CN115302137B - System and method for assembling straight pipe and flange - Google Patents

System and method for assembling straight pipe and flange Download PDF

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Publication number
CN115302137B
CN115302137B CN202210943939.6A CN202210943939A CN115302137B CN 115302137 B CN115302137 B CN 115302137B CN 202210943939 A CN202210943939 A CN 202210943939A CN 115302137 B CN115302137 B CN 115302137B
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Prior art keywords
flange
straight pipe
assembling
circle center
grabbing
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CN115302137A (en
Inventor
王宗义
郭卫东
刘彦斌
纪宇
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Hefei Xingjian Intelligent Robot Co ltd
Wuhu Xirobot Technology Co ltd
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Hefei Xingjian Intelligent Robot Co ltd
Wuhu Xirobot Technology Co ltd
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Priority to CN202210943939.6A priority Critical patent/CN115302137B/en
Publication of CN115302137A publication Critical patent/CN115302137A/en
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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
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • 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
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/0426—Fixtures for other work
    • B23K37/0435—Clamps
    • B23K37/0443—Jigs
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Abstract

The invention discloses a system and a method for assembling a straight pipe and a flange. The system for assembling the straight pipe and the flange comprises a welding tool, a welding tool and a welding tool, wherein the welding tool is used for mechanically limiting and fixing any type of flange and the straight pipe matched with the flange; the 3D panoramic camera is used for identifying the type of the flange and the initial position of the circle center space of the flange or identifying the type of the straight pipe and the initial position of the circle center space of the straight pipe; the grabbing positioning sensor is used for acquiring the circle center position of the flange or acquiring the circle center position of the upper end part of the straight pipe; the assembly robot is used for grabbing the upper end face of the flange and carrying the flange to the assembly welding tool, or grabbing the upper end face of the straight pipe and carrying the straight pipe to the vision positioning sensor for measurement and positioning, or assembling the straight pipe and the flange; the alignment positioning sensor is used for acquiring the circle center position of the lower end part of the straight pipe; the intelligent control system is used for controlling and connecting the 3D panoramic camera, the grabbing positioning sensor, the assembling robot and the pairing positioning sensor.

Description

System and method for assembling straight pipe and flange
Technical Field
The invention relates to the technical field of intelligent machinery, in particular to a system and a method for assembling a straight pipe and a flange.
Background
In the manufacturing industry, the pre-welding assembly precision requirement for the straight pipe and the flange in the pipeline system is high. If the problems that the center line of the pipe is not concentric with the center hole of the flange or the center line of the pipe is not perpendicular to the end face of the flange occur, the strength and the tightness of the joint of the pipe are affected, the inclination of the whole pipeline is affected, and even the product is scrapped when serious. In the prior art, the right angle ruler and the level bar are manually used for measuring and positioning during assembly, so that the time is wasted, and the error is larger.
Many assembly devices are also currently available, such as: chinese patent CN201693350U discloses an automatic straight pipe flange assembling machine, chinese patent CN210121731U discloses a flange support headstock and a flange and straight pipe assembling equipment with the headstock, chinese patent CN205764664U discloses a pipe flange assembling and spot welding structure, chinese patent CN203380535U discloses a pipe tower flange assembling tool. However, the technical proposal adopted by the patent adopts a vertical positioner mode, and the intelligent assembly of the straight pipe and the flange is not realized by means of manual or purely mechanical assembly and positioning.
In the intelligent assembly process, because the pipe fitting has the characteristics of various specifications such as wall thickness, diameter, length and the like, poor roundness consistency of the steel pipe, and the like, how to accurately position the workpieces in the assembly process to ensure ideal assembly precision and how to realize flexible assembly for covering workpieces with various specifications are the problems to be solved in the prior art.
Disclosure of Invention
Aiming at the defects of the prior art, the invention discloses a system and a method for assembling a straight pipe and a flange, which can solve the problems of how to accurately position a workpiece and how to realize flexible assembly for covering workpieces with various specifications.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
a system for assembling a straight pipe and a flange, comprising:
the assembly welding tool is used for mechanically limiting and fixing any type of flange and straight pipes matched with the flange;
the 3D panoramic camera is used for identifying the type of the flange and the initial position of the circle center space of the flange or identifying the type of the straight pipe and the initial position of the circle center space of the straight pipe;
the grabbing positioning sensor is used for acquiring the circle center position of the flange or acquiring the circle center position of the upper end part of the straight pipe;
the assembly robot is used for grabbing the upper end face of the flange and carrying the flange to the assembly welding tool, or grabbing the upper end face of the straight pipe and carrying the straight pipe to the vision positioning sensor for measurement and positioning, or assembling the straight pipe and the flange;
the alignment positioning sensor is used for acquiring the circle center position of the lower end part of the straight pipe;
the intelligent control system is used for controlling and connecting the 3D panoramic camera, the grabbing and positioning sensor, the assembly robot and the vision group sensor.
The assembly welding tool comprises a chuck type tool and a plurality of annular cushion blocks, wherein the chuck type tool is used for mechanically limiting and fixing any type of flange, and the annular cushion blocks are used for mechanically limiting and fixing straight pipes matched with the flanges from the bottom surface. It is easy to understand that by means of the matching action of the chuck type tool and the annular cushion blocks, the problem of how to fix flanges of different types, different specifications and different sizes can be solved, and the function of covering workpieces of various specifications can be realized.
According to the further preferred technical scheme, a plurality of standard step surfaces are formed on the chuck type tool, the plurality of standard step surfaces are used for positioning flanges of any one standard or annular cushion blocks of any one standard, and the annular cushion blocks and the flanges are arranged on the step surfaces of different heights. It is easy to understand that by means of the step surfaces with multiple specifications, the problem of how to fix flanges with different types, different specifications and different sizes can be further solved, and the function of covering workpieces with multiple specifications can be further realized.
Still further preferred technical scheme, assembly robot includes the end effector, and the end effector includes flexible electromagnet, is provided with the magnetic pole at flexible electromagnet, and a plurality of magnetic poles are radial setting at flexible electromagnet's lower surface, are formed with profile modeling design structure at electromagnet's lower surface.
The preferable technical scheme is that the grabbing positioning sensor comprises a first industrial camera and two first line lasers, wherein the first line lasers are used for emitting laser lines to the straight pipe or the flange, and the first industrial camera is used for collecting position information of the straight pipe or the flange. It is easy to understand that by means of the cooperation of the first industrial camera and the two first line lasers, the problem of how to fit and calculate the circle center position of the straight pipe or the flange by matching with the intelligent control system can be solved, and the straight pipe or the flange can be improved to obtain positioning accuracy.
Further preferable technical scheme, two first line lasers are located the both sides setting of industry camera respectively, and first line lasers are used for to the up end and the inner wall transmission laser of straight tube or flange, and the collection direction of first industry camera just sets up to the up end of straight tube or flange, and first industry camera is used for gathering the up end of straight tube or flange and the position of a plurality of profile feature points on the inner wall and uploads, and the transmission direction slope setting of first line lasers is relative to the collection direction of first industry camera. It is easy to understand that by means of the adjustment of the angle of the first line laser, the problem of how to collect the position information of the straight pipe or the flange more comprehensively can be solved, and the positioning accuracy of the straight pipe or the flange can be further improved.
The preferable technical scheme is that the pairing positioning sensor comprises a plurality of structural light sensors, and the structural light sensors are installed on the workbench at annular intervals around the chuck type tool. It is easy to understand that by means of the effect of the structural light sensor, the problem of how to measure the multipoint position information of the outer wall of the straight pipe can be solved, and the ideal assembly accuracy of the straight pipe and the flange can be improved.
The preferable technical scheme is that the pairing positioning sensor comprises a second industrial camera and two second line lasers, wherein the second line lasers are used for emitting laser lines to the straight pipe or the flange, and the second industrial camera is used for collecting position information of the straight pipe or the flange. It is easy to understand that by means of the cooperation of the second industrial camera and the two second line lasers, the problem of how to fit and calculate the circle center position of the straight pipe by matching with the intelligent control system can be solved, and the straight pipe or the flange can be improved to obtain positioning accuracy.
Further preferable technical scheme, two second line lasers are located the both sides setting of industry camera respectively, and the second line lasers is used for to the lower terminal surface and the inner wall transmission laser of straight tube or flange, and the collection direction of second industry camera just sets up to the lower terminal surface of straight tube or flange, and the second industry camera is used for gathering the position of a plurality of profile feature points on the lower terminal surface of straight tube or flange and the inner wall and uploads, and the transmission direction slope setting of line second lasers is relative to the collection direction of second industry camera. It is easy to understand that by means of the adjustment of the angle of the second line laser, the problem of how to collect the position information of the straight pipe more comprehensively can be solved, and the positioning accuracy of the straight pipe can be further improved.
In addition, the invention also discloses a method for assembling the straight pipe and the flange, which comprises the following steps:
step 1:3D panoramic camera shooting the flange to acquire 3D point cloud to obtain the placement pose and edge information of the flange, and then carrying out matching check with a pre-stored placement rule to identify the type of the flange and the initial position of the circle center space of the flange;
step 2: the grabbing positioning sensor is used for measuring and positioning the upper end part of the flange, acquiring the circle center position of the flange and generating the grabbing position and the carrying path of the flange;
step 3: the assembly robot grabs the upper end face of the flange and carries the flange to an assembly welding tool for mechanical limiting and fixing;
step 4: the 3D panoramic camera shoots the straight pipe, acquires 3D point cloud to obtain the placement pose and edge information of the straight pipe, and then identifies the type of the straight pipe and the initial position of the circle center space of the straight pipe after matching and checking with a pre-stored placement rule;
step 5: finding out a straight pipe matched with the flange according to the obtained flange type, position information and a preset placement rule;
step 6: the cross laser sensor is used for measuring and positioning the upper end part of the straight pipe, acquiring the circle center position of the upper end part of the straight pipe, and regenerating the grabbing position and the carrying path of the straight pipe;
step 7: the assembling robot grabs the upper end face of the straight pipe, carries the straight pipe to the assembling positioning sensor for measurement and positioning, and obtains the circle center position of the lower end part of the straight pipe;
step 8: and controlling the assembly robot to carry the straight pipe to the assembly welding tool for assembly with the flange according to the obtained circle center position of the flange and the circle center position of the lower end part of the straight pipe.
The invention discloses a system and a method for assembling a straight pipe and a flange, which have the following advantages:
(1) The machine vision technology is integrated in the process of assembling the straight pipe and the flange, the 3D panoramic camera, the cross laser sensor and the structural light sensor are adopted for vision combination, multi-angle and all-directional measurement is carried out on workpieces to be assembled, the circle center positions of the straight pipe and the flange are accurately positioned, and the high-precision assembling tool is combined, so that the position deviation of workpiece assembling is effectively corrected, intelligent assembly of the straight pipe and the flange is realized, and the ideal assembly precision requirement is met.
(2) The magnetic poles of the end pick-up device are radially arranged and the multi-step positioning design of the pairing tool is adopted, so that the system can be simultaneously suitable for assembling of straight pipes and flanges of various types and specifications, and particularly, groove profiling design is carried out on the end pick-up device, the problem that a workpiece with a groove at the pipe end is difficult to grasp is solved, and flexible assembling of the straight pipes and the flanges is truly achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is an axial view of the overall structure of the intelligent assembly system for straight pipe flanges based on machine vision of the present invention;
FIG. 2 is an overall layout of the intelligent straight pipe flange assembly system based on machine vision of the invention;
FIG. 3 is a schematic structural view of the assembly welding tool of the present invention;
FIG. 4 is a schematic diagram of the assembly welding tool of the present invention;
FIG. 5 is a schematic view of the structure of the cross laser sensor of the present invention;
FIG. 6 is a schematic diagram of the operation of the cross laser sensor of the present invention;
FIG. 7 is a schematic diagram of the structure and operation of a visual positioning sensor according to a first embodiment of the present invention;
FIG. 8 is a schematic view of an end effector employing an electromagnetic chuck in accordance with the present invention;
FIG. 9 is a schematic view of the structure of an end effector of the present invention employing an electric or pneumatic gripper;
FIG. 10 is a schematic diagram of the structure and operation of a visual positioning sensor according to a second embodiment of the present invention;
FIG. 11 is a flow diagram of the intelligent straight pipe flange assembling method based on machine vision;
FIG. 12 is a control schematic diagram of the intelligent straight pipe flange assembly system based on machine vision.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments.
All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1 and 2, the system for assembling a straight pipe and a flange according to the embodiment of the invention comprises an intelligent control system 1, an assembling robot 2 connected with the intelligent control system 1, a welding fixture 3 arranged at one side of the assembling robot 2 and an assembling positioning sensor 4. The assembly robot 2 is used for grabbing the straight pipe 1000 and the flange 2000 in the tray 5 and placing the straight pipe and the flange on the assembly welding tool 3 for assembly. The assembly welding tool 3 can adapt to the assembly of workpieces (straight pipe 1000 and flange 2000) with various specifications.
The 3D vision technology and the laser vision technology are fused in the robot technology, the target part is accurately identified, positioned and rectified, and the intelligent and flexible assembly of the straight pipe 1000 and the flange 2000 is realized by matching with the flexible assembly tool, so that the ideal assembly precision is ensured, and a good foundation is laid for subsequent welding and further assembly of the pipeline.
The assembly robot 2 comprises an articulated arm robot body 201, and a 3D panoramic camera 202, a cross laser sensor 203, an end effector 204, a welding gun 205 and a laser vision measurement sensor 206 which are connected with the tail end of the articulated arm robot body 201 and are arranged at an angle. The movable sliding table 6 is arranged below the assembly robot and used for enlarging the moving range so as to adapt to grabbing of workpieces in the long-distance tray.
The 3D panoramic camera 202 is used for identifying the type of the flange 2000 or the straight tube 1000 and the center space initial position thereof.
The grabbing positioning sensor 203 is used for accurately measuring the upper end of the flange 2000 or the straight pipe 1000, and determining the accurate position of the center of the circle.
The intelligent control system 1 controls the assembly robot 2 to sequentially grasp the upper end surfaces of the flange 2000 and the straight pipe 1000 through the end effector 204 to be placed on the assembly welding tool 3 for assembly and spot welding according to workpiece information obtained by the 3D panoramic camera 202 and the grasping and positioning sensor 203, and a laser vision measuring sensor 206 is adopted to accurately measure the spot welding position before spot welding.
In order to further improve the assembly accuracy, before the straight pipe 1000 is assembled with the corresponding flange 2000 on the assembly welding tool, the straight pipe is moved to the position of the assembly positioning sensor 4 to accurately measure and position the lower end of the straight pipe, and the accurate position of the center of the circle is further determined.
As shown in fig. 3 and 4, the assembly welding tool 3 includes an assembly workbench 301, a chuck-type tool 302 and an annular cushion block 303. The chuck type tooling 302 is fixedly connected to the pairing workbench 301, and the chuck type tooling 302 is connected with the pairing workbench 301 by adopting a ball lock pin 304, so that the rapid assembly, disassembly and replacement of the chuck type tooling are facilitated. Three groups of stepped clamping claws 3021 are fixedly arranged on the clamping claw.
The step surface includes a step vertical surface (kick surface) and a horizontal surface (tread surface). The vertical step surface (kick surface) on the three-assembly clamping claw 3021 forms an annular shape with different specifications (diameters) and is used for radial positioning (small clearance fit, 0.5 mm) of the flange 2000 or the annular cushion block with different specifications, and the horizontal plane (tread surface) is used for axial positioning of the flange 2000 or the annular cushion block with different specifications (diameters).
When the straight pipe 1000 is assembled with the flange 2000, the straight pipe 1000 falls on the annular cushion block 303, and the annular cushion block 303 forms a certain height difference with the level of the step for placing the flange 2000, so as to ensure the assembly distance between the pipe orifice and the sealing surface of the flange 2000. The replacement of the ring-shaped pad 303 can be performed manually or by an assembly robot.
As shown in fig. 5 and 6, the grasping and positioning sensor 203 includes 1 first industrial camera 2031 and 2 first line lasers 2032 disposed around it in a cross shape and inclined at an angle. When in operation, the first industrial camera 2031 is coaxial with the workpiece, the working surface faces the upper end surface of the workpiece, the laser line emitted by the first line laser 2032 is obliquely projected on the upper end surface and the inner wall of the workpiece, and the first industrial camera 2031 can collect the position information of a plurality of contour feature points on the upper end surface and the inner wall of the workpiece at the same time and upload the position information to the intelligent control system 1 to calculate the center position of the workpiece.
As shown in fig. 7, the paired positioning sensors 4 are at least provided with 2 (optimally 3) structured light sensors 401 annularly arranged around the chuck-type tooling 302, and in operation, can simultaneously measure the multi-point position information of the outer wall of the straight tube 1000, and upload the multi-point position information to the intelligent control system 1 to calculate the circle center position of the straight tube 1000 in a fitting manner.
The grabbing positioning sensor 203 is matched with the structural light sensor 401 together, so that the profile information of the straight pipe 1000 is obtained omnidirectionally from the inner wall to the outer wall to the end face, the circle center position coordinates of the workpiece are more accurately fitted, and the ideal pairing precision of the straight pipe 1000 and the flange 2000 is effectively ensured.
The end effector 204 is capable of accommodating gripping of workpieces of various specifications. As shown in fig. 8, the end effector 204 employs a flexible electromagnetic chuck. The magnetic poles of the electromagnetic chuck are arranged radially so as to adapt to grabbing of workpieces with various specifications. As shown in fig. 9, the electromagnetic chuck is configured to increase the adsorption contact surface by performing a profiling design structure 2040 (i.e. a notch) according to the shape of the pipe end groove, so as to solve the problems that the workpiece cannot be adsorbed or is not firmly adsorbed due to small adsorption contact surface when the workpiece with the groove at the pipe end is grabbed. The end effector 204 may be configured as a pneumatic or electric gripper.
Example 2
As shown in fig. 10, this embodiment is different from embodiment 1 in that:
the alignment sensor 4 of the present embodiment is provided at the side of the alignment table 301, and includes 1 second industrial camera 4031 with its working surface installed upward and 2 second line lasers 4032 arranged in a cross shape and inclined at an angle around it.
When the intelligent control system 1 works, the second industrial camera 4031 is coaxial with the straight pipe 1000, the working surface faces the lower end face of the workpiece, the laser line emitted by the second line laser 4032 is obliquely beaten on the lower end face and the inner wall of the workpiece, and the second industrial camera 4031 can collect the position information of a plurality of contour feature points on the lower end face and the inner wall of the workpiece at the same time and upload the position information to the intelligent control system 1 to calculate the center position of the workpiece in an fitting way.
The grabbing positioning sensor 203 is matched with the structural light sensor 4032, so that the profile information of the straight pipe 1000 is obtained from the upper end of the pipe to the lower end of the pipe in an omnibearing manner, the circle center position coordinate of the straight pipe 1000 is more accurately fitted, and the ideal assembly precision of the straight pipe 1000 and the flange 2000 is effectively ensured.
Other undescribed structures refer to embodiment 1.
Example 3
As shown in fig. 11 and 12, in the method for assembling a straight pipe and a flange according to the embodiment of the present invention, the straight pipe 1000 and the flange 2000 to be assembled are orderly placed in a material tray according to a preset placement rule. The manual or controlled assembly robot 2 places the (sized) corresponding ring-shaped spacer 303 on the chuck-type tooling 302. The method also comprises the following steps:
step 1: the intelligent control system 1 controls the 3D panoramic camera 202 to integrally photograph the material tray to acquire 3D point cloud, and the placing pose and the edge information of each flange 2000 in the tray are obtained. The type of each flange 2000 in the tray and the initial position of the circle center space are identified after matching and checking with the pre-stored placement rules.
Step 2: the intelligent control system 1 controls the grabbing positioning sensor 203 to accurately position the upper end of the flange 2000 in the tray, and obtains the circle center position information of the flange 2000. The intelligent control system 1 automatically generates the grabbing position and the carrying path of the flange 2000 and autonomously generates grabbing and carrying procedures.
Step 3: the intelligent control system 1 controls the assembly robot 2 to drive the end effector 204 to grasp the upper end face of the flange 2000, and carries the flange 2000 to the chuck type tool 302 for mechanical limiting and fixing.
Step 4: the intelligent control system 1 controls the 3D panoramic camera 202 to integrally photograph the material tray to perform 3D point cloud acquisition, and the placing pose and edge information of each straight pipe 1000 in the tray are obtained. The type of the straight pipe 1000 in the tray and the initial position of the circle center space are identified after matching and checking with the pre-stored placement rules.
Step 5: the intelligent control system 1 automatically finds out the straight pipe 1000 matched with the flange 2000 according to the type and the position information of the flange 2000 to be assembled and preset placement rules.
Step 6: the intelligent control system 1 controls the grabbing positioning sensor 203 to accurately measure and position the upper end part of the straight pipe 1000 to be assembled in the tray, and obtains the circle center position information of the straight pipe 1000. The intelligent control system 1 automatically generates a gripping position and a conveying path of the straight pipe 1000, and autonomously generates a gripping and conveying program.
Step 7: the intelligent control system 1 controls the assembly robot 2 to drive the end pick-up 204 to grab the upper end face of the straight pipe 1000, and conveys the straight pipe to the position of the pairing positioning sensor 4 for accurate measurement and positioning, so as to obtain the center position coordinate of the lower end part of the straight pipe 1000.
Step 8: the intelligent control system 1 controls the assembly robot to assemble the straight pipe 1000 with the flange 2000 on the chuck type tool 302 according to the center position information of the flange 2000 and the straight pipe 1000 obtained in the steps.
After the assembly is completed, the intelligent control system 1 controls the laser vision measuring sensor 206 to accurately measure the spot welding position, and then starts the welding power supply to control the welding gun 205 to start spot welding. After the completion, the assembly robot 2 grabs the finished workpiece to carry out blanking.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
It will be apparent to those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, or they may alternatively be implemented in program code executable by computing devices, such that they may be stored in a memory device for execution by the computing devices, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps within them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A system for assembling a straight pipe and a flange, characterized in that: comprising
The assembly welding tool is used for mechanically limiting and fixing any type of flange and straight pipes matched with the flange;
the 3D panoramic camera is used for identifying the type of the flange and the initial position of the circle center space of the flange or identifying the type of the straight pipe and the initial position of the circle center space of the straight pipe;
the grabbing positioning sensor is used for acquiring the circle center position of the flange or acquiring the circle center position of the upper end part of the straight pipe;
the assembly robot is used for grabbing the upper end face of the flange and carrying the flange to the assembly welding tool, or grabbing the upper end face of the straight pipe and carrying the straight pipe to the assembly positioning sensor for measurement and positioning, or assembling the straight pipe and the flange;
the alignment positioning sensor is used for acquiring the circle center position of the lower end part of the straight pipe;
and the intelligent control system is used for controlling and connecting the 3D panoramic camera, the grabbing positioning sensor, the assembling robot and the pairing positioning sensor.
2. A system for assembling a straight pipe and flange according to claim 1, wherein: the assembly welding tool comprises a chuck type tool and a plurality of annular cushion blocks; the chuck type tool is used for mechanically limiting and fixing any type of flange, and the annular cushion blocks are used for mechanically limiting and fixing straight pipes matched with the flange from the bottom surface.
3. A system for assembling a straight pipe and flange according to claim 2, wherein: the chuck type tool is provided with a plurality of step surfaces with different specifications, and the step surfaces are used for positioning flanges with any specification or positioning the annular cushion block with any specification; the annular cushion block and the flange are arranged on step surfaces with different heights.
4. A system for assembling a straight pipe and flange according to claim 1, wherein: the assembling robot comprises an end pick-up device, the end pick-up device comprises a flexible electromagnetic chuck, the flexible electromagnetic chuck is provided with magnetic poles, a plurality of the magnetic poles are radially arranged on the lower surface of the flexible electromagnetic chuck, and a profiling design structure is formed on the lower surface of the electromagnetic chuck.
5. A system for assembling a straight pipe and flange according to claim 1, wherein: the grabbing positioning sensor comprises a first industrial camera and two first line lasers; the first line laser is used for emitting laser lines to the straight pipe or the flange; the first industrial camera is used for collecting position information of the straight pipe or the flange.
6. The system for assembling a straight pipe and flange according to claim 5, wherein: the two first line lasers are respectively arranged at two sides of the first industrial camera; the first line laser is used for emitting laser to the upper end face and the inner wall of the straight pipe or the flange; the acquisition direction of the first industrial camera is opposite to the upper end face of the straight pipe or the flange; the first industrial camera is used for collecting and uploading the positions of a plurality of contour feature points on the upper end face of the straight pipe or the flange and the inner wall; the emitting direction of the first line laser is obliquely arranged relative to the collecting direction of the first industrial camera.
7. A system for assembling a straight pipe and flange according to claim 2, wherein: the pairing positioning sensor comprises a plurality of structural light sensors, and the structural light sensors are arranged at annular intervals around the chuck type tool.
8. A system for assembling a straight pipe and flange according to claim 1, wherein: the alignment sensor includes a second industrial camera and two second line lasers; the second line laser is used for emitting laser lines to the straight pipe or the flange; the second industrial camera is used for collecting position information of the straight pipe or the flange.
9. The system for assembling a straight pipe and flange according to claim 8, wherein: the two second line lasers are respectively arranged at two sides of the second industrial camera; the second line laser is used for emitting laser to the lower end face and the inner wall of the straight pipe or the flange; the collection direction of the second industrial camera is opposite to the lower end face of the straight pipe or the flange; the second industrial camera is used for collecting and uploading the positions of a plurality of contour feature points on the lower end face of the straight pipe or the flange and the inner wall; the emitting direction of the second line laser is obliquely arranged relative to the collecting direction of the second industrial camera.
10. A method for assembling a straight pipe and a flange, comprising the steps of:
step 1:3D panoramic camera shooting the flange to acquire 3D point cloud to obtain the placement pose and edge information of the flange, and then carrying out matching check with a pre-stored placement rule to identify the type of the flange and the initial position of the circle center space of the flange;
step 2: the grabbing positioning sensor is used for measuring and positioning the upper end part of the flange, acquiring the circle center position of the flange and generating the grabbing position and the carrying path of the flange;
step 3: the assembly robot grabs the upper end face of the flange and carries the flange to an assembly welding tool for mechanical limiting and fixing;
step 4: the 3D panoramic camera shoots the straight pipe, acquires 3D point cloud to obtain the placement pose and edge information of the straight pipe, and then identifies the type of the straight pipe and the initial position of the circle center space of the straight pipe after matching and checking with a pre-stored placement rule;
step 5: finding out a straight pipe matched with the flange according to the obtained flange type, position information and a preset placement rule;
step 6: the grabbing positioning sensor is used for measuring and positioning the upper end part of the straight pipe, acquiring the circle center position of the upper end part of the straight pipe and regenerating the grabbing position and the carrying path of the straight pipe;
step 7: the assembling robot grabs the upper end face of the straight pipe, carries the straight pipe to the assembling positioning sensor for measurement and positioning, and obtains the circle center position of the lower end part of the straight pipe;
step 8: and controlling the assembly robot to carry the straight pipe to the assembly welding tool for assembly with the flange according to the obtained circle center position of the flange and the circle center position of the lower end part of the straight pipe.
CN202210943939.6A 2022-08-05 2022-08-05 System and method for assembling straight pipe and flange Active CN115302137B (en)

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Publication number Priority date Publication date Assignee Title
CN206982133U (en) * 2017-06-06 2018-02-09 内蒙古第一机械集团有限公司 One kind is used for the pinpoint assembling device of machine vision
CN110757035B (en) * 2019-10-17 2021-07-23 中国船舶重工集团公司第七一六研究所 Automatic welding production line system for industrial filter
CN111085837B (en) * 2019-12-28 2021-11-23 成都行必果光电科技有限公司 Automatic assembly position attitude measurement method
CN112775575A (en) * 2021-01-06 2021-05-11 西安中科光电精密工程有限公司 Intelligent flexible assembly welding robot system and method

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