Self-adaptive feeding and discharging system in pipeline bending process based on mechanical arm

Abstract

The invention discloses a pipeline bending process self-adaptive feeding and discharging system based on a mechanical arm, and the system comprises a binocular vision detection system which is used for recognizing the posture and position of a pipeline; the mechanical arm is used for driving the flexible clamping mechanism to move; the flexible clamping mechanism is arranged on the mechanical arm, and the flexible clamping mechanism is used for clamping a pipe fitting; the mechanical arm tail end force control system is used for lightly touching the pipe fitting and inhibiting the vibration of the pipe fitting; and the controller is used for controlling the binocular vision detection system, the mechanical arm, the flexible clamping mechanism and the mechanical arm tail end force control system and is used for calculating the position of a grabbing point to determine a space attitude and performing track planning. The mechanical arm has the advantages that flexibility of the mechanical arm in the pipeline bending process can be achieved, self-adaption feeding and discharging are achieved, time waste of clamp replacement and path planning is reduced, and the production efficiency under the multi-variety and small-batch production mode is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical manufacturing and loading and unloading systems, and in particular to an adaptive loading and unloading system for a pipe bending process based on a robotic arm. Background Art

[0002] At present, in the process of automatic loading and unloading of pipelines, fixed-size rigid fixtures are mainly equipped at the end of the robot arm, and the traditional path planning method of on-site teaching or offline programming is adopted. However, due to the characteristics of aerospace products such as many varieties, small batches, complex spatial structure shapes, and high product precision requirements, fixed-size rigid fixtures are difficult to be compatible with pipelines of various specifications, and fixtures need to be replaced frequently. In addition, there is a certain jitter due to inertia after the pipeline is bent, which requires high clamping action. At the same time, the traditional path planning method requires manual path programming for each pipeline, which is inefficient and has high labor costs.

[0003] At present, the path planning of loading and unloading of the robot arm in the process of pipe bending is mainly based on on-site manual teaching. In view of the characteristics of aerospace products such as many varieties of pipes, small batches, complex spatial structure shapes, and high product precision requirements, the main problems are as follows: ① The on-site manual teaching process will cause the production line to be suspended, and there are certain quality requirements for operators; ② Path teaching is more suitable for large-scale, simple and repetitive product production, and it is difficult to meet the current production needs of multiple varieties and small batches; ③ For products with complex shapes and large spatial dimensions, the teaching programming process is complicated, takes a long time, has low production efficiency, and has high labor intensity; ④ During the teaching process, if human errors occur, it will cause collisions between the robot and the product or equipment, causing damage to the equipment and even threatening personnel safety; ⑤ The manual teaching process is mainly based on visual inspection, which will have certain errors and lead to deviation from the target; ⑥ There is jitter after the pipe bending is completed, and it takes a certain amount of time to clamp.

[0004] In summary, there is at least one of the following technical problems:

[0005] The on-site manual teaching process will cause the production line to be suspended and has certain quality requirements for operators;

[0006] Path teaching is more suitable for large-scale, simple and repetitive product production, and it is difficult to meet the current production needs of multiple varieties and small batches;

[0007] For products with complex shapes and large dimensions, the teaching programming process is complicated, takes a long time, has low production efficiency, and has high labor intensity;

[0008] During the teaching process, human errors may cause collisions between the robot and products or equipment, resulting in damage to the equipment and even threats to personnel safety.

[0009] The manual teaching process is mainly based on visual inspection, which may result in certain errors and deviation from the target;

[0010] There is some shaking after the pipe is bent, and it takes a certain amount of time to clamp it. Summary of the invention

[0011] The main purpose of the present invention is to provide an adaptive loading and unloading system for pipe bending process based on a robot arm, so as to solve the problems in the prior art that the on-site manual teaching process will cause the production line to be suspended and have certain quality requirements on the operator; path teaching is more suitable for large-scale, simple and repetitive product production, and it is difficult to meet the current production needs of multiple varieties and small batches; for products with complex shapes and large spatial dimensions, the teaching programming process is complicated, takes a long time, has low production efficiency, and has high labor intensity; during the teaching process, if human errors occur, it will cause collisions between the robot and the product or equipment, causing damage to the equipment and even threatening the safety of personnel; the manual teaching process is mainly based on visual inspection, and there will be certain errors, resulting in deviation from the target; there is jitter after the pipe bending is completed, and it is necessary to wait for a certain period of time before clamping. At least one of the technical problems.

[0012] In order to achieve the above object, according to one aspect of the present invention, a pipe bending process adaptive loading and unloading system based on a robot arm is provided, comprising:

[0013] A binocular vision detection system, which is used to identify the posture and position of the pipeline;

[0014] A mechanical arm, the mechanical arm is used to drive the flexible clamping mechanism to move;

[0015] A flexible clamping mechanism, wherein the flexible clamping mechanism is arranged on the mechanical arm and is used for clamping the pipe fitting;

[0016] A force control system at the end of the robot arm, which is used to lightly touch the pipe fittings to suppress the vibration of the pipe fittings;

[0017] The controller is used to control the binocular vision detection system, the robotic arm, the flexible clamping mechanism, the robotic arm end force control system, and to calculate the grasping point position to determine the spatial posture and perform trajectory planning.

[0018] Preferably, the flexible clamping mechanism uses a start-up flexible clamping claw, which is bent and deformed by inflation to adaptively cover the target object to perform a grasping action; and reversely deforms by vacuuming to perform placement or pre-grab.

[0019] Preferably, the controller includes a central processing unit, a binocular vision detection system control module, a robotic arm control module, a flexible clamping mechanism control module, a robotic arm end force control system control module, a data calculation module and a planning module, and the central processing unit is respectively connected to the binocular vision detection system control module, the robotic arm control module, the flexible clamping mechanism control module, the robotic arm end force control system control module, the data calculation module and the planning module.

[0020] Preferably, the binocular vision detection system control module is connected to the binocular vision detection system, the robotic arm control module is connected to the robotic arm, the flexible clamping mechanism control module is connected to the flexible clamping mechanism, and the robotic arm end force control system control module is connected to the robotic arm end force control system.

[0021] Preferably, the binocular vision inspection system is used to obtain the size, depth information and surface features of the pipe, and to collect information about the surrounding working environment and obstacle distribution information. The binocular vision inspection system transmits the collected information to the controller, and the controller performs spatial modeling of the working environment.

[0022] Preferably, the data calculation module of the controller is used to calculate the gripping position, establish a digital model of the pipe through pre-processing data, clarify the center of mass position of the pipeline, and make adaptive adjustments according to the center of mass position.

[0023] Preferably, the controller filters the image data through depth information, saves only the features within the threshold range, filters out complex background information, performs binarization and image filtering preprocessing operations on the bent pipe image, and uses a contour extraction algorithm to extract the bent pipe contour features. Then, based on the captured partial features and dimensions, the controller compares them with the bent pipe model in the digital model, maps the calculated grasping point position to the robot base coordinate system, and determines its spatial posture information.

[0024] Preferably, the controller performs spatial modeling of the working environment according to the robot's accessibility, obstacle avoidance constraints, motion smoothness and efficiency, obtains obstacle distribution information, and generates the robot's motion trajectory in combination with a trajectory generation algorithm.

[0025] Preferably, the controller establishes a digital model of the pipeline through pre-processing data, takes the center P0 of the straight pipe as the dividing point, divides the straight pipe into left and right sides, and calculates the centroid positions P1 and P2 of the curved pipe on both sides of the center point P0 of the straight pipe in combination with the known pipeline model processing data information, connects points P1 and P2 in space, and takes the midpoint P3 of the line as the spatial centroid point of the curved pipe, and makes a plane perpendicular to the line P1 and P2 through point P3. This plane will form an intersection P4 with the curved pipe, and P4 can be used as the grasping point of the curved pipe; when the grasping point just falls on the bend, the robot cannot grasp the curved pipe stably, and the grasping point needs to be translated along the axis of the curved pipe to both sides, and the translation distance is the sum of the pipe bending radius and the width of the clamp.

[0026] Preferably, the force control system at the end of the robotic arm is installed on the side of the robotic arm, and adopts a structure in which a force sensor is carried by a flexible material. The force control system at the end of the robotic arm uses the detection information of the sensor as a force feedback signal, and then converts it into a control signal of the robot. When executing the force control motion instruction, the controller adjusts the motion state and trajectory of the robot according to the size and direction of the force detected by the force control sensor, so that the robotic arm can suppress the shaking of the pipeline without rigid collision with the pipeline.

[0027] The application of the technical solution of the present invention has the following technical effects:

[0028] The present invention can realize the flexible and automatic loading and unloading of the robot arm during the pipe bending process. The pipeline adaptive loading and unloading system includes a flexible clamping mechanism at the end of the robot arm, a grasping position spatial posture mapping and trajectory planning, a grasping position calculation, and a grasping process vibration suppression system. The end flexible clamping mechanism adopts a pneumatic flexible clamping claw, which realizes bending deformation by inflation, adaptively covers the target object, and completes the grasping action; reverse deformation is realized by exhausting air to complete the placement action. The grasping position spatial posture mapping and trajectory planning establish a binocular vision detection system at the end of the robot, and simultaneously perform bending pipe size detection, depth information and surface feature extraction, perform spatial modeling of the working environment, obtain obstacle distribution information, and generate the robot's motion trajectory in combination with the algorithm. The grasping position calculation establishes a pipeline digital model through pre-processing data, clarifies the center of mass position of the pipeline, and adaptively adjusts it according to the center of mass position. The grasping process vibration suppression method touches the pipe fitting lightly through the force control system at the end of the robot arm to accelerate the cessation of pipeline vibration. It can realize the flexibility and adaptive loading and unloading of the robot arm in the pipe bending process, reduce the time waste of fixture replacement and path planning, greatly improve the production efficiency in the multi-variety and small batch production mode, and has wide applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0030] Figure 1 A schematic diagram of a space vision recognition system for the position and posture of a bent pipe grabbing point of a pipe bending process adaptive loading and unloading system based on a robot arm according to the present invention is shown;

[0031] Figure 2 Shows Figure 1 The grasping position calculation view of the adaptive loading and unloading system in the pipe bending process based on the robot arm;

[0032] Figure 3 Shows Figure 1 The hybrid position / force control view of the adaptive loading and unloading system of the pipe bending process based on the robot arm;

[0033] Figure 4 Shows Figure 1 View of the flexible gripper structure of the adaptive loading and unloading system in the robot-based pipe bending process.

[0034] The above drawings include the following reference numerals:

[0035] Flexible gripper 1; bent pipe 2; binocular vision inspection system 3. DETAILED DESCRIPTION

[0036] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0037] like Figures 1 to 4 As shown, an embodiment of the present invention provides an adaptive loading and unloading system for a pipe bending process based on a robotic arm, comprising: a binocular vision detection system 3, the binocular vision detection system 3 is used to identify the posture and position of the pipeline; a robotic arm, the robotic arm is used to drive the flexible clamping mechanism to move; a flexible clamping mechanism, the flexible clamping mechanism is arranged on the robotic arm, and the flexible clamping mechanism is used to clamp the pipe; a force control system at the end of the robotic arm, the force control system at the end of the robotic arm is used to lightly touch the pipe to suppress the vibration of the pipe; a controller, the controller is used to control the binocular vision detection system 3, the robotic arm, the flexible clamping mechanism, the force control system at the end of the robotic arm, and is used to calculate the position of the grasping point to determine the spatial posture and perform trajectory planning.

[0038] In this embodiment, a binocular vision detection system 3 is used to identify the posture and position of the pipeline; the control module of the binocular vision detection system 3 is connected to the binocular vision detection system 3, the mechanical arm control module is connected to the mechanical arm, the flexible clamping mechanism control module is connected to the flexible clamping mechanism, and the mechanical arm end force control system control module is connected to the mechanical arm end force control system. The binocular vision detection system 3 is used to obtain the size, depth information and surface features of the pipe fittings, and to collect information about the surrounding working environment and obtain obstacle distribution information. The binocular vision detection system 3 transmits the collected information to the controller, and the controller performs spatial modeling on the working environment.

[0039] In this embodiment, the mechanical arm is used to drive the flexible clamping mechanism to move;

[0040] In this embodiment, a flexible clamping mechanism is arranged on the robot arm, and the flexible clamping mechanism is used to clamp the pipe fittings; the flexible clamping mechanism starts the flexible clamping claw 1, which is deformed by inflation and bending to adaptively cover the target object to grasp the object; and is reversely deformed by vacuuming to place the object.

[0041] In this embodiment, the force control system at the end of the robot arm is used to lightly touch the pipe fitting to suppress the vibration of the pipe fitting; the force control system at the end of the robot arm is installed on the side of the robot arm, and adopts a structure in which a force sensor is carried on a flexible material. The force control system at the end of the robot arm uses the detection information of the sensor as a force feedback signal, and then converts it into a control signal of the robot. When executing the force control motion instruction, the controller adjusts the motion state and trajectory of the robot according to the size and direction of the force detected by the force control sensor, so that the robot arm can suppress the vibration of the pipeline without rigid collision with the pipeline.

[0042] In this embodiment, the controller is used to control the binocular vision detection system 3, the mechanical arm, the flexible clamping mechanism, the mechanical arm end force control system and the position of the grasping point to determine the spatial posture and perform trajectory planning. The controller includes a central processing unit, a binocular vision detection system 3 control module, a mechanical arm control module, a flexible clamping mechanism control module, a mechanical arm end force control system control module, a data calculation module and a planning module, and the central processing unit is respectively connected to the binocular vision detection system 3 control module, the mechanical arm control module, the flexible clamping mechanism control module, the mechanical arm end force control system control module, the data calculation module and the planning module. The data calculation module of the controller is used to calculate the grasping position, establish a digital model of the pipe fitting through pre-processing data, clarify the centroid position of the pipeline, and make adaptive adjustments according to the centroid position. The controller filters the image data through depth information, saves only the features within the threshold range, filters out complex background information, performs binarization and image filtering preprocessing operations on the elbow 2 image, and uses the contour extraction algorithm to extract the contour features of the elbow 2. Then, based on the captured partial features and dimensions, it is compared with the elbow 2 model in the digital model, and the calculated grasping point position is mapped to the robot base coordinate system to determine its spatial posture information. The controller performs spatial modeling of the operating environment based on the robot's accessibility, obstacle avoidance constraints, motion smoothness and efficiency, obtains obstacle distribution information, and generates the robot's motion trajectory in combination with the trajectory generation algorithm. The controller establishes a digital model of the pipeline through pre-processing data, takes the center P0 of the straight pipe as the dividing point, divides the straight pipe into left and right sides, and calculates the centroid positions P1 and P2 of the curved pipe 2 on both sides of the center point P0 of the straight pipe in combination with the known pipeline model processing data information, connects points P1 and P2 in space, and takes the midpoint P3 of the connecting line as the spatial centroid point of the curved pipe 2. Through point P3, make a plane perpendicular to the line connecting P1 and P2. This plane will form an intersection P4 with the curved pipe 2, and P4 can be used as the grasping point of the curved pipe 2. When the grasping point happens to fall at the bend, the robot cannot grasp the curved pipe 2 stably, and the grasping point needs to be translated along the axis of the curved pipe 2 to both sides, and the translation distance is the sum of the pipeline bending radius and the width of the clamp.

[0043] Specifically, a binocular vision detection system 3 is established at the end of the robot to simultaneously detect the size of the bent pipe 2, extract depth information and surface features, such as Figure 1As shown. Since the position and height of the bend 2 machine fixture are fixed, the robot uses a fixed posture and the same shooting height to shoot the bend 2 each time, and then filters the image data through depth information, only saving features within the threshold range and filtering out complex background information. The bend 2 image is preprocessed by binarization, image filtering, and the contour extraction algorithm is used to extract the contour features of the bend 2. Then, according to the captured partial features and dimensions, it is compared with the bend 2 model in the digital model, and the calculated grasping point position is mapped to the robot base coordinate system to determine its spatial posture information. Trajectory planning method: spatial modeling of the working environment, obtaining obstacle distribution information, and combining the algorithm to generate the robot's motion trajectory. In the planning process, the robot's accessibility, obstacle avoidance constraints, motion smoothness and efficiency are comprehensively considered to ensure the optimization and safety of the motion path.

[0044] Specifically, the grasping position calculation establishes a digital model of the pipeline through pre-processing data, takes the center of the straight pipe P0 as the dividing point, divides the straight pipe into left and right sides, and calculates the centroid positions P1 and P2 of the curved pipe 2 on both sides of point P0 in combination with the known pipeline model processing data information. Connect points P1 and P2 in space, and take the midpoint P3 of the connecting line as the spatial centroid of curved pipe 2. Make a plane perpendicular to the line connecting P1 and P2 through point P3. This plane will form an intersection P4 with curved pipe 2, and P4 can be used as the grasping point of curved pipe 2. Figure 2 When the grasping point falls on the bend, the robot cannot stably grasp the bend pipe 2, so the grasping point needs to be translated along the axis of the bend pipe 2 to both sides, and the translation distance is the sum of the pipe bending radius and the gripper width.

[0045] Specifically, the vibration suppression method during the grasping process is that after the pipe is bent, the pipe will continue to vibrate due to the bending inertia. Therefore, the robot arm needs to suppress the vibration before grasping to ensure the smooth grasping of the robot arm. It is planned to install a force control system on the robot arm to suppress the vibration. The vibration suppression mechanism is installed on the side of the robot arm. The force sensor is mounted on a flexible material. The detection information of the sensor is used as a force feedback signal, which is then converted into a control signal for the robot. When executing the force control motion command, the robot controller can adjust the robot's motion state and trajectory according to the size and direction of the force detected by the force control sensor, so that the robot arm can suppress the vibration of the pipeline without rigidly colliding with the pipeline. The robot force control strategy adopts a position / force mixed control method. The force and position of the robot workspace are distributed to each joint of the robot according to the Jacobian matrix in the Cartesian coordinate system. Its control structure is as follows: Figure 4 As shown. By selecting the matrix C, the robot's motion space is decomposed into force control space and position control space, and only one control mode is assigned to each joint, so that the force and position of the entire robot can be controlled separately, and the two control loops run independently without interfering with each other.

[0046] Specifically, the flexible clamping mechanism can select a flexible clamping claw 1 of corresponding size according to the pipeline specifications, as shown in the schematic diagram. Figure 4 As shown in the figure, it is an innovative flexible clamp that imitates the starfish design and simulates human hand grasping. The flexible gripper 1 has a special airbag structure inside, which realizes bending deformation through inflation, adaptively covers the target object, and completes the grasping action; it realizes reverse deformation through air extraction to complete the placement action; it has good compatibility, a wide range of categories, and gentle movements, which is suitable for grasping most objects. The design scheme of the pipeline adaptive loading and unloading system based on the robot arm solves the problem of low efficiency of automatic loading and unloading of traditional robot arms under the characteristics of multi-variety and small batch production. The design scheme of the pipeline adaptive loading and unloading system based on the robot arm includes flexible clamping at the end of the robot arm, spatial posture mapping and trajectory planning of the grasping position, grasping position calculation, and vibration suppression during the grasping process, so as to realize adaptive control of the whole process.

[0047] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0048] The present invention can realize the flexible and automatic loading and unloading of the robot arm during the pipe bending process. The pipeline adaptive loading and unloading system includes a flexible clamping mechanism at the end of the robot arm, a grasping position spatial posture mapping and trajectory planning, a grasping position calculation, and a grasping process vibration suppression system. The end flexible clamping mechanism adopts a pneumatic flexible clamping claw 1, which realizes bending deformation by inflation, adaptively covers the target object, and completes the grasping action; reverse deformation is realized by exhausting air to complete the placement action. The grasping position spatial posture mapping and trajectory planning are achieved by establishing a binocular vision detection system 3 at the end of the robot, and the size detection, depth information and surface feature extraction of the bent pipe 2 are performed at the same time, the working environment is spatially modeled, the obstacle distribution information is obtained, and the robot's motion trajectory is generated in combination with the algorithm. The grasping position calculation establishes a pipeline digital model through pre-processing data, clarifies the center of mass position of the pipeline, and adaptively adjusts it according to the center of mass position. The grasping process vibration suppression method touches the pipe fitting lightly through the force control system at the end of the robot arm to accelerate the stopping of pipeline vibration. It can realize the flexibility and adaptive loading and unloading of the robot arm in the pipe bending process, reduce the time waste of fixture replacement and path planning, greatly improve the production efficiency in the multi-variety and small batch production mode, and has wide applicability.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An adaptive loading and unloading system for pipe bending process based on a robotic arm, characterized in that: include: A binocular vision detection system, which is used to identify the posture and position of the pipeline; A mechanical arm, the mechanical arm is used to drive the flexible clamping mechanism to move; A flexible clamping mechanism, wherein the flexible clamping mechanism is arranged on the mechanical arm and is used for clamping the pipe fitting; A force control system at the end of the robot arm, which is used to lightly touch the pipe fittings to suppress the vibration of the pipe fittings; The controller is used to control the binocular vision detection system, the robotic arm, the flexible clamping mechanism, the robotic arm end force control system, and to calculate the grasping point position to determine the spatial posture and perform trajectory planning.

2. The adaptive loading and unloading system for pipe bending process based on a robot arm as claimed in claim 1, characterized in that: The flexible clamping mechanism uses a start-up flexible clamping claw, which is bent and deformed by inflation to adaptively cover the target object to grasp it; and reversely deforms by vacuuming to place it.

3. The adaptive loading and unloading system for pipe bending process based on a robot arm as claimed in claim 1, characterized in that: The controller includes a central processing unit, a binocular vision detection system control module, a robotic arm control module, a flexible clamping mechanism control module, a robotic arm end force control system control module, a data calculation module and a planning module. The central processing unit is respectively connected to the binocular vision detection system control module, the robotic arm control module, the flexible clamping mechanism control module, the robotic arm end force control system control module, the data calculation module and the planning module.

4. The adaptive loading and unloading system for pipe bending process based on a robot arm as claimed in claim 1, characterized in that: The binocular vision detection system control module is connected to the binocular vision detection system, the robotic arm control module is connected to the robotic arm, the flexible clamping mechanism control module is connected to the flexible clamping mechanism, and the robotic arm end force control system control module is connected to the robotic arm end force control system.

5. The adaptive loading and unloading system for pipe bending process based on a robot arm as claimed in claim 1, characterized in that: The binocular vision inspection system is used to obtain the size, depth information and surface features of the pipe, and to collect information about the surrounding working environment and obstacle distribution information. The binocular vision inspection system transmits the collected information to the controller, and the controller performs spatial modeling of the working environment.

6. The adaptive loading and unloading system for pipe bending process based on a robot arm as claimed in claim 1, characterized in that: The data calculation module of the controller is used to calculate the grasping position, establish a digital model of the pipe fitting through pre-processing data, clarify the centroid position of the pipeline, and make adaptive adjustments according to the centroid position.

7. The adaptive loading and unloading system for pipe bending process based on a robot arm as claimed in claim 1, characterized in that: The controller filters the image data through depth information, only saves the features within the threshold range, filters out complex background information, performs binarization and image filtering preprocessing operations on the bent pipe image, and uses a contour extraction algorithm to extract the bent pipe contour features. Then, based on the captured partial features and dimensions, the controller compares them with the bent pipe model in the digital model, maps the calculated grasping point position to the robot base coordinate system, and determines its spatial posture information.

8. The adaptive loading and unloading system for pipe bending process based on a robot arm as claimed in claim 1, characterized in that: The controller performs spatial modeling of the working environment according to the robot's reachability, obstacle avoidance constraints, motion smoothness and efficiency, obtains obstacle distribution information, and generates the robot's motion trajectory in combination with the trajectory generation algorithm.

9. The adaptive loading and unloading system for pipe bending process based on a robot arm as claimed in claim 1, characterized in that: The controller establishes a digital model of the pipeline through pre-processing data, takes the center P0 of the straight pipe as the dividing point, divides the straight pipe into left and right sides, and calculates the centroid positions P1 and P2 of the curved pipes on both sides of the center point P0 of the straight pipe in combination with the known pipeline model processing data information, connects points P1 and P2 in space, and takes the midpoint P3 of the connecting line as the spatial centroid point of the curved pipe, and makes a plane perpendicular to the line connecting P1 and P2 through point P3. This plane will form an intersection P4 with the curved pipe, and P4 can be used as the grasping point of the curved pipe; when the grasping point just falls on the bend, the robot cannot grasp the curved pipe stably, and translates the grasping point along the axis of the curved pipe to both sides, and the translation distance is the sum of the pipe bending radius and the width of the clamp.

10. The adaptive loading and unloading system for pipe bending process based on a robot arm as claimed in claim 1, characterized in that: The force control system at the end of the robotic arm is installed on the side of the robotic arm. It adopts a structure in which a force sensor is carried on a flexible material. The force control system at the end of the robotic arm uses the detection information of the sensor as a force feedback signal, and then converts it into a control signal of the robot. When executing the force control motion instruction, the controller adjusts the motion state and trajectory of the robot according to the size and direction of the force detected by the force control sensor, so that the robotic arm can suppress the shaking of the pipeline and does not have a rigid collision with the pipeline.

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