Pipeline flexible welding and assembling robot posture calculation method based on measurement data

Abstract

The invention discloses a robot posture calculation method aiming at a pipeline flexible welding and assembling scheme based on view measurement and a robot. The robot posture calculation method is characterized by comprising the following steps: (1) calculating a coordinate of central points of two ends of guide tubes when a rotor is returned to a zero point; (2) confirming a solid linking coordinate system of the guide tubes, and calculating the postures of the guide tubes when the robot is returned to the zero point; (3) calculating the TCP posture of the robot when the guide tubes are assembled in an abutted manner; and (4) calculating a rotation angle of a robot TCP coordinate system around three coordinate axes of an overall coordinate system. By adopting a view measurement technique and an industrial robot technique, flexible production of pipelines can be achieved, tedious sample tubes and clamps can be avoided, the universality can be improved, the cost can be lowered, and the pipeline production efficiency can be improved.

Description

technical field [0001] The invention relates to a method for calculating the position and posture of a pipeline flexible assembly and welding robot based on measurement data. 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 welding needs to design a special combined fixture, which is very inefficient, and the universality of the fixture is low, and the preparation period is long. For...

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Problems solved by technology

Traditional catheter welding needs to design a special combination fixture, which is very inefficient, and the fixture has low versatility and long preparation period

For different welding conduits, a large number of different special fixtures need to be designed, which greatly increases the development time and cost of aerospace products, and also brings great inconvenience to production management

Moreover, in the production process, due to the influence of factors such as the operator's experience level, tooling, positioning accuracy, and measurement accuracy, there are large errors and deformations after welding the catheter, which cannot meet the accuracy requirements. It can be seen that the traditional catheter production process has been It cannot meet the manufacturing needs of modern products, so it is necessary to study and establish a flexible assembly and welding system for pipeline production

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