An intelligent auxiliary assembly system for a sampling tube

Abstract

The present invention discloses an intelligent auxiliary assembly system for a sampling pipe, which includes a system execution unit, a robot offline programming system, a human-machine operation safety protection system, and an integrated control unit. The present invention realizes the three-dimensional simulation of the pose of a spatial pipe fitting and a flange before welding and assembly, the spatial pose placement of the pipe fitting and the flange. After the welding of the pipe fitting and the flange is completed, the sampling pipe is placed on the flexible support system again. The vision inspection robot system scans and compares the actual external dimensions of the sampling pipe with the theoretical model, and conducts interference simulation and confirmation based on the interference items existing in the on-site environment, realizing a closed-loop production process from the visualization of the simulated assembly of the sampling pipe to the guidance of the actual assembly welding and the inspection of the assembly accuracy and interference, improving the production efficiency and intelligent level of the production and trial assembly of spatial dimension sampling pipes in industries such as aerospace and shipbuilding.

Description

Technical Field

[0001] The present invention relates to the field of assembly and welding production of sampling pipes in aerospace, ships, etc., and specifically relates to an intelligent auxiliary assembly system for sampling pipes. Background Art

[0002] After workers obtain the three-dimensional model of the sampling pipe through auxiliary equipment such as total station and articulated arm pipe fitting measurement system in the narrow and crowded space inside the equipment, there are problems such as low assembly accuracy and low trial assembly efficiency in the manufacturing of the sampling pipe, which are mainly manifested in: 1) The relative position of the space where the pipe fitting and the flange are assembled is realized by a simple pipe assembly platform, with low assembly efficiency and unable to guarantee assembly accuracy; 2) After the sampling pipe is assembled and welded, manual inspection is used to check the dimensional deviation from the theoretical model size, and the accurate manufacturing accuracy of the sampling pipe cannot be obtained; 3) Whether there is interference with key target items is confirmed by manual visual inspection after on-site trial assembly of the pipe picking and placing, and it cannot be simulated and realized on the computer side; 4) The manufacturing process of the sampling pipe is generally completed through iterative processes such as actual trial assembly inspection, rectification, and re-trial assembly inspection. The trial assembly is time-consuming, laborious, and costly. Summary of the Invention

[0003] The purpose of the present invention is to provide an intelligent auxiliary assembly system for sampling pipes.

[0004] The technical solution to achieve the purpose of the present invention is: an intelligent auxiliary assembly system for sampling pipes, including a system execution unit, a robot offline programming system, a human-machine operation safety protection system, and an integrated control unit;

[0005] The system execution unit includes a first handling robot system, a second handling robot system, a quick-change tooling system, a three-coordinate gantry system, a flexible support system, and a high-precision platform, which is used to execute the relative coordinates of the installation boundary of the space pipe fitting extracted from the three-dimensional simulation operation platform, generate the end positioning coordinates and their parameters through the established placement rules, automatically generate the joint parameters of the robot and the external axis, and run to the designated position for flange assembly to guide the manual adjustment of the placement posture of the pipe fitting and the flange; the robot offline programming system includes a vision inspection robot system, which realizes the offline tracking of the pipe fitting space trajectory, the measurement of the actual pose deviation of the pipe fitting, and the interference check function by mounting a vision-assisted measurement system at the end of the robot; the human-machine operation safety protection system includes a safety fence, a safety carpet, a safety grating, and a safety door, which is used to realize personnel protection during the automatic operation of the system; the integrated control unit includes a three-dimensional simulation operation platform, a display screen, and a control system, which is used to realize the integrated control of system equipment, three-dimensional simulation, and robot offline simulation functions.

[0006] Compared with the prior art, the present invention has the following remarkable effects:

[0007] (1) An intelligent auxiliary assembly system for a sampling tube of the present invention. The first handling robot system and the second handling robot system automatically run to the designated spatial placement pose of the flange. The worker directly places the flange into the two pin holes of the flange clamping tooling, realizing the placement of assembly poses such as flange direction, flange rotation angle, and center distance of flange holes for different specifications of flanges. The printer automatically outputs the coordinate value labels of the first flexible support mechanism, the second flexible support mechanism, and the third flexible support mechanism corresponding to the printed pipe fittings. The display screen automatically displays the spatial placement pose of the sampling tube, assisting the worker to complete the placement at the designated position of the flexible support mechanism and the spatial placement of the pick-and-place tube, thereby realizing the precise assembly of the pipe fitting and the flange.

[0008] (2) An intelligent auxiliary assembly system for a sampling tube of the present invention. The vision inspection robot system realizes the measurement of the actual pose deviation and interference inspection after the assembly and welding of the pipe fitting and the flange, facilitating the confirmation of whether the sampling tube meets the expected accuracy and interference requirements, thereby obtaining the product manufacturing accuracy and judging whether the product is qualified.

[0009] (3) An intelligent auxiliary assembly system for a sampling tube of the present invention. The three-dimensional simulation operation platform uses the actual external dimensions of the sampling tube measured by the vision inspection robot system to simulate and check the interference with key target items in the virtual environment.

[0010] (4) The trial assembly process of the sampling tube is carried out in the virtual environment, eliminating the need for repeated on-site trial assembly, improving the trial assembly efficiency, and reducing the production cost.

[0011] The present invention will be further described below with reference to the accompanying drawings. Description of the Drawings

[0012] Figure 1 It is a three-dimensional structure diagram of the intelligent auxiliary assembly system for the sampling tube.

[0013] Figure 2 It is a partial three-dimensional structure diagram of the intelligent auxiliary assembly system for the sampling tube.

[0014] Figure 3 It is a three-dimensional structure diagram of the handling robot system.

[0015] Figure 4 It is a three-dimensional structure diagram of the flange clamping tooling.

[0016] Figure 5 It is a three-dimensional structure diagram of the quick-change tooling system.

[0017] Figure 6 It is a three-dimensional structure diagram of the flexible support system.

[0018] Figure 7 It is a three-dimensional structure diagram of the flexible support mechanism.

[0019] Figure 8 It is a three-dimensional structure schematic diagram of a visual inspection robot system. Specific implementation manners

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0021] In the description of this application, it should be noted that "upper", "lower", "front", "rear", "left", "right", etc. are only used to represent relative position relationships. When the absolute position of the object being described changes, the relative position relationship may change.

[0022] Combine Figure 1 and Figure 2, an intelligent auxiliary assembly system for a sampling pipe includes a system execution unit 69, a robot offline programming system 71, a human-machine operation safety protection system 68, and an integrated control unit 70. The system execution unit 69 includes a first handling robot system 15, a second handling robot system 19, a quick-change tooling system 67, a three-coordinate gantry system 66, a flexible support system 17, and a high-precision platform 14. It is used to execute the relative coordinates of the spatial pipe fitting installation boundary extracted from the three-dimensional simulation operation platform 24, generate the end positioning coordinates and their parameters through the established placement rules, automatically generate the joint parameters of the robot and the external axis, and run to the designated position for flange assembly to be completed, guiding the manual adjustment of the placement postures of the pipe fitting and the flange. The robot offline programming system 71 includes a three-coordinate gantry 66 and a vision inspection robot system 16. By mounting a vision-aided measurement system at the end of the robot, functions such as offline tracking of the spatial trajectory of the pipe fitting, measurement of the actual pose deviation of the pipe fitting, and interference inspection are realized. The human-machine operation safety protection system 68 includes a safety fence 29, a safety carpet 26, a safety grating 25, and a safety door 27 to achieve personnel protection during the automatic operation of the system. The integrated control unit 70 includes a three-dimensional simulation operation platform 24, a display large screen 18, and a control system 23 to realize the integration of functions such as comprehensive control of system equipment, three-dimensional simulation, and robot offline simulation. The present invention realizes the three-dimensional simulation pose simulation of the spatial pipe fitting and the flange before welding assembly, the spatial pose placement of the pipe fitting and the flange. After the welding of the pipe fitting and the flange is completed, the sampling pipe is placed on the flexible support system 17 again. The vision inspection robot system 16 scans and compares the actual external dimensions of the sampling pipe with the theoretical model, and conducts interference simulation confirmation based on the easily interfering items existing in the on-site environment, realizing a closed-loop production process from simulation assembly visualization to guiding actual assembly welding, assembly accuracy, and interference inspection for the production of the sampling pipe with spatial dimensions in industries such as aerospace and shipbuilding, improving the production efficiency and intelligent level of the production and trial assembly of the sampling pipe with spatial dimensions in industries such as aerospace and shipbuilding.

[0023] Combined with Figure 3 and Figure 4, the first handling robot system 15 includes a first robot 51, a quick-change tooling male head 52, a first quick-change tooling female head 74, and a flange clamping tooling 53. The flange clamping tooling 53 is installed at the end of the first robot 51 through the quick-change tooling male head 52 and the first quick-change tooling female head 74. The quick-change tooling male head 52 and the first quick-change tooling female head 74 are a fast-connection structure automatically controlled by the system. The flange clamping tooling 53 includes a base 54, a first electric cylinder 72, a first bracket 55, a second bracket 61, a second electric cylinder 56, a third electric cylinder 62, a third bracket 57, a first positioning pin 59, and a second positioning pin 60. The first electric cylinder 72 and the third bracket 57 are both installed on the base 54. One end of the first bracket 55 and the second bracket 61 is installed on the slider of the first electric cylinder 72, and the other end of the first bracket 55 and the second bracket 61 is installed on the third bracket 57. The first positioning pin 59 is installed at the end of the second electric cylinder 56, the second electric cylinder 56 is installed inside the first bracket 55, the second positioning pin 60 is installed at the end of the third electric cylinder 62, and the third electric cylinder 62 is installed inside the second bracket 61. According to the assembly requirements of sampling tubes of different specifications, the first handling robot system 15 automatically adjusts the spatial position of the flange clamping tooling 53 by the robot 51, and the first electric cylinder 72 automatically adjusts the center distance between the first positioning pin 59 and the second positioning pin 60 to meet the assembly elements such as flange direction, flange rotation angle, and center distance of flange holes of different specifications of flanges. The structural form and principle of the second handling robot system 19 are the same as those of the first handling robot system 15 and will not be elaborated here.

[0024] Combined with Figure 1 , Figure 2 and Figure 5, the quick-change tooling system 67 includes a first quick-change tooling 11, a second quick-change tooling 12, a third quick-change tooling 20, and a fourth quick-change tooling 21. The first quick-change tooling 11 serves as the quick-change tooling for the first handling robot system 15 to grasp the flange, and the second quick-change tooling 12 serves as the quick-change tooling for the first handling robot system 15 to grasp the connecting sleeve. The first quick-change tooling 11 and the second quick-change tooling 12 are arranged within the reach of the first handling robot system 15 and fixed to the ground 73. Similarly, the third quick-change tooling 20 serves as the quick-change tooling for the second handling robot system 19 to grasp the flange, and the fourth quick-change tooling 21 serves as the quick-change tooling for the second handling robot system 19 to grasp the connecting sleeve. The third quick-change tooling 20 and the fourth quick-change tooling 21 are arranged within the reach of the second handling robot system 19 and fixed to the ground 73. The second quick-change tooling 12 includes a fourth bracket 50, a second quick-change tooling female head 48, and a connecting sleeve clamping tooling 49. The connecting sleeve clamping tooling 49 is connected to the second quick-change tooling female head 48, and the second quick-change tooling female head 48 is installed on the fourth bracket 50. When the first handling robot system 15 needs to use the connecting sleeve clamping tooling 49, the first handling robot system 15 places the first quick-change tooling female head 74 and the flange clamping tooling 53 on the first quick-change tooling 11 and automatically disconnects the connection between the quick-change tooling male head 52 and the first quick-change tooling female head 74. The quick-change tooling male head 52 moves to the second quick-change tooling female head 48 and automatically connects to the second quick-change tooling female head 48, realizing the replacement of the end of the first handling robot system 15 with the connecting sleeve clamping tooling 49. The structural form and principle of the third quick-change tooling 20 are the same as those of the first quick-change tooling 11, and the structural form and principle of the fourth quick-change tooling 21 are the same as those of the second quick-change tooling 12, which will not be elaborated here.

[0025] Combined with Figure 1 and Figure 2, the three - coordinate gantry system 66 includes a first column 8, a second column 13, a third column 10, a fourth column 22, a first X - axis 1, a second X - axis 9, a first Y - axis 2, a second Y - axis 5, a third Y - axis 7, a first Z - axis 3, a second Z - axis 4, and a third Z - axis 6. The first Z - axis 3 is connected to the first Y - axis 2, and the first Y - axis 2 is connected to the first X - axis 1 and the second X - axis 9. Similarly, the second Z - axis 4 is connected to the second Y - axis 5, and the second Y - axis 5 is connected to the first X - axis 1 and the second X - axis 9. Similarly, the third Z - axis 6 is connected to the third Y - axis 7, and the third Y - axis 7 is connected to the first X - axis 1 and the second X - axis 9. A cross - beam is used to connect between the first X - axis 1 and the second X - axis 9, and the bottom is connected to the ground 73 through the first column 8, the second column 13, the third column 10, and the fourth column 22. The bottom of the first Z - axis 3 is connected to the first handling robot system 15, the second Z - axis 4 is connected to the vision inspection robot system 16, and the bottom of the third Z - axis 6 is connected to the second handling robot system 19. The three - coordinate gantry system 66 serves as the linkage external motion axis for the first handling robot system 15, the vision inspection robot system 16, and the second handling robot system 19, assisting in achieving the spatial pose operation requirements of the above three robot systems.

[0026] Combined with Figure 2 , Figure 6 and Figure 7, the flexible support system 17 includes a first flexible support mechanism 33, a second flexible support mechanism 34, a third flexible support mechanism 35, a first flange 30, a second flange 32, and a pipe fitting 31. The pipe fitting 31 is supported and fixed by the first flexible support mechanism 33, the second flexible support mechanism 34, and the third flexible support mechanism 35. The first flexible support mechanism 33, the second flexible support mechanism 34, and the third flexible support mechanism 35 are all fixed on the high-precision platform 14. The pipe fitting 31 is assembled and welded with the first flange 30 and the second flange 32. The first flexible support mechanism 33 includes a magnetic adsorption base 40, a fifth column 39, a first motion mechanism, a second motion mechanism, a third motion mechanism, and a clamping mechanism. The fifth column 39 is fixed to the high-precision platform 14 through the magnetic adsorption base 40. The magnetic adsorption base 40 realizes the opening or closing of the adsorption function between the base and the high-precision platform 14 through a magnetic adsorption switch. The first motion mechanism includes a first circular clamping member 37 and a first handle 38. After the first circular clamping member 37 moves up and down to a specified position on the fifth column 39, the first handle 38 realizes the locking and loosening of the first circular clamping member 37 and the fifth column 39. The second motion mechanism includes a second circular clamping member 46 and a second handle 47. The second circular clamping member 46 rotates freely on the guiding column at the end of the first circular clamping member 37. The second handle 47 realizes the locking and loosening of the second circular clamping member 46 and the guiding column at the end of the first circular clamping member 37. The third motion mechanism includes a third circular clamping member 36 with a V-shaped positioning groove and a third handle 44. The third circular clamping member 36 with a V-shaped positioning groove rotates freely on the guiding column at the end of the second circular clamping member 46. The third handle 44 realizes the locking and loosening of the third circular clamping member 36 with a V-shaped positioning groove and the guiding column at the end of the second circular clamping member 46. The V-shaped positioning groove of the third circular clamping member 36 is used to place the pipe fitting 31 to be pressed. The clamping mechanism includes a pressing rod 41, a cross bar 42, and a vertical rod 43. The pressing rod 41 is threadedly connected to the cross bar 42. The cross bar 42 is fixed to the vertical rod 43. The vertical rod 43 is connected to the end of the V-shaped positioning groove of the third circular clamping member 36. When the pressing rod 41 is rotated clockwise, the bottom of the pressing rod 41 contacts the pipe fitting 31 and realizes pressing. The first flexible support mechanism 33 cooperates with the high-precision platform 14 to realize free adjustment in six degrees of freedom and realize flexible support for different spatial support point parts of the pipe fitting 31. The second flexible support mechanism 34 and the third flexible support mechanism 35 are similar in structure form and principle to the first flexible support mechanism 33 and will not be elaborated here. The first flexible support mechanism 33, the second flexible support mechanism 34, and the third flexible support mechanism 35 jointly realize flexible support for the pipe fitting 31 in different spatial placement postures.

[0027] Combined with Figure 2, the high-precision platform 14 has high stability and flatness, can maintain high precision under heavy load, and its surface is marked with high-precision scale lines, which are used to guide workers to accurately place the magnetic bases of the first flexible support mechanism 33, the second flexible support mechanism 34, and the third flexible support mechanism 35, meeting the requirements for the specified placement positions of pipe fittings.

[0028] Combined with Figure 2 and Figure 8 , the vision inspection robot system 16 includes a robot 63, a collision avoidance sensor 64, and a vision sensor 65. The vision sensor 65 is connected to the end of the robot 63 through the collision avoidance sensor 64, and the robot 63 is connected to the end of the second Z-axis 4 of the three-coordinate gantry system 66. The vision inspection robot system 16 mainly realizes functions such as measuring the actual pose deviation and interference inspection after the assembly and welding of pipe fittings and flanges, facilitating the confirmation of whether the sampling pipe meets the expected manufacturing accuracy and does not interfere with other items.

[0029] Combined with Figure 1 , the human-machine operation safety protection system 68 includes a safety fence 29, a safety carpet 26, a safety grating 25, and a safety door 28. The safety fence 29 serves as structural protection, a safety lock 27 is configured on the safety door 28, and the safety carpet 26, the safety grating 25, and the safety door 28 serve as soft protection and feedback the intrusion signal to the control system to protect the safety of personnel during the automatic operation of the system.

[0030] Combined with Figure 1 and Figure 2 , the integrated control unit 70 includes a three-dimensional simulation operation platform 24, a display screen 18, and a control system 23. The three-dimensional simulation operation platform 24 is used to simulate the spatial placement pose of the sampling pipe on the computer side and perform offline simulation of the vision inspection robot system 16 scanning the sampling pipe. Among them, the spatial placement pose of the sampling pipe can be automatically printed through the control system 23 to guide the worker to place the coordinate value labels of the flexible support mechanism 33, the flexible support mechanism 34, and the flexible support mechanism 35. The coordinate values are the placement positions on the high-precision platform 14, and the coordinate value labels are automatically output and printed by the printer 75 on the control system 23 cabinet door; the display screen 18 automatically displays the spatial placement pose of the sampling pipe to assist the worker to complete the spatial placement of the pipe picking and placing; the control system 23 mainly completes functions such as equipment monitoring, alarm, and comprehensive control to realize the orderly operation of the system equipment.

[0031] Combined with Figures 1 to 8 , the basic execution process of the above sampling pipe intelligent auxiliary assembly system is as follows:

[0032] First step, obtain the three-dimensional model of the sampling pipe at the equipment site and the models of key items in the installation environment through auxiliary equipment such as total station and articulated arm pipe fitting measurement system;

[0033] In the second step, the 3D model of the virtual sampling tube is imported into the internal software system of the 3D simulation operation platform 24. The visual virtual simulation of the software system starts to analyze the model. The operator places the optimal spatial pose of the sampling tube and selects the feature points in the software system. The system automatically determines the number of flexible support mechanisms involved, or the number of flexible support mechanisms can also be adjusted manually.

[0034] In the third step, the software system generates the positioning coordinates and their parameters of the flange and pipe fittings. The motion calculation module of the software system automatically performs coordinate transformation to generate the joint parameters of the handling robot system 15, the handling robot system 19, and the external axis three-coordinate gantry 66, and automatically runs to the designated position for flange assembly. The operator places the flanges 30 and 32 on the flange clamping fixtures of the two handling robot systems.

[0035] In the fourth step, the printer 75 automatically outputs and prints the coordinate value labels of the placement of all flexible support mechanisms on the high-precision platform 14. The display screen 18 displays the flexible support system 17 participating in the work and the spatial placement pose of the sampling tube in a graphical interface manner, assisting the operator to complete the placement of the flexible support mechanisms on the high-precision platform 14 and the clamping and fixing of the spatial pose of the pipe fittings on the flexible support mechanisms.

[0036] In the fifth step, the operator completes the assembly spot welding of the pipe fittings and the flange. The operator resets the handling robot system 15 and the handling robot system 19, removes the sampling tube from the flexible support system 17, and completes the internal and external circumferential seam welding.

[0037] In the sixth step, the operator places the welded sampling tube back on the flexible support system 17. The vision inspection robot system 16 automatically scans the actual outer dimensions of the sampling tube and compares them with the theoretical model dimensions, and feeds back the manufacturing precision error as the basis for whether the product is qualified.

[0038] In the seventh step, according to the actual size model of the sampling tube obtained by scanning in the sixth step, the operator simulates the trial assembly process on the 3D simulation operation platform 24, that is, simulates whether the sampling tube meets the assembly requirements with the docking pipeline, and whether there is interference between the sampling tube and the key items in the installation environment, etc.

[0039] In the eighth step, the sampling tube is removed from the flexible support system 17 to complete the blanking.

[0040] The present invention realizes the three-dimensional simulation of the pose of the space pipe fittings and the flange before welding and assembly, and the spatial pose placement of the pipe fittings and the flange. After the welding of the pipe fittings and the flange is completed, the sampling pipe is placed on the flexible support system 17 again. The vision inspection robot system 16 scans and compares the actual external dimensions of the sampling pipe with the theoretical model, and conducts interference simulation and confirmation based on the easily interfering items existing in the on-site environment, realizing the closed-loop production process of the sampling pipe production from simulated assembly visualization to guiding actual assembly welding and assembly accuracy and interference inspection, etc., improving the production efficiency and intelligent level of the production and trial assembly of the space dimension sampling pipes in industries such as aerospace and shipbuilding.

Claims

1. An intelligent auxiliary assembly system for a sampling tube, characterized in that, it includes a system execution unit (69), a robot offline programming system (71), a human-machine operation safety protection system (68) and an integrated control unit (70); the system execution unit (69) includes a first handling robot system (15), a second handling robot system (19), a quick-change tooling system (67), a three-coordinate gantry system (66), a flexible support system (17) and a high-precision platform (14), which is used to execute the relative coordinates of the installation boundary of the spatial pipe fitting extracted from the three-dimensional simulation operation platform (24), generate the end positioning coordinates and their parameters through the established placement rules, automatically generate the joint parameters of the robot and the external axis and run to the specified position for flange to be assembled, and guide the manual adjustment of the placement postures of the pipe fitting and the flange; the robot offline programming system (71) includes a vision detection robot system (16), which realizes the offline tracking of the spatial trajectory of the pipe fitting, the measurement of the actual pose deviation of the pipe fitting and the interference inspection function by mounting a vision-assisted measurement system at the end of the robot; the human-machine operation safety protection system (68) includes a safety fence (29), a safety carpet (26), a safety grating (25) and a safety door (27), which is used to protect personnel during the automatic operation of the system; the integrated control unit (70) includes a three-dimensional simulation operation platform (24), a display screen (18) and a control system (23), which is used to realize the integrated control of system equipment, three-dimensional simulation and robot offline simulation functions.

2. The intelligent auxiliary assembly system for a sampling tube according to claim 1, characterized in that, The first handling robot system (15) includes a first robot (51), a quick-change tooling male head (52), a first quick-change tooling female head (74), and a flange clamping tooling (53). The flange clamping tooling (53) is installed at the end of the first robot (51) through the quick-change tooling male head (52) and the first quick-change tooling female head (74). The quick-change tooling male head (52) and the first quick-change tooling female head (74) are a quick-connection structure automatically controlled by the system. The flange clamping tooling (53) includes a base (54), a first electric cylinder (72), a first bracket (55), a second bracket (61), a second electric cylinder (56), a third electric cylinder (62), a third bracket (57), a first positioning pin (59), and a second positioning pin (60). The first electric cylinder (72) and the third bracket (57) are both installed on the base (54). One end of the first bracket (55) and the second bracket (61) is installed on the slider of the first electric cylinder (72), and the other end of the first bracket (55) and the second bracket (61) is installed on the third bracket (57). The first positioning pin (59) is installed at the end of the second electric cylinder (56), the second electric cylinder (56) is installed inside the first bracket (55), the second positioning pin (60) is installed at the end of the third electric cylinder (62), and the third electric cylinder (62) is installed inside the second bracket (61). According to the assembly requirements of sampling tubes of different specifications, the first handling robot system (15) automatically adjusts the spatial position of the flange clamping tooling (53) by the robot (51), and the first electric cylinder (72) automatically adjusts the center distance between the first positioning pin (59) and the second positioning pin (60).

3. The intelligent auxiliary assembly system for sampling tubes according to claim 2, characterized in that, the second handling robot system (19) has the same structure as the first handling robot system (15).

4. The intelligent auxiliary assembly system for sampling tubes according to claim 2, characterized in that, the quick-change tooling system (67) includes a first quick-change tooling (11), a second quick-change tooling (12), a third quick-change tooling (20), and a fourth quick-change tooling (21). The first quick-change tooling (11) is used as the quick-change tooling for the first handling robot system (15) to grasp the flange, and the second quick-change tooling (12) is used as the quick-change tooling for the first handling robot system (15) to grasp the connecting sleeve. The first quick-change tooling (11) and the second quick-change tooling (12) are arranged within the arm reach of the first handling robot system (15) and fixed to the ground (73). The third quick-change tooling (20) is used as the quick-change tooling for the second handling robot system (19) to grasp the flange, and the fourth quick-change tooling (21) is used as the quick-change tooling for the second handling robot system (19) to grasp the connecting sleeve. The third quick-change tooling (20) and the fourth quick-change tooling (21) are arranged within the arm reach of the second handling robot system (19) and fixed to the ground (73).

5. The intelligent auxiliary assembly system for sampling tubes according to claim 4, characterized in that, The second quick-change tooling (12) includes a fourth support (50), a second quick-change tooling female head (48), and a connecting sleeve clamping tooling (49). The connecting sleeve clamping tooling (49) is connected to the second quick-change tooling female head (48), and the second quick-change tooling female head (48) is installed on the fourth support (50). When the first handling robot system (15) needs to use the connecting sleeve clamping tooling (49), the first handling robot system (15) places the first quick-change tooling female head (74) and the flange clamping tooling (53) on the first quick-change tooling (11) and automatically disconnects the connection between the quick-change tooling male head (52) and the first quick-change tooling female head (74). The quick-change tooling male head (52) moves to the second quick-change tooling female head (48) and automatically connects to the second quick-change tooling female head (48), realizing the replacement of the end of the first handling robot system (15) with the connecting sleeve clamping tooling (49).

6. The intelligent auxiliary assembly system for sampling tubes according to claim 5, wherein, The third quick-change tooling (20) has the same structure as the first quick-change tooling (11), and the fourth quick-change tooling (21) has the same structure as the second quick-change tooling (12).

7. The intelligent auxiliary assembly system for sampling tubes according to claim 5, wherein, The three-coordinate gantry system (66) includes a first column (8), a second column (13), a third column (10), a fourth column (22), a first X-axis (1), a second X-axis (9), a first Y-axis (2), a second Y-axis (5), a third Y-axis (7), a first Z-axis (3), a second Z-axis (4), and a third Z-axis (6). The first Z-axis (3) is connected to the first Y-axis (2), and the first Y-axis (2) is connected to the first X-axis (1) and the second X-axis (9). Similarly, the second Z-axis (4) is connected to the second Y-axis (5), and the second Y-axis (5) is connected to the first X-axis (1) and the second X-axis (9). The third Z-axis (6) is connected to the third Y-axis (7), and the third Y-axis (7) is connected to the first X-axis (1) and the second X-axis (9). A cross beam is used to connect between the first X-axis (1) and the second X-axis (9), and the bottom is connected to the ground (73) through the first column (8), the second column (13), the third column (10), and the fourth column (22); the bottom of the first Z-axis (3) is connected to the first handling robot system (15), the second Z-axis (4) is connected to the vision inspection robot system (16), and the bottom of the third Z-axis (6) is connected to the second handling robot system (19).

8. The intelligent auxiliary assembly system for sampling tubes according to claim 7, wherein, The flexible support system (17) includes a first flexible support mechanism (33), a second flexible support mechanism (34), a third flexible support mechanism (35), a first flange (30), a second flange (32) and a pipe fitting (31). The pipe fitting (31) is supported and fixed with the assistance of the first flexible support mechanism (33), the second flexible support mechanism (34) and the third flexible support mechanism (35). The first flexible support mechanism (33), the second flexible support mechanism (34) and the third flexible support mechanism (35) are all fixed on the high-precision platform (14). The pipe fitting (31) is assembled and welded with the first flange (30) and the second flange (32). The first flexible support mechanism (33) includes a magnetic adsorption base (40), a fifth column (39), a first motion mechanism, a second motion mechanism, a third motion mechanism and a clamping mechanism. The fifth column (39) is fixed to the high-precision platform (14) through the magnetic adsorption base (40). The magnetic adsorption base (40) realizes the opening or closing of the adsorption function between the base and the high-precision platform (14) through a magnetic adsorption switch. The first motion mechanism includes a first circular clamping member (37) and a first handle (38). After the first circular clamping member (37) moves up and down to a specified position on the fifth column (39), the first handle (38) realizes the locking and loosening of the first circular clamping member (37) and the fifth column (39). The second motion mechanism includes a second circular clamping member (46) and a second handle (47). The second circular clamping member (46) rotates freely on the end guide post of the first circular clamping member (37). The second handle (47) realizes the locking and loosening of the second circular clamping member (46) and the end guide post of the first circular clamping member (37). The third motion mechanism includes a third circular clamping member (36) with a V-shaped positioning groove and a third handle (44). The third circular clamping member (36) with a V-shaped positioning groove rotates freely on the end guide post of the second circular clamping member (46). The third handle (44) realizes the locking and loosening of the third circular clamping member (36) with a V-shaped positioning groove and the end guide post of the second circular clamping member (46). The V-shaped positioning groove of the third circular clamping member (36) is used to place the pipe fitting (31) to be clamped. The clamping mechanism includes a pressure rod (41), a cross bar (42) and a vertical rod (43). The pressure rod (41) is threadedly connected with the cross bar (42). The cross bar (42) is fixed to the vertical rod (43). The vertical rod (43) is connected to the end of the V-shaped positioning groove of the third circular clamping member (36). When the pressure rod (41) is rotated clockwise, the bottom of the pressure rod (41) contacts the pipe fitting (31) and realizes clamping. The first flexible support mechanism (33) cooperates with the high-precision platform (14) to realize free adjustment in six degrees of freedom and realize flexible support for different spatial support point parts of the pipe fitting (31).

9. The intelligent auxiliary assembly system for a sampling pipe according to claim 8, wherein, The visual inspection robot system (16) includes a second robot (63), a collision avoidance sensor (64), and a visual sensor (65). The visual sensor (65) is connected to the end of the second robot (63) through the collision avoidance sensor (64), and the second robot (63) is connected to the end of the second Z-axis (4) of the three-coordinate gantry system (66).

10. The intelligent auxiliary assembly system for the sampling tube according to claim 9, characterized in that the integrated control unit (70) includes a three-dimensional simulation operation platform (24), a large display screen (18), and a control system (23). The three-dimensional simulation operation platform (24) is used to simulate the spatial placement pose of the sampling tube on the computer side and perform offline simulation of the visual inspection robot system (16) scanning the sampling tube. Among them, the spatial placement pose of the sampling tube automatically prints coordinate value labels for guiding workers to place the flexible support mechanisms (33), (34), and (35) through the control system (23). The coordinate values are the placement positions on the high-precision platform (14), and the coordinate value labels are automatically output and printed by the printer (75) on the control system (23) cabinet door; the large display screen (18) automatically displays the spatial placement pose of the sampling tube to assist workers in completing the spatial layout of tube picking and placing; the control system (23) mainly completes functions such as equipment monitoring, alarm, and comprehensive control to achieve the orderly operation of the system equipment.

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