Pipe joint assembling process guided by 3D laser vision

Abstract

The invention discloses a pipe joint assembly process guided by 3D laser vision, and belongs to the technical field of pipe joint assembly. The assembly process comprises the following steps that a main pipe and branch pipes are placed on a supporting system; scanning the main tube by an alignment ball scanning system, and adjusting the pose of the main tube; marking a 180-degree bus on the main pipe, determining a space coordinate of a branch pipe footprint position, collecting branch pipe footprint position data on the main pipe, and transmitting the data to a control system; scanning the surface type of the saddle opening of the branch pipe, fitting the surface type of the saddle opening with the actual surface type of the footprint position of the branch pipe on the main pipe, and calculating the path of the saddle opening of the branch pipe moving to the footprint position of the main pipe; and the branch pipe advances towards the footprint position of the main pipe, and fine adjustment is performed until the tolerance requirement is met when the branch pipe approaches the final in-position position. The method comprises the following steps: scanning saddle openings of a main pipe and a branch pipe, and determining a footprint position of the main pipe and position coordinates of saddle opening surface types; and then an ideal assembly position is calculated, and then intelligent pose adjustment and rapid and accurate assembly are carried out.

Description

Technical Field

[0001] The invention belongs to the technical field of tube node assembly, and in particular relates to a tube node assembly process guided by 3D laser vision. Background Art

[0002] At present, the saddle mouth assembly process of pipe nodes generally adopts the method of making tooling in advance according to the assembly size and angle of the design drawings, and then hoisting and assembling under manual visual guidance. This method lacks high-precision measurement of the assembly position of the workpiece, and the process relies on manual visual adjustment of the posture of the main pipe and branch pipe for assembly. However, due to the lack of high-precision measurement tools for the main pipe footprint position and the branch pipe saddle mouth in the actual assembly process, coupled with the manufacturing tolerance of the main pipe and branch pipe, it is difficult to determine the corresponding position of the footprint and the saddle mouth with high precision, resulting in low assembly efficiency and unguaranteed assembly accuracy.

[0003] Therefore, it is urgent to design a 3D laser vision-guided tube node assembly process to solve the above-mentioned problems. Summary of the invention

[0004] The purpose of the present invention is to provide a 3D laser vision-guided tube node assembly process, which has the advantages of intelligent assembly of tube nodes, improved process quality and processing efficiency, and solves the problems mentioned in the background technology.

[0005] To achieve the above purpose, the specific technical solution of a 3D laser vision-guided tube node assembly process of the present invention is as follows: A 3D laser vision-guided tube node assembly process comprises the following steps: S1. Place the main pipe and branch pipe on the support system; S2. The end faces of both sides of the main pipe are scanned by the alignment ball scanning system, and then the main pipe position is adjusted according to the scanning results to achieve the leveling of the main pipe axis; S3. Mark the 180-degree busbar on the main pipe, determine the spatial coordinates of the branch pipe footprint position, and then scan the branch pipe footprint position with the alignment ball scanning system, collect the actual surface shape of the branch pipe footprint position on the main pipe and draw lines; S4, scanning the saddle mouth of the branch pipe to obtain the surface shape of the saddle mouth of the branch pipe, and then fitting it with the actual surface shape of the branch pipe footprint position on the main pipe. If the fitting effect does not meet the assembly requirements, the groove trimming position of the saddle mouth of the branch pipe is repaired. If the fitting effect meets the assembly requirements, S5 is performed; S5. Adjust the branch pipe so that the angle of the saddle mouth of the branch pipe fits the footprint position on the main pipe; S6, calculating the path of the branch pipe saddle mouth moving to the main pipe footprint position; S7. After the branch pipe is hoisted by the truss system, the branch pipe is quickly moved horizontally to a position 200 mm away from the main pipe footprint according to the calculated footprint position; S8. The alignment ball scanning system scans the area near the footprint to obtain the clearance between the outer wall of the main pipe and the saddle mouth of the branch pipe in the footprint area, and fine-tune the error before docking until the tolerance requirements are met; S9, the truss system carries the branch pipe to the main pipe footprint for final docking, achieving fast and high-precision assembly.

[0006] Further, in S1 , the main pipe is placed on the main pipe support system, and the branch pipe is placed on the branch pipe support system.

[0007] Furthermore, the alignment ball scanning system is located at the end of the truss system, and the robotic arm of the truss system clamps the alignment ball scanning system for scanning.

[0008] Furthermore, in S2, after scanning the end faces of both sides of the main pipe, the center positions of the two end faces are determined respectively, and according to the position difference between the two center points, the main pipe support system adjusts the main pipe posture with the center point of one side as a reference to achieve the leveling of the main pipe axis.

[0009] Further, in S3, the model or drawing is read, and the 180-degree busbar is marked on the main pipe according to the weld and the 180-degree busbar position in the model or drawing.

[0010] Further, in S4, the groove trimming indication system scans the saddle mouth of the branch pipe.

[0011] Further, in S4, if the fitting effect does not meet the assembly requirements, the groove trimming indication system marks the groove trimming position of the branch pipe saddle mouth to complete the repair.

[0012] Further, in S5, the branch pipe support system adjusts the branch pipe according to the read model or drawing.

[0013] Further, in S7, a C-type clamping mechanism is provided at the end of the truss system, and the C-type clamping mechanism is tensioned from the inside of the branch pipe by using a stretching mechanism to clamp the branch pipe, and then the branch pipe is lifted.

[0014] Furthermore, in S8, the tolerance requirement is that the deviation of the branch pipe centerline from the theoretical centerline E is within ±1 mm, and the actual and theoretical torsion angles Δα of the branch pipe centerline are within ±0.1 degrees.

[0015] The present invention has the following advantages: the process firstly scans the saddle mouths of the main pipes and branch pipes involved in the assembly by means of 3D laser imaging equipment to determine the position coordinates of the main pipe footprint position and the saddle mouth surface shape in the overall coordinate system; then the ideal assembly position is calculated by software, and the high-precision bearing and hoisting mechanism performs intelligent posture adjustment and rapid and accurate assembly under the guidance of software calculation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the centerline tolerance of the branch pipe of the present invention; Explanation of the markings in the figure: 1. Truss system; 2. Alignment ball sweeping system; 3. Branch pipe; 4. Main pipe; 5. Groove finishing indication system; 6. Main pipe support system; 7. C-type clamping mechanism; 8. Branch pipe support system. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0018] Those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0019] Please refer to the attached Figure 1 To Attachment Figure 2 A 3D laser vision-guided tube node assembly process of the present invention is described.

[0020] At present, the saddle mouth assembly process of pipe nodes generally adopts the method of making tooling in advance according to the assembly size and angle of the design drawings, and then hoisting and assembling under manual visual guidance. This method lacks high-precision measurement of the assembly position of the workpiece, and the process relies on manual visual adjustment of the posture of the main pipe and branch pipe for assembly. However, due to the lack of high-precision measurement tools for the main pipe footprint position and the branch pipe saddle mouth in the actual assembly process, coupled with the manufacturing tolerance of the main pipe and branch pipe, it is difficult to determine the corresponding position of the footprint and the saddle mouth with high precision, resulting in low assembly efficiency and unguaranteed assembly accuracy.

[0021] Therefore, the 3D laser vision-guided tube node assembly process includes the following steps: S1, placing the main pipe 4 and the branch pipe 3 on the support system; Specifically, the main pipe 4 is placed on the main pipe supporting system 6 , and the branch pipe 3 is placed on the branch pipe supporting system 8 .

[0022] S2, the alignment ball scanning system 2 scans the end faces of both sides of the main pipe 4, and then adjusts the posture of the main pipe 4 according to the scanning result to achieve the leveling of the axis of the main pipe 4; Specifically, after scanning the two side end faces of the main pipe 4, the center positions of the two end faces are determined respectively, and according to the position difference between the two center points, the main pipe support system 6 adjusts the posture of the main pipe 4 with the center point of one side as a reference to achieve the leveling of the main pipe 4 axis.

[0023] Specifically, the alignment ball scanning system 2 is located at the end of the truss system 1, and the mechanical arm of the truss system 1 clamps the alignment ball scanning system 2 for scanning.

[0024] S3, mark the 180-degree busbar on the main pipe 4, determine the spatial coordinates of the footprint position of the branch pipe 3, and then scan the footprint position of the branch pipe 3 by the alignment ball scanning system 2, collect the actual surface shape of the footprint position of the branch pipe 3 on the main pipe 4 and draw a line; Specifically, the model or drawing is read, and the 180-degree busbar is marked on the main pipe 4 according to the weld and the 180-degree busbar position in the model or drawing.

[0025] S4, scanning the saddle mouth of the branch pipe 3 to obtain the surface shape of the saddle mouth of the branch pipe 3, and then fitting it with the actual surface shape of the footprint position of the branch pipe 3 on the main pipe 4. If the fitting effect does not meet the assembly requirements, the saddle mouth groove trimming position of the branch pipe 3 is repaired. If the fitting effect meets the assembly requirements, S5 is performed; Specifically, the groove trimming indication system 5 scans the saddle mouth of the branch pipe 3 .

[0026] Specifically, if the fitting effect does not meet the assembly requirements, the groove trimming indication system 5 marks the saddle groove trimming position of the branch pipe 3 to complete the repair.

[0027] S5, adjusting the branch pipe 3 so that the angle of the saddle mouth of the branch pipe 3 fits the footprint position on the main pipe 4; Specifically, the branch pipe 3 is adjusted through the branch pipe supporting system 8 .

[0028] S6, calculating the path of the saddle mouth of branch pipe 3 moving to the footprint position of main pipe 4; S7, after the branch pipe 3 is lifted by the truss system 1, the branch pipe 3 is quickly moved horizontally to a position 200 mm away from the footprint of the main pipe 4 according to the measured footprint position; Specifically, a C-type clamping mechanism 7 is provided at the end of the truss system 1 , and the C-type clamping mechanism 7 is tensioned from the inside of the branch pipe 3 by using a stretching mechanism to clamp the branch pipe 3 , and then the branch pipe 3 is hoisted.

[0029] S8, the alignment ball scanning system scans the area near the footprint to obtain the clearance between the outer wall of the main pipe 4 and the saddle mouth of the branch pipe 3 in the footprint area, and fine-tune the error before docking until the tolerance requirement is met; Specifically, the tolerance requirement is that the deviation of the center line of the branch pipe 3 from the theoretical center line E is within ±1 mm, and the actual and theoretical torsion angles Δα of the center line of the branch pipe 3 are within ±0.1 degrees, see Figure 1 This tolerance requirement must be met in both the front and side views.

[0030] S9, the truss system 1 carries the branch pipe 3 to the footprint position of the main pipe 4 for final docking, thereby achieving fast and high-precision assembly.

[0031] This process uses high-precision 3D laser imaging equipment to scan the size of the main pipe 4 and the branch pipe 3 and the saddle mouth surface of the branch pipe 3, and the developed software is used for fitting, and the trimming position of the saddle mouth of the branch pipe 3 is calculated and marked. The high-precision bearing and assembly system adjusts the posture of the main pipe 4 and the branch pipe 3 to achieve automatic assembly, realizing the intelligent assembly of pipe nodes. The present invention can be used for the intelligent assembly of various types of pipe nodes in marine engineering.

[0032] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A 3D laser vision-guided tube node assembly process, characterized in that: The following steps are involved: S1. Place the main pipe and branch pipe on the support system; S2. The end faces of both sides of the main pipe are scanned by the alignment ball scanning system, and then the main pipe position is adjusted according to the scanning results to achieve the leveling of the main pipe axis; S3. Mark the 180-degree busbar on the main pipe, determine the spatial coordinates of the branch pipe footprint position, and then scan the branch pipe footprint position with the alignment ball scanning system to collect the actual surface shape of the branch pipe footprint position on the main pipe; S4, scanning the saddle mouth of the branch pipe to obtain the surface shape of the saddle mouth of the branch pipe, and then fitting it with the actual surface shape of the branch pipe footprint position on the main pipe. If the fitting effect does not meet the assembly requirements, the groove trimming position of the saddle mouth of the branch pipe is repaired. If the fitting effect meets the assembly requirements, S5 is performed; S5. Adjust the branch pipe so that the angle of the saddle mouth of the branch pipe fits the footprint position on the main pipe; S6, calculating the path of the branch pipe saddle mouth moving to the main pipe footprint position; S7. After the branch pipe is automatically lifted by the truss system, the branch pipe is quickly moved horizontally to a position 200mm away from the main pipe footprint according to the calculated footprint position; S8. The alignment ball scanning system scans the area near the footprint to obtain the clearance between the outer wall of the main pipe and the saddle mouth of the branch pipe in the footprint area, and fine-tune the error before docking until the tolerance requirements are met; S9, the truss system carries the branch pipe to the main pipe footprint for final docking, achieving fast and high-precision assembly.

2. The 3D laser vision-guided tube node assembly process according to claim 1, characterized in that: In S1, the main pipe is placed on the main pipe support system, and the branch pipe is placed on the branch pipe support system.

3. The 3D laser vision-guided tube node assembly process according to claim 1, characterized in that: The alignment ball scanning system is located at the end of the truss system, and the robotic arm of the truss system clamps the alignment ball scanning system for scanning.

4. The 3D laser vision-guided tube node assembly process according to claim 2, characterized in that: In S2, after scanning the end faces of both sides of the main pipe, the center positions of the two end faces are determined respectively, and according to the position difference between the two center points, the main pipe support system adjusts the main pipe posture with the center point of one side as a reference to achieve the leveling of the main pipe axis.

5. The 3D laser vision-guided tube node assembly process according to claim 1, characterized in that: In S3, the model or drawing is read, and the 180-degree busbar is marked on the main pipe according to the position of the weld and the 180-degree busbar in the model or drawing.

6. The 3D laser vision-guided tube node assembly process according to claim 1, characterized in that: In S4, the saddle mouth of the branch pipe is scanned by the groove trimming indication system.

7. The 3D laser vision-guided tube node assembly process according to claim 6, characterized in that: In S4, if the fitting effect does not meet the assembly requirements, the groove trimming indication system marks the groove trimming position of the branch pipe saddle mouth to complete the repair.

8. The 3D laser vision-guided tube node assembly process according to claim 2, characterized in that: In S5, the branch pipe support system adjusts the branch pipe according to the read model or drawing.

9. The 3D laser vision-guided tube node assembly process according to claim 1, characterized in that: In S7, a C-type clamping mechanism is provided at the end of the truss system, and the C-type clamping mechanism is tensioned from the inside of the branch pipe by means of a stretching mechanism to clamp the branch pipe, and then the branch pipe is hoisted.

10. The 3D laser vision-guided tube node assembly process according to claim 1, characterized in that: In S8, the tolerance requirement is that the deviation of the branch pipe centerline from the theoretical centerline E is within ±1 mm, and the actual and theoretical torsion angles Δα of the branch pipe centerline are within ±0.1 degrees.

Images