主管旋转式相贯曲线自动焊接模型与仿真

Model and simulation of automatic intersecting curve welding with main pipe rotating welding scheme

相贯管道的主管旋转式焊接方式能够实现相贯焊缝的全过程平角焊,降低工艺复杂度并提高焊接质量.为了实现相贯管道的自动化焊接,建立了主管旋转式相贯曲线自动焊接模型.以一般性相贯管道几何模型为基础,用齐次变换矩阵分析了焊缝特征和焊枪姿态,得出了主管旋转角的变化规律及焊枪与世界坐标系的空间位置关系.利用MATLAB和Open GL对相贯管道的几何模型和焊接过程的运动模型进行了仿真.结果表明,该自动焊接模型是可行的,可以用于主管旋转式相贯曲线自动焊接的实时插补或离线编程.

The main pipe rotating welding scheme for intersecting pipes can reduce technology complexity and improve welding quality by achieving whole process of horizontal vertical position welding. In order to realize the automatic welding for intersecting pipes, the automatic welding model of intersecting curve with main pipe rotating welding scheme is established. On the basis of the geometrical model of the intersecting pipes,the welding seam feature and the welding torch pose are analyzed with homogeneous transformation matrix. After that,the main pipe rotation angle and the welding torch＇ s position and posture relative to the world frame are formulated. The geometrical model of the intersecting pipes and the kinematic model of the welding process are simulated by MATLAB and OpenG L respectively.The simulation results show that the automatic welding model is feasible and can be used for the real-time interpolation and the off-line programming of automatic intersecting curve welding.