Ellipse interpolation method for welding tube plate based on centrifugal angle change

Abstract

The invention provides an ellipse interpolation method for welding a tube plate based on centrifugal angle change. The method comprises the following steps: firstly, determining the position of an interpolation starting point, and obtaining the interpolation cycle and the interpolation linear velocity according to a to-be-welded track; determining the variable quantity of a centrifugal angle of an ellipse in each interpolation process according to the ellipse parameter equation, converting the variable quantity of the centrifugal angle into the variable quantity of an interpolation point coordinate value in an ellipse curve, obtaining the next interpolation point coordinate and the feed speed of each coordinate axis according to the variable quantity of the interpolation point coordinate value and transferring to a controller; transferring the next interpolation point coordinate and the feed speed to the corresponding servo motor by the controller; driving a mechanical structure and a welding machine to execute a corresponding command by the servo motor, and finishing the interpolation. According to the ellipse interpolation method, the speed of the welding machine in the welding process cannot suddenly change; the computation advantages of an upper computer can be greatly played; the operation speed of the system is accelerated; the burden of a hardware part is reduced; the consistency of welding lines can be ensured; flexible control on the welding machine is achieved; the welding quality is improved.

Description

technical field [0001] The invention belongs to a tube-sheet welding control system in the field of manufacturing automation, in particular to an ellipse interpolation method for tube-sheet welding based on centrifugal angle changes. Background technique [0002] With the development of computer technology and automated processing technology, welding automation equipment and welding robots have become important equipment for the development of countries all over the world. The realization of intelligent welding automation has become an inevitable requirement for the development of my country's industrial modernization. In my country's welding small and medium-sized enterprises, manual welding is generally used to complete the welding of complex welds. The welding quality is greatly affected by the proficiency and technology of the workers, there are differences, the efficiency is low, and the welding industry has high radiation, metal fumes, and harmful gases. Hazards such as...

AI Technical Summary

Problems solved by technology

However, the division method is used in the calculation process, which makes the data processing more complicated, and the speed will change with the size of the integrand during the implementation process, the interpolation speed is not stable, the interpolation accuracy is not high, and welding defects are easy to occur

The comparative integral method combines the advantages of the comparative method and the integral method. In each pulse feed, it is necessary to compare the size of the feed pulse interval of each coordinate to determine the reference axis for each specific feed. For deviation discrimination, coordinate feed and new deviation calculation, in addition, quadrant processing is required, and the calculation is cumbersome

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