机器人焊割柱管相贯线的路径规划研究

Research on Path Planning of Welding and Cutting Intersecting Line of Cylindrical Pipes for Robot

近年来,柱管接管相贯线接缝焊割由传统的手工焊逐渐被焊割机器人操作所代替。本文建立了圆锥、球体与柱管相贯线的一般化数学模型,并将空间相贯线展成平面曲线,利用等步长原理获取焊割轨迹的路径点。为保证焊割精度,步长的数值由输入的允许插补误差值经计算获得。文中还给出了柱管相贯线获取焊割路径点的流程图。此方法方便了焊割程序的编制,提高了工作效率,同时又保证了焊割的平稳性和精确性。最后给出了一个常见的柱管相贯实例,利用Matlab软件编程得到了其相贯线焊割路径点。

In recent years, the welding and cutting of the intersecting lines of cylindrical pipes have been gradually replaced by welding robot operation from the traditional manual welding. The generalized mathematical model of the intersecting lines of cylindrical pipe with cone and sphere was presented, and the space intersecting line was developed into plane curve. Using the principle of equal step length, the welding trajectory path points were obtained. In order to ensure the welding precision, the value of the step length was obtained by calculating with the permissible interpolation error value. A flowchart of obtaining the welding path points of the intersecting line was given. This method is convenient for welding procedure, improves the working efficiency and guarantees the welding stability and accuracy at the same time. A common instance of cylindrical pipes intersection was given, and the welding path points were obtained by using Matlab software programming.