CN113714334A - Method for calibrating center line of straightening machine based on laser tracker - Google Patents
Method for calibrating center line of straightening machine based on laser tracker Download PDFInfo
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- CN113714334A CN113714334A CN202110944618.3A CN202110944618A CN113714334A CN 113714334 A CN113714334 A CN 113714334A CN 202110944618 A CN202110944618 A CN 202110944618A CN 113714334 A CN113714334 A CN 113714334A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000005452 bending Methods 0.000 claims abstract description 16
- 239000003292 glue Substances 0.000 claims description 3
- 239000012943 hotmelt Substances 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 abstract description 28
- 239000010959 steel Substances 0.000 abstract description 28
- 238000005259 measurement Methods 0.000 abstract description 8
- 238000007689 inspection Methods 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000007547 defect Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 7
- 230000006872 improvement Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000013178 mathematical model Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007730 finishing process Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
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- 238000005070 sampling Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D3/00—Straightening or restoring form of metal rods, metal tubes, metal profiles, or specific articles made therefrom, whether or not in combination with sheet metal parts
- B21D3/02—Straightening or restoring form of metal rods, metal tubes, metal profiles, or specific articles made therefrom, whether or not in combination with sheet metal parts by rollers
- B21D3/04—Straightening or restoring form of metal rods, metal tubes, metal profiles, or specific articles made therefrom, whether or not in combination with sheet metal parts by rollers arranged on axes skew to the path of the work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
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- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention belongs to the technical field of steel pipe manufacturing, and particularly relates to a method for calibrating a center line of a straightening machine based on a laser tracker, which comprises the following steps of: (1) performing front and back vision inspection on the laser tracker by using OmniCal software; (2) horizontally adjusting the supporting tripod; (3) establishing a three-dimensional coordinate system by using SA software; (4) calibrating the angle of the straightening rollers, and adjusting the angle of each straightening roller to be the same angle. The invention adopts the laser tracker to respectively carry out high-precision measurement on each straightening roller and two hydraulic supports, and adjusts the angle of each straightening roller to be the same angle by analyzing the angle of the axis of each straightening roller relative to the central line so as to eliminate the surface bending and the surface defect of the steel pipe.
Description
Technical Field
The invention belongs to the technical field of steel pipe manufacturing, and particularly relates to a method for calibrating a center line of a straightening machine based on a laser tracker.
Background
The hot-rolled seamless steel pipe is easily influenced by various factors such as additional external force of equipment, internal stress of the pipe, temperature change and the like in each processing process, so that a series of defects are generated on the surface of a finished pipe, and mainly reflected by bending along the axial direction and roundness change on a cross section. The straightener is an important finishing device on a hot-rolled seamless steel pipe production line and is an important link in the processing procedure of seamless steel pipes, and the centrality of the straightener straightening rollers and the angles of the rollers of the straightener play a key role in reducing the bending degree and the ovality of the pipes and improving the straightness of the straightened steel pipes. The straightening machine with high precision can reduce or even eliminate the surface bending and the surface defects of the seamless steel tube. And the improvement of the precision of the straightener also becomes the improvement of the quality of finished steel pipes, and the market requirement is met.
The steel pipe straightening is an important finishing process in the seamless steel pipe production, the quality of a finished steel pipe is determined, and the working principle of the straightening machine is that the finished steel pipe is subjected to repeated bending deformation under the action of the straightening rollers when passing through the straightening rollers which are arranged in a staggered mode, and the residual bending after the steel pipe is rebounded gradually tends to zero along with the gradual reduction of the bending degree, so that the aim of straightening the steel pipe is fulfilled.
The center points of the straightening roll bodies of the inclined roll type straightening machine are not aligned, so that the flattening of the tail of the pipe and the ellipse correction of the pipe head can be caused, and the steel pipe is scrapped. The seamless steel pipe straightened by the straightener not only can improve the straightness, but also can play a role in straightening the ovality.
The center line of the straightener is a virtual line and is composed of the center points of the hole patterns of the upper roller and the lower roller, and the center line determines the straightness of the straightened steel pipe. Generally, the production needs to ensure that the hole pattern central points of the upper roller and the lower roller are on the same straight line and the angles of the upper roller and the lower roller are consistent. When the surface of the steel pipe straightened by the straightening machine is bent and cannot be eliminated by other methods, the center line of the straightening machine needs to be calibrated at the moment to ensure that the hole pattern center line is centered, and the angle of the straightening roller meets the process requirement.
Disclosure of Invention
The invention aims to provide a method for calibrating the center line of a straightener based on a laser tracker, which has a good effect, meets the process requirements and ensures the centering of a hole-type center line, so as to solve the problems in the background art.
In order to achieve the technical purpose, the technical scheme of the invention is as follows:
a method for calibrating a center line of a straightening machine based on a laser tracker comprises the following steps:
(1) a three-dimensional coordinate system is established by using SA (spatialAnalyzer) software, and the specific steps are as follows: 1 of 2-2-2 six-roller vertical cross roll straightener#Lower rolls of the rolls and 3#The central point of the lower roller of the roller establishes a straight line as the central line and the x-axis with 1#Taking the middle point of the lower roller of the roller as the origin of coordinates, measuring by using a laser tracker and taking two hydraulic support columns of the straightening roller from a single point to an SA mode, fitting two cylinders, establishing a plane by using four end points of two axes of the two cylinders, determining a straight line vertical to the plane, wherein the straight line is a Y axis, and establishing a three-dimensional coordinate system;
(2) adjusting the reverse bending amount of each straightening roller to a value when the straightening machine works normally, placing a target ball on a special target seat, fixing the target seat at two ends of each straightening roller by a hot melt glue gun, controlling the straightening rollers to drive the target ball to rotate along the axis of each straightening roller at a certain rotating speed by using the laser tracker under a space scanning mode, scanning out points with continuous rotating tracks of the straightening rollers, fitting the continuous points into a circumference, fitting out a cylinder by using two circumferences, inquiring the angle between the axis of the cylinder and an x axis, namely the angle of each straightening roller, and adjusting the angle of each straightening roller to be the same angle.
As an improvement, in step (1), the method for verifying the accuracy of the coordinate origin is: will 1#Lower rolls of the rolls and 3#The lower roller of the roller is respectively rotated to a maximum angle and a minimum angle, and two times of straightening rollers are respectively takenThe center points of the two straightening rolls are consistent.
As an improvement, in the step (1), before the three-dimensional coordinate system is established by using the SA software, the laser tracker is subjected to front and back vision inspection by using OmniCal software, and the error of the inspection result is compensated by using the 1.QVC function.
As a further improvement, a support tripod supporting the laser tracker is horizontally adjusted to ensure that the actual level of the support tripod coincides with the built-in electronic level of the laser tracker.
As an improvement, the laser tracker is connected with a high-integration meteorological station.
As a modification, in the step (2), the rotating speed of the straightening roller is 1 r/min.
The straightening process of the seamless steel tube is supported by a straightening theory, and the straightening theory is based on elastoplasticity mechanics, so that the deformation rule of metal in the straightening process of the steel tube is researched. The surface of the steel pipe is bent to a certain degree between 3 pairs of straightening rollers under the pressure action of the straightening rollers of the 2-2-2 type six-roller vertical cross roller straightening machine, and the steel pipe advances spirally under the rotation action of the straightening rollers, is bent repeatedly at the moment, and when the stress of a bending point exceeds the yield stress of a material, the bending point is offset with the original curvature of the steel pipe, so that the straightened steel pipe achieves the ideal flatness.
Establishing a straightening precision mathematical model of the cross roll straightener:
 |
（2-1） |
 |
（2-2） |
 |
（2-3） |
in the formula: d, reversely-the radius of reverse bending rate when the first link achieves straightening; zn-negative coefficient of action; 1/Zn-straightening rate; n1 … Nn — the coefficient of influence of the arrangement of the straightening rolls (toward, staggered), 2 toward and 1 at staggered; b, taking the equivalent ratio of the length of the contact line to the distance, and taking the equivalent ratio of 0.2-0.4; g is a function of roll shape and friction system; t-adjusting the influence coefficient, and taking an average value through inductive analysis and taking 3-4 in the staggered arrangement by taking 1.8-2.5 in the horizontal arrangement for convenient calculation.
Reverse bending amount of the first link:
 |
（2-4） |
 |
（2-5） |
in the formula: e.g. of the types-material yield limit; e-modulus of elasticity of the material; t is1-a first link roll gap; rr-the steel tube radius; y-coefficient; kc-minimum plastic depth coefficient; lambda-the ratio of the inner diameter to the outer diameter of the steel pipe; m is the elastic-plastic bending coefficient.
By utilizing the precision mathematical model of the straightening machine, the straightening precision is 0.25 per mill, and then:
 |
（2-6） |
four links (n = 4) are taken in the calculation of the straightening machine, and the formula can be written as follows:
 |
（2-7） |
in the formula:
，
respectively the back bending amount adjustment coefficients of the second link, the third link and the fourth link are more than or equal to 1 and d according to the straightening principle1Q，d2Q，d3QRespectively representing the straightening precision of the second, third and fourth links for comprehensive analysis
Then, the result is determined
，
，
。
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
the method provided by the invention uses a phi 273 machine unit as a platform and utilizes a laser tracker to calibrate the center line of the 2-2-2 type six-roller vertical cross roll straightener; a straightening model of the seamless steel pipe straightening process is established, the laser tracker is subjected to precision check by OmniCal software, and then the SA software is used for 1#And 3#Establishing a three-dimensional coordinate system by taking the central point of the lower roll of the roll as a reference, and respectively carrying out spatial scanning on the roll shapes of the straightening rolls; scanning out a circumference and fitting a cylinder by using a target ball to receive light uniformly, 1#The measured angle of each straightening roller of the straightener is 32.5-34.69 degrees, the actual angle is 32.38-33.93 degrees, and the difference value is-0.76-0.12 degrees; the measured angle of each straightening roller of the 2# straightening machine is 32.39-33.85 degrees, the actual angle is 30.05-33.44 degrees, the difference value is-3.8-0.07 degrees, and the actual angle is the angle fed back to the operation interface by the displacement sensor. All meet the process requirements.
Drawings
FIG. 1 is a diagram of a measurement interface in SA software provided by the present invention.
Detailed Description
The present invention will be further described with reference to the following detailed description and accompanying drawings. The drawings are for illustrative purposes only and show schematic drawings rather than actual drawings.
A method for calibrating a center line of a straightening machine based on a laser tracker comprises the following steps:
(1) the method comprises the steps that front and back vision inspection is conducted on a laser tracker by using OmniCal software, errors of inspection results are compensated by using 1.QVC, so that the accuracy of measurement results is guaranteed, the laser tracker is a radial plus laser tracker produced by American API company and provided with a hidden point measurement function, and a tracker host is connected with a high-integration weather station and used for automatically compensating measurement errors caused by working environment temperature, humidity conditions and the like;
(2) horizontally adjusting a support tripod for supporting the laser tracker to ensure that the actual level of the support tripod is coincident with a built-in electronic level meter of the laser tracker;
(3) 1 of 2-2-2 six-roller vertical cross roll straightener#Lower rolls of the rolls and 3#The central point of the lower roller of the roller establishes a straight line as the central line and the x-axis with 1#The lower roll midpoint of the roll is the origin of coordinates (1)#Lower rolls of the rolls and 3#Respectively rotating the lower roller of the roller to a maximum angle and a minimum angle, respectively taking the central points of the two straightening rollers, and verifying the correctness of the selection of the coordinate origin when the central points of the two straightening rollers are consistent);
(4) adjusting the reverse bending amount of each straightening roller to the value of the straightening machine in normal operation, placing a target ball on a special target seat, fixing the target seat at two ends of each straightening roller by a hot melt glue gun, controlling the straightening rollers to drive the target ball to rotate along the axis of each straightening roller at the rotating speed of 1r/min by using a laser tracking distance meter under a space scanning mode, scanning out continuous points of the rotating track of each straightening roller, fitting the continuous points into a circumference, fitting out a cylinder by using two circumferences, inquiring the angle between the axis of the cylinder and the x axis, namely the angle of each straightening roller, and adjusting the angle of each straightening roller to be the same angle. When the straightening roller is measured, due to the fact that the straightening roller rotates along the axis of the straightening roller, the measuring points of the traditional single point to the SA measuring mode are dispersed, the problem of large error exists when the cylinder is fitted, the rotating track of the straightening roller can be directly scanned by using the space scanning mode, the shape curve of the straightening roller is obtained, and the error from the single point to the SA measuring mode when the cylinder is fitted is greatly compensated.
As shown in figure 1, due to the limitation of field, the laser tracker can only be placed at one side of the straightening machine for measurement, and when the straightening roll is subjected to space scanning and point sampling, a half-circle point can only be sampled at the side opposite to the tracker. As the laser tracker has self-precision compensation, the error of the circumference fitted by adopting a half circle of points relative to the circumference fitted by adopting a circle of points can be ignored through multiple times of experimental verification.
The measurement results of the straightening machines No. 1 and No. 2 of the phi 273 unit are shown in Table 1 (1)#Measured results of leveler), Table 2 (2)#Straightener measurement), where the actual angle is the angle fed back by the displacement sensor:
| measuring angle/° | Actual angle/° | Difference/degree | |
| 1#Upper roll | 33.52 | 33.1 | -0.42 |
| 1#Lower roller | 33.65 | 33.12 | -0.53 |
| 2#Upper roll | 33.17 | 32.87 | -0.3 |
| 2#Lower roller | 34.69 | 33.93 | -0.76 |
| 3#Upper roll | 33.42 | 33.1 | -0.32 |
| 3#Lower roller | 32.5 | 32.38 | -0.12 |
TABLE 1
| Measuring angle/° | Actual angle/° | Difference/degree | |
| 1#Upper roll | 33.85 | 30.05 | -3.8 |
| 1#Lower roller | 33.51 | 33.44 | -0.07 |
| 2#Upper roll | 33.28 | 31.88 | -1.4 |
| 2#Lower roller | 32.89 | 32.64 | -0.25 |
| 3#Upper roll | 32.87 | 32.02 | -0.85 |
| 3#Lower roller | 32.39 | 32.28 | -0.11 |
TABLE 2
As can be seen from tables 1 and 2, 1#The measured angle of each straightening roller of the straightener is 32.5-34.69 degrees, the actual angle is 32.38-33.93 degrees, and the difference value is-0.76-0.12 degrees; 2#The measured angle of each straightening roller of the straightening machine is 32.39-33.85 degrees, the actual angle is 30.05-33.44 degrees, the difference value is-3.8-0.07 degrees, and the measured angles are in a reasonable range.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (6)
1. A method for calibrating the center line of a straightening machine based on a laser tracker is characterized by comprising the following steps:
(1) establishing a three-dimensional coordinate system by using SA software, and specifically comprising the following steps: 1 of 2-2-2 six-roller vertical cross roll straightener#Lower rolls of the rolls and 3#The central point of the lower roller of the roller establishes a straight line as the central line and the x-axis with 1#Taking the middle point of the lower roller of the roller as the origin of coordinates, measuring by using a laser tracker and taking two hydraulic support columns of the straightening roller from a single point to an SA mode, fitting two cylinders, establishing a plane by using four end points of two axes of the two cylinders, determining a straight line vertical to the plane, wherein the straight line is a Y axis, and establishing a three-dimensional coordinate system;
(2) adjusting the reverse bending amount of each straightening roller to a value when the straightening machine works normally, placing a target ball on a special target seat, fixing the target seat at two ends of each straightening roller by a hot melt glue gun, controlling the straightening rollers to drive the target ball to rotate along the axis of each straightening roller at a certain rotating speed by using the laser tracker under a space scanning mode, scanning out points with continuous rotating tracks of the straightening rollers, fitting the continuous points into a circumference, fitting out a cylinder by using two circumferences, inquiring the angle between the axis of the cylinder and an x axis, namely the angle of each straightening roller, and adjusting the angle of each straightening roller to be the same angle.
2. The method for calibrating the center line of the straightening machine based on the laser tracker according to the claim 1, wherein in the step (1), the method for verifying the accuracy of the origin of coordinates is as follows: will 1#Lower rolls of the rolls and 3#And respectively rotating the lower rollers of the rollers to a maximum angle and a minimum angle, and respectively taking the central points of the two straightening rollers, wherein the central points of the two straightening rollers are consistent.
3. The method for calibrating the central line of the straightening machine based on the laser tracker according to the claim 1, characterized in that in the step (1), before the three-dimensional coordinate system is established by using SA software, the laser tracker is checked before and after by using OmniCal software, and the error of the checking result is compensated by using the 1.QVC function.
4. The method for calibrating the center line of the laser tracker-based leveler as recited in claim 3, wherein a support tripod supporting the laser tracker is horizontally adjusted to ensure that the actual level of the support tripod coincides with the built-in electronic level of the laser tracker.
5. The method for calibrating the center line of the straightening machine based on the laser tracker according to claim 1, characterized in that the laser tracking distance measuring instrument is connected with a high-integration meteorological station.
6. The method for calibrating the central line of the straightening machine based on the laser tracker according to the claim 1, wherein in the step (2), the rotating speed of the straightening roller is 1 r/min.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114345942A (en) * | 2022-01-24 | 2022-04-15 | 上海鼎艺冶金科技有限公司 | Method for repairing bearing seat lining plate mounting surface on line based on laser tracker |
| CN114777647A (en) * | 2022-04-19 | 2022-07-22 | 包头钢铁（集团）有限责任公司 | Method for measuring back-up roll of sintering mixer |
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