Device and method for calibrating assembly positioning line of reinforcing part of large-size workpiece

Abstract

The invention provides a large-size workpiece reinforcing part assembly positioning line calibration device and method.The large-size workpiece reinforcing part assembly positioning line calibration device comprises a base assembly, mechanical arm assemblies, scanning detection devices, dotting and scribing devices, a shooting device and a master control device, and the two mechanical arm assemblies with the scanning detection devices and the dotting and scribing devices respectively are assembled on the base assembly; a shooting device and a master control device are fixedly arranged beside the base; the initial position and size parameters of a workpiece are determined through a shooting device, a general control device plans the advancing path of a scanning detection device and drives the scanning detection device to scan to obtain point cloud data, a detailed model of the workpiece is constructed according to point cloud analysis, a positioning line needing to be calibrated is determined after analysis, and a dotting and scribing device is driven to calibrate construction along a preset path. And high-precision calibration of a large complex workpiece is realized. The device is simple and convenient to operate, replaces a traditional manual measurement method, improves the construction precision and efficiency of the position of the large complex workpiece assembly reinforcing part, and reduces the labor intensity of workers and the construction risk.

Description

Technical Field

[0001] The present invention relates to a device in the technical field of workpiece assembly, in particular to a device and method for calibrating an assembly positioning line of a reinforcement component of a large-size workpiece. Background Art

[0002] In order to ensure the working strength of large and complex workpieces, it is usually necessary to add reinforcement ribs to the weak positions of the workpiece structure to strengthen the structural strength through calculation and analysis combined with work experience. Therefore, it is necessary to accurately calibrate the assembly and welding positions. With the development of large-scale industrial equipment and tooling manufacturing industries, the calibration technology for the assembly and reinforcement component positions is in urgent need of upgrading. At present, the calibration work of the assembly component positions of large and complex workpieces in China is still completed by staff using manual measurement tools such as rulers and plate rulers. By calculating the calibration position and the parameters of the positioning points and positioning lines according to the drawings, the staff use manual ladders or auxiliary tooling to reach the corresponding positions, and then use tools such as punches and styluses to manually position and mark. Then, according to the calibrated positions, structures such as reinforcement ribs are assembled and positioned and welded to provide better structural strength for large and complex workpieces.

[0003] In actual construction, due to the primitive nature of this method's measurement, marking, and marking techniques, its low degree of automation, and the fact that workers must manually ascend to high altitudes throughout the entire process, the workpiece assembly position obtained using this method is prone to deviations, making it difficult to achieve the required positioning accuracy for subsequent component positioning, installation, and welding. Furthermore, this method is inefficient and poses a significant risk of falls for construction workers, making the construction process more difficult. It no longer meets the requirements for efficient and high-precision calibration of reinforced component positions for large, complex workpiece assembly.

[0004] Therefore, how to make the calibration of the position of assembly components of large and complex workpieces meet high-precision technical requirements, improve construction efficiency, and reduce the risk of construction workers falling from heights has become an urgent problem to be solved. Summary of the Invention

[0005] To improve the accuracy of calibrating the position of components in large, complex workpiece assemblies, the present invention provides a device and method for calibrating the assembly positioning lines of reinforcement components on large workpieces. This method uses a camera and a scanning device to collect point cloud data from the workpiece. A master control device plans the paths for the scanning device and the dotting and marking device, and drives the dotting and marking device to calibrate the workpiece along a pre-set path. This achieves high-precision calibration of large, complex workpieces, resolving the current technical issues of poor accuracy, low efficiency, and high risk associated with manual labor.

[0006] The solution adopted by the present invention to solve the technical problem is: A device for calibrating the assembly positioning lines of reinforcement components of large-sized workpieces, comprising a base assembly, arranged on a horizontal plane, for providing installation and support; two robotic arm assemblies, with their front ends extending toward the center of the base assembly and their rear ends capable of performing circular motion around the center of the base assembly; a scanning and detection device, assembled at the front end of one of the robotic arm assemblies, for scanning and collecting a point cloud of a workpiece; a dotting and marking device, assembled at the front end of another of the robotic arm assemblies, for calibrating the positioning lines of the workpiece; a photographing device, fixedly mounted on the side of the base assembly, for photographing the workpiece and generating a corresponding basic model; a general control device, fixedly mounted on the side of the base assembly, for controlling the posture of the robotic arm assembly, planning the scanning and collection path of the scanning and detection device and the calibration path of the dotting and marking device, and processing data collected by the scanning and detection device and the photographing assembly.

[0007] The base assembly disclosed in this embodiment includes a track with a circular ring structure design, which is arranged on a horizontal plane for providing installation and support; a support plate with a circular structure design, which is arranged inside the track and coaxially arranged with it; and support bars fixed to the periphery of the support plate and arranged around the center array of the support plate.

[0008] The embodiment disclosed herein comprises a robotic arm assembly comprising a robotic arm base, which is mounted on the upper part of the track, and a universal wheel is mounted at the contact portion of the lower part of the base with the track, so that the base can perform circular motion along the track around the center of the support plate; a lifting device, which is mounted on the upper part of the robotic arm base, and is used to adjust the telescopic movement of the robotic arm assembly in the vertical direction; a robotic arm platform, which is mounted on the upper part of the lifting device and is designed in a T-shaped structure; a counterweight, which is mounted on the rear end of the robotic arm platform, and is used to keep the front and rear of the robotic arm assembly balanced; a first-level telescopic arm, which is mounted on the front end of the robotic arm platform and can slide freely on the robotic arm platform; a second-level telescopic arm, which is mounted on the front end of the first-level telescopic arm and can slide freely on the first-level telescopic arm; a third-level telescopic arm, which is mounted on the front end of the second-level telescopic arm and can slide freely on the second-level telescopic arm; and a universal robotic arm, which is mounted on the front end of the third-level telescopic arm and can swing freely at the front end of the third-level telescopic arm.

[0009] In order to further solve the technical problem to be solved by the present invention, the present invention provides a method for using a device for calibrating the assembly positioning line of a reinforcement component of a large-sized workpiece, comprising the following steps: Step 1. Lift the large-sized workpiece onto the base assembly and manually fix its position; Step 2. Use the camera to take a photo of the large-scale workpiece and generate a corresponding basic model; Step 3. Operate the master control device to process the spatial position of the basic model and plan a scanning and acquisition path for the scanning detection device; Step 4. Drive the robotic arm assembly to perform circular motion on the track and control the posture of each robotic arm, driving the scanning and detection device to scan and collect the point cloud of the workpiece along a preset path; Step 5. The master control device performs processing calculations based on the point cloud to determine the detailed model and spatial position of the workpiece; Step 6. The master control device analyzes the input model information data, matches it with the measured point cloud model, and plans a calibration path for the dotting and marking device; Step 7. Drive the robotic arm assembly to perform circular motion on the track and control the posture of each robotic arm, thereby driving the dotting and marking device to calibrate the positioning line of the workpiece along a preset path; Step 8. After completing the calibration of the positioning line, the calibrated large-sized workpiece is lifted away from the base assembly.

[0010] Positive effects: The present invention assembles two robotic arm assemblies on the upper portion of a base assembly, and assembles a scanning and detection device and a dotting and marking device at the front ends of the two robotic arm assemblies, respectively. A photographing device and a master control device are fixed to the side of the base assembly. The photographing device determines the preliminary position and dimensional parameters of a large-scale workpiece. The master control device plans the travel path of the scanning and detection device based on the spatial position of the workpiece. The scanning and detection device forms point cloud data of the workpiece. The master control device constructs a detailed model of the workpiece based on the point cloud analysis, and compares and analyzes the input workpiece model to determine the positioning lines that need to be calibrated for the workpiece model. The dotting and marking device is then planned based on the positioning lines, and is driven to calibrate the positioning lines of the workpiece along a preset path, thereby achieving high-precision calibration of large and complex workpieces. This device is simple and convenient to operate, easy to disassemble and maintain, and replaces traditional manual measurement methods. It effectively improves the construction accuracy and efficiency of the position of reinforcement components assembled on large and complex workpieces, and reduces the labor intensity and construction risks of workers. It is suitable for use as a device and method for calibrating the positioning lines of reinforcement components assembled on large-scale workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is the main view of the embodiment of the present application; Figure 2 A top view of an embodiment of the present application; Figure 3 This is a front view of the structure of the scanning detection device according to the embodiment of the present application; Figure 4 This is a front view of the structure of the dotting and marking device according to an embodiment of the present application.

[0012] In the figure, 10. Base assembly, 11. Track, 12. Support plate, 13. Support bar; 20. Robotic arm assembly, 21. Robotic arm base, 22. Lifting device, 23. Robotic arm platform, 24. Counterweight, 25. First-level telescopic arm, 26. Second-level telescopic arm, 27. Third-level telescopic arm, 28. Universal robotic arm; 30. Scanning detection device; 40. Dotting and marking device; 50. Camera device; 60. Master control device. DETAILED DESCRIPTION

[0013] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Although the embodiments of the present invention have been shown and described, it can be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the attached claims and their equivalents. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of the present invention.

[0014] As shown in the figure, a device for calibrating the assembly positioning line of a reinforcement component of a large-sized workpiece includes: The base assembly 10 is arranged on a horizontal plane and is used to provide installation and support; the two robotic arm assemblies 20 are assembled on the upper part of the base assembly 10, with their front ends extending toward the center of the base assembly 10 and their rear ends being able to make circular motions around the center of the base assembly 10; the scanning and detection device 30 is assembled on the front end of one of the robotic arm assemblies 20 and is used to scan and collect the point cloud of the workpiece; the dotting and marking device 40 is assembled on the front end of the other robotic arm assembly 20 and is used to calibrate the positioning line of the workpiece; the shooting device 50 is fixed on the side of the base assembly 10 and is used to shoot the workpiece and generate the corresponding basic model; the general control device 60 is fixed on the side of the base assembly 10 and is used to control the posture of the robotic arm assembly 20, plan the scanning and collection path of the scanning and detection device 30 and the calibration path of the dotting and marking device 40, and process the data collected by the scanning and detection device 30 and the shooting assembly.

[0015] Specifically, the base assembly 10 is set on a horizontal plane and always kept horizontal for installation and support; the two robotic arm assemblies 20 are arranged on both sides of the base assembly 10, and the rear ends of the two are slidably assembled on the upper part of the base assembly 10 through a pulley structure, and can make circular motion around the center of the base assembly 10, and the front ends of the two extend toward the center of the base assembly 10; the scanning detection device 30 is assembled on the front end of one of the robotic arm assemblies 20 by means of bolt connection, and is used to scan large-sized workpieces hoisted onto the base assembly 10 and collect their point cloud data; the dotting and marking device 40 is assembled by means of bolt connection At the front end of the other robotic arm assembly 20, it is used to calibrate the positioning line of the workpiece; the shooting device 50 is fixedly set on the side of the base assembly 10 by welding, and is used to shoot the target workpiece and generate the corresponding basic model, and its shooting field of view can completely cover the target workpiece arranged on the base assembly 10; the master control device 60 is fixedly set on the side of the base assembly 10 by welding, and is used to control the spatial posture of the two robotic arm assemblies 20, plan the scanning and acquisition path of the scanning and detection device 30 and the calibration path of the dotting and marking device 40, and process the acquisition point cloud of the scanning and detection device 30 and the shooting data of the shooting assembly.

[0016] The base assembly 10 includes a track 11, which is designed in a circular ring structure and is arranged on a horizontal plane for providing installation and support; a support plate 12, which is designed in a circular structure and is arranged inside the track 11 and coaxially arranged therewith; and support bars 13, which are fixed to the periphery of the support plate 12 and are arranged around the center array of the support plate 12.

[0017] Specifically, the track 11 is designed in a circular ring structure, the bottom of which is fixed on a horizontal plane and always remains horizontal, for providing installation and support; the support plate 12 is designed in a circular structure, coaxially arranged at the inner center of the track 11, and the bottom of which is fixed on a horizontal plane; a plurality of support bars 13 are arranged in an array around the center of the support plate 12, and are fixed to the periphery of the support plate 12 by welding.

[0018] The robot arm assembly 20 includes a robot arm base 21, which is mounted on the upper part of the track 11. The contact part of the lower part of the robot arm base 21 with the track 11 is equipped with a universal wheel, so that it can move in a circle around the center of the support plate 12 along the track 11; a lifting device 22, which is mounted on the upper part of the robot arm base 21 and is used to adjust the telescopic distance of the robot arm assembly 20 in the vertical direction; a robot arm platform 23, which is mounted on the upper part of the lifting device 22 and is designed in a T-shaped structure; a counterweight 24, which is mounted on the rear end of the robot arm platform 23 and is used to adjust the vertical telescopic distance of the robot arm assembly 20. The front and rear of the robotic arm assembly 20 are kept balanced; the first-level telescopic arm 25 is assembled at the front end of the robotic arm platform 23, and can slide freely on the robotic arm platform 23; the second-level telescopic arm 26 is assembled at the front end of the first-level telescopic arm 25, and can slide freely on the first-level telescopic arm 25; the third-level telescopic arm 27 is assembled at the front end of the second-level telescopic arm 26, and can slide freely on the second-level telescopic arm 26; the universal robotic arm 28 is assembled at the front end of the third-level telescopic arm 27, and can swing freely at the front end of the third-level telescopic arm 27.

[0019] Specifically, the lower part of the robot arm base 21 is equipped with a universal wheel, which is assembled by sliding contact with the track 11, so that the robot arm assembly 20 can move in a circle along the track 11 around the center of the support plate 12; the lifting device 22 is assembled on the upper part of the robot arm base 21, and is used to adjust the telescopic distance of the robot arm assembly 20 in the vertical direction; the robot arm platform 23 is designed in a T-shaped structure, and its lower end is assembled on the upper part of the lifting device 22, and its front and rear ends are used to provide installation space for other components; the counterweight 24 is assembled on the rear end of the robot arm platform 23, and its weight is equal to the weight of the front end of the robot arm platform 23. The weight is matched to keep the front and rear of the robotic arm assembly 20 balanced; the first-level telescopic arm 25 is assembled to the front end of the robotic arm platform 23 through a slide, and can slide freely on the robotic arm platform 23; the second-level telescopic arm 26 is assembled to the front end of the first-level telescopic arm 25 through a slide, and can slide freely on the first-level telescopic arm 25; the third-level telescopic arm 27 is assembled to the front end of the second-level telescopic arm 26 through a slide, and can slide freely on the second-level telescopic arm 26; the universal robotic arm 28 is assembled to the front end of the third-level telescopic arm 27 through a rotating connection, and can swing freely at the front end of the third-level telescopic arm 27.

[0020] The working process of this embodiment: A method for using a device for calibrating a positioning line of a reinforcement component assembly of a large-sized workpiece comprises the following steps: Step 1. Lift the large-sized workpiece onto the base assembly 10 and manually fix its position; Step 2. Use the photographing device 50 to take a picture of the large-sized workpiece and generate a corresponding basic model; Step 3. Operate the master control device 60 to process the spatial position of the basic model and plan the scanning and acquisition path of the scanning detection device 30; Step 4. Drive the robotic arm assembly 20 to perform circular motion on the track 11 and control the posture of each robotic arm thereof, thereby driving the scanning and detection device 30 to scan and collect the point cloud of the workpiece along a preset path; Step 5. The master control device 60 performs processing operations based on the point cloud to determine the detailed model and spatial position of the workpiece; Step 6. The master control device 60 analyzes the input model information data and matches it with the measured point cloud model to plan a calibration path for the dotting and marking device 40; Step 7. Drive the robotic arm assembly 20 to perform circular motion on the track 11 and control the posture of each robotic arm, thereby driving the dotting and marking device 40 to calibrate the positioning line of the workpiece along a preset path; Step 8. After completing the calibration of the positioning line, the calibrated large-sized workpiece is lifted away from the base assembly 10.

[0021] Features of the present invention: The present invention assembles two robotic arm assemblies 20 on the upper part of the base assembly 10, and assembles a scanning detection device 30 and a dotting and marking device 40 at the front ends of the two robotic arm assemblies 20 respectively. A shooting device 50 and a master control device 60 are fixed to the side of the base assembly 10. During actual use, the shooting device 50 is used to determine the preliminary position and size parameters of a large-sized workpiece. The master control device 60 plans the travel path of the scanning detection device 30 according to the spatial position of the workpiece. The scanning detection device 30 forms point cloud data of the workpiece. The master control device 60 constructs a detailed model of the workpiece based on the point cloud analysis, and compares and analyzes the input workpiece model to determine the positioning line that needs to be calibrated for the workpiece model. The master control device 60 then plans the travel path of the dotting and marking device 40 based on the positioning line, and drives it to calibrate the positioning line of the workpiece along the preset path, thereby achieving high-precision calibration of large and complex workpieces. This technical solution replaces the traditional manual measurement method, effectively improving the construction accuracy of the assembly and strengthening of components of large and complex workpieces, and meeting the positioning accuracy of subsequent component positioning, installation, welding and other related work. In addition, this device is simple and convenient to operate, and easy to disassemble and maintain, effectively improving the construction efficiency of workers, thereby reducing the labor intensity and construction risks of workers.

[0022] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A device for calibrating the assembly positioning line of a reinforcement component of a large-size workpiece, characterized in that: A base assembly (10) is disposed on a horizontal surface and is used to provide installation and support; two mechanical arm assemblies (20) mounted on the upper part of the base assembly (10), with the front end thereof extending toward the center of the base assembly (10) and the rear end thereof being capable of performing circular motion around the center of the base assembly (10); A scanning detection device (30), mounted on a front end of one of the mechanical arm components (20), and used for scanning and collecting a point cloud of a workpiece; A dotting and marking device (40), mounted on the front end of another of the mechanical arm assemblies (20), for marking the positioning line of a workpiece; A photographing device (50) is fixedly mounted beside the base assembly (10) and is used to photograph the workpiece and generate a corresponding basic model; The master control device (60) is fixedly mounted beside the base assembly (10) and is used to control the posture of the mechanical arm assembly (20), plan the scanning and collecting path of the scanning and detecting device (30) and the calibration path of the dotting and marking device (40), and process the data collected by the scanning and detecting device (30) and the shooting assembly.

2. According to claim 1, a device for calibrating the assembly positioning line of a reinforcement component of a large-size workpiece is characterized in that: The base assembly (10) comprises: The track (11) is designed in a circular ring structure and is arranged on a horizontal plane for providing installation and support; The support plate (12) is designed to be circular in structure and is disposed inside the track (11) and arranged coaxially therewith; The support bars (13) are fixedly arranged on the periphery of the support plate (12) and surround the central array of the support plate (12).

3. The device for calibrating the assembly positioning line of a reinforcement component of a large-size workpiece according to claim 2, characterized in that: The mechanical arm assembly (20) comprises: A robot arm base (21) is mounted on the upper part of the track (11), and a universal wheel is mounted at the contact portion between the lower part and the track (11), so that the robot arm base (21) can move in a circle around the center of the support plate (12) along the track (11); A lifting device (22), mounted on the upper portion of the mechanical arm base (21), and used for adjusting the telescopic distance of the mechanical arm assembly (20) in the vertical direction; A mechanical arm platform (23) is mounted on the upper part of the lifting device (22) and has a T-shaped structure; A counterweight (24) mounted on the rear end of the mechanical arm platform (23) and used to keep the front and rear of the mechanical arm assembly (20) balanced; A first-stage telescopic arm (25) is mounted on the front end of the mechanical arm platform (23) and can slide freely on the mechanical arm platform (23); A secondary telescopic arm (26) is mounted on the front end of the primary telescopic arm (25) and can slide freely on the primary telescopic arm (25); A third-stage telescopic arm (27) is mounted on the front end of the second-stage telescopic arm (26) and can slide freely on the second-stage telescopic arm (26); The universal mechanical arm (28) is assembled at the front end of the three-stage telescopic arm (27) and can swing freely at the front end of the three-stage telescopic arm (27).

4. A method for using a device for calibrating the assembly positioning line of a reinforcement component of a large-size workpiece, characterized in that: According to claim 3, a device for calibrating the assembly positioning line of a reinforcement component of a large-sized workpiece comprises the following steps: Step 1. Lifting a large-sized workpiece onto the base assembly (10) and manually fixing its position; Step 2. Use the photographing device (50) to take a photo of the large-sized workpiece to generate a corresponding basic model; Step 3. operating the master control device (60) to process the spatial position of the basic model and plan a scanning and collecting path of the scanning detection device (30); Step 4. driving the robot arm assembly (20) to perform circular motion on the track (11), and controlling the posture of each robot arm thereof, thereby driving the scanning and detection device (30) to scan and collect the point cloud of the workpiece along a preset path; Step 5. The master control device (60) performs processing operations based on the point cloud to determine the detailed model and spatial position of the workpiece; Step 6. The master control device (60) analyzes the input model information data and matches it with the measured point cloud model, and plans a calibration path for the dotting and marking device (40); Step 7. driving the robot arm assembly (20) to perform circular motion on the track (11), and controlling the posture of each robot arm thereof, thereby driving the dotting and marking device (40) to calibrate the positioning line of the workpiece along a preset path; Step 8. After the calibration of the positioning line is completed, the calibrated large-size workpiece is lifted away from the base assembly (10).

Images