CN104714473B - A kind of conduit surplus cutting position computational methods of pipeline flexible welding and assembling - Google Patents
A kind of conduit surplus cutting position computational methods of pipeline flexible welding and assembling Download PDFInfo
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- CN104714473B CN104714473B CN201510105318.0A CN201510105318A CN104714473B CN 104714473 B CN104714473 B CN 104714473B CN 201510105318 A CN201510105318 A CN 201510105318A CN 104714473 B CN104714473 B CN 104714473B
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- 238000005520 cutting process Methods 0.000 title claims abstract description 35
- 238000003466 welding Methods 0.000 title claims abstract description 23
- 238000000205 computational method Methods 0.000 title claims abstract description 9
- 238000005259 measurement Methods 0.000 claims abstract description 24
- 238000004519 manufacturing process Methods 0.000 claims abstract description 12
- 230000000007 visual effect Effects 0.000 claims abstract description 7
- 238000004088 simulation Methods 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 8
- 238000005452 bending Methods 0.000 claims description 3
- 238000003032 molecular docking Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 4
- 239000012636 effector Substances 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4097—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34208—Motion controller
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37009—Calibration of vision system, camera, adapt light level
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39001—Robot, manipulator control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39535—Measuring, test unit build into hand, end effector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45104—Lasrobot, welding robot
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Other Investigation Or Analysis Of Materials By Electrical Means (AREA)
Abstract
The present invention proposes the pipeline flexible welding and assembling scheme of a kind of view-based access control model measurement and robot, it is characterised in that：Including software and hardware two large divisions, hardware mainly includes visual measuring equipment, industrial robot, conduit cutting machine and catheter clamp, and software section mainly includes surplus computing module, pose computing module and robot motion's analogue simulation module.Wherein, the conduit surplus cutting position computational methods that scheme includes, comprise the following steps：(1) pose during conduit surplus end center point coordinate and robot the crawl conduit measurement obtained according to measurement, calculates coordinate of the conduit surplus end central point under robot TCP coordinate systems；(2) pose when robot returns zero-bit, when calculating robot returns zero-bit, conduit surplus end center point coordinate are combined；(3) the conduit surplus measured is combined, and from the surplus end face that conduit three-dimensional digital-to-analogue obtains and the angle of robotic gripper straightway, calculates conduit surplus cutting position.The present invention carries out pipeline flexible production by vision measurement technology and robot technology, can effectively reduce cost, raising efficiency.
Description
Technical field
It is based on welding equipment system the present invention relates to a kind of conduit surplus cutting position computational methods of pipeline flexible welding and assembling
Measurement data and device location, the method for calculating conduit surplus cutting position.Belong to CAD manufacturing field.
Background technology
Pipe-line system is all widely used in nearly all electronic product, and its function is mainly the logical of pumped (conveying) medium
Road.All it is the important component of aircraft or all kinds of spacecrafts particularly in aerospace field, conduit, pipe-line system can
Normal operation is to determine a critically important condition of properties of product and quality.
At present, Aero-Space class pipeline wide variety, complex interfaces and deposited more with the production form of single-piece or small lot
.Traditional conduit welding needs the built-up jig of design specialized, and efficiency is very low, and fixture versatility is low, preparatory period length.Pin
To different welding conduits, it is necessary to design a large amount of different special fixtures, this considerably increases during the development of Aerospace Products
Between and cost, while also bring very big inconvenience to production management.And in process of production, due to by operator's experience water
The influence of the factor such as flat, frock, positioning precision and measurement accuracy, larger error and deformation be present after need to being welded to conduit,
It is unable to reach required precision, it is seen that traditional conduit production technology can not meet the manufacture demand of modern product, so very
It is necessary that the flexible welding and assembling system towards pipeline production is established in research.
Certain allowance can be reserved in conduit production, needs to cut off surplus before conduit assembling, so needing root
The cutting position of conduit surplus is calculated according to the measurement data of system.
The content of the invention
It is an object of the invention to provide a kind of measurement of view-based access control model and the pipeline flexible welding and assembling scheme of robot, and this
Conduit surplus cutting position computational methods based on measurement data in scheme, to solve in existing conventional catheters welding technique
The problems such as operating efficiency is low, the cycle is long, error distortions are big.
General system proposal：The composition of the pipeline flexible welding and assembling system is as shown in Figure 1.System generally comprises software and hard
Part two large divisions, wherein hardware mainly include visual measuring equipment, industrial robot, conduit cutting machine and catheter clamp, soft
Part part mainly includes surplus computing module, pose computing module and robot motion's analogue simulation module.
Pipeline flexible welding and assembling scheme proposed by the present invention, includes following workflow：
Step 1：Robot captures pipeline and detected at visual measuring equipment respectively, obtains the three-dimensional feature of pipeline
Data are transferred to software module, data include all end points of conduit and bending point coordinate and conduit it is inclined axially and radially
Difference, axial deviation are conduit surplus, and data needed for follow-up calculating are extracted from the measurement file.
Step 2：Software module is read out and calculated to measurement data, obtains the cutting position and machine of pipeline surplus
The end effector pose (TCP poses) of device people, and generate robot control file and be transferred to robot motion's emulation module
Simulated, output control file is to robot after simulating successfully.
Step 3：Robot captures pipeline under the control file driving comprising TCP posture informations and moved, and realizes pipe
The cutting of road surplus and the docking of two sections of pipelines.
The conduit surplus cutting position computational methods included in pipeline flexible welding and assembling scheme proposed by the present invention, including it is following
Step：
Step 1：The conduit surplus end center point coordinate P obtained according to measurementm(xm,ym,zm) and robot crawl conduit
Pose T during measurementm TCP, calculate coordinate P of the conduit surplus end central point under robot TCP coordinate systemstcp(xt,yt,zt)。
Step 2：Pose T during zero-bit is returned with reference to robots L, when calculating robot returns zero-bit, in conduit surplus end
Heart point coordinates Ps(xs,ys,zs)。
Step 3：With reference to the conduit surplus A (Allowance) measured, and the surplus obtained from conduit three-dimensional digital-to-analogue
End face and the angle theta of robotic gripper straightway, calculate conduit surplus cutting position.
A kind of pipeline flexible welding and assembling scheme and its conduit surplus cutting position computational methods that the present invention provides, its advantage and
Effect is：Compared with traditional pipeline erection welding method, present invention eliminates various sample pipe and fixture, improves general
Property, reduce cost；Compared with the conduit allowance cutting method of Traditional Man line, the present invention is by being calculated conduit surplus
Cutting position, and control machine people grip conduit cut, improve production efficiency.
Brief description of the drawings
Fig. 1 is the flexible welding and assembling system global structure schematic diagram of the present invention.
Fig. 2 is conduit surplus cutting schematic diagram in the present invention.
Fig. 3 is conduit surplus cutting position calculation flow chart in the present invention.
Embodiment
Below in conjunction with the accompanying drawings, technical scheme is described further：
As shown in figure 1, the present invention proposes the pipeline flexible welding and assembling scheme of a kind of view-based access control model measurement and robot, specific step
It is rapid as follows：
Step 1：Robot captures pipeline and detected at visual measuring equipment respectively, obtains the three-dimensional feature of pipeline
Data are transferred to software module, data include all end points of conduit and bending point coordinate and conduit it is inclined axially and radially
Difference, axial deviation are conduit surplus, and data needed for follow-up calculating are extracted from the measurement file.
Step 2：Software module is read out and calculated to measurement data, obtains the cutting position and machine of pipeline surplus
The end effector pose (TCP poses) of device people, and generate robot control file and be transferred to robot motion's emulation module
Simulated, output control file is to robot after simulating successfully.
Step 3：Robot captures pipeline under the control file driving comprising TCP posture informations and moved, and realizes pipe
The cutting of road surplus and the docking of two sections of pipelines.
Wherein, " visual measuring equipment " described in step 1, meets that measuring speed is fast, and precision is high, can just and with
The features such as robot connects.
Wherein, " software module " described in step 2, including robot motion simulation software, for robot motion
Analogue simulation；Conduit surplus computing module, for calculating conduit surplus cutting position；Pose computing module, primary computer
The end effector pose of device people, moved for control machine people.Surplus calculates and pose computing module is in Three-dimensional CAD Software ring
Realized under border by secondary development.
As shown in Figures 2 and 3, the conduit surplus cutting position meter included in pipeline flexible welding and assembling scheme proposed by the present invention
Calculation method, embodiment are as follows：
Step 1：The conduit surplus end center point coordinate P obtained according to measurementm(xm,ym,zm) and robot crawl conduit
Pose T during measurementm TCP, calculate coordinate P of the conduit surplus end central point under robot TCP coordinate systemstcp(xt,yt,zt)。
Step 2：Pose T during zero-bit is returned with reference to robots TCP, when calculating robot returns zero-bit, conduit surplus end
Center point coordinate Ps(xs,ys,zs)。
Step 3：With reference to the conduit surplus A (Allowance) measured, and the surplus obtained from conduit three-dimensional digital-to-analogue
End face and the angle theta of robotic gripper straightway, calculate conduit surplus cutting position, and specific method is as follows：
Surplus end face normal direction and the angle theta of conduit clamping straightway can be tried to achieve according to conduit three-dimensional information：
Wherein Vl(vxl,vyl,vzl) direction vector of conduit straightway, V are captured by robotp(vxp,vyp,vzp) be
The normal vector of conduit surplus end face.
Surplus cutting position can use a planar representation, the plane and the intersecting point coordinate P of pipeline axisc(xc,yc,zc) can
Tried to achieve by following formula：
Then surplus cutting position plane equation is：
0·(x-xc)+cosθ·(y-yc)+sinθ·(z-zc)=0 (5)
Conduit is a circle with the profile that the plane intersects, the satisfactory foot formula：
(x-xc)2+(y-yc)2+(z-zc)2=R2 (6)
In actual production, upper four point P1, P2, P3, P4 can be justified with profile to represent, simultaneous formula (5)~(6), by x=
xc\xc+R\xc- R is substituted into, and can try to achieve four point coordinates.
Following table show the measurement data of pipeline flexible welding and assembling system：
Following table show the conduit surplus cutting point coordinates being calculated：
Claims (2)
1. a kind of conduit surplus cutting position computational methods based on pipeline flexible welding and assembling, it is applied to view-based access control model measurement and machine
The Aero-Space class pipeline flexible welding and assembling equipment of device people, the equipment include software and hardware two parts, and wherein hardware mainly wraps
Visual measuring equipment, industrial robot, conduit cutting machine and catheter clamp are included, software section mainly includes surplus and calculates mould
Block, pose computing module and robot motion's analogue simulation module；
It is characterized in that：Methods described comprises the following steps：
Step 1：The conduit surplus end center point coordinate P obtained according to measurementm(xm,ym,zm) and robot crawl conduit measurement when
Pose Tm TCP, calculate coordinate P of the conduit surplus end central point under robot TCP coordinate systemstcp(xt,yt,zt),
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Step 2：Pose T during zero-bit is returned with reference to robots TCP, when calculating robot returns zero-bit, conduit surplus end center
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The angle theta of straightway, conduit surplus cutting position is calculated, surplus end face normal direction and vessel clamp can be tried to achieve according to conduit three-dimensional information
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Wherein (vxl,vyl,vzl) direction vector of conduit straightway, (vx are captured by robotp,vyp,vzp) it is conduit surplus
The normal vector of end face,
Surplus cutting position can use a planar representation, the plane and the intersecting point coordinate P of pipeline axisc(xc,yc,zc) can be by following formula
Try to achieve：
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Wherein d is conduit surplus length, then surplus cutting position plane equation is：
0·(x-xc)+cosθ·(y-yc)+sinθ·(z-zc)=0 (5)
Conduit is a circle with the profile that the plane intersects, the satisfactory foot formula：
(x-xc)2+(y-yc)2+(z-zc)2=R2 (6)
In actual production, upper four point P1, P2, P3, P4 can be justified with profile to represent, simultaneous formula (5)~(6), x values distinguished
Take xc,xc+R,xc- R, four point coordinates can be tried to achieve,
And then four surplus cut points P1, P2, P3, P4 can be obtained.
A kind of 2. pipeline of conduit surplus cutting position computational methods based on pipeline flexible welding and assembling according to claim 1
Flexible welding and assembling method, the execution of the equipment comprise the following steps：
One：Robot captures pipeline and detected at visual measuring equipment respectively, obtains the three-dimensional feature data transfer of pipeline
To software module, coordinate and conduit of the data including all end points of conduit and bending point are in deviation axially and radially, axial direction
Deviation is conduit surplus, and data needed for follow-up calculating are extracted from the measurement file；
Two：Software module is read out and calculated to measurement data, obtains the cutting position of pipeline surplus and the end of robot
Actuator pose TCP poses are held, and generates robot control file and is transferred to robot motion's emulation module and is simulated, mould
Output control file is to robot after intending successfully；
Three：Robot captures pipeline under the control file driving comprising TCP posture informations and moved, and realizes pipeline surplus
Cutting and the docking of two sections of pipelines.
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