CN113334047A - Digital assembly manufacturing method for tailor-welded pipeline - Google Patents
Digital assembly manufacturing method for tailor-welded pipeline Download PDFInfo
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- CN113334047A CN113334047A CN202110629708.3A CN202110629708A CN113334047A CN 113334047 A CN113334047 A CN 113334047A CN 202110629708 A CN202110629708 A CN 202110629708A CN 113334047 A CN113334047 A CN 113334047A
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- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a digital assembly manufacturing method for a tailor-welded pipeline, which obtains digitally sampled basic data through measurement of a laser tracker, completes calculation of virtual boundary conditions of the pipeline by modeling, and completes manufacturing of parts according to model data. Compared with the prior art, the invention has the following positive effects: the invention adopts the laser tracker measuring system to measure data, has high measuring precision, real-time and fast performance and simple and convenient operation, and can quickly and accurately measure the boundary characteristics of the pipeline; the invention copies the pipeline assembly space to a part production workshop, has single operation environment and large space, and avoids the risk of damaging instruments; the waiting time for the manufacture of the spliced welding pipeline of the spacecraft assembly is eliminated; the invention obtains the data of the actual assembly space positions at the two ends of the pipeline through measurement, carries out production and manufacture, eliminates the excessive dependence on manual experience by data support, and improves the production quality and the assembly precision of the pipeline.
Description
Technical Field
The invention relates to the technical field of pipeline assembly manufacturing, in particular to a method for accurately measuring boundary conditions of a tailor-welded pipe side and carrying out digital assembly manufacturing.
Background
Due to factors such as the spare parts and assembly errors of the spacecraft, the assembly accumulated errors of all components and the like, part of pipelines cannot be produced according to the theoretical size of a drawing, and the assembly requirements can be met only by carrying out tailor-welding manufacturing according to actual assembly space after corresponding sections or pipelines are butted by final assembly. Therefore, in the spacecraft, the tailor-welded pipeline usually adopts a production mode of on-site physical sampling manufacturing, when final assembly is carried out to a corresponding section, on-site physical sampling of the pipeline is carried out, then the pipeline is returned to a manufacturing workshop for manufacturing the pipeline, then the pipeline is trial-assembled in the final assembly workshop, the pipeline can be returned to the manufacturing workshop for subsequent performance detection after meeting the assembly requirement, and finally the pipeline is delivered to the final assembly workshop for subsequent final assembly.
At present, a spacecraft product adopts a production organization mode of remote production and final assembly, pipeline sampling not only consumes long time, but also is in a serial working mode with the final assembly, and the bottleneck of further improving the final assembly efficiency is formed; due to the limitation of processing conditions, the quality of sampling mainly depends on the assembly quality of the sampling spacecraft and the skill level of an operator, the whole sampling process is manually operated, corresponding data support is not provided, the randomness is too large, the reproducibility and the consistency can not be guaranteed, and hidden dangers are buried for later use of the pipeline.
Aiming at the problems of complicated manufacturing process, low dimensional precision, low production efficiency and the like of the tailor-welded pipeline, the invention applies the pipeline digital assembly manufacturing technology to eliminate the unnecessary waiting time of final assembly and improve the pipeline assembly precision.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a digital assembly manufacturing method for a tailor-welded pipeline, which effectively solves the problem that the assembly precision of a part of conveying pipelines of a spacecraft is ensured by carrying out on-site sampling assembly manufacturing through an actual assembly space due to factors such as part production, assembly errors, accumulated errors and deformation, not only realizes low-stress assembly and accurate butt joint of the pipelines, but also is beneficial to improving the productivity, eliminating the waiting time of final assembly and improving the production efficiency.
The technical scheme adopted by the invention for solving the technical problems is as follows: a digital assembly manufacturing method for a tailor-welded pipeline comprises the following steps:
step one, measuring the geometric characteristics of the butt joint surface of the box body by using a laser tracker, and establishing a basic coordinate system M0XYZ, describing the space position information of the flange plate of the interface at the side of the box body;
step two, measuring the geometrical characteristics of the engine butt joint surface by using a laser tracker, and establishing a basic coordinate system F1XYZ, describing the spatial position information of the flange plate of the interface at the side of the engine;
step three, converting the laser tracker measurement data obtained in the step one and the step two into modeling data, and establishing a flange proxy model;
step four, virtually assembling the box body, the interface flange, the engine and the proxy model of the interface flange;
converting the coordinate system into a robot coordinate system in the three-dimensional model;
solving boundary conditions of relative spatial positions of two ends of the pipeline by using a coordinate system of the box flange and the engine flange to obtain a transformation matrix of each relative position;
step seven, converting the measured transformation matrixes into data forms recognized by the robot system;
and step eight, reproducing the boundary conditions of the relative positions of the two ends of the pipeline by using the industrial robot platform, and manufacturing a pipeline object on the basis.
Compared with the prior art, the invention has the following positive effects:
1. the invention adopts the laser tracker measuring system to measure data, has high measuring precision, real-time and quick performance and simple and convenient operation, can quickly and accurately measure the boundary characteristics of the pipeline, and has low requirements on the skill level and the labor intensity of operators;
2. in the traditional production mode, an operator needs to sample a pipeline on a spacecraft in a final assembly site, the operation space is narrow and complex, the operation site is high, and the risk of damage to other instruments is easily caused. The invention copies the pipeline assembly space to a part production workshop, has single operation environment and large space, and avoids the risk of damaging instruments;
3. the waiting time for the manufacture of the spliced welding pipeline of the spacecraft assembly is eliminated. In the traditional production mode, when the final assembly of the spacecraft reaches the assembly condition, sampling and manufacturing pipelines are carried out, and then assembly is carried out, so that the final assembly waiting time is long; according to the invention, pipeline production can be carried out before the spacecraft reaches the assembly condition, so that the waiting time of final assembly can be eliminated, and the production efficiency is improved;
4. the invention obtains the data of the actual assembly space positions at the two ends of the pipeline through measurement, carries out production and manufacture, is supported by the data, eliminates the hidden danger risk of the original manual sampling which is buried randomly and experientially, and improves the production quality and the assembly precision of the pipeline.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a schematic structural view of a tailor-welded pipeline of a five-way assembly weldment;
FIG. 2 is a schematic view of the space position of a five-way connection port at the bottom of the box body;
FIG. 3 is a schematic diagram of the spatial location of an engine interface;
FIG. 4 is a schematic diagram of a robot recurring five-way assembly weldment space position;
FIG. 5 is a schematic view of a five-way assembly weldment completed during manufacture;
FIG. 6 is a schematic view of the actual installation of a five-way assembly weldment;
wherein the reference numerals include: the robot comprises a five-way joint 1, a compensator 40 assembly 2, a half pipe 3, a compensator 80 assembly 4, a flange 5, a tunnel flange (a box body side interface) 6, a box body rear short shell end face (an interface with an engine) 7, an engine butt joint plane 8, a flange interface 9, a robot sixth-axis three-jaw chuck 10 and a workpiece coordinate chuck 11.
Detailed Description
The digital assembly manufacturing process method for the tailor-welded pipeline provided by the invention can be summarized into three main links of measurement, modeling and manufacturing. The method comprises the steps of measuring to obtain digitally sampled basic data, modeling to complete resolving of the virtual boundary conditions of the pipeline, and completing manufacturing of parts according to model data.
Specifically, after the products such as the section, the box body and the engine are sleeved in a complete manner, after the assembly workshop has measurement conditions, the laser tracker is used for completing the measurement of key geometric characteristics of boundary conditions at two ends of the pipeline, and in SA (spatial Analyzer) three-dimensional measurement software, the establishment of a coordinate system is completed according to the obtained data, so that the description of the key characteristic space geometric information at two ends of the pipeline is realized. The method comprises the steps of selecting a measuring reference, respectively measuring geometric information of each connecting part at two ends of a pipeline under a measuring coordinate system, and describing the position of the connecting part in the measuring coordinate system through points and vectors. The selection of key features and the accuracy of the measured data are the key tasks.
Further, feature boundary information of two ends of the pipeline is obtained from geometric data measured by a laser tracker in a final assembly workshop, a proxy model is established to simplify the feature of the part, virtual assembly is utilized to simulate physical butt joint, and boundary condition parameters of two ends of the pipeline are obtained according to an assembly model. The rapid and accurate conversion of multiple data formats is critical to the modeling process.
Further, according to boundary condition parameters of two ends of the pipeline obtained through modeling, the reproduction of the boundary conditions is realized in a part workshop by utilizing an industrial robot, and the positioning and tailor-welding manufacturing of the pipeline are completed.
And finally, measuring the relative spatial positions of the two-end assembly of the manufactured and formed pipeline, and calculating whether the manufacturing precision meets the requirement.
The following detailed description of the specific method of the present invention is provided with reference to the accompanying drawings:
the welded pipeline of the five-way assembly and welding piece is taken as a specific implementation example, and the structure of the pipeline is shown in figure 1 and comprises a five-way 1, a compensator 40 assembly 2, a half pipe 3, a compensator 80 assembly 4 and a flange 5. During assembly, the large end of the five-way joint 1 of the assembly and welding part is connected with a tunnel flange 6 at a box side interface, and the flange plate 5 is connected with an engine side interface 9, as shown in fig. 2, 3 and 6. Due to factors such as assembly accumulated errors of the spacecraft and the like, the consistency of the relative positions of the box side interface 6 and the engine interface 9 in space is poor, so that the half-pipe 3 needs to be repaired to be spliced and welded after the half-pipe reaches the corresponding length and angle when the five-way assembly weldment is manufactured. In addition, the complete five-way assembly weldment also needs the compensator assemblies 2 and 4 to compensate the manufacturing error during assembly, and if the manufacturing error exceeds the compensation range of the compensator, the five-way assembly weldment is not qualified in manufacturing. The digital assembly manufacturing method changes the existing production mode into parallel production, and eliminates the total assembly time; more importantly, the manufacturing error of the five-way assembly welding piece can be controlled, and the product quality is improved.
Specifically, the implementation steps are as follows:
the coordinate system of the laser tracker is determined by the instrument, and all the raw coordinate data acquired by the laser tracker are described under the instrument coordinate system of the laser tracker, wherein SA (spatial Analyzer) three-dimensional measurement software is used for description.
1. Measuring the geometrical characteristics of the butt joint surface 7 of the box body and establishing a basic coordinate system M0XYZ, spatial position information of the box side interface tunnel flange 6 is described.
Specifically, 3 (12) end face circumferential points between 4 groups of butt joint holes (8 in total) with phi 20.5mm are measured by taking the excircle of the end face 7 (namely the butt joint face with the engine) of the rear short shell of the box body as a reference to construct a plane P1; measuring a III quadrant hole point M1 on the end surface of the rear short shell; measuring 4 groups of phi 20.5mm (totally 8) butt joint holes on the end surface of the rear short shell, constructing a circle center M2, and taking the projection of a point M2 to a plane P1 as the circle center M0The normal of the plane P1 is the X-axis direction, and the direction pointing to the tail of the box body is positive; m1 projection on P1 plane and M0The line of (1) is in the Y-axis direction, the pointing III quadrant is positive, and the Z-axis (pointing II quadrant) is established according to the right-hand rule. To this end, the base coordinate system M0XYZ set up is complete.
Further, the spatial position information of the box side interface tunnel flange 6 is described. Specifically, a circle with the diameter of phi 366mm positioned on the end face of the tunnel flange 6 is used as a proxy model of the flange 6, the inner circle of the flange is used as a reference, 12 points (each point is positioned in the middle area of an adjacent M12 threaded hole on the end face) on the end face of the flange are measured to construct a plane P20 and a central point M20, the plane P20 is centered on M20, and the circle with the diameter of phi 366mm is used as a proxy model circle; so far, the proxy model of the central tunnel flange 6 is constructed, the center of the proxy model represents the center position of the flange, and the normal direction of the plane where the proxy model is located represents the direction of the flange.
2. Measuring the geometrical characteristics of the butt joint surface 8 of the engine and establishing a basic coordinate system F1XYZ, spatial position information of the engine-side interface 9(4 flanges) is described.
Specifically, 4 groups of phi 20.5mm (totally 8) butt joint holes of the butt joint end surface 8 of the engine frame are measured, and a butt joint plane R1 and a circle center F are constructed1(ii) a Measuring a III quadrant phi 40 hole point F2 on the end face of the engine frame; construction with F1As the center of circle, the normal of the plane R1 is the X-axis direction, and the direction pointing to the tail of the spacecraft is positive; projection of F2 on R1 plane and F1The line of (1) is in the Y-axis direction, the pointing III quadrant is positive, and the Z-axis (pointing II quadrant) is established according to the right-hand rule. To this end, the base coordinate system F for the engine1And establishing XYZ.
Further, describing the spatial position information of the flange interface 9, taking a circle with the diameter of 158mm and positioned on the end face of the flange of the engine interface as a proxy model of the flange. Specifically, an inner circle of an engine interface flange is taken as a reference, 8 points (each point is uniformly distributed on the circumference of the end face of the flange) on the end face of the engine interface flange are measured to construct a plane FP21 and a central point F21, the plane FP21 is centered on F21, and a circle with the diameter phi of 158mm is a proxy model circle. The center of the circle represents the center position of the engine interface flange, and the normal direction of the plane where the center of the circle represents the direction of the flange; and the other 3 interface flanges can be modeled by the same method. And at this moment, the proxy models of the 4 engine interface flanges are constructed, and the position information is acquired.
3. And completing the conversion from the measurement data of the laser tracker to the modeling data. Specifically, the conversion of the direction description format provided by the laser tracker to the direction description format based on "RPY angle" in the CREO converts the data as follows:
TABLE 1 laser tracker test data record
Table 2 proxy model circle RPY rotation angle
4. And establishing a flange proxy model. Specifically, in CREO software, starting from a basic coordinate system, the origin of the coordinate system is biased according to the "central coordinate" in table 1, and the coordinate axes of the coordinate system "XYZ" are sequentially rotated according to the data in table 2, so that the origin of the new coordinate system is the position of the proxy model circle, and the X axis of the new coordinate system is the direction of the proxy model circle.
5. And virtually assembling the measurement object. And aligning the end face 7 of the rear short shell of the box body with the butt joint plane 8 of the engine in the three-dimensional model CREO, and shifting unassembled parts connected with the tunnel flange 6 according to the drawing size to obtain the coordinate of the central position of the connecting part of the five-way large end.
6. And converting the coordinate system into a robot coordinate system in the three-dimensional model. Specifically, unassembled parts connected with a box tunnel flange 6 are respectively shifted according to thickness based on measured coordinate data to obtain the central position of the joint of the five-way large end, and the coordinate system is converted into a robot system coordinate system (X points to a No. 1 flange, Y points to a No. 4 flange, and Z points to the tail of a spacecraft); the engine flange is directly connected with the pipeline, so that the coordinate offset is not needed, and the coordinate system of the flange plate at the end of the engine is converted into the coordinate system of the robot system (X points to the central axis, and Z points to the head of the spacecraft).
7. According to the manufacturing convenience degree of the robot platform, a box flange 6 is selected firstly, then a coordinate system of an engine flange 9 is selected, the spatial position of the engine flange relative to the large end of the five-way on the side of the box is measured, and a transformation matrix of each relative position is obtained.
8. And converting the measured transformation matrixes into numerical values recognized by the robot system.
9. And (4) reproducing the boundary conditions of the pipeline by using the industrial robot, and manufacturing a pipeline object on the basis of the boundary conditions. Specifically, the large end of the five-way joint is clamped on a workpiece coordinate chuck 11 of a robot system, a three-jaw chuck 10 of the robot is used for clamping the flange 5, the spatial relative position is reproduced according to data, and then the five-way joint assembly welding manufacturing is carried out, as shown in fig. 4 and 5.
10. And verifying the manufacturing accuracy. Specifically, the flange end faces at two ends of a manufactured five-way assembly weldment pipeline are measured by a laser tracker, the measured data are virtually assembled in a three-dimensional model in a proxy model circle mode, and the pipeline assembly performance is judged according to the distance and the gap condition of an assembly face, so that the manufacturing precision of the conveying pipeline is verified.
Claims (9)
1. A digital assembly manufacturing method for a tailor-welded pipeline is characterized by comprising the following steps: the method comprises the following steps:
step one, measuring the geometric characteristics of the butt joint surface of the box body by using a laser tracker, and establishing a basic coordinate system M0XYZ drawingSpatial position information of the box side interface flange plate;
step two, measuring the geometrical characteristics of the engine butt joint surface by using a laser tracker, and establishing a basic coordinate system F1XYZ, describing the spatial position information of the flange plate of the interface at the side of the engine;
step three, converting the laser tracker measurement data obtained in the step one and the step two into modeling data, and establishing a flange proxy model;
step four, virtually assembling the box body, the interface flange, the engine and the proxy model of the interface flange;
converting the coordinate system into a robot coordinate system in the three-dimensional model;
solving boundary conditions of relative spatial positions of two ends of the pipeline by using a coordinate system of the box flange and the engine flange to obtain a transformation matrix of each relative position;
step seven, converting the measured transformation matrixes into data forms recognized by the robot system;
and step eight, reproducing the boundary conditions of the relative positions of the two ends of the pipeline by using the industrial robot platform, and manufacturing a pipeline object on the basis.
2. The digitalized assembling and manufacturing method for tailor welded pipes as recited in claim 1, wherein: step one establishing a basic coordinate system M0The XYZ method comprises the following steps: measuring at least 8 characteristic points on the circumference of the butt joint surface by taking the excircle of the end surface of the rear short shell of the box body as a reference to construct a plane P1; measuring a III quadrant hole point M1 on the end surface of the rear short shell; measuring all butt joint holes on the end face of the rear short shell, constructing a circle center M2, and taking the projection of a point M2 to a plane P1 as the circle center M0The normal of the plane P1 is the X-axis direction, and the direction pointing to the tail of the box body is positive; m1 projection on P1 plane and M0The connecting line of (1) is in the Y-axis direction, the pointing direction III quadrant is positive, the Z-axis is determined according to the right-hand rule, and the pointing direction II quadrant is positive.
3. The digitalized assembling and manufacturing method for tailor welded pipes as recited in claim 2, wherein: the method for describing the spatial position information of the box body side interface flange comprises the following steps: measuring at least 8 points on the circumference of the end face of the flange by taking the inner circle of the flange as a reference to construct a plane P20 and a central point M20, wherein the plane P20 is centered on M20, and the circle with the diameter being the actual size of the flange is a proxy model circle; at this point, the agent model of the box side pipeline interface flange is constructed, the circle center of the agent model represents the center position of the flange, and the normal direction of the plane where the agent model is located represents the direction of the flange.
4. The digitalized assembling and manufacturing method for tailor welded pipes as recited in claim 1, wherein: step two, establishing a basic coordinate system F1The XYZ method comprises the following steps: measuring the butt joint hole of the butt joint end face of the engine frame to construct a butt joint plane R1 and a circle center F1(ii) a Measuring a III quadrant hole point F2 on the end face of the engine frame; construction with F1As the center of circle, the normal of the plane R1 is the X-axis direction, and the direction pointing to the tail of the spacecraft is positive; projection of F2 on R1 plane and F1The connecting line of (1) is in the Y-axis direction, the pointing direction III quadrant is positive, the Z-axis is determined according to the right-hand rule, and the pointing direction II quadrant is positive.
5. The digitalized assembling and manufacturing method for tailor welded pipes as recited in claim 4, wherein: the method for describing the spatial position information of the engine side interface flange plate comprises the following steps: taking an inner circle of an interface flange of the engine as a reference, measuring at least 8 points on the circumference of the end surface of the engine to construct a plane FP21 and a center point F21, wherein the plane FP21 is centered on F21, a circle with the diameter being the actual size of the flange is a proxy model circle, the center of the circle represents the central position of the interface flange of the engine, and the normal direction of the plane where the circle is located represents the direction of the flange; and finishing the proxy model circle modeling of other interface flanges according to the same method.
6. The digitalized assembling and manufacturing method for tailor welded pipes as recited in claim 1, wherein: step three, the method for establishing the flange proxy model comprises the following steps:
(1) converting the measurement data of the laser tracker into modeling data: converting the direction description format provided by the laser tracker to a direction description format based on the "RPY angle" in CREO;
(2) in the CREO software, starting from a basic coordinate system, the origin of the coordinate system is biased according to the central coordinate in the measurement data record of the laser tracker, and the coordinate system X, Y and Z coordinate axes are sequentially rotated according to the RPY rotation angle of the proxy model circle, so that the origin of the new coordinate system is the position of the proxy model circle, and the X axis of the new coordinate system is the direction of the proxy model circle.
7. The digitalized assembling and manufacturing method for tailor welded pipes as recited in claim 1, wherein: step four, the method for virtually assembling the measurement object comprises the following steps: and aligning the end face of the rear short shell of the box body with the butt joint plane of the engine in the three-dimensional model CREO, and offsetting the unassembled part connected with the flange according to the drawing size to obtain the coordinate of the central position of the pipeline connection position.
8. The digitalized assembling and manufacturing method for tailor welded pipes as recited in claim 1, wherein: fifthly, the method for converting the coordinate system into the robot coordinate system in the three-dimensional model comprises the following steps:
(1) respectively offsetting unassembled parts connected with box body flanges according to thickness sizes based on measured coordinate data to obtain the central position of a pipeline connection part, and converting a coordinate system into a robot system coordinate system: x points to one flange plate, and Z points to the tail of the spacecraft;
(2) the engine flange is directly connected with the pipeline, and then the engine end flange coordinate system is transformed into a robot system coordinate system: x points to the central axis and Z points to the spacecraft head.
9. The digitalized assembling and manufacturing method for tailor welded pipes as recited in claim 1, wherein: eighthly, the method for reproducing the boundary condition of the pipeline by using the industrial robot comprises the following steps: one end of the pipeline is clamped on a workpiece coordinate chuck of the robot system, a flange plate at the other end of the pipeline is clamped by a three-jaw chuck of the robot, and the spatial relative position is reproduced according to data.
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| CN115111453A (en) * | 2022-06-22 | 2022-09-27 | 四川航天长征装备制造有限公司 | Five-way joint size prediction method based on digital manufacturing |
| CN115111453B (en) * | 2022-06-22 | 2023-06-30 | 四川航天长征装备制造有限公司 | Five-way joint size prediction method based on digital manufacturing |
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