Expanded connection method, device, equipment, medium and product

Abstract

The invention relates to the technical field of pipe hole expanded connection, in particular to an expanded connection method, device and equipment, a medium and a product, and the method comprises the steps that auxiliary point coordinates are obtained from a product coordinate system; judging whether the coordinate system of the product needs to be compensated or not based on the auxiliary point height corresponding to each auxiliary point coordinate in the workpiece; under the condition that it is judged that the product coordinate system does not need to be compensated, expanding connection is conducted on the workpiece based on the product coordinate system subjected to visual positioning; and an actual workpiece coordinate system can be aligned with a product coordinate system provided by a drawing during automatic expanded connection.

Description

Technical Field

[0001] The invention relates to the technical field of pipe hole expansion connection, and in particular to an expansion connection method, device, equipment, medium and product. Background Art

[0002] The expansion process of heat exchange tubes in shell and tube heat exchangers is usually manual expansion. For example, for a heat exchanger, the expansion process is about 21,000 times per unit per person. The action is single and repetitive, the degree of automation is low, and the skills of employees are high. The consistency control of manual expansion is unstable, there are hidden dangers of leakage, and the product leakage is abnormal.

[0003] In some related technologies, an automatic expansion system is used for expansion, which can realize automatic expansion based on signal integrated control, improve the labor intensity of expansion operation, and increase the reliability of expansion. However, during the automatic expansion process, as different working holes are expanded, it is often difficult to accurately position them according to the drawings.

[0004] In the art, there is a technical problem of how to align the actual workpiece coordinate system with the product coordinate system provided by the drawing during automatic expansion. Summary of the invention

[0005] The present invention provides an expansion method, device, equipment, medium and product, which solve the technical problem of how to align the actual workpiece coordinate system with the product coordinate system provided by the drawing during automatic expansion.

[0006] In a first aspect, the present invention provides an expansion method, the method comprising: acquiring auxiliary point coordinates from a product coordinate system; judging whether the product coordinate system needs compensation based on the auxiliary point heights corresponding to the coordinates of each auxiliary point in the workpiece; and expanding the workpiece based on the product coordinate system after visual positioning when it is determined that the product coordinate system does not need compensation.

[0007] In some embodiments, the method further includes: when it is determined that the product coordinate system needs compensation, obtaining a compensation value based on a ratio of a difference in auxiliary point heights to a difference in auxiliary point coordinates.

[0008] In some embodiments, the auxiliary points include a first auxiliary point, a second auxiliary point, and a third auxiliary point, wherein the first auxiliary point and the second auxiliary point have the same Y coordinate, and the second auxiliary point and the third auxiliary point have the same X coordinate.

[0009] In some embodiments, based on the auxiliary point heights corresponding to the coordinates of each auxiliary point in the workpiece, the step of determining whether the product coordinate system needs compensation includes: calculating the distance difference between any two auxiliary point heights; when the distance difference between any two auxiliary point heights is greater than a distance threshold, determining that the product coordinate system needs compensation.

[0010] In some embodiments, before the step of obtaining the coordinates of the auxiliary point from the product coordinate system, the method further includes: obtaining the product coordinate system from the drawing file; finding the boundary of the workpiece based on the distance sensor and obtaining the boundary deviation; compensating the boundary deviation to the workpiece coordinate system so that the product coordinate system coincides with the workpiece coordinate system.

[0011] In some embodiments, visual positioning includes: obtaining positioning hole coordinates from a product coordinate system, wherein the positioning holes include a first positioning hole and a second positioning hole; obtaining a current image of the workpiece positioning hole based on the positioning hole coordinates; comparing the current image of the workpiece positioning hole with a preset image of the workpiece positioning hole to calculate the deviation of the positioning hole; and compensating the product coordinate system and / or the workpiece coordinate system based on the deviation of the positioning hole.

[0012] In a second aspect, the present invention provides an expansion joint device, which includes: an acquisition module for acquiring auxiliary point coordinates from a product coordinate system; a judgment module for judging whether the product coordinate system needs compensation based on the auxiliary point heights corresponding to the coordinates of each auxiliary point in the workpiece; and an action module for expanding the workpiece based on the product coordinate system after visual positioning when it is determined that the product coordinate system does not need compensation.

[0013] In a third aspect, the present invention provides a computer device, comprising a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any expansion method of the above aspects.

[0014] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the expansion methods described above.

[0015] In a fifth aspect, the present invention provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of any expansion method in the above aspects.

[0016] The present invention provides an expansion method, device, equipment, medium and product, wherein the method comprises: obtaining auxiliary point coordinates from a product coordinate system; judging whether the product coordinate system needs compensation based on the auxiliary point heights corresponding to the coordinates of each auxiliary point in the workpiece; expanding the workpiece based on the product coordinate system after visual positioning when it is judged that the product coordinate system does not need compensation; and being able to align the actual workpiece coordinate system with the product coordinate system provided by the drawing during automatic expansion. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings:

[0018] Figure 1 A schematic flow chart of an expansion method provided by an embodiment of the present invention;

[0019] Figure 2 A schematic structural diagram of an expansion joint device provided by an embodiment of the present invention;

[0020] Figure 3 A schematic diagram of a shell and tube dimension drawing provided for an application example of the present invention;

[0021] Figure 4 A schematic diagram of shell-tube expansion provided for an application example of the present invention;

[0022] Figure 5 A schematic flow chart of an expansion joint control method provided as an application example of the present invention.

[0023] In the drawings, the same reference numerals are used for the same components and the drawings are not drawn to scale. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, and to fully understand and implement how the present invention applies technical means to solve technical problems and achieve the corresponding technical effects, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only an embodiment of a part of the present invention, not all of the embodiments. The embodiments of the present invention and the various features in the embodiments can be combined with each other without conflict, and the technical schemes formed are all within the scope of protection of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0027] The heat exchange tubes of shell and tube heat exchangers are usually expanded by manual expansion. Taking a certain heat exchanger as an example, it is expanded about 21,000 times per unit per person. The actions are single and repetitive, with a low degree of automation and high requirements on employee skills. The consistency control of manual expansion is unstable, and there are hidden dangers of underexpansion and leakage, and abnormal product leakage. In some related technologies, an automatic expansion system is used for expansion, which can realize automatic expansion based on signal integration control, improve the labor intensity of expansion operations, and increase the reliability of expansion. However, during the automatic expansion process, as different working holes are expanded, it often becomes difficult to accurately position according to the drawings. There is a technical problem in this field on how to align the actual workpiece coordinate system with the product coordinate system provided by the drawing during automatic expansion.

[0028] In order to solve the technical problem of how to align the actual workpiece coordinate system with the product coordinate system provided by the drawing during the above-mentioned automatic expansion, the present invention proposes an expansion method, device, equipment, medium and product. The implementation details of the present invention are described in detail below. The following content is only for the convenience of understanding the implementation details and is not necessary for the implementation of this solution.

[0029] Embodiment 1

[0030] Figure 1 is a schematic diagram of a process of an expansion method provided in an embodiment of the present application, such as Figure 1 As shown, in the technical solution of this embodiment, a method for expansion is provided, which includes: obtaining auxiliary point coordinates from a product coordinate system; judging whether the product coordinate system needs compensation based on the auxiliary point heights corresponding to the coordinates of each auxiliary point in the workpiece; and expanding the workpiece based on the product coordinate system after visual positioning when it is judged that the product coordinate system does not need compensation.

[0031] The technical problem to be solved by this embodiment is how to align the actual workpiece coordinate system with the product coordinate system provided by the drawing.

[0032] In the technical solution of this embodiment, the coordinates of the auxiliary points are first obtained from the product coordinate system. The auxiliary points of this embodiment refer to special points pre-set on the CAD drawing of the shell and tube heat exchanger, such as specific yellow hollow circle auxiliary points. Then the height of the auxiliary points corresponding to the coordinates of each auxiliary point in the workpiece is measured by the robot's distance sensor. By comparing whether the heights of these auxiliary points are distributed within the preset error range, it is determined whether the product coordinate system needs compensation. If the difference in the height of the auxiliary points is within a reasonable range, it means that the relative position of the product coordinate system and the workpiece coordinate system is relatively accurate and no compensation is required. At this time, the workpiece can be expanded based on the product coordinate system after visual positioning. Visual positioning uses the camera carried by the robot to shoot the positioning holes on the shell and tube, obtain their position information in the visual image, and then determine the precise relationship between the product coordinate system and the workpiece coordinate system to ensure the accuracy of the expansion.

[0033] The technical solution of this embodiment determines the alignment of the product coordinate system and the workpiece coordinate system by first obtaining the coordinates of the auxiliary points and detecting their height relationship, thereby avoiding the problem of inaccurate positioning caused by blind expansion. Visual positioning expansion is directly performed without the need for compensation, which improves the efficiency of expansion. Compared with traditional manual expansion, the hidden dangers of expansion and leakage caused by inaccurate positioning are greatly reduced, and the qualified rate of one-time expansion is significantly improved from the original 87% to nearly 99%. At the same time, this method based on the combination of auxiliary points and visual positioning enables the robot to find the expansion position more accurately during the expansion process, improves the automation and reliability of the entire expansion process, reduces the dependence on workers' skills, and provides a strong guarantee for the large-scale and efficient production of shell and tube heat exchangers.

[0034] Embodiment 2

[0035] Based on the above embodiment, the method further includes: when it is determined that the product coordinate system needs compensation, obtaining a compensation value based on the ratio of the difference between the auxiliary point heights and the difference between the auxiliary point coordinates.

[0036] The technical problem solved by this embodiment is how to obtain the compensation value of the product coordinate system.

[0037] In the technical solution of this embodiment, when it is determined that the product coordinate system needs compensation, the compensation value is obtained based on the ratio of the difference in the auxiliary point height to the difference in the auxiliary point coordinates. The auxiliary points of this embodiment are special points in the above-mentioned CAD drawings, such as the yellow hollow circle auxiliary points. By measuring the heights of different auxiliary points and their positional relationship in the coordinates, the coordinate system deviation caused by the tilt of the product placement or other factors, that is, the compensation value, is calculated. For example, the auxiliary points A1 (x1, y1), A2 (x2, y1), A3 (x2, y2), and the corresponding height values ​​α1, β1, δ1 are known. According to the preset expressions (such as Xθ=Arctan((δ1-β1) / (y2-y1)), Yθ=Arctan((β1-α1) / (x2-y1))), the rotation angles of the product in the X and Y directions are calculated, and then the compensation value is obtained, which is applied to the product coordinate system or the workpiece coordinate system so that the two coordinate systems can be better aligned.

[0038] The technical solution of this embodiment effectively solves the problem of coordinate system deviation caused by the unstable product placement and / or the expansion movement process by calculating the compensation value of the product coordinate system. This method enables the robot to automatically adjust its posture and position according to the calculated compensation value to ensure that the expansion tool can accurately align with the shell and tube hole. Compared with traditional manual adjustment or rough positioning methods, this solution greatly improves the positioning accuracy and speed, and reduces expansion failures or product quality problems caused by positioning errors. In actual production, it can quickly adapt to the slight differences between different batches of products, improve the stability and consistency of the production process, further improve product quality and production efficiency, and reduce production costs.

[0039] Embodiment 3

[0040] Based on the above embodiment, the auxiliary points include a first auxiliary point, a second auxiliary point, and a third auxiliary point, wherein the first auxiliary point and the second auxiliary point have the same Y coordinate, and the second auxiliary point and the third auxiliary point have the same X coordinate.

[0041] The technical problem solved by this embodiment is how to construct the coordinates of the auxiliary points to reduce the amount of calculation.

[0042] In the technical solution of this embodiment, the auxiliary points include a first auxiliary point, a second auxiliary point, and a third auxiliary point, wherein the first auxiliary point and the second auxiliary point have the same Y coordinate, and the second auxiliary point and the third auxiliary point have the same X coordinate, namely, the first auxiliary point A1 (x1, y1), the second auxiliary point A2 (x2, y1), and the third auxiliary point A3 (x2, y2). When actually calculating the relationship between the product coordinate system and the workpiece coordinate system, this special coordinate construction can simplify the calculation process. For example, when calculating the rotation angle of the product, using the coordinate relationship of these auxiliary points and the corresponding height value, it is possible to more conveniently obtain the result through a specific formula (such as Xθ=Arctan((δ1-β1) / (y2-y1)), Yθ=Arctan((β1-α1) / (x2-y1))) without the need for complex multi-dimensional coordinate transformation calculations.

[0043] The technical solution of this embodiment significantly reduces the amount of calculation by cleverly constructing the coordinates of the auxiliary points. During the robot's expansion operation, the calculation time is reduced and the response speed of the system is improved. As a result, the robot can judge and adjust the position and posture of the product more quickly, making the entire expansion process smoother and more efficient. In large-scale production, this efficiency improvement is particularly important, and more expansion tasks can be completed per unit time. At the same time, it also reduces the probability of errors caused by complex calculations, improves the stability of product quality, provides more optimized technical support for the company's automated production, and enhances the company's competitiveness in the market.

[0044] Embodiment 4

[0045] On the basis of the above embodiment, the step of judging whether the product coordinate system needs compensation based on the auxiliary point heights corresponding to the coordinates of each auxiliary point in the workpiece includes: calculating the distance difference between any two auxiliary point heights; when the distance difference between any two auxiliary point heights is greater than a distance threshold, judging that the product coordinate system needs compensation.

[0046] The technical problem solved by this embodiment is how to determine whether the product coordinate system needs compensation.

[0047] In the technical solution of this embodiment, based on the height of the auxiliary points corresponding to the coordinates of each auxiliary point in the workpiece, the steps for determining whether the product coordinate system needs to be compensated are as follows: First, calculate the distance difference between the heights of any two auxiliary points. The auxiliary points of this embodiment are specific yellow hollow circle auxiliary points in the CAD drawing of the shell and tube heat exchanger, and the robot obtains its height value through a distance sensor. When the distance difference between the heights of any two auxiliary points is greater than the distance threshold, it is determined that the product coordinate system needs to be compensated. The distance threshold is a numerical value pre-set according to the production process requirements and equipment accuracy. For example, in actual production, if it is found that the height difference between the auxiliary points A1 and A2 exceeds the set threshold, it indicates that the product may be tilted or have other position deviations, and the product coordinate system needs to be compensated and adjusted to ensure the accuracy of subsequent expansion work.

[0048] The technical solution of this embodiment uses a simple and effective height difference comparison method to determine whether the product coordinate system needs compensation. This judgment method is intuitive and easy to implement, and can quickly detect abnormal position of the product. During the production process, the deviation of the product coordinate system is discovered and corrected in time, avoiding a large number of expansion errors caused by unnoticed deviations. Compared with traditional manual inspections or complex detection methods, this method saves time and labor costs, and improves the degree of automation and quality control of production.

[0049] Embodiment 5

[0050] Based on the above embodiment, before the step of obtaining the coordinates of the auxiliary point from the product coordinate system, the method also includes: obtaining the product coordinate system from the drawing file; finding the boundary of the workpiece based on the distance sensor and obtaining the boundary deviation; compensating the boundary deviation to the workpiece coordinate system so that the product coordinate system coincides with the workpiece coordinate system.

[0051] The technical problem solved by this embodiment is how to initially align and coincide the product coordinate system with the workpiece coordinate system.

[0052] In the technical solution of this embodiment, before the step of obtaining the coordinates of the auxiliary points from the product coordinate system, the product coordinate system is first obtained from the drawing file, which is based on the CAD drawing information of the shell and tube heat exchanger. Then, the boundary of the workpiece is found based on the distance sensor. When the robot approaches the product, the distance sensor on the robot fixture will detect the boundary of the product and record the X value of the current position. This X value is the approximate relative deviation between the workpiece coordinate system initially established by the robot and the current product coordinate system. Finally, the boundary deviation is compensated to the workpiece coordinate system so that the product coordinate system coincides with the workpiece coordinate system. For example, if the origin of the workpiece coordinate system initially established by the robot has a certain deviation from the actual boundary of the product in the X direction, by compensating this deviation value to the workpiece coordinate system, the two can achieve good coincidence in the initial stage, laying the foundation for more accurate positioning and compensation in the future.

[0053] The technical solution of this embodiment realizes the preliminary alignment and coincidence of the product coordinate system and the workpiece coordinate system by using a distance sensor to obtain the boundary deviation and compensate it to the workpiece coordinate system. This preliminary alignment step plays a key basic role in the entire expansion process. It can quickly match the working range of the robot with the actual position of the product, reducing the adjustment range and time of subsequent precise positioning. Compared with no preliminary alignment step, the efficiency of the entire expansion process is greatly improved, and the movement complexity and energy consumption of the robot are reduced. At the same time, it provides good starting conditions for the subsequent precise alignment based on auxiliary points and positioning holes, further ensuring the high precision and high pass rate of expansion, which helps enterprises improve production efficiency and product quality and optimize production processes.

[0054] Embodiment 6

[0055] On the basis of the above embodiments, visual positioning includes: obtaining positioning hole coordinates from a product coordinate system, wherein the positioning holes include a first positioning hole and a second positioning hole; obtaining a current image of the workpiece positioning hole based on the positioning hole coordinates; comparing the current image of the workpiece positioning hole with a preset image of the workpiece positioning hole to calculate the deviation of the positioning hole; and compensating the product coordinate system and / or the workpiece coordinate system based on the deviation of the positioning hole.

[0056] The technical problem solved by this embodiment is how to perform positioning and compensation based on the vision of the positioning hole.

[0057] In the technical solution of this embodiment, visual positioning includes the following steps: obtaining the coordinates of the positioning holes from the product coordinate system, wherein the positioning holes include a first positioning hole and a second positioning hole, and the positioning holes are blue holes pre-set on the shell and tube heat exchanger CAD drawing. Then, the current image of the workpiece positioning hole is obtained based on the positioning hole coordinates, and the robot moves to the positioning hole coordinate position to take a picture. The current image of the workpiece positioning hole is compared with the preset image of the workpiece positioning hole to calculate the deviation of the positioning hole. The preset image is an image taken in the preliminary preparation work and set as a reference. By comparing the position difference between the current image and the preset image in the X and Y directions and the rotation angle difference in the Z direction, the deviation value of the positioning hole is obtained. Finally, the product coordinate system and / or the workpiece coordinate system are compensated based on the deviation of the positioning hole so that the two can be accurately aligned, thereby ensuring that the expansion tool accurately expands the shell and tube hole position. The informatization gives the positions of the two locating holes of the current product based on the CAD drawing (for example, the position of the blue locating hole relative to the origin in the product CAD drawing). For example, the positions of the locating holes are (250, 350) and (650, 350) respectively. The robot is controlled to move to the (250, 350) position and (650, 350) position in the robot workpiece coordinate system, XY coordinates, and take pictures (the height remains unchanged and is consistent with the height of the first teaching photo point). At this time, the visual sensor will give the position of the current product locating hole in the visual image to the informatization system software, for example (1, 1), (1, 1.5). At this time, the informatization system needs to pass to the robot the X-axis deviation, Y-axis deviation and Z-axis rotation angle between the current product coordinates, and compensate them to the robot workpiece coordinates. Then, the workpiece coordinate system and the product coordinate system coincide with each other, solving the technical problem of how to align the workpiece coordinate system with the product coordinate system.

[0058] The technical solution of this embodiment realizes high-precision alignment of the product coordinate system and the workpiece coordinate system through visual positioning and compensation of the positioning holes. This vision-based positioning method can accurately capture the slight deviation of the positioning holes, and the accuracy is greatly improved compared to traditional mechanical positioning or rough visual inspection methods. Adjust the position of the robot, and use vision (hardware camera + visual software) to photograph the two positioning holes of this workpiece product (the blue holes in the CAD figure, each hole is photographed separately). This photo is the reference (template) for subsequent visual photography. For example, the positioning holes X and Y of this workpiece product are at the (200,300) position and the (400,300) position respectively, then the robot moves to the (200,300) position and the (400,300) position to take pictures. At this time, the position of the blue positioning hole displayed in the vision is defined as (0,0) and (0,0). When taking pictures later, the hole position deviation is based on (0,0) and (0,0). The deviation between the robot workpiece coordinates and the current product coordinates can be obtained by determining the deviation (vision needs to give the X, Y deviation and the Z direction rotation angle) (Z direction is the direction perpendicular to the product work surface). Based on the deviation, the X rotation angle Xθ and Y rotation angle Yθ are obtained to correct the robot.

[0059] This technical solution uses two positioning holes to align the workpiece coordinate system with the product coordinate system. Compared with the technical solution of aligning through three auxiliary points, it can reduce the points that the robot needs to pass from three points to two points, effectively improving the alignment efficiency. During the expansion process, it ensures the precise matching of the expansion tool and the shell and tube hole position, effectively reducing quality problems such as expansion failure and leakage caused by inaccurate positioning. The first expansion qualification rate of the product is increased from 87% to about 99%, while improving production efficiency, reducing the need for manual intervention and adjustment, and reducing production costs.

[0060] Embodiment 7

[0061] Figure 2 is a schematic diagram of the structure of an expansion joint device provided in an embodiment of the present application, such as Figure 2 As shown, in the technical solution of this embodiment, an expansion device is provided, which includes: an acquisition module for acquiring auxiliary point coordinates from a product coordinate system; a judgment module for judging whether the product coordinate system needs compensation based on the auxiliary point heights corresponding to the coordinates of each auxiliary point in the workpiece; and an action module for expanding the workpiece based on the product coordinate system after visual positioning when it is determined that the product coordinate system does not need compensation.

[0062] The technical problem to be solved by this embodiment is how to align the actual workpiece coordinate system with the product coordinate system provided by the drawing.

[0063] In the technical solution of this embodiment, the coordinates of the auxiliary points are first obtained from the product coordinate system. The auxiliary points of this embodiment refer to special points pre-set on the CAD drawing of the shell and tube heat exchanger, such as specific yellow hollow circle auxiliary points. Then the height of the auxiliary points corresponding to the coordinates of each auxiliary point in the workpiece is measured by the robot's distance sensor. By comparing whether the heights of these auxiliary points are distributed within the preset error range, it is determined whether the product coordinate system needs compensation. If the difference in the height of the auxiliary points is within a reasonable range, it means that the relative position of the product coordinate system and the workpiece coordinate system is relatively accurate and no compensation is required. At this time, the workpiece can be expanded based on the product coordinate system after visual positioning. Visual positioning uses the camera carried by the robot to shoot the positioning holes on the shell and tube, obtain their position information in the visual image, and then determine the precise relationship between the product coordinate system and the workpiece coordinate system to ensure the accuracy of the expansion.

[0064] The technical solution of this embodiment determines the alignment of the product coordinate system and the workpiece coordinate system by first obtaining the coordinates of the auxiliary points and detecting their height relationship, thereby avoiding the problem of inaccurate positioning caused by blind expansion. Visual positioning expansion is directly performed without the need for compensation, which improves the efficiency of expansion. Compared with traditional manual expansion, the hidden dangers of expansion and leakage caused by inaccurate positioning are greatly reduced, and the qualified rate of one-time expansion is significantly improved from the original 87% to nearly 99%. At the same time, this method based on the combination of auxiliary points and visual positioning enables the robot to find the expansion position more accurately during the expansion process, improves the automation and reliability of the entire expansion process, reduces the dependence on workers' skills, and provides a strong guarantee for the large-scale and efficient production of shell and tube heat exchangers.

[0065] Other technical features of this embodiment correspond to those of the above embodiment and will not be repeated here.

[0066] Embodiment 8

[0067] In the technical solution of this embodiment, a computer device is provided, including a memory, a processor and a computer program stored in the memory, and the processor executes the computer program to implement the steps of any expansion method of the above embodiment. The computer device includes a mobile phone, a tablet computer, an industrial computer, an expansion control device, etc.

[0068] In the technical solution of this embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of any expansion method of the above-mentioned embodiment are implemented.

[0069] In the technical solution of this embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of any expansion method of the above embodiments are implemented.

[0070] The processor may include, but is not limited to, for example, one or more processors or microprocessors. Each processor may be an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller, a microprocessor or other electronic components to implement the method in the above embodiment. The computer readable storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, and the computer readable storage medium may include, but is not limited to, for example, a random access memory (RAM), a read-only memory (ROM), a flash memory, an EPROM memory, an EEPROM memory, a register, a computer storage medium (such as a hard disk, a floppy disk, a solid state drive, a removable disk, a CDROM, a DVDROM, a Blu-ray disc, etc.).

[0071] The computer-readable storage medium may also store at least one computer executable program / instruction, which may be, for example, a computer-readable instruction. The computer-readable storage medium includes, but is not limited to, for example, a volatile memory and / or a non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The computer-readable storage medium may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. For example, a non-transitory computer-readable storage medium may be connected to a computing device such as a computer, and then, when the computing device runs the computer-readable instructions stored on the computer-readable storage medium, the various methods described above may be performed.

[0072] In addition, the computer device may also include (but not limited to) a data bus, an input / output (I / O) bus, a display, and an input / output device (e.g., a keyboard, a mouse, a speaker, etc.). The processor may communicate with external devices via the I / O bus via a wired or wireless network. In one embodiment, the at least one computer executable instruction may also be compiled into or constitute a software product / computer program product, wherein one or more computer executable instructions are executed by the processor to perform the various functions and / or steps of the method in the embodiments described in the present technology.

[0073] Embodiment 9

[0074] Based on the above embodiments, this embodiment provides an application example.

[0075] This application example provides a method for realizing automatic expansion jointing of a robot using 2D visual space positioning.

[0076] Shell and tube heat exchangers generally use heat exchange tubes with a size of φ19-25.4mm. The expansion process is manual expansion. Taking a heat exchanger with a diameter of 1000mm as an example, the expansion is performed about 21,000 times per unit per person. The action is single and repetitive, the degree of automation is low, and the skills of employees are high. The consistency control of manual expansion is unstable, there are hidden dangers of leakage, and the product leakage is abnormal. The qualified rate of one expansion is 87%.

[0077] In some technical solutions, an automatic expansion system is used for expansion, which can realize automatic expansion based on signal integration control, improve the labor intensity of expansion operation, and increase the reliability of expansion. However, during the expansion process, as different working holes are expanded, it will be difficult to accurately position according to the CAD drawings. There is a technical problem in the art of how to align the workpiece coordinate system with the product coordinate system during automatic expansion.

[0078] In the related art, the camera on the robot fixture is not parallel to the shell tube, and the present invention realizes automatic leveling by the robot. In the related art, the placement of the shell tube is not fixed, and the robot of the present invention automatically finds the edge and measures the distance between the shell tube and the robot. The present invention realizes high-precision positioning of the hole position of the shell tube and performs floating expansion.

[0079] The technical solution of the present invention improves the working accuracy of the robot and the qualified rate of the equipment expansion. The technical solution of the present invention improves the qualified rate of the expansion from 87% to 99%.

[0080] The technical solution of the present invention obtains the information of the positioning hole through 2D vision, obtains the distance of the auxiliary point through the laser displacement sensor, and uses a preset algorithm based on vision and laser to achieve the spatial positioning of the robot, automatically calibrate the robot's posture and position, and complete the automatic expansion of the shell and tube.

[0081] Figure 3 This is a schematic diagram of the shell and tube dimensions provided by the application example of the present invention. Figure 3 As shown, the drawing includes three yellow hollow circle auxiliary points and two blue positioning holes.

[0082] Figure 4 The present invention is a schematic diagram of a shell-tube expansion connection provided by an application example.

[0083] Figure 5 FIG. 1 is a flow chart of an expansion joint control method provided by an application example of the present invention. Figure 5 As shown, first obtain the boundary of the heat exchanger product, and preliminarily align the workpiece coordinate system with the product coordinate system based on the boundary. On this basis, obtain the distances corresponding to the positions of the three auxiliary points, and judge whether the workpiece coordinate system and the product coordinate system are vertically aligned based on the distances corresponding to the positions of the three auxiliary points? Do they need further alignment? If further alignment is required, obtain the image information of the positioning hole, and further align the workpiece coordinate system with the product coordinate system based on the image information. After the workpiece coordinate system and the product coordinate system are aligned, the expansion work can be carried out.

[0084] The shell-tube expansion production process of the present invention includes: preliminary preparation work and work after the product is in place.

[0085] Preliminary preparations include:

[0086] 1. Initially, establish the robot's workpiece coordinate system (for example, place the heat exchanger product on a line such as a workbench, establish the workpiece coordinate system with the end face of the heat exchanger product, and the XYZ direction is consistent with the XYZ direction of the heat exchanger product's CAD drawing). The origin can be any. In this application example, the workbench is, for example, a workbench with a length, width, and height of 6000*2000*500mm. The surface of the workbench is flat and has material placement interval markings. A lifting mechanism is pre-buried underground under the workbench, and the height of the workbench can be adjusted according to the size of the product.

[0087] 2. After establishing the workpiece coordinate system, measure the coordinate distance (fixed value) between the origin of the workpiece coordinate system currently established by the robot and the origin of the product coordinate system extracted based on the CAD drawing (the origin drawn in the product CAD drawing), and add the coordinate distance to the robot workpiece coordinate system to coincide with the coordinates of the robot workpiece coordinate system and the product coordinate system, which preliminarily solves the technical problem of how to align the workpiece coordinate system with the product coordinate system. Therefore, the position of the hole in the product CAD drawing is equivalent to the position of the point that the robot needs to move in the robot workpiece coordinate system. For example, the coordinates of the first hole relative to the origin in CAD are (100,100), so the X and Y of the first point that the robot needs to move are also 100,100 (in the workpiece coordinate system), and the expansion depth can be adjusted according to the actual situation on site.

[0088] 3. Adjust the position of the robot. In this step, the robot moves the three auxiliary points A1 (x1, y1), A2 (x2, y1), and A3 (x2, y2) given by the information system. After defining the height of the robot, the information system records the distance sensor values ​​α1, β1, and δ1 corresponding to the three points (this value is equivalent to the template). Based on this, every time the robot moves through the three auxiliary positioning points, the information system needs to analyze the rotation angle of the current product and the first product based on the following method (that is, calculate the X rotation angle X in the X and Y directions).θ , and Y rotation angle Y θ , where X θ =Arctan(δ1-β1) / (y2-y1), Y θ =Arctan(β1-α1) / (x2-y1)).

[0089] In the technical solution of this embodiment, the information system refers to Figure 4 The software displayed on the computer shown in the figure is mainly used to monitor the operation status of the equipment and display the interactive log. The three auxiliary points refer to the information reading Figure 3 The position information of the three yellow hollow circle auxiliary points in the CAD file shown is A1(x1,y1), A2(x2,y1), and A3(x2,y2), where the ordinates of auxiliary points A1 and A2 are the same, and the abscissas of auxiliary points A2 and A3 are the same. The position information of the three yellow hollow circle auxiliary points is given to the robot, and the robot goes to each yellow hollow circle auxiliary point position in sequence, and the information system reads the values ​​α1, β1, and δ1 of the distance sensors at the positions of the yellow hollow circle auxiliary points in sequence.

[0090] 4. Adjust the position of the robot, and use vision (hardware camera + vision software) to take pictures of the two positioning holes of the workpiece product (the blue holes in the CAD image, each hole is photographed separately). This photo is the reference (template) for subsequent visual photography. For example, the positioning holes X and Y of this workpiece product are at (200,300) and (400,300) respectively, then the robot moves to (200,300) and (400,300) to take pictures. At this time, the position of the blue positioning hole displayed in the vision is defined as (0,0) and (0,0). Subsequent photos are based on (0,0) and (0,0). The deviation of the hole position can be determined by the deviation between the robot workpiece coordinates and the current product coordinates (vision needs to give the deviation of X, Y and the rotation angle in the Z direction) (the Z direction is the direction perpendicular to the product working surface). Based on this deviation, the X rotation angle X is obtained. θ , and Y rotation angle Y θ , and correct the robot. This technical solution uses two positioning holes to align the workpiece coordinate system with the product coordinate system. Compared with the technical solution of aligning through three auxiliary points, it can reduce the points that the robot needs to pass through from three to two, effectively improving the alignment efficiency.

[0091] 5. After the above is completed, it is equivalent to the completion of the preliminary preparation work, that is, the robot coordinate system (origin, auxiliary point, positioning hole) has overlapped with the product coordinate system (origin, auxiliary point, positioning hole), solving the technical problem of how to align the workpiece coordinate system with the product coordinate system. On this basis, for the hole that needs to be expanded, its position relative to the origin in the CAD drawing is the XY coordinate value of the point where the robot needs to move.

[0092] The work after the product is in place includes:

[0093] 6. After the new heat exchanger product arrives, control the robot to move outside the heat exchanger product, use the SearchL command to slowly approach the product and search for the product boundary. (The SearchL command is used to control the robot to move slowly in the specified direction until the distance sensor recognizes the object, controls the robot to stop and records the current position. The application is to find the edge of materials such as workpieces.) A distance sensor is set on the robot fixture. When the product boundary is found, the sensor generates a signal and records the X value of the current position (the X value at this time is the approximate relative deviation between the workpiece coordinate system initially established by the robot and the current product coordinate system). This relative deviation is compensated to the robot workpiece coordinate system. At this time, it is equivalent to that the robot workpiece coordinate system and the current product coordinate system have basically overlapped (subsequent vision is required for precise positioning to confirm the alignment of the robot workpiece coordinate system and the current product coordinate system).

[0094] 7. After finding the boundary of the workpiece, the workpiece is plane-determined by three auxiliary points (A1, A2, and A3). Using the robot's distance sensor, each time the robot moves to a fixed position height, the information system receives the distance sensor values ​​of the three points (i.e., the three values ​​of α1, β1, and δ1). Then, the information system analyzes and compares the values ​​of the distance sensors of the three points when the robot first moves to the corresponding position during the preliminary preparation work, and obtains the tilt angle of the product (X θ , Y θ The product tilt angle is transmitted to the robot, and the robot is controlled to compensate the product tilt angle to the corresponding workpiece coordinate.

[0095] 8. Visual positioning and informatization give the positions of the two positioning holes of the current product based on the CAD drawing (for example, the position of the blue positioning hole relative to the origin in the product CAD drawing). For example, if the positions of the positioning holes are (250, 350) and (650, 350) respectively, the robot is controlled to move to the (250, 350) position and (650, 350) position in the robot workpiece coordinate system, XY coordinates, and take pictures (the height remains unchanged, and the height is consistent with the first teaching photo point). At this time, the visual sensor will give the position of the current product positioning hole in the visual image to the informatization system software, for example (1, 1), (1, 1.5). At this time, the informatization system needs to pass to the robot the X-axis deviation, Y-axis deviation and Z-axis rotation angle between the current product coordinates, and compensate them to the robot workpiece coordinates. Then, the workpiece coordinate system and the product coordinate system coincide with each other, solving the technical problem of how to align the workpiece coordinate system with the product coordinate system.

[0096] 9. After the workpiece coordinate system and the product coordinate system are aligned, the expansion hole position work can be carried out. At this time, the position of the hole that needs to be expanded, what is the XY coordinate relative to the origin in the CAD drawing, and in reality, the robot needs to move the XY coordinate in the compensated workpiece coordinate system. After the expansion work of the current hole is completed, the robot can receive the position of the next hole for expansion work (for example, sending characters to the information software, and the information software transmits the position coordinates of the working hole to the robot for expansion work). If the expansion is OK or NG, the signal can be transmitted to the information software.

[0097] In addition, this can be achieved using 3D vision, but it conflicts with the function of the displacement sensor, is costly, and is not applicable after the vision update.

[0098] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the above-mentioned module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0099] It should be noted that, in the present invention, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element limited by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0100] Although the embodiments disclosed in the present invention are as above, the above contents are only embodiments adopted for facilitating the understanding of the present invention and are not intended to limit the present invention. Any technician in the technical field to which the present invention belongs can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in the present invention, but the patent protection scope of the present invention shall still be subject to the scope defined in the attached claims.

Claims

1. An expansion method, characterized in that: The method comprises: Get the coordinates of the auxiliary points from the product coordinate system; Based on the height of the auxiliary points corresponding to the coordinates of each auxiliary point in the workpiece, determining whether the product coordinate system needs compensation; When it is determined that the product coordinate system does not need to be compensated, the workpiece is expanded based on the product coordinate system after visual positioning.

2. The expansion method according to claim 1, characterized in that: The method further comprises: When it is determined that the product coordinate system needs compensation, a compensation value is obtained based on the ratio of the difference in the auxiliary point heights to the difference in the auxiliary point coordinates.

3. The expansion method according to claim 1, characterized in that: The auxiliary points include a first auxiliary point, a second auxiliary point, and a third auxiliary point, wherein the first auxiliary point and the second auxiliary point have the same Y coordinate, and the second auxiliary point and the third auxiliary point have the same X coordinate.

4. The expansion method according to claim 1, characterized in that: The step of judging whether the product coordinate system needs compensation based on the auxiliary point heights corresponding to the coordinates of each auxiliary point in the workpiece includes: Calculate the distance difference between the heights of any two auxiliary points; When the distance difference between the heights of any two auxiliary points is greater than the distance threshold, it is determined that the product coordinate system needs to be compensated.

5. The expansion method according to claim 1, characterized in that: Before the step of acquiring the coordinates of the auxiliary points from the product coordinate system, the method further comprises: Get the product coordinate system from the drawing file; Find the boundary of the workpiece based on the distance sensor and obtain the boundary deviation; The boundary deviation is compensated to the workpiece coordinate system so that the product coordinate system coincides with the workpiece coordinate system.

6. The expansion method according to claim 1, characterized in that: The visual positioning includes: Acquire the coordinates of the positioning holes from the product coordinate system, wherein the positioning holes include a first positioning hole and a second positioning hole; Acquire the current image of the workpiece positioning hole based on the positioning hole coordinates; Compare the current image of the workpiece positioning hole with the preset image of the workpiece positioning hole to calculate the deviation of the positioning hole; The product coordinate system and / or the workpiece coordinate system are compensated based on the deviation of the positioning hole.

7. An expansion joint device, characterized in that: The device comprises: The acquisition module is used to obtain the coordinates of the auxiliary points from the product coordinate system; A judgment module, used for judging whether the product coordinate system needs compensation based on the height of the auxiliary points corresponding to the coordinates of each auxiliary point in the workpiece; The action module is used to expand the workpiece based on the product coordinate system after visual positioning when it is determined that the product coordinate system does not need compensation.

8. A computer device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the expansion method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the expansion method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the expansion method according to any one of claims 1 to 6 are implemented.

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