A Calculation Method for Cutting Position of Conduit Allowance for Flexible Pipeline Welding

Abstract

The invention provides a flexible pipeline welding and assembling scheme based on vision measurement and a robot. The scheme is characterized by comprising software and hardware, the hardware mainly comprises a vision measurement device, an industrial robot, a conduit cutter and a conduit clamp, and the software mainly comprises a margin computing module, a pose computing module and a robot movement simulating module. The conduit margin cutting position computing method comprises the steps of 1, computing the coordinates of a conduit margin end central point in a robot TCP coordinate system according to the coordinates, obtained through measurement, of the conduit margin end central point and the pose of the robot when the robot grabs a conduit for measurement; 2, computing the coordinates of the conduit margin end central point when the robot returns to the zero position according to the pose of the robot when the robot returns to the zero position; 3, computing the conduit margin cutting position according to a measured conduit margin, and the included angle, obtained from a three-dimensional conduit mathematical model, between the margin end face and the clamping right-angle section of the robot. Flexible pipeline production is achieved based on the vision measurement technique and the robot technique, cost can be reduced effectively, and efficiency can be improved.

Description

technical field [0001] The invention relates to a method for calculating the cutting position of the conduit allowance for the flexible assembly and welding of pipelines, which is a method for calculating the conduit allowance cutting position based on the measurement data of the assembly and welding system and the equipment position. It belongs to the field of computer-aided design and manufacture. Background technique [0002] The piping system is widely used in almost all electromechanical products, and its function is mainly the passage of the conveying medium. Especially in the field of aerospace, conduits are an important part of aircraft or various spacecraft, and the normal operation of the piping system is a very important condition for determining product performance and quality. [0003] At present, there are many types of aerospace pipelines, complex interfaces, and most of them exist in the form of single-piece or small-batch production. Traditional catheter w...

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Problems solved by technology

[0005] The purpose of the present invention is to provide a flexible pipeline welding solution based on visual measurement and robots, and a method for calculating the cutting position of the conduit allowance based on measurement data in this solution, so as to solve the problem of work efficiency in the existing traditional conduit welding technology. Low, long cycle, large error deformation and other issues

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