CN114850691A - Customized guide pipe allowance automatic removing process method - Google Patents
Customized guide pipe allowance automatic removing process method Download PDFInfo
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- CN114850691A CN114850691A CN202210383479.6A CN202210383479A CN114850691A CN 114850691 A CN114850691 A CN 114850691A CN 202210383479 A CN202210383479 A CN 202210383479A CN 114850691 A CN114850691 A CN 114850691A
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- 238000000034 method Methods 0.000 title claims abstract description 52
- 230000008569 process Effects 0.000 title claims abstract description 28
- 238000003698 laser cutting Methods 0.000 claims abstract description 43
- 238000005520 cutting process Methods 0.000 claims abstract description 23
- 238000005259 measurement Methods 0.000 claims abstract description 17
- 238000005498 polishing Methods 0.000 claims abstract description 15
- 230000009471 action Effects 0.000 claims description 8
- 238000005452 bending Methods 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 abstract description 5
- 230000007306 turnover Effects 0.000 abstract description 3
- 238000003466 welding Methods 0.000 description 12
- 238000004519 manufacturing process Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 3
- 238000007664 blowing Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000003380 propellant Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
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- 230000006872 improvement Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/06—Tubes
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Abstract
The invention relates to a customized automatic removing process method for the allowance of a catheter, which adopts a three-dimensional laser measuring system to measure the space position coordinates of a connecting interface with the catheter, adopts a three-dimensional photographic measuring system to measure the tubular data, adopts a laser cutting system to perform 360-degree circular cutting on the allowance of the catheter, and adopts a high-precision robot to take charge of the turnover of the catheter among the systems. The automatic grabbing and posture adjusting functions of the engine conduit, 3D measurement of the conduit, calculation of cutting allowance, automatic laser cutting, automatic polishing of a port, automatic blanking and the like are achieved, the conduit with qualified size is provided for connection of the engine pipe orifice, and the situation that the traditional manual piping is low in efficiency and reliability is changed.
Description
Technical Field
The invention mainly relates to a customized automatic guide pipe allowance removing process method which is suitable for allowance removing work before welding of each end of an engine guide pipe.
Background
The pipeline assembly formed by the guide pipes has the functions of conveying the engine propellant, pneumatically controlling each system, blowing and the like. Any leakage or rupture of the lines can have a significant effect on the rocket motor and even result in failure of the rocket to launch. Therefore, in the assembly production of rocket engines, the welding and assembly of the guide pipe are very important. In the process of manufacturing, assembling and welding the guide pipe, the guide pipe allowance removing technology directly influences the assembling quality and the assembling efficiency of the engine.
In the existing guide pipe assembly production process, after the guide pipe is bent and formed, the guide pipe needs to be manually taken onto an engine to be repeatedly compared and tested to determine a cutting position, and then the work of saw cutting, file trimming, welding and the like is continuously completed. The mode of 'comparison of guide pipe sample pieces and visual measurement' causes the low efficiency of removing the guide pipe allowance, the precision and the consistency are difficult to be ensured, the assembly welding consistency and the vibration characteristic of the engine are unstable, and the quality of removing the guide pipe allowance directly influences the working characteristic of the engine and the success or failure of rocket launching.
Disclosure of Invention
The technical problem solved by the invention is as follows: the defects of the prior art are overcome, the process method for automatically removing the allowance of the customized guide pipe by using professional process equipment is provided, the situations of low efficiency and low reliability of the traditional manual piping are changed, and the digitalization and lean level of engine assembly is improved.
The technical solution adopted by the invention is as follows:
a customized guide pipe allowance automatic removing process method comprises the following steps:
measuring the spatial position of the conduit connection interface;
guiding in relevant data of the catheter according to the catheter figure number, and visually placing the semi-finished catheter according to the generated three-dimensional projection;
the robot grabs the catheter to the interior of the three-dimensional photogrammetry system according to a preset path;
the robot adjusts the pose of the catheter in the three-dimensional photographic measurement system according to a preset path;
measuring the tube type data of the catheter by a three-dimensional photographic measuring system;
the robot sends the catheter to a laser cutting system according to a preset path;
the robot automatically puts the pose of the catheter in the laser cutting system according to the position of the catheter connecting interface and the catheter tube type data, and automatically adjusts the angle of the laser cutting head according to the angle size of the port groove of the catheter;
according to the pipe type data of the catheter, carrying out laser cutting according to the specification of the catheter;
the robot sends the catheter to a port polishing system according to a preset path to ensure the fixed position of the port;
the port polishing system polishes, deburs and performs laser cutting splashing on the port of the catheter according to the specification of the catheter;
and the robot sends the guide pipe to a blanking tray according to a preset path to finish automatic allowance removal.
Further, the measuring of the spatial position of the conduit connection interface specifically includes: the spatial orientation information of the interface connected with the catheter is measured by using a three-dimensional laser scanning mode, and comprises the spatial coordinates of the center of a circle of the interface and the vector coordinates of a normal vector.
Furthermore, after the relevant data of the catheter are led in according to the catheter drawing number, the three-dimensional projection of the catheter is displayed by using a three-dimensional projection technology and is used for placing the feeding posture of the catheter, the visual projection is overlapped with the real object of the catheter, and the robot is guaranteed to automatically and accurately clamp the catheter.
Furthermore, the robot grabs the catheter to the interior of the three-dimensional photogrammetry system according to a preset path, and the action precision of the robot is +/-0.06 mm.
Further, the robot adjusts the pose of the catheter in the three-dimensional photographic measuring system according to a preset path, tubular data, namely the coordinates of the center point of the circle of each port of the catheter and the normal vector coordinates of the end face are measured through the three-dimensional photographic measuring system, the process is that the three-dimensional model of the catheter real object is reconstructed according to the data of the connection interface of the catheter and the tubular data to assist, and the three-dimensional reconstruction of the catheter is completed through virtual simulation on the characteristic information of the straight line segment, the measuring center line and the bending radius.
Further, the robot automatically puts the position and posture of the catheter in the laser cutting system according to the position of the catheter connecting interface and the tubular data, and automatically adjusts the angle of the laser cutting head according to the angle size of the port groove of the catheter, and the robot comprises: and (4) enabling the port to be cut of the catheter to face downwards, and aligning the laser cutting line with the residual removing part of the catheter.
Further, laser cutting starts automatic cutting according to the specification of the catheter, and specifically comprises the following steps: the laser cutting is 360-degree circular cutting, and the rotary geometric precision of the cutting motion is +/-0.05 mm.
Further, the robot sends the catheter to a port polishing system according to a preset path, so that the position of the port is fixed, and the action precision of the robot is +/-0.06 mm.
Further, the robot sends the guide pipe to the blanking tray according to a preset path, the allowance is automatically removed, and the action precision of the robot is +/-0.06 mm.
Further, the allowance of each port of the catheter is removed by laser cutting, and the precision is 1 mm.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention adopts a three-dimensional laser measuring system to measure the space position coordinates of a connecting interface with a catheter, adopts a three-dimensional photographic measuring system to measure the tubular data, adopts a laser cutting system to perform 360-degree circular cutting on the allowance of the catheter, and adopts a high-precision robot to take charge of the turnover of the catheter among the systems. The specific process and flow are set, and various methods are combined and applied, so that the problem of automatically removing the allowance of the customized conduit is solved.
(2) The invention has high automation degree and can greatly save labor cost, and the prior art adopts the manual operation to repeatedly compare, scribe and saw the conduit and the connecting interface thereof until the requirements are met.
(3) The precision, the processing efficiency and the processing consistency of the invention are obviously improved, the efficiency of removing the surplus of the guide pipe is low through the mode of 'guide pipe sample piece comparison and visual measurement' in the prior art, and the precision and the consistency are difficult to be ensured. Through the improvement of the process method, the problems in the prior art are effectively solved, and the production precision and efficiency are greatly improved.
Drawings
FIG. 1 is a schematic view of an automatic customized catheter residue removal process according to the present invention;
FIG. 2 is a schematic view of the perpendicularity H of the end face of the conduit to the axis thereof after the allowance is removed;
FIG. 3 is a schematic view of a catheter according to an embodiment.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
The pipeline assembly formed by the guide pipes has the functions of conveying the engine propellant, pneumatically controlling each system, blowing and the like. Any leakage or rupture of the lines can have a significant effect on the rocket motor and even result in failure of the rocket to launch. Therefore, in the assembly production of rocket engines, the welding and assembly of the guide pipe are very important. In the process of manufacturing, assembling and welding the guide pipe, the guide pipe allowance removing technology directly influences the assembling quality and the assembling efficiency of the engine.
The invention provides a process method for automatically removing the allowance of a customized conduit by using professional process equipment. The method adopts a three-dimensional laser measuring system to measure the space position coordinates of a connecting interface with the catheter, adopts a three-dimensional photographic measuring system to measure the tubular data, adopts a laser cutting system to perform 360-degree circular cutting on the allowance of the catheter, and adopts a high-precision robot to take charge of the turnover of the catheter among the systems. The automatic grabbing and posture adjusting functions of the engine pipe, 3D measurement of the pipe, calculation of cutting allowance, automatic laser cutting, beveling, descaling, deburring, splashing and the like are achieved, the pipe with the qualified size is provided for connection of the pipe opening of the engine, the situation that the traditional manual pipe arrangement is low in efficiency and reliability is changed, and the digitization and lean level of engine assembly are improved.
Specifically, as shown in fig. 1, the method for automatically removing the allowance of the customized conduit provided by the present invention includes the following steps:
step 1, measuring the spatial position of a conduit connection interface;
in the embodiment, the spatial orientation information of the interface connected with the catheter is measured by using a three-dimensional laser scanning mode, the spatial orientation information comprises the spatial coordinates of the center of a circle of the interface and the vector coordinates of a normal vector, and the precision can reach 0.03mm, namely a point cloud measuring method.
Step 2, inputting a formed catheter drawing number, automatically bringing related data of the catheter into the catheter, and visually placing a semi-finished catheter according to three-dimensional projection; a material loading gesture is put for the pipe, and the projection of visualing coincides with the pipe material object, guarantees that the automation of robot is accurate to be got and is got.
The invention realizes the removal of the residual amount of the guide pipe based on the system for removing the residual amount of the guide pipe. The allowance removal process system comprises: the system comprises a control console, a three-dimensional projection device, a three-dimensional photographic measuring system, a robot, a laser cutting system and a port polishing system.
A console: the console is provided with platform software which comprises a system calibration module, a catheter measurement module, a virtual assembly and allowance calculation module, a robot path planning module, a laser processing and deburring process planning module and the like. The functions of each part of the platform software are as follows:
(1) a system calibration module: the basic setting functions of the platform software system are realized, and the basic setting functions comprise calibration of camera internal parameters, system global multi-camera coordinate system calibration and the like.
(2) A catheter measurement module: the measurement of the shape and the posture of the catheter is realized, and data support is provided for robot grabbing, path planning, virtual assembly and margin calculation.
(3) The robot path planning module: and planning the motion path of the robot according to the constraint relation between the robot and the environment and the task description.
(4) The laser processing and deburring process gauge module comprises the following steps: the method is used for optimizing the technological parameters of laser cutting and beveling and optimizing the path parameters of deburring.
(5) The virtual assembly and allowance calculation module comprises: for calculating the margin to be removed.
Three-dimensional projection device: and (4) removing the three-dimensional projection of the system processing guide pipe according to the required allowance to guide the placement of the space pose of the guide pipe.
Three-dimensional photogrammetry system: by adopting a three-dimensional optical measurement system based on multi-camera fusion, adopting a non-contact three-dimensional optical measurement technology and a plurality of industrial cameras with high frame frequency and high resolution, the accurate three-dimensional data of the complex pipe fitting can be captured, and a three-dimensional model can be quickly reconstructed, so that the measurement precision is high and the speed is high. The on-site rapid precision measurement of the complex pipe fitting can be met.
The robot comprises: the 6-degree-of-freedom robot clamps the guide pipe from the feeding placement platform, performs three-dimensional measurement, laser cutting and pipe end polishing, automatically finishes all operations, and finally conveys the machined guide pipe to the discharging conveying system.
Laser cutting system: the laser cutting system controls the posture of the catheter to be cut through the automatic posture adjusting robot, and laser automatic cutting of reserved welding allowance at one end or two ends of the catheter is achieved.
Port polishing system: after the laser cutting of the catheter is completed, burrs and scale are generated near the cut, and spatters are left to affect the subsequent welding. In order to eliminate the problems, a port polishing system is designed and matched with an automatic posture adjusting system to remove a plurality of residual foreign matters after the catheter is cut.
Step 3, the robot grabs the catheter to the interior of the three-dimensional photogrammetry system according to a preset path;
the robot grabs the catheter to the inside of the three-dimensional photogrammetry system through the robot head clamping jaw according to a preset path, the robot action precision is +/-0.06 mm, and the distance between the clamping jaw and the bending starting points on the two sides is more than or equal to 15 mm.
Step 4, automatically placing the pose of the guide pipe in the three-dimensional photographic measurement system by the robot according to a preset path;
the robot places the guide pipe in the three-dimensional photographic measurement system through the clamping jaw, and puts the position appearance of the guide pipe according to the preset path automatically, and the principle of putting is to ensure that 18 cameras above can shoot the outline of the guide pipe and the outline of the end face of the guide pipe, and the shielding is not allowed, so that the bending point, the center point of the end face and the normal line of the end face are convenient to extract.
Step 5, measuring tubular data (namely coordinates of central points of all ports of the catheter and normal vector coordinates of end faces) by a three-dimensional photographic measuring system;
the three-dimensional photographic measuring system carries out tubular reconstruction through the extracted contour, automatically extracts a bending point and an end face central point, forms a real-time three-dimensional model of the catheter according to the preset diameter of the catheter, gives a coordinate value of the end face central point of the catheter and an end face normal vector, and unifies the coordinate with the robot through coordinate conversion.
Step 6, the robot sends the catheter to a laser cutting system according to a preset path;
step 7, the controller software automatically puts the pose of the catheter in the laser cutting system according to the position of the catheter connecting interface and the tube type data;
the angle of the laser cutting head is automatically adjusted according to the angle size of the port groove of the catheter, the port to be cut of the catheter is directed downwards, the laser cutting line is aligned with the cutting part of the port of the catheter, and the port groove is automatically machined.
Step 8, starting laser automatic cutting according to the specification of the catheter; the laser cutting is 360-degree circular cutting, and the rotary geometric precision of the cutting motion is +/-0.05 mm.
Step 9, the robot sends the catheter to a port polishing system according to a preset path to ensure the fixed position of the port;
step 10, a port polishing system polishes, deburs and performs laser cutting splashing on a catheter port;
and 11, repeating the steps 6 to 10 to remove the allowance of other ports.
Step 12, the robot sends the guide pipe to a blanking tray according to a preset path, and the allowance is automatically removed; the action precision of the robot is +/-0.06 mm.
The following requirements are required after the catheter allowance is removed:
(1) after the welding allowance of the guide pipe is removed, the verticality requirement of the welding end face is as follows:
the perpendicularity H of the end face of the conduit to its axis is shown in fig. 2.
The perpendicularity of the welded end faces of the guide pipes of all specifications is generally required as shown in the table, and special requirements are required for some guide pipes.
TABLE 1 verticality H (mm) of the end surface of the conduit to its axis
(2) The straight line segment of the welding end of the guide pipe is required to be more than or equal to 15mm after the allowance is removed.
Example (b):
the catheter features shown in figure 3 include a gauge of Φ 25 × 1.5, 1Cr18Ni9Ti material, 2300mm in length, 5 bends and 2 end faces.
1. Starting a catheter allowance removal system after interface data at two ends of the catheter are transmitted into a server;
2. placing the guide pipe on the feeding platform according to a three-dimensional projection device, and placing the reference shaft and the port C as supporting points; axes shown in phantom in the reference axis view.
3. The robot clamps the conduit to the inside of the three-dimensional photogrammetry system through the clamping jaw, and the clamping part is the middle position of the reference shaft;
4. the robot adjusts the pose of the guide pipe in the three-dimensional photographic measurement system through the clamping jaw, so that the normal lines of the port A and the port C are ensured to have inclined angles, and the normal lines are strictly prohibited to be horizontal or vertical;
5. extracting the outer contour of the catheter by a three-dimensional photographic measuring system, performing model reconstruction, and extracting each bending point, an end face central point and an end face normal vector;
6. the robot sends the guide pipe to the laser cutting system through the clamping jaw, and the end face of the port A faces downwards;
7. the control system enables a cutting end face formed by the central coordinate of the interface data and the normal vector to be virtually cut on the pipe shape of the guide pipe, the requirement of perpendicularity H is met through the cutting end face, the included angle between the normal vector and the normal vector of the interface data is minimum, the requirement of the length size of a straight line section is met to be an optimal solution, and cutting data and the coordinates of the robot are unified.
8. The laser cutting equipment performs 360-degree circular cutting on the A port.
9. The robot sends the pipe to port equipment of polishing through the clamping jaw, guarantees that port exposure length is fixed.
10. The port polishing equipment removes flash, burr, laser cutting splash and port laser cutting remelted layer of the port.
And repeating the step 6-10, and removing the allowance of the port B of the conduit.
11. The robot sends the guide pipe to a blanking system through the clamping jaw, and the blanking system finishes blanking
The invention removes the allowance of each port of the conduit by laser cutting according to the spatial position coordinate of the interface connected with the conduit and the tubular data, and the precision can reach 0.1 mm.
The invention is not described in detail and is within the knowledge of a person skilled in the art.
Claims (10)
1. A customized conduit allowance automatic removing process method is characterized by comprising the following steps:
measuring the spatial position of the conduit connection interface;
guiding in relevant data of the catheter according to the catheter figure number, and visually placing the semi-finished catheter according to the generated three-dimensional projection;
the robot grabs the catheter to the interior of the three-dimensional photogrammetry system according to a preset path;
the robot adjusts the pose of the catheter in the three-dimensional photographic measurement system according to a preset path;
measuring the tube type data of the catheter by a three-dimensional photographic measuring system;
the robot sends the catheter to a laser cutting system according to a preset path;
the robot automatically puts the pose of the catheter in the laser cutting system according to the position of the catheter connecting interface and the catheter tube type data, and automatically adjusts the angle of the laser cutting head according to the angle size of the port groove of the catheter;
according to the pipe type data of the catheter, carrying out laser cutting according to the specification of the catheter;
the robot sends the catheter to a port polishing system according to a preset path, and a port fixing position is guaranteed;
the port polishing system polishes, deburs and performs laser cutting splashing on the port of the catheter according to the specification of the catheter;
and the robot sends the guide pipe to a blanking tray according to a preset path to finish automatic allowance removal.
2. The method of claim 1, wherein the customized automatic catheter margin removal process comprises: the method for measuring the spatial position of the conduit connection interface specifically comprises the following steps: the spatial orientation information of the interface connected with the catheter is measured by using a three-dimensional laser scanning mode, and comprises the spatial coordinates of the center of a circle of the interface and the vector coordinates of a normal vector.
3. The method of claim 1, wherein the customized automatic catheter margin removal process comprises: after the relevant data of the catheter is led in according to the catheter drawing number, the three-dimensional projection of the catheter is displayed by using a three-dimensional projection technology and used for placing the feeding posture of the catheter, the visual projection is overlapped with the real object of the catheter, and the robot is guaranteed to automatically and accurately clamp the catheter.
4. The method according to claim 3, wherein the customized guide pipe allowance automatic removal process comprises the following steps: the robot grabs the catheter to the interior of the three-dimensional photogrammetry system according to a preset path, and the action precision of the robot is +/-0.06 mm.
5. The method of claim 4, wherein the customized automatic catheter residue removal process comprises: the robot adjusts the pose of the catheter in the three-dimensional photographic measuring system according to a preset path, tubular data, namely the coordinates of the center point of the port of the catheter and the end face normal vector coordinates, are measured through the three-dimensional photographic measuring system, the process is that the three-dimensional model of the catheter real object is reconstructed and assisted according to the data of the connection interface of the catheter and the tubular data, and the three-dimensional reconstruction of the catheter is completed through virtual simulation on the characteristic information of a straight line segment, a measuring center line and a bending radius.
6. The method of claim 5, wherein the customized automatic catheter residue removal process comprises: the robot automatically puts the position and posture of the catheter in the laser cutting system according to the position of the catheter connecting interface and the tubular data, and automatically adjusts the angle of the laser cutting head according to the angle size of the port groove of the catheter, and the robot comprises: and (4) enabling the port to be cut of the catheter to face downwards, and aligning the laser cutting line with the residual removing part of the catheter.
7. The method of claim 1, wherein the customized automatic catheter margin removal process comprises: the laser cutting starts automatic cutting according to the specification of the catheter, and specifically comprises the following steps: the laser cutting is 360-degree circular cutting, and the rotary geometric precision of the cutting motion is +/-0.05 mm.
8. The customized pipe margin automatic removal process according to claim 1, wherein: the robot sends the catheter to a port polishing system according to a preset path, the position of the port is guaranteed to be fixed, and the action precision of the robot is +/-0.06 mm.
9. The method of claim 1, wherein the customized automatic catheter margin removal process comprises: the robot sends the pipe to the unloading tray according to predetermineeing the route in, and the surplus is got rid of automatically and is accomplished, and the robot action precision is 0.06 mm.
10. The method according to any one of claims 1 to 9, wherein the method comprises: and (4) cutting and removing the allowance of each port of the catheter by laser, wherein the precision is 1 mm.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115555805A (en) * | 2022-09-30 | 2023-01-03 | 陕西飞机工业有限责任公司 | Large-diameter airplane guide pipe digital manufacturing method |
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