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Method for recognizing rotating plasma arc sensing free-form surface by adopting variable-diameter adjustment

A technology of variable diameter adjustment and plasma arc, applied in plasma welding equipment, welding equipment, metal processing equipment, etc., can solve the problems of complex data processing algorithm, unadjustable arc rotation radius, etc., to improve the degree of automation and speed up the data processing process , the effect of improving the accuracy

Active Publication Date: 2020-05-15
XIANGTAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] In order to solve the problem that the arc rotation radius cannot be adjusted and the data processing algorithm is complicated in the free-form surface recognition of complex parts, the present invention designs a free-form surface recognition method using variable-diameter adjustment of the rotating plasma arc sensor, which uses the variable-diameter rotating plasma arc The combination of scanning sampling and linked list data sorting algorithm is used for the identification of free-form surfaces, thereby ensuring the fast and accurate repair of free-form surfaces of parts

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  • Method for recognizing rotating plasma arc sensing free-form surface by adopting variable-diameter adjustment
  • Method for recognizing rotating plasma arc sensing free-form surface by adopting variable-diameter adjustment
  • Method for recognizing rotating plasma arc sensing free-form surface by adopting variable-diameter adjustment

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Embodiment 1

[0022] Embodiment 1: A method for identifying free-form surface of rotating plasma arc sensor with variable diameter adjustment designed by the present invention. This method can realize that the rotation radius of the plasma arc can be adjusted in real time through the variable diameter adjustment mechanism during the working process, thereby expanding the plasma arc. The sampling range of the arc improves the efficiency of data sampling. The overall welding device and variable diameter adjustment mechanism are as follows: figure 1 , 2 As shown, the industrial robot (1) drives the plasma torch (3) at a speed n 1 While rotating, use the servo motor (4) to control the planetary roller screw (6) in the horizontal direction at a speed n 2 To perform reciprocating linear motion, one end of the planetary roller screw (6) is connected to the output shaft of the servo motor (4) through a coupling (5), and the other end is supported by the screw bearing seat (8), and is fixed togeth...

Embodiment 2

[0023]Embodiment 2: A method of free-form surface recognition using a rotating plasma arc sensor designed by the present invention, which can be used for surface recognition of parts to be repaired, realizes surface repair of complex parts, and then improves the automation of surface repair technology degree; the flow chart of the free-form surface recognition method is as follows Figure 5 As shown, after the plasma arc scans and samples the surface of the part with variable diameter, the three-dimensional space coordinates (X i , Y i ,Z i ), and then follow the image 3 As shown, for the sampling interval according to the rotation radius R of adjacent equal difference values i , R i+1 A concentric ring is formed to divide the dynamic interval, and each annular sampling interval is defined by an equal angle α to define a sampling point group. The free-form surface identification method takes the sampling point group as the unit, using such as Figure 4 The linked list d...

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Abstract

The invention discloses a method for recognizing a rotating plasma arc sensing free-form surface by adopting variable-diameter adjustment. The method comprises the steps that variable-diameter scanning sampling is carried out on the surface of a part by controlling a plasma arc through a variable-diameter adjustment mechanism, a sampling interval is surrounded into a concentric ring according to the adjacent equal-difference rotating radii Ri and Ri+1 to be divided by a signal sampling system, a sampling point group is defined according to an equal angle alpha; and a surface recognition systemuses a linked list data sorting algorithm to process discrete points to obtain a dynamic plane Qi and a normal vector ni of the dynamic plane Qi, then uses an RANSAC algorithm to fit effective discrete points in the dynamic plane Qi to obtain an effective fitting curve of the surface of the part, when the dynamic normal vector ni is collinear with a set normal vector mi of the surface of the part, it is represented that curve fitting is completed, and recognition of the free-form surface is completed. The method can accelerate the recognition of the free-form surface and has an important promoting effect on the automatic repair of the part.

Description

technical field [0001] The invention relates to the field of welding automation control, in particular to a method for identifying a free-form surface of a rotating plasma arc sensor using variable diameter adjustment. Background technique: [0002] At present, the free-form surface recognition process in the repair of parts in our country is mainly to continuously scan and sample the part surface through the rotating arc, and convert the sampling information to obtain the characteristic information of the part surface, and then complete the recognition of the free-form surface of the part. The advantage of this method is that the scanning frequency of the rotating arc is high and the mechanical vibration is small. However, when the ordinary rotating arc is scanned and sampled, its arc rotation radius cannot be changed in real time according to the surface condition of the part, resulting in limited sampling efficiency of the rotating arc, and it is necessary to process the ...

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Application Information

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IPC IPC(8): B23K10/02
CPCB23K10/02
Inventor 洪波向垂悦刘锦郭韬张智勇揭光奇秦子濠
Owner XIANGTAN UNIV