CN115922040A - Self-adaptive compensation method and system for Y-shaped groove of intersecting branch pipe for plasma cutting - Google Patents
Self-adaptive compensation method and system for Y-shaped groove of intersecting branch pipe for plasma cutting Download PDFInfo
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Abstract
The invention belongs to the technical field of automatic cutting control, and provides a self-adaptive compensation method and a self-adaptive compensation system for a Y-shaped groove of a plasma cutting intersecting branch pipe. The method comprises the steps of obtaining space transformation parameters, groove parameters, plasma cutting gun parameters and intersecting parameters; constructing a mathematical model of the intersecting branch pipe with the unilateral Y-shaped groove so as to construct a mathematical model of the plasma cutting gun, the plasma arc and the workpiece; calculating the cutting thickness of the workpiece by adopting a mathematical model of the plasma cutting gun, the plasma arc and the workpiece according to the space transformation parameter, the groove parameter, the plasma cutting gun parameter and the coherence parameter, and adaptively adjusting the radius of the plasma arc according to the cutting thickness; constructing a plasma arc radius and taper compensation model according to a mathematical model of a single-side Y-shaped groove of an intersecting branch pipe; and obtaining the tail end track and the attitude information of the plasma cutting gun by adopting a plasma arc radius and taper compensation model based on the cutting thickness and the radius of the plasma arc. The invention improves the processing efficiency.
Description
Technical Field
The invention belongs to the technical field of automatic cutting control, and particularly relates to a self-adaptive compensation method and system for a Y-shaped groove of a plasma cutting intersecting branch pipe.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
In the pipe engineering application of oil and gas transmission, fire fighting and the like, the cutting and welding of the pipe intersecting joint are very burdensome tasks. As the early preparation work of welding the intersecting joint, the cutting precision of the intersecting branch pipe can directly influence the clamping error and the welding quality of the joint. In order to ensure the air tightness and high pressure resistance of the intersecting joint, a riding type connecting mode is usually adopted between the main branch pipes, and the mode has higher requirement on the accuracy of branch pipe groove cutting.
Due to the complexity of the groove process and the machining track, the cutting of the intersecting line of the current branch pipe mainly depends on manual work, the cutting precision is low, the operation requirement is high, the problems of poor precision, low efficiency and the like of the intersecting line cutting generally exist, and a huge challenge is brought to the welding of the intersecting joint. With the development of intelligent manufacturing and robot technology, robots are rapidly popularized in various processing industries, and robot cutting has the advantages of high precision, adaptability to severe production environments and the like, and has wide prospects in the application of the industries.
According to factors such as processing cost, welding quality, easiness in realizing automatic processing and the like, the single-side Y-shaped groove is the most ideal surface treatment technology for the intersecting joint. The cutting mode of the steel pipe mainly comprises machinery, laser, plasma arc and the like, wherein the plasma arc cutting has advantages on comprehensive indexes such as precision, workpiece thickness, cost and the like, and can meet the requirement of high-quality cutting. The plasma arc is used as a robot tail end cutting tool, and the design of a mechanical structure is not required to be independently carried out, so that the cost is lower. Unlike conventional mechanical cutters, the radius of the plasma arc is not fixed (related to the cut thickness) and the plasma arc is not a standard cylinder with some taper due to energy loss during cutting. Therefore, the radius and the taper of the plasma arc are required to be accurately modeled before machining, and the attitude and the end position of the plasma cutting gun are accurately planned.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a self-adaptive compensation method and a self-adaptive compensation system for a Y-shaped groove of a plasma cutting intersecting branch pipe, which are used for calculating and compensating the radius and the taper of a plasma arc in a self-adaptive manner according to plasma cutting gun parameters, space transformation parameters and groove parameters input by a user, and finally giving the attitude and the tail end position information of the plasma cutting gun, so that the contour error of workpiece cutting is reduced, secondary processing is effectively avoided, and the processing precision and the processing efficiency are improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a self-adaptive compensation method for a Y-shaped groove of a plasma cutting intersecting branch pipe.
The self-adaptive compensation method for the Y-shaped groove of the plasma cutting intersecting branch pipe comprises the following steps:
acquiring space transformation parameters, groove parameters, plasma cutting gun parameters and intersecting parameters;
constructing a mathematical model of the intersecting branch pipe with the unilateral Y-shaped groove so as to construct a mathematical model of the plasma cutting gun, the plasma arc and the workpiece;
calculating the cutting thickness of the workpiece by adopting a mathematical model of the plasma cutting gun, the plasma arc and the workpiece according to the space transformation parameter, the groove parameter, the plasma cutting gun parameter and the coherence parameter, and adaptively adjusting the radius of the plasma arc according to the cutting thickness;
constructing a plasma arc radius and taper compensation model according to a mathematical model of a single-side Y-shaped groove of an intersecting branch pipe;
and obtaining the tail end track and the attitude information of the plasma cutting gun by adopting a plasma arc radius and taper compensation model based on the cutting thickness and the radius of the plasma arc.
Further, the mathematical model of the intersecting branch pipe with the single-side Y-shaped groove comprises a bevel angle and a blunt edge height.
Further, the mathematical models of the plasma cutting torch, the plasma arc and the workpiece comprise the radius of the plasma arc, the taper of the plasma arc, the height of the cutting torch and the thickness of the workpiece to be cut.
Further, the plasma beam during the cutting process is abstracted as a circular table, and the radius of the upper circle and the radius of the lower circle are R respectively t (R b ) And r t (r b ) The taper is 1 2 And 1 1 Which is defined as
The included angle beta between the generatrix of the notch and the axis of the plasma beam is defined according to the taper 1 Expressed as:
included angle beta between cutting gun nozzle generatrix and central axis 2 Expressed as:
wherein the parameter h n Defined as the nozzle length, parameter h d Defined as the cut thickness, wherein the variable R b Is a variable h d Function of R b ＝f(h d ). Parameter h t Defined as the height of the cutting gun.
Further, the calculating the cut thickness of the workpiece includes:
line segment M 1 N 1 Representing the groove generatrix, line segment O c O g Representing a blunt generatrix, line segment O w M 1 Represents the radius R of the plasma beam b Line segment O t O w Representing the height h of the cutting gun t (ii) a Defining the path of the cutting torch to include the point O t Representative position information and unit vector
Representative direction information; line segment M due to the presence of the taper 1 N 1 Is not the cut thickness; suppose line segment M 1 O g Has a length of delta 1 Point M 1 In the branch pipe coordinate system { O b Has homogeneous coordinate of->
According to the conditions: point M 1 On the outer surface of branch pipeUpper and in the frame { O c The coordinates in (h) are (0, -h) r sinγ,h r cosγ+δ 1 ) The following system of equations is obtained:
solving the above equation set to calculate the variable delta 1 At triangle Δ O c O g N 1 In (1),
so that the cutting thickness h is obtained when the groove is cut d The calculation formula of (2) is as follows:
cutting thickness h at blunt edge cutting d The calculation formula of (2) is as follows:
h d ＝h r cosβ 1 。
the obtaining of the tail end track and the attitude information of the plasma cutting gun comprises the following steps:
during groove cutting, according to point O w And point M 1 The geometric relationship of (A), calculate out the point O w In frame { O c The coordinates in (j) are:
according to point O t And point O w The geometric relationship of (c), calculate out the point O t In frame { O c The coordinates in (j) are:
path vector
By axis Z c About axis X c Clockwise rotation of pi-beta 1 To obtain
Symbol Rot X Representing a spatial rotation matrix around axis X.
Further, the obtaining of the tail end track and the attitude information of the plasma cutting gun comprises:
at the time of blunt edge cutting, according to the point O w And point O g The geometric relationship of (A), calculate out the point O w In frame { O c The coordinates in the } are:
according to point O t And point O w The geometric relationship of (A), calculate out the point O t In frame { O c The coordinates in the } are:
path vector
By axis Z c About axis X c Clockwise rotation of pi-gamma-beta 1 To obtain
Symbol Rot X Representing a spatial rotation matrix around axis X.
The second aspect of the invention provides an adaptive compensation system for a Y-shaped groove of a plasma cutting intersecting branch pipe.
Self-adaptation compensating system of plasma cutting looks tubular branch pipe Y shape groove includes:
a data acquisition module configured to: acquiring space transformation parameters, groove parameters, plasma cutting gun parameters and intersecting parameters;
a mathematical model building module of the plasma torch, the plasma arc, and the workpiece, configured to: constructing a mathematical model of the intersecting branch pipe with the unilateral Y-shaped groove so as to construct a mathematical model of the plasma cutting gun, the plasma arc and the workpiece;
an adaptive adjustment module configured to: calculating the cutting thickness of the workpiece by adopting a mathematical model of the plasma cutting gun, the plasma arc and the workpiece according to the space transformation parameter, the groove parameter, the plasma cutting gun parameter and the coherence parameter, and adaptively adjusting the radius of the plasma arc according to the cutting thickness;
a plasma arc radius and taper compensation model building module configured to: constructing a plasma arc radius and taper compensation model according to a mathematical model of a single-side Y-shaped groove of an intersecting branch pipe;
an output module configured to: and obtaining the tail end track and the attitude information of the plasma cutting gun by adopting a plasma arc radius and taper compensation model based on the cutting thickness and the radius of the plasma arc.
A third aspect of the invention provides a computer-readable storage medium.
A computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method of adaptive compensation of a Y-groove of a plasma cutting intersecting branch pipe as described in the first aspect above.
A fourth aspect of the invention provides a computer apparatus.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method for adaptive compensation of a Y-groove of a plasma cutting intersecting branch pipe according to the first aspect when executing the program.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a self-adaptive compensation method and a self-adaptive compensation system for a Y-shaped groove of a intersecting branch pipe for plasma cutting.
The invention liberates workers in a severe and heavy cutting environment, improves the processing efficiency, ensures the processing precision of the intersecting branch pipe, and can effectively improve the later-stage welding quality.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are included to illustrate an exemplary embodiment of the invention and not to limit the invention.
FIG. 1a is a schematic view of a coherent model according to the present invention;
FIG. 1b is a schematic plan view of the moving feature of the present invention;
FIG. 2a is a front view of a model of a single-sided Y-groove of a branch pipe according to the present invention;
FIG. 2b is a side view of a single-sided Y-groove model of a branch pipe shown in the present invention;
FIG. 3 is a cross-sectional view of a plasma torch model shown in the present invention;
FIG. 4a is a schematic view of a plasma arc radius and taper compensation model according to the present invention;
FIG. 4b is a schematic view of a plasma arc radius and taper compensation model II according to the present invention;
FIG. 5 is a flow chart of the adaptive compensation method for the Y-shaped groove of the plasma cutting intersecting branch pipe, which is disclosed by the invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It is noted that the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and systems according to various embodiments of the present disclosure. It should be noted that each block in the flowchart or block diagrams may represent a module, a segment, or a portion of code, which may comprise one or more executable instructions for implementing the logical function specified in the respective embodiment. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Example one
As shown in fig. 5, the embodiment provides an adaptive compensation method for a Y-groove of a plasma cutting intersecting branch pipe, and the embodiment is illustrated by applying the method to a server, and it is understood that the method may also be applied to a terminal, and may also be applied to a system including a terminal and a server, and is implemented by interaction between the terminal and the server. The server may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a network server, cloud communication, middleware service, a domain name service, a security service CDN, a big data and artificial intelligence platform, and the like. The terminal may be, but is not limited to, a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, and the like. The terminal and the server may be directly or indirectly connected through wired or wireless communication, and the application is not limited herein. In this embodiment, the method includes the steps of:
acquiring space transformation parameters, groove parameters, plasma cutting gun parameters and intersecting parameters;
constructing a mathematical model of a single-side Y-shaped groove of the intersecting branch pipe, and constructing mathematical models of a plasma cutting gun, a plasma arc and a workpiece according to the mathematical model;
calculating the cutting thickness of the workpiece by adopting a mathematical model of the plasma cutting gun, the plasma arc and the workpiece according to the space transformation parameter, the groove parameter, the plasma cutting gun parameter and the coherence parameter, and adaptively adjusting the radius of the plasma arc according to the cutting thickness;
constructing a plasma arc radius and taper compensation model according to a mathematical model of a single-side Y-shaped groove of an intersecting branch pipe;
and obtaining the tail end track and the attitude information of the plasma cutting gun by adopting a plasma arc radius and taper compensation model based on the cutting thickness and the radius of the plasma arc.
The present embodiments are described in detail below with reference to the attached drawing figures:
the first step is as follows: establishing a mathematical model (as shown in figures 2 a-2 b) of a unilateral Y-shaped groove of a coherent branch pipe, and giving a geometric definition of parameters of the unilateral Y-shaped groove on the branch pipe, such as a bevel angle, a truncated edge height and the like;
the second step is that: establishing a mathematical model (as figure 3) of the plasma cutting torch, the plasma arc and the workpiece, and giving a geometric definition of the radius and the taper of the plasma arc, the height of the cutting torch and the cutting thickness;
the third step: and (3) combining a mathematical model of the intersecting branch pipe with the unilateral Y-shaped groove to construct a radius and taper compensation model (as shown in figure 4) of the plasma arc, and finally respectively calculating the attitude and the tail end track of the plasma cutting gun after compensation.
In the first step, a mathematical model of the intersecting limb with a single-sided Y-groove was established, as shown in fig. 2 a-2 b. The external cylindrical surface of the main pipe (radius R) is defined by the connection process of' riding type o ) And the inner cylindrical surface of the branch pipe (radius r) i ) The intersecting line of (A) is a standard intersecting line, and a fixed frame { O } in the figure m ；X m ,Y m ,Z m And a frame { O } b ；X b ,Y b ,Z b Form a main pipe coordinate system and a branch pipe coordinate system respectively, and a parameter e x As offset distance of origin, parameter α x Is a crossing angle, and the variable theta is an intersecting line in the plane X b O b Z b The value range of the rotation angle of the upper projection is more than or equal to 0 and less than or equal to 2 pi.
In order to establish the geometric connection between the TCP path of the robot and the standard intersecting line, a groove description unit of any point on the intersecting line is constructed: the feature plane is moved. As shown in FIG. 2b, the point P (x, y, z) is any point on the intersecting line, and the plane π b A tangent plane to the inner cylindrical surface of the branch pipe at point P, plane π m Is a normal tangent plane of the outer cylindrical surface of the main pipe at the point P, and a plane pi n Is the normal plane to the intersection line at point P.
According to the space transformation relation, the frame { O } m To the frame { O } b The homogeneous transformation matrix of } is:
from the above coordinate system transformation and the space curve equation, the parameter equation of the intersecting line with the rotation angle theta as an independent variable can be calculated:
plane pi m And pi b Is defined as the intersecting characteristic angle
The calculation expression is as follows:
wherein the vector
And &>
Are respectively a plane pi m And pi b All unit normal vectors of (2) are in the plane of pi n Inward, pointing to the direction far away from the center of the cylindrical surface, and being on the frame { O } m The expression in (1) is:
the mathematical model parameters of the intersecting branch pipe with the single-side Y-shaped groove comprise a bevel angle gamma and a truncated edge height h r And their geometric definition on the intersecting branches is given, as shown in fig. 2 (a) -2 (b).
In a second step, a mathematical model of the plasma torch, plasma arc and workpiece is established, as shown in FIG. 3. The model parameters include the radius R of the plasma arc b Taper of plasma arc 1 1 Height h of cutting torch t And the thickness h of the work to be cut d . The nozzle of the cutting gun and the plasma beam in the cutting process are abstracted into a circular table, and the radius of an upper circle and the radius of a lower circle are respectively R t (R b ) And r t (r b ) The taper is 1 2 And 1, k 1 Which is defined as:
the included angle beta between the generatrix of the notch and the axis of the plasma beam is defined according to the taper 1 Can be expressed as:
included angle beta between cutting gun nozzle generatrix and central axis 2 Can be expressed as:
parameter h n Defined as the nozzle length, parameter h d Is defined as the cut length, where the variable R b Is a variable h d Function of (R) b ＝f(h d ) Can be calculated from the operating manual of the cutting system. Parameter h t Defined as the height of the cutting torch, is an important parameter for ensuring the stable arc pressure and the safety of the cutting torch.
In the third step, a mathematical model of the intersecting branch pipe with the unilateral Y-shaped groove is combined, and the radius and the compensation model of the plasma arc are constructed based on the three-dimensional tool compensation basic principle. FIG. 4 shows the normal intersecting line normal plane π at a certain θ value n Cross-sectional view of (1), point O c Inputting parameters for corresponding points on the intersecting line
Is a frame { O } b To the frame { O } c The homogeneous transformation matrix of which the input parameter is pick>
Is a frame { O m To the shelf O c The homogeneous transformation matrix of.
According to the process, the cutting of a single-sided Y-groove is divided into groove cutting (fig. 4 a) and blunt edge cutting (fig. 4 b). In FIG. 4a, line segment M 1 N 1 Representing the groove generatrix, line segment O c O g Representing a blunt generatrix, line segment O w M 1 Represents a plasma beam radius R b Line ofSection O t O w Representing the height h of the cutting gun t . Defining the path of the cutting torch to include the point O t Representative position information and unit vector
Representative direction information. Due to the existence of the taper, the line segment M 1 N 1 Is not a cut length. Suppose segment M 1 O g Has a length of delta 1 Point M 1 In the branch pipe coordinate system { O b In (e.g., FIG. 1a, FIG. 1 b) have homogeneous coordinates +>
According to the conditions: point M 1 On the outer surface of the branch pipe and on the frame { O } c The coordinates in (0, -h) r sinγ,h r cosγ+δ 1 ) The following system of equations is available:
the variable delta can be calculated by solving the equation system 1 . In the triangle delta O c O g N 1 In (1),
so that the cutting length h d The calculation formula of (2) is as follows:
according to point O w And point M 1 The geometric relationship of (A), the point O can be calculated w In frame { O c The coordinates in (j) are:
similarly, according to the point O t And point O w The geometric relationship of (A), the point O can be calculated t In the frame { O c The coordinates in (j) are:
path vector
Can be formed by axis Z c About axis X c Clockwise rotation of pi-beta 1 To obtain
In FIG. 4b, the cutting length h d The calculation formula of (2) is as follows:
h d ＝h r cosβ 1
according to point O w And point O g The geometric relationship of (A), the point O can be calculated w In frame { O c The coordinates in (j) are:
similarly, according to the point O t And point O w The geometric relationship of (A), the point O can be calculated t In frame { O c The coordinates in (j) are:
path vector
Can pass through the axis Z c About axis X c Clockwise rotation of pi-gamma-beta 1 To obtain
The method substitutes the space transformation parameters, the groove parameters, the plasma cutting gun parameters and the coherence parameters input by a user into a constructed mathematical model, automatically calculates the cutting thickness of a workpiece, adaptively adjusts the radius of a plasma arc according to the cutting thickness, and finally provides the tail end track and the attitude information of the plasma cutting gun by using the plasma arc radius and the taper compensation model. And generating a branch pipe single-side Y-shaped groove plasma cutting program according to a programming rule of machining equipment (a robot or a machine tool), and finally downloading the program into a controller for cutting.
Example two
The embodiment provides a self-adaptive compensation system for a Y-shaped groove of a plasma cutting intersecting branch pipe.
Self-adaptation compensating system of plasma cutting looks tubular branch pipe Y shape groove includes:
a data acquisition module configured to: acquiring space transformation parameters, groove parameters, plasma cutting gun parameters and intersecting parameters;
a mathematical model building module of the plasma torch, the plasma arc, and the workpiece, configured to: constructing a mathematical model of the intersecting branch pipe with the unilateral Y-shaped groove so as to construct a mathematical model of the plasma cutting gun, the plasma arc and the workpiece;
an adaptive adjustment module configured to: calculating the cutting thickness of the workpiece by adopting a mathematical model of the plasma cutting gun, the plasma arc and the workpiece according to the space transformation parameter, the groove parameter, the plasma cutting gun parameter and the coherence parameter, and adaptively adjusting the radius of the plasma arc according to the cutting thickness;
a plasma arc radius and taper compensation model building module configured to: constructing a plasma arc radius and taper compensation model according to a mathematical model of a single-side Y-shaped groove of an intersecting branch pipe;
an output module configured to: and based on the cutting thickness and the radius of the plasma arc, obtaining the tail end track and the attitude information of the plasma cutting gun by adopting a plasma arc radius and taper compensation model.
It should be noted here that the data acquisition module, the input data set construction module, the mathematical model construction module for the plasma cutting torch, the plasma arc and the workpiece, the adaptive adjustment module, the plasma arc radius and taper compensation model construction module and the output module are the same as those of the example and application scenario realized by the steps in the first embodiment, but are not limited to the disclosure in the first embodiment. It should be noted that the modules described above as part of a system may be implemented in a computer system such as a set of computer executable instructions.
EXAMPLE III
The present embodiment provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps in the adaptive compensation method for the Y-groove of a plasma cutting intersecting branch pipe as described in the first embodiment above.
Example four
The embodiment provides computer equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps in the adaptive compensation method for the Y-shaped groove of the plasma cutting intersecting branch pipe.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by a computer program, which may be stored in a computer readable storage medium and executed by a computer to implement the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The self-adaptive compensation method for the Y-shaped groove of the plasma cutting intersecting branch pipe is characterized by comprising the following steps of:
acquiring space transformation parameters, groove parameters, plasma cutting gun parameters and intersecting parameters;
constructing a mathematical model of the intersecting branch pipe with the unilateral Y-shaped groove so as to construct a mathematical model of the plasma cutting gun, the plasma arc and the workpiece;
calculating the cutting thickness of the workpiece by adopting a mathematical model of the plasma cutting gun, the plasma arc and the workpiece according to the space transformation parameter, the groove parameter, the plasma cutting gun parameter and the coherence parameter, and adaptively adjusting the radius of the plasma arc according to the cutting thickness;
constructing a plasma arc radius and taper compensation model according to a mathematical model of a single-side Y-shaped groove of an intersecting branch pipe;
and obtaining the tail end track and the attitude information of the plasma cutting gun by adopting a plasma arc radius and taper compensation model based on the cutting thickness and the radius of the plasma arc.
2. The adaptive compensation method for the Y-groove of the plasma cutting intersecting branch pipe according to claim 1, wherein the mathematical model of the intersecting branch pipe with the single-sided Y-groove comprises a bevel angle and a blunt height.
3. The adaptive compensation method for plasma cutting of a intersecting branch pipe Y-groove according to claim 1, wherein the mathematical models of the plasma torch, the plasma arc and the workpiece include the radius of the plasma arc, the taper of the plasma arc, the torch height and the thickness of the workpiece to be cut.
4. The adaptive compensation method for the Y-shaped groove of the plasma cutting intersecting branch pipe according to claim 1, wherein the plasma beam during the cutting process is abstracted into a circular truncated cone, and the upper circle radius and the lower circle radius are respectively R t (R b ) And r t (r b ) Taper ofAre respectively 1 2 And 1 1 Which is defined as
According to the definition of the taper, the included angle beta between the generatrix of the notch and the axis of the plasma beam 1 Expressed as:
included angle beta between cutting gun nozzle generatrix and central axis 2 Expressed as:
wherein the parameter h n Defined as the nozzle length, parameter h d Defined as the cut thickness, wherein the variable R b Is a variable h d Function of R b ＝f(h d ). Parameter h t Defined as the height of the cutting gun.
5. The adaptive compensation method for the Y-groove of the plasma cutting intersecting pipe according to claim 1, wherein the calculating the cutting thickness of the workpiece comprises:
line segment M 1 N 1 Representing the groove generatrix, line segment O c O g Representing a blunt generatrix, line segment O w M 1 Represents the radius R of the plasma beam b Line segment O t O w Representing the height h of the cutting gun t (ii) a Defining the path of the cutting torch to include the point O t Representative position information and unit vector
The representative direction information; line segment M due to the presence of the taper 1 N 1 Is not the cut thickness; suppose line segment M 1 O g Has a length of delta 1 Point M 1 In the branch pipe coordinate system { O b Has homogeneous coordinate of->
According to the conditions: point M 1 On the outer surface of the branch pipe and on the frame { O } c The coordinates in (h) are (0, -h) r sinγ,h r cosγ+δ 1 ) The following system of equations is obtained: />
Solving the above equation set to calculate the variable delta 1 At triangle Δ O c O g N 1 In (1),
so that the cutting thickness h is obtained during the groove cutting d The calculation formula of (c) is:
cutting thickness h at blunt edge cutting d The calculation formula of (c) is:
h d ＝h r cosβ 1 。
6. the adaptive compensation method for the Y-shaped groove of the plasma cutting intersecting branch pipe according to claim 1, wherein the obtaining of the tail end track and the attitude information of the plasma cutting gun comprises:
during groove cutting, according to point O w And point M 1 The geometric relationship of (c), calculate out the point O w In frame { O c The coordinates in (j) are:
according to point O t And point O w The geometric relationship of (A), calculate out the point O t In frame { O c The coordinates in the } are:
path vector
By axis Z c About axis X c Clockwise rotation of pi-beta 1 To obtain
Symbol Rot X Representing a spatial rotation matrix around axis X.
7. The adaptive compensation method for the Y-shaped groove of the plasma cutting intersecting branch pipe according to claim 1, wherein the obtaining of the tail end track and the attitude information of the plasma cutting gun comprises:
at the time of blunt edge cutting, according to the point O w And point O g The geometric relationship of (A), calculate out the point O w In the frame { O c The coordinates in (j) are:
according to point O t And point O w The geometric relationship of (A), calculate out the point O t In frame { O c The coordinates in the } are:
path vector
By axis Z c About axis X c Clockwise rotation of pi-gamma-beta 1 To obtain
Symbol Rot X Representing a spatial rotation matrix around axis X.
8. Self-adaptation compensating system of plasma cutting looks tubular branch Y shape groove, its characterized in that includes:
a data acquisition module configured to: acquiring space transformation parameters, groove parameters, plasma cutting gun parameters and penetration parameters;
a mathematical model building module of the plasma torch, the plasma arc, and the workpiece, configured to: constructing a mathematical model of a single-side Y-shaped groove of the intersecting branch pipe, and constructing mathematical models of a plasma cutting gun, a plasma arc and a workpiece according to the mathematical model;
an adaptive adjustment module configured to: calculating the cutting thickness of the workpiece by adopting a mathematical model of the plasma cutting gun, the plasma arc and the workpiece according to the space transformation parameter, the groove parameter, the plasma cutting gun parameter and the coherence parameter, and adaptively adjusting the radius of the plasma arc according to the cutting thickness;
a plasma arc radius and taper compensation model building module configured to: constructing a plasma arc radius and taper compensation model according to a mathematical model of a single-side Y-shaped groove of an intersecting branch pipe;
an output module configured to: and based on the cutting thickness and the radius of the plasma arc, obtaining the tail end track and the attitude information of the plasma cutting gun by adopting a plasma arc radius and taper compensation model.
9. A computer readable storage medium having stored thereon a computer program, wherein the program when executed by a processor performs the steps in the method for adaptive compensation of a Y-groove of a plasma cutting intersecting pipe according to any of claims 1-7.
10. A computer apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps in the method of adaptive compensation of a Y-groove of a plasma cutting intersecting branch pipe according to any one of claims 1 to 7.
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