Conduit flexible assembly platform cabin penetrating hole parallel pipe clamp

Abstract

The invention discloses a parallel pipe clamp for cabin penetrating holes of a guide pipe flexible assembly platform, designs a special parallel pipe clamp tool to meet simulation reproduction of cabin penetrating holes of different specifications in combination with flexible assembly platform equipment, and provides a cabin penetrating hole reproduction algorithm suitable for the guide pipe flexible assembly platform. The space and rotation simulation is realized through the expanded sixth shaft of the flexible assembly platform, the problem of inaccurate positioning of the large-diameter conduit cabin penetrating hole in the current flexible assembly platform is solved, and meanwhile, the technology can also be used for simulation reproduction of a tool with a positioning hole, has the function of representing the installation constraint condition of the conduit on a rocket, and is suitable for popularization and application. Efficient manufacturing and production of the guide pipe are achieved, the assembling and welding precision of the guide pipe is guaranteed, meanwhile, the manufacturing efficiency of the guide pipe is greatly improved, and the bottleneck station of the final assembly link is effectively broken through.

Description

Technical Field

[0001] The invention relates to the technical field of digital intelligent assembly, and in particular to a parallel pipe clamp for a through-cabin hole of a flexible catheter assembly platform. Background Art

[0002] Pipeline systems are widely used in almost all electromechanical products, and their main function is to serve as channels for conveying media. Especially in the field of aerospace, conduits are important components of aircraft or various types of spacecraft, and the normal operation of the pipeline system is a very important condition for determining product performance and quality. The pressurized delivery system pipeline products are called "vascular systems" in liquid launch vehicles. They mainly play the role of fuel delivery, pressurization, pressure measurement and blowing, and play a decisive role in the success or failure of the test flight of liquid launch vehicles. As the core component connecting the aircraft engine with other parts, the assembly accuracy of the conduit directly affects the reliability of the aircraft, and the manufacturing process of the conduit directly reflects the manufacturing level of my country's aerospace industry.

[0003] Fuel delivery pipes and self-pressurized pipes are usually φ30mm or more. Since medium and large diameter pipes are mostly thin-walled structures with small bending radius, wrinkling and cracking are prone to occur if they are bent directly. Therefore, this type of pipe is mainly manufactured by welding. The welded type of space-complex pipe assembly precision requirements are high, and the manufacturing process is relatively complicated. Due to the different functions of pipeline products, there are many pipelines with different shapes. In addition to the data of branch pipes, pipe joints, and flanges themselves, it also involves the relative positions between them, with different specifications and complex spatial directions.

[0004] At present, most of the catheter welding work is still done manually through special tooling or on-site physical sampling. Special welding tooling is made for each product to accurately control the key dimensional information such as the length and angle of complex pipes. The welding of key points is performed after the relative position and direction are fixed. Special welding tooling has poor versatility, low efficiency, long design cycle, and cannot respond quickly to model changes. A large number of different special fixtures need to be designed for different welding catheters, which greatly increases the development time and cost of aerospace products, and also brings great inconvenience to production management. With the rapid development of new models and new products of aerospace equipment, the development and production costs of tooling and molds are huge. The management and storage of tooling and molds have become an obstacle to the high-density launch of rockets.

[0005] With the development of digital manufacturing technology and intelligent manufacturing, the market urgently needs to carry out research on tailor-made welded catheter assembly technology. The key feature positions of catheter assembly can be determined through the combination of flexible support devices. The position of the flexible support device can be adjusted according to the spatial direction of the catheter product and the characteristic point values ​​of the assembly accuracy on the arrow, so that the same set of tooling system can meet the welding assembly requirements of different structures and different catheters. The three-dimensional flexible platform is used for precise positioning to simulate the actual positioning targets of complex pipelines to ensure the precise docking of catheter components before welding.

[0006] For the characteristics of critical surfaces such as penetration holes, in addition to knowing the spatial coordinates and direction vectors of the center of the critical surface or the contact surface, it is also necessary to know the angle between the critical surface of the penetration hole and the reference plane to simulate the end surface characteristics. The simulation of the penetration surface cannot be realized on the current 6-DOF flexible tooling. Summary of the invention

[0007] In view of the shortcomings existing in the above problems, the present invention provides a parallel pipe clamp for a flexible duct assembly platform through a cabin hole.

[0008] To achieve the above-mentioned purpose, the present invention provides a parallel pipe clamp for a flexible assembly platform for a catheter, comprising a quick-change connection plate and mounting bases symmetrically arranged on both sides of the quick-change connection plate, the quick-change connection plate being provided with through-holes of different contour specifications, and the quick-change connection plate being connected to an end flange of a flexible support device;

[0009] Wherein, the penetration hole is provided with corresponding simulation tooling, and the flexible support device includes 6 movable axes.

[0010] Preferably, six of the flexible support devices are installed on the flexible assembly platform.

[0011] Preferably, the catheter passes through the through-hole and the normal vector of the simulation tooling constrains the position and direction of the positioning point of the through-hole, and the rotation vector of the simulation tooling constrains the rotation direction of the plane of the simulation tooling.

[0012] Preferably, based on the direction vector coordinate data of the two end faces of the catheter and the direction vector coordinate data of the simulation tooling, and according to the spatial matching calculation algorithm of the flexible assembly platform, the absolute position of each corresponding flexible support device is automatically decoupled.

[0013] Preferably, the rotation angle of the flexible support device is calculated based on the absolute position of the flexible support device, the angle between the simulation tool and the end surface of the catheter, and the zero point of the flexible support device.

[0014] Preferably, if the rotation angle of the flexible support device is greater than 180°, the flexible support device is reduced by 360°; if the rotation angle of the flexible support device is less than 180°, the flexible support device is increased by 360°, so that the rotation angle of the flexible support device is between -180° and 180°.

[0015] Preferably, based on the absolute position of the flexible support device and the rotation angle, positioning to the target position is performed through the six movable axes.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The present invention realizes space + rotation simulation through the sixth axis extended by the flexible assembly platform, which solves the problem of inaccurate positioning of the penetration holes of large-diameter catheters in the current flexible assembly platform. At the same time, the technology can also be used for simulation and reproduction of tooling with positioning holes, and has the function of characterizing the installation constraints on the catheter arrow, thereby realizing efficient manufacturing and production of the catheter, greatly improving the manufacturing efficiency of the catheter while ensuring the accuracy of catheter welding, and effectively breaking through the bottleneck workstation in the final assembly link. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is the structural diagram of the parallel pipe clamp;

[0019] Figure 2 It is the side view of the parallel pipe clamp;

[0020] Figure 3 This is a schematic diagram of the catheter flexible assembly system platform;

[0021] Figure 4 This is a schematic diagram of the hole through which the conduit 1 penetrates the cabin;

[0022] Figure 5 This is a schematic diagram of the hole through which the conduit 2 penetrates the cabin;

[0023] Figure 6 This is a schematic diagram of the duct 3 penetration hole;

[0024] Figure 7 It is a schematic diagram of the duct penetration and cabin hole penetration tooling;

[0025] Figure 8 is a diagram of an embodiment of a catheter;

[0026] Fig. 9 For flange positioning tooling. DETAILED DESCRIPTION

[0027] 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Reference Figure 1 The present invention provides a parallel pipe clamp for a flexible duct assembly platform through-cabin holes, comprising a connecting quick-change plate 1-2 and mounting bases 1-1 symmetrically arranged on both sides of the connecting quick-change plate 1-2, the connecting quick-change plate 1-2 is provided with through-cabin holes of different profiling specifications, and the connecting quick-change plate 1-2 is connected to the end flange of the flexible support device;

[0029] Specifically, it includes a parallel pipe clamp tooling installation base 1-1, connected to a quick-change plate 1-2, and has different configurations of penetration holes, such as penetration hole simulation tooling 1# specification 1-3, penetration hole simulation tooling 2# specification 1-4, penetration hole simulation tooling 3# specification 1-5, penetration hole simulation tooling 4# specification 1-6, penetration hole simulation tooling 5# specification 1-7, penetration hole simulation tooling 6# specification 1-8, penetration hole simulation tooling 7# specification 1-9, penetration hole simulation tooling 8# specification 1-10, penetration hole simulation tooling 9# specification 1-11, and penetration hole simulation tooling 10# specification 1-12.

[0030] Reference Figure 2 , connect the quick-change plate 1-2 with the end flange of the flexible support device 2-7, and can adapt to different flexible support devices through the quick-change plate, fix different through-hole profiling simulation tooling on the parallel pipe clamp tooling installation base 1-1 by screws to adapt to different through-hole states, and paste positioning targets on the parallel pipe clamp tooling installation base 1-1 to facilitate Track recognition. The characteristic points of the tooling of the through-hole parallel pipe clamp are located by modeling to facilitate guiding spatial positioning.

[0031] Reference Figure 3 , 6 flexible support devices are installed on the flexible assembly platform, including flexible support device 1#2-7, flexible support device 2#2-8, flexible support device 3#2-9, flexible support device 4#2-10, flexible support device 5#2-11, and flexible support device 6#2-12; each flexible support device has 6 movable axes, including flexible support device 1#1 axis 2-1, flexible support device 1#2 axis 2-2, flexible support device 1#3 axis 2-3, flexible support device 1#4 axis 2-4, flexible support device 1#5 axis 2-5, and flexible support device 1#6 axis 2-6.

[0032] Furthermore, each flexible support device is provided with a quick-change plate, which can switch between a parallel pipe clamp fixture or a flange fixture.

[0033] The schematic diagram of the duct 1 through-hole is as follows Figure 4 As shown, plane 1 is the flange fixture, and the normal vector of plane 1 is outward along the center axis of the flange of plane 1. Its spatial vector coordinate is expressed as (x 1 ,y 1 ,z 1 ,i 1 ,j 1 ,k 1 ), plane 2 is the flange fixture, the normal vector direction of plane 2 is outward along the center axis of the flange of plane 2, and its spatial coordinate vector is expressed as (x 2 ,y 2 ,z 2 ,i 2 ,j 2 ,k 2 ), the normal vector of the parallel pipe clamp fixture of the through-hole is the radial vector from the center of the conduit to the pipe wall, and its spatial coordinate vector is expressed as (x 3 ,y 3 ,z 3 ,i 3 ,j 3 ,k 3 ), the normal vector of the fixture ensures that when the conduit passes through the parallel pipe clamp fixture, the normal vector of the fixture plane is consistent with the normal vector of the through-hole, that is, the cross section of the conduit at the through-hole is consistent with the parallel plane of the fixture.

[0034] The schematic diagram of the duct 2 through-cabin hole is as follows Figure 5 As shown, plane 1 is the flange fixture, and the normal vector of plane 1 is outward along the center axis of the flange of plane 1. Its spatial vector coordinate is expressed as (x 1 ,y 1 ,z 1 ,i 1 ,j 1 ,k 1 ), plane 2 is the flange fixture, the normal vector direction of plane 2 is outward along the center axis of the flange of plane 2, and its spatial coordinate vector is expressed as (x 2 ,y 2 ,z 2 ,i 2 ,j 2 ,k 2 ), the normal vector of the parallel pipe clamp fixture of the through-hole is the radial vector from the center of the conduit to the pipe wall, and its spatial coordinate vector is expressed as (x 3 ,y 3 ,z 3 ,i 3 ,j 3 ,k 3), the normal vector of the fixture ensures that when the conduit passes through the parallel pipe clamp fixture, the normal vector of the fixture plane is consistent with the normal vector of the through-hole, that is, the cross section of the conduit at the through-hole is consistent with the parallel plane of the fixture.

[0035] The schematic diagram of the duct 3 through-cabin hole is as follows Figure 6 As shown, plane 1 is the flange fixture, and the normal vector of plane 1 is outward along the center axis of the flange of plane 1. Its spatial vector coordinate is expressed as (x 1 ,y 1 ,z 1 ,i 1 ,j 1 ,k 1 ), plane 2 is the flange fixture, the normal vector direction of plane 2 is outward along the center axis of the flange of plane 2, and its spatial coordinate vector is expressed as (x 2 ,y 2 ,z 2 ,i 2 ,j 2 ,k 2 ), the normal vector of the parallel pipe clamp fixture of the through-hole is the radial vector from the center of the conduit to the pipe wall, and its spatial coordinate vector is expressed as (x 3 ,y 3 ,z 3 ,i 3 ,j 3 ,k 3 ), the normal vector of the fixture ensures that when the conduit passes through the parallel pipe clamp fixture, the normal vector of the fixture plane is consistent with the normal vector of the through-hole, that is, the cross section of the conduit at the through-hole is consistent with the parallel plane of the fixture.

[0036] The schematic diagram of the duct and the penetration hole tooling is as follows Figure 7 As shown, the penetration hole fixture simulates the state of the penetration hole, the posture normal vector of the penetration hole fixture constrains the position and direction of the positioning point of the penetration hole, and the rotation vector of the penetration hole fixture constrains the rotation direction of the plane of the penetration hole fixture.

[0037] The positioning process of the duct penetration tooling is as follows Figure 8 As shown, according to the input flange process data (x 1 ,y 1 ,z 1 ,i 1 ,j 1 ,k 1 )、(x 2 ,y 2 ,z 2 ,i 2 ,j 2 ,k 2 ) and the characteristic data of the penetration hole (x 3 ,y 3 ,z 3 ,i3 ,j 3 ,k 3 ), matching the position pos(i, j) of the flexible support device within the range of spatial motion, where i is the number of the flexible support device, from 1 to 6, and j is the axis number of the flexible support device, from 1 to 5;

[0038] Furthermore, according to the calculated posture pos(i, j), the angle a between the plane of the through-hole tooling and the 1# end face, the flexible support device part zero(i, j), the rotation angle β of the flexible support device is calculated according to the algorithm to ensure that β is between -180° and 180°. If β>180°, subtract 360° from the calculated value, and if <-180°, add 360° to the calculated value.

[0039] Furthermore, the calculated posture and rotation variables are integrated, and the data is sent to the flexible support device to be assigned to the controller to guide the movement according to the positioning process, wherein the 1-5 axes are positioned to the target position through the grating ruler and TRACK space feedback according to the positioning method, and the 6th axis is positioned to the target position through the absolute encoder feedback until the movement is completed.

[0040] The position and orientation of the penetration tooling are as follows: Fig. 9 As shown, according to the input space vector, the end face 1(x 1 ,y 1 ,z 1 ,i 1 ,j 1 ,k 1 ), end face 2(x 2 ,y 2 ,z 2 ,i 2 ,j 2 ,k 2 ), penetration tooling (x 3 ,y 3 ,z 3 ,i 3 ,j 3 ,k 3 ), according to the spatial coordinate transformation matrix R, calculate the target position Pos(i,j) of each axis of the flexible support device, where i is the flexible support device, from 1 to 6, and j is the axis number, from 1 to 5;

[0041] The rotation vector calculation method of the hole punching tooling is inputted as the zero points of the 4-axis and 6-axis rotation axes of each flexible support device: zero(1,4), zero(2,4), zero(3,4), zero(4,4), zero(5,4), zero(6,4), zero(1,6), zero(2,6), zero(3,6), zero(4,6), zero(5,6), zero(6,6), and the rotation directions of the rotation axes of each flexible support device: Dir(1,4), Dir(2,4), Dir(3,4), Dir(4,4), Dir(5,4), Dir(6,4), Dir(1,6), Dir(2,6), Dir(3,6), Dir(4,6), Dir(5,6), Dir(6,6), and the angle a between the plane of the hole punching tooling and the 1# end face, according to the formula:

[0042] Pos(y,6)={dir(x,4)*[pos(x,4)-zero(x,4)]-dir(y,4)*[pos(y,4)-zero(y,4)]-a} / dir(y,6)+zero(y,6)

[0043] Among them, x is the flexible support device corresponding to the end face 1 fixture, and y is the flexible support device corresponding to the through hole fixture;

[0044] Finally, the 6-axis target position Pos(y,6) corresponding to the hole punching tooling is output, where y is the flexible support device corresponding to the hole punching tooling.

[0045] The actual implementation of the catheter is e.g. Figure 8 As shown, the angle between the end face 1 and the penetration hole tooling is 120.672°, and the angle between the end face 2 and the penetration hole tooling is 54.285°.

[0046] Example 1

[0047] It is known that the zero point of each axis of each flexible support device is zero(i,j), where i represents the number of the flexible support device and j represents the axis number. The zero points of the 4-axis and 6-axis of each flexible support device are shown in Table 1:

[0048] Table 1

[0049]

[0050] The rotation direction of the 4th and 6th axes of each flexible support device is dir(i, j), where i represents the number of the flexible support device and j represents the axis number. Assuming that the clockwise direction is positive, the rotation directions of the 4th and 6th axes of the rotation axes of each flexible support device are shown in Table 2:

[0051] Table 2

[0052] 1# Direction 2# Direction 3# Direction 4# Direction 5# Direction 6# Direction 4-axis 1 1 1 1 1 -1 6-axis 1 1 1 1 1 1

[0053] Taking a straight tube with two end faces as an example, the direction vector coordinate data of end face 1 in the tube model is known to be (0, 0, 0, 0, 1, 0), the direction vector coordinate data of end face 2 is (0, -1400, 0, 0, -1, 0), and the direction vector coordinate data of the hole is (0, -700, 0, 0, 0, 1). According to Fig. 9 The method shown is converted into the corresponding axis data. The end face 1 selects the flexible support device 6#, which is converted into the platform coordinate system: X: 250.52, Y: 1743.6, Z: 224.18, I: -60.00, J: -96.00, and the corresponding axis data are X: 2156.23, 250.56, 243.94, 104.31, 446.12. The end face of the penetration hole tooling selects the flexible support device 1#, which is converted into the platform coordinate system data: X: 507.37, Y: 724.08, Z: 274 .03, I: 33.23, J: -118.22, the corresponding axis data are: X: 777.37, Y: 375.92, Z: 307.03, I: 43.85, J: -180.48; the end face 2 selects the flexible support device 2#, and the data converted to the platform coordinate system is: X: 1245.64, Y: 20, Z: 15, I: -60, J; 84; the corresponding axis data are X: 1265.05, Y: 1080.69, Z: 49.7, I: 309.74, J; 462.95;

[0054] Since the product is a straight pipe, the angle α between the plane of the through-hole tooling and the 1# end face is 0 degrees, the 1# end face uses a 6# flexible support device, and the through-hole uses a 1# flexible support device. According to the algorithm:

[0055] pos(1,6)={dir(6,4)*[pos(6,4)-zero(6,4)]-dir(1,4)*[pos(1,4)-zero(1,4)]-0} / dir(1,6)+zero(1,6)

[0056] After calculation, pos(1,6)=190.3014°, the 6-axis rotation angle of the through-hole is within the limit range. After the operation and positioning are completed, the actual pipeline is compared with the actual one, and the effect is good.

[0057] Example 2

[0058] The zero point of each axis of each flexible support device is zero(i,j) as above; the rotation direction of the 4-axis and 6-axis of each flexible support device is dir(i,j) as above.

[0059] Taking the curved pipe with two end faces as an example, the direction vector coordinate data of end face 1 in the pipe model is known to be (32338.073, -1025.546, 13.613, 0, -0.297, 0.955), the direction vector coordinate data of end face 2 is (31858.813, -744.515, 439.156, -0.43, 0.412, -0.804), and the direction vector coordinate data of the tooling of the through hole is (33251, -1004.056, 945.944, 1, 0, 0). According to Fig. 9 The method shown is used to convert the data into the corresponding axis data.

[0060] The end face 1 selects the flexible support device 1#, which corresponds to the platform base coordinate system X: 227.03, Y: 537.08, Z: 15, I: 24.93, J: -73.08. According to the coordinate transformation matrix, the corresponding axis data are: X: 497.03, Y: 562.92, Z: 48, I: 52.15, J: -135.34; the end face 2 selects the flexible support device 2#, which corresponds to the platform base coordinate system X: 1568, Y: 500, Z: 192.34, I: 0, J: 95, the corresponding axis data are X:1587.4, Y:1080.69, Z:49.7, I:309.74, J; 462.95; the flexible support device 3# is selected for the end face of the penetration hole tooling, corresponding to the platform base coordinate system X:20, Y:1776.79, Z:191.04, I:-64.09, J:-93.23, and the corresponding axis data are: X:2386.75, Y:283.75, Z:210.8, I:100.22, J:443.35.

[0061] Since the product is a curved pipe, the angle α between the plane of the penetration hole tooling and the 1# end face is 30 degrees. The 1# end face uses the 1# flexible support device, and the penetration hole uses the 3# flexible support device. According to the algorithm:

[0062] pos(3,6)={dir(1,4)*[pos(1,4)-zero(1,4)]-dir(3,4)*[pos(3,4)-zero(3,4)]-30} / dir(3,6)+zero(3,6)

[0063] After calculation, pos(1,6)=-19.6496, the 6-axis rotation angle of the through-hole is within the limit range. After the operation and positioning are completed, the actual pipeline is compared with the actual one, and the effect is good.

[0064] Similarly, this method can also be applied to flange positioning tooling with positioning hole function.

[0065] Flange positioning tooling Fig. 9As shown, the positioning plate 3-1 is used for quick exchange with the robot, the clamping device 3-2 is used for fixing the flange, the positioning surface 3-3 is used for surface matching between the tooling plane and the flange plane, the positioning pin 3-4 is used for compatibility with flanges of different diameters, and the positioning target 3-5 is used for system identification of the tooling. There is a positioning device on the tooling, which can be compatible with flanges with positioning.

[0066] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A parallel pipe clamp for a flexible duct assembly platform through a cabin hole, characterized in that: It includes a connection quick-change plate and mounting bases symmetrically arranged on both sides of the connection quick-change plate, the connection quick-change plate is provided with through-holes of different contour specifications, and the connection quick-change plate is connected to the end flange of the flexible support device; Wherein, the penetration hole is provided with corresponding simulation tooling, and the flexible support device includes 6 movable axes.

2. The parallel pipe clamp for the flexible assembly platform of the catheter according to claim 1 is characterized in that: Six of the flexible supporting devices are installed on the flexible assembly platform.

3. The parallel pipe clamp for the flexible assembly platform of the catheter according to claim 2 is characterized in that: The catheter passes through the through-hole and the normal vector of the simulation tooling constrains the position and direction of the positioning point of the through-hole, and the rotation vector of the simulation tooling constrains the rotation direction of the plane of the simulation tooling.

4. The parallel pipe clamp for the flexible assembly platform of the catheter according to claim 3 is characterized in that: Based on the direction vector coordinate data of the two end surfaces of the catheter and the direction vector coordinate data of the simulation tooling, and according to the spatial matching calculation algorithm of the flexible assembly platform, the absolute position of each corresponding flexible support device is automatically decoupled.

5. The parallel pipe clamp for the flexible assembly platform of the catheter according to claim 4 is characterized in that: The rotation angle of the flexible support device is calculated based on the absolute position of the flexible support device, the angle between the simulation tool and the end surface of the catheter, and the zero point of the flexible support device.

6. The parallel pipe clamp for the through-cabin hole of the flexible catheter assembly platform according to claim 5 is characterized in that: If the rotation angle of the flexible support device is greater than 180°, the flexible support device is reduced by 360°; if the rotation angle of the flexible support device is less than 180°, the flexible support device is increased by 360°, so that the rotation angle of the flexible support device is between -180° and 180°.

7. The parallel pipe clamp for the flexible assembly platform of the catheter according to claim 6 is characterized in that: Based on the absolute position of the flexible support device and the rotation angle, the flexible support device is positioned to a target position through the six movable axes.

Images