CN115906307A - Method, device and equipment for designing profiling track of 8-shaped expansion corrugated pipe - Google Patents
Method, device and equipment for designing profiling track of 8-shaped expansion corrugated pipe Download PDFInfo
- Publication number
- CN115906307A CN115906307A CN202211362377.2A CN202211362377A CN115906307A CN 115906307 A CN115906307 A CN 115906307A CN 202211362377 A CN202211362377 A CN 202211362377A CN 115906307 A CN115906307 A CN 115906307A
- Authority
- CN
- China
- Prior art keywords
- corrugated pipe
- track
- shaped expansion
- expansion corrugated
- profiling track
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Landscapes
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention relates to a method, a device and equipment for designing a profiling track of a 8-shaped expansion corrugated pipe, belonging to the technical field of structural design of welding robots. By adopting the technical scheme provided by the embodiment of the invention, when petroleum exploration is carried out, the profiling track with a specific specification can be designed according to the characterization functions under different sections in the design result of the profiling track, and the robot carries out automatic welding along the profiling track, so that the technical problem that the expansion corrugated pipe for petroleum well cementation maintenance cannot be automatically welded due to the complex structure is solved.
Description
Technical Field
The invention relates to the technical field of structural design of welding robots, in particular to a method, a device and equipment for designing a profiling track of an 8-shaped expansion corrugated pipe.
Background
The mobile welding robot has strong application advantages in the welding process of large, heavy and complex components, and the welding process is simplified by adopting the mode that the robot moves and the components are static. The mobile welding robot can be divided into a wheel type mobile welding robot and a rail type mobile welding robot according to the moving mode, the wheel type mobile welding robot and the rail type mobile welding robot are high in flexibility and suitable for all-position welding of large components; the common rigid rail type welding robot in the latter is suitable for welding heavy and large components at fixed positions; in the aspect of welding general complex curved surface components, an additional mechanical arm or a flexible track mode is mostly adopted.
When the workpieces to be welded are 8-shaped expansion pipes, automatic welding is difficult to realize due to the special shape of the 8-shaped expansion corrugated pipe. For example, in the field of oil exploration, 8-shaped expansion corrugated pipes are commonly used for repairing and plugging, and the 8-shaped expansion corrugated pipes need to be welded on site when in use, but due to the special shape of the 8-shaped expansion corrugated pipes, an automatic welding solution is lacked, manual arc welding is generally used on site, and the efficiency is low.
Disclosure of Invention
In view of the above, the present invention aims to provide a method, an apparatus and a device for designing a profiling track for a figure-8 expansion bellows, so as to overcome the problem that the efficiency is low because the figure-8 expansion bellows is in a special shape, an automatic welding solution is lacked, and manual arc welding is usually used for welding on the spot.
In order to realize the purpose, the invention adopts the following technical scheme:
on one hand, the design method of the copying track of the 8-shaped expansion corrugated pipe comprises the following steps that (1) the 8-shaped expansion corrugated pipe comprises different sections; the method comprises the following steps:
determining the position of a welding seam of a workpiece to be welded, wherein the workpiece to be welded is an 8-shaped expansion corrugated pipe;
generating the 8-shaped expansion corrugated pipe profiling track on the same plane by taking the constant distance from the welding seam as a reference;
determining different sections of the 8-shaped expansion corrugated pipe profiling track;
and calculating a characterization function of each section of the 8-shaped expansion corrugated pipe profiling track under a two-dimensional Cartesian coordinate system by taking the centroid of the workpiece to be welded as an origin, and determining a design result of the 8-shaped expansion corrugated pipe profiling track according to all the characterization functions.
Optionally, the determining different sections of the profiling track of the 8-shaped expansion bellows comprises:
acquiring the curvature radius of the 8-shaped expansion corrugated pipe profiling track;
and taking the sub-profiling tracks corresponding to different curvature radiuses as different sections of the profiling track of the 8-shaped expansion corrugated pipe.
Optionally, the method further includes:
numbering each section in a clockwise or anticlockwise direction by taking any section of the 8-shaped expansion corrugated pipe profiling track as a starting point;
the calculating the characterization function of each segment of the 8-shaped expansion corrugated pipe profiling track further comprises:
and correspondingly calculating a characterization function of each section of the 8-shaped expansion bellows profiling track according to the number.
Optionally, the numbering is performed on each segment in the clockwise or counterclockwise direction by using any segment of the profiling track of the 8-shaped expansion corrugated pipe as a starting point, and the numbering includes: and numbering each section along the anticlockwise direction by taking the intersection point of the 8-shaped expansion corrugated pipe profiling track and a vertical coordinate as a starting point under a two-dimensional Cartesian coordinate system.
Optionally, the calculated characterization function of each segment of the profiling track of the 8-shaped expansion bellows includes:
when k =1, the number of the bits is set to k =1,
when the k =2, the number of the bits is more than one,
when k =3, the number of the bits is set to k =3,
when k =4, the number of the bits is set to k =4,
when k =5, the number of the magnetic particles is set to be equal to or greater than 5,
when the k =6, the number of the bits is more than one,
when k =7, the number of the bits is set to k =7,
when k =8, the number of the bits is as follows,
when k =9, the number of the bits is set to k =9,
when k =10, the number of the bits is set to k =10,
when k =11, the number of the bits is increased,
when the k =12, the number of the terminals is more than one,
where k denotes the kth segment.
On one hand, the 8-shaped expansion corrugated pipe profiling track is designed by applying any one of the above design methods for the 8-shaped expansion corrugated pipe profiling track, the cross section of the 8-shaped expansion corrugated pipe profiling track is square, and a groove is formed in the track.
Optionally, the inner wall of the groove is provided with 2 bosses.
In one aspect, a figure 8 expansion bellows profile track design device, the figure 8 expansion bellows including different sections, the device comprising:
the device comprises a determining module, a judging module and a control module, wherein the determining module is used for determining the welding seam position of a workpiece to be welded, and the workpiece to be welded is an 8-shaped expansion corrugated pipe;
the generating module is used for generating the 8-shaped expansion corrugated pipe profiling track on the same plane by taking a constant distance from the welding seam as a reference;
a segmentation module for said determining different segments of said figure-8 expansion bellows profile track;
and the calculation module is used for calculating a characterization function of each section of the 8-shaped expansion corrugated pipe profiling track under a two-dimensional Cartesian coordinate system by taking the centroid of the workpiece to be welded as an origin, and determining a design result of the 8-shaped expansion corrugated pipe profiling track according to all the characterization functions.
In one aspect, a figure-8 expansion corrugated pipe profiling track design device comprises a processor and a memory, wherein the processor is connected with the memory:
the processor is used for calling and executing the program stored in the memory;
the memory for storing the program for executing at least the figure-8 expansion bellows profile track design method according to any one of claims 1 to 5.
The technical scheme of the invention at least has the following beneficial effects:
according to the method, the device and the equipment for designing the copying track of the 8-shaped expansion corrugated pipe, provided by the embodiment of the invention, the copying track of the 8-shaped expansion corrugated pipe is obtained based on the position of the welding seam of the workpiece to be welded, and the design result of the copying track is obtained by obtaining the characterization functions of the copying track under different sections. By adopting the technical scheme provided by the embodiment of the invention, when petroleum exploration is carried out, the profiling track with a specific specification can be designed according to the characterization functions under different sections in the design result of the profiling track, and the robot carries out automatic welding along the profiling track, so that the technical problem that the expansion corrugated pipe for petroleum well cementation maintenance cannot be automatically welded due to the complex structure is solved. The invention provides a quantitative expansion corrugated pipe track design method, defines a fitting curve expression of each segmental track, provides a modularized solution for automatic welding of expansion corrugated pipes for petroleum well cementation maintenance, and fills the blank of the field.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for designing a profiling track of an 8-shaped expansion bellows according to an embodiment of the present invention;
FIG. 2 is a schematic view of a profile track for an 8-shaped expansion bellows according to an embodiment of the present invention;
FIG. 3 is a sectional view of a profiling track of an 8-shaped expansion bellows provided by an embodiment of the invention;
fig. 4 is a schematic diagram of a groove inner wall boss of a copying track of an 8-shaped expansion corrugated pipe according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a profiling track design device for an 8-shaped expansion bellows according to an embodiment of the invention;
fig. 6 is a schematic structural diagram of a profiling track design device for an 8-shaped expansion bellows according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It should be apparent that the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the related technology, a trolley is welded by a flexible track, and a trolley body is fixed on a circular tube to be welded by a chain, so that the welding work of the outer ring of the circular tube can be completed, but the scheme is only used for a simple curved surface, the movement of equipment with a complex curved surface is limited, and the trolley can not be used for an inwards concave arc-shaped curved surface at all; the train track welding device adopts the sliding circular rail to enable the welding gun to move along a fixed path, the sliding circular rail is not supported in the whole moving process, the moving precision is poor, a bearing cannot be used, and the moving resistance is large; the three-dimensional welding device adopts the three-dimensional welding track and the clamping structure arranged inside the three-dimensional welding track to complete welding, and although the welding operation of a complex curved surface can be completed, the clamping structure and a workpiece are required to be arranged inside the track, so that the welding operation of a large complex curved surface cannot be completed, and particularly, the welding operation cannot be performed on a long workpiece such as a pipe; the miniature automatic profiling welding tractor is suitable for linear welding seams and circular welding seams, does not use a track or a designed track, and has poor profiling precision.
When the workpieces to be welded are 8-shaped expansion pipes, automatic welding is difficult to realize due to the special shape of the 8-shaped expansion corrugated pipe. For example, in the field of oil exploration, 8-shaped expansion corrugated pipes are commonly used for repair and leak stoppage, the 8-shaped expansion corrugated pipes need to be welded on site when in use, but due to the special shape of the 8-shaped expansion corrugated pipes, an automatic welding solution is lacked, manual arc welding is generally used on site for welding, and the efficiency is low.
Based on the above, the embodiment of the invention provides a method, a device and equipment for designing a profiling track of an 8-shaped expansion corrugated pipe, so as to overcome the problem that the efficiency is low because the existing 8-shaped expansion corrugated pipe is welded by manual arc welding on site due to the fact that an automatic welding solution is lacked because of the special shape of the 8-shaped expansion corrugated pipe.
Fig. 1 is a schematic flow chart of a method for designing a profiling track of an 8-shaped expansion corrugated pipe according to an embodiment of the present invention, where the 8-shaped expansion corrugated pipe includes different segments, and referring to fig. 1, this embodiment may include the following steps:
step S1: and determining the position of a welding seam of the workpiece to be welded, wherein the workpiece to be welded is an 8-shaped expansion corrugated pipe.
In a specific implementation process, the 8-shaped expansion corrugated pipe profiling track is used for welding the position of a welding seam of a workpiece to be welded. The workpiece to be welded is an 8-shaped expansion corrugated pipe, and the specific welding position is determined according to the 8-shaped expansion corrugated pipe.
In which data collection may be performed on a workpiece to be welded in advance, so that the weld position is determined by the data collected in advance.
Step S2: and generating the 8-shaped expansion corrugated pipe profiling track on the same plane by taking the constant distance from the welding seam as a reference.
And after the welding seam position is determined, generating the 8-shaped expansion corrugated pipe profiling track on the same plane by taking the constant distance as a reference and the constant distance from the welding seam position as a reference according to the welding seam position.
Fig. 2 is a schematic diagram of a 8-shaped expansion bellows profiling track according to an embodiment of the present invention, referring to fig. 2, where an inner thick line is a welding seam position, and an outer thin line is a generated 8-shaped expansion bellows profiling track; wherein the constant distance between the position of the welding seam and the generated 8-shaped expansion corrugated pipe copying track is delta R i E.g. Δ R i May be 10mm, etc., and is not particularly limited in this application.
And step S3: and determining different sections of the profiling track of the 8-shaped expansion corrugated pipe.
In some embodiments, determining different sections of the figure-8 expansion bellows profile track comprises:
obtaining the curvature radius of the profiling track of the 8-shaped expansion corrugated pipe; and the sub-profiling tracks corresponding to different curvature radii are used as different sections of the profiling track of the 8-shaped expansion corrugated pipe.
For example, the figure 8 expansion bellows profile track is similar in shape to the figure 8 expansion bellows (similar shape of the weld location), and the figure 8 expansion bellows comprises different sections, i.e. the figure 8 expansion bellows profile track comprises different sections.
The method for obtaining the curvature radius of the 8-shaped expansion corrugated pipe copying track can be to calculate the curvature radius of the 8-shaped expansion corrugated pipe copying track through measurement. After the curvature radius of the 8-shaped expansion corrugated pipe copying track is obtained, the sub-copying tracks corresponding to different curvature radii can be used as different sections of the 8-shaped expansion corrugated pipe copying track.
In some embodiments, in order to facilitate recording and processing of different segments, the method may further include: and numbering each section by taking any section of the 8-shaped expansion corrugated pipe profiling track as a starting point along the clockwise or anticlockwise direction.
In some embodiments, starting from any segment of the figure-8 expansion bellows profile track, numbering each segment in a clockwise or counterclockwise direction, comprises: and numbering each section in a two-dimensional Cartesian coordinate system by taking the intersection point of the 8-shaped expansion corrugated pipe copying track and the ordinate as a starting point and along the anticlockwise direction.
Fig. 3 is a sectional schematic view of a profiling track of an 8-shaped expansion corrugated pipe according to an embodiment of the present invention, and referring to fig. 3, the section of the profiling track of the 8-shaped expansion corrugated pipe can be divided into 12 sections, which are numbered as 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12.
And step S4: and taking the centroid of the workpiece to be welded as an original point, calculating a characterization function of each section of the 8-shaped expansion corrugated pipe profiling track under a two-dimensional Cartesian coordinate system, and determining a design result of the 8-shaped expansion corrugated pipe profiling track according to all the characterization functions.
In some embodiments, calculating the characterization function for each segment of the figure-8 expansion bellows profile track further comprises: and correspondingly calculating the characterization function of each segment of the 8-shaped expansion corrugated pipe profile track according to the number.
Referring to fig. 3, in some embodiments, the calculated characterization function for each segment of the figure-8 expansion bellows profile track comprises:
when the k =1, the number of the bits is set to zero,
when the k =2, the number of the bits is more than one,
when the k =3, the number of the bits is more than 3,
when k =4, the number of the bits is set to k =4,
when the k =5, the number of the terminals is more than one,
when the k =6, the number of the bits is more than one,
when k =7, the number of the bits is set to k =7,
when k =8, the number of the bits is as follows,
/>
when k =9, the number of the bits is set to k =9,
when the k = 10-degree of the sum of the k =10,
when the k =11, the number of the terminals is more than one,
when k =12, the number of the magnetic particles is set to k =12,
where k denotes the kth segment, i.e., k is a number.
And (3) combining the characterization functions of each section from k =1 to k =12 to obtain the design result of the 8-shaped expansion corrugated pipe profile track.
According to the method for designing the 8-shaped expansion corrugated pipe copying track, the 8-shaped expansion corrugated pipe copying track is obtained based on the welding seam position of the workpiece to be welded, and the copying track design result is obtained by obtaining the characterization function of the copying track under different sections. By adopting the technical scheme provided by the embodiment of the invention, automatic welding can be carried out according to the characterization functions under different sections in the design result of the profile modeling track during petroleum exploration, and the technical problem that the expansion corrugated pipe for petroleum well cementation and maintenance cannot be automatically welded due to the complex structure is solved.
Based on a general inventive concept, the embodiment of the invention also provides a profiling track of the 8-shaped expansion corrugated pipe.
The 8-shaped expansion corrugated pipe copying track provided by the embodiment of the invention is designed by applying the design method of the 8-shaped expansion corrugated pipe copying track described in any one of the embodiments, the cross section of the 8-shaped expansion corrugated pipe copying track is square, and the track is provided with a groove.
In the embodiment of the application, through setting up the recess, it is that drive mechanism carries out 360 welding cutting or detection to the work piece along the recess track.
In some embodiments, the inner wall of the groove is provided with 2 bosses.
For example, a parallel double-row chain transmission mode is adopted for profile transmission welding, and 2 bosses are machined on the inner wall of a track groove.
Fig. 4 is a schematic diagram of a boss on the inner wall of a groove of a profiling track of an 8-shaped expansion bellows according to an embodiment of the present invention, and referring to fig. 4, an upper boss 41 is used for an upper link rolling element of a double-row chain to roll, and a lower boss 42 is used for a lower link rolling element of the double-row chain to roll.
It should be noted that, because the overall processing of the track profile is difficult to achieve, the profiling track is preferably manufactured and processed in a split processing manner in the present application, and finally assembled and installed to form a complete track.
Based on a general inventive concept, the embodiment of the invention also provides a device for designing the profiling track of the 8-shaped expansion corrugated pipe.
The invention also provides a device for designing the profiling track of the 8-shaped expansion corrugated pipe, which is used for realizing the embodiment of the method. Fig. 5 is a schematic structural diagram of a device for designing a profiling track of an 8-shaped expansion bellows according to an embodiment of the present invention, where the 8-shaped expansion bellows includes different segments, and referring to fig. 5, the device according to an embodiment of the present invention may include:
the determining module 51 is used for determining the welding seam position of a workpiece to be welded, and the workpiece to be welded is an 8-shaped expansion corrugated pipe;
the generating module 52 is used for generating the 8-shaped expansion corrugated pipe profiling track on the same plane by taking a constant distance from the position of the welding seam as a reference;
a segmentation module 53 for determining different segments of the profiling track of the 8-shaped expansion corrugated pipe;
and the calculating module 54 is used for calculating a characteristic function of each section of the 8-shaped expansion corrugated pipe copying track under a two-dimensional Cartesian coordinate system by taking the centroid of the workpiece to be welded as an origin, and determining a design result of the 8-shaped expansion corrugated pipe copying track according to all the characteristic functions.
Optionally, the segmentation module is specifically configured to obtain a curvature radius of the profiling track of the 8-shaped expansion bellows;
and the sub-profiling tracks corresponding to different curvature radii are used as different sections of the profiling track of the 8-shaped expansion corrugated pipe.
Optionally, the segmentation module is further configured to number each segment in the profiling track of the 8-shaped expansion corrugated pipe in a clockwise or counterclockwise direction with any segment as a starting point; and the calculation module is also used for correspondingly calculating the characterization function of each section of the 8-shaped expansion corrugated pipe profiling track according to the serial number.
Optionally, the segmentation module is specifically configured to number each segment in the two-dimensional cartesian coordinate system by using an intersection point of the profiling track of the 8-shaped expansion bellows and the ordinate as a starting point and in the counterclockwise direction.
Optionally, the calculation module calculates a characterization function of each segment of the 8-shaped profile track of the expansion bellows, including:
when the k =1, the number of the bits is set to zero,
when k =2, the number of the bits is set to k =2,
when k =3, the number of the bits is set to k =3,
when k =4, the number of the bits is set to k =4,
when k =5, the number of the magnetic particles is set to be equal to or greater than 5,
when k =6, the signal is transmitted,
when k =7, the number of the bits is set to k =7,
when k =8, the number of the bits is as follows,
when k =9, the number of the bits is set to k =9,
when the k = 10-degree of the sum of the k =10,
when the k =11, the number of the terminals is more than one,
/>
when k =12, the number of the magnetic particles is set to k =12,
where k denotes the kth segment.
With regard to the apparatus in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be described in detail here.
According to the device for designing the 8-shaped expansion corrugated pipe copying track, the 8-shaped expansion corrugated pipe copying track is obtained based on the welding seam position of the workpiece to be welded, and the copying track design result is obtained by obtaining the characterization function of the copying track under different sections. By adopting the technical scheme provided by the embodiment of the invention, automatic welding can be carried out according to the characterization functions under different sections in the design result of the profile modeling track during petroleum exploration, and the technical problem that the expansion corrugated pipe for petroleum well cementation and maintenance cannot be automatically welded due to the complex structure is solved.
Based on a general inventive concept, the embodiment of the invention also provides a profiling track design device for the 8-shaped expansion bellows.
Fig. 6 is a schematic structural diagram of a device for designing a profiling track of an 8-shaped expansion bellows according to an embodiment of the present invention, and referring to fig. 6, the device according to an embodiment of the present invention may include: a processor 61 and a memory 62, the processor 61 being connected to the memory 62. Wherein, the processor 61 is used for calling and executing the program stored in the memory 62; the memory 62 is used for storing a program for executing at least the 8-shaped expansion bellows profile track design method in the above embodiment.
For a specific implementation of the 8-shaped profiling track design device for the expansion bellows provided in the embodiment of the present application, reference may be made to the implementation of the 8-shaped profiling track design method for the expansion bellows in any of the above embodiments, and details are not described here.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that, in the description of the present invention, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, the meaning of "a plurality" means at least two unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (9)
1. A design method for a profiling track of an 8-shaped expansion corrugated pipe is characterized in that the 8-shaped expansion corrugated pipe comprises different sections; the method comprises the following steps:
determining the position of a welding seam of a workpiece to be welded, wherein the workpiece to be welded is an 8-shaped expansion corrugated pipe;
generating the 8-shaped expansion corrugated pipe profiling track on the same plane by taking the constant distance from the welding seam as a reference;
determining different sections of the 8-shaped expansion corrugated pipe profiling track;
and calculating a characterization function of each section of the 8-shaped expansion corrugated pipe profiling track under a two-dimensional Cartesian coordinate system by taking the centroid of the workpiece to be welded as an origin, and determining a design result of the 8-shaped expansion corrugated pipe profiling track according to all the characterization functions.
2. The method of claim 1, wherein said determining different segments of said figure-8 expansion bellows profile track comprises:
acquiring the curvature radius of the 8-shaped expansion corrugated pipe profiling track;
and taking the sub-profiling tracks corresponding to different curvature radiuses as different sections of the profiling track of the 8-shaped expansion corrugated pipe.
3. The method of claim 2, further comprising:
numbering each section in a clockwise or anticlockwise direction by taking any section of the 8-shaped expansion corrugated pipe profiling track as a starting point;
the calculating the characterization function of each segment of the 8-shaped expansion corrugated pipe profiling track further comprises:
and correspondingly calculating a characterization function of each section of the 8-shaped expansion corrugated pipe profile track according to the number.
4. The method according to claim 3, wherein the step of numbering each segment of the figure-8 expansion bellows profile track in a clockwise or counterclockwise direction starting from any segment comprises: and numbering each section in a two-dimensional Cartesian coordinate system by taking the intersection point of the 8-shaped expansion corrugated pipe profiling track and the ordinate as a starting point and along the anticlockwise direction.
5. The method of claim 4, wherein the computed characterization function for each segment of the figure-8 expansion bellows profile track comprises:
when k =1, the number of the bits is set to k =1,
when k =2, the number of the bits is set to k =2,
when k =3, the number of the bits is set to k =3,
when k =4, the number of the bits is set to k =4,
when k =5, the number of the magnetic particles is set to be equal to or greater than 5,
when k =6, the signal is transmitted,
/>
when k =7, the number of the bits is set to k =7,
when k =8, the number of the bits is as follows,
when k =9, the number of the bits is set to k =9,
when k =10, the number of the bits is set to k =10,
when k =11, the number of the bits is increased,
when k =12, the number of the magnetic particles is set to k =12,
where k denotes the kth segment.
6. The 8-shaped expansion corrugated pipe profiling track is characterized by being designed by applying the design method of the 8-shaped expansion corrugated pipe profiling track as claimed in any one of claims 1 to 5, wherein the cross section of the 8-shaped expansion corrugated pipe profiling track is square, and grooves are arranged on the track.
7. The figure 8 expansion bellows profile track according to claim 6, characterized in that the inner wall of the groove is provided with 2 bosses.
8. A figure 8 expansion bellows profile track design device, characterized in that, 8 expansion bellows includes different segmentation, the device includes:
the device comprises a determining module, a judging module and a control module, wherein the determining module is used for determining the welding seam position of a workpiece to be welded, and the workpiece to be welded is an 8-shaped expansion corrugated pipe;
the generating module is used for generating the 8-shaped expansion corrugated pipe profiling track on the same plane by taking a constant distance from the welding seam as a reference;
a segmentation module for determining different segments of the 8-shaped expansion corrugated pipe profiling track;
and the calculation module is used for calculating a characterization function of each section of the 8-shaped expansion corrugated pipe profiling track under a two-dimensional Cartesian coordinate system by taking the centroid of the workpiece to be welded as an origin, and determining a design result of the 8-shaped expansion corrugated pipe profiling track according to all the characterization functions.
9. The figure-8 expansion corrugated pipe profiling track design device is characterized by comprising a processor and a storage, wherein the processor is connected with the storage:
the processor is used for calling and executing the program stored in the memory;
the memory for storing the program for executing at least the figure-8 expansion bellows profile track design method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211362377.2A CN115906307A (en) | 2022-11-02 | 2022-11-02 | Method, device and equipment for designing profiling track of 8-shaped expansion corrugated pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211362377.2A CN115906307A (en) | 2022-11-02 | 2022-11-02 | Method, device and equipment for designing profiling track of 8-shaped expansion corrugated pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115906307A true CN115906307A (en) | 2023-04-04 |
Family
ID=86495735
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211362377.2A Pending CN115906307A (en) | 2022-11-02 | 2022-11-02 | Method, device and equipment for designing profiling track of 8-shaped expansion corrugated pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115906307A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117020485A (en) * | 2023-08-04 | 2023-11-10 | 北京石油化工学院 | 8-shaped expansion corrugated pipe mobile welding robot and design method thereof |
-
2022
- 2022-11-02 CN CN202211362377.2A patent/CN115906307A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117020485A (en) * | 2023-08-04 | 2023-11-10 | 北京石油化工学院 | 8-shaped expansion corrugated pipe mobile welding robot and design method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109226937B (en) | Industrial robot spatial intersecting curve welding off-line programming method | |
| US6526373B1 (en) | Optimization tool for robot placement | |
| CN115906307A (en) | Method, device and equipment for designing profiling track of 8-shaped expansion corrugated pipe | |
| JP2018041439A (en) | Predictive shimming of joints | |
| US4042161A (en) | Automatic welding apparatus | |
| CN103521965A (en) | Automatic welding system and method | |
| CN112395708B (en) | Pipeline digital reconstruction method based on accurate measurement | |
| CN107243715A (en) | The defect correcting method of one class precision castings blank | |
| Guo et al. | A robotic grinding motion planning methodology for a novel automatic seam bead grinding robot manipulator | |
| CN104985482A (en) | Complex surface on-machine test method of five-axis machining center | |
| CN111452092A (en) | Adjusting method and system of laser tracking sensor, storage medium and welding equipment | |
| CN114201818B (en) | Liquid rocket engine parameterized model construction method | |
| KR101065955B1 (en) | 3D shape measurement system of circular hole | |
| CN111043445A (en) | Detection vehicle in pipeline | |
| CN104625314A (en) | Portable pipe cutting device based on crawling mechanism | |
| Zhang et al. | Multi-channels information fusion and deep transfer learning for rotating machinery fault diagnosis | |
| Cui et al. | Spiral trajectory planning approach for underground cavity measurements based on laser scanning | |
| CN109696135B (en) | Non-contact automatic detection method for roundness of bell mouth of cast tube | |
| CN110124298A (en) | The segmented assembly method of refrigeration piping bracket for sled sports | |
| Chao et al. | Research on the algorithm of measurement path planning for inner wall of air-intake pipe based on spraying robot system | |
| CN104842046B (en) | Heavy wall large scale tube shaped weld work piece seam of intersection line submerged arc welding platform courses method | |
| CN109033669A (en) | Spiral bevel gear machining simulation modeling method based on the driving of omnipotent kinematic parameter | |
| JP2001353642A (en) | Measuring method of center position of pipe body cross section, and pipe body machining/guiding device | |
| Li et al. | Efficient five-axis scanning-inspection path planning for complex freeform surfaces | |
| CN111774813A (en) | Method for manufacturing inner field of folding pipe |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |