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A four-point measurement method of intersecting parameters and clamping pose of intersecting double pipes based on nonlinear equations

A technology of non-linear equations and measurement methods, applied in the field of automatic welding control, can solve the problems of affecting operation efficiency, cumbersome process, low efficiency, etc., and achieve the effect of improving operation efficiency, high measurement accuracy and fewer measurement points

Active Publication Date: 2017-10-31
SHANDONG UNIV
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  • Application Information

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Problems solved by technology

Obviously, this method is cumbersome and inefficient, and has high requirements on the professional level of the operator, which seriously affects the working efficiency

Method used

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  • A four-point measurement method of intersecting parameters and clamping pose of intersecting double pipes based on nonlinear equations
  • A four-point measurement method of intersecting parameters and clamping pose of intersecting double pipes based on nonlinear equations
  • A four-point measurement method of intersecting parameters and clamping pose of intersecting double pipes based on nonlinear equations

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Experimental program
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Embodiment 1

[0035] Such as figure 1 and figure 2 As shown, this embodiment provides a four-point measurement method for intersecting parameters and clamping poses of intersecting double pipes based on nonlinear equations. The method is based on numerical control measurement, mathematical model establishment, and nonlinear equation solving. The machine tool coordinates of four arbitrary points on the outer wall of the branch pipe are measured on the machine tool itself, and combined with the estimated parameters to be solved to solve the initial value, the intersecting parameters and clamping pose parameters of the double pipe can be obtained.

[0036] 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 th...

Embodiment 2

[0060] This embodiment provides a four-point measurement method for intersecting parameters and clamping poses of intersecting double pipes based on nonlinear equations. The method steps are as described in Embodiment 1, and the difference is that: after four When selecting the location of a measuring point, follow a certain distribution rule:

[0061] a. The four measurement points are divided into two groups, each group has two measurement points;

[0062] b. Two groups of measurement points are distributed according to the direction of the central axis of the branch pipe, one group of measurement points is close to the main pipe, and the other group of measurement points is far away from the main pipe;

[0063] c. The angle difference between the two measurement points of each group along the circumferential direction of the branch pipe is 90°±30°.

[0064] The measurement points selected according to this distribution rule can minimize the impact of measurement errors on ...

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Abstract

The invention relates to an intersection double-pipe intersection parameter and clamping pose four-point measuring method based on a nonlinear equation system. According to the method, on the basis of integrating numerical control measurement, mathematical model building and nonlinear equation solving, a machine tool body is used for measuring machine tool coordinates of any four points on the outer wall of a branch pipe, an initial value is solved by means of the combination with estimated parameters to be solved, and intersection parameters and clamping poses of double pipes can be obtained. The method has the advantages that an external measurement tool is not needed, few points need to be measured, and the measuring precision is high; preparation time for measuring all unknown parameters before intersection lines are automatically welded is greatly shortened, the purpose of fast generating the intersection pipeline welding procedure is achieved, and high efficiency of the automatic intersection line welding process is achieved.

Description

technical field [0001] The invention relates to a four-point measurement method for intersecting parameters and clamping poses of intersecting double pipes based on nonlinear equations, and belongs to the technical field of automatic welding control. Background technique [0002] In the automatic welding process of intersecting lines, the intersecting pipe welding program is automatically generated according to known intersecting parameters and predetermined clamping poses. However, in some cases, not only the clamping pose of the tube group is different from the predetermined clamping pose, but also the intersecting parameters of the double tubes are not clear. Before automatically generating the welding code, the intersecting parameters of the double pipe must be measured; before the automatic welding, the clamping pose of the pipe group must be determined and corrected. [0003] The intersecting parameters of the double pipe include the radius of the main pipe, the radiu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B21/00
CPCG01B21/00
Inventor 石磊田新诚
Owner SHANDONG UNIV
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