinate design coordinate system o-xyz is as follows:
Figure BDA0002520083840000054
Figure BDA0002520083840000055
…
Figure BDA0002520083840000061
6) representing the manufacturing error of the bent plate segment by the distance of characteristic points of a base line, A1B1、A2B2、A3B3、A4B4The sum of the squared distances of (a) building function M, i.e. the design coordinate system o-xyz and the plant coordinate system o1-x1y1z1The machining error of (2);
Figure BDA0002520083840000062
Figure BDA0002520083840000063
7) solving the alpha angle, beta angle and gamma angle when the function M obtains the minimum value, namely obtaining the optimal solution, wherein the manufacturing error is minimum; wherein sj represents the design; gc. gd represents an angular point c and an angular point d which are actually measured in a factory;
carrying out reverse processing on data points obtained by the three-dimensional scanning to establish a reverse model; and introducing the reverse model into the design model, adjusting the reverse model according to the required alpha angle, beta angle and gamma angle, rotating the reverse model counterclockwise by the alpha angle around the design coordinate system o-xyz and the z axis to the origin in the positive direction of the z axis, rotating the reverse model counterclockwise by the beta angle around the x axis to the origin in the positive direction of the x axis, and rotating the reverse model counterclockwise by the gamma angle around the y axis to the origin in the positive direction of the y axis.
When the curved plate segment is not matched and cut, the characteristic point of the upper port of the design model is taken as a starting point, the vertical plane distance of the centroid axis of the design model of the curved plate segment is 500mm from top to bottom, and the quadrilateral centroid of the intersection line of the plane and the four walls of the processing model has an error with the quadrilateral centroid of the design model, wherein the error is the axis deviation; the difference between the diagonal line, the section size and the design can be measured according to the characteristic points, and the plane deviation can be measured according to the simulation plane of the lower port of the processing model and the plane of the lower port of the design model.
And in the installation of the building engineering, the intersection line of the die simulation plane on the installed bent plate segment and the four wall surfaces of the machining model after the fitting is used as the matched line of the machining segment.
The invention has the advantages that the invention can not only analyze, detect and adjust the manufacturing errors of the common curved plate, but also can analyze, detect and adjust the manufacturing errors of the multi-directional curved plate and the non-uniform curvature curved plate. And matching and calculating the characteristic points in the selected area to form a fitting corner, matching the three-dimensional scanning reverse model with the design model to fit all point positions, checking manufacturing errors and correcting the component.
Drawings
FIG. 1 is a view of a complex curved surface part for construction engineering, wherein a is a view of a multi-directional curved surface bent pipe, and b is a view of a section of the multi-directional curved surface bent pipe;
fig. 2 is a schematic diagram of a three-degree-of-freedom motion platform and a force control probe in a three-coordinate measuring device.
FIG. 3 is a schematic diagram of a three-dimensional model design coordinate system for a segment.
Fig. 4 is a schematic diagram of a three-dimensional model factory coordinate system of a segment.
FIG. 5 is a schematic view of the rotation angles of the design coordinate system o-xyz.
Detailed Description
The invention provides a large-size steel structure curved plate and a curved plate segment manufacturing error adjusting method thereof. Firstly, simplifying a large-size steel structure multidirectional bent plate and dividing the large-size steel structure multidirectional bent plate into a plurality of bent plate sections; determining error values of the three-dimensional coordinates of the plane characteristic points of the longitudinal control baselines of the corresponding bent plate segments of the actual processing parts respectively, establishing a factory coordinate system in a processing plant, and scanning 4 baselines of the corresponding characteristic points of the bent plate segments by using a three-dimensional scanner with a total station function; guiding a factory processing program according to the obtained error values of the plurality of bent plate segments, adjusting original processing parameters, meeting the precision requirement and being beneficial to the installation speed and quality requirement of the building engineering; the invention is further described with reference to the following figures and examples.
As shown in fig. 3 and 4, the schematic diagrams of the three-dimensional model design coordinate system and the factory coordinate system of a certain segment specifically include the following steps:
1) the control edge of the upper port of the design model in the three-dimensional model design coordinate system o-xyz space is 50mm inward, 4 characteristic points are determined corresponding to the longitudinal control base line of the manufactured bent plate segment, and A of the 4 characteristic points is under the design coordinate system1(Xsj1,Ysj1,Zsj1)、A2(Xsj2,Ysj2,Zsj2)、A3(Xsj3,Ysj3,Zsj3)、A4(Xsj4,Ysj4,Zsj4) (as shown in FIG. 3);
2) the characteristic points form a quadrilateral centroid under the design coordinate system and are marked as Osj：
Figure BDA0002520083840000081
Figure BDA0002520083840000082
Figure BDA0002520083840000083
3) Establishing a factory coordinate system in a processing factory, and scanning 4 base line corresponding characteristic points B of the curved plate segment by using a three-dimensional scanner with a total station1(Xgb1,Ygb1,Zgb1)、B2(Xgb2,Ygb2,Zgb2)、B3(Xgb3,Ygb3,Zgb3)、B4(Xgb4,Ygb4,Zgb4) And 8 angular points C of 50mm inward from the upper and lower ports of the bent plate segment1、C2、C3、C4、D1、D2、D3、D4
4) Solving for B1、B2、B3、B4Centroid coordinate O of the quadrilateralgc：
Figure BDA0002520083840000084
Figure BDA0002520083840000091
Figure BDA0002520083840000092
Moving the plant coordinate system origin to OgcThe direction of the coordinate system is unchanged, and a new factory coordinate system o of a new coordinate system is obtained1-x1y1z1And the new coordinates of the corresponding 8 corner points are marked as C1(Xgc1,Ygc1,Zgc1)、C2(Xgc2,Ygc2,Zgc2)、C3(Xgc3,Ygc3,Zgc3)、C4(Xgc4,Ygc4,Zgc4)、D1(Xgd1,Ygd1,Zgd1)、D2(Xgd2,Ygd2,Zgd2)、D3(Xgd3,Ygd3,Zgd3)、D4(Xgd4,Ygd4,Zgd4)
5) The three-dimensional scanning point cloud data is reversely processed, the reverse data is led into the design model, and the reverse digital-analog model is moved to enable the point OgcAnd point OsjOverlapping; at this time, the design coordinate system o-xyz and the plant coordinate system o1-x1y1z1The angular relationship of (a) is labeled as: the design coordinate system o-xyz rotates around the z-axis by an angle alpha counterclockwise from the z-axis to the origin, rotates around the x-axis by an angle beta counterclockwise from the x-axis to the origin, rotates around the y-axis by an angle gamma counterclockwise from the y-axis to the origin (as shown in FIG. 5), and then rotates with the coordinate o1-x1y1z1All the shafts are parallel and in the same direction;
converting the factory coordinate system into a design coordinate system, and establishing a rotation formula R; according to the existing mathematical common knowledge, the method is carried out by using a coordinate system o in a factory1-x1y1z1The coordinate of the middle P point is (x)1,y1,z1) Then the coordinate representation in the design coordinate system o-xyz can be obtained by translation and rotation, assuming o1The coordinate in the design o-xyz coordinate system is (x)0,y0,z0) In the coordinate system design, o-xyz rotates around the z axis by an angle alpha in a counterclockwise direction from the z axis to the origin, rotates around the x axis by an angle beta in a counterclockwise direction from the x axis to the origin, rotates around the y axis by an angle gamma in a counterclockwise direction from the y axis to the origin, and then rotates together with the factory coordinate o1-x1y1z1The axes are parallel and in the same direction, and the coordinate of the P point in the design o-xyz coordinate system can be expressed as follows:
Figure BDA0002520083840000093
Figure BDA0002520083840000101
wherein
Figure BDA0002520083840000102
Namely a rotation formula; then, B1、B2、B3、B4And 8 angular points, C, 50mm inward of the upper and lower ports of the segment1、C2、C3、C4、D1、D2、D3、D4The new coordinates of o-xyz in the design coordinate system are:
Figure BDA0002520083840000103
Figure BDA0002520083840000104
…
Figure BDA0002520083840000105
6) system for representing bent plate segment by base line characteristic point distanceError of formation, A1B1、A2B2、A3B3、A4B4The distance squared sum construction function M, i.e. the error of the base line, expresses the accuracy of the component manufacturing process.
Figure BDA0002520083840000106
7) Solving the alpha angle, beta angle and gamma angle when the function M obtains the minimum value, namely obtaining the optimal solution, wherein the manufacturing error is minimum;
examples
The dimensions of the bent plate segment, the original machining accuracy data, and the accuracy data after the machining program was adjusted are given as shown in the following tables according to fig. 3 and 4, for example.
TABLE 1 side 1 fabrication error analysis
Index Measured (x) Measured (y) Measured (z) Deviation (x) Deviation (y) Deviation (z) Distance between two adjacent plates
1 16575.715 -26462.955 29118.100 0.000 0.417 -0.027 0.417
2 16282.957 -26523.754 28182.961 0.000 -0.011 0.001 -0.011
3 15710.752 -26616.371 26644.620 -0.002 2.193 -0.130 2.197
4 14700.905 -26761.703 24071.148 -0.003 3.001 -0.160 3.005
5 13494.528 -26931.492 20756.589 0.001 -1.464 0.067 -1.466
6 12692.259 -27008.607 18935.904 -0.002 1.600 -0.066 1.602
7 16334.657 -26840.034 22626.633 0.001 -1.961 0.098 -1.964
8 19802.122 -26537.061 27939.252 0.000 -0.321 0.020 -0.321
9 25126.630 -26652.255 26122.366 -0.003 -2.834 0.167 -2.839
10 23464.387 -26617.566 26762.686 -0.005 -7.708 0.465 -7.722
11 21929.893 -26580.040 27299.149 -0.001 -3.540 0.217 -3.546
12 22078.445 -27132.839 15684.915 0.002 1.588 -0.055 1.589
13 17681.782 -27087.430 17287.964 -0.001 -14.145 0.540 -14.155
14 20873.974 -26737.478 24441.042 0.001 4.646 -0.255 4.653
15 24173.717 -26841.949 22550.523 0.002 1.831 -0.092 1.834
16 23161.601 -27003.515 19131.014 -0.002 -1.500 0.064 -1.501
Table 2-side 2 manufacturing error analysis
Index Measured (x) Measured (y) Measured (z) Deviation (x) Deviation (y) Deviation (z) Distance between two adjacent plates
1 16575.715 -26462.955 29118.100 0.000 0.417 -0.027 0.417
2 16282.957 -26523.754 28182.961 0.000 -0.011 0.001 -0.011
3 15710.752 -26616.371 26644.620 -0.002 2.193 -0.130 2.197
4 14700.905 -26761.703 24071.148 -0.003 3.001 -0.160 3.005
5 13494.528 -26931.492 20756.589 0.001 -1.464 0.067 -1.466
6 12692.259 -27008.607 18935.904 -0.002 1.600 -0.066 1.602
7 16334.657 -26840.034 22626.633 0.001 -1.961 0.098 -1.964
8 19802.122 -26537.061 27939.252 0.000 -0.321 0.020 -0.321
9 25126.630 -26652.255 26122.366 -0.003 -2.834 0.167 -2.839
10 23464.387 -26617.566 26762.686 -0.005 -7.708 0.465 -7.722
11 21929.893 -26580.040 27299.149 -0.001 -3.540 0.217 -3.546
12 22078.445 -27132.839 15684.915 0.002 1.588 -0.055 1.589
13 17681.782 -27087.430 17287.964 -0.001 -14.145 0.540 -14.155
14 20873.974 -26737.478 24441.042 0.001 4.646 -0.255 4.653
15 24173.717 -26841.949 22550.523 0.002 1.831 -0.092 1.834
16 23161.601 -27003.515 19131.014 -0.002 -1.500 0.064 -1.501
Table 3-side 3 manufacturing error analysis
Index Measured (x) Measured (y) Measured (z) Deviation (x) Deviation (y) Deviation (z) Distance between two adjacent plates
1 16537.360 -16585.578 28746.189 0.009 -7.930 0.102 7.930
2 15801.963 -16600.799 26935.474 0.003 -2.919 0.025 2.919
3 15068.106 -16612.856 24950.763 0.002 -1.574 0.006 1.574
4 14464.116 -16618.035 23282.504 0.003 -2.499 0.001 2.499
5 13909.786 -16614.812 21669.639 0.001 -1.288 -0.004 1.288
6 12682.479 -16600.220 18765.533 0.005 -5.167 -0.053 5.167
7 19020.768 -16587.668 27838.364 0.000 -0.991 0.011 0.991
8 21347.665 -16584.626 27139.669 0.002 8.878 -0.084 -8.879
9 23566.342 -16602.871 26387.735 -0.001 -1.878 0.015 1.878
10 25074.720 -16606.622 25784.849 0.000 0.102 -0.001 -0.102
11 24337.322 -16614.208 23227.398 0.002 1.413 -0.001 -1.413
12 23235.649 -16603.443 19723.910 0.000 -0.135 -0.001 0.135
13 22055.350 -16551.681 15645.192 0.002 1.746 0.029 -1.747
14 15196.139 -16583.145 18072.510 -0.001 2.320 0.027 -2.320
15 17999.347 -16569.041 17103.455 0.000 3.739 0.051 -3.739
16 18846.122 -16607.912 25336.461 0.000 -0.916 0.005 0.916
17 21651.999 -16606.147 22616.068 0.004 7.355 0.004 -7.355
18 22507.761 -16610.414 20379.277 -0.003 -3.581 -0.020 3.581
19 19042.997 -16614.055 21178.206 -0.001 -4.919 -0.020 4.919
TABLE 4-flank 4 manufacturing misconception
Index Measured (x) Measured (y) Measured (z) Deviation (x) Deviation (y) Deviation (z) Distance between two adjacent plates
1 16537.360 -16585.578 28746.189 0.009 -7.930 0.102 7.930
2 15801.963 -16600.799 26935.474 0.003 -2.919 0.025 2.919
3 15068.106 -16612.856 24950.763 0.002 -1.574 0.006 1.574
4 14464.116 -16618.035 23282.504 0.003 -2.499 0.001 2.499
5 13909.786 -16614.812 21669.639 0.001 -1.288 -0.004 1.288
6 12682.479 -16600.220 18765.533 0.005 -5.167 -0.053 5.167
7 19020.768 -16587.668 27838.364 0.000 -0.991 0.011 0.991
8 21347.665 -16584.626 27139.669 0.002 8.878 -0.084 -8.879
9 23566.342 -16602.871 26387.735 -0.001 -1.878 0.015 1.878
10 25074.720 -16606.622 25784.849 0.000 0.102 -0.001 -0.102
11 24337.322 -16614.208 23227.398 0.002 1.413 -0.001 -1.413
12 23235.649 -16603.443 19723.910 0.000 -0.135 -0.001 0.135
13 22055.350 -16551.681 15645.192 0.002 1.746 0.029 -1747
14 15196.139 -16583.145 18072.510 -0.001 2.320 0.027 -2.320
15 17999.347 -16569.041 17103.455 0.000 3.739 0.051 -3.739
16 18846.122 -16607.912 25336.461 0.000 -0.916 0.005 0.916
17 21651.999 -16606.147 22616.068 0.004 7.355 0.004 -7.355
18 22507.761 -16610.414 20379.277 -0.003 -3.581 -0.020 3.581
19 19042.997 -16614.055 21178.206 -0.001 -4.919 -0.020 4.919
The curved plate segment has six curved surfaces, and the upper curved surface and the lower curved surface are in butt joint with the upper segment and the lower segment and are connected through welding seams. The processing data of the curved surfaces of the curved plate units on the remaining four side surfaces are the manufacturing error analysis of the curved plates on the 4 side surfaces of the curved plate segments according to the tables 1, 2, 3 and 4, the control value of the original processing precision data is 5mm, and the control precision of 2mm can be finally achieved by the error control method in consideration of instrument errors, point cloud data conversion errors and calculation errors; the 2mm precision value is an actual control value of the complex part in the machining and manufacturing stage.

Claims (4)

1. A large-size steel structure curved plate and a curved plate segment manufacturing error adjusting method thereof are characterized in that the large-size steel structure curved plate is simplified and divided into a plurality of curved plate segments; determining error values of the three-dimensional coordinates of the plane characteristic points where the longitudinal control baselines of the corresponding sections of the actual processing parts are located, establishing a factory coordinate system in a processing plant, and scanning 4 baselines of the curved plate sections by using a three-dimensional scanner with a total station function; guiding a factory processing program according to the obtained error values of the plurality of bent plate segments, adjusting original processing parameters, meeting the precision requirement and being beneficial to the installation speed and quality requirement of the building engineering; the method specifically comprises the following steps:
1) design model in three-dimensional model design coordinate system o-xyz spaceThe control edge of the upper port of the mould is 50mm inward, 4 characteristic points are determined corresponding to the longitudinal control base line of the manufactured bent plate segment, and A of the 4 characteristic points is under the design coordinate system1(Xsj1,Ysj1,Zsj1)、A2(Xsj2,Ysj2,Zsj2)、A3(Xsj3,Ysj3,Zsj3)、A4(Xsj4,Ysj4,Zsj4)；
2) The characteristic points form a quadrilateral centroid under the design coordinate system and are marked as Osj：
Figure FDA0003055887600000011
Figure FDA0003055887600000012
Figure FDA0003055887600000013
3) Establishing a factory coordinate system in a processing factory, and scanning 4 base line corresponding characteristic points B of the curved plate segment by using a three-dimensional scanner with a total station1(Xgb1,Ygb1,Zgb1)、B2(Xgb2,Ygb2,Zgb2)、B3(Xgb3,Ygb3,Zgb3)、B4(Xgb4,Ygb4,Zgb4) And 8 angular points, C, 50mm inward of the upper and lower ports of the segment1、C2、C3、C4、D1、D2、D3、D4
4) Solving for B1、B2、B3、B4Centroid coordinate O of the quadrilateralgc：
Figure FDA0003055887600000014
Figure FDA0003055887600000015
Figure FDA0003055887600000021
Moving the plant coordinate system origin to OgcThe direction of the coordinate system is unchanged, and a new factory coordinate system o of a new coordinate system is obtained1-x1y1z1And the new coordinates of the corresponding 8 corner points are marked as C1(Xgc1,Ygc1,Zgc1)、C2(Xgc2,Ygc2,Zgc2)、C3(Xgc3,Ygc3,Zgc3)、C4(Xgc4,Ygc4,Zgc4)、D1(Xgd1,Ygd1,Zgd1)、D2(Xgd2,Ygd2,Zgd2)、D3(Xgd3,Ygd3,Zgd3)、D4(Xgd4,Ygd4,Zgd4)
5) The three-dimensional scanning point cloud data is reversely processed, the reverse data is led into the design model, and the reverse digital-analog model is moved to enable the point OgcAnd point OsjOverlapping; at this time, the design coordinate system o-xyz and the plant coordinate system o1-x1y1z1The angular relationship of (a) is labeled as: the design coordinate system o-xyz rotates around the z axis by an angle alpha in a counterclockwise direction from the z axis to the origin, rotates around the x axis by an angle beta in a counterclockwise direction from the x axis to the origin, rotates around the y axis by an angle gamma in a counterclockwise direction from the y axis to the origin, and then rotates together with the coordinate o1-x1y1z1All the shafts are parallel and in the same direction;
converting the factory coordinate system into a design coordinate system, and establishing a rotation formula R; according to the existing mathematical common knowledge, the method is carried out by using a coordinate system o in a factory1-x1y1z1The coordinate of the middle P point is (x)1,y1,z1) Then the coordinate representation in the design coordinate system o-xyz is obtained by translation and rotation, assuming o1The coordinate in the design o-xyz coordinate system is (x)0,y0,z0) In the coordinate system design, o-xyz rotates around the z axis by an angle alpha in a counterclockwise direction from the z axis to the origin, rotates around the x axis by an angle beta in a counterclockwise direction from the x axis to the origin, rotates around the y axis by an angle gamma in a counterclockwise direction from the y axis to the origin, and then rotates together with the factory coordinate o1-x1y1z1The axes are parallel and in the same direction, and the coordinate of the point P in the design o-xyz coordinate system is represented as follows:
Figure FDA0003055887600000022
Figure FDA0003055887600000023
then
Figure FDA0003055887600000024
Namely a rotation formula; then, the characteristic point B of the actually processed curved plate segment data1、B2、B3、B4And 8 angular points C of 50mm inward from the upper and lower ports of the bent plate segment1、C2、C3、C4、D1、D2、D3、D4Transformed by a coordinate system from a factory coordinate system o1-x1y1z1And converting the new coordinate into the new coordinate under the design coordinate system o-xyz, wherein the obtained new coordinate under the new coordinate design coordinate system o-xyz is as follows:
Figure FDA0003055887600000031
Figure FDA0003055887600000032
…
Figure FDA0003055887600000033
6) representing the manufacturing error of the bent plate segment by the distance of characteristic points of a base line, A1B1、A2B2、A3B3、A4B4The sum of the squared distances of (a) building function M, i.e. the design coordinate system o-xyz and the plant coordinate system o1-x1y1z1The machining error of (2);
Figure FDA0003055887600000034
7) solving the alpha angle, beta angle and gamma angle when the function M obtains the minimum value, namely obtaining the optimal solution, wherein the manufacturing error is minimum; wherein sj represents the design; gc. And gd represents a corner point c and a corner point d measured by a factory.
2. The method for adjusting the manufacturing errors of the large-size steel structure curved plate and the curved plate segments thereof according to claim 1, wherein the three-dimensional scanning point cloud data is subjected to reverse processing to establish a reverse model; and introducing the reverse model into the design model, adjusting the reverse model according to the required alpha angle, beta angle and gamma angle, rotating the reverse model counterclockwise by the alpha angle around the design coordinate system o-xyz and the z axis to the origin in the positive direction of the z axis, rotating the reverse model counterclockwise by the beta angle around the x axis to the origin in the positive direction of the x axis, and rotating the reverse model counterclockwise by the gamma angle around the y axis to the origin in the positive direction of the y axis.
3. The method as claimed in claim 1, wherein the manufacturing error of the bent plate segment is adjusted by taking a characteristic point of an upper port of the design model as a starting point when the bent plate segment is not matched, and by taking a vertical plane of a centroid axis of the design model of the bent plate segment from top to bottom at a distance of 500mm, and a quadrilateral centroid of a line of intersection of the plane and four walls of the machining model has an error with the quadrilateral centroid of the design model, wherein the error is an axis deviation; the difference between the diagonal line, the section size and the design can be measured according to the characteristic points, and the plane deviation can be measured according to the simulation plane of the lower port of the processing model and the plane of the lower port of the design model.
4. The method for adjusting the manufacturing errors of the large-size steel structure curved plate and the curved plate segments thereof according to claim 1, wherein during the installation of the construction project, during the bridge installation, the intersection line of the die simulation plane on the installed curved plate segments and the four wall surfaces of the machining model after the fitting is the matched tangent line of the machined curved plate segments.
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