Method and device for aligning the center axis of a saddle-shaped weld seam branch pipe

Abstract

The application discloses a method and device for centering a saddle-shaped weld seam support pipe center axis, the method comprising obtaining the distance between a projection point on a calibration disc and a sensor in the X and Y directions. According to the distance between the projection point on the calibration disc and the sensor in the X and Y directions, it is determined whether the rotation center line of the welding head and the axis of the support pipe are parallel. The inclination angle of the rotation center line of the welding head and the axis of the support pipe is calculated; based on the inclination angle, the inclination angle is adjusted to zero. The positional deviation between the center of the calibration disc and the rotation center of the head is calculated. According to the positional deviation, the welding head rotation center and the center of the support pipe end face are adjusted to coincide. The application realizes the centering of the welding head and the calibration disc through parallelism centering and center position centering, thereby realizing the coincidence of the saddle-shaped support pipe center axis and the rotation center axis of the welding head, and providing a high-precision position reference for automatic welding.

Description

Technical Field

[0001] This invention relates to the field of welding technology, and in particular to a method and apparatus for aligning the central axis of a saddle-shaped welded branch pipe. Background Technology

[0002] Saddle-shaped branch pipe welds are connecting welds formed by the intersection of branch pipes and main pipes along their centerlines. Branch pipe diameters, wall thicknesses, and main pipe specifications vary widely, and installation positions are not limited to the 12 o'clock direction, leading to highly variable on-site conditions. Currently, two common connection methods are insertion-type and placement-type, with the former having the bevel on the main pipe and the latter on the branch pipe. Due to product diversity and the inability to change the weld position on-site, this type of weld is still primarily welded manually, with extremely low automation rates. Experiments show that the weld cross-section is circular in the direction perpendicular to the branch pipe's centerline. If the rotation centerline of the welding machine head is eccentric to the branch pipe's centerline, it will cause weld trajectory deviation, uneven fusion, undercut, or weld misalignment. Only when the two coincide can the welding torch weld uniformly and symmetrically along the circular weld, ensuring quality. Achieving real-time alignment between the branch pipe's centerline and the welding machine head's rotation centerline not only eliminates defects but also improves dynamic stability, reduces manual intervention, accelerates the welding cycle, and allows the robot system to quickly adapt to complex working conditions with different angles and specifications. Summary of the Invention

[0003] This invention provides a method and apparatus for aligning the central axis of a saddle-shaped welded branch pipe, in order to solve the technical problem of how to quickly and accurately align the rotation center line of the welding machine head with the central axis of the branch pipe.

[0004] A method for aligning the center axis of a saddle-shaped welded branch pipe includes:

[0005] S1. A point laser displacement sensor is used to project a light spot onto a calibration plate that is fixedly connected to the branch pipe, and the distance between the projection point on the calibration plate and the sensor in the X and Y directions is obtained; wherein, the point laser displacement sensor is connected to the welding head through a mounting bracket, and the welding head is mounted on the robot;

[0006] S2. Based on the distance between the projection point on the calibration plate and the sensor in the X and Y directions, determine whether the rotation center line of the welding head is parallel to the axis of the branch pipe, and obtain the parallelism data in the X and Y directions.

[0007] S3. Based on the parallelism data in the X and Y directions, calculate the tilt angle between the rotation centerline of the welding head and the axis of the branch pipe; based on the tilt angle, adjust the position of the welding head and adjust the tilt angle to zero degrees through the linkage compensation of the robot's B and C axes in the Cartesian coordinate system.

[0008] S4. Use an industrial camera to obtain the center point coordinates of the calibration plate and the rotation center point coordinates of the welding head, and calculate the positional deviation between the center of the calibration plate and the rotation center of the welding head.

[0009] S5. Based on the positional deviation, the robot moves along the X and Y Cartesian coordinate axes to make the rotation center of the welding head coincide with the center of the branch pipe end face.

[0010] A device for aligning the central axis of a saddle-shaped welded branch pipe, comprising:

[0011] The data acquisition module is used to project a light spot onto a calibration plate fixedly connected to the branch pipe using a point laser displacement sensor, and to obtain the distance between the projection point on the calibration plate and the sensor in the X and Y directions; it includes a robot, a welding head mounted on the robot, and an alignment component connected to the welding head, wherein the alignment component includes a mounting bracket and point laser displacement sensors symmetrically mounted on the mounting bracket;

[0012] The parallelism determination module is used to determine whether the rotation center line of the welding head is parallel to the axis of the branch pipe based on the distance between the projection point on the calibration plate and the sensor in the X and Y directions, and to obtain parallelism data in the X and Y directions.

[0013] The tilt angle calculation and tilt adjustment module is used to calculate the tilt angle between the rotation center line of the welding head and the axis of the branch pipe based on the parallelism data in the X and Y directions; based on the tilt angle, the position of the welding head is adjusted through the linkage compensation of the robot's B and C axes in the Cartesian coordinate system, and the tilt angle is adjusted to zero degrees.

[0014] The center deviation calculation module is used to obtain the center point coordinates of the calibration plate using an industrial camera, and at the same time obtain the rotation center point coordinates of the welding head, and calculate the positional deviation between the center of the calibration plate and the rotation center of the welding head.

[0015] The center position adjustment module is used to adjust the position based on the positional deviation by moving the robot along the X and Y Cartesian coordinate axes to make the center of rotation of the welding head coincide with the center of the branch pipe end face.

[0016] In this invention, a symmetrical layout of "four-point laser + industrial camera" integrates parallelism detection and center positioning at the end of the welding head. This allows for simultaneous calculation of tilt angle and positional deviation with a single data acquisition, avoiding the complex wiring and calibration of multiple sensors. This significantly improves alignment efficiency and accuracy, keeping the weld trajectory and branch pipe axis alignment error within industry standards. It ensures that the welding head rotation centerline and branch pipe axis remain parallel, eliminating defects such as uneven fusion, undercut, and incomplete penetration caused by welding torch trajectory deviation. Simultaneously, the robot directly utilizes the B / C axis linkage compensation of the Cartesian coordinate system and the X / Y axis compensation of displacement. Closed-loop adjustment requires no manual intervention or tooling changes throughout the process. This eliminates defects such as undercut and incomplete penetration caused by eccentricity and adapts to branch pipes of different diameters, wall thicknesses, and spatial angles, significantly shortening setup time and reducing rework rates. This provides a highly reliable and low-cost technical solution for large-scale automated welding of saddle-shaped welds. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of a method for aligning the central axis of a saddle-shaped welded branch pipe according to an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of a device for aligning the central axis of a saddle-shaped welded branch pipe according to an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the structure of a computer device according to an embodiment of the present invention;

[0021] Figure 4 This is a structural diagram of the alignment device for the central axis of the saddle-shaped welded branch pipe in one embodiment of the present invention;

[0022] Figure 5 This is a structural diagram of the installation structure of the alignment component of the alignment device for the center axis of the saddle-shaped welded branch pipe in one embodiment of the present invention.

[0023] Figure 6 This is a diagram showing the calibration plate and the installation structure of the saddle-shaped welded branch pipe center axis alignment device in one embodiment of the present invention.

[0024] Figure 7 This is a calculation principle diagram of the method for aligning the central axis of the saddle-shaped welded branch pipe in one embodiment of the present invention;

[0025] Figure 8 This is another calculation principle diagram of the method for aligning the central axis of the saddle-shaped welded branch pipe in one embodiment of the present invention.

[0026] The reference numerals in the accompanying drawings are as follows:

[0027] 1-Robot, 2-Welding head, 3-Alignment component, 31-First point laser displacement sensor, 32-Second point laser displacement sensor, 33-Third point laser displacement sensor, 34-Fourth point laser displacement sensor, 35-Mounting bracket, 36-Industrial camera, 4-Branch pipe, 5-Calibration plate, 6-Main pipe. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] The method for aligning the central axis of a saddle-shaped welded branch pipe provided in this embodiment of the invention is specifically applied in a saddle-shaped welded branch pipe alignment system to quickly and accurately align the rotation centerline of the welding head with the axis of the branch pipe.

[0030] In one embodiment, such as Figure 1 As shown, a method for aligning the center axis of a saddle-shaped welded branch pipe is provided, including the following steps:

[0031] S1. A point laser displacement sensor projects a light spot onto a calibration plate 5 fixedly connected to the branch pipe 4, and obtains the distance between the projection point on the calibration plate 5 and the sensor in the X and Y directions. The point laser displacement sensor is connected to the welding head 2 via a mounting bracket 35, and the welding head 2 is mounted on the robot 1.

[0032] In one embodiment, step S1 further includes the following sub-steps:

[0033] S101. Fix the calibration plate 5 on the end face of the saddle-shaped welded branch pipe 4 away from the main pipe 6, and symmetrically install four point laser displacement sensors on the mounting bracket 35 of the frame, in pairs and symmetrically distributed.

[0034] S102. Activate the four point laser displacement sensors so that they emit laser spots that are projected onto the calibration disk 5. Obtain the position coordinates of the projection points of the four spots respectively, and confirm the distance between the projection points of the four spots and their corresponding point laser displacement sensors.

[0035] S103, the four point laser displacement sensors are the first point laser displacement sensor 31, the second point laser displacement sensor 32, the third point laser displacement sensor 33 and the fourth point laser displacement sensor 34, respectively. The first point laser displacement sensor 31 corresponds to the first light spot, the second point laser displacement sensor 32 corresponds to the second light spot, the third point laser displacement sensor 33 corresponds to the third light spot, and the fourth point laser displacement sensor 34 corresponds to the fourth light spot.

[0036] S104. Obtain the distance between the first laser displacement sensor 31 and the first light spot, and record it as the first distance. The distance between the third laser displacement sensor 33 and the third light spot is denoted as the third distance. The distance between the second laser displacement sensor 32 and the second light spot is recorded as the second distance. The distance between the fourth laser displacement sensor 34 and the fourth light spot is denoted as the fourth distance. .

[0037] S2. Based on the distance between the projection point on the calibration plate 5 and the sensor in the X and Y directions, determine whether the rotation center line of the welding head 2 is parallel to the axis of the branch pipe 4, and obtain the parallelism data in the X and Y directions.

[0038] In one embodiment, step S2 further includes the following sub-steps:

[0039] S201. Obtain the distance difference in the X direction. According to the distance difference Determine the parallelism between the rotation centerline of the welding head 2 and the axis of the branch pipe 4 in the X direction; measure the distance difference in the X direction. The distance between the first laser displacement sensor 31 and the third laser displacement sensor 33 This is denoted as the parallelism data in the X direction;

[0040] With the first distance Distance from the third The difference is denoted as ,like Then, the rotation center line of the welding head 2 is determined to be parallel to the axis of the branch pipe 4; if If so, it is determined that the rotation center line of the welding head 2 is not parallel to the axis of the branch pipe 4;

[0041] S202, Obtain the distance difference in the Y direction. According to the distance difference Determine the parallelism between the rotation centerline of the welding head 2 and the axis of the branch pipe 4 in the Y direction; measure the distance difference in the Y direction. The distance between the second laser displacement sensor 32 and the fourth laser displacement sensor 34 This is denoted as the parallelism data in the Y direction;

[0042] With the second distance Distance to the fourth The difference is denoted as ,like Then, the rotation center line of the welding head 2 is determined to be parallel to the axis of the branch pipe 4; if If so, it is determined that the rotation center line of the welding head 2 is not parallel to the axis of the branch pipe 4.

[0043] S3. Based on the parallelism data in the X and Y directions, calculate the tilt angle between the rotation centerline of the welding head 2 and the axis of the branch pipe 4; based on the tilt angle, adjust the position of the welding head 2 and adjust the tilt angle to zero degrees through the linkage compensation of the B and C axes of the robot 1 in the Cartesian coordinate system.

[0044] In one embodiment, step S3 further includes the following sub-steps:

[0045] S301. Based on the parallelism data in the X direction, utilize the distance difference... With distance The ratio is used to calculate the tilt angle in the X direction between the rotation centerline of the welding head 2 and the axis of the branch pipe 4. ;

[0046] Based on tilt angle By using the linkage compensation of the B-axis and C-axis of robot 1 in the Cartesian coordinate system, the position of welding head 2 is adjusted, and the tilt angle is reduced. Adjust to zero degrees to achieve zero parallelism between the rotation center line of the welding head 2 in the X direction and the axis of the branch pipe 4.

[0047] S302. Based on the parallelism data in the Y direction, utilize the distance difference... With distance The ratio is used to calculate the tilt angle in the Y direction between the rotation centerline of the welding head 2 and the axis of the branch pipe 4. ;

[0048] Based on tilt angle By using the linkage compensation of the B-axis and C-axis of robot 1 in the Cartesian coordinate system, the position of welding head 2 is adjusted, and the tilt angle is reduced. Adjust to zero degrees to achieve zero parallelism between the rotation center line of the welding head 2 in the Y direction and the axis of the branch pipe 4.

[0049] S4. Use an industrial camera to obtain the center point coordinates of the calibration disk and the rotation center coordinates of the welding head 2, and calculate the positional deviation between the center of the calibration disk 4 and the rotation center of the welding head 2.

[0050] In one embodiment, step S4 further includes the following sub-steps:

[0051] S401. Make a center mark on the calibration plate 5, use an industrial camera to obtain the coordinates of the center point of the calibration plate 5, and obtain the coordinates of the rotation center point of the welding head 2.

[0052] S402. Based on the center point coordinates of the calibration disk 5 and the rotation center point coordinates of the welding head 2, determine the positional deviations in the X and Y directions; and transmit the positional deviations to the robot 1.

[0053] S5. Based on the positional deviation, the robot 1 moves along the X and Y Cartesian coordinate axes to make the rotation center of the welding head 2 coincide with the center of the end face of the branch pipe 4.

[0054] In one embodiment, step S5 further includes the following sub-steps:

[0055] S501. Based on the positional deviation in the X direction, the position of the rotation center line of the welding head 2 in the X direction is adjusted by moving the X Cartesian coordinate axis of the robot 1, so that the rotation center of the welding head 2 coincides with the center of the calibration disk 5 in the X direction.

[0056] S502. Based on the positional deviation in the Y direction, the position of the rotation center line of the welding head 2 in the Y direction is adjusted by moving the Y Cartesian coordinate axis of the robot 1, so that the rotation center of the welding head 2 coincides with the center of the calibration plate 5 in the Y direction.

[0057] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0058] In one embodiment, a device for aligning the central axis of a saddle-shaped welded branch pipe is provided, which corresponds one-to-one with the method for aligning the central axis of the saddle-shaped welded branch pipe in the above embodiments. For example... Figure 2 As shown, the alignment device for the central axis of the saddle-shaped welded branch pipe includes:

[0059] The data acquisition module 100 is used to project a light spot onto a calibration plate 5 fixedly connected to the branch pipe 4 using a point laser displacement sensor, and to acquire the distance between the projection point on the calibration plate 5 and the sensor in the X and Y directions; it includes a robot 1, a welding head 2 mounted on the robot 1, and an alignment component 3 connected to the welding head 2. The alignment component 3 includes a mounting bracket 35 and point laser displacement sensors symmetrically mounted on the mounting bracket 35.

[0060] The parallelism determination module 200 is used to determine whether the rotation center line of the welding head 2 is parallel to the axis of the branch pipe 4 based on the distance between the projection point on the calibration plate 5 and the sensor in the X and Y directions, and to obtain parallelism data in the X and Y directions.

[0061] 300 tilt angle calculation and tilt adjustment modules are used to calculate the tilt angle between the rotation center line of the welding head 2 and the axis of the branch pipe 4 based on the parallelism data in the X and Y directions; based on the tilt angle, the position of the welding head 2 is adjusted to zero degrees through the linkage compensation of the B and C axes of the robot 1 in the Cartesian coordinate system.

[0062] The center deviation calculation module 400 is used to obtain the center point coordinates of the calibration disk 5 using the industrial camera 36, ​​and at the same time obtain the rotation center point coordinates of the welding head 2, and calculate the positional deviation between the center of the calibration disk 5 and the rotation center of the welding head.

[0063] The center position adjustment module 500 is used to move the robot 1 along the X and Y Cartesian coordinate axes according to the position deviation, so as to make the rotation center of the welding head 2 coincide with the center of the end face of the branch pipe 4.

[0064] In one embodiment, such as Figures 3 to 6 As shown, the data acquisition module includes a robot 1, a welding head 2 mounted on the robot 1, an alignment component 3 connected to the welding head 2 for acquiring data, and a control unit (not shown) for receiving data from the alignment component 3. Understandably, after the robot 1 carries the welding head 2 to the work position, the alignment component 3 projects a light spot using a point laser displacement sensor and reads the distance of the calibration disk 5 in the X and Y directions in real time. Simultaneously, the industrial camera 36 captures the center coordinates. All data is immediately sent to the control unit, which calculates the parallelism and positional deviation, and drives the robot 1 to compensate for the tilt angle through B and C axis linkage, and then fine-tunes it through X and Y axes to make the rotation center of the welding head completely coincide with the axis of the branch pipe 4. Integrating measurement, calculation, and adjustment into the same kinematic chain significantly reduces manual intervention, improves positioning accuracy and welding quality, and adapts to complex working conditions with varying specifications and limited space.

[0065] In one embodiment, such as Figures 3 to 6As shown, the alignment component 3 includes a mounting bracket 35 connected to the welding head 2, an industrial camera 36 mounted on the mounting bracket 35, a first-point laser displacement sensor 31, a second-point laser displacement sensor 32, a third-point laser displacement sensor 33, and a fourth-point laser displacement sensor 34. The first-point laser displacement sensor 31, the second-point laser displacement sensor 32, the third-point laser displacement sensor 33, and the fourth-point laser displacement sensor 34 are all mounted on the mounting bracket 35 and are symmetrically distributed about the industrial camera 36. Understandably, the calibration plate 5 is connected to the end face of the branch pipe 4 furthest from the main pipe 6, and the alignment component 3 is rigidly connected to the welding head 2 via the mounting bracket 35. This centers the industrial camera 36, ​​and the four point laser displacement sensors are arranged in a symmetrical cross pattern, forming a compact "center-surroundings" measurement unit. When the calibration plate 5 is pressed against the outer end face of the branch pipe 4, the four laser beams are simultaneously projected and feedback the distances in the X and Y directions. The industrial camera 36 immediately identifies the center coordinates, achieving simultaneous acquisition of parallelism and center deviation in a single measurement. The symmetrical arrangement ensures complementary sensor perspectives, suppressing single-point errors; the rigid connection ensures that the measurement reference moves synchronously with the rotation center of the welding head, avoiding deviations caused by mechanical backlash. This structure integrates measurement, compensation, and adjustment at the end of the welding head without the need for additional positioning fixtures, significantly shortening alignment time and improving the automation adaptability and welding accuracy of complex spatial welds.

[0066] In one specific embodiment, such as Figures 7 to 8 As shown, the method for aligning the center axis of the saddle-shaped welded branch pipe includes the following steps:

[0067] like Figure 7 As shown, parallelism data in the X direction (lateral direction) is obtained. Specifically, the distance between the first point laser displacement sensor 31 and the first light spot is obtained and recorded as the first distance. The distance between the third laser displacement sensor 33 and the third light spot is obtained and recorded as the third distance. A first preset installation distance is set between the first laser displacement sensor 31 and the third laser displacement sensor 33. Since they are installed symmetrically, this first preset installation distance is recorded as [the distance is then described in the original text]. , This indicates the distance from the two point laser displacement sensors to the installation center point.

[0068] If branch pipe 4 tilts, calibration plate 5 will also tilt. In this case, the parallelism between the rotation centerline of welding head 2 and the axis of branch pipe 4 will not be zero, indicating a tilt angle between them. Therefore, it is only necessary to determine the first distance. and the third distance The difference is denoted as This allows us to determine whether the two are parallel. Thus, if... Then, the rotation center line of the welding head 2 is determined to be parallel to the axis of the branch pipe 4; if Therefore, it is determined that the rotation center line of the welding head 2 is not parallel to the axis of the branch pipe 4. This judgment is based on the fact that the first laser displacement sensor 31 and the third laser displacement sensor 33 have a fixed installation distance (…). The calibration disk 5 is tilted relative to the sensor plane, and the installation height is consistent. When the calibration disk 5 is tilted relative to the sensor plane, X1 and X3 will inevitably produce a difference, thus confirming that the calibration disk 5 is not parallel to the sensor plane. Since the sensor is rigidly connected to the welding head 2, the rotation plane of the welding head is also not parallel to the calibration disk 4. However, the calibration disk 5 is tightly attached to the end face of the branch pipe, so the parallelism angle between the rotation center line of the welding head 2 and the axis of the branch pipe 4 can be directly obtained.

[0069] like Figure 7 As shown, the branch pipe tilts in the X direction (lateral direction) at an angle of θ. The calculation expression is:

[0070] (1)

[0071] (2)

[0072] The parallelism angle between the rotation center line of welding head 2 and the axis of branch pipe 4 can be calculated from the above calculation expression. The degree value.

[0073] The control unit of industrial robot 1 is based on The sign of the value determines the direction of motion, and the parallelism angle. The value is the motion quantity, controlling the movement along the B-axis (pitch angle) and C-axis (yaw angle) in a Cartesian coordinate system, ensuring that the welding machine head 2 is parallel to the rotation center of the branch pipe 4. During the adjustment process, the device monitors the difference in real time; when the difference... When the value approaches zero, it is determined that the rotation center line of the welding head 2 is parallel to the axis of the branch pipe 4 in the transverse direction, thus achieving parallelism alignment in the X direction.

[0074] The process of aligning the parallelism between the welding head rotation centerline and the branch pipe axis in the Y (longitudinal) direction is similar to that of aligning the parallelism in the X direction. Figure 8 As shown, it will not be elaborated further here.

[0075] Use an industrial camera 36 to obtain the coordinates of the center point of the calibration disk. Simultaneously, obtain the coordinates of the rotation center point of welding head 2. The positional deviation between the center of calibration plate 5 and the rotation center of welding head 2 is calculated, and the calculation expression is as follows:

[0076] (3) (4)

[0077] The calculation results are transmitted to the control unit of robot 1, based on the above. , The value of exactly reflects the X and Y axes in the Cartesian coordinate system where robot 1 is located. Therefore, by moving the X and Y Cartesian coordinate axes of robot 1 respectively, the coordinate position of the rotation center axis of welding head 2 in the X and Y directions can be adjusted. Specifically, based on the position deviation in the X direction, by moving the X Cartesian coordinate axis of robot 1, the position of the rotation center line of welding head 2 in the X direction is adjusted so that the rotation center of welding head 2 coincides with the center of calibration disk 5 in the X direction.

[0078] Based on the positional deviation in the Y direction, the position of the rotation center line of the welding head 2 in the Y direction is adjusted by moving the Y Cartesian coordinate axis of the robot 1, so that the rotation center of the welding head 2 coincides with the center of the calibration disk 5 in the Y direction.

[0079] Thus, through the coordination of all the above processes, the alignment of the welding head 2 and the calibration plate 5 was finally achieved, and the centerline axis of the saddle-shaped branch pipe 4 was made coincident with the rotation center axis of the welding head 2, thus ensuring the accuracy of the welding position of the welding head 2.

[0080] Specific limitations regarding the alignment device for the center axis of the saddle-shaped welded branch pipe can be found in the above-described limitations on the alignment method for the center axis of the saddle-shaped welded branch pipe, and will not be repeated here. Each module in the aforementioned alignment device for the center axis of the saddle-shaped welded branch pipe can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0081] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 3As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for aligning the center axis of a saddle-shaped welded branch pipe.

[0082] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0083] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0084] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for aligning the central axis of a saddle-shaped welded branch pipe, characterized in that, include: S1. A spot of light is projected onto a calibration plate that is fixedly connected to the branch pipe using a point laser displacement sensor, and the distance between the projection point on the calibration plate and the sensor in the X and Y directions is obtained; wherein, the point laser displacement sensor is connected to the welding head (2) through a mounting bracket (35), and the welding head (2) is mounted on the robot (1); S2. Based on the distance between the projection point on the calibration plate and the sensor in the X and Y directions, determine whether the rotation center line of the welding head is parallel to the axis of the branch pipe, and obtain the parallelism data in the X and Y directions. S3. Based on the parallelism data in the X and Y directions, calculate the tilt angle between the rotation centerline of the welding head and the axis of the branch pipe; based on the tilt angle, adjust the position of the welding head and adjust the tilt angle to zero degrees through the linkage compensation of the robot's B and C axes in the Cartesian coordinate system. S4. Use an industrial camera to obtain the center point coordinates of the calibration plate and the rotation center point coordinates of the welding head, and calculate the positional deviation between the center of the calibration plate and the rotation center of the welding head. S5. Based on the positional deviation, the robot moves along the X and Y Cartesian coordinate axes to make the rotation center of the welding head coincide with the center of the branch pipe end face.

2. The method for aligning the central axis of the saddle-shaped welded branch pipe according to claim 1, characterized in that, Step S1 includes the following sub-steps: S101. Fix the calibration plate on the end face of the saddle-shaped welded branch pipe away from the main pipe, and symmetrically install four point laser displacement sensors on the mounting bracket of the frame, in pairs and symmetrically distributed. S102. Activate the four point laser displacement sensors to project laser beams onto the calibration disk, obtain the position coordinates of the projection points of the four beams respectively, and confirm the distance between the projection points of the four beams and their corresponding point laser displacement sensors. S103, the four point laser displacement sensors are the first point laser displacement sensor, the second point laser displacement sensor, the third point laser displacement sensor and the fourth point laser displacement sensor, respectively. The first point laser displacement sensor corresponds to the first light spot, the second point laser displacement sensor corresponds to the second light spot, the third point laser displacement sensor corresponds to the third light spot, and the fourth point laser displacement sensor corresponds to the fourth light spot. S104. Obtain the distance between the first laser displacement sensor and the first light spot, and record it as the first distance. The distance between the third laser displacement sensor and the third light spot is denoted as the third distance. The distance between the second laser displacement sensor and the second light spot is recorded as the second distance. The distance between the fourth laser displacement sensor and the fourth light spot is denoted as the fourth distance. .

3. The method for aligning the central axis of the saddle-shaped welded branch pipe according to claim 2, characterized in that, Step S2 includes the following sub-steps: S201. Obtain the distance difference in the X direction. According to the distance difference Determine the parallelism between the rotation centerline of the welding head and the axis of the branch pipe in the X direction; measure the distance difference in the X direction. The distance between the first laser displacement sensor and the third laser displacement sensor The parallelism data in the X direction is denoted as ; where, This indicates the distance from the first or third laser displacement sensor to the installation center point. With the first distance Distance from the third The difference is denoted as ,like Then, the rotation center line of the welding head is determined to be parallel to the axis of the branch pipe; if If so, it is determined that the rotation center line of the welding head is not parallel to the axis of the branch pipe; S202, Obtain the distance difference in the Y direction. According to the distance difference Determine the parallelism between the rotation centerline of the welding head and the axis of the branch pipe in the Y direction; measure the distance difference in the Y direction. The distance between the second laser displacement sensor and the fourth laser displacement sensor The parallelism data in the Y direction is denoted as ; where, This indicates the distance from the second or fourth laser displacement sensor to the installation center point. With the second distance Distance to the fourth The difference is denoted as ,like Then, the rotation center line of the welding head is determined to be parallel to the axis of the branch pipe; if If so, it is determined that the rotation center line of the welding head is not parallel to the axis of the branch pipe.

4. The method for aligning the central axis of the saddle-shaped welded branch pipe according to claim 3, characterized in that, Step S3 includes the following sub-steps: S301. Based on the parallelism data in the X direction, utilize the distance difference... With distance The ratio is used to calculate the inclination angle in the X direction between the rotation centerline of the welding head and the axis of the branch pipe. ; Based on tilt angle By adjusting the robot's position and tilt angle through the linkage compensation of the B-axis and C-axis in the Cartesian coordinate system, the position of the welding head is adjusted. Adjust to zero degrees to achieve zero parallelism between the rotation center line of the welding head in the X direction and the axis of the branch pipe. S302. Based on the parallelism data in the Y direction, utilize the distance difference... With distance The ratio is used to calculate the inclination angle in the Y direction between the rotation centerline of the welding head and the axis of the branch pipe. ; Based on tilt angle By adjusting the robot's position and tilt angle through the linkage compensation of the B-axis and C-axis in the Cartesian coordinate system, the position of the welding head is adjusted. Adjust to zero degrees to achieve zero parallelism between the rotation center line of the welding head in the Y direction and the axis of the branch pipe.

5. The method for aligning the central axis of the saddle-shaped welded branch pipe according to claim 4, characterized in that, Step S4 includes the following sub-steps: S401. Make a center mark on the calibration plate, use an industrial camera to obtain the coordinates of the center point of the calibration plate, and obtain the coordinates of the rotation center point of the welding head. S402. Determine the positional deviations in the X and Y directions based on the center point coordinates of the calibration plate and the rotation center point coordinates of the welding head; and transmit the positional deviations to the robot.

6. The method for aligning the central axis of the saddle-shaped welded branch pipe according to claim 5, characterized in that, Step S5 includes the following sub-steps: S501. Based on the positional deviation in the X direction, adjust the position of the welding head rotation center line in the X direction by moving the robot's X Cartesian coordinate axis, so that the welding head rotation center coincides with the center of the calibration plate in the X direction. S502. Based on the positional deviation in the Y direction, adjust the position of the welding head rotation center line in the Y direction by moving the robot's Y Cartesian coordinate axis, so that the welding head rotation center coincides with the center of the calibration plate in the Y direction.

7. A device for aligning the central axis of a saddle-shaped welded branch pipe, characterized in that, include: The data acquisition module is used to project a light spot onto a calibration plate fixedly connected to the branch pipe using a point laser displacement sensor, and to obtain the distance between the projection point on the calibration plate and the sensor in the X and Y directions; it includes a robot (1), a welding head (2) mounted on the robot (1), and an alignment component (3) connected to the welding head (2), wherein the alignment component (3) includes a mounting bracket (35) and point laser displacement sensors symmetrically mounted on the mounting bracket (35); The parallelism determination module is used to determine whether the rotation center line of the welding head is parallel to the axis of the branch pipe based on the distance between the projection point on the calibration plate and the sensor in the X and Y directions, and to obtain parallelism data in the X and Y directions. The tilt angle calculation and tilt adjustment module is used to calculate the tilt angle between the rotation center line of the welding head and the axis of the branch pipe based on the parallelism data in the X and Y directions; based on the tilt angle, the position of the welding head is adjusted through the linkage compensation of the robot's B and C axes in the Cartesian coordinate system, and the tilt angle is adjusted to zero degrees. The center deviation calculation module is used to obtain the center point coordinates of the calibration plate using an industrial camera, and at the same time obtain the rotation center point coordinates of the welding head, and calculate the positional deviation between the center of the calibration plate and the rotation center of the welding head. The center position adjustment module is used to adjust the position based on the positional deviation by moving the robot along the X and Y Cartesian coordinate axes to make the center of rotation of the welding head coincide with the center of the branch pipe end face.

8. The alignment device for the central axis of the saddle-shaped welded branch pipe according to claim 7, characterized in that, The data acquisition module includes a robot, a welding head mounted on the robot, an alignment component connected to the welding head for acquiring data, and a control unit for receiving data from the alignment component.

9. The alignment device for the central axis of the saddle-shaped welded branch pipe according to claim 8, characterized in that, The alignment component includes a mounting bracket connected to the welding head, an industrial camera mounted on the mounting bracket, a first point laser displacement sensor, a second point laser displacement sensor, a third point laser displacement sensor, and a fourth point laser displacement sensor; the first point laser displacement sensor, the second point laser displacement sensor, the third point laser displacement sensor, and the fourth point laser displacement sensor are all mounted on the mounting bracket and are symmetrically distributed about the industrial camera.

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