Method and system for quickly reproducing folded pipe

Abstract

The invention relates to a closure pipe rapid reproduction method and system, and the method comprises the steps: obtaining the space coordinates of all preset point positions of a to-be-closure closure pipe through optical equipment, constructing a three-dimensional model of a reference closure pipe through simulation software, and determining a three-dimensional model of a to-be-reproduced closure pipe required by the reference closure pipe, and the parameters and the pipeline path of the to-be-reproduced folding pipe are further obtained. Virtual butt joint is carried out through analogue simulation to judge whether errors exist or not, after butt joint succeeds, a closed pipe object to be reproduced can be generated according to a three-dimensional model of the closed pipe to be reproduced, and finally butt joint of the closed pipe object to be reproduced is achieved through a cantilever lifting mechanism and a seven-axis posture adjusting mechanism. The to-be-reproduced folding pipe is virtually assembled through analogue simulation, so that the assembly error generated by field manufacturing can be reduced, and multiple reworking caused by pose correction compensation after the folding pipe is manufactured is avoided. And when the three-dimensional model of the to-be-reproduced folding pipe is constructed, virtual operation is carried out, the manufacturing requirement of a complex shape can be met, and the adaptability in production is improved.

Description

Technical Field

[0001] The present application relates to the technical field of flange docking, and in particular to a method and system for quickly reproducing a closed pipe. Background Art

[0002] In the shipbuilding process, the manufacturing technology of the closed pipe has the following disadvantages: 1. Difficulty in manufacturing: The closed pipe is usually made of pipeline materials through processing, welding and other processes, which require professional skills and experience. The production of closed pipes requires precise size control and welding technology, and unqualified production will result in poor quality of pipeline connection. 2. High labor operation cost: The production of closed pipes requires a lot of manual operations, including measurement, cutting, processing, welding and other steps. These operations require well-trained workers to carry out, and the operation process is cumbersome, time-consuming and labor-intensive. 3. Welding defect problem: Welding is one of the important processes for making closed pipes, but there is a risk of welding defects in the welding process, such as weld hot cracks, pores, slag inclusions, etc. These welding defects will seriously affect the connection quality and service life of the closed pipe. 4. Difficulty in size control: Accurate size control of the closed pipe is crucial for the stability and sealing of the connection. However, in the manufacturing process, size control is difficult. Because the pipeline material is prone to size deformation during the processing, additional measures are required to ensure that the size of the closed pipe meets the requirements. 5. Not suitable for complex shapes: Some ship structures have relatively complex shapes, such as curved shapes, multi-angle connections, etc., and the use of traditional closed tube manufacturing technology will face great difficulties. Traditional technology cannot meet the production requirements of these complex shapes, resulting in low work efficiency or unsatisfactory connection quality. Summary of the invention

[0003] In order to at least to some extent overcome the problems of the manufacturing technology of the closed tube in the related art, such as high manufacturing difficulty, high manual operation cost, welding defects, difficulty in size control, and unsuitability for complex shapes, the present application provides a method and system for quickly reproducing a closed tube.

[0004] The scheme of this application is as follows:

[0005] According to a first aspect of an embodiment of the present application, a method for quickly reproducing a closed tube is provided, comprising:

[0006] Obtain the spatial coordinates of each preset point of the reference closing pipe;

[0007] Constructing a three-dimensional model of the reference closed tube according to the spatial coordinates of each preset point of the reference closed tube;

[0008] Determine the butt jointing method between the reference closed tubes according to the three-dimensional model of the reference closed tube;

[0009] Determine the required closed pipe to be reproduced according to the butt joint mode between the reference closed pipes;

[0010] Determining the parameters and pipeline path of the closed pipe to be reproduced;

[0011] Generating a three-dimensional model of the closed pipe to be reproduced according to the parameters and pipeline path of the closed pipe to be reproduced;

[0012] Virtually docking the three-dimensional model of the closed pipe to be reproduced;

[0013] Determine whether the docking error meets the preset requirements;

[0014] When the docking error meets the preset requirements, the parameters and pipeline path of the closed pipe to be reproduced are sent to the production workshop, so that the production workshop produces the actual closed pipe to be reproduced;

[0015] The physical object of the closed pipe to be reproduced is placed into the space where the seven-axis posture adjustment mechanism is located by a cantilever lifting mechanism, and the real-time coordinates of each preset point of the physical object of the closed pipe to be reproduced are obtained;

[0016] According to the real-time coordinates of each preset point of the actual closed pipe to be reproduced, the position of the actual closed pipe to be reproduced is reproduced and docked through a seven-axis posture adjustment mechanism.

[0017] Preferably, the method further comprises:

[0018] When the docking error does not meet the preset requirements, determine the deviation data;

[0019] Adjusting the parameters and pipeline path of the closed pipe to be reproduced according to the deviation data;

[0020] The three-dimensional model of the closed pipe to be reproduced is updated according to the adjusted parameters and pipeline path of the closed pipe to be reproduced;

[0021] It is determined whether the docking error of the updated three-dimensional model of the closed pipe to be reproduced meets the preset requirements.

[0022] Preferably, the method further comprises:

[0023] Generate customized receipt images according to user requirements, including format, content and layout;

[0024] The ticket diagram is used to display the parameters of the closed pipe to be reproduced, the pipeline path, and the production process of the actual closed pipe to be reproduced.

[0025] Preferably, determining the required closed tube to be reproduced according to the butt jointing mode between the reference closed tubes includes:

[0026] Determine if user-defined criteria exist;

[0027] If there is no user-defined standard, the to-be-reproduced closed tube corresponding to the butt jointing mode between the reference closed tubes is matched in the process database according to the preset standard;

[0028] If there is a user-defined standard, the to-be-reproduced closed tube corresponding to the butt jointing mode between the reference closed tubes is matched in the process database according to the user-defined standard;

[0029] The preset standards at least include: flange, elbow, reducer, bend and assembly error standards;

[0030] The user-defined standard is a standard entered by a user, or a standard modified and adjusted by a user from an existing preset standard.

[0031] Preferably, determining the parameters of the closed pipe to be reproduced includes:

[0032] Receive the process requirements of the closed pipe to be reproduced entered by the user; the process requirements of the closed pipe to be reproduced at least include: the type, accuracy, size and material of the closed pipe to be reproduced;

[0033] According to the process requirements of the closed pipe to be reproduced input by the user, the parameters of the closed pipe to be reproduced are determined.

[0034] Preferably, if the closed pipe to be reproduced is a straight pipe section or a pipe section of a different diameter, the parameters of the closed pipe to be reproduced are determined directly according to the process requirements of the closed pipe to be reproduced entered by the user;

[0035] If the closed pipe to be reproduced is a bent pipe section, the elbow type and angle requirement entered by the user are received, and the parameters of the closed pipe to be reproduced are determined according to the process requirements and elbow type and angle requirements entered by the user.

[0036] Preferably, determining the pipeline path of the closed pipe to be restored includes:

[0037] Receive the coordinates of the start and end points of the closed pipe to be reproduced entered by the user;

[0038] The corresponding pipe segment fitting calculation parameters are calculated according to the starting and ending point coordinates of the closed pipe to be reproduced input by the user; the calculation parameters include: bending radius, fitting angle and pipe segment length.

[0039] A parts engineering drawing of the closed pipe to be reproduced is generated based on the calculation parameters, and a pipeline path of the closed pipe to be reproduced is obtained.

[0040] Preferably, determining the pipeline path of the closed pipe to be restored includes:

[0041] According to the pipeline graphics drawn by the user, the pipeline path of the closed pipe to be reproduced is obtained.

[0042] Preferably, after generating the three-dimensional model of the closed pipe to be reproduced according to the parameters and pipeline path of the closed pipe to be reproduced, the method further comprises:

[0043] The straight pipe fittings and the bent pipe fittings in the three-dimensional model of the closed pipe to be reproduced are separated to obtain a plurality of closed pipe assembly units to be reproduced.

[0044] According to a second aspect of an embodiment of the present application, a system for rapid reproduction of a closed pipe is provided, comprising:

[0045] Optical measurement system, cantilever lifting mechanism and seven-axis attitude adjustment mechanism;

[0046] The optical measurement system is used to perform the method for rapid reproduction of closed tubes as described in any one of the above items;

[0047] The cantilever lifting mechanism is used to place the actual object of the closed pipe to be reproduced into the space where the seven-axis posture adjustment mechanism is located;

[0048] The seven-axis posture adjustment mechanism is used to dock the actual closed pipe to be reproduced.

[0049] The technical solution provided by this application may have the following beneficial effects:

[0050] The method for quickly reproducing a closed pipe in the present application includes: obtaining the spatial coordinates of each preset point of the reference closed pipe; constructing a three-dimensional model of the reference closed pipe according to the spatial coordinates of each preset point of the reference closed pipe; determining the docking mode between the reference closed pipes according to the three-dimensional model of the reference closed pipe; determining the required closed pipe to be reproduced according to the docking mode between the reference closed pipes; determining the parameters and pipeline path of the closed pipe to be reproduced; generating the three-dimensional model of the closed pipe to be reproduced according to the parameters and pipeline path of the closed pipe to be reproduced; and converting the three-dimensional model of the closed pipe to be reproduced into the three-dimensional model of the closed pipe to be reproduced. The model is virtually docked; whether the docking error meets the preset requirements is determined; when the docking error meets the preset requirements, the parameters and pipeline paths of the pipe to be reproduced and closed are sent to the production workshop, so that the production workshop produces the actual pipe to be reproduced and closed; the actual pipe to be reproduced and closed is placed into the space where the seven-axis attitude adjustment mechanism is located through the cantilever lifting mechanism, and the real-time coordinates of the preset points of the actual pipe to be reproduced and closed are obtained; according to the real-time coordinates of the preset points of the actual pipe to be reproduced and closed, the actual pipe to be reproduced and closed is docked through the seven-axis attitude adjustment mechanism.

[0051] In the technical solution, by constructing a three-dimensional model of the reference closed pipe, the three-dimensional model of the closed pipe to be reproduced required by the reference closed pipe can be determined, and then the parameters and pipeline path of the closed pipe to be reproduced can be obtained. Through simulation, virtual docking is performed to determine whether there is an error. After the docking is successful, the physical object of the closed pipe to be reproduced can be generated according to the three-dimensional model of the closed pipe to be reproduced, and finally the docking of the physical object of the closed pipe to be reproduced is realized through the cantilever lifting mechanism and the seven-axis posture adjustment mechanism. The whole process has low manufacturing difficulty, low manual operation cost, and significantly improved implementation efficiency. Through simulation, virtual assembly of the closed pipe to be reproduced can reduce the assembly error caused by on-site manufacturing to a certain extent, thereby avoiding multiple rework caused by posture correction compensation after the closed pipe is manufactured. And because the technical solution in this application is a virtual operation when constructing the three-dimensional model of the closed pipe to be reproduced, with the assistance of the system, the production requirements of complex shapes can be easily realized, and the adaptability in production is improved.

[0052] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0054] Figure 1 It is a schematic flow chart of a method for quickly reproducing a closed pipe provided by an embodiment of the present application;

[0055] Figure 2 It is a structural schematic diagram of a closed pipe rapid reproduction system provided by an embodiment of the present application;

[0056] Figure 3 It is a structural schematic diagram of another closed pipe rapid reproduction system provided by an embodiment of the present application.

[0057] Reference numerals: base walking and transplanting mechanism-1; base rotating mechanism-2; workpiece chuck pitching and swinging mechanism-3; workpiece chuck rotating mechanism-4; workpiece chuck-5; optical measuring system-6; cantilever lifting mechanism-7. DETAILED DESCRIPTION

[0058] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0059] Embodiment 1

[0060] Figure 1 is a flow chart of a method for rapid reproduction of a closed pipe provided by an embodiment of the present application, referring to Figure 1 , a method for quickly reproducing a closed tube, comprising:

[0061] S1: Obtain the spatial coordinates of each preset point of the reference closing pipe;

[0062] S2: constructing a three-dimensional model of the reference closed tube according to the spatial coordinates of each preset point of the reference closed tube;

[0063] S3: determining the docking method between the reference closed tubes according to the three-dimensional model of the reference closed tube;

[0064] S4: Determine the required closed pipe to be reproduced according to the butt jointing mode between the reference closed pipes;

[0065] S5: Determine the parameters and pipeline path of the closed pipe to be reproduced;

[0066] S6: generating a three-dimensional model of the closed pipe to be reproduced according to the parameters of the closed pipe to be reproduced and the pipeline path;

[0067] S7: Virtually docking the three-dimensional model of the closed pipe to be reproduced;

[0068] S8: Determine whether the docking error meets the preset requirements;

[0069] S9: When the docking error meets the preset requirements, the parameters and pipeline path of the closed pipe to be reproduced are sent to the production workshop, so that the production workshop produces the actual closed pipe to be reproduced;

[0070] S10: placing the actual object of the closed pipe to be reproduced into the space where the seven-axis posture adjustment mechanism is located through the cantilever lifting mechanism, and obtaining the real-time coordinates of each preset point of the actual object of the closed pipe to be reproduced;

[0071] S11: According to the real-time coordinates of each preset point of the actual closed pipe to be reproduced, the position of the actual closed pipe to be reproduced is reproduced and docked through the seven-axis posture adjustment mechanism.

[0072] The method also includes:

[0073] When the docking error does not meet the preset requirements, determine the deviation data;

[0074] Adjust the parameters and pipeline path of the closed pipe to be reproduced according to the deviation data;

[0075] The three-dimensional model of the closed pipe to be reproduced is updated according to the adjusted parameters and pipeline path of the closed pipe to be reproduced;

[0076] It is determined whether the docking error of the updated three-dimensional model of the closed pipe to be reproduced meets the preset requirements.

[0077] In the technical solution, virtual docking is used for continuous debugging until the docking error between the three-dimensional model of the closed tube to be reproduced and the three-dimensional model of the reference closed tube meets the preset requirements, thereby reducing the occurrence of welding defects and size problems.

[0078] The following is a detailed description of each step in this technical solution:

[0079] In specific practice, the spatial coordinates of each preset point of the reference closing tube can be obtained by a binocular vision camera. Preferably, two binocular vision cameras are arranged on both sides of the reference closing tube to better obtain the spatial coordinates of each preset point of the reference closing tube.

[0080] The feature point device and auxiliary accessories are installed at each preset point of the reference closing tube, and connected with a folding marking rod to obtain the spatial coordinates of each preset point of the reference closing tube. The feature point device is marked with feature points that are equidistant and angularly distributed. According to the size of the reference closing tube, 3 or more feature point devices can be freely set to facilitate the software to identify the center coordinate value of the feature point when analyzing the point cloud data. The equipment is equipped with a folding marking rod, which can replace the marking points pasted on site, and can greatly reduce the scanned point cloud data, improving the operation efficiency and calculation efficiency on site.

[0081] In this embodiment, the flange diameter that can be measured by the binocular vision camera is DN10-DN750 (applicable standards GB9119\GB2506\GB9124\CBM and other relevant standards).

[0082] The reference closing tube center distance measurement range is 400~2000mm.

[0083] The measurement range of the binocular vision camera is required to be less than 3.5m from the center of the equipment to the center of the two flanges.

[0084] The viewing angle of the binocular vision camera is less than 45°.

[0085] The weight of the binocular vision camera device (host) should be less than 2.5kg, the on-site measurement error should be within 2mm, the single-point repeatability of the detection data acquisition end should be less than 0.030mm, the laser category is Class II (eye safety), and the minimum resolution is 0.020mm. The operating temperature is 0-40℃, and the interface is USB3.0.

[0086] The output formats of binocular vision camera devices include: .stl, .ply, .obj, .igs, wrl, .xyz, .dae, .fbx, .ma, .asc, etc., which can be customized.

[0087] The operating system of the equipment terminal is WIN7, and the system operating platform and graphic tools use AutoCAD 2014. It has a dedicated mobile phone and application (APP), and Bluetooth directly receives on-site measurement data.

[0088] The software used in this technical solution is the closed pipe measurement system software, which includes: closed pipe analysis software, closed pipe process database and drawing software. The function of the closed pipe analysis software is: after obtaining the spatial coordinates (point cloud data) of each preset point of the reference closed pipe, it will analyze the distribution of the feature points in the point cloud data in detail and find out the mutual spatial coordinate data information of the feature points. The closed pipe process database and drawing software automatically draw the direction and three-dimensional model of the closed pipe to be reproduced based on the coordinate information of the feature points and the pipe process database in the system.

[0089] The main interface of the closed pipe measurement system software mainly includes: menu, toolbar, project manager, property window, output window, display window and status bar, etc.

[0090] The detailed description of each interface is as follows:

[0091] (1) Menu and toolbar: Menu and toolbar are the main operation entrance of the software. They are classified according to functional modules to facilitate user positioning and use. The order of menus and toolbars can be moved or dragged according to the actual needs of users. Users can name the two ports of the pipe according to their needs. It is recommended to be concise and easy to manage.

[0092] (2) Project Manager, Property Window and Output Window: The Project Manager, Property Window and Output Window are the core interface elements of the software. The Project Manager can integrate and manage the various elements in the design process, the Property Window can display and edit the properties of each element, and the Output Window can display the digital model data of the closed tube and other related information.

[0093] (3) Display window: The display window is the main display interface of the software, integrating 3D display and 2D display to achieve visual display and design. The display window needs to support 3D viewing, zooming, rotation and other operations so that users can operate and adjust design elements.

[0094] (4) Status bar: The status bar can display the current status of the software and the progress of the operation, operation results and error messages, etc., so that users can understand the operation status.

[0095] It should be noted that the present technical solution also performs preprocessing on the spatial coordinates of each preset point of the reference closing pipe, that is, the point cloud data, which specifically includes:

[0096] Automatically identify the data type of point cloud data (flange, elbow, reducer, elbow, etc.) and convert it into a data format that can be processed within the software. Upload the measured data to the computer-aided design software for preprocessing, and perform data analysis and optimization according to design requirements.

[0097] Import the point cloud data into computer-aided design software and perform formatting and standardization processing as needed, such as converting the data into STL format, CAD format, etc.

[0098] Clean and filter the point cloud data, remove unnecessary parts and noise, and smooth and reconstruct the data to ensure data accuracy and consistency.

[0099] It should be noted that the process database is a standard process database for the production of closed pipes, which includes the shipyard's pipe bending and production process requirements and standard information on pipe accessories. The process database, that is, the software standard library, is the core part of the closed pipe design software. It includes the programming and implementation of commonly used flanges, elbows, steel pipes, and pipe bending machine standards. It can simultaneously meet the needs of measuring and producing multiple batches of different closed pipes, including the pipe fittings (straight pipes, connecting elbows, etc.) used between the closed pipe flanges, and matching calls are made when the connecting pipe model is fitted. It is automatically connected when the system is started, and the matching model can be imported when it is called. The software also has the functions of option configuration, measurement and fitting of closed pipes, output and printing of processing parameters and control files.

[0100] It should be noted that the required closed pipes to be reproduced are determined according to the butt jointing mode between the reference closed pipes, including:

[0101] Determine if user-defined criteria exist;

[0102] If there is no user-defined standard, the to-be-reproduced closed tube corresponding to the butt jointing mode between the reference closed tubes is matched in the process database according to the preset standard;

[0103] If there is a user-defined standard, the to-be-reproduced closed tube corresponding to the butt jointing mode between the reference closed tubes is matched in the process database according to the user-defined standard;

[0104] The preset standards include at least: flange, elbow, reducer, bend and assembly error standards;

[0105] User-defined standards are standards entered by the user, or standards modified and adjusted by the user from existing preset standards.

[0106] When designing pipe fittings, users can choose preset standards or custom standards. The software will automatically match and calculate the corresponding parts and manufacturing parameters according to the selected standards to facilitate the pipe fitting manufacturing process. It mainly presents three operating modes:

[0107] (1) Standard preset

[0108] The software can be preset. The built-in commonly used preset contents include flanges, elbows, reducers, bends and assembly error standards. These preset standards can be combined with the core part of the software for the design and manufacture of pipe fittings.

[0109] (2) Standard reading, importing, and searching

[0110] Parameter reading: The software can read the position parameters of the flange and the pipe mouth measured by the closed pipe flange welding posture adjustment mechanism system, support various standard round flanges, shaped elbows, elbows, reducers and other parts, automatically find the flange model according to the selected standard, fit the parameters of the elbow, output the pipe part drawing, and calculate the control parameters of the reproduction machine. In the pipeline manufacturing process, the reproduction machine is generally used to assemble the parts of the pipeline into a complete pipeline, so the control parameters of the reproduction machine are crucial to the quality and efficiency of pipeline manufacturing. The software supports users to input the design parameters of the pipeline and automatically calculates the control parameters of the reproduction machine, such as flange end face position, processing speed, assembly sequence, rack adjustment, etc., to achieve efficient and accurate pipeline manufacturing.

[0111] Users can input their own standard parameters into the software through the custom standard input function. Users can choose to input their own standard parameters or modify and adjust the existing standard parameters to meet different actual needs.

[0112] It should be noted that the method also includes:

[0113] Generate customized receipt images based on user requirements; user requirements include: format, content and layout;

[0114] The ticket diagram is used to display the parameters of the closed pipe to be reproduced, the pipeline path, and the production process of the actual closed pipe to be reproduced.

[0115] In this technical solution, the software also supports the customization of receipt drawings to meet different user needs. Receipt drawings are an important part of the pipeline manufacturing process. They can fully and clearly present the pipeline manufacturing process and help manufacturing workers to accurately and efficiently complete the production of pipelines. The software supports users to customize the format, content and layout of receipt drawings according to their actual needs, so as to better meet the needs of different users.

[0116] It should be noted that the parameters of the closed pipe to be reproduced include:

[0117] Receive the process requirements of the closed pipe to be reproduced entered by the user; the process requirements of the closed pipe to be reproduced at least include: the type, accuracy, size and material of the closed pipe to be reproduced;

[0118] The parameters of the closed pipe to be reproduced are determined according to the process requirements of the closed pipe to be reproduced input by the user.

[0119] It should be noted that in this technical solution, a variety of option settings are provided, such as the type, accuracy, size, material, etc. of the closed pipe. Users can set them according to different needs and save them for easy use next time. This function can ensure that users meet all design and programming needs in terms of determining measurement errors, priority selection, elbow connection methods, pipe position in flanges, and other option configurations.

[0120] The software design and programming functions cover the entire process of measurement, matching, input, calculation and output, including: setting the measurement flange data, importing and exporting the closed tube, re-fitting the flange and recalculating, parameters and adjustment of each part of the closed tube, exchange of flange sequence, flange mirroring, etc. The design and programming of the closed tube measurement and fitting functions also include the output of the processing parameters and control files of the closed tube, display of drawings, print preview, printing and other functions.

[0121] It should be noted that the pipes to be restored and closed include straight pipe sections, reduced-diameter pipe sections and curved pipe sections.

[0122] If the pipe to be restored is a straight pipe section or a pipe section with a different diameter, the parameters of the pipe to be restored are determined directly according to the process requirements of the pipe to be restored entered by the user;

[0123] If the closed pipe to be reproduced is a bent pipe section, the elbow type and angle requirements entered by the user are received, and the parameters of the closed pipe to be reproduced are determined according to the process requirements and elbow type and angle requirements entered by the user.

[0124] In this technical solution, data measurement and calculation can be realized according to the parameters such as the size and material of the closed pipe input by the user. It supports the calculation of straight pipe sections or pipe sections with different diameters with or without flanges, as well as curved pipe sections with up to two elbows. According to different pipe forms, the data calculation and processing methods are as follows:

[0125] (1) Calculation of straight pipe sections or pipe sections with different diameters: The software supports the calculation of straight pipe sections or pipe sections with different diameters with or without flanges. Users can select different standards and sizes for calculation and customize the corresponding parameters according to actual needs. The software can automatically calculate the drawings and technical parameters of the pipeline components based on the input data, and support automatic optimization of the design and calculation results.

[0126] (2) Calculation of elbow sections: The software supports the calculation of elbow sections with up to two elbows. Users can select different elbow types and angles and customize the corresponding parameters according to actual needs. The software can automatically calculate the drawings and technical parameters of the pipeline components and provide the function of automatically optimizing the design and calculation results.

[0127] Regardless of whether it is a straight pipe section, a pipe section with a different diameter or a curved pipe section, the software can measure and fit it through the model fitting construction process, generate pipelines and obtain component drawings.

[0128] The pipeline path fitting calculation of the closed pipe to be reproduced can be automatically calculated or directly designed by the user. The specific contents of the two operation modes are as follows:

[0129] 1) Automatic calculation:

[0130] Receive the coordinates of the start and end points of the closed pipe to be reproduced entered by the user;

[0131] The corresponding pipe segment fitting calculation parameters are calculated according to the starting and ending point coordinates of the closed pipe to be reproduced input by the user; the calculation parameters include: bending radius, fitting angle and pipe segment length.

[0132] A part engineering drawing of the closed pipe to be reproduced is generated based on the calculation parameters, and a pipeline path of the closed pipe to be reproduced is obtained.

[0133] The user can input the starting and ending point coordinates of the pipeline, and the software will automatically calculate the corresponding pipe segment fitting calculation parameters, which may include bending radius, fitting angle, pipe segment length, etc. The software will automatically generate the pipeline part engineering drawing based on the calculation parameters, and provide automatic optimization design and calculation functions.

[0134] 2) User-directed design:

[0135] According to the pipeline graphics drawn by the user, the pipeline path of the closed pipe to be reproduced is obtained.

[0136] If the user does not want to use the automatic calculation function, he can also manually design the pipeline path of the closed pipe to be reproduced. The software supports users to freely draw pipeline graphics, including straight segments, elbows, flanges and other parts. Users can manually adjust the curvature and length of each pipe segment according to actual needs to achieve better fitting calculation results. The software will automatically generate the corresponding pipeline parts drawing based on the data manually entered by the user, and provide automatic optimization design and calculation functions.

[0137] It should be noted that after obtaining the pipeline path of the closed pipe to be reproduced, a closed pipe model is generated according to the direction of the axial centerline of the closed pipe to be reproduced and the size of the inner and outer diameters of the pipe fittings. When the parameters for generating the closed pipe to be reproduced are determined, the length of the straight pipe fittings and the bending angle of the elbow can be slightly adjusted to make it more suitable for the actual assembly scenario.

[0138] It should be noted that after generating the three-dimensional model of the closed pipe to be reproduced according to the parameters of the closed pipe to be reproduced and the pipeline path, the method further includes:

[0139] The straight pipe fittings and the bent pipe fittings in the three-dimensional model of the closed pipe to be reproduced are separated to obtain a plurality of closed pipe combination units to be reproduced.

[0140] In the technical solution, the straight pipe fittings and the bent pipe fittings in the three-dimensional model of the closed pipe to be reproduced can also be separated to obtain a plurality of combined units of the closed pipe to be reproduced, which is convenient for production and processing.

[0141] It should be noted that the software used in this technical solution has a three-dimensional view function, which allows users to display and view the shape of the pipe section in three-dimensional space. Users can obtain a full range of views through operations such as zooming and rotating, and select different viewing angles and angles as needed to better observe the shape of the pipeline.

[0142] The software also supports the display of 2D part drawings. Through the 2D view, users can display and view the pipeline component drawings more clearly. The software can automatically generate a plan view of the pipeline and mark the name, size and parameters of each part so that users can better understand and grasp the composition and characteristics of the pipeline.

[0143] The software also provides a printing function so that users can view and output relevant data, such as design drawings, certificates of conformity, etc. The measurement data and results can be archived for subsequent use and inquiry. Important data can also be backed up and encrypted.

[0144] The method also includes:

[0145] During the production process of the closed tube to be reproduced, the size and position of the closed tube to be reproduced are monitored in real time.

[0146] In this technical solution, the size and position of the pipe to be reproduced are monitored in real time, thereby ensuring the accuracy and quality of the pipe to be reproduced. By acquiring the monitoring data in real time, the manufacturing parameters of the pipe to be reproduced can be automatically adjusted to achieve fully automatic and efficient pipeline manufacturing.

[0147] It should be noted that the implementation end of this technical solution communicates with the binocular vision camera through the network, serial port, USB, etc. to achieve data transmission and sharing. It communicates with the cantilever lifting mechanism and the seven-axis posture adjustment mechanism through the network, serial port, USB, etc. to achieve data transmission and sharing.

[0148] In the technical solution, by constructing a three-dimensional model of the reference closed pipe, the three-dimensional model of the closed pipe to be reproduced required by the reference closed pipe can be determined, and then the parameters and pipeline path of the closed pipe to be reproduced can be obtained. Through simulation, virtual docking is performed to determine whether there is an error. After the docking is successful, the physical object of the closed pipe to be reproduced can be generated according to the three-dimensional model of the closed pipe to be reproduced, and finally the docking of the physical object of the closed pipe to be reproduced is realized through the cantilever lifting mechanism and the seven-axis posture adjustment mechanism. The whole process has low manufacturing difficulty, low manual operation cost, and significantly improved implementation efficiency. Through simulation, virtual assembly of the closed pipe to be reproduced can reduce the assembly error caused by on-site manufacturing to a certain extent, thereby avoiding multiple rework caused by posture correction compensation after the closed pipe is manufactured. And because the technical solution in this application is a virtual operation when constructing the three-dimensional model of the closed pipe to be reproduced, with the assistance of the system, the production requirements of complex shapes can be easily realized, and the adaptability in production is improved.

[0149] Embodiment 2

[0150] A closed pipe rapid reproduction system, comprising:

[0151] Optical measurement system 6, cantilever lifting mechanism 7 and seven-axis posture adjustment mechanism;

[0152] The optical measurement system 6 is used to perform the closed tube rapid reproduction method as in the above embodiment;

[0153] The cantilever lifting mechanism 7 is used to place the actual object of the closed pipe to be reproduced into the space where the seven-axis posture adjustment mechanism is located;

[0154] The seven-axis posture adjustment mechanism is used to dock the actual closed tube to be reproduced.

[0155] It should be noted that the seven-axis posture adjustment mechanism in this embodiment includes:

[0156] Base walking and transplanting mechanism 1, and two sets of posture adjustment mechanisms;

[0157] The posture adjustment mechanism includes: a base rotating mechanism 2, a workpiece chuck 5 pitching and swinging mechanism 3 and a workpiece chuck 5 rotating mechanism 4;

[0158] The rotating shaft of the workpiece chuck 5 rotating mechanism 4 is clamped with the part to be closed through the clamping structure, driving the workpiece chuck 5 to rotate horizontally; the base of the workpiece chuck 5 rotating mechanism 4 is connected to the swing shaft of the workpiece chuck 5 pitch swing mechanism 3;

[0159] The swing axis of the pitch swing mechanism 3 of the workpiece chuck 5 drives the workpiece chuck 5 rotating mechanism 4 to pitch and swing; the base of the pitch swing mechanism 3 of the workpiece chuck 5 is connected to the rotating axis of the base rotating mechanism 2;

[0160] The rotating shaft of the base rotating mechanism 2 drives the workpiece chuck 5 to rotate horizontally through the pitch swing mechanism 3; the base of the base rotating mechanism 2 is connected to the base walking and transplanting mechanism 1;

[0161] The base walking and transplanting mechanism 1 is a conveyor belt structure, and two groups of posture adjustment mechanisms are respectively arranged at both ends of the base walking and transplanting mechanism 1; the base walking and transplanting mechanism 1 is used to drive the base rotating mechanism 2 to move horizontally.

[0162] Reference Figure 2 The base walking and transplanting mechanism 1, i.e., the seventh axis, is used to accurately adjust the distance between the two flanges of the closing pipe. The base rotation axes are the first axis and the fourth axis, respectively, which are used to accurately adjust the direction of the flange of the closing pipe. The workpiece chuck 5 pitching and swinging axes are the second axis and the fifth axis, respectively, which are used to accurately adjust the direction of the flange of the closing pipe. The workpiece chuck 5 rotation axes are the third axis and the sixth axis, respectively, which are used to accurately adjust the direction of the flange of the closing pipe.

[0163] The workpiece chuck 5 is used to fix the workpiece to be joined.

[0164] The optical measurement system 6 includes a hardware end and a software end. The hardware end is a binocular vision camera, and the software end is used to execute the closed tube fast reproduction method in the above embodiment.

[0165] The cantilever lifting mechanism 7 is conventional prior art and will not be described in detail here.

[0166] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0167] It should be noted that, in the description of this application, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0168] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0169] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0170] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0171] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0172] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0173] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0174] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for rapid reproduction of a closed tube, characterized in that: include: Obtain the spatial coordinates of each preset point of the reference closing pipe; Constructing a three-dimensional model of the reference closed tube according to the spatial coordinates of each preset point of the reference closed tube; Determine the butt jointing method between the reference closed tubes according to the three-dimensional model of the reference closed tube; Determine the required closed pipe to be reproduced according to the butt joint mode between the reference closed pipes; Determining the parameters and pipeline path of the closed pipe to be reproduced; Generating a three-dimensional model of the closed pipe to be reproduced according to the parameters and pipeline path of the closed pipe to be reproduced; Virtually docking the three-dimensional model of the closed pipe to be reproduced; Determine whether the docking error meets the preset requirements; When the docking error meets the preset requirements, the parameters and pipeline path of the closed pipe to be reproduced are sent to the production workshop, so that the production workshop produces the actual closed pipe to be reproduced; The physical object of the closed pipe to be reproduced is placed into the space where the seven-axis posture adjustment mechanism is located by a cantilever lifting mechanism, and the real-time coordinates of each preset point of the physical object of the closed pipe to be reproduced are obtained; According to the real-time coordinates of each preset point of the actual closed pipe to be reproduced, the position of the actual closed pipe to be reproduced is reproduced and docked through a seven-axis posture adjustment mechanism.

2. The method according to claim 1, characterized in that The method also includes: When the docking error does not meet the preset requirements, determine the deviation data; Adjusting the parameters and pipeline path of the closed pipe to be reproduced according to the deviation data; The three-dimensional model of the closed pipe to be reproduced is updated according to the adjusted parameters and pipeline path of the closed pipe to be reproduced; It is determined whether the docking error of the updated three-dimensional model of the closed pipe to be reproduced meets the preset requirements.

3. The method according to claim 1, characterized in that The method also includes: Generate customized receipt images according to user requirements, including format, content and layout; The ticket diagram is used to display the parameters of the closed pipe to be reproduced, the pipeline path, and the production process of the actual closed pipe to be reproduced.

4. The method according to claim 1, characterized in that Determine the required closed pipe to be reproduced according to the butt joint mode between the reference closed pipes, including: Determine if user-defined criteria exist; If there is no user-defined standard, the to-be-reproduced closed tube corresponding to the butt jointing mode between the reference closed tubes is matched in the process database according to the preset standard; If there is a user-defined standard, the to-be-reproduced closed tube corresponding to the butt jointing mode between the reference closed tubes is matched in the process database according to the user-defined standard; The preset standards at least include: flange, elbow, reducer, bend and assembly error standards; The user-defined standard is a standard entered by a user, or a standard modified and adjusted by a user from an existing preset standard.

5. The method according to claim 1, characterized in that Determining the parameters of the closed pipe to be reproduced includes: Receive the process requirements of the closed pipe to be reproduced entered by the user; the process requirements of the closed pipe to be reproduced at least include: the type, accuracy, size and material of the closed pipe to be reproduced; According to the process requirements of the closed pipe to be reproduced input by the user, the parameters of the closed pipe to be reproduced are determined.

6. The method according to claim 5, characterized in that If the closed pipe to be reproduced is a straight pipe section or a pipe section of a different diameter, the parameters of the closed pipe to be reproduced are directly determined according to the process requirements of the closed pipe to be reproduced entered by the user; If the closed pipe to be reproduced is a bent pipe section, the elbow type and angle requirement entered by the user are received, and the parameters of the closed pipe to be reproduced are determined according to the process requirements and elbow type and angle requirements entered by the user.

7. The method according to claim 1, characterized in that Determining the pipeline path of the closed pipe to be restored includes: Receive the coordinates of the start and end points of the closed pipe to be reproduced entered by the user; The corresponding pipe segment fitting calculation parameters are calculated according to the starting and ending point coordinates of the closed pipe to be reproduced input by the user; the calculation parameters include: bending radius, fitting angle and pipe segment length. A parts engineering drawing of the closed pipe to be reproduced is generated based on the calculation parameters, and a pipeline path of the closed pipe to be reproduced is obtained.

8. The method according to claim 1, characterized in that Determining the pipeline path of the closed pipe to be restored includes: According to the pipeline graphics drawn by the user, the pipeline path of the closed pipe to be reproduced is obtained.

9. The method according to claim 1, characterized in that: After generating the three-dimensional model of the closed pipe to be reproduced according to the parameters and pipeline path of the closed pipe to be reproduced, the method further includes: The straight pipe fittings and the bent pipe fittings in the three-dimensional model of the closed pipe to be reproduced are separated to obtain a plurality of closed pipe assembly units to be reproduced.

10. A system for rapid reproduction of closed pipes, characterized in that: include: Optical measurement system, cantilever lifting mechanism and seven-axis attitude adjustment mechanism; The optical measurement system is used to perform the closed tube rapid reproduction method according to any one of claims 1 to 9; The cantilever lifting mechanism is used to place the actual object of the closed pipe to be reproduced into the space where the seven-axis posture adjustment mechanism is located; The seven-axis posture adjustment mechanism is used to dock the actual closed pipe to be reproduced.

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