CN106624262B - A kind of method of Intelligent welding pipe intersecting lines - Google Patents
A kind of method of Intelligent welding pipe intersecting lines Download PDFInfo
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- CN106624262B CN106624262B CN201611267121.8A CN201611267121A CN106624262B CN 106624262 B CN106624262 B CN 106624262B CN 201611267121 A CN201611267121 A CN 201611267121A CN 106624262 B CN106624262 B CN 106624262B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/0026—Arc welding or cutting specially adapted for particular articles or work
- B23K9/0052—Welding of pipe panels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/235—Preliminary treatment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
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- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
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Abstract
The present invention relates to a kind of method and apparatus of Intelligent welding pipe intersecting lines, belong to welding automatization technology field, equipment includes positioner, chuck, laser displacement sensor, welding gun, gun rack, robot, the source of welding current, switch board and teaching machine, method includes intersection theoretical curve calculates, laser displacement sensor mobile route calculates, laser scanning calculates etc., only need one point of teaching, welding process can be completed, it is easy to operate, operating personnel's technical merit is required low, the welding pipe intersecting lines used time greatly reduces, and welding quality is high and convenient for control.
Description
Technical field
The present invention relates to a kind of method and apparatus of Intelligent welding pipe intersecting lines, belong to welding automatization technology field.
Background technology
In mechanical processing, the welding of pipe intersecting lines is very universal.In the past by the way of human weld, not only weld
Efficiency is low, and welding quality is completely dependent on the individual skill of welder, to be difficult to ensure the stability of welding quality.It is now emerging
The robotic welding technology risen mostly uses greatly the welding of pipe intersecting lines the mode of multiple spot teaching, and teaching process is long, to behaviour
Make worker's technology and require high, and needs to be manually entered more location parameter, but pipe part position in actual production,
Groove size precision is not high, tolerance when assembly be even more be difficult to measure, furthermore, weld seam can be generated because heated in the welding process
Deformation, differs too big, welding quality is difficult to ensure so as to cause the dimensional parameters being manually entered with actual size.
Chinese patent document (application number 2012100243038) discloses one kind for " J " type groove welding robot
On-line teaching method is related to robot welding field, uses laser range finder in the process, at twice perpendicular to pipe axis and
Be parallel to pipe axis both direction, acquire the deviation of welding gun track and actual welding track, then respectively by twice, it is special when
Cubic fit just ultimately generates welding track, and is the fitting of welding torch position every time, is not directed to the adjustment of posture of welding torch.Separately
Outside, the laying method of laser range finder is relatively fuzzy, " reversing laser range finder to vertical tube axial direction " and " by laser
Rangefinder is reversed to parallel pipe axial direction ", it is more difficult to operation is realized.
Chinese patent document (application number 201610762440X) discloses a kind of welding system of pose adaptive robot
And pose method of adjustment, welding system include welding robot, the main controller connected with welding robot communication and and master control
The detecting and tracking system of machine communication connection, detecting and tracking system include that the line to detect the profile of weld seam being set on welding gun swashs
Optical sensor and on welding gun and positioned at welding gun opposite sides two dot laser sensors；By a line laser displacement
Sensor and two dot laser displacement sensors are mounted in the mounting bracket on welding gun, are realized to the simple weld seam welding position of plane
The real-time deviation correcting of appearance.The method of adjustment has used three laser displacement sensors, and cost is higher, and shared by three laser sensors
Volume is larger, has certain limitations in the welding of complex curve.
In conclusion the Intelligent welding for the adaptation pipe intersecting lines that existing welding system can not be simple and efficient.
Invention content
In view of the deficiencies of the prior art, the main object of the present invention is to provide a kind of method of Intelligent welding pipe intersecting lines
And equipment, to solve the low technical problem of pipe intersecting lines Automation of Welding degree.
Technical scheme is as follows：
A kind of equipment of Intelligent welding pipe intersecting lines, including positioner, chuck, laser displacement sensor, welding gun, welding gun
Frame, robot, the source of welding current, switch board and teaching machine, chuck are set on positioner, and chuck is used for pipe intersecting lines workpiece to be welded
Clamping, positioner is used for the rotation of workpiece to be welded, and welding gun front end is connected with laser displacement sensor, welding gun by gun rack and
Robot is connected, and robot is connected with the source of welding current, and switch board is connected with teaching machine.Chuck, positioner and robot have coordinated
It works at pipe intersecting lines all-position welding.Laser displacement sensor mounted on welding gun front end sends out laser at work, surveys
Measure the location information of pipe intersecting lines weld seam.
Preferably, the laser displacement sensor is line laser displacement sensor.
A kind of method of Intelligent welding pipe intersecting lines, including steps are as follows：
(1) workpiece to be welded includes supervisor and branch pipe, and the supervisor of workpiece to be welded is clamped on positioner；
(2) pipe intersecting lines are inputted on teaching machine and weld underlying parameter information, calculate pipe intersecting lines theoretical curve；
(3) dihedral angle of two pipe to be welded of each position point on theoretical curve is calculated by intersection theoretical curve, to be welded two
Pipe is supervisor and branch pipe, and the groove angle of two pipe to be welded is calculated using dihedral angle, makes the laser center line position of laser displacement sensor
In on the angular bisector direction of groove angle, the mobile route of laser displacement sensor is calculated；
(4) teaching machine one laser initial sweep point of teaching on workpiece to be welded is used；
(5) laser displacement sensor starts to scan the weld seam of workpiece to be welded, and scanning obtains solder joint physical location and welding gun axis
Line direction；
(6) solder joint physical location, welding gun axis direction are combined with intersection theoretical curve, obtains accurate intersection weldering
Connect curve；
(7) after operating personnel specify welding parameter, the continuous line welding curve along step (6) starts to weld；
(8) welding terminates, and robot returns to holding fix.
Preferably, in step (2), welding underlying parameter information includes supervisor's radius, branch pipe radius, branch thickness of pipe wall, two pipes
Crossed axis angle, two pipe axis deviants, supervisor's material, branch tube material, welding method, speed of welding utilize supervisor's radius, branch pipe half
Diameter, branch thickness of pipe wall, two pipe crossed axis angles, two pipe axis deviants calculate pipe intersecting lines theoretical curve.
It is further preferred that in step (2), the calculating step of intersection theoretical curve is：
Supervisor's radius is R, branch pipe radius is r, branch thickness of pipe wall is t, two pipe crossed axis angles are α, two pipe axis deviants are e,
Intersection parametric equation is established, as shown in formula (I)：
Wherein, 0≤θ <, 2 π, x, y, z indicate that intersection coordinate, θ indicate that certain point and origin O lines are flat in XOY on intersection
The angle of projection and X-axis in face.
It is further preferred that in step (3), calculated according to formula (I) intersection parametric equation to be welded in different θ values
The dihedral angle of two pipes,
Dihedral angle ψ calculating process：
It on intersection at point (x, y, z), is responsible for, the tangent plane unit normal vector of branch pipe two cylindrical surface is respectively
Then dihedral angle ψ is the angle between the normal vector of tangent plane, is met
Groove angle is reserved when the pipeline welding provided according to ANSI/API (American National Standards Institute (ANSI)/American Petroleum Institute (API))
The standard (ANSI/API 1104Welding of pipelines and related facilities) of degree calculates corresponding
Standard welding groove angle, groove angle is
It is the laser center line direction of laser displacement sensor to take the direction of groove angle angular bisector, theoretical bent with intersection
On the basis of line, the scanning distance height for increasing line laser displacement sensor along laser center line direction passes to get to laser displacement
The mobile route of sensor.Scanning distance height is the reference distance of line laser displacement sensor.It is every on intersection theoretical curve
A point can be determined by calculation this and put corresponding laser center line direction, on the basis of intersection theoretical curve, increase ginseng
Range obtains the mobile route of laser displacement sensor from rear.
Preferably, in step (5), the measurement period that laser displacement sensor is set according to laser displacement sensor measures
Laser displacement sensor itself arrives the actual range of weld seam, and calculates this position according to collected position data of each period
Physical location and practical posture.The determination of measurement period is related with robot end's speed, and robot end's speed is faster, choosing
It takes measurement period shorter, just can guarantee measurement accuracy in this way.
It is further preferred that in step (5), the method for calculating physical location and practical posture is：It is sensed with laser displacement
The data instance in one of them collected period of device,
Least square method is used from the rectilinear end of data, it is oblique by comparing straight line under laser displacement sensor coordinate system
The method of rate, finds groove starting point P1, and rectilinear end is branch pipe side；Least square method is used from the arc end of data, passes through ratio
Mode compared with tangent slope variation tendency finds groove terminal P2, and arc end is supervisor side；Least square method is reused, is calculated
Go out the slope of slope and circular arc C the tangent line L at P2 points of straight line P1P2, and then obtains practical groove angle, the angle of practical groove angle
Bisector is P2P4, then point P2 is solder joint physical location, and vectorial P2P4 is welding gun axis direction.
It is further preferred that in step (5), solder joint physical location, welding gun axis direction algorithm be：
The data value that n point is selected from the straightway left end of data, is calculated with least square fitting by this n
The linear equation of point, and find straight slope k1；It is lighted for second from Far Left, selects the data value of n point, use least square
Method geometry calculates the linear equation by this n point, and finds straight slope k2；And so on, if the point of selection is all in straight line
Duan Shang, then the variation of the straight slope of the Fitting Calculation can be in a range, if since one group of point, slope k mutates, then
Just there is turning point P1 in this group point.The data value that n point is similarly selected from circular arc right end, is calculated with least square fitting
By the linear equation of this n point, and slope k 1 ' is found, and so on, include turnover in one group of point that slope mutates
Point P2；Because of the spacing distance very little of each data collection point, in 0.1mm or so, so this group of data of selection slope mutation
The intermediate point of point is as turning point；It then show that P2 is weld seam deepest point position, counts n point to the right from P2 points, use least square method
Fitting a straight line L, L are circular arc tangent line at P2 points, then the angle of straight line L and straight line P2P1 is exactly practical groove angle.
Preferably, in step (6), by the midpoint of the solder joint physical location P2 and laser center line that obtain step (5)
Position makes the difference, and obtains position deviation；By making the difference welding gun axis direction and laser center line direction, attitude misalignment is obtained；
Theoretical position obtains final position plus position deviation, and theoretical posture is final carriage plus attitude misalignment, theoretical
Position is the position data of intersection theoretical curve, and theoretical posture is the laser center line obtained by intersection theoretical curve；
By the final position of calculated discrete intersection welding seam, final carriage, the side being fitted by nurbs curve
Method is fitted to accurate continuous line welding curve.
Preferably, in step (7), in the welding process, laser displacement sensor opens real-time tracking, and whether monitoring weld seam
Offset is generated under the influence of sweating heat, if offset receives default in range, is continued after being fitted according to step (6)
Continuous line welding curve is welded, if offset receives range beyond default, position and attitude error is compensated, by robot control
Welding gun processed carries out pose adjustment；Default range of receiving is：Position is within the scope of ± 2mm, and posture center line drift angle is within the scope of ± 5 °.
Whether monitoring weld seam deviates as real-time monitoring position, attitude misalignment, specific monitoring method and step 5 phase
Together, because welding position, attitude accuracy it is not high, position is within the scope of ± 2mm, and posture center line drift angle is in ± 5 ° of ranges
Inside can not it adjust.If deviation in the same direction occur in continuous 10 collection period, implement pose adjustment.Real-time tracking and adjustment can be made
For preferably optionally increasing in welding process.
It is further preferred that in step (7), the weldering stretched out apart from welding gun by the line laser that line laser displacement sensor is sent out
Silk has certain distance, i.e. laser monitoring has in-advance, in this part-time monitoring in advance, if finding the production of weld seam pose
The raw offset beyond default tolerance interval, then robot control system control welding gun progress pose adjustment.Compensate position and attitude error
The step of be：
Laser displacement sensor measures the reality that its laser displacement sensor itself arrives weld seam according to the measurement period set
Border distance, and position to be rectified a deviation and the posture to be rectified a deviation when this position are calculated according to collected position data of each period；
Least square method is used from the rectilinear end of data, it is oblique by comparing straight line under laser displacement sensor coordinate system
The method of rate finds groove starting point P1 '；Least square method is used from the arc end of data, is become by comparing tangent slope variation
The mode of gesture finds groove terminal P2 '；Reuse least square method, calculate straight line P1 ' P2 ' slope and circular arc C in P2 ' points
Locate tangent slope, so in weld groove angle angular bisector P2 ' P4 ', then point P2 ' is solder joint position to be rectified a deviation, to
It is welding gun axis direction to be rectified a deviation to measure P2 ' P4 ', is moved to solder joint position to be rectified a deviation by robot control welding gun and welding gun waits rectifying a deviation
After axis direction is adjusted, continue to weld.
The beneficial effects of the present invention are：
The welding whole process of the present invention only needs operator to input pipe intersecting lines welding key message：It is responsible for radius, branch pipe half
Diameter, branch thickness of pipe wall, two pipe crossed axis angles, two pipe axis deviants, supervisor's material, branch tube material, welding method, speed of welding, if
It is standby to automatically provide remaining welding condition for operating personnel's reference, one point of teaching is only needed, it is easy to operate, to operating personnel's skill
Art level requirement is low, and the welding used time greatly reduces；On the other hand since the displacement information precision of laser displacement sensor acquisition is high,
Therefore welding position is accurate, improves welding quality and is convenient for quality control.
Description of the drawings
Fig. 1 is the flow chart of the method for the present invention；
Fig. 2 is the mobile route of laser displacement sensor of the present invention and theoretical posture schematic diagram；
Fig. 3 is the intersection theoretical curve and continuous line welding curve synoptic diagram of pipe of the present invention；
Fig. 4 is the schematic front view of present device；
Fig. 5 is the left view schematic diagram of present device；
Fig. 6 is laser displacement sensor operating diagram；
Fig. 7 is the line that collected altitude information value set is formed in one sampling period of laser displacement sensor of the present invention
Figure；
Position deviation and attitude misalignment schematic diagram in the step of Fig. 8 is the embodiment of the present invention 2 (6)；
In figure, 1, laser displacement sensor mobile route, 2, transmitter central point under laser displacement sensor athletic posture
The laser of releasing, 3, continuous line welding curve, 4, intersection theoretical curve, 5, positioner, 6, chuck, 7, laser displacement sensing
Device, 8, welding gun, 9, gun rack, 10, robot, 11, the source of welding current, 12, switch board, 13, teaching machine, 14, workpiece to be welded, 15,
Weld seam, 16, laser, 17, line 1,18, line 2,19, attitude misalignment, 20, position deviation.
Specific implementation mode
The present invention will be further described by way of example and in conjunction with the accompanying drawings, but not limited to this.
Embodiment 1：
A kind of equipment of Intelligent welding pipe intersecting lines, as shown in attached drawing 4,5,6, including positioner 5, chuck 6, laser position
Displacement sensor 7, welding gun 8, gun rack 9, robot 10, the source of welding current 11, switch board 12 and teaching machine 13, chuck 6, which is mounted on, to be become
Position machine 5 on, chuck be used for pipe intersecting lines workpiece to be welded clamping, positioner be used for workpiece to be welded rotation, welding gun front end with
Laser displacement sensor be connected, welding gun is connected by gun rack with robot, and robot is connected with the source of welding current, switch board with show
Device is taught to be connected.Pipe intersecting lines all-position welding work is completed in chuck, positioner and the cooperation of robot 10.
Laser displacement sensor is line laser displacement sensor.The source of welding current, positioner is purchased in market and obtains, producer be it is difficult to understand too,
The source of welding current uses Pulse MIG R series contravariants pulse MIC/MAG.
Embodiment 2
A kind of method of Intelligent welding pipe intersecting lines, including steps are as follows：
(1) workpiece to be welded includes supervisor and branch pipe, and the supervisor of workpiece to be welded is clamped on positioner；
(2) pipe intersecting lines are inputted on teaching machine and weld underlying parameter information, and welding underlying parameter information includes supervisor
Radius, branch pipe radius, branch thickness of pipe wall, two pipe crossed axis angles, two pipe axis deviants, supervisor material, branch tube material, welding method,
Speed of welding calculates pipe phase using supervisor's radius, branch pipe radius, branch thickness of pipe wall, two pipe crossed axis angles, two pipe axis deviants
Transversal theoretical curve；The calculating step of intersection theoretical curve is：
It is α=90 °, two to be responsible for radius R=57mm, branch pipe radius r=57mm, branch thickness of pipe wall t=3mm, two pipe crossed axis angles
Pipe axis deviant e=0mm, establishes intersection parametric equation, as shown in formula (I)：
Wherein, 0≤θ <, 2 π, x, y, z indicate that intersection coordinate, θ indicate that certain point and origin O lines are in XOY on intersection
The angle of projection and X-axis in plane.It obtains as shown in the curve 4 in Fig. 3.
(3) dihedral angle of two pipe to be welded of each position point on theoretical curve is calculated by intersection theoretical curve, to be welded two
Pipe is supervisor and branch pipe, and the dihedral angle of two pipe to be welded in different θ values is calculated according to formula (I) intersection parametric equation, then
According to dihedral angle, relevant national standard, corresponding standard welding groove angle is calculated：
Dihedral angle calculates example：
By taking θ=0 as an example
Groove angle is reserved when the pipeline welding provided according to ANSI/API (American National Standards Institute (ANSI)/American Petroleum Institute (API))
The standard (ANSI/API 1104Welding of pipelines and related facilities) of degree calculates corresponding
Standard welding groove angle, groove angle is
It is the laser center line direction of laser displacement sensor to take the direction of groove angle angular bisector, theoretical bent with intersection
On the basis of line, the scanning distance height for increasing line laser displacement sensor along laser center line direction passes to get to laser displacement
The mobile route of sensor.Scanning distance height is the reference distance of line laser displacement sensor.The present embodiment is using base grace
The laser displacement sensor of the LJ-G200 models of scholar, its reference distance are 200mm ± 48mm.On intersection theoretical curve
Each point can be determined by calculation this and put corresponding laser center line direction, if 2 in Fig. 2 are each point laser center line
Direction, on the basis of the intersection theoretical curve, after increasing reference distance, it is laser displacement sensor to obtain 1 in Fig. 2
Mobile route.
(4) teaching machine one laser initial sweep point of teaching on workpiece to be welded is used；Teaching machine can utilize Jiangsu China way number
Control the product of the model HTQ-A113-1C2 of Science and Technology Ltd..
(5) laser displacement sensor starts to scan the weld seam of workpiece to be welded, and laser displacement sensor is good according to setting themselves
Measurement period measure the actual range that laser displacement sensor itself arrives weld seam, and according to collected positional number of each period
According to come the physical location for calculating this position and practical posture.The determination of measurement period is related with robot end's speed, robot
Tip speed is faster, and selection measurement period is shorter, just can guarantee measurement accuracy in this way.The laser of the LJ-G200 models of Keyemce
Device, measurement period are divided into following 11 shelves, 0.3,1,2,3,4,5,6,7,8,9,10ms.
With the data instance in one of them collected period, the data of a cycle referred in some sampling week
It is interim, all data values of the collected reality of line laser displacement sensor.The collected data of line laser displacement sensor are
Laser reflection is returned the camera of laser displacement sensor by the part that object is irradiated to by line laser, to which calculated height is believed
Breath.One line laser has 800 data collection points, i.e. a sampling period can obtain 800 elevation informations, by these elevation informations
Drafting pattern, as shown in fig. 7, Fig. 7 is according to the collected altitude information value of laser displacement sensor a cycle, in excel
In the figure drawn, wherein straight line portion is branch pipe, and circular arc portion is supervisor, and intermediate recess is groove angle.
The data value (n values are 5 in the present embodiment) that n point is selected from the straightway left end of data, with minimum two
Multiplication the Fitting Calculation finds straight slope k1 by the linear equation of this n point；It is lighted for second from Far Left, selects n
The data value of point calculates the linear equation by this n point with least square method geometry, and finds straight slope k2；With such
It pushes away, if the point of selection is all on straightway, the variation of the straight slope of the Fitting Calculation can be in a range, if from a certain group
Point starts, and slope k mutates, then just has turning point P1 in this group point.The data of n point are similarly selected from circular arc right end
Value calculates the linear equation by this n point with least square fitting, and finds slope k 1 ', and so on, slope occurs
Include turning point P2 in one group of point of mutation；Because of the spacing distance very little of each data collection point, in 0.1mm or so, institute
Using select slope be mutated this group of data point intermediate point as turning point, it is concluded that P2 is weld seam deepest point position；From P2 points
N point is counted to the right, slope and the circular arc C tangent slope at P2 points of straight line P1P2 is calculated with least square method, and fitting is straight
Line L, L are circular arc tangent line at P2 points, then the angle of straight line L and straight line P2P1 is exactly practical groove angle, takes practical groove angle
Angular bisector P2P4, then point P2 is solder joint physical location, and vectorial P2P4 is welding gun axis direction.
(6) it is made the difference by the solder joint physical location P2 and the position of laser center line that obtain step (5), it is inclined to obtain position
Difference, as shown in Figure 8；Attitude misalignment is the angle of line 1 and P2P4 after line 1 is moved on to 2 position of line；
Theoretical position obtains final position plus position deviation, and theoretical posture is final carriage plus attitude misalignment, theoretical
Position is the position data of intersection theoretical curve, and theoretical posture is the laser center line obtained by intersection theoretical curve；
By the final position of calculated discrete intersection welding seam, final carriage, the side being fitted by nurbs curve
Method is fitted to accurate continuous line welding curve.
(7) after operating personnel determine welding parameter, the continuous line welding curve along step (6) starts to weld；
(8) welding terminates, and robot returns to holding fix with welding gun.
Robot and the sa1400 model matrixes of switch board Ke Yi Xin Shida carry out fundamental operation.
Embodiment 3
A kind of method of Intelligent welding pipe intersecting lines, step is as described in Example 2, the difference is that step (7)
In, in the welding process, laser displacement sensor opens real-time tracking, and whether monitoring weld seam generates under the influence of sweating heat
Offset continues the continuous line welding curve after being fitted according to step (6) and is welded if offset receives default in range
It connects, if offset receives range beyond default, compensates position and attitude error, pose adjustment is carried out by robot control welding gun；
Default range of receiving is：Position is within the scope of ± 2mm, and posture center line drift angle is within the scope of ± 5 °.It monitors whether to generate offset, just
It is that the real-time position measured in welding process and posture, survey calculation method adopt one as the Computing Principle of step (5)
Data in the sample period determine that the groove starting point in welding process, groove terminal, groove terminal are being responsible for one with least square method
The tangent line of side to obtain the position in welding process and posture, then compares, and position is within the scope of ± 2mm, posture center line drift angle
It can not be adjusted within the scope of ± 5 °.
Compensate position and attitude error the step of be：
Laser displacement sensor is according to the measurement period set, and measuring its laser displacement sensor, its own arrives weld seam
Actual range, and position to be rectified a deviation and the appearance to be rectified a deviation when this position are calculated according to collected position data of each period
State.
Least square method is used from the rectilinear end of data, it is oblique by comparing straight line under laser displacement sensor coordinate system
The method of rate finds groove starting point P1 '；Least square method is used from the arc end of data, is become by comparing tangent slope variation
The mode of gesture finds groove terminal P2 '.Reuse least square method, calculate straight line P1 ' P2 ' slope and circular arc C in P2 ' points
Locate tangent slope, so in weld groove angle angular bisector P2 ' P4 ', then point P2 ' is solder joint position to be rectified a deviation, to
It is welding gun axis direction to be rectified a deviation to measure P2 ' P4 ', is moved to solder joint position to be rectified a deviation by robot control welding gun and welding gun waits rectifying a deviation
After axis direction is adjusted, continue to weld.
It is compared with theory locus according to the track actually obtained, using the point of intersection as section, track is divided
Section processing, obtains the deviation of each point of every section of track, is then compensated to deviation and (is controlling robot end to deviation side
To movement), to be theory locus curve infinite approach actual path curve, to obtain actual path.If do not intersected
Point then needs the deviation to whole curve to compensate.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of this field
Personnel should be recognized that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this hairs
Bright principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variations
It is both fallen in claimed range with improving.
Claims (8)
1. the equipment of a kind of method of Intelligent welding pipe intersecting lines, the Intelligent welding pipe intersecting lines includes positioner, card
Disk, laser displacement sensor, welding gun, gun rack, robot, the source of welding current, switch board and teaching machine, chuck are set to positioner
On, chuck is used for the clamping of pipe intersecting lines workpiece to be welded, and positioner is used for the rotation of workpiece to be welded, welding gun front end and laser position
Displacement sensor is connected, and laser displacement sensor is line laser displacement sensor, and welding gun is connected by gun rack with robot, machine
People is connected with the source of welding current, and switch board is connected with teaching machine, which is characterized in that method includes that steps are as follows：
(1) workpiece to be welded includes supervisor and branch pipe, and workpiece to be welded is clamped on positioner；
(2) pipe intersecting lines are inputted on teaching machine and weld underlying parameter information, calculate pipe intersecting lines theoretical curve；
(3) dihedral angle of two pipe to be welded of each position point on theoretical curve is calculated by intersection theoretical curve, two pipe to be welded is
Supervisor and branch pipe, the groove angle of two pipe to be welded is calculated using dihedral angle, the laser center line of laser displacement sensor is made to be located at slope
On the angular bisector direction of bicker, the mobile route of laser displacement sensor is calculated；
(4) teaching machine one laser initial sweep point of teaching on workpiece to be welded is used；
(5) laser displacement sensor starts to scan the weld seam of workpiece to be welded, and scanning obtains solder joint physical location and welding gun axis side
To；
(6) solder joint physical location, welding gun axis direction are combined with intersection theoretical curve, obtains continuous line welding curve；
(7) start to weld along the continuous line welding curve of step (6)；
(8) welding terminates, and welding gun returns to holding fix.
2. the method for Intelligent welding pipe intersecting lines according to claim 1, which is characterized in that in step (2), weld base
Plinth parameter information include supervisor radius, branch pipe radius, branch thickness of pipe wall, two pipe crossed axis angles, two pipe axis deviants, supervisor material,
Branch tube material, welding method, speed of welding utilize supervisor's radius, branch pipe radius, branch thickness of pipe wall, two pipe crossed axis angles, two pipe axis
Offset calculates pipe intersecting lines theoretical curve；
In step (2), the calculating step of intersection theoretical curve is：
Supervisor's radius is R, branch pipe radius is r, branch thickness of pipe wall is t, two pipe crossed axis angles are α, two pipe axis deviants are e, is established
Intersection parametric equation, as shown in formula (I)：
Wherein, 0≤θ <, 2 π, x, y, z indicate that intersection coordinate, θ indicate that certain point and origin O lines are in XOY plane on intersection
Projection and X-axis angle.
3. the method for Intelligent welding pipe intersecting lines according to claim 2, which is characterized in that in step (3), according to public affairs
Formula (I) intersection parametric equation calculates the dihedral angle of two pipe to be welded in different θ values,
Dihedral angle ψ calculating process：
It on intersection at point (x, y, z), is responsible for, the tangent plane unit normal vector of branch pipe two cylindrical surface is respectively
Then dihedral angle ψ is the angle between the normal vector of tangent plane, is met
Corresponding standard welding groove angle is calculated, groove angle is
It is the laser center line direction of laser displacement sensor to take the direction of groove angle angular bisector, is with intersection theoretical curve
Benchmark increases the scanning distance height of line laser displacement sensor to get to laser displacement sensor along laser center line direction
Mobile route.
4. the method for Intelligent welding pipe intersecting lines according to claim 1, which is characterized in that in step (5), laser position
The measurement period that displacement sensor is set according to laser displacement sensor, measure laser displacement sensor itself to weld seam it is practical away from
From, and according to collected position data of each period come the physical location for calculating this position and practical posture.
5. the method for Intelligent welding pipe intersecting lines according to claim 4, which is characterized in that in step (5), calculate real
Border position and the method for practical posture are：With the data instance in one of them collected period of laser displacement sensor,
Least square method is used from the rectilinear end of data, under laser displacement sensor coordinate system, by comparing straight slope
Method, finds groove starting point P1, and rectilinear end is branch pipe side；Least square method is used from the arc end of data, is cut by comparing
The mode of line slope variation tendency finds groove terminal P2, and arc end is supervisor side；Least square method is reused, is calculated straight
The slope of slope and circular arc C the tangent line L at P2 points of line P1P2, and then practical groove angle is obtained, the angle bisection of practical groove angle
Line is P2P4, then point P2 is solder joint physical location, and vectorial P2P4 is welding gun axis direction.
6. the method for Intelligent welding pipe intersecting lines according to claim 5, which is characterized in that in step (5), solder joint is real
Border position, welding gun axis direction algorithm be：
The data value that n point is selected from the straightway left end of data, is calculated with least square fitting and passes through this n point
Linear equation, and find straight slope k1；It is lighted for second from Far Left, selects the data value of n point, it is several with least square method
What calculates the linear equation by this n point, and finds straight slope k2；And so on, if selection point all on straightway,
Then the variation of the straight slope of the Fitting Calculation can be in a range, if since one group of point, slope k mutates, then this group
Just there is turning point P1 in point；The data value that n point is selected from circular arc right end, is calculated with least square fitting and passes through this n
The linear equation of a point, and slope k 1 ' is found, and so on, include turning point P2 in one group of point that slope mutates；Choosing
The intermediate point of this group of data point of slope mutation is selected as turning point；Then show that P2 is weld seam deepest point position, to the right from P2 points
N point of number, with least square fitting straight line L, L is circular arc tangent line at P2 points, then straight line L and the angle of straight line P2P1 are exactly
Practical groove angle.
7. the method for Intelligent welding pipe intersecting lines according to claim 1, which is characterized in that in step (6), pass through by
The solder joint physical location P2 and the point midway of laser center line that step (5) obtains make the difference, and obtain position deviation；By by welding gun
Axis direction makes the difference with laser center line direction, obtains attitude misalignment；
Theoretical position obtains final position plus position deviation, and theoretical posture is final carriage, theoretical position plus attitude misalignment
For the position data of intersection theoretical curve, theoretical posture is the laser center line obtained by intersection theoretical curve；
By the final position of calculated discrete intersection welding seam, final carriage, the method being fitted by nurbs curve is intended
Synthesize continuous line welding curve.
8. the method for Intelligent welding pipe intersecting lines according to claim 1, which is characterized in that in step (7), welding
In the process, laser displacement sensor opens real-time tracking, and whether monitoring weld seam generates under the influence of sweating heat deviates, if partially
Shifting amount receives default in range, then continues the continuous line welding curve after being fitted according to step (6) and welded, if offset
Receive range beyond default, then compensate position and attitude error, pose adjustment is carried out by robot control welding gun；Default range of receiving
For：Position is within the scope of ± 2mm, and posture center line drift angle is within the scope of ± 5 °；
In step (7), compensate position and attitude error the step of be：
Laser displacement sensor according to the measurement period set, measure its laser displacement sensor itself to weld seam it is practical away from
From, and position to be rectified a deviation and the posture to be rectified a deviation when this position are calculated according to collected position data of each period；
Least square method is used from the rectilinear end of data, under laser displacement sensor coordinate system, by comparing straight slope
Method finds groove starting point P1 '；Least square method is used from the arc end of data, by comparing tangent slope variation tendency
Mode finds groove terminal P2 '；Least square method is reused, the slope and circular arc C for calculating straight line P1 ' P2 ' are cut at P2 ' points
The slope of line, so in being welded groove angle angular bisector P2 ' P4 ', then point P2 ' is solder joint position to be rectified a deviation, vectorial P2 '
P4 ' is welding gun axis direction to be rectified a deviation, and solder joint position to be rectified a deviation and welding gun axis to be rectified a deviation are moved to by robot control welding gun
After direction is adjusted, continue to weld.
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