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A Two-point Measurement Method of Intersecting Double Pipe Clamping Pose Based on Nonlinear Equations

A non-linear equation and measurement method technology, applied in the field of automatic welding control, can solve problems such as low efficiency, cumbersome process, and affecting operation efficiency, and achieve the effects of fewer measurement points, high measurement accuracy, and improved operation efficiency

Active Publication Date: 2017-08-25
SHANDONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This method is cumbersome, inefficient, and has high requirements for the professional level of the operator, which seriously affects the work efficiency.

Method used

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  • A Two-point Measurement Method of Intersecting Double Pipe Clamping Pose Based on Nonlinear Equations
  • A Two-point Measurement Method of Intersecting Double Pipe Clamping Pose Based on Nonlinear Equations
  • A Two-point Measurement Method of Intersecting Double Pipe Clamping Pose Based on Nonlinear Equations

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Experimental program
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Embodiment 1

[0034] Such as figure 1 and figure 2 As shown, this embodiment provides a two-point determination method for intersecting double-pipe clamping pose based on nonlinear equations. This method integrates numerical control measurement, mathematical model establishment and nonlinear equation solution. The machine tool coordinates of two arbitrary points on the outer wall of the branch pipe, combined with the estimated parameters to be solved to solve the initial value, can obtain the clamping pose parameters of the double pipe.

[0035] The structure of the intersecting line welding machine is similar to that of a five-axis milling machine, consisting of three linear axes and two rotary axes. The specific structure is as follows figure 1 As shown, the rotation axis is used to adjust the posture of the welding torch, and the linear axis is used to adjust the position of the welding torch. The specific steps of the assay method are as follows:

[0036] (1) Adjust the origin of th...

Embodiment 2

[0056] This embodiment provides a two-point measurement method for intersecting double-pipe clamping poses based on nonlinear equations. The method steps are as described in Embodiment 1, and the difference is that: when selecting the positions of the two measurement points , the angle difference between the two measuring points along the circumferential direction of the branch pipe is 90°±30°.

[0057] The two measurement points selected according to this distribution rule can minimize the influence of measurement error on the solution accuracy of the parameters to be solved compared with the two measurement points selected arbitrarily.

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Abstract

The invention relates to a two-point determination method for clamping poses of an intersected dual-tube based on a nonlinear equation set, which integrates numerical control measurement, mathematics model establishment and nonlinear equation solving. The machine tool coordinates of any two points on the outer wall of a branch tube are measured by a machine tool, and in combination with known intersection parameters of a tube set, a clamping pose of the tube set can be obtained. The method has the characteristics of no requirement for external measurement tool, less requirement for measurement point, high measurement precision and the like, greatly shortens the preparation time of pose adjustment of a tube set before an intersecting line is automatically welded, and improves the working efficiency. The preparation time of each unknown parameter measurement before the intersecting line is automatically welded is greatly shortened so as to achieve the purpose of rapidly generating an intersected tube welding process, thereby realizing the high efficiency of an automatic welding process of intersecting lines.

Description

technical field [0001] The invention relates to a two-point measurement method for the clamping pose of intersecting double pipes based on a nonlinear equation group, and belongs to the technical field of automatic welding control. Background technique [0002] In the automatic welding process of intersecting lines, the intersecting pipeline welding program is automatically generated according to known intersecting parameters and predetermined clamping poses. However, in practice, there is a large gap between the clamping pose of the tube group and the predetermined clamping pose, which easily leads to the deviation of the welding trajectory and the weld seam. Before automatic welding, it is first necessary to determine the initial clamping pose of the tube group, and then correct the tube group to the predetermined clamping pose. [0003] The clamping pose of the tube group includes two parameters, one is the displacement of the tube group in the direction of the main tube...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B21/00B23K37/00
CPCB23K37/00G01B21/00
Inventor 田新诚石磊
Owner SHANDONG UNIV
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