Angle-adjustable pipeline group robot and pipeline group angle adjustment method

Abstract

The present invention relates to an angle-adjustable pipeline group robot and a pipeline group angle adjustment method. The robot comprises: a six-axis displacement platform, a 2D vision module, a line laser vision module, a carrying trolley, an electromagnetic lock, a concave groove, a light source, an industrial computer, and a display screen. The robot is characterized in that: the six-axis displacement platform is placed on the carrying trolley, a concave groove is installed on the six-axis displacement platform and an electromagnet is installed at the bottom of the concave groove, a short bracket is installed at the lower part of the six-axis displacement platform, a line laser vision module is installed on the short bracket, a long bracket is installed on the upper part of the carrying trolley, a 2D vision module is installed on the long bracket, a light source is installed on the left and right of the 2D vision module, an industrial computer and a display screen are installed on the carrying trolley, and the industrial computer is connected to the six-axis displacement platform, the 2D vision module, the line laser vision module, the display screen, and the light source respectively. The present invention can meet the requirements of different angles of different pipeline alignments, and has simple operation, high efficiency, strong practicality, and strong popularization and applicability.

Description

Technical Field

[0001] The invention relates to an angle-adjustable pipeline alignment device for construction engineering, and in particular to an angle-adjustable pipeline group alignment robot and a pipeline group angle adjustment method, which are applied to the field of engineering pipeline assembly. Background Art

[0002] In the field of engineering pipeline assembly, during the actual application of pipeline alignment and welding, due to processing errors in the pipeline, the pipeline cannot reach the expected angle when it is close together, and manual measurement is required to obtain the required angle. Due to the large mass of the pipeline, precise alignment through manual handling requires high workload and high operation difficulty for on-site personnel; workers observe the projected cross laser lines to determine whether the pipeline alignment angle is qualified. The entire process is observed by the human eye, and precise control of the angle cannot be achieved, resulting in poor product consistency. Traditional manual solutions cannot meet on-site needs. In response to this situation, a pipeline assembly robot with adjustable angle is specially designed to improve product consistency, improve production efficiency, reduce labor costs, and reduce work intensity. Summary of the invention

[0003] In order to overcome the above-mentioned problem that the angle alignment of engineering pipelines requires manual measurement and adjustment, which has high work intensity and high operating difficulty, the present invention provides an angle-adjustable pipeline group robot and a pipeline group angle adjustment method. The angle-adjustable pipeline group robot of the present invention is suitable for the alignment of different angle requirements of different pipelines, which is fast, convenient, and cost-saving, and ensures the construction progress and safety.

[0004] The technical solution of the present invention is:

[0005] The angle-adjustable pipeline assembly robot includes: a six-axis translation table, a 2D vision module, a line laser vision module, a carrying trolley, an electromagnetic lock, a concave groove, a light source, an industrial computer, and a display screen. The characteristics are: the six-axis translation table is placed on the carrying trolley, the concave groove is installed on the six-axis translation table and an electromagnet is installed at the bottom of the concave groove, a short bracket is installed at the lower part of the six-axis translation table, a line laser vision module is installed on the short bracket, a long bracket is installed on the upper part of the carrying trolley, a 2D vision module is installed on the long bracket, a light source is installed on the left and right of the 2D vision module respectively, an industrial computer and a display screen are installed on the carrying trolley, and the industrial computer is respectively connected to the six-axis translation table, the 2D vision module, the line laser vision module, the display screen, and the light source.

[0006] The steering wheels of the carrying trolley are omnidirectional wheels, which can achieve translation in multiple directions, greatly improving the flexibility of the alignment trolley; the concave groove can improve the convenience and safety of placing pipes, and the electromagnetic lock can adsorb column pipes, run smoothly, and have high alignment accuracy; all the above-mentioned equipment are integrated on the carrying trolley, which can achieve rapid transfer according to different construction sites, and can effectively improve the utilization rate of the system.

[0007] The method for adjusting the angle of the pipeline group of the robot using the angle-adjustable pipeline group is characterized in that the method is performed in the following steps, with the ground where the equipment is installed being the XY coordinate and the height being the Z coordinate:

[0008] Step 1. Manually push the angle-adjustable pipe assembly robot to make the alignment interfaces of pipe A to be connected and pipe B to be connected as close as possible, with the requirement that the spacing in the XYZ axis direction is ≤30mm;

[0009] Step 2. Use a crane to manually place the pipe A to be connected on the workbench and fix it;

[0010] Step 3. Use a crane to manually place the pipe B to be connected to the alignment trolley, and use a physical button to open the electromagnetic lock to fix the pipe B to be connected;

[0011] Step 4. Set the pipe alignment angle and related pipe parameters through the software interface of the industrial computer, and start automatic alignment. Without manual intervention, the industrial computer automatically aligns the pipes A and B to be connected according to the following steps:

[0012] (1) Under the guidance of the 2D vision module, the industrial computer extracts the edges of the two pipes to be connected through the multi-directional Sobel operator and Hough linear transformation algorithm to calculate the average value of the angles between the two edges of the pipes to determine the angle. The 2D vision module detects the angle between pipe A and pipe B in real time and controls the rotation of the six-axis translation stage around the Z axis to control the alignment angle of the two pipes, thereby achieving the optimal alignment angle required.

[0013] (2) Under the guidance of the 2D vision module, the industrial computer extracts the two edge corner points of pipe A and pipe B respectively through the relative position calculation algorithm of the pipe opening X and Y axes, and then calculates the coordinates of the midpoints of the two pipes, and controls the six-axis translation stage to move left and right along the X axis so that the X coordinates of the centers of pipes A and B are the same;

[0014] (3) Using the line laser vision module, the industrial computer extracts two appropriate points on the line laser on the two pipelines through the line laser algorithm, calculates the slopes of pipeline A and pipeline B respectively, monitors the inclination of the two pipelines in real time through the line laser, and controls the six-axis translation stage to make pitch motion around the X-axis to achieve the same inclination of the two pipelines;

[0015] (4) Using the line laser vision module, the industrial computer extracts the coordinates of the line lasers at the ends of the two pipes through the line laser algorithm and calculates the height information of pipes A and B. The line laser vision module monitors the height in real time and controls the six-axis translation stage to move up and down along the Z axis to keep pipes A and B at the same height.

[0016] (5) Under the guidance of the 2D vision module, the industrial computer uses the corner point extraction algorithm to extract the two corner points of the center pipe edge of pipe A and pipe B, obtains the corner point coordinates, calculates the midpoint coordinates of the two pipes, and controls the forward and backward movement of the six-axis translation stage. When the two edge corner points of pipe A and pipe B extracted and the midpoint of pipe A and pipe B calculated by calculation are close to each other, the alignment stops, and the operator is reminded through the color of the interface that the alignment is completed. Manual spot welding is performed and the pipe is moved by a crane.

[0017] The present invention has the following advantages:

[0018] 1) It can meet different angle alignment requirements according to needs, solving the problem of difficult pipeline alignment angle measurement;

[0019] 2) The spatial position of the pipeline is measured by visual means, and the six-axis translation stage is used to move the pipeline. The fully automatic alignment process can be achieved through the closed-loop control of the visual module in the robot and the six-axis translation stage.

[0020] 3) Through the control software of the industrial computer of the present invention, the operation is simple, and the user only needs to fill in the alignment angle and pipeline parameters (optional) to start automatic pipeline alignment.

[0021] The present invention solves the problem that in the actual application of pipeline alignment and welding in the field of engineering pipeline assembly, due to pipeline processing errors and large pipeline mass, manual pipeline alignment is difficult, the precision is low, and the product consistency is poor. The angle-adjustable pipeline assembly robot is simple to operate and has strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of the present invention.

[0023] Figure 2 FIG. 1 is a diagram of a conduit for fixing an electromagnet in a groove of the present invention.

[0024] Figure 3 It is an operation flow chart of the present invention.

[0025] Figure 4 This is the pipeline edge extraction diagram of the present invention.

[0026] Figure 5 This is the pipeline corner point extraction diagram of the present invention.

[0027] Figure 6 The figure is a flow chart of the angle-adjustable pipe pairing algorithm of the present invention. DETAILED DESCRIPTION

[0028] The present invention is further described in the accompanying drawings.

[0029] like Figure 1 As shown, the angle-adjustable pipeline assembly robot of the present invention comprises: a six-axis displacement platform 1, a 2D vision module 2, a line laser vision module 3, a carrying trolley 4, six electromagnetic locks 5, three concave grooves 6, two light sources 7, an industrial computer 8, and a display screen 9, characterized in that: the six-axis displacement platform 1 is placed on the carrying trolley 4, three concave grooves 6 are installed on the six-axis displacement platform 1, and two electromagnetic locks 5 are installed in the bottom of each concave groove 6, a short bracket is installed at the lower part of the six-axis displacement platform 1, a line laser vision module 3 is installed on the short bracket, a long bracket is installed on the upper part of the carrying trolley 4, a 2D vision module 2 is installed on the long bracket, a light source 7 is installed on the left and right of the 2D vision module 2, an industrial computer 8 and a display screen 9 are installed on the carrying trolley 4, and the industrial computer 8 is connected to the six-axis displacement platform 1, the 2D vision module 2, the line laser vision module 3, the display screen 9, and the light source 7 respectively. The carrying trolley 4 is assembled into a trolley model using steel pipes and welded, and 4 omnidirectional wheels are installed on it. The structures of the six-axis translation stage 1, the 2D vision module 2, the line laser vision module 3 and the industrial computer 8 are existing and are all purchased from the market. The algorithms and software used in the present invention are all existing.

[0030] The operation process of the present invention is as follows:

[0031] The method for adjusting the angle of a pipeline group of a robot using the angle-adjustable pipeline group is described based on this coordinate system for all the following invention items: the ground on which the equipment is installed is the XY coordinate, and the height value is the Z coordinate; it is characterized in that the method is performed in the following steps: Figure 3 As shown,

[0032] Step 1. Manually push the angle-adjustable pipe assembly robot, such as Figure 1 As shown, the alignment interfaces of the pipes A and B to be connected should be as close as possible, with the following requirements: the spacing in the XYZ axis direction ≤ 30 mm;

[0033] Step 2. Use a crane to manually place the pipe A to be connected on the workbench and fix it;

[0034] Step 3. Use a crane to manually place the pipe B10 to be docked on the alignment trolley 4, and use a physical button to open the electromagnetic lock 5 to fix the pipe B10 to be docked;

[0035] Step 4. Set the pipe angle and related pipe parameters through the software interface of the industrial computer, and start the automatic alignment. Without manual intervention, the industrial computer automatically aligns the docking pipe A and the pipe to be docked B according to the following steps. The process is as follows: Figure 6 As shown:

[0036] (1). Under the guidance of the 2D vision module, the industrial computer mainly extracts the edges of the two pipes through the multi-directional Sobel operator and Hough linear transformation algorithm to calculate the average value of the angles between the two edges of the pipes to determine the angle. The 2D vision module detects the angle between pipe A and pipe B in real time and controls the rotation of the six-axis translation stage around the Z axis to control the alignment angle of the two pipes, so as to achieve the optimal alignment angle we need. Edge extraction is as follows: Figure 4 As shown; by calculating the angle between the upper edge of pipe A and the left edge of pipe B, and the angle between the lower edge of pipe A and the right edge of pipe B, the average value is taken as the final angle value.

[0037] (2) Under the guidance of the 2D vision module, the industrial computer uses the relative position calculation algorithm of the X and Y axes of the pipe mouth to extract the two edge corner points (a1, a2, b1, b2) of pipe A and pipe B respectively, and controls the six-axis translation stage to move left and right along the X axis so that the X coordinates of the centers of pipes A and B are the same. The corner point extraction is as follows: Figure 5 As shown; the two edge corner points a1(x1, y1) and a2(x2, y2) of pipeline A are extracted through the 2D vision module, and the midpoint coordinates (x3, y3) of pipeline A are calculated. The two edge corner points b1(x1', y1') and b2(x2', y2') of pipeline B are extracted through the 2D vision module, and the midpoint coordinates (x4, y4) of pipeline B are calculated, that is, x3 = x4;

[0038] (3) Using the line laser vision module, the industrial computer extracts two appropriate points on the line laser on the two pipelines through the line laser algorithm, calculates the slope of pipeline A and pipeline B respectively, monitors the inclination of the two pipelines in real time through the line laser, and controls the six-axis translation stage to make pitch motion around the X-axis to achieve the same inclination of the two pipelines;

[0039] (4) Using the line laser vision module, the coordinates of the line lasers at the ends of the two pipes are extracted through the line laser algorithm, and the height information of pipes A and B is calculated. The line laser vision module monitors the height in real time and controls the six-axis translation stage to move up and down along the Z axis to keep pipes A and B at the same height;

[0040] (5) Under the guidance of the 2D vision module, the industrial computer uses the corner point extraction algorithm to extract the two corner points of the center pipe edge of pipe A and pipe B, obtain the corner point coordinates, calculate the midpoint coordinates of the two pipes, and control the forward and backward movement of the six-axis translation stage. When the two edge corner points of pipe A and pipe B extracted and the midpoint of pipe A and pipe B calculated by calculation are close to each other, the alignment stops, and the operator is reminded through the color interface color, that is, the alignment is completed, manual spot welding, and the pipe is moved by a crane;

[0041] The entire algorithm control process of the angle-adjustable pipeline alignment robot of the present invention is as follows: Figure 6 As shown in the figure, due to the processing errors of the workpieces of each batch of pipes, it is impossible to perfectly align the seams, so once they are a little close, the alignment will be stopped.

Claims

1. A method for adjusting the angle of a pipeline group of a robot using an angle-adjustable pipeline group. The angle-adjustable pipeline grouping robot includes: A six-axis displacement stage, a 2D vision module, a line laser vision module, a carrying trolley, an electromagnetic lock, a concave groove, a light source, an industrial computer, and a display screen. The six-axis displacement stage is placed on the carrying trolley, a concave groove is installed on the six-axis displacement stage, and an electromagnet is installed at the bottom of the concave groove. A short bracket is installed at the lower part of the six-axis displacement stage, and a line laser vision module is installed on the short bracket. A long bracket is installed on the upper part of the carrying trolley, and a 2D vision module is installed on the long bracket. A light source is installed on the left and right of the 2D vision module, respectively. An industrial computer and a display screen are installed on the carrying trolley, and the industrial computer is connected to the six-axis displacement stage, the 2D vision module, the line laser vision module, the display screen, and the light source respectively; the steering wheel of the carrying trolley is an omnidirectional wheel, the ground where the equipment is installed is the XY coordinate, and the height value is the Z coordinate, which is characterized by following the steps: Step 1. Manually push the angle-adjustable pipe assembly robot to make the alignment interfaces of pipe A to be connected and pipe B to be connected as close as possible, with the requirement that the spacing in the XYZ axis direction is ≤30mm; Step 2. Use a crane to manually place the pipe A to be connected on the workbench and fix it; Step 3. Use a crane to manually place the pipe B to be connected to the alignment trolley, and use a physical button to open the electromagnetic lock to fix the pipe B to be connected; Step 4. Set the pipe alignment angle and related pipe parameters through the software interface of the industrial computer, and start automatic alignment. Without manual intervention, the industrial computer automatically aligns pipe A and pipe B to be docked according to the following steps: (1) Under the guidance of the 2D vision module, the industrial computer extracts the edges of the two pipes to be connected through the multi-directional Sobel operator and Hough linear transformation algorithm to calculate the average value of the angles between the two edges of the pipes to determine the angle. The 2D vision module detects the angle between pipe A and pipe B in real time and controls the rotation of the six-axis translation stage around the Z axis to control the alignment angle of the two pipes to achieve the optimal alignment angle required. The edge extraction calculates the angle between the upper edge of pipe A and the left edge of pipe B, and the angle between the lower edge of pipe A and the right edge of pipe B, and then takes the average value as the final angle value. (2) Under the guidance of the 2D vision module, the industrial computer extracts the two edge corner points of pipe A and the two edge corner points of pipe B through the relative position calculation algorithm of the pipe opening X and Y axes, and then calculates the coordinates of the midpoints of the two pipes, and controls the six-axis translation stage to move left and right along the X axis so that the X coordinates of the centers of pipes A and B are the same; (3) Using the line laser vision module, the industrial computer extracts two appropriate points on the line laser on the two pipelines through the line laser algorithm, calculates the slopes of pipeline A and pipeline B respectively, monitors the inclination of the two pipelines in real time through the line laser, and controls the six-axis translation stage to make pitch motion around the X-axis to achieve the same inclination of the two pipelines; (4) Using the line laser vision module, the industrial computer extracts the coordinates of the line lasers at the ends of the two pipes through the line laser algorithm and calculates the height information of pipes A and B. The line laser vision module monitors the height in real time and controls the six-axis translation stage to move up and down along the Z axis to keep pipes A and B at the same height. (5) Under the guidance of the 2D vision module, the industrial computer uses the corner point extraction algorithm to extract the two corner points of the center pipe edge of pipe A and pipe B, obtains the corner point coordinates, calculates the midpoint coordinates of the two pipes, and controls the forward and backward movement of the six-axis translation stage. When the two edge corner points of pipe A and pipe B extracted and the midpoint of pipe A and pipe B calculated by calculation are close to each other, any of the three points are close to each other, and the alignment stops. The operator is reminded through the color of the interface, and the alignment is completed. Manual spot welding is performed, and the pipe is lifted and moved by a crane.

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