Construction method of module tool library for assembling pipelines in narrow space and design method of tightening tool

Abstract

The invention discloses a construction method of a module tool library for narrow space pipeline assembly and a tightening tool design method.When the module tool library is constructed, firstly, a point cloud model is established, rasterization processing is carried out, and the shortest path principle and the maximum gap between a tool envelope and a shielding object serve as the judgment principle; and generating a tool trace curve with an obstacle avoidance function. Segmentation points are selected from the bending points of the tool track curve, and the tool configuration track tracing line is segmented. If N tightening point positions exist, N tool trace curves are correspondingly generated, and one tightening point position corresponds to one tool trace curve; grouping and segmenting the N tool trace curves; then, group segmentation curve integration is carried out, curve screening integration is carried out on each group of segmentation curves in sequence, line segments with similar features are combined, and a module tool library is updated; the construction efficiency of the modular tightening module tool library is greatly improved, the flexible function that the configuration of the tightening tool is variable is achieved, and the requirement for dynamic assembly of pipelines in narrow space can be met.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of pipe assembly, and particularly relates to a construction method of a module tool library for pipe assembly in a narrow space and a design method of a tightening tool. BACKGROUND

[0002] The existing conventional pipe tightening module tool library only contains fixed structure tightening tools. The main feature difference between different tools in the module tool library is that the tool opening sizes, lengths and opening numbers (one end opening and two end openings) are different. When the module tool library is established, only whether the tool opening sizes are complete in the application scene, whether the lengths are appropriate and whether the use is convenient are considered, and it is suitable for most open environments. However, in the pipe assembly in a narrow space environment, the tightening tool needs to have a certain flexible function to change the tool configuration in real time, avoid obstacles near the pipe, and complete the pipe tightening operation. At the same time, a set of module tool library construction method needs to be established to achieve the purpose of rapid, refined and comprehensive construction.

[0003] For example, Chinese patent 202110703326.0 discloses a shape design method of a special wrench for a complex space. First, a complex space model is established, and tightening points and operation areas are marked. The complex space model is abstracted to establish a discrete space map. The discrete space map is processed to mark the passable domain and the impassable domain. An evaluation function is constructed to convert the constraint conditions of the wrench design into weights. A pathfinding algorithm is used to select the optimal path of the evaluation function. The path curve is smoothed, and it is verified whether there is interference in the space. The scheme uses a track algorithm to generate a special-shaped tool track to guide the integrated design of a special-shaped single tightening tool structure. This method only describes the configuration design method of a single integrated tightening tool, and is suitable for the structure design of a pipe tightening tool in a simple open environment. However, in the pipe assembly environment in a narrow space, considering the accessibility of the tool tightening space, the tightening tool track curve is usually more complex than in an open environment, and the tightening tool cannot be integrally machined and manufactured according to the curve track. SUMMARY

[0004] The purpose of the present application is to provide a construction method of a module tool library for pipe assembly in a narrow space and a design method of a tightening tool, which aims to solve the above problems. The present application divides the complex track curve into several simple line segments, and manufactures corresponding tool modules according to each simple line segment to form the required tightening tool in a module assembly manner.

[0005] The present application is mainly realized through the following technical solutions:

[0006] A construction method of a module tool library for pipe assembly in a narrow space, comprising the following steps:

[0007] Step S1: model point cloud processing; importing the numerical model files of the target catheter and the peripheral assembly environment components into a three-dimensional point cloud software to establish a point cloud model;

[0008] Step S2: tool configuration trajectory tracing line generation; performing rasterization processing on the point cloud data, and generating a tool trajectory curve with obstacle avoidance function according to the shortest path principle and the maximum gap between the tool envelope and the occlusion as the determination principle;

[0009] Step S3: trajectory curve segmentation; selecting a segmentation point in the bending point of the tool trajectory curve, and segmenting the tool configuration trajectory tracing line;

[0010] Step S4: optimizing the trajectory curve segment;

[0011] Step S5: trajectory curve segment integration;

[0012] Firstly, the trajectory curve is grouped: assuming that there are N tightening points, N tool trajectory curves are generated, wherein one tightening point corresponds to one tool trajectory curve; the N tool trajectory curves are grouped and segmented;

[0013] Then, the group segmentation curve integration is performed: the curve selection integration is performed on each group of segmented curves in turn, the line segments with similar characteristics are combined, and the module tool library is updated;

[0014] Step S6: tool module structure design; determining the structure of the tool module according to the integrated trajectory curve.

[0015] In order to better realize the present application, further, in step S3, the selection rule of the segmentation point is:

[0016] The line segment between the first segmentation point and the end point of the trajectory line is taken as the configuration trajectory of the wrench head, and the first segmentation point is selected so that the rotation process of the wrench head configuration trajectory does not collide;

[0017] The line segment between the second segmentation point and the starting point of the trajectory curve is taken as the configuration trajectory of the force applying module, and the second segmentation point is selected so that the force applying module has sufficient force arm length and maximum rotation space while not interfering with the occlusion during rotation;

[0018] The remaining segmentation points are used to determine the number and configuration trajectory of the rotation connecting module, and the remaining segmentation points are selected according to the tool disassembly, rotation space and maximum rotation space; the number of rotation connecting modules is n+1, wherein n is the number of segments between the first segmentation point and the second segmentation point.

[0019] Further, in the step S4, when the angle between the two straight line segments at the bending point is less than 90°, the bending point is taken as the segmentation point; if the number of the bending points is greater than 2, the starting point coordinates of the trace curve are reselected, and the trace curve is regenerated;

[0020] When the angle between the two line segments at the bending point is in the interval of 90°-120°, the curve segment is replaced by an arc curve, wherein the starting point and the bending point of the curve segment are on the arc curve.

[0021] When the angle between the two straight line segments at the bending point is greater than 120°, the curve is chamfered.

[0022] Further, in the step S5, the component segmentation curve integration comprises the following steps:

[0023] Step S51: classification according to types; the trace curve segments are classified according to the wrench head module, the rotation connection module and the force applying module, and the trace curve segment features among the same type modules are integrated;

[0024] Step S52: classification according to shapes; the trace curve segments in the same type module are classified according to shape features;

[0025] Step S53: feature analysis; the trace curve segment features of the same shape features are analyzed;

[0026] Step S54: line segment integration; in the same plane and similar shapes, the trace curve segments with the length difference within 5mm, the straight line segment angle within 5° and the arc radius within 2mm are integrated and merged to be processed and manufactured as a line segment.

[0027] The present application is mainly realized by the following technical solutions:

[0028] The design method of the flexible reconfigurable tightening tool for narrow space pipeline assembly is based on the construction method of the module tool library for narrow space pipeline assembly, and the tightening tool is freely spliced and combined by using the interchanging and recombination and rotation adjustment of the modules.

[0029] Further, the tightening tool composed of m modules is realized by the rotation adjustment m -1 The pose is transformed.

[0030] The present application has the following advantages:

[0031] (1) The present application solves the problem that the conventional tightening tool structure is single and lacks flexibility, and cannot be inserted into the pipe joint in a narrow space during pipe assembly, or lacks space for rotation after being inserted into the pipe joint, and cannot tighten the conduit. At the same time, a set of module tool library construction method is established for the above-mentioned modular tightening tool, which provides a set of tool module configuration design and optimization method for the design of pipe tightening tool modules in multiple scenarios of narrow space, so as to achieve efficient design of tool library module configuration, and the purpose of complete and refined universal configuration.

[0032] (2) The adaptive flexible modular tightening tool structure tracing algorithm in the technical solution can automatically avoid obstacles according to the narrow space environment of the pipeline, generate a tool structure trajectory line, and assist in tool structure design. This method replaces manual measurement of related gap size information in numerical model to determine the tool structure trajectory, greatly improving the construction efficiency of the modular tightening module tool library, and the average design efficiency of single tool structure is improved by 80%. (According to the traditional numerical model size measurement method, the tool structure trajectory design takes an average of 40 minutes per place, and the tracing algorithm can automatically generate a tool structure trajectory line that meets the requirements in an average of 8 minutes per place).

[0033] (3) The present application gradually improves the module tool library through modular design, classifies the tool configuration according to the characteristics of typical narrow space, and improves the construction efficiency, accuracy and integrity of the module tool library. The present application establishes a set of modular tightening module tool library, uses the functions of interchanging, recombining and rotating adjustment between modules, freely splices and combines the tightening tool, realizes the flexible function of variable tightening tool configuration, and at the same time meets the space accessibility requirement of the tightening tool in the process of dynamic assembly of the pipeline in the narrow space, provides sufficient force arm for tightening the conduit, and achieves the purpose of effectively improving the pre-tightening force of the conduit. The present application generates a tightening tool with the same trajectory as various special tightening tools by selecting a limited number of modules, thereby replacing the special tightening tool to achieve the purpose of reducing the manufacturing cost of the special tool.

[0034] (4) The present application realizes the flexible function that the conventional tightening tool does not have in the way of module free assembly. The tool adapts to the changing assembly space requirement in the process of dynamic tightening of the pipeline. The present application establishes a set of module tool library construction method, designs and selects the tool module configuration according to the typical characteristics of the narrow space, and achieves the purpose of efficient and comprehensive establishment of the full module tool library. After multiple iterations according to the module tool library construction method, the tool modules contained in the module tool library have the characteristics of simplification and high coverage, and the generated tightening tool meets the requirements of pipeline assembly in different characteristic narrow spaces, thereby replacing the special tool to reduce the tool manufacturing cost. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 Flow chart of the construction method of the module tool library for narrow space pipeline assembly of the present application;

[0036] Figure 2 Optimization processing type of the track curve segment;

[0037] Figure 3 Structural schematic diagram of the module;

[0038] Figure 4 Schematic diagram of the hexagonal columnar shaft / hole and connection in embodiment 2;

[0039] Figure 5 Structural schematic diagram of the twelve-angle shaft columnar hole and the ball groove;

[0040] Figure 6 Structural schematic diagram of the anti-falling structure

[0041] Figure 7 Schematic diagram of the pose transformation between the wrench head module and the rotating connecting rod module;

[0042] Figure 8 Schematic diagram of the narrow space pipeline assembly scene in embodiment 3;

[0043] Figure 9 Schematic diagram of the track curve generated in embodiment 3;

[0044] Figure 10 Schematic diagram of the track curve segmentation and module division in embodiment 3;

[0045] Figure 11 Principle diagram of the wrench head module structure design in embodiment 3;

[0046] Figure 12 Schematic diagram of the module selection and pose adjustment in embodiment 3.

[0047] Wherein: 1-ball groove, 2-twelve-angle shaft columnar hole, 3-wrench head module, 4-rotating connecting module, 5-force applying module. DETAILED DESCRIPTION

[0048] Embodiment 1:

[0049] A construction method of a module tool library for narrow space pipeline assembly, comprising the following steps:

[0050] Step S1: model point cloud processing;

[0051] The target catheter and all parts and structures in the range of the surrounding assembly environment are saved as.stl format files in a three-dimensional modeling software. Then, the model files are imported into a three-dimensional point cloud software for three-dimensional model point cloud processing, a point cloud model is established, and data cleaning and feature extraction are performed on the model to improve the quality of the model point cloud. Preferably, the target catheter surrounding assembly environment is preferably within a cube with a side length of 500 mm (centered on the catheter to be tightened), so as to reduce the model range and improve the calculation efficiency.

[0052] Step S2: tool configuration trajectory tracing line generation;

[0053] The reduced point cloud data is imported into a data analysis software and subjected to rasterization processing to establish point cloud model grid coordinates and identify the positional relationship of each grid point of the model. With the model grid size, tool cross-sectional size, tool maximum rotation angle at one time, tool start / stop point coordinates, tool rotation axis coordinates and critical gap size information as inputs, a set of tool trajectory curve path optimization evaluation functions is established, and a tool trajectory curve with obstacle avoidance function is automatically generated based on the shortest path principle and the maximum gap between the tool envelope and the occlusion.

[0054] Step S3: trajectory curve segmentation and trajectory curve segment optimization;

[0055] The generated tool trajectory curve may contain several bending points, and selecting appropriate bending points as breaking segmentation points can improve the flexibility, adaptability and processability of the tool. The segmentation method of the trajectory curve is as follows:

[0056] The segmentation points are generally selected from the bending points of the trajectory curve, and the purpose of the segmentation points is to break the whole tool into several segments, realize tool assembly and pose change through the assembly and rotation adjustment structure at the connection of each segment, and achieve the purpose of tool flexibility. The more the segmentation points are, the more the tool pose rotation points are, and the higher the tool flexibility is, but the worse the structural strength is. Therefore, the optimal number of segmentation points is generally between 1-3 points.

[0057] Specifically, the first segmentation point selection principle: the line segment between the first segmentation point and the end point of the trajectory line is the configuration trajectory of the wrench head, in order to reduce the size of the wrench head and improve its flexibility, the first segmentation point should be as close to the end point of the trajectory curve as possible. When selecting the specific point, the actual scene needs to be considered, and the wrench head configuration trajectory rotation process is not prone to collision.

[0058] The second segmentation point selection principle: the line segment between the second segmentation point and the starting point of the trajectory curve will be used as the configuration trajectory of the force applying module, and the following needs to be considered when selecting the point:

[0059] ① The length of the force applying arm is sufficient;

[0060] ② When the module is rotated to ensure that the module does not interfere with the barrier, it has the maximum rotation space.

[0061] The third segmentation point and the segmentation point selection principle after the third segmentation point: the remaining segmentation points are used to determine the number and configuration of the rotation connection module. The relationship between the number n of segmentation points between the first and second segmentation points and the number of rotation connection modules is n+1 (n≥0, which is a positive integer). The selection of the segmentation point position is selected to improve the convenience of tool disassembly and assembly, rotation flexibility and to obtain the maximum rotation space. When the first and second segmentation points coincide (i.e., there is only one segmentation point in the entire trajectory curve), the tool only includes a wrench head and a force applying rod module, which is suitable for a more open environment.

[0062] Step S4: trajectory curve segment optimization;

[0063] The specific optimization principles of the trajectory curve segment are as follows:

[0064] ① As shown in Figure 2 , (a) is a trajectory curve in which the angle between the two adjacent line segments at the bending point is less than 90°. At this time, the bending point should be considered as a segmentation point. If the number of such bending points in a trajectory curve is greater than 2, the starting point coordinates of the trajectory curve should be selected again, and the trajectory curve should be generated again until the number of such bending points is less than or equal to 2,

[0065] ② As shown in Figure 2 , (b) is a trajectory curve in which the angle between the two adjacent lines at the bending point is between 90°-120°. At this time, the curve segment should be replaced by an arc curve, and the original curve segment start / ending point and the bending point should be on the arc curve.

[0066] ③ As shown in Figure 2 , (c) is a trajectory curve in which the angle between the two adjacent lines at the bending point is greater than 120°. At this time, the curve should be chamfered.

[0067] Step S5: trajectory curve segment integration;

[0068] 1) Trajectory curve grouping;

[0069] Suppose there are N tightening points, and N trajectory curves are generated according to step S2, one point corresponding to one trajectory curve. After every 8 trajectory curves are generated, a group of curve selection and division is performed. If the number of the last group of trajectory curves is less than 8, it is still calculated as a group, so the total number of curve groups n=N / 8, rounded up. The group numbers are numbered in order, and the group numbers are P1, P2...Pn.

[0070] From the first group of trace curve segment P1, to the n group of trace curve segment Pn, each group of segmented trace curve segment is screened and integrated, and the similar segments are merged. Specifically, after the first group of trace curve segment P1 and the second group of trace curve segment P2 are integrated, the integrated trace curve is included in the module tool library and integrated with the third group of trace curve segment P3, and the module tool library is updated according to the integration result. Similarly, each group of trace curve segment is processed to establish a complete module tool library.

[0071] 2) Trace curve integration;

[0072] Step S51: type classification; the trace curve segment wrench head module, the rotation connection module and the force applying module are classified, and the trace curve segments between the same type modules are integrated according to the characteristics;

[0073] Step S52: shape classification; the trace curve segments in the same type module are classified according to the shape characteristics, such as arc type, straight line type, “Z” type, “J” type, etc.

[0074] Step S53: feature analysis; the features of the trace curve segments with the same shape characteristics are compared, and the feature priority judgment order is whether the same plane, shape, step height, straight line segment length, straight line segment angle and arc radius.

[0075] Step S54: line segment integration principle; under the same plane and similar shape, the trace curve segments with the straight line segment length and step height within 5 mm, the straight line segment angle within 5° and the arc radius within 2 mm can be integrated and manufactured as one line segment.

[0076] Example 2:

[0077] A flexible reconfigurable tightening tool for narrow space pipeline assembly can be composed of one wrench head module and one force applying module, or one wrench head module, one to three rotation connection modules and one force applying module. The collection of all tool modules is called a module tool library. The tool modules are divided into three types, namely, wrench head type module, rotation connection type module and force applying type module. As shown in Figure 3 (a) is a structural schematic diagram of the wrench head type module, (b) is a structural schematic diagram of the rotation connection type module, and (c) is a structural schematic diagram of the force applying module.

[0078] Due to the consistency of the shaft and shaft and the hole and hole structure size between different types of modules in the module tool library, the tool modules are interchangeable. By freely selecting different types of special-shaped tool modules, the tightening tool is assembled and spliced to change the trace of the tool structure and achieve the purpose of tool flexibility, so as to adapt to more narrow space pipeline assembly scenes.

[0079] As shown in Figure 3As shown in (a), the wrench head module consists of wrench head modules with different opening sizes and structures. Each module has a dodecagonal columnar shaft hole for inserting and fixing the hexagonal columnar shaft into the screw-connect module or force-applying module during tool module assembly. The wrench head module has a compact structure, reducing the probability of interference between the wrench head module and obstructions during tool use, thereby improving the tool's flexibility and applicability.

[0080] like Figure 3 As shown in (b), the rotary connection module consists of connecting modules with different structural shapes. Each end of the rotary connection module has a dodecagonal prism-shaped shaft hole and a hexagonal prism-shaped shaft structure, facilitating assembly with the shaft hole structures of the wrench head module and the force application module to create a tightening tool. In the adaptive flexible modular reconfigurable tightening tool, the rotary connection module connects the wrench head module and the force application module, adjusts the position and angle between adjacent modules, and changes the tool's trajectory.

[0081] like Figure 4 As shown, in order to increase the area of ​​the shaft structure subjected to shear force during tool rotation and improve tool strength, the hexagonal prism shaft structure in the screwing module and the force application module is not machined as a whole. Instead, the hexagonal prism shaft is machined separately, and a corresponding hexagonal prism shaft hole is made on the tool module. The hexagonal prism shaft is inserted into the hole, and the two structures are fixed together by welding to improve tool strength. Hexagonal prism shaft / hole and connection method.

[0082] like Figure 5 As shown, the wrench head module and the screw-connect module are modules with a dodecagonal columnar hole structure. In the middle of the dodecagonal columnar hole, there is a ring of ball grooves. After the module with the hexagonal columnar shaft structure is inserted into the dodecagonal columnar shaft hole, the ball structure on the shaft limits the movement and locks the two modules together.

[0083] Both the wrench head module and the screw-connector module have a hexagonal columnar structure. For example... Figure 6 As shown, the connection point between the two modules' shaft holes is equipped with an anti-detachment structure: a ball bearing hole is located in the center of the hexagonal shaft columnar structure, containing a ball bearing, a pin, a spring, and a pressure plate. When the two modules' shaft holes are connected, the modules can be locked and disassembled by pressing the baffle.

[0084] like Figure 3 As shown in (c), the force application module consists of force application arm modules with different structural shapes. The force application module is provided with a hexagonal columnar shaft structure, which is convenient to cooperate with the hole structure in the wrench head module or the screw connection module to assemble the tightening tool and play the role of applying torque.

[0085] The sizes of the shafts and the shaft structures, the holes and the hole structures between different modules of each type are the same, and the clearance fit is between the holes and the shafts, and the tolerance is H9 / f9. At the same time, as shown in Figure 7 , the relative pose angle change of the two modules can be realized by rotation between the shaft structure module and the hole structure module, and the rotation angle between the relative positions of the two modules is 30°*n (n≤12, which is a positive integer), and the pose transformation between the modules is shown. As shown in Figure 12 , the tightening tool composed of m modules can realize 12 m-1 pose transformations through the rotation function.

[0086] Example 3:

[0087] A construction method of a module tool library for narrow space pipeline assembly is shown in Figure 8 , wherein (a) is a schematic diagram of a narrow space pipeline assembly scene, and (b) is a schematic diagram of a narrow space pipeline assembly scene. Taking the construction of a simple environment tightening module tool library as an example, the tool module structure design and module tool library construction are carried out for the two narrow space pipeline tightening scenes. First, the tool trajectory curve segments are generated, segmented and integrated, then according to the trajectory direction of the trajectory line segment, the tool module structure is designed according to the product structure, and the module tool library is established. As shown in Figure 1 , the specific steps are as follows:

[0088] Step 1: Model point cloud processing;

[0089] The target positions (to be tightened) of the two places (to be tightened) of the catheter and the surrounding occlusion model are loaded separately in CATIA software, and the model is saved as.stl format and imported into WRAP three-dimensional point cloud software. The point cloud processing is carried out on the model.

[0090] Step 2: Tool configuration trajectory tracing line generation;

[0091] The model after point cloud processing is imported into MATLAB, and the model is rasterized. In the tracing algorithm, the space coordinate system of the imported model is input:

[0092] ① The starting point coordinates (13, 0, -2.5) and the end point coordinates (0, 0, -5.5) of tool 1 (the first scene), and the starting point coordinates (14.3, 15, 6.5) and the end point coordinates (0, 35, -5.5) of tool 2 (the second scene), wherein the starting point coordinates are the desired position coordinates of the tool end, and the end point coordinates are the target catheter tightening position coordinates;

[0093] ② The rotation angle of the trajectory line is 30° (i.e. the maximum expected tightening angle of the tool once);

[0094] ③Envelope body occupies the grid number is set to 3, the adjacent grid point spacing is set to 0.3mm, the rotation axis is coaxial with the to-be-tightened catheter, and the critical gap value is 3 grids (the minimum gap value between the envelope body of the trace point and the shield). Figure 9 As shown in the figure, then the tracing algorithm generates a tool trace curve composed of trace points at each of the two to-be-tightened catheter positions according to the shortest path tracing principle and the maximum gap determination principle.

[0095] Step 3: Trace curve segmentation;

[0096] Firstly, the bending points of the trace curve are analyzed. For the first trace curve, the to-be-tightened position is shielded by other catheters, so it is necessary to bypass the shield first. Therefore, the first segmentation point is selected as the bending point closest to the end point of the trace line, so as to realize the flexible rotation function of the wrench head module.

[0097] Secondly, after the wrench head is rotated by a certain angle, the trace line is easy to interfere with the shield, so a segmentation point adjacent to the first segmentation point is added to add a rotation connection module, which can avoid obstacles and provide more space for rotation by the rotation function between modules.

[0098] Finally, as shown in the figure, the trace curve is divided into three segments by the two segmentation points, and from the end point to the start point of the trace curve, the wrench head module, the rotation connection module and the force application module are arranged in sequence. Figure 10

[0099] For the second trace curve, since the to-be-tightened position is shielded by the baffle, the curve is lifted to bypass the baffle height, and during the rotation process, it is not affected by other shields. Therefore, only one segmentation point is set at the position where the trace curve just bypasses the baffle height (i.e. the third bending point from the end point of the trace curve). As shown in the figure, the trace curve is divided into two segments from the end point to the start point of the trace curve, and the wrench head module and the force application module are arranged in sequence. Trace curve segmentation and module division. Figure 10

[0100] Step 4: Trace curve segment optimization;

[0101] According to the third item of step S4 in Example 1, the bending point position in the force application module in the two scenes needs to be chamfered.

[0102] Step 5: Trace curve segment integration;

[0103] According to the description in step S5 of Example 1, by comparing the shape of the trace curve segment, the length and angle deviation of the two straight lines adjacent to the bending point, the trace line segment characteristics of the force application module in the two scenes are similar, and only one trace curve segment needs to be retained. After the force application module is processed according to the trace curve segment, it is used as a common force application module for the two tools.

[0104] ​​Step 6: tool module structure design;

[0105] Since the envelope body grid range number set in step 2 is 3, that is, each point on the row trace is within the 3 grid ranges in the upward, downward, left and right directions, and the grid size is 0.3mm, that is, the envelope body (tool cross section) is a square with a side length of 1.8mm. After determining the module size, the cross-sectional square is used to generate the rotary connection and force applying module model according to the row trace line. As shown in Figure 11 When designing the wrench head module structure, the wrench head opening size is determined according to the size of the hexagonal pipe to be screwed, and the wrench head outer contour model is determined according to the row trace line and the envelope body. The two tool module configurations and matching are shown in Figure 12 As shown in

[0106] A twelve-sided columnar shaft hole is designed at the end of the wrench head, a hexagonal columnar shaft and a twelve-sided columnar shaft hole are respectively designed at the two ends of the rotary connection, and a hexagonal columnar shaft is designed at the force applying connection end. The shaft, hole structure and anti-loose structure are executed according to the content described in the product invention of the technical scheme.

[0107] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Any simple modification or equivalent change made according to the technical essence of the present application to the above embodiment falls within the protection scope of the present application.

Claims

1. A method for constructing a module tool library for assembling pipelines in narrow spaces, characterized in that, Includes the following steps: Step S1: Model point cloud processing; import the digital model files of the target conduit and surrounding assembly environment components into the 3D point cloud software to create a point cloud model; Step S2: Tool configuration trajectory tracking line generation; The point cloud data is rasterized, and the tool trajectory curve with obstacle avoidance function is generated based on the shortest path principle and the maximum gap between the tool envelope and the occlusion. Step S3: Segment the trajectory curve; Select segmentation points among the inflection points of the tool trajectory curve to segment the tool configuration trajectory tracking line; Step S4: Optimize the trajectory curve segment; Step S5: Integration of trajectory curve segments; First, group the tool path curves: Assuming there are N tightening points, N tool path curves will be generated accordingly, with one tightening point corresponding to one tool path curve; then group and segment the N tool path curves. Then, the group segmentation curves are integrated: each group of segmentation curves is filtered and integrated in turn, line segments with similar features are merged, and the module tool library is updated. Step S6: Tool module structure design; determine the structure of the tool module based on the integrated trajectory curve.

2. The method for constructing a module tool library for assembling pipelines in narrow spaces according to claim 1, characterized in that, In step S3, the selection rule for the segmentation points is as follows: The line segment between the first segment point and the end point of the track line is taken as the track of the wrench head configuration. The first segment point is selected with the goal of not causing a collision during the rotation of the wrench head configuration track. The line segment between the second segment point and the starting point of the trajectory curve is used as the configuration trajectory of the force application module. The second segment point is selected with the goal of having sufficient force application arm length and no interference with obstructions when adjusting the force application module, while having the maximum rotation space. The remaining segment points are used to determine the number and configuration of the rotary connection modules. The remaining segment points are selected with the objectives of tool disassembly and assembly, rotation space and maximum screwing space as the target. The number of rotary connection modules is n+1, where n is the number of segments between the first segment point and the second segment point.

3. The method for constructing a module tool library for assembling pipelines in narrow spaces according to claim 1, characterized in that, In step S4, when the angle between two adjacent straight line segments at the bend point is less than 90°, the bend point is taken as the segmentation point; if the number of such bend points is greater than 2, the starting coordinates of the trajectory curve are reselected and the trajectory curve is regenerated. When the angle between two adjacent line segments at the bend point is in the range of 90°-120°, this curve segment is replaced by a circular arc curve, wherein the starting point and bend point of this curve segment are both on the circular arc curve. When the angle between two adjacent straight segments at a bend is greater than 120°, the curve will be chamfered.

4. The method for constructing a module tool library for assembling pipelines in narrow spaces according to claim 1, characterized in that, In step S5, the group segmentation curve integration includes the following steps: Step S51: Classify by type; classify the trace curve segments according to wrench head module, screw connection module, and force application module, and integrate the trace curve segment features between modules of the same type; Step S52: Classify by shape; classify the trace curve segments in the same type of module according to shape characteristics; Step S53: Perform feature analysis; analyze the characteristics of the trace curve segments with similar shape features; Step S54: Perform line segment integration; Under the same plane and similar shape, merge and integrate the straight line segments with lengths and step heights within 5mm, straight line segments with included angles within 5°, and arc radii within 2mm, so as to process and manufacture them as a single line segment.

5. A design method for a flexible and reconfigurable tightening tool for assembling pipes in narrow spaces, based on the construction method of a modular tool library for assembling pipes in narrow spaces as described in any one of claims 1-4, characterized in that... Based on the modular tool library, tightening tools can be freely assembled and combined by using the interchangeability, recombination and rotation adjustment between modules; the tightening tools include any one or more of the following: wrench head modules, screw connection modules, and force application modules, and the dimensions of the shaft-to-shaft structure and the hole-to-hole structure are the same between different types of modules, and the hole and shaft are clearance fit.

6. The design method for a flexible and reconfigurable tightening tool for assembling pipelines in narrow spaces according to claim 5, characterized in that, A tightening tool consisting of m modules, which achieves 12 tightenings through rotation. m-1 Type of pose transformation.

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