PL422951A1 - Device and method for automatic pipe head end facing, using a robot, preferably in the process of production of tubular heat exchangers - Google Patents

Device and method for automatic pipe head end facing, using a robot, preferably in the process of production of tubular heat exchangers

Info

Publication number
PL422951A1
PL422951A1 PL422951A PL42295117A PL422951A1 PL 422951 A1 PL422951 A1 PL 422951A1 PL 422951 A PL422951 A PL 422951A PL 42295117 A PL42295117 A PL 42295117A PL 422951 A1 PL422951 A1 PL 422951A1
Authority
PL
Poland
Prior art keywords
pipe
planning
robot
heat exchangers
tubular heat
Prior art date
Application number
PL422951A
Other languages
Polish (pl)
Other versions
PL239924B1 (en
Inventor
Rajmund POBEREŻNY
Original Assignee
Rma Spółka Z Ograniczoną Odpowiedzialnością
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rma Spółka Z Ograniczoną Odpowiedzialnością filed Critical Rma Spółka Z Ograniczoną Odpowiedzialnością
Priority to PL422951A priority Critical patent/PL239924B1/en
Priority to PCT/PL2018/000088 priority patent/WO2019059790A1/en
Publication of PL422951A1 publication Critical patent/PL422951A1/en
Publication of PL239924B1 publication Critical patent/PL239924B1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B5/00—Turning-machines or devices specially adapted for particular work; Accessories specially adapted therefor
    • B23B5/16—Turning-machines or devices specially adapted for particular work; Accessories specially adapted therefor for bevelling, chamfering, or deburring the ends of bars or tubes
    • B23B5/161—Devices attached to the workpiece
    • B23B5/162—Devices attached to the workpiece with an internal clamping device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37555—Camera detects orientation, position workpiece, points of workpiece
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40425—Sensing, vision based motion planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40613—Camera, laser scanner on end effector, hand eye manipulator, local

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Machine Tool Sensing Apparatuses (AREA)

Abstract

Sposób automatycznego planowania czoła rury przy użyciu robota, zwłaszcza w procesie wytwarzania rurowych wymienników ciepła, polega na precyzyjnym określeniu rozmieszczenia rur względem urządzenia do planowania krawędzi rury, wyznaczeniu lokalnej powierzchni bazowej wokół rury, zmierzeniu długości części rury wystającej nad tę powierzchnię bazową, stabilizacji położenia osi rury względem narzędzia skrawającego i ustabilizowaniu rury względem osi narzędzia skrawającego, przeprowadzeniu planowania krawędzi rury do zadanej wysokości oraz sprawdzenia długości części rury wystającej nad powierzchnię bazową po planowaniu. Urządzenie do automatycznego planowania czoła rury zwiera układ wizyjny, sondę pomiarową, popychacz (13), na którym osadzana jest rura (17) sprzężony z siłownikiem (12), nóż skrawający (11) oraz łamacz wiórów (4).The method of automatic pipe face planning using a robot, especially in the process of manufacturing tubular heat exchangers, consists in precisely determining the arrangement of pipes relative to the pipe edge planning device, determining the local base surface around the pipe, measuring the length of the part of the pipe protruding above this base surface, stabilizing the position of the axis pipe relative to the cutting tool and stabilizing the pipe relative to the cutting tool axis, conducting pipe edge planning to a given height and checking the length of the pipe portion protruding above the base surface after planning. The device for automatic pipe face planning includes a vision system, a measuring probe, a pusher (13) on which the pipe (17) coupled with the servomotor (12), cutting knife (11) and chipbreaker (4) are mounted.

PL422951A 2017-09-22 2017-09-22 Device and method for automatic pipe head end facing, using a robot, preferably in the process of production of tubular heat exchangers PL239924B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PL422951A PL239924B1 (en) 2017-09-22 2017-09-22 Device and method for automatic pipe head end facing, using a robot, preferably in the process of production of tubular heat exchangers
PCT/PL2018/000088 WO2019059790A1 (en) 2017-09-22 2018-09-13 Method and device for automatic planing of a tube face using a robot, particularly in a process of manufacturing of tubular heat exchangers

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PL422951A PL239924B1 (en) 2017-09-22 2017-09-22 Device and method for automatic pipe head end facing, using a robot, preferably in the process of production of tubular heat exchangers

Publications (2)

Publication Number Publication Date
PL422951A1 true PL422951A1 (en) 2019-03-25
PL239924B1 PL239924B1 (en) 2022-01-24

Family

ID=63794584

Family Applications (1)

Application Number Title Priority Date Filing Date
PL422951A PL239924B1 (en) 2017-09-22 2017-09-22 Device and method for automatic pipe head end facing, using a robot, preferably in the process of production of tubular heat exchangers

Country Status (2)

Country Link
PL (1) PL239924B1 (en)
WO (1) WO2019059790A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10974307B2 (en) * 2017-12-15 2021-04-13 General Electric Technology Gmbh System, method and apparatus for manipulating a workpiece

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3359841A (en) * 1964-11-12 1967-12-26 Reynolds Metals Co Container body trimming apparatus and method
EP0095198B1 (en) * 1982-04-27 1986-08-27 Thomassen & Drijver-Verblifa N.V. An apparatus for cutting through or trimming a pipe or can in a plane transverse to its longitudinal axis
DE19709033B4 (en) * 1997-03-06 2006-06-08 Brambauer, Franz, Dipl.-Ing. trimming device
CN101269493A (en) * 2008-04-30 2008-09-24 安东石油技术（集团）有限公司 Edge cutting device

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4483522A (en) * 1982-08-09 1984-11-20 Tri Tool Inc. Adjustable mandrel for supporting tubular workpieces
RU2163851C1 (en) 1999-06-15 2001-03-10 Самарский государственный аэрокосмический университет им. акад. С.П. Королева Method for making heat exchange tubes
JP2004167647A (en) 2002-11-21 2004-06-17 Toyota Motor Corp Trimming method of pipe end
US7140816B2 (en) * 2004-07-20 2006-11-28 H&S Tool, Inc. Multi-functional tube milling head
JP5578844B2 (en) * 2009-12-21 2014-08-27 キヤノン株式会社 Information processing apparatus, information processing method, and program
JP5561260B2 (en) * 2011-09-15 2014-07-30 株式会社安川電機 Robot system and imaging method
US9089970B2 (en) * 2012-01-23 2015-07-28 General Electric Company Robotic appartus and system for removal of turbine bucket covers
ES2391678B1 (en) * 2012-06-01 2013-11-07 Tecnatom, S. A. Procedure for obtaining calibrated position images of tube centers of a system with regular tube distribution

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3359841A (en) * 1964-11-12 1967-12-26 Reynolds Metals Co Container body trimming apparatus and method
EP0095198B1 (en) * 1982-04-27 1986-08-27 Thomassen & Drijver-Verblifa N.V. An apparatus for cutting through or trimming a pipe or can in a plane transverse to its longitudinal axis
DE19709033B4 (en) * 1997-03-06 2006-06-08 Brambauer, Franz, Dipl.-Ing. trimming device
CN101269493A (en) * 2008-04-30 2008-09-24 安东石油技术（集团）有限公司 Edge cutting device

Also Published As

Publication number Publication date
PL239924B1 (en) 2022-01-24
WO2019059790A1 (en) 2019-03-28

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