复杂曲面相贯线焊接轨迹控制算法的研究及仿真  

Control Algorithm Analysis and Simulation of the Welding Trace in Complex Intersecting Curve

作　　者：宗大圣[1] 邓双成[2] 龙腾宇[1] 叶小艳[3] 郑海洋[3] 张军文[3] 

机构地区：[1]北京工业大学机械电子学院,北京100124 [2]北京石油化工学院光机电装备技术北京市重点实验室,北京102617 [3]北京化工大学机械工程学院,北京100029

出　　处：《新技术新工艺》2014年第5期93-96,共4页New Technology & New Process

基　　金：国家自然科学基金资助项目(51275051);北京市科委装备制造领域关键技术研究及成果转化项目培育项目(Z121100007812003)

摘　　要：曲面与圆管之间的焊接比较普遍,为了实现复杂曲面相贯线的自动焊接,在五自由度焊接机床的基础上,以圆锥面与圆管的焊接为研究对象,构造圆锥面与圆管的相贯线方程,利用等长直线段拟合整条相贯线,实现运动轨迹的插补运算,计算出插补各点的坐标参数及焊枪角度,以对焊枪姿态进行实时调整。利用OpenGL软件,对插补运动进行动态仿真,观察运动轨迹是否正确,仿真结果验证了在五自由度焊接机床上,该运动控制算法可以实现复杂曲面相贯线的自动焊接。Welding between curved surface and pipe can be seen everywhere,in order to achieve the automatic welding of complex intersecting curve based on the five degrees of freedom welding machine,built the intersecting curve equations of welding of conical and pipe and took it as an research obj ect,and combined the intersecting curve by using equal length lines,thus the trace of interpolate operation can be achieved,the coordinate parameters and the welding torch angel of each interpolate point can be calculated,which can be used to adj ust the posture of welding torch at any time.Finally,simulated the interpolate motion and observed it was correct or not by using the OpenGL software,the results of simulation demonstrated that the control algorithm can achieve the automatic welding of complex intersecting curve in five degrees of freedom welding machine.

关 键 词：复杂相贯线 自动焊接 等步长插补 OPENGL仿真 圆锥面 

分 类 号：TG409[金属学及工艺—焊接]