基于管道插接的相贯线焊缝提取算法及数值模拟

针对工件上多个不同直径管道的筒体内壁焊缝位置信息难于提取的技术问题，设计了一种能识别支管空间位置和尺寸信息的焊缝位置识别传感器，通过该装置采集到的数据，结合已知工件空间位置和尺寸信息，建立管道插接焊缝的位置模型，并推导出基于此模型的焊缝特征矩阵和焊枪姿态矩阵. 将采集的数据结合上述数学模型，在MATLAB软件中进行仿真对比. 结果表明，其精度误差最大为0.25 mm，满足实际焊接精度要求，验证了该传感器与数学模型的准确性. 该传感器及其焊缝特征识别方法具有通用性，对管道插接焊接任务的自动化、智能化具有重要意义.

Algorithm and numerical simulation of intersecting line weld extraction based on pipeline plugging

Aiming at the technical problem that it is difficult to extract the weld position information under the manifold of cylinder wall with different diameters on the workpiece, a weld position recognition sensor that can identify the spatial position and size information of the branch pipe is designed. The data collected by the device is combined with known the spatial position and size information of the workpiece, establish the position model of the pipe insertion weld, and derive the weld feature matrix and welding torch attitude matrix based on this model. The collected data is combined with the above mathematical model and simulated in MATLAB for comparison.The test results show that the maximum accuracy error is 0.25 mm, which meets the actual welding accuracy requirements, and verifies the accuracy of the sensor and the mathematical model. The sensor and its weld feature recognition method are universal and have important significance for the automation and intelligence of pipe plug welding tasks.