Research and design on positioning device of pipe joint for piping system welding
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摘要: 为提高型号产品中管路系统的焊接效率，设计了一种管接头定位装置，用于模拟两个管接头在舱体中的相对位置、方位关系. 对该定位装置的主要功能点进行了分析，提出了总体方案，并基于此，对整体结构和管接头夹具进行了详细设计. 根据装置的结构特点和功能需求求得其正运动学的坐标变换算法，并在此基础上进行了逆运动学求解. 为验证装置实际应用的可行性，设计了评估整体使用性能的两个误差指标，在正、逆运动学算法的基础上，基于主要运动部件的系统误差，利用蒙特卡洛方法求得两个误差指标的概率分布和总体特征. 结果表明，该装置方案可行.Abstract: To improve welding efficiency of piping system, a positioning device of pipe joint was designed for simulating the relative location and direction of two pipe joints in cabins. By analysis of main functions of the device, overall program was proposed, and the entire structure and fixture of pipe joints were designed in detail based on it. According to structural features and functional requirements of the device, coordinate transformation algorithm of forward kinematics was calculated, and inverse kinematics was solved based on it. To test and verify the practical feasibility of the device, two error indicators of overall performance of the device were designed. Based on forward & inverse kinematics and systematic errors of the main moving parts, the Monte Carlo method was used to obtain the probability distribution and overall characteristics of two error indicators. The results showed that the design of the device was feasible.
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Keywords:
- piping system welding /
- pipe joint /
- positioning device
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