基于软件的复杂相贯线接缝自动焊接运动控制算法

Control Algorithm of Automatic Welding for Complex Intersection Seam Based on Software

在介绍五轴联动数控焊接机床结构与工作原理的基础上,重点研究了基于软件体系结构的复杂相贯线接缝自动焊接运动控制算法。以实现椭球面封头焊接接管的相贯线接缝自动焊接为例,分别介绍了相贯线接缝空间曲线方程构建、利用直线段插补拟合接缝曲线时各插补离散点坐标参数与焊枪姿态调整参数计算以及各坐标轴插补位移量计算等算法。利用本文介绍的软件算法对复杂相贯线接缝自动焊接运动过程进行控制,具有较高的柔性和通用性,并且大幅度地降低了设备成本。

With the brief introduction of the structure and work principle of the five-axes linkage NC welding machine designed, the control algorithm of the automatic welding for the complex intersection seam based on the software structure is mainly studied. Take the intersection line seam between the ellipsoidal head and connection pipe for example, the algorithm is expounded, including establishing the space curve equation of intersection seam, calculating the coordinates of interpolation points and the adjustment parameters of the welding torch＇s gestures using linear segment to fit the seam curve, as well as computing the interpolation displacements of each coordinate axis. Using the software algorithm to control the automatic welding process of the intersection line seam can highly improve the system＇s flexibility and universality, and also remarkably reduce the equipment＇s cost.