CN108326769A - A kind of robot shows school pipe flange calibration system and its application method - Google Patents
A kind of robot shows school pipe flange calibration system and its application method Download PDFInfo
- Publication number
- CN108326769A CN108326769A CN201711334207.2A CN201711334207A CN108326769A CN 108326769 A CN108326769 A CN 108326769A CN 201711334207 A CN201711334207 A CN 201711334207A CN 108326769 A CN108326769 A CN 108326769A
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- flange
- pipe
- robotic arm
- robot
- calibration system
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of robots to show school pipe flange calibration system, including robot, operation bench, and one end of first flange stationary fixture corresponding with robotic arm, robotic arm is equipped with second flange fixture；Robot manipulating task region is surrounded by safety device, side is equipped with safety door and alarm device, second flange is driven with robotic arm, is fixed by first flange, second flange movement reaches rigging position to adjust, after reaching rigging position, manpower intervention completes the assembly spot welding of pipe fitting between two flange faces, ensures the precision, the safe operation rapidity that make pipe, save a large amount of manpower and materials, with reach save material, reduce work hours, improves precision, reduction energy consumption the purpose of.
Description
Technical field
The present invention relates to the technical field of existing school pipe flange calibration, the existing school tube method of specifically a kind of applied robot
Blue calibration system and its application method.
Background technology
Ship is being segmented, when block closes up and piping is connected with equipment, the piping of connection need using suitable short tube into
Row connection, the piping that these needs connect are that scene check and correction is managed.
Due to accumulated error, it is often actually built in segmentation, is managed with former design when block closes up and piping and equipment connect
Subgraph paper can not match, and Current Domestic shipyard closes up existing school pipe manufacturing method usually conventional on connectivity problem in processing and is：
Using traditional existing school pipe processing technique, treats existing school pipe and draw a design and flange matching, be used in combination angle bar that will match flange electric welding
Positioning in this, as the dimension model part of existing school pipe processing, then is gone ashore by model element pipe processing；Or be pre-machined pipe again on
Ship to processed pipe scene mowing, spot welding, go ashore and complete tube welding.By above several heavy, complicated processes,
It can guarantee zero deflection when the flange of existing school pipe is assembled in connection with the flange face and screw hole for connecting pipe.
The existing school pipe for also having part shipyards application new at present measures processing technology, and pipe is drawn by the method for in-site measurement
Manuscript, worker press figure processing again.The method changes original existing school pipe processing technique, improves efficiency, has saved largely
The auxiliary material of tube to tubesheet, but when proofreading due to artificial pipe and flange, can not accomplish precisely to proofread processing, peace of going on board
Two flange face of pipe connecting pin will produce horn mouth and screw hole deviation when dress, lead to not install, and live mowing is needed to go ashore again
It does over again, also results in waste of manpower and material resources, greatly extend the shipbuilding time.
Invention content
The purpose of the present invention is to provide a kind of improved robots to show school pipe flange calibration system and its operating method, it
During two pipe fittings in the prior art can be overcome to close up time-consuming and laborious, now school pipe flange in connection with the method that connect pipe
There are the deficiencies of deviation when blue face and screw hole assemble.
To achieve the goals above, the technical scheme is that：A kind of robot shows school pipe flange calibration system, described
Flange calibration system be used for by be equipped with flange the first pipe fitting and the second pipe fitting close up, it is characterised in that：The method
Blue calibration system includes robot and the operation bench that works for robot, and operation console is equipped with first flange geometrical clamp
One end of tool, robot is equipped with robotic arm, and one end of robotic arm is equipped with second flange fixture；Workbench is surrounded by safe dress
It sets, the side of workbench is equipped with safety door and alarm device.
Preferably, the flange stationary fixture include fixed frame and with the matched band screw hole positioning chuck of fixed frame；
The operation console is equipped with robot control cabinet, and operation bench is equipped with operable touch screen.
Further, the second flange fixture, second flange is when robotic arm end flanges stationary fixture is fixed, according to the
Bolt on sliding block is penetrated two symmetrical screw holes of flange, with double cone body nut by the initial position of the assembly of two flange clamps
It screws, it is ensured that bolt is located in screw hole center.
Further, the safety device includes safety guard, and safety guard is set to the surrounding of operation bench, the safety guard
Including rail post and the electronic lock being set on rail post.The warning device includes photophore and sounding alarm.
The application method includes the following steps：The first, this system sets three coordinates, establishes mutual between coordinate
Relationship；The second, the first end flanges of existing school pipe are fixed on first flange stationary fixture, c, the second end flanges fixed frame of setting
Initial alignment, the second flange of existing school pipe is fixed on second flange fixture；D, according to the instruction of operation bench space coordinate, machine
Device arm runs to the specified second flange spatial position of instruction, forms what pipe second flange was assembled with pipe first flange
Simulate space；E, after robotic arm simulated operation reaches specified position, robotic arm operates the second flange of pipe after normal direction is automatic
50mm is moved back, to facilitate worker to assemble pipe；F, closing machine arm is automatically brought into operation power supply, opens safety door operation personnel and enters work
Pipe and flange assemble in industry area, and the pipe after assembly is removed after the completion of assembly, and operating personnel exit operation area, and robotic arm is according to finger
Order sets back.
Preferably, in first step, three coordinates of default establish the correlation between coordinate, selection need into
The pipe of row operation, the mutual alignment relation of the first, second flange is established according to instruction system automatically；
Preferably, in step c, second flange is when robotic arm end second flange fixture is fixed, according to second flange fixture
Assembly initial position, bolt on sliding block is penetrated to two symmetrical screw holes of flange, is screwed with double cone body nut, it is ensured that spiral shell
Bolt is located in screw hole center.
Preferably, in step e, after robotic arm operation reaches specified position, robotic arm operates the flange of the second pipe along method
Draw back 50-100mm；In step e, after operating personnel enter operation area, robotic arm operates the flange of the second pipe along flange method
50-100mm draw back to assemble.
Compared with the existing technology, technical scheme of the present invention further includes many details in addition to the improvement of overall technical architecture
The improvement of aspect, specifically, having the advantages that：
1, improvement project of the present invention, equipped with being fixed by the way that the robotic arm flange clamp in robotic arm end is arranged
Second flange, while first flange is fixed on fixed frame, and the seat of existing school pipe is obtained by existing school pipe measuring instrument in-site measurement
Data are marked, conversion output robot motion instruction is analyzed by software, robot arm is made to be operated to regulation sky by action command
Between coordinate position, the first, second two flange faces form existing school tube field real space form, pipe fitting are helped to carry out precise match peace
Position is set, the zero deflection when flange of existing school pipe being made to be assembled with the flange face and screw hole for connecting pipe in connection.
2, in technical scheme of the present invention, the initial position of second flange screw hole is set, bolt on sliding block is penetrated into method
Two blue symmetrical screw holes, are screwed, it is ensured that bolt is located in screw hole center with double cone body nut.Second is driven by robotic arm
Flange movement reaches rigging position to adjust, and after reaching rigging position, manpower intervention completes the installation of pipe fitting between two flange faces
Positioning ensures precision, safely and fast property, saves a large amount of manpower and materials；
3, pipe fitting of the invention and two required places of flange faces cooperation installation are small, if on operation bench successively into
Row operation, can save assembly, cutting and welding job of the worker in ship construction site, save human resources and change
It has been apt to the construction environment of ship；
4, robot flange calibration system of the invention is directed to existing school pipe and carries out accurate school pipe, to reach saving material, subtract
Few working hour improves precision, reduces the purpose of energy consumption.
Description of the drawings
Fig. 1 is the structural schematic diagram of the robotic arm flange calibration system of the present invention.
Fig. 2 is the structural schematic diagram of the first flange stationary fixture mounting flange of the present invention.
Flow diagram when Fig. 3 is the system operation of the present invention.
Fig. 4 is the robotic arm second flange clamp structure schematic diagram of the present invention.
Fig. 5 is the coordinate system reference view of the present invention.
Reference numeral：
1 robotic arm, 2 second flange fixtures, 3 first flange fixing devices, 4 switch boards, 5 operation consoles, 6 safety devices, 7 reports
Alarm device；
21 supporting layers, 22 fixture layers, 23 support legs.
Specific implementation mode
Technical scheme of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
The every other embodiment that personnel are obtained without making creative work, shall fall within the protection scope of the present invention.
The present invention provides a kind of robots to show school pipe flange calibration system and its application method, a kind of referring specifically to Fig. 1
Robot shows school pipe flange calibration system, it is characterised in that：The flange calibration system includes robot, operation bench, with machine
One end of the corresponding first flange stationary fixture of people, robotic arm is equipped with robotic arm second flange fixture；Robot manipulating task region
Be surrounded by safety device, side is equipped with safety door and alarm device.The flange stationary fixture include fixed frame and with
The matched band screw hole positioning chuck of fixed frame；Along the equally distributed claw of chuck, chuck there are three being set on the chuck
Be equipped with a circle screw hole, chuck be equipped with the matched slideway of flange screw positioning sliding block, mounting flange screw hole is fixed on slideway
Position sliding block, the operation bench are equipped with switch board and operation console, and operation console is equipped with operable touch screen.
Specifically, second flange is when robotic arm end flanges stationary fixture is fixed, the assembly according to second flange fixture
Initial position, bolt on sliding block is penetrated to two symmetrical screw holes of flange, is screwed with double cone body nut, it is ensured that bolt position
At screw hole center.The safety device includes safety guard, and safety guard is set to the surrounding of operation bench, and the safety guard includes
Rail post and the electronic lock being set on rail post.The warning device includes photophore and sounding alarm.
A kind of robot of the present invention shows the application method of school pipe flange calibration system, difference with the prior art
It is：The application method includes the following steps：A, this system sets three coordinates, establishes the correlation between coordinate；
B, the first flange of existing school pipe is fixed on first flange stationary fixture；C, the initial alignment of second flange fixed frame is set,
The second flange of existing school pipe is fixed on second flange fixture；D, according to the instruction of operation bench space coordinate, robotic arm operation
The second flange spatial position specified to instruction forms the simulation sky that pipe second flange is assembled with pipe first flange
Between；E, after robotic arm simulated operation reaches specified position, robotic arm operates the second flange of pipe along normal direction automatic backing 50mm,
To facilitate worker to assemble pipe；F, closing machine arm is automatically brought into operation power supply, opens safety door operation personnel and enters operation area dress
With pipe and flange, the pipe after assembly is removed after the completion of assembly, operating personnel exit operation area, and robotic arm restores according to instruction
It is in situ.
Furthermore, in step c, second flange is when robotic arm end flanges stationary fixture is fixed, according to second flange
Bolt on sliding block is penetrated two symmetrical screw holes of flange, is screwed with double cone body nut, really by the initial position of the assembly of fixture
It protects bolt and is located in screw hole center.
The second flange fixture includes clamp face plate and is located at the support leg of clamp face plate bottom, the fixture face
Plate is constituted by two layers, respectively the fixture layer of bottom support layer and top, and supporting layer and fixture layer are embedded with corresponding bullet respectively
Spring body ensures the stabilization of fixture, accurately.
In Step d, after robotic arm simulated operation reaches specified position, robotic arm operates the flange of the second pipe after normal direction
Move back 50-100mm；In step e, after operating personnel enter operation area, robotic arm operate the second pipe flange along flange forward before
Into 50-100mm to assemble.
This system is provided with multiple coordinate systems, predominantly：Global reference frame, tool coordinates system, user coordinate system,
It needs to solve coordinate system and coordinate transfer problem in design.The first axis coordinate system of fixed robot is set herein to refer to as the overall situation
Coordinate system, with x, y, z-axis indicates global reference frame Sx, y, z；Set the 6th axis coordinate system of robot (or second of movement
Flange center's coordinate system) it is a tool coordinates system relative to reference frame, with n, o, first axle representational tool coordinate system
En,o,a.Fixed first flange centre coordinate system is set as a user coordinate system relative to reference frame, with l, h, c
Axis indicates that user coordinate system Ul, h, c, above three coordinate system relationship are as shown in Figure 5.
Wherein：Global reference frame Sx, y, z location are fixed, and system first flange end is fixed rack position and also fixed, so
Transition matrixes of the user coordinate system U to reference frame SUTSIt is known；Existing two hold-carrying of school pipe imported according further to measuring device
Blue Centre location data, it will also be appreciated that transition matrixes of the tool coordinates system E to user coordinate system UETU。
Transition matrixes of the tool coordinates system E to reference frame S can be found out in this wayETS：
ETS=ETU×UTS
Again：
I.e.：
According to the inverse kinematics equation of robot, 6 axis parameter of robot can be acquired, robot is controlled by the second hold-carrying with this
Orchid is placed in correct position.
In one embodiment：
1, robot 1 is driven for 6 axis, can be with arbitrary motion to designated position in the range of 2Mx1.2Mx1.2M
2, robot 1 is connect with switch board 4 by transmission line of information, and robot receives command information；
3, switch board 4 is connect with operation console 5 by transmission line of information, and switch board receives operation console instruction, is converted into machine
The movement instruction of each axis of people and to robotic transfer；
4,2 center of robotic arm end second flange fixture and 3 center of first flange stationary fixture to alignment, determine
The coordinate relationship at 2 center of second flange fixture and 3 center of first flange stationary fixture；
In another embodiment：The present embodiment is further added by one and 1 robot of embodiment on the basis of embodiment 1
Opposite 3 structure of first flange stationary fixture in position.The fixed coordinates of whole system first flange and the initial seat of second flange
Mark forms a relative tertiary location.
In third embodiment, the present embodiment is further added by one and reality on the basis of embodiment 1 and case study on implementation 2
1 joining security system 6 of example and 7 structure of warning device are applied, security system ensures in the state that safety door is closed, robotic arm
It can make automatic running, under emergency gate opening state, the power supply for executing automatic running is automatically cut off, and whole system can only teaching
Box operation executes；
Warning device 7 is connect with safety door lock and switch board by transmission line of information, and alarm system is responsible in safety door
Since the maloperation of operating personnel sends out alarm signal when switch, while being responsible for exceeding robot when the spatial shape of gathering pipe
When motion range, warning device sends out alarm signal；
In another specific embodiment, equipment：It is with the robot flange calibrating installation of structure described in embodiment three
Experimental facilities；
Device parameter：The flange of the second robots of SR50 of dynamic loading 50KG, the clamping of first flange stationary fixture and positioning
Outer diameter is D90~D608mm, second flange fixture D90~D608mm, system execution spatial dimension
2000mmX1200mmX1200mm；
Experimental subjects：Flange outer diameter is respectively Ф 135mm, tube outer diameter 60mm；Flange outer diameter Ф 115mm, tube outer diameter
Ф42mm；Flange outer diameter Ф 125mm, tube outer diameter Ф 48mm；Flange outer diameter Ф 190mm, tube outer diameter Ф 114mm；Outside flange
Diameter Ф 155mm, tube outer diameter Ф 76mm；Flange outer diameter Ф 170mm, tube outer diameter Ф 89mm；Flange outer diameter Ф 215mm, pipe
Outer diameter Ф 140mm.
Director data is as follows：
Switch board according to above-metioned instruction is converted into the movement instruction of each axis of robot and to robotic transfer, and robotic arm is by connecing
Collecting mail, automatic running retreats 50mm to breath to designated space position, subsequent robotic arm along flange normal direction successively；
Safety door is opened, by the spatial position that robot is formed, the pipe made is assembled with flange, machine
Arm completes spot welding along flange normal direction advance 50mm；
Closed safe door, robot restPose, and next road is waited for instruct.
Real ship installs the pipe matched through robot flange calibration system calibration cartridge, and reaching the precision precisely installed through inspection wants
It asks.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Present invention specific implementation is confined to these above-mentioned explanations.For those of ordinary skill in the art to which the present invention belongs,
Without departing from the inventive concept of the premise, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to the present invention
Protection domain.
Claims (8)
1. a kind of robot shows school pipe flange calibration system, the flange calibration system will be for that will be equipped with the first pipe fitting of flange
Closed up with the second pipe fitting, it is characterised in that：The flange calibration system includes robot and carries out work for robot
The operation bench of work, operation console are equipped with first flange stationary fixture, and one end of robot is equipped with robotic arm, and one end of robotic arm is set
There is second flange fixture；Workbench is surrounded by safety device, and the side of workbench is equipped with safety door and alarm device.
2. a kind of robot according to claim 1 shows school pipe flange calibration system, it is characterised in that：The flange is solid
Clamp tool include fixed frame and with the matched band screw hole positioning chuck of fixed frame；The operation console is controlled equipped with robot
Cabinet, operation bench are equipped with operable touch screen.
3. a kind of robot according to claim 1 shows school pipe flange calibration system, it is characterised in that：Second method
Blue fixture, second flange is when robotic arm end flanges stationary fixture is fixed, the initial position of the assembly according to second flange fixture,
Two symmetrical screw holes that bolt on sliding block is penetrated to flange, are screwed, it is ensured that bolt is located in screw hole center with double cone body nut.
4. a kind of robot according to claim 1 shows school pipe flange calibration system, it is characterised in that：The safety dress
It sets including safety guard, safety guard is set to the surrounding of operation bench, and the safety guard includes rail post and the electricity that is set on rail post
Cervical orifice of uterus is locked.
5. a kind of robot according to claim 1 shows school pipe flange calibration system, it is characterised in that：The alarm dress
It sets including photophore and sounding alarm.
6. a kind of robot according to claim 1 shows the application method of school pipe flange calibration system, it is characterised in that：Institute
The application method stated includes the following steps：A, this system sets three coordinates, establishes the correlation between coordinate；It b, will existing school
First end flanges of pipe are fixed on first flange stationary fixture, and c, the initial alignment for setting the second end flanges fixed frame will show
The second flange of school pipe is fixed on second flange fixture；D, according to the instruction of operation bench space coordinate, robotic arm runs to finger
Specified second flange spatial position is enabled, the simulation space that pipe second flange is assembled with pipe first flange is formed；e、
After robotic arm simulated operation reaches specified position, robotic arm operates the second flange of pipe along normal direction automatic backing 50mm, so as to
Worker is facilitated to assemble pipe；F, closing machine arm is automatically brought into operation power supply, opens safety door operation personnel and enters operation area assembly pipe
Son and flange remove the pipe after assembly after the completion of assembly, operating personnel exit operation area, and robotic arm restores former according to instruction
Position.
7. a kind of robot according to claim 6 shows the application method of school pipe flange calibration system, it is characterised in that：c
In step, second flange is when robotic arm end flanges stationary fixture is fixed, the initial position of the assembly according to second flange fixture,
Two symmetrical screw holes that bolt on sliding block is penetrated to flange, are screwed, it is ensured that bolt is located in screw hole center with double cone body nut.
8. a kind of robot according to claim 6 shows the application method of school pipe flange calibration system, it is characterised in that：d
In step, after robotic arm simulated operation reaches specified position, the flange that robotic arm operates the second pipe retreats 50- along normal direction
100mm；In step e, after operating personnel enter operation area, the flange that robotic arm operates the second pipe advances forward 50- along flange
100mm is to assemble.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711334207.2A CN108326769A (en) | 2017-12-13 | 2017-12-13 | A kind of robot shows school pipe flange calibration system and its application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711334207.2A CN108326769A (en) | 2017-12-13 | 2017-12-13 | A kind of robot shows school pipe flange calibration system and its application method |
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| Publication Number | Publication Date |
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| CN108326769A true CN108326769A (en) | 2018-07-27 |
Family
ID=62922444
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711334207.2A Pending CN108326769A (en) | 2017-12-13 | 2017-12-13 | A kind of robot shows school pipe flange calibration system and its application method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109367693A (en) * | 2018-10-25 | 2019-02-22 | 上海船舶工艺研究所(中国船舶工业集团公司第十研究所) | A kind of large scale equipment pedestal peculiar to vessel without surplus installation method |
| CN113634635A (en) * | 2021-07-26 | 2021-11-12 | 上海发那科机器人有限公司 | Robot bent pipe coordinate system calibration method, computer equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109367693A (en) * | 2018-10-25 | 2019-02-22 | 上海船舶工艺研究所(中国船舶工业集团公司第十研究所) | A kind of large scale equipment pedestal peculiar to vessel without surplus installation method |
| CN109367693B (en) * | 2018-10-25 | 2022-03-15 | 上海船舶工艺研究所(中国船舶工业集团公司第十一研究所) | Allowance-free installation method for large equipment base for ship |
| CN113634635A (en) * | 2021-07-26 | 2021-11-12 | 上海发那科机器人有限公司 | Robot bent pipe coordinate system calibration method, computer equipment and storage medium |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180727 |
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| RJ01 | Rejection of invention patent application after publication |