CN104714473A - Conduit margin cutting position computing method for flexible pipeline welding and assembling - Google Patents
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Abstract
本发明提出一种基于视觉测量和机器人的管路柔性装焊方案，其特征在于：包括软件和硬件两大部分，硬件主要包括视觉测量设备，工业机器人，导管切割机以及导管夹具，软件部分主要包括余量计算模块，位姿计算模块和机器人运动仿真模拟模块。其中，方案包含的导管余量切割位置计算方法，包括如下步骤：(1)根据测量得到的导管余量端中心点坐标和机器人抓取导管测量时的位姿，计算导管余量端中心点在机器人TCP坐标系下的坐标；(2)结合机器人回归零位时的位姿，计算机器人回归零位时，导管余量端中心点坐标；(3)结合测量到的导管余量，以及从导管三维数模得到的余量端面与机器人夹持直线段的夹角，计算导管余量切割位置。本发明借助视觉测量技术和机器人技术进行管路柔性生产，可以有效降低成本，提升效率。
The invention proposes a pipeline flexible welding solution based on visual measurement and robots, which is characterized in that it includes two parts: software and hardware, the hardware mainly includes visual measurement equipment, industrial robots, catheter cutting machines and catheter fixtures, the software part mainly Including margin calculation module, pose calculation module and robot motion simulation module. Among them, the calculation method of the cutting position of the catheter margin included in the scheme includes the following steps: (1) According to the measured coordinates of the center point of the catheter margin end and the pose of the robot grabbing the catheter for measurement, calculate the center point of the catheter margin end at Coordinates in the robot’s TCP coordinate system; (2) Combined with the pose of the robot when it returns to zero, calculate the coordinates of the center point of the catheter margin end when the robot returns to zero; (3) Combine the measured catheter margin and the The angle between the margin end surface obtained by the 3D digital model and the straight line segment clamped by the robot is used to calculate the cutting position of the catheter margin. The invention uses visual measurement technology and robot technology to carry out flexible production of pipelines, which can effectively reduce costs and improve efficiency.
Description
技术领域technical field
本发明涉及一种管路柔性装焊的导管余量切割位置计算方法，是基于装焊系统的测量数据及设备位置，计算导管余量切割位置的方法。属于计算机辅助设计制造领域。The invention relates to a method for calculating the cutting position of the conduit allowance for the flexible assembly and welding of pipelines, which is a method for calculating the conduit allowance cutting position based on the measurement data of the assembly and welding system and the equipment position. It belongs to the field of computer-aided design and manufacture.
背景技术Background technique
管路系统在几乎所有机电产品中都有广泛的应用，其功能主要是输送介质的通道。特别是在航空航天领域，导管都是飞机或者各类航天器的重要组成部分，管路系统能够正常运行是决定产品性能和质量的一个很重要的条件。The piping system is widely used in almost all electromechanical products, and its function is mainly the passage of the conveying medium. Especially in the field of aerospace, conduits are an important part of aircraft or various spacecraft, and the normal operation of the piping system is a very important condition for determining product performance and quality.
目前，航空航天类管路类型繁多、接口复杂而且多以单件或小批量的生产形式存在。传统的导管焊接需要设计专用的组合夹具，效率很低，且夹具通用性低，准备周期长。针对不同的焊接导管，需要设计大量不同的专用夹具，这大大增加了航空航天产品的研制时间和成本，同时也给生产管理带来极大不便。而且在生产过程中，由于受到操作者经验水平、工装、定位精度以及测量精度等因素的影响，需对导管焊接后存在较大的误差和变形，无法达到精度要求，可见传统的导管生产工艺已经无法满足现代产品的制造需求，所以很有必要研究建立面向管路生产的柔性装焊系统。At present, there are many types of aerospace pipelines, complex interfaces, and most of them exist in the form of single-piece or small-batch production. Traditional catheter welding needs to design a special combined fixture, which is very inefficient, and the universality of the fixture is low, and the preparation period is long. For different welding conduits, a large number of different special fixtures need to be designed, which greatly increases the development time and cost of aerospace products, and also brings great inconvenience to production management. Moreover, in the production process, due to the influence of factors such as the operator's experience level, tooling, positioning accuracy, and measurement accuracy, there are large errors and deformations after welding the catheter, which cannot meet the accuracy requirements. It can be seen that the traditional catheter production process has been It cannot meet the manufacturing needs of modern products, so it is necessary to study and establish a flexible assembly and welding system for pipeline production.
导管生产中会预留一定的加工余量，在导管装配前需要将余量切除，所以需要根据系统的测量数据计算导管余量的切割位置。A certain amount of processing allowance will be reserved in the production of the catheter, and the allowance needs to be cut off before the catheter is assembled, so the cutting position of the catheter allowance needs to be calculated according to the measurement data of the system.
发明内容Contents of the invention
本发明的目的在于提供一种基于视觉测量和机器人的管路柔性装焊方案，以及此方案中基于测量数据的导管余量切割位置计算方法，用以解决现有的传统导管焊接技术中工作效率低、周期长、误差变形大等问题。The object of the present invention is to provide a pipeline flexible welding solution based on visual measurement and robots, and a method for calculating the cutting position of the conduit allowance based on measurement data in this solution, so as to solve the problem of work efficiency in the existing traditional conduit welding technology. Low, long cycle, large error deformation and other issues.
系统总体方案：该管路柔性装焊系统的构成如图1所示。系统总体上包括软件和硬件两大部分，其中硬件主要包括视觉测量设备，工业机器人，导管切割机以及导管夹具，软件部分主要包括余量计算模块，位姿计算模块和机器人运动仿真模拟模块。Overall system plan: The composition of the pipeline flexible welding system is shown in Figure 1. The system generally includes two parts: software and hardware. The hardware mainly includes visual measurement equipment, industrial robots, catheter cutting machines and catheter fixtures. The software part mainly includes margin calculation modules, pose calculation modules and robot motion simulation modules.
本发明提出的管路柔性装焊方案，包含如下工作流程：The pipeline flexible welding scheme proposed by the present invention includes the following workflow:
步骤一：机器人分别抓取管路到视觉测量设备处进行检测，得到管路的三维特征数据传输给软件模块，数据包括导管所有端点及弯曲点的坐标以及导管在轴向和径向的偏差，轴向偏差即导管余量，后续计算所需数据均从该测量文件中提取。Step 1: The robot grabs the pipelines and inspects them at the visual measuring equipment, and transmits the three-dimensional feature data of the pipelines to the software module. The data includes the coordinates of all end points and bending points of the conduits, as well as the axial and radial deviations of the conduits. The axial deviation is the catheter allowance, and the data required for subsequent calculations are all extracted from this measurement file.
步骤二：软件模块对测量数据进行读取和计算，得到管路余量的切割位置以及机器人的末端执行器位姿(TCP位姿)，并且生成机器人控制文件传输给机器人运动仿真模块进行模拟，模拟成功后输出控制文件给机器人。Step 2: The software module reads and calculates the measurement data, obtains the cutting position of the pipeline allowance and the pose of the end effector of the robot (TCP pose), and generates a robot control file and transmits it to the robot motion simulation module for simulation. After the simulation is successful, output the control file to the robot.
步骤三：机器人在包含TCP位姿信息的控制文件驱动下抓取管路进行运动，实现管路余量的切割和两段管路的对接。Step 3: Driven by the control file containing TCP pose information, the robot grabs the pipeline and moves to realize the cutting of the pipeline margin and the connection of two pipelines.
本发明提出的管路柔性装焊方案中包含的导管余量切割位置计算方法，包括下述步骤：The method for calculating the cutting position of the conduit allowance contained in the pipeline flexible welding solution proposed by the present invention includes the following steps:
步骤一：根据测量得到的导管余量端中心点坐标Pm(xm,ym,zm)和机器人抓取导管测量时的位姿Tm TCP，计算导管余量端中心点在机器人TCP坐标系下的坐标Ptcp(xt,yt,zt)。Step 1: According to the measured coordinates P m (x m , y m , z m ) of the central point of the catheter margin end and the pose T m TCP when the robot grasps the catheter for measurement, calculate the distance between the center point of the catheter margin end and the robot TCP The coordinates P tcp (x t ,y t ,z t ) in the coordinate system.
步骤二：结合机器人回归零位时的位姿Ts L，计算机器人回归零位时，导管余量端中心点坐标Ps(xs,ys,zs)。Step 2: Calculate the coordinates P s (x s , y s , z s ) of the center point of the catheter margin end when the robot returns to zero position in combination with the pose T s L when the robot returns to zero position.
步骤三：结合测量到的导管余量A(Allowance)，以及从导管三维数模得到的余量端面与机器人夹持直线段的夹角θ，计算导管余量切割位置。Step 3: Combining the measured catheter allowance A (Allowance) and the angle θ between the end surface of the allowance obtained from the three-dimensional digital model of the catheter and the straight line segment clamped by the robot, calculate the cutting position of the catheter allowance.
本发明给出的一种管路柔性装焊方案及其导管余量切割位置计算方法，其优点及功效在于：与传统的管路装配焊接方法相比，本发明省去了繁多的样管和夹具，提升了通用性，降低了成本；与传统人工划线的导管余量切割方法相比，本发明通过计算得到导管余量的切割位置，并且控制机器人夹取导管进行切割，提高了生产效率。The invention proposes a pipeline flexible assembly and welding scheme and its calculation method for conduit allowance cutting position. The fixture improves the versatility and reduces the cost; compared with the traditional manual scribing catheter margin cutting method, the present invention obtains the cutting position of the catheter margin through calculation, and controls the robot to clamp the catheter for cutting, which improves the production efficiency .
附图说明Description of drawings
图1为本发明的柔性装焊系统总体结构示意图。Fig. 1 is a schematic diagram of the overall structure of the flexible welding system of the present invention.
图2为本发明中导管余量切割示意图。Fig. 2 is a schematic diagram of cutting the catheter margin in the present invention.
图3为本发明中导管余量切割位置计算流程图。Fig. 3 is a flow chart of calculating the cutting position of the catheter margin in the present invention.
具体实施方式Detailed ways
下面结合附图，对本发明的技术方案做进一步的说明：Below in conjunction with accompanying drawing, technical scheme of the present invention is described further:
如图1所示，本发明提出一种基于视觉测量和机器人的管路柔性装焊方案，具体步骤如下：As shown in Figure 1, the present invention proposes a flexible pipeline welding solution based on visual measurement and robots, and the specific steps are as follows:
步骤一：机器人分别抓取管路到视觉测量设备处进行检测，得到管路的三维特征数据传输给软件模块，数据包括导管所有端点及弯曲点的坐标以及导管在轴向和径向的偏差，轴向偏差即导管余量，后续计算所需数据均从该测量文件中提取。Step 1: The robot grabs the pipelines and inspects them at the visual measuring equipment, and transmits the three-dimensional feature data of the pipelines to the software module. The data includes the coordinates of all end points and bending points of the conduits, as well as the axial and radial deviations of the conduits. The axial deviation is the catheter allowance, and the data required for subsequent calculations are all extracted from this measurement file.
步骤二：软件模块对测量数据进行读取和计算，得到管路余量的切割位置以及机器人的末端执行器位姿(TCP位姿)，并且生成机器人控制文件传输给机器人运动仿真模块进行模拟，模拟成功后输出控制文件给机器人。Step 2: The software module reads and calculates the measurement data, obtains the cutting position of the pipeline allowance and the pose of the end effector of the robot (TCP pose), and generates a robot control file and transmits it to the robot motion simulation module for simulation. After the simulation is successful, output the control file to the robot.
步骤三：机器人在包含TCP位姿信息的控制文件驱动下抓取管路进行运动，实现管路余量的切割和两段管路的对接。Step 3: Driven by the control file containing TCP pose information, the robot grabs the pipeline and moves to realize the cutting of the pipeline margin and the connection of two pipelines.
其中，在步骤一中所述的“视觉测量设备”，满足测量速度快，精度高，能够便和与机器人连接等特点。Among them, the "visual measurement equipment" mentioned in step 1 satisfies the characteristics of fast measurement speed, high precision, and easy connection with robots.
其中，在步骤二中所述的“软件模块”，包括机器人运动仿真软件，用于机器人运动的仿真模拟；导管余量计算模块，用于计算导管余量切割位置；位姿计算模块，主要计算机器人的末端执行器位姿，用于控制机器人运动。余量计算和位姿计算模块在三维CAD软件环境下通过二次开发实现。Wherein, the "software module" described in step 2 includes robot motion simulation software for the simulation of robot motion; the catheter margin calculation module is used to calculate the catheter margin cutting position; the pose calculation module mainly calculates The robot's end-effector pose, which is used to control the robot's motion. The modules of margin calculation and pose calculation are realized through secondary development under the environment of 3D CAD software.
如图2和图3所示，本发明提出的管路柔性装焊方案中包含的导管余量切割位置计算方法，具体实施方式如下：As shown in Figure 2 and Figure 3, the method for calculating the cutting position of the conduit margin included in the pipeline flexible welding solution proposed by the present invention is implemented in the following manner:
步骤一：根据测量得到的导管余量端中心点坐标Pm(xm,ym,zm)和机器人抓取导管测量时的位姿Tm TCP，计算导管余量端中心点在机器人TCP坐标系下的坐标Ptcp(xt,yt,zt)。Step 1: According to the measured coordinates P m (x m , y m , z m ) of the central point of the catheter margin end and the pose T m TCP when the robot grasps the catheter for measurement, calculate the distance between the center point of the catheter margin end and the robot TCP The coordinates P tcp (x t ,y t ,z t ) in the coordinate system.
步骤二：结合机器人回归零位时的位姿Ts TCP，计算机器人回归零位时，导管余量端中心点坐标Ps(xs,ys,zs)。Step 2: Calculate the coordinates P s (x s , y s , z s ) of the center point of the catheter margin end when the robot returns to zero position in combination with the pose T s TCP when the robot returns to zero position.
步骤三：结合测量到的导管余量A(Allowance)，以及从导管三维数模得到的余量端面与机器人夹持直线段的夹角θ，计算导管余量切割位置，具体方法如下：Step 3: Combining the measured conduit allowance A (Allowance) and the angle θ between the allowance end surface obtained from the three-dimensional digital model of the conduit and the straight line segment clamped by the robot, calculate the conduit allowance cutting position. The specific method is as follows:
根据导管三维信息可求得余量端面法向与导管夹持直线段的夹角θ：According to the three-dimensional information of the catheter, the angle θ between the normal direction of the end surface of the margin and the straight line segment of the catheter can be obtained:
其中Vl(vxl,vyl,vzl)为机器人所抓取导管直线段的方向向量，Vp(vxp,vyp,vzp)为导管余量端面的法向向量。Among them, V l (vx l , vy l , vz l ) is the direction vector of the straight segment of the catheter grasped by the robot, and V p (vx p , vy p , vz p ) is the normal vector of the end surface of the catheter margin.
余量切割位置可用一个平面表示，该平面与管路轴线的交点坐标Pc(xc,yc,zc)可由下式求得：The margin cutting position can be represented by a plane, and the intersection coordinate P c (x c , y c , z c ) of the plane and the pipeline axis can be obtained by the following formula:
则余量切割位置平面方程为：Then the plane equation of the margin cutting position is:
0·(x-xc)+cosθ·(y-yc)+sinθ·(z-zc)＝0 (5)0·(xx c )+cosθ·(yy c )+sinθ·(zz c )＝0 (5)
导管与该平面相交的轮廓是一个圆，该圆满足下式：The contour of the conduit intersecting this plane is a circle that satisfies the following formula:
(x-xc)2+(y-yc)2+(z-zc)2＝R2 (6)(xx c ) 2 +(yy c ) 2 +(zz c ) 2 ＝R 2 (6)
实际生产中，可用轮廓圆上四个点P1、P2、P3、P4来表示，联立公式(5)～(6)，将x＝xc\xc+R\xc-R代入，可求得四点坐标。In actual production, it can be represented by four points P1, P2, P3, and P4 on the contour circle. Simultaneous formulas (5) to (6), substituting x=x c \x c +R\x c -R, can be Find the coordinates of four points.
下表所示为管路柔性装焊系统的测量数据：The following table shows the measurement data of the pipeline flexible welding system:
下表所示为计算得到的导管余量切割点坐标：The table below shows the calculated coordinates of the conduit allowance cut point:
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105345382A (en) * | 2015-10-21 | 2016-02-24 | 西安航空动力股份有限公司 | Method for digitally determining angular direction of pipeline |
| CN113634994A (en) * | 2021-08-17 | 2021-11-12 | 中国航发沈阳黎明航空发动机有限责任公司 | Digital flexible processing method for allowance at two ends of aircraft engine guide pipe |
| WO2021248623A1 (en) * | 2020-06-12 | 2021-12-16 | 浙江金马逊机械有限公司 | Aerospace conduit allowance cutting digital control system, method and apparatus |
| CN114850691A (en) * | 2022-04-12 | 2022-08-05 | 西安航天发动机有限公司 | Customized guide pipe allowance automatic removing process method |
| CN116861607A (en) * | 2023-07-18 | 2023-10-10 | 招商局重工（江苏）有限公司 | Arrangement of unique joint in semi-submersible vessel pipeline system and deflection calculation method |
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| CN111823304A (en) * | 2020-07-29 | 2020-10-27 | 哈尔滨理工大学 | A method and system for water cutting control of intersecting lines of pipelines based on winding process |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105345382A (en) * | 2015-10-21 | 2016-02-24 | 西安航空动力股份有限公司 | Method for digitally determining angular direction of pipeline |
| WO2021248623A1 (en) * | 2020-06-12 | 2021-12-16 | 浙江金马逊机械有限公司 | Aerospace conduit allowance cutting digital control system, method and apparatus |
| CN113634994A (en) * | 2021-08-17 | 2021-11-12 | 中国航发沈阳黎明航空发动机有限责任公司 | Digital flexible processing method for allowance at two ends of aircraft engine guide pipe |
| CN114850691A (en) * | 2022-04-12 | 2022-08-05 | 西安航天发动机有限公司 | Customized guide pipe allowance automatic removing process method |
| CN116861607A (en) * | 2023-07-18 | 2023-10-10 | 招商局重工（江苏）有限公司 | Arrangement of unique joint in semi-submersible vessel pipeline system and deflection calculation method |
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