CN117123922A - Oval tube centering method, system, electronic equipment and storage medium - Google Patents
Oval tube centering method, system, electronic equipment and storage medium Download PDFInfo
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- CN117123922A CN117123922A CN202311395389.XA CN202311395389A CN117123922A CN 117123922 A CN117123922 A CN 117123922A CN 202311395389 A CN202311395389 A CN 202311395389A CN 117123922 A CN117123922 A CN 117123922A
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000005070 sampling Methods 0.000 claims abstract description 30
- 230000009466 transformation Effects 0.000 claims abstract description 4
- 238000003698 laser cutting Methods 0.000 claims description 16
- 230000015654 memory Effects 0.000 claims description 15
- 238000004364 calculation method Methods 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 8
- 230000006870 function Effects 0.000 claims description 5
- 238000012545 processing Methods 0.000 abstract description 4
- 230000009471 action Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
Abstract
The application discloses an oval tube centering method, an oval tube centering system, electronic equipment and a storage medium, wherein the oval tube centering method comprises the following steps: clamping the oval tube by using a chuck to enable the oval tube to be positioned on the working table; sampling to obtain N surface point coordinates at the same length position of the elliptical tube; fitting to obtain an elliptic equation of the section of the pipe; acquiring an elliptical center coordinate and an elliptical long axis inclination angle relative to the space horizontal direction based on an elliptical equation; rotating the clamping chuck of the elliptical tube to enable the long axis of the cross section of the elliptical tube to be parallel to the horizontal direction of the space; and calculating the rotated ellipse center coordinate according to the rotation transformation relation to obtain the final ellipse pipe center coordinate. The application improves the action flow of the existing pipe centering method, and does not need to additionally level the pipe, thereby improving the processing efficiency. Meanwhile, a fitting method is adopted, so that the high-precision requirement on sampling is reduced, and the influence of sampling errors on a solving result can be reduced to the greatest extent.
Description
Technical Field
The application belongs to the technical field of laser cutting, and particularly relates to an oval tube centering method, an oval tube centering system, electronic equipment and a storage medium.
Background
In the field of laser pipe cutting, due to unavoidable mechanical errors, pipe deformation errors and the like, deflection occurs when a machine tool clamp (such as a chuck) clamps a pipe, and the deflection means that the rotation center of the clamp and the section center of the pipe are not located on the same physical point. The three-dimensional laser cutting system needs to generate a processing path in advance according to the size, the position and other information of the pipe, so that accurate center offset data must be obtained first, and the processing path is guaranteed to be highly fidelity. It is clear that the accuracy of the offset data can greatly affect the cutting accuracy of the laser cutting system.
The pipe centering method applied to the field of laser cutting mainly comprises a manual centering method and an arc centering method. Wherein, the manual middle searching efficiency is low and the precision is poor. Compared with a manual measurement method, the circular arc centering method improves the measurement efficiency, but the method is highly dependent on the coordinate accuracy of all sampling points, so that the offset calculation accuracy is greatly reduced after slight errors occur, and the problem that the cutting effect cannot reach the standard is easily caused. And because the pipe is likely not horizontal when the pipe is clamped, the two seeking methods need to additionally carry out pipe leveling work, and the time cost is increased.
Disclosure of Invention
In order to solve the technical problems, the application provides an oval tube centering method, an oval tube centering system, electronic equipment and a storage medium, and the specific technical scheme is as follows:
an elliptical tube centering method comprises the following steps:
s1, clamping an elliptical tube by using a chuck to enable the elliptical tube to be positioned on a working table;
s2, sampling to obtain N surface point coordinates of the same length position of the elliptical tube;
s3, using the obtainedNFitting the coordinates of the surface points to obtain an elliptic equation of the section of the pipe;
s4, acquiring an ellipse center coordinate and an inclination angle of an ellipse major axis relative to a space horizontal direction based on an ellipse equation;
s5, rotating a clamping chuck of the elliptical tube to enable the long axis of the cross section of the elliptical tube to be parallel to the horizontal direction of the space;
and S6, calculating the rotated ellipse center coordinate according to the rotation transformation relation, namely the final ellipse pipe center coordinate.
Further, in step S2, it is assumed that the positions of the laser cutting gun head in the Y-axis direction are kept unchanged by taking the length direction, the spatial horizontal direction and the vertical direction of the elliptical tube as the X-axis, the Y-axis and the Z-axis of the spatial coordinate system, the positions of the laser cutting gun head in the X-axis direction are adjusted, and the heights of N points on the surface of the tube in the Z-axis direction are sampled and obtained to obtain the coordinates of the N points.
Preferably, in step S2, the number of sampling points is not less than 10.
Further, step S3 includes:
let the elliptic equation beConstructing an objective function:
；
according to the formulaObtaining coefficient values in elliptic equationA、B、C、D、EWherein->、/>Represent the firstiX-axis coordinate values and Z-axis coordinate values of the sampling points,
，/>。
further, in step S4, the center coordinates of the ellipseInclination angle of long axisθCalculated according to the following formula:
。
further, step S6, assuming that the final oval tube center coordinates are expressed asThe following steps are:。
the utility model provides a well system is sought to oval tube, includes the chuck that is used for centre gripping and rotates tubular product to and the electric capacity height-adjusting ware that is used for adjusting laser cutting rifle head height still includes the control and the execution module that is used for controlling chuck rotation angle and electric capacity height-adjusting ware position, and one kind with control and execution module communication connection's electronic equipment, electronic equipment includes memory, treater and the computer program who stores and run on the memory, the calculation step of above-mentioned oval tube method is sought to the treater when carrying out the procedure, and sends the inclination value that obtains of calculation to control and execution module, control and execution module rotate the chuck according to the inclination value that receives.
An electronic device comprising a memory, a processor and a computer program stored for running on the memory, characterized in that the processor implements the calculation steps of the above-mentioned elliptical tube centering method when executing the program.
A computer readable storage medium storing a computer program which, when executed by a processor, performs the computing steps of the elliptical tube centering method described above.
The application has the beneficial effects that:
the application improves the action flow and algorithm of the existing pipe centering method, and is realized by adopting a fitting algorithm with higher calculation precision. The existing calibration flow is simplified, and additional leveling of the pipe is not needed, so that the processing efficiency is improved. Meanwhile, compared with the existing circular arc centering method, the fitting method reduces the dependence on the high precision of the coordinates of the sampling points, can furthest reduce the influence of sampling errors on solving results, and fundamentally avoids the problem of large fluctuation of precision errors. Can provide more reliable offset data for laser cutting elliptical tubes.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate the application and together with the embodiments of the application, serve to explain the application.
FIG. 1 is a flow chart of an oval tube centering method according to an embodiment of the present application;
FIG. 2 is a schematic diagram A of sampling a pipe surface point according to an embodiment of the present application;
FIG. 3 is a schematic diagram B of sampling a pipe surface point according to an embodiment of the present application;
FIG. 4 is a schematic view of a pipe in cross-section with elliptical rotation level provided by an embodiment of the present application;
fig. 5 is a schematic diagram of an electronic device module according to an embodiment of the application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Example 1
As shown in fig. 1, the method for searching the elliptical tube provided in this embodiment mainly includes the following steps:
(1) The oval tube is clamped by a chuck to be positioned on the working table
(2) Sampling and obtaining N surface point coordinates of the same length position of the elliptical tube
Assuming that the length direction, the space horizontal direction and the space vertical direction of the elliptical tube are respectively taken as an X axis, a Y axis and a Z axis of a space coordinate system, the position of the laser cutting gun head in the Y axis direction is kept unchanged, the position of the laser cutting gun head in the X axis direction is adjusted, the heights of N points on the surface of the tube in the Z axis direction are obtained through sampling, and the coordinates of the N points are obtained.
The sampling action is specifically as follows in the laser cutting system: and adjusting the height distance from the laser cutting gun head to the surface of the pipe by using a capacitance height adjuster, and instantaneously recording the coordinate position of the current gun head. The capacitive heightening device sampling technology is an advanced and reliable sampling point technology and has the advantages of small coordinate sampling error, high efficiency and the like.
The more the sampling point number N is, the better, but the sampling process is also divided into two steps in consideration of the sampling time and the subsequent calculation complexity, the sampling point number N is generally set to 10 points. As shown in fig. 2, 5 points are sampled, and then, as shown in fig. 3, the remaining points are sampled sequentially after rotating the chuck by 180 °. The sampling interval can be set according to the specific situation, so long as the sampling points are distributed on the surface of the pipe at the same length position as uniformly as possible.
(3) Using the obtainedNFitting the coordinates of the surface points to obtain an elliptic equation of the section of the pipe
The general equation form of ellipse in plane coordinate system XY isCorresponds to +.in the planar coordinate system XZ in this embodiment>If the point coordinates (not less than 5 points) of the elliptical pipe can be accurately obtained, five position coefficients in a general equation can be solved according to a Gaussian elimination method. However, in practice, since sampling errors often result in inaccurate acquired coordinate values (sampled points may not be on the oval of the pipe section but distributed outside the oval), the solution of the equation by using the gaussian elimination method is practically without unique solution, which is a problem faced by the existing circular arc middle finding method.
According to the embodiment, the elliptic equation of the pipe section is solved based on the fitting principle by utilizing the plurality of surface point coordinates obtained by sampling, so that the influence of sampling errors on a solving result can be reduced to the maximum extent, and the optimal solution of the elliptic equation is obtained. The method comprises the following steps:
establishing an objective function:
；
the core idea is to minimize the value of the objective function (i.e. the error is minimized), then the partial derivative of the objective function with respect to each unknown is required to be zero, i.e
And (3) finishing to obtain:
order the，/>，
ThenSubstituting the corresponding coordinate values of the sampling points to obtain the coefficient values of the elliptic equation.
(4) Obtaining the center coordinates of the ellipse and the inclination angle of the major axis of the ellipse relative to the horizontal direction of the space based on the ellipse equation
Knowing all coefficients of the general equation of the ellipse, the center coordinates of the ellipse corresponding to the equation can be calculated by combining the following formulaInclination angle of long axisθ：
(5) Rotating the clamping chuck of the elliptical tube to enable the long axis of the cross section of the elliptical tube to be parallel to the horizontal direction of the space
Solving for the workpiece offset should be in a mechanically zeroed state, thus requiring a rootThe inclination angle of the major axis of the ellipse obtained in the previous step with respect to the horizontal direction of the spaceθThe chuck is rotated so that the long axis of the elliptical tube cross section is parallel to the horizontal direction of the space. As shown in FIG. 4, since the chuck is rotated 180℃in the sampling in the step (2), it is only necessary to rotate the chuck 180℃in this caseθAnd (3) obtaining the product.
(6) And calculating the rotated ellipse center coordinate according to the rotation transformation relation to obtain the final ellipse pipe center coordinate. If the center of rotation of the chuck is the origin of the planar coordinate system XZAnd can also be directly used as an offset value of the center of the pipe. Assuming that the final oval tube center coordinates are expressed as +.>The following steps are: />。
Example two
Based on the above method, the embodiment provides an elliptical tube centering system, which comprises a chuck for clamping and rotating a tube, a capacitance height adjuster for adjusting the height of a laser cutting gun head, a control and execution module for controlling the rotation angle of the chuck and the position of the capacitance height adjuster, and an electronic device in communication connection with the control and execution module, wherein the electronic device comprises a memory, a processor and a computer program stored on the memory for running, the processor realizes the calculation step of the elliptical tube centering method when executing the program, and transmits the calculated inclination angle value to the control and execution module, and the control and execution module rotates the chuck according to the received inclination angle value.
Example III
According to the foregoing embodiment, as shown in fig. 5, an electronic device is provided, which is an optional structural schematic diagram of the electronic device provided in this embodiment, where the electronic device may include a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus. The processor may call logic instructions in memory to perform the calculation steps of the elliptical tube centering method described above.
Furthermore, the logic instructions in the above-described memories may be implemented in the form of software functional units and may be stored in several computer-readable storage media when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method according to any one of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The product may perform the calculation steps of the oval tube centering method described in the first embodiment, and have corresponding functional modules and beneficial effects of the method, and technical details not described in detail in the embodiment may be referred to the oval tube centering method provided in the first embodiment of the present application.
Example IV
According to the above-described embodiments, the present embodiment provides a computer-readable storage medium storing a computer program, which when executed by a processor performs the calculation steps of the elliptical tube centering method described in the first embodiment.
From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus a general purpose hardware platform, or may be implemented by hardware. Based on such understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the related art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for up to a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the application, the steps may be implemented in any order, and there are many other variations of the different aspects of the application as described above, which are not provided in detail for the sake of brevity; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.
Claims (6)
1. An oval tube centering method is characterized by comprising the following steps:
s1, clamping an elliptical tube by using a chuck to enable the elliptical tube to be positioned on a working table;
s2, sampling and obtaining the position of the same length of the elliptical tubeNCoordinates of each surface point, anN≥10：
Assuming that the X axis, the Y axis and the Z axis of the space coordinate system are respectively the length direction, the space horizontal direction and the space vertical direction of the elliptical tube, the position of the laser cutting gun head in the Y axis direction is kept unchanged, the position of the laser cutting gun head in the X axis direction is adjusted, and the surface of the tube is sampled and obtainedNThe height of each point in the Z-axis direction is obtainedNCoordinates of the individual points;
s3, using the obtainedNFitting the coordinates of the surface points to obtain an elliptic equation of the section of the pipe:
let the elliptic equation beConstructing an objective function:
；
according to the formulaObtaining coefficient values in elliptic equationA、B、C、D、EWherein, the method comprises the steps of, wherein,、/>represent the firstiX-axis coordinate values and Z-axis coordinate values of the sampling points,
，/>；
s4, acquiring an ellipse center coordinate and an inclination angle of an ellipse major axis relative to a space horizontal direction based on an ellipse equation;
s5, rotating a clamping chuck of the elliptical tube to enable the long axis of the cross section of the elliptical tube to be parallel to the horizontal direction of the space;
and S6, calculating the rotated ellipse center coordinate according to the rotation transformation relation, namely the final ellipse pipe center coordinate.
2. The elliptical tube centering method of claim 1, wherein in step S4, the center coordinates of the ellipseInclination angle of long axisθCalculated according to the following formula:
。
3. the oval tube centering method as claimed in claim 2, wherein in step S6, it is assumed that the final oval tube center coordinates are expressed asThere is->。
4. The oval tube centering system is characterized by comprising a chuck for clamping and rotating a tube, a capacitance height adjuster for adjusting the height of a laser cutting gun head, a control and execution module for controlling the rotation angle of the chuck and the position of the capacitance height adjuster, and an electronic device in communication connection with the control and execution module, wherein the electronic device comprises a memory, a processor and a computer program stored on the memory, the processor executes the program to realize the calculation steps of the oval tube centering method according to any one of claims 1-3, and transmits the calculated inclination angle value to the control and execution module, and the control and execution module rotates the chuck according to the received inclination angle value.
5. An electronic device comprising a memory, a processor and a computer program stored for execution on the memory, characterized in that the processor, when executing the program, implements the calculation steps of the elliptical tube centering method of any one of claims 1-3.
6. A computer readable storage medium, wherein the computer readable storage medium stores a computer program, which when executed by a processor performs the calculation steps of the elliptical tube centering method of any one of claims 1-3.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311395389.XA CN117123922A (en) | 2023-10-26 | 2023-10-26 | Oval tube centering method, system, electronic equipment and storage medium |
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| CN202311395389.XA CN117123922A (en) | 2023-10-26 | 2023-10-26 | Oval tube centering method, system, electronic equipment and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117742239A (en) * | 2024-02-19 | 2024-03-22 | 南京超颖新能源科技有限公司 | Vertical correction system and correction method for machine tool |
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