CN110598343B - Method and device for acquiring welding angle deformation value of T-shaped joint and electronic equipment - Google Patents

Method and device for acquiring welding angle deformation value of T-shaped joint and electronic equipment Download PDF

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CN110598343B
CN110598343B CN201910884894.8A CN201910884894A CN110598343B CN 110598343 B CN110598343 B CN 110598343B CN 201910884894 A CN201910884894 A CN 201910884894A CN 110598343 B CN110598343 B CN 110598343B
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point
plane
cloud data
point cloud
shaped joint
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CN110598343A (en
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王学东
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AVIC Beijing Aeronautical Manufacturing Technology Research Institute
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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
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20—Bonding
    • B23K26/21—Bonding by welding
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

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Abstract

The invention relates to a method and a device for acquiring a welding angle deformation value of a T-shaped joint and electronic equipment. The acquisition method comprises the following steps: selecting three points on the T-shaped joint as characteristic points; acquiring and storing point cloud data of a TEF plane; and establishing a measurement plane to obtain a measurement result. The method solves the technical problem that the welding angle deformation value of the T-shaped joint cannot be described by a series of values in the prior art, achieves the beneficial effect of accurately describing the T-shaped joint angle deformation value, and has the advantages of complete data, high data precision and high efficiency.

Description

Method and device for acquiring welding angle deformation value of T-shaped joint and electronic equipment
Technical Field
The present invention relates to the field of welding technologies and welding equipment technologies, and in particular, to a method and an apparatus for obtaining a welding angle deformation value of a T-shaped joint, and an electronic device.
Background
Welding deformation is a common problem in welding, and the damage of the welding deformation is that the manufacturing precision of a structure is affected, so that the shape and the size of the structure cannot meet the design requirements, and the subsequent assembly process is affected. Laser welding has small welding deformation due to concentrated energy, small heat affected zone and high welding speed, but still generates welding deformation, and the laser welding deformation of some structural types is difficult to correct, such as T-shaped joint angular deformation.
In order to control the angular deformation of the tee joint, an accurate value of the angular deformation of the tee joint needs to be obtained, and the following difficulties exist in the prior art: firstly, the magnitude of the angular deformation value of the T-shaped joint is about 1 DEG, and the requirement on the measurement precision is high; second, the T-joint angular deformation value varies along the length of the weld, and is not one value, and needs to be described by a series of values; thirdly, at present, the deformation of the part is usually measured by adopting a three-coordinate method or an articulated arm scanning method, but the measuring methods can only obtain coordinate points and cannot obtain the T-shaped joint angular deformation value.
Therefore, the inventor provides a method and a device for acquiring the welding angle deformation value of the T-shaped joint and electronic equipment, so that the welding angle deformation value of the T-shaped joint can be conveniently, accurately and continuously acquired.
Disclosure of Invention
(1) Technical problem to be solved
The first aspect of the embodiment of the invention provides a method for acquiring the welding angle deformation value of a T-shaped joint, which solves the technical problem that the welding angle deformation value of the T-shaped joint cannot be described by a series of values in the prior art by calculating all variables and achieves the beneficial effect of accurately describing the welding angle deformation value of the T-shaped joint.
The second aspect of the embodiment of the invention provides an acquisition device for a T-shaped joint welding angle deformation value, which solves the technical problem that a series of values cannot be used for describing the T-shaped joint welding angle deformation value in the prior art by acquiring a plurality of coordinate information, and achieves the beneficial effect of accurately describing the T-shaped joint angle deformation value.
According to the third aspect of the embodiment of the invention, the electronic equipment is operated, so that the technical problem that the method for acquiring the welding angle deformation value of the T-shaped joint cannot be realized is solved, and the accurate acquisition of the welding angle deformation value of the T-shaped joint is realized.
(2) Technical proposal
In a first aspect, an embodiment of the present invention provides a method for obtaining a welding angle deformation value of a T-joint, where the method includes: three points are selected as characteristic points on the T-shaped joint and respectively marked as a T point, an E point and an F point;
acquiring and storing point cloud data of a TEF plane, and recording the point cloud data as U 1 Point cloud data; acquiring and storing point cloud data of the surface of the bottom plate at one side of the rib plate on the T-shaped joint, and marking the point cloud data as U 2 Point cloud data; acquiring and storing point cloud data of the surface of the bottom plate at the other side of the upper rib plate of the T-shaped joint, and marking the point cloud data as U 3 Point cloud data;
at the U 1 Finding Q in point cloud data 1 、Q 2 、Q 3 Three points; at the U 2 Finding Q in point cloud data 4 、Q 5 、Q 6 Three points; at the U 3 Finding Q in point cloud data 7 、Q 8 、Q 9 Three points; calculate Q 1 Q 2 Q 3 Plane and Q 7 Q 8 Q 9 Included angle between planes, alpha i Representation, set up
Figure BDA0002207020170000021
Figure BDA0002207020170000022
Then:
Figure BDA0002207020170000023
calculate Q 1 Q 2 Q 3 Plane and Q 4 Q 5 Q 6 Included angle between planes, beta i Representation, set up
Figure BDA0002207020170000024
Figure BDA0002207020170000025
Then:
Figure BDA0002207020170000031
if Q is before welding 4 Q 5 Q 6 Plane and Q 7 Q 8 Q 9 The original included angle between planes is Ang, then at Q 4 Q 5 Q 6 Plane and Q 7 Q 8 Q 9 The angular deformation value at the plane is Ang-alpha i -β i 。
Further, the T point and the E point are points on the top angle of the T-shaped joint rib plate, and the F point is any point on the edge of the T-shaped joint rib plate.
Further, the point cloud data of the T-shaped joint surface are obtained through an articulated arm scanning method.
Further, the acquiring method further includes: and determining an auxiliary plane, wherein the auxiliary plane is determined by the T point, the E point and the F point.
Further, the auxiliary plane comprises S 1 Plane, S 2 Plane and S 3 Plane, S 1 A plane formed by a point T, a point E and a point F, wherein S is 2 The plane is the T point
Figure BDA0002207020170000032
A plane formed for a normal vector, the S 3 The plane is the T point, and the normal vector is +.>
Figure BDA0002207020170000033
A plane is formed.
Further, the Q 1 The point is the U 1 And S in the point cloud data 2 The plane distance is d 1 And is in contact with the S 3 The plane distance is d 9 Is a point of (2); the Q is 2 The point is the U 1 And S in the point cloud data 2 The plane distance is d 2 And is in contact with the S 3 The plane distance is d 9 Is a point of (2); the Q is 3 The point is the U 1 And S in the point cloud data 2 The plane distance is d 1 And is in contact with the S 3 The plane distance is d 10 Is a point of (2); the Q is 4 The point is the U 2 And S in the point cloud data 1 The plane distance is d 4 And is in contact with the S 3 The plane distance is d 9 Is a point of (2); the Q is 5 The point is the U 2 And S in the point cloud data 1 The plane distance is d 3 And is in contact with the S 3 The plane distance is d 9 Is a point of (2); the Q is 6 The point is the U 2 And S in the point cloud data 1 The plane distance is d 4 And is in contact with the S 3 The plane distance is d 10 Is a point of (2); the Q is 7 The point is the U 3 And S in the point cloud data 1 The plane distance is d 6 And is in contact with the S 3 The plane distance is d 9 Is a point of (2); the Q is 8 The point is the U 3 And S in the point cloud data 1 The plane distance is d 5 And is in contact with the S 3 The plane distance is d 9 Is a point of (2); the Q is 9 The point is the U 3 And S in the point cloud data 1 The plane distance is d 6 And is in contact with the S 3 The plane distance is d 10 Is a point of (2).
Further, the acquisition method further comprises gradually increasing d according to a certain step length 9 And d 10 Of (2) to cause said Q 1 Q 2 Q 3 Plane, the Q 4 Q 5 Q 6 Plane, the Q 7 Q 8 Q 9 And the plane moves along the welding line direction of the T-shaped joint and traverses the whole surface of the T-shaped joint, so as to obtain the angle deformation value of each part of the T-shaped joint.
In a second aspect, an apparatus for obtaining a welding angle deformation value of a T-joint is provided, including: the device comprises a characteristic point determining module, a point cloud data acquisition module and a measurement plane establishing module; the characteristic point determining module is used for selecting three points on the T-shaped joint as characteristic points and respectively marking the three points as T points, E points and F points; the point cloud data acquisition module is used for acquiring and storing point cloud data of the TEF plane, and is marked as U 1 Point cloud data; acquiring and storing point cloud data of the surface of the bottom plate at one side of the rib plate on the T-shaped joint, and marking the point cloud data as U 2 Point cloud data; acquiring and storing point cloud data of the surface of the bottom plate at the other side of the upper rib plate of the T-shaped joint, and marking the point cloud data as U 3 Point cloud data; the measurement plane establishing module is used for establishing a measurement plane in the U 1 Determining Q in point cloud data 1 、Q 2 、Q 3 Three points; at the U 2 Determining Q in point cloud data 4 、Q 5 、Q 6 Three points; at the U 3 Determining Q in point cloud data 7 、Q 8 、Q 9 Three points; calculate Q 1 Q 2 Q 3 Plane and Q 7 Q 8 Q 9 Included angle between planes, alpha i Representation, set up
Figure BDA0002207020170000041
Figure BDA0002207020170000042
Then:
Figure BDA0002207020170000043
calculate Q 1 Q 2 Q 3 Plane and Q 4 Q 5 Q 6 Included angle between planes, beta i Representation, set up
Figure BDA0002207020170000044
Figure BDA0002207020170000045
Then:
Figure BDA0002207020170000046
if Q is before welding 4 Q 5 Q 6 Plane and Q 7 Q 8 Q 9 The original included angle between planes is Ang, then at Q 4 Q 5 Q 6 Plane and Q 7 Q 8 Q 9 The angular deformation value at the plane is Ang-alpha i -β i 。
Further, the acquisition device further includes: an auxiliary plane determining module for passing through the
Three auxiliary planes are determined by the T point, the E point and the F point, and the Q is determined by the auxiliary planes 1 Q 2 Q 3 Plane, the Q 4 Q 5 Q 6 Plane and the Q 7 Q 8 Q 9 A plane.
In a third aspect, an electronic device is provided, including: the method for acquiring the welding angle deformation value of the T-shaped joint according to any one of the first aspect of the invention is executed by one or more processors, a memory and one or more programs stored in the memory.
(3) Advantageous effects
On the whole, the method solves the technical problem that the welding angle deformation value of the T-shaped joint cannot be described by a series of values in the prior art by calculating the variables, and realizes the beneficial effect of accurately describing the angle deformation value of the T-shaped joint; on the other hand, the method for acquiring the welding angle deformation value can be widely applied to the angle deformation of the T-shaped joint in the laser welding of a sheet, can objectively, accurately and efficiently give out the angle deformation value of the T-shaped joint, and can give out a series of angle deformation values along the length direction of a welding line so that the angle deformation value of the whole T-shaped joint is described; the invention has the advantages of complete data, high data precision and high efficiency.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of feature point selection and auxiliary plane construction in an embodiment of the present invention.
FIG. 2 is a schematic diagram of a local measurement plane construction in an embodiment of the invention.
FIG. 3 is a schematic diagram of feature distance definition in an embodiment of the invention.
FIG. 4 is a graph showing the deformation results in an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention and are not intended to limit the scope of the invention, i.e., the invention is not limited to the embodiments described, but covers any modifications, substitutions and improvements in parts, components and connections without departing from the spirit of the invention.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The method for acquiring the welding angle deformation value of the T-shaped joint in the first aspect of the embodiment of the invention comprises the following steps: three points are selected as characteristic points on the T-shaped joint and respectively marked as T point, E point and F point, and coordinates of the T point, the E point and the F point are respectively used (x T ,y T ,z T )，(x E ,y E ,z E ) And (x) F ,y F ,z F ) A representation; acquiring and storing point cloud data of a TEF plane, and recording the point cloud data as U 1 Point cloud data; acquiring and storing point cloud data of the surface of the bottom plate at one side of the rib plate on the T-shaped joint, and marking the point cloud data as U 2 Point cloud data; acquiring and storing point cloud data of the surface of the bottom plate at the other side of the upper rib plate of the T-shaped joint, and marking the point cloud data as U 3 Point cloud data; at the U 1 Finding Q in point cloud data 1 、Q 2 、Q 3 Three points; at the U 2 Finding Q in point cloud data 4 、Q 5 、Q 6 Three points; at the U 3 Finding Q in point cloud data 7 、Q 8 、Q 9 Three points; calculate Q 1 Q 2 Q 3 Plane and Q 7 Q 8 Q 9 Included angle between planes, alpha i Representation, set up
Figure BDA0002207020170000061
Then:
Figure BDA0002207020170000062
calculate Q 1 Q 2 Q 3 Plane and Q 4 Q 5 Q 6 Included angle between planes, beta i Representation, set up
Figure BDA0002207020170000063
Then:
Figure BDA0002207020170000064
if Q is before welding 4 Q 5 Q 6 Plane and Q 7 Q 8 Q 9 The original included angle between planes is Ang, then at Q 4 Q 5 Q 6 Plane and Q 7 Q 8 Q 9 The angular deformation value at the plane is Ang-alpha i -β i 。
Referring to the drawings1 and figure 2, the invention firstly selects three points on a T-shaped joint as characteristic points; then obtaining point cloud data U of a plane formed by three characteristic points 1 Point cloud data U of bottom plate surface on one side of rib plate on T-shaped joint 2 Point cloud data U of bottom plate surface at other side of rib plate on T-shaped joint 3 The method comprises the steps of carrying out a first treatment on the surface of the Next, at U 1 、U 2 、U 3 Respectively select three points, U 1 The three selected points form Q 1 Q 2 Q 3 Plane, U 2 The three selected points form Q 4 Q 5 Q 6 Plane, U 3 The three selected points form Q 7 Q 8 Q 9 A plane; finally, calculate Q 1 Q 2 Q 3 Plane and Q 7 Q 8 Q 9 Included angle alpha between planes i Calculate Q 1 Q 2 Q 3 Plane and Q 4 Q 5 Q 6 Included angle beta between planes i The angular deformation value at this point is Ang-alpha i -β i . In the embodiment of the invention, as shown in fig. 1, the points T and E are respectively disposed at the corner of the rib plate opposite to one end edge of the bottom plate; the point F is arranged on one edge of the rib plate. The invention firstly uses the known characteristic point coordinates as reference to calculate U 1 And U 2 、U 1 And U 3 The actual included angle between the two is finally subtracted by U from the known angle Ang before welding 1 And U 2 、U 1 And U 3 The actual included angle between the two can obtain an accurate result value; and at U 1 、U 2 、U 3 And selecting different points to realize the traversal of the butt joint, thereby obtaining a series of results of the joint angular deformation value. The invention provides a method for acquiring a welding angle deformation value, which can be applied to acquiring an angle deformation result of a T-shaped joint in laser welding of a sheet, and can objectively, accurately and efficiently give out the angle deformation value of the T-shaped joint so that the angle deformation value of the whole T-shaped joint is described.
Specifically, referring to fig. 1, the point T and the point E are points on the vertex angle of the T-shaped joint rib plate, and the point F is any point on the edge of the T-shaped joint rib plate.
Specifically, the point cloud data of the T-shaped joint surface are obtained through an articulated arm scanning method. In the prior art, the articulated arm scanning method utilizes the articulated arm type optical scanning measuring head of the articulated arm scanner to scan according to the single scanning line measuring principle and the multi-scanning line unifying principle of the optical scanning measuring head, can obtain high-precision measuring point coordinate information, and has the advantages of simplicity in operation and accuracy in obtaining results.
As a preferred implementation manner of the embodiment of the first aspect of the present invention, the obtaining method may further include: and determining an auxiliary plane, wherein the auxiliary plane is determined by the T point, the E point and the F point.
In particular, the auxiliary plane comprises S 1 Plane, S 2 Plane and S 3 Plane, S 1 A plane formed by a point T, a point E and a point F, wherein S is 2 The plane is the T point
Figure BDA0002207020170000071
A plane formed for a normal vector, the S 3 The plane is the T point, and the normal vector is +.>
Figure BDA0002207020170000072
A plane is formed.
Specifically, the Q 1 The point is the U 1 And S in the point cloud data 2 The plane distance is d 1 And is in contact with the S 3 The plane distance is d 9 Is a point of (2); the Q is 2 The point is the U 1 And S in the point cloud data 2 The plane distance is d 2 And is in contact with the S 3 The plane distance is d 9 Is a point of (2); the Q is 3 The point is the U 1 And S in the point cloud data 2 The plane distance is d 1 And is in contact with the S 3 The plane distance is d 10 Is a point of (2); the Q is 4 The point is the U 2 And S in the point cloud data 1 The plane distance is d 4 And is in contact with the S 3 The plane distance is d 9 Is a point of (2); the Q is 5 The point is the U 2 Point cloud dataAnd S is the same as that of 1 The plane distance is d 3 And is in contact with the S 3 The plane distance is d 9 Is a point of (2); the Q is 6 The point is the U 2 And S in the point cloud data 1 The plane distance is d 4 And is in contact with the S 3 The plane distance is d 10 Is a point of (2); the Q is 7 The point is the U 3 And S in the point cloud data 1 The plane distance is d 6 And is in contact with the S 3 The plane distance is d 9 Is a point of (2); the Q is 8 The point is the U 3 And S in the point cloud data 1 The plane distance is d 5 And is in contact with the S 3 The plane distance is d 9 Is a point of (2); the Q is 9 The point is the U 3 And S in the point cloud data 1 The plane distance is d 6 And is in contact with the S 3 The plane distance is d 10 Is a point of (2).
Specifically, the acquisition method further includes: gradually increase d according to a certain step length 9 And d 10 Of (2) to cause said Q 1 Q 2 Q 3 Plane, the Q 4 Q 5 Q 6 Plane, the Q 7 Q 8 Q 9 And the plane moves along the welding line direction of the T-shaped joint and traverses the whole surface of the T-shaped joint, so as to obtain the angle deformation value of each part of the T-shaped joint.
The following is a brief description of the specific procedure of the method for obtaining the welding angle deformation value of the T-joint according to the preferred embodiment of the present invention:
first, coordinates of three points of the feature point T, E, F are set to be (x T ，y T ，z T )，(x E ，y E ，z E ) And (x) F ，y F ，z F ) And (3) representing.
S 1 The normal vector of the plane is
Figure BDA0002207020170000081
Figure BDA0002207020170000082
Figure BDA0002207020170000083
Figure BDA0002207020170000084
In the middle of
A 1 ＝(y F -y T )(z E -z T )-(y E -y T )(z F -z T )
B 1 ＝(x E -x T )(z F -z T )-(x F -x T )(z E -z T )
C 1 ＝(x F -x T )(y E -y T )-(x E -x T )(y F -y T )
S 1 The plane equation is:
A 1 (x-x T )+B 1 (y-y T )+C 1 (z-z T )＝0
can be written as
A 1 x+B 1 y+C 1 z+D 1 ＝0
In the middle of
D 1 ＝-A 1 x T -B 1 y T -C 1 z T
S2 plane passes through T point
Figure BDA0002207020170000091
Is a normal vector.
Figure BDA0002207020170000092
The normal vector is:
Figure BDA0002207020170000093
S 2 the plane equation is:
A 2 (x-x T )+B 2 (y-y T )+C 2 (z-z T )＝0
can be written as
A 2 x+B 2 y+C 2 z+D 2 ＝0
In the middle of
D 2 ＝-A 2 x T -B 2 y T -C 2 z T
S3 plane crosses T point, and the normal vector is
Figure BDA0002207020170000094
Figure BDA0002207020170000095
The normal vector is:
Figure BDA0002207020170000096
S 3 the plane equation is:
A 3 (x-x T )+B 3 (y-y T )+C 3 (z-z T )＝0
the method can be written as follows:
A 3 x+B 3 y+C 3 z+D 3 ＝0
in the middle of
D 3 ＝-A 3 x T -B 3 y T -C 3 z T
α i Angle:
plane Q 1 Q 2 Q 3 And plane Q 7 Q 8 Q 9 The angle between the two plane normal vectors is equal to the angle between the two plane normal vectors, i.e
Figure BDA0002207020170000101
And->
Figure BDA0002207020170000102
An included angle between the two.
(Vector)
Figure BDA0002207020170000103
(Vector)
Figure BDA0002207020170000104
(Vector)
Figure BDA0002207020170000105
(Vector)
Figure BDA0002207020170000106
Is provided with
Figure BDA0002207020170000107
There is->
Figure BDA0002207020170000108
Figure BDA0002207020170000109
β i Angle:
plane Q 1 Q 2 Q 3 And plane Q 4 Q 5 Q 6 The included angle between them is vector
Figure BDA00022070201700001010
And->
Figure BDA00022070201700001011
An included angle between the two.
(Vector)
Figure BDA00022070201700001012
(Vector)
Figure BDA00022070201700001013
(Vector)
Figure BDA00022070201700001014
(Vector)
Figure BDA00022070201700001015
Is provided with
Figure BDA00022070201700001016
Then there is
Figure BDA00022070201700001017
Figure BDA0002207020170000111
Set pre-welding Q 4 Q 5 Q 6 Plane and Q 7 Q 8 Q 9 The original included angle between planes is Ang, then at Q 4 Q 5 Q 6 Plane and Q 7 Q 8 Q 9 The angular deformation value at the plane is Ang-alpha i -β i In the angular deformation value acquisition process, Q 1 Q 2 Q 3 Plane, Q 4 Q 5 Q 6 Plane and Q 7 Q 8 Q 9 A plane moving from one end of the joint to the other end with a certain step length, i.e. gradually increasing d with a certain step length 9 And d 10 And then the three planes are moved along the joint weld direction and scanned across the entire joint surface to determine the angular deformation values of the joint at all points. The distance is taken as an abscissa, the angle deformation value is taken as an ordinate, and the whole joint angle deformation value can be intuitively represented in a curve form.
For visual illustration of a preferred embodiment of the first aspect of the invention, specific numerical values are as follows:
assume that there is a T-joint to be tested with the dimensions: 260mm of the bottom plate is multiplied by 81.5mm multiplied by 2mm, 260mm of the rib plate is multiplied by 22mm multiplied by 1.5mm, and the U is obtained by adopting the scanning of an articulated arm after welding 1 、U 2 、U 3 Point cloud data, where U 1 、U 2 、U 3 The point cloud file contains 23700, 34216 and 41741 data points, respectively, and the three-point coordinates of T, E, F are:
T(-152.0874，-32.26663，841.5114)，E(17.02624，-33.50764，642.5269)，F(-151.8961，-50.16096，841.761)。
the S1 plane equation found is:
3561.00x+80.27y+3025.93z-2002187.11＝0
S 2 the plane equation is:
0.19x-17.89y+0.24z-758.33＝0
S 3 the plane equation is:
169.11x-1.24y-198.98z+193127.73＝0
the parameters employed may be as follows:
d 1 ＝5；d 2 ＝15；d 3 ＝10；d 4 ＝30；d 5 ＝10；d 6 ＝30；d 9 ＝10；d 10 =20; the step size is 20. The pre-weld Ang was 180 °, and the angular deformation values obtained are shown in the following table:
distance (mm) Angular deformation value (°)
20.000000 1.352150
40.000000 1.382460
60.000000 1.115849
80.000000 1.169877
100.000000 1.310451
120.000000 1.355819
140.000000 1.508959
160.000000 1.490721
180.000000 1.558341
200.000000 1.423373
220.000000 1.519964
240.000000 1.541264
The deformation values are plotted as shown in fig. 4. By the method provided by the invention, the T-shaped joint angular deformation value can be given. The method is not interfered by human factors, and the obtained data is objective, accurate and reliable, and the method has high efficiency and can describe the angular deformation value of the whole T-shaped joint along the length direction of the welding seam.
In the embodiment of the present invention, d 1 -d 10 And the step size may vary according to the needs of the actual test results, which should not constitute a limitation of the present invention.
The second aspect of the embodiment of the invention also provides a device for acquiring the welding angle deformation value of the T-shaped joint, which comprises the following steps: the device comprises a characteristic point determining module, a point cloud data acquisition module and a measurement plane establishing module; the characteristic point determining module is used for selecting three points on the T-shaped joint as characteristic points and respectively marking the three points as T points, E points and F points; the point cloud data acquisition module is used for acquiring and storing point cloud data of the TEF plane, and is marked as U 1 Point cloud data; acquiring and storing point cloud data of the surface of the bottom plate at one side of the rib plate on the T-shaped joint, and marking the point cloud data as U 2 Point cloud data; acquiring and storing point cloud data of the surface of the bottom plate at the other side of the upper rib plate of the T-shaped joint, and marking the point cloud data as U 3 Point cloud data; the measurement plane establishing module is used for establishing a measurement plane in the U 1 Determining Q in point cloud data 1 、Q 2 、Q 3 Three points; at the U 2 Determining Q in point cloud data 4 、Q 5 、Q 6 Three points; at the U 3 Determining Q in point cloud data 7 、Q 8 、Q 9 Three points; calculate Q 1 Q 2 Q 3 Plane and Q 7 Q 8 Q 9 Included angle between planes, alpha i The representation is made of a combination of a first and a second color,
is provided with
Figure BDA0002207020170000131
Then:
Figure BDA0002207020170000132
calculate Q 1 Q 2 Q 3 Plane and Q 4 Q 5 Q 6 Included angle between planes, beta i Representation, set up
Figure BDA0002207020170000133
Then:
Figure BDA0002207020170000134
if Q is before welding 4 Q 5 Q 6 Plane and Q 7 Q 8 Q 9 The original included angle between planes is Ang, then at Q 4 Q 5 Q 6 Plane and Q 7 Q 8 Q 9 The angular deformation value at the plane is Ang-alpha i -β i 。
As another preferred embodiment, the acquisition device further includes: an auxiliary plane determining module for determining three auxiliary planes through the T point, the E point and the F point and determining the Q through the auxiliary planes 1 Q 2 Q 3 Plane, the Q 4 Q 5 Q 6 Plane and the Q 7 Q 8 Q 9 A plane.
The acquisition device provided by the invention can accurately give the T-shaped joint angular deformation value, and the acquisition method of the embodiment of the first aspect of the invention is realized, and the obtained data is objective, accurate and reliable, and the method has high efficiency.
A third aspect of an embodiment of the present invention further provides an electronic device, including: the device comprises one or more processors, a memory and one or more programs, wherein the one or more programs are stored in the memory, and when the programs are executed by the one or more processors, the method for acquiring the T-joint welding angle deformation value according to any one of the first aspect of the embodiment of the invention is executed. The rapid detection of the welding angle deformation value of the T-shaped joint can be accurately and reliably realized.
It should be understood that, in the present specification, each embodiment is described in an incremental manner, and the same or similar parts between the embodiments are all referred to each other, and each embodiment is mainly described in a different point from other embodiments. For embodiments of the method, reference may be made to the description of parts of embodiments of the apparatus. The invention is not limited to the specific steps and structures described above and shown in the drawings. Also, a detailed description of known method techniques is omitted here for the sake of brevity.
The foregoing is merely exemplary of the present application and is not limited thereto. Various modifications and alterations of this application will become apparent to those skilled in the art without departing from the scope of this invention. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims (5)

1. The method for acquiring the welding angle deformation value of the T-shaped joint is characterized by comprising the following steps of:
three points are selected as characteristic points on the T-shaped joint and respectively marked as a T point, an E point and an F point;
acquiring and storing point cloud data of a TEF plane, and recording the point cloud data as U 1 Point cloud data; acquiring and storing point cloud data of the surface of the bottom plate at one side of the rib plate on the T-shaped joint, and marking the point cloud data as U 2 Point cloud data; acquiring and storing point cloud data of the surface of the bottom plate at the other side of the upper rib plate of the T-shaped joint, and marking the point cloud data as U 3 Point cloud data;
at the U 1 Finding Q in point cloud data 1 、Q 2 、Q 3 Three points; at the U 2 Finding Q in point cloud data 4 、Q 5 、Q 6 Three points; at the U 3 Finding Q in point cloud data 7 、Q 8 、Q 9 Three points; calculate Q 1 Q 2 Q 3 Plane and Q 7 Q 8 Q 9 Included angle between planes, alpha i Representation, set up
Figure FDA0004086635520000011
Figure FDA0004086635520000012
Then:
Figure FDA0004086635520000013
calculate Q 1 Q 2 Q 3 Plane and Q 4 Q 5 Q 6 Included angle between planes, beta i Representation, set up
Figure FDA0004086635520000014
Figure FDA0004086635520000015
Then:
Figure FDA0004086635520000016
if Q is before welding 4 Q 5 Q 6 Plane and Q 7 Q 8 Q 9 The original included angle between planes is Ang, then at Q 4 Q 5 Q 6 Plane and Q 7 Q 8 Q 9 The angular deformation value at the plane is Ang-alpha i -β i ；
The T point and the E point are points on the top angle of the T-shaped joint rib plate, and the F point is any point on the edge of the T-shaped joint rib plate;
the acquisition method further comprises the following steps: determining an auxiliary plane, wherein the auxiliary plane is determined by the T point, the E point and the F point;
the auxiliary plane comprises S 1 Plane, S 2 Plane and S 3 Plane, S 1 A plane formed by a point T, a point E and a point F, wherein S is 2 The plane is the T point
Figure FDA0004086635520000017
A plane formed for a normal vector, the S 3 The plane is the T point, and the normal vector is +.>
Figure FDA0004086635520000018
A plane formed;
the Q is 1 The point is the U 1 And S in the point cloud data 2 The plane distance is d 1 And is in contact with the S 3 The plane distance is d 9 Is a point of (2);
the Q is 2 The point is the U 1 And S in the point cloud data 2 The plane distance is d 2 And is in contact with the S 3 The plane distance is d 9 Is a point of (2);
the Q is 3 The point is the U 1 And S in the point cloud data 2 The plane distance is d 1 And is in contact with the S 3 The plane distance is d 10 Is a point of (2);
the Q is 4 The point is the U 2 And S in the point cloud data 1 The plane distance is d 4 And is in contact with the S 3 The plane distance is d 9 Is a point of (2);
the Q is 5 The point is the U 2 And S in the point cloud data 1 The plane distance is d 3 And is in contact with the S 3 The plane distance is d 9 Is a point of (2);
the Q is 6 The point is the U 2 And S in the point cloud data 1 The plane distance is d 4 And is in contact with the S 3 The plane distance is d 10 Is a point of (2);
the Q is 7 The point is the U 3 And S in the point cloud data 1 The plane distance is d 6 And is in contact with the S 3 The plane distance is d 9 Is a point of (2);
the Q is 8 The point is the U 3 And S in the point cloud data 1 The plane distance is d 5 And is in contact with the S 3 The plane distance is d 9 Is a point of (2);
the Q is 9 The point is the U 3 And S in the point cloud data 1 The plane distance is d 6 And is in contact with the S 3 The plane distance is d 10 Is a point of (2);
the acquisition method further comprises the following steps: gradually increase d according to a certain step length 9 And d 10 Of (2) to cause said Q 1 Q 2 Q 3 Plane, the Q 4 Q 5 Q 6 Plane, the Q 7 Q 8 Q 9 And the plane moves along the welding line direction of the T-shaped joint and traverses the whole surface of the T-shaped joint, so as to obtain the angle deformation value of each part of the T-shaped joint.
2. The method for obtaining the welding angle deformation value of the T-joint according to claim 1, wherein the point cloud data of the surface of the T-joint is obtained by an articulated arm scanning method.
3. An acquisition device of T-joint welding angle deformation value, characterized by comprising:
the characteristic point determining module is used for selecting three points on the T-shaped joint as characteristic points and respectively marking the three points as a T point, an E point and an F point;
the point cloud data acquisition module is used for acquiring and storing the point cloud data of the TEF plane, and is marked as U 1 Point cloud data; acquiring and storing point cloud data of the surface of the bottom plate at one side of the rib plate on the T-shaped joint, and marking the point cloud data as U 2 Point cloud data; acquiring and storing point cloud data of the surface of the bottom plate at the other side of the upper rib plate of the T-shaped joint, and marking the point cloud data as U 3 Point cloud data;
a measurement plane establishing module for establishing a measurement plane for the U 1 Determining Q in point cloud data 1 、Q 2 、Q 3 Three points; at the U 2 Determining Q in point cloud data 4 、Q 5 、Q 6 Three points; at the U 3 Determining Q in point cloud data 7 、Q 8 、Q 9 Three points; calculate Q 1 Q 2 Q 3 Plane and Q 7 Q 8 Q 9 Included angle between planes, alpha i Representation, set up
Figure FDA0004086635520000031
Then:
Figure FDA0004086635520000032
calculate Q 1 Q 2 Q 3 Plane and planeQ 4 Q 5 Q 6 Included angle between planes, beta i Representation, set up
Figure FDA0004086635520000033
Figure FDA0004086635520000034
Then:
Figure FDA0004086635520000035
if Q is before welding 4 Q 5 Q 6 Plane and Q 7 Q 8 Q 9 The original included angle between planes is Ang, then at Q 4 Q 5 Q 6 Plane and Q 7 Q 8 Q 9 The angular deformation value at the plane is Ang-alpha i -β i ；
The T point and the E point are points on the top angle of the T-shaped joint rib plate, and the F point is any point on the edge of the T-shaped joint rib plate;
the acquisition method further comprises the following steps: determining an auxiliary plane, wherein the auxiliary plane is determined by the T point, the E point and the F point;
the auxiliary plane comprises S 1 Plane, S 2 Plane and S 3 Plane, S 1 A plane formed by a point T, a point E and a point F, wherein S is 2 The plane is the T point
Figure FDA0004086635520000036
A plane formed for a normal vector, the S 3 The plane is the T point, and the normal vector is +.>
Figure FDA0004086635520000037
A plane formed;
the Q is 1 The point is the U 1 And S in the point cloud data 2 The plane distance is d 1 And is in contact with the S 3 The plane distance is d 9 Is a point of (2);
the Q is 2 The point is the U 1 And S in the point cloud data 2 The plane distance is d 2 And is in contact with the S 3 The plane distance is d 9 Is a point of (2);
the Q is 3 The point is the U 1 And S in the point cloud data 2 The plane distance is d 1 And is in contact with the S 3 The plane distance is d 10 Is a point of (2);
the Q is 4 The point is the U 2 And S in the point cloud data 1 The plane distance is d 4 And is in contact with the S 3 The plane distance is d 9 Is a point of (2);
the Q is 5 The point is the U 2 And S in the point cloud data 1 The plane distance is d 3 And is in contact with the S 3 The plane distance is d 9 Is a point of (2);
the Q is 6 The point is the U 2 And S in the point cloud data 1 The plane distance is d 4 And is in contact with the S 3 The plane distance is d 10 Is a point of (2);
the Q is 7 The point is the U 3 And S in the point cloud data 1 The plane distance is d 6 And is in contact with the S 3 The plane distance is d 9 Is a point of (2);
the Q is 8 The point is the U 3 And S in the point cloud data 1 The plane distance is d 5 And is in contact with the S 3 The plane distance is d 9 Is a point of (2);
the Q is 9 The point is the U 3 And S in the point cloud data 1 The plane distance is d 6 And is in contact with the S 3 The plane distance is d 10 Is a point of (2);
the acquisition method further comprises the following steps: gradually increase d according to a certain step length 9 And d 10 Of (2) to cause said Q 1 Q 2 Q 3 Plane, the Q 4 Q 5 Q 6 Plane, the Q 7 Q 8 Q 9 The plane moves along the welding line direction of the T-shaped joint and traverses the whole surface of the T-shaped joint to obtain the T-shaped jointAngular deformation values around the tee joint.
4. A device for obtaining a welding angle deformation value of a T-joint according to claim 3, further comprising:
an auxiliary plane determining module for determining three auxiliary planes through the T point, the E point and the F point, and determining the Q through the auxiliary planes 1 Q 2 Q 3 Plane, the Q 4 Q 5 Q 6 Plane and the Q 7 Q 8 Q 9 A plane.
5. An electronic device, comprising:
one or more processors;
a memory;
one or more programs stored in the memory that, when executed by the one or more processors, perform the method of obtaining a T-joint weld angle deformation value as set forth in any one of claims 1-2.
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