A Pose Calculation Method for Pipeline Flexible Assembly and Welding Robot Based on Measurement Data

Abstract

The present invention proposes a method for calculating the pose of a robot based on vision measurement and a robot-based flexible installation and welding scheme, which is characterized in that it includes the following steps: (1) calculating the coordinates of the center points at both ends of the catheter when the robot returns to zero; (2) Determine the fixed coordinate system of the catheter, and calculate the pose of the catheter when the robot returns to zero; (3) Calculate the TCP pose of the robot when the catheter is docked and assembled; (4) Calculate the three coordinate axes of the TCP coordinate system of the robot around the global coordinate system the rotation angle. The invention uses visual measurement technology and industrial robot technology to carry out flexible production of pipelines, saves a lot of sample tubes and fixtures, improves versatility, reduces costs, and improves pipeline production efficiency.

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...

AI Technical Summary

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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