A method for constructing a module tool library for narrow space pipeline assembly and a design method for a tightening tool

Abstract

The application discloses a construction method of a module tool library for pipeline assembly in a narrow space and a tightening tool design method. When the module tool library is constructed, firstly, a point cloud model is established and raster processing is performed, and tool trajectory curves with obstacle avoidance functions are generated by taking the shortest path principle and the maximum gap between the tool envelope and the shelter as the judgment principle. Section points are selected in the bending points of the tool trajectory curves, and the tool configuration trajectory tracking lines are segmented. The trajectory curves are grouped: assuming that there are N tightening points, N tool trajectory curves are generated, wherein one tool trajectory curve corresponds to one tightening point; the N tool trajectory curves are grouped and segmented; then, group segmented curve integration is performed: the curve selection integration of each group of segmented curves is performed in sequence, similar line segments are combined, and the module tool library is updated. The construction efficiency of the modular tightening module tool library is greatly improved, flexible functions of the variable tightening tool configuration are realized, and the dynamic assembly of the pipeline in the narrow space can be met.

Description

Technical Field

[0001] This invention belongs to the technical field of catheter assembly, specifically relating to a method for constructing a modular tool library for assembling tubing in narrow spaces and a method for designing tightening tools. Background Technology

[0002] Existing conventional conduit tightening module tool libraries only contain tightening tools with fixed structures. The main differences between tools in the module tool library lie in the size, length, and number of openings (one-end opening vs. two-end opening). When building the module tool library, only the completeness of tool opening sizes, the suitability of lengths, and ease of use in the application scenario are considered, making it suitable for most open environments. However, in the assembly of pipes in confined spaces, tightening tools need to have a certain degree of flexibility to change their configuration in real time, avoid obstructions near the conduit, and complete the pipe tightening operation. Therefore, a modular tool library construction methodology needs to be established to achieve rapid, concise, and comprehensive construction.

[0003] For example, Chinese Patent 202110703326.0 discloses a method for designing the shape of a special wrench for complex spaces. First, a complex spatial model is established, marking tightening points and operating areas. The complex spatial model is then abstracted to create a discrete spatial map. This map is processed to mark traversable and inaccessible regions. An evaluation function is constructed, transforming the constraints of the wrench design into weights. A pathfinding algorithm is used to select the optimal path for the evaluation function. The path curve is smoothed, and the presence of spatial interference is verified. This scheme utilizes a trajectory algorithm to generate the trajectory of irregularly shaped special tools, guiding the integrated design of a single, irregularly shaped special tightening tool structure. This method only describes the configuration design of a single, integrated tightening tool structure and is applicable to the structural design of tightening tools for simple, open environments. However, in confined space pipeline assembly environments, considering the accessibility of the tool's tightening space, the trajectory curve of the tightening tool is usually more complex than in open environments, making it impossible to manufacture the tightening tool as a single unit based on the trajectory curve. Summary of the Invention

[0004] The purpose of this invention is to provide a method for constructing a modular tool library for assembling pipelines in narrow spaces and a method for designing tightening tools, aiming to solve the aforementioned problems. This invention divides complex trajectory curves into several simple line segments, and manufactures corresponding tool modules for each simple line segment, forming the required tightening tools through modular assembly.

[0005] This invention is mainly achieved through the following technical solutions:

[0006] A method for constructing a module tool library for assembling piping in narrow spaces includes the following steps:

[0007] Step S1: Model point cloud processing; import the digital model files of the target conduit and surrounding assembly environment components into the 3D point cloud software to create a point cloud model;

[0008] Step S2: Tool configuration trajectory tracking line generation; The point cloud data is rasterized, and the tool trajectory curve with obstacle avoidance function is generated based on the shortest path principle and the maximum gap between the tool envelope and the occlusion.

[0009] Step S3: Segment the trajectory curve; Select segmentation points among the inflection points of the tool trajectory curve to segment the tool configuration trajectory tracking line;

[0010] Step S4: Optimize the trajectory curve segment;

[0011] Step S5: Integration of trajectory curve segments;

[0012] First, group the tool path curves: Assuming there are N tightening points, N tool path curves will be generated accordingly, with one tightening point corresponding to one tool path curve; then group and segment the N tool path curves.

[0013] Then, the group segmentation curves are integrated: each group of segmentation curves is filtered and integrated in turn, line segments with similar features are merged, and the module tool library is updated.

[0014] Step S6: Tool module structure design; determine the structure of the tool module based on the integrated trajectory curve.

[0015] To better implement this invention, further, in step S3, the selection rule for the segmentation points is as follows:

[0016] The line segment between the first segment point and the end point of the track line is taken as the track of the wrench head configuration. The first segment point is selected with the goal of not causing a collision during the rotation of the wrench head configuration track.

[0017] The line segment between the second segment point and the starting point of the trajectory curve is used as the configuration trajectory of the force application module. The second segment point is selected with the goal of having sufficient force application arm length and no interference with obstructions when adjusting the force application module, while having the maximum rotation space.

[0018] The remaining segment points are used to determine the number and configuration of the rotary connection modules. The remaining segment points are selected with the objectives of tool disassembly and assembly, rotation space and maximum screwing space as the target. The number of rotary connection modules is n+1, where n is the number of segments between the first segment point and the second segment point.

[0019] To better implement the present invention, further, in step S4, when the included angle between two adjacent straight line segments at the bend point is less than 90°, the bend point is taken as the segmentation point; if the number of such bend points is greater than 2, the starting coordinates of the trajectory curve are reselected and the trajectory curve is regenerated.

[0020] When the angle between two adjacent line segments at the bend point is in the range of 90°-120°, this curve segment is replaced by a circular arc curve, wherein the starting point and bend point of this curve segment are both on the circular arc curve.

[0021] When the angle between two adjacent straight segments at a bend is greater than 120°, the curve will be chamfered.

[0022] To better realize the present invention, further, in step S5, the group segmentation curve integration includes the following steps:

[0023] Step S51: Classify by type; classify the trace curve segments according to wrench head module, screw connection module, and force application module, and integrate the trace curve segment features between modules of the same type;

[0024] Step S52: Classify by shape; classify the trace curve segments in the same type of module according to shape characteristics;

[0025] Step S53: Perform feature analysis; analyze the characteristics of the trace curve segments with similar shape features;

[0026] Step S54: Perform line segment integration; Under the same plane and similar shape, merge and integrate the straight line segments with lengths and step heights within 5mm, straight line segments with included angles within 5°, and arc radii within 2mm, so as to process and manufacture them as a single line segment.

[0027] This invention is mainly achieved through the following technical solutions:

[0028] A design method for a flexible and reconfigurable tightening tool for assembling pipes in narrow spaces is based on the aforementioned method for constructing a modular tool library for assembling pipes in narrow spaces. Based on the modular tool library, tightening tools can be freely assembled and combined by using the interchangeability, recombination, and rotation adjustment between modules. The tightening tools include any one or more of wrench head modules, screw-connecting modules, and force-applying modules, and the dimensions of the shaft-to-shaft structure and hole-to-hole structure are the same between different types of modules, with a clearance fit between the hole and the shaft.

[0029] To better realize the present invention, the tightening tool composed of m modules further achieves 12 adjustments via rotation. m -1 Type of pose transformation.

[0030] The beneficial effects of this invention are as follows:

[0031] (1) This invention solves the problem that conventional tightening tools, due to their simple structure and lack of flexibility, cannot be inserted into narrow spaces to clamp pipe fittings in the correct direction during pipe assembly in confined spaces; or that after clamping the pipe fittings, there is insufficient space to tighten the conduit. Simultaneously, for the aforementioned modular tightening tools, a modular tool library construction method is established. This provides a set of tool module configuration design and optimization methods for designing tightening tool modules for pipes in confined spaces across various scenarios, achieving efficient design of the tool library module configurations, resulting in a complete, refined, and universally applicable configuration.

[0032] (2) The adaptive flexible modular tightening tool structure tracking algorithm described in the technical solution automatically avoids obstacles based on the narrow space environment of the pipeline, generates tool structure trajectory lines, and assists in tool structure design. This replaces the method of manually measuring relevant gap size information in the digital model to determine the tool structure direction, greatly improving the efficiency of building the modular tightening module tool library. The efficiency of single tool structure design is improved by an average of 80%. (According to the traditional method of measuring the size of the digital model, the average time for tool structure trajectory design is 40 minutes per location, while the tracking algorithm can automatically generate a tool structure trajectory line that meets the requirements in an average of 8 minutes).

[0033] (3) This invention, through modular design, gradually improves the modular tool library. Based on typical narrow space characteristics, it categorizes tool configurations, improving the construction efficiency, accuracy, and completeness of the modular tool library. This invention establishes a modular tightening tool library, utilizing the interchangeability, recombination, and rotation adjustment functions between modules to freely combine tightening tools, achieving a flexible function with variable tightening tool configurations. This ensures that while meeting the space accessibility requirements of tightening tools during dynamic assembly of pipelines in narrow spaces, it also provides sufficient lever arm for conduit tightening, effectively increasing the pre-tightening force of the conduit. This invention generates tightening tools with the same trajectory as various dedicated tightening tools through a limited module selection method, thereby replacing dedicated tightening tools and reducing the manufacturing cost of dedicated tools.

[0034] (4) This invention achieves flexible functionality not found in conventional tightening tools through modular free assembly. This allows the tool to adapt to the constantly changing assembly space requirements during dynamic pipe tightening. This invention establishes a modular tool library construction method, designing and selecting tool module configurations based on the typical characteristics of narrow spaces, achieving the goal of efficiently and comprehensively building a full-module tool library. After multiple iterations of the modular tool library construction method, the tool modules contained in the library possess the characteristics of simplification and high coverage. By generating tightening tools through the assembly of limited modules, it meets the assembly requirements of pipes in narrow spaces with different characteristics, replacing dedicated custom tools and reducing tool manufacturing costs. Attached Figure Description

[0035] Figure 1 This is a flowchart illustrating the method for constructing a module tool library for assembling pipelines in narrow spaces according to the present invention.

[0036] Figure 2 This refers to the optimization processing type for the trajectory curve segment;

[0037] Figure 3 This is a schematic diagram of the module's structure;

[0038] Figure 4 A schematic diagram illustrating the implementation of the hexagonal prism shaft / hole and its connection in section 2;

[0039] Figure 5 A schematic diagram of the dodecagonal columnar hole and the ball groove;

[0040] Figure 6 Schematic diagram of the anti-detachment structure

[0041] Figure 7 This is a schematic diagram showing the pose transformation between the wrench head module and the connecting rod module.

[0042] Figure 8 This is a schematic diagram of the narrow space pipeline assembly scenario in Example 3;

[0043] Figure 9 This is a schematic diagram of the trajectory curve generated in Example 3;

[0044] Figure 10 A schematic diagram of the segmentation and module division of the trajectory curve in Example 3;

[0045] Figure 11 This is a schematic diagram of the wrench head module structure design in Example 3;

[0046] Figure 12 This is a schematic diagram of module selection and pose adjustment in Example 3.

[0047] Among them: 1-ball groove, 2-dodecagonal columnar hole, 3-wrench head module, 4-rotating module, 5-force application module. Detailed Implementation

[0048] Example 1:

[0049] A method for constructing a module tool library for assembling piping in narrow spaces includes the following steps:

[0050] Step S1: Model point cloud processing;

[0051] In 3D modeling software, the numerical models of all components and structures within the target conduit and its surrounding assembly environment are saved as .stl files. Then, the numerical model files are imported into 3D point cloud software for point cloud processing, creating a point cloud model. Data cleaning and feature extraction are then performed on the model to improve point cloud quality. Preferably, the assembly environment surrounding the target conduit is within a cube with sides of 500mm (center being the area where the conduit will be tightened) to reduce the model size and improve computational efficiency.

[0052] Step S2: Tool configuration trajectory tracking line generation;

[0053] The reduced point cloud data is imported into data analysis software and rasterized to establish the point cloud model's raster coordinates and identify the positional relationships of each raster point. Using the model's raster size, tool cross-sectional dimensions, maximum single-turn angle, tool start / end point coordinates, tool rotation axis coordinates, and critical gap dimensions as inputs, a tool trajectory curve optimization evaluation function is established. Based on the shortest path principle and the maximum gap between the tool envelope and obstructions, a tool trajectory curve with obstacle avoidance capabilities is automatically generated.

[0054] Step S3: Segmentation and optimization of the trajectory curve;

[0055] The generated tool trace curve may contain several bends. Selecting appropriate bends as breakpoints can improve the tool's flexibility, adaptability, and machinability. The segmentation method for the trace curve is as follows:

[0056] Segmentation points are generally selected at the bends of the trajectory curve. The purpose of segmentation points is to break the entire tool into several segments. Through the assembly and adjustment structures at the connection points of each segment, tool assembly and pose changes can be achieved, thus achieving tool flexibility. The more segmentation points there are, the more tool pose adjustment points there are, and the higher the tool's flexibility, but the lower its structural strength. Therefore, the optimal number of segmentation points is generally between 1 and 3.

[0057] Specifically, the principle for selecting the first segment point is as follows: the line segment between the first segment point and the end point of the track is the track of the wrench head configuration. In order to reduce the size of the wrench head and improve its flexibility, the first segment point should be as close as possible to the end point of the track curve. The specific point selection should also be combined with the actual needs of the scenario, with the goal of minimizing collisions during the rotation of the wrench head configuration track.

[0058] The selection principle for the second segment point: The line segment between the second segment point and the starting point of the trajectory curve will be used as the configuration trajectory of the force application module. The following should be considered when selecting the point:

[0059] ① The lever arm is of sufficient length;

[0060] ② When adjusting the force application module, it should ensure that the module does not interfere with any obstructions while having the maximum rotation space.

[0061] The selection principle for the third segmentation point and subsequent segmentation points: The remaining segmentation points are used to determine the number of connecting modules and the configuration trajectory. The relationship between the number of segmentation points n between the first and second segmentation points and the number of connecting modules is n+1 (n≥0, a positive integer). The selection of segmentation points should aim to improve the ease of tool assembly and disassembly, rotational flexibility, and obtain the maximum turning space. When the first and second segmentation points coincide (i.e., there is only one segmentation point in the entire trajectory curve), the tool only includes the wrench head and lever module, which is suitable for relatively open environments.

[0062] Step S4: Optimize the trajectory curve segment;

[0063] The specific optimization principles for the trajectory curve segment are as follows:

[0064] ①For example Figure 2 As shown, (a) represents a trajectory curve where the angle between two adjacent line segments at a bend point is less than 90°; in this case, the bend point should be prioritized as the segmentation point. If there are more than two such bend points in a trajectory curve, the starting coordinates of the trajectory curve should be reselected, and the trajectory curve should be regenerated until the number of such bend points is less than or equal to two.

[0065] ②For example Figure 2 As shown, (b) is the trajectory curve where the angle between two adjacent straight lines at the bend point is between 90° and 120°; at this time, it is necessary to consider replacing this curve segment with a circular arc curve segment, where the starting / starting point and bend point of the original curve segment must be on the circular arc curve.

[0066] ③ For example Figure 2 As shown, (c) is the curve where the angle between two adjacent straight lines at the bend is greater than 120°. In this case, the curve should be chamfered.

[0067] Step S5: Integration of trajectory curve segments;

[0068] 1) Grouping of trajectory curves;

[0069] Assume there are N tightening points. Following step S2, N trace curves are generated, with one trace curve corresponding to each point. After every 8 trace curves are generated, a set of curves is filtered and segmented. If the last set of trace curves has fewer than 8 curves, it is still counted as one set. Therefore, the total number of curve sets n = N / 8, rounded up. The sets are numbered sequentially, denoted as P1, P2...Pn.

[0070] Starting from the first group of trajectory curve segments P1 and ending at the nth group of trajectory curve segments Pn, the segmented trajectory curves in each group are screened and integrated, merging segments with similar characteristics. Specifically, after integrating the first group of trajectory curve segments P1 and the second group of trajectory curve segments P2, the integrated trajectory curves are included in the module tool library and integrated with the third group of trajectory curve segments P3. The module tool library is then updated based on the integration results. Similarly, the subsequent groups of trajectory curve segments are processed to establish a complete module tool library.

[0071] 2) Integration of trajectory curves;

[0072] Step S51: Type Classification; Classify the wrench head module, screw connection module, and force application module according to their tracking curve segments, and integrate the tracking curve segment features among modules of the same type;

[0073] Step S52: Shape Classification; Classify the trace curve segments in the same type of module according to shape characteristics, such as: arc type, straight line type, "Z" shape, "J" shape, etc.

[0074] Step S53: Feature analysis; compare the features of similar shape features and trace curve segments, and prioritize the following features: whether they are on the same plane, shape, step height, length of straight line segments, angle between straight line segments, and radius of arc.

[0075] Step S54: Line segment integration principle; Under the same plane and similar shape, the length of straight segments and the height of steps are within 5mm, the included angle of straight segments is within 5°, and the radius of arc is within 2mm. Line segment curves can be merged and integrated into a single line segment for processing and manufacturing.

[0076] Example 2:

[0077] A flexible, reconfigurable tightening tool for assembling pipes in narrow spaces can be composed of one wrench head module and one force application module, or freely selected from one wrench head module, one to three screw-connection modules, and one force application module. The collection of all tool modules is called a module tool library. Tool modules are divided into three categories: wrench head modules, screw-connection modules, and force application modules. For example... Figure 3 As shown, (a) is a structural diagram of the wrench head module, (b) is a structural diagram of the screw connection module, and (c) is a structural diagram of the force application module.

[0078] Since the shafts and holes in the modular tool library have the same structural dimensions, the tool modules are interchangeable. By freely selecting and assembling different types of irregular tool modules, tightening tools can be obtained, thereby changing the tool's structural track and achieving tool flexibility, thus adapting to more narrow space pipeline assembly scenarios.

[0079] like Figure 3As shown in (a), the wrench head module consists of wrench head modules with different opening sizes and structures. Each module has a dodecagonal columnar shaft hole for inserting and fixing the hexagonal columnar shaft into the screw-connect module or force-applying module during tool module assembly. The wrench head module has a compact structure, reducing the probability of interference between the wrench head module and obstructions during tool use, thereby improving the tool's flexibility and applicability.

[0080] like Figure 3 As shown in (b), the rotary connection module consists of connecting modules with different structural shapes. Each end of the rotary connection module has a dodecagonal prism-shaped shaft hole and a hexagonal prism-shaped shaft structure, facilitating assembly with the shaft hole structures of the wrench head module and the force application module to create a tightening tool. In the adaptive flexible modular reconfigurable tightening tool, the rotary connection module connects the wrench head module and the force application module, adjusts the position and angle between adjacent modules, and changes the tool's trajectory.

[0081] like Figure 4 As shown, in order to increase the area of ​​the shaft structure subjected to shear force during tool rotation and improve tool strength, the hexagonal prism shaft structure in the screwing module and the force application module is not machined as a whole. Instead, the hexagonal prism shaft is machined separately, and a corresponding hexagonal prism shaft hole is made on the tool module. The hexagonal prism shaft is inserted into the hole, and the two structures are fixed together by welding to improve tool strength. Hexagonal prism shaft / hole and connection method.

[0082] like Figure 5 As shown, the wrench head module and the screw-connect module are modules with a dodecagonal columnar hole structure. In the middle of the dodecagonal columnar hole, there is a ring of ball grooves. After the module with the hexagonal columnar shaft structure is inserted into the dodecagonal columnar shaft hole, the ball structure on the shaft limits the movement and locks the two modules together.

[0083] Both the wrench head module and the screw-connector module have a hexagonal columnar structure. For example... Figure 6 As shown, the connection point between the two modules' shaft holes is equipped with an anti-detachment structure: a ball bearing hole is located in the center of the hexagonal shaft columnar structure, containing a ball bearing, a pin, a spring, and a pressure plate. When the two modules' shaft holes are connected, the modules can be locked and disassembled by pressing the baffle.

[0084] like Figure 3 As shown in (c), the force application module consists of force application arm modules with different structural shapes. The force application module is provided with a hexagonal columnar shaft structure, which is convenient to cooperate with the hole structure in the wrench head module or the screw connection module to assemble the tightening tool and play the role of applying torque.

[0085] The dimensions of shafts and holes are identical across different modules of various types. Holes and shafts are clearance fits with a tolerance of H9 / f9. Meanwhile, as... Figure 7 As shown, the relative pose angle between the shaft-type module and the hole-type module can be changed by rotation. The rotation angle between the two modules is 30°*n (n≤12, a positive integer). The pose transformation between the modules is illustrated below. Figure 12 As shown, the tightening tool, composed of m modules, can achieve 12 tightening functions through a rotary adjustment function. m-1 Type of pose transformation.

[0086] Example 3:

[0087] A method for constructing a modular tool library for assembling piping in confined spaces, such as... Figure 8 As shown, (a) is a schematic diagram of scenario one for assembling pipelines in a narrow space, and (b) is a schematic diagram of scenario two for assembling pipelines in a narrow space. Taking the construction of a simple environment tightening module tool library as an example, the tool module structure design and module tool library construction are carried out for the two narrow space pipeline tightening scenarios respectively. First, the tool trajectory curve segments are generated, segmented, and integrated. Then, according to the trajectory direction of the trajectory segments, the structure of each tool module is designed according to the product structure, and the module tool library is established. Figure 1 As shown, the specific steps are as follows:

[0088] Step 1: Model point cloud processing;

[0089] The models of the two target locations (the points to be tightened) and their surrounding obstructions were loaded separately in CATIA software, and the models were saved as .stl format and then imported into WRAP 3D point cloud software for point cloud processing.

[0090] Step 2: Generate tool configuration trajectory tracking lines;

[0091] Import the point cloud model into MATLAB and rasterize it. In the pathfinding algorithm, input the coordinates according to the spatial coordinate system of the imported model:

[0092] ① Tool 1 (first scene): starting coordinates (13, 0, -2.5) and ending coordinates (0, 0, -5.5); Tool 2 (second scene): starting coordinates (14.3, 15, 6.5) and ending coordinates (0, 35, -5.5). The starting coordinates are the desired position coordinates of the tool end, and the ending coordinates are the position coordinates of the target guide tube to be tightened.

[0093] ② The rotation angle of the track line is 30° (i.e., the maximum expected tightening angle of the tool in one operation);

[0094] ③ The number of grid cells occupied by the envelope is set to 3, the spacing between adjacent grid points is set to 0.3mm, the rotation axis is coaxial with the guide tube to be tightened, and the critical gap value is 3 grid cells (the minimum gap between the trace point envelope and the obstruction). For example... Figure 9 As shown, the tracking algorithm then generates a tool track curve composed of track points at each of the two locations where the conduit needs to be tightened, based on the shortest path tracking principle and the maximum gap determination principle.

[0095] Step 3: Segment the trajectory curve;

[0096] First, the bending points of the track curve are analyzed. For the first track curve, the part to be tightened is blocked by other guide tubes, and the obstruction needs to be bypassed as soon as possible. Therefore, the first segment point is selected as the bending point closest to the end of the track line, so as to realize the flexible rotation function of the wrench head module.

[0097] Secondly, considering that the wrench head may interfere with obstructions after being turned at a certain angle, a new segmentation point is added, adjacent to the first segmentation point, to add a connecting module. Through the rotation function between modules, obstacles can be avoided, providing more turning space.

[0098] Ultimately, as Figure 10 As shown, the trajectory curve is divided into three segments by two segmentation points. From the end point of the trajectory curve to the starting point, the segments are, in order, the wrench head module, the screw connection module, and the force application module.

[0099] For the second track curve, since the part to be tightened is blocked by the baffle, the curve rises and passes the height of the baffle. During the tightening process, it is not affected by other obstructions. Therefore, a segmentation point is only set where the track curve just passes the height of the baffle (i.e., the third bend point counting backwards from the end of the track curve). For example... Figure 10 As shown, the trajectory curve is divided into two segments, from the end point to the starting point, which are the wrench head module and the force application module, respectively. Trajectory curve segmentation and module division.

[0100] Step 4: Optimize the trajectory curve segment;

[0101] As described in step S4, item ③ of Example 1, the bending points in the force application modules in the two scenarios need to be chamfered.

[0102] Step 5: Integration of trajectory curve segments;

[0103] As described in step S5 of Example 1, by comparing the shape of the track curve segment, the length of the two adjacent straight lines at the bend point, and the angular deviation, the track line segment characteristics of the force application module are similar in the two scenarios. Only one track curve segment needs to be retained. After processing the force application module according to the track curve segment, it can be used as two tools to share the force application module.

[0104] Step 6: Tool module structure design;

[0105] Because the number of envelope grid ranges set in step 2 is 3, meaning that each point on the path is within the envelope range in three grid ranges in each direction (up, down, left, and right), and the grid size is 0.3mm, the envelope (tool section) is a square with a side length of 1.8mm. After determining the module size, the rotating connection and force application module model is generated by sweeping the square section along the path trajectory. For example... Figure 11 As shown, in the design of the wrench head module structure, the opening size of the wrench head is determined according to the hexagonal dimensions of the guide tube to be tightened, and the outer contour model of the wrench head is determined according to the direction of the track line and the envelope. The configuration and matching of the two tool modules are illustrated. Figure 12 As shown, this allows for module selection and pose adjustment.

[0106] A dodecagonal prism-shaped shaft hole is designed at the end of the wrench head, and a hexagonal prism-shaped shaft and a dodecagonal prism-shaped shaft hole are designed at both ends of the screw connection, respectively. A hexagonal prism-shaped shaft is designed at the force-applying connection end. The shaft, hole structure, and anti-loosening structure are implemented according to the contents described in the technical solution product invention.

[0107] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A method for constructing a module tool library for assembling pipelines in narrow spaces, characterized in that, Includes the following steps: Step S1: Model point cloud processing; import the digital model files of the target conduit and surrounding assembly environment components into the 3D point cloud software to create a point cloud model; Step S2: Tool configuration trajectory tracking line generation; The point cloud data is rasterized, and the tool trajectory curve with obstacle avoidance function is generated based on the shortest path principle and the maximum gap between the tool envelope and the occlusion. Step S3: Segment the trajectory curve; Select segmentation points among the inflection points of the tool trajectory curve to segment the tool configuration trajectory tracking line; Step S4: Optimize the trajectory curve segment; Step S5: Integration of trajectory curve segments; First, group the tool path curves: Assuming there are N tightening points, N tool path curves will be generated accordingly, with one tightening point corresponding to one tool path curve; then group and segment the N tool path curves. Then, the group segmentation curves are integrated: each group of segmentation curves is filtered and integrated in turn, line segments with similar features are merged, and the module tool library is updated. Step S6: Tool module structure design; determine the structure of the tool module based on the integrated trajectory curve.

2. The method for constructing a module tool library for assembling pipelines in narrow spaces according to claim 1, characterized in that, In step S3, the selection rule for the segmentation points is as follows: The line segment between the first segment point and the end point of the track line is taken as the track of the wrench head configuration. The first segment point is selected with the goal of not causing a collision during the rotation of the wrench head configuration track. The line segment between the second segment point and the starting point of the trajectory curve is used as the configuration trajectory of the force application module. The second segment point is selected with the goal of having sufficient force application arm length and no interference with obstructions when adjusting the force application module, while having the maximum rotation space. The remaining segment points are used to determine the number and configuration of the rotary connection modules. The remaining segment points are selected with the objectives of tool disassembly and assembly, rotation space and maximum screwing space as the target. The number of rotary connection modules is n+1, where n is the number of segments between the first segment point and the second segment point.

3. The method for constructing a module tool library for assembling pipelines in narrow spaces according to claim 1, characterized in that, In step S4, when the angle between two adjacent straight line segments at the bend point is less than 90°, the bend point is taken as the segmentation point; if the number of such bend points is greater than 2, the starting coordinates of the trajectory curve are reselected and the trajectory curve is regenerated. When the angle between two adjacent line segments at the bend point is in the range of 90°-120°, this curve segment is replaced by a circular arc curve, wherein the starting point and bend point of this curve segment are both on the circular arc curve. When the angle between two adjacent straight segments at a bend is greater than 120°, the curve will be chamfered.

4. The method for constructing a module tool library for assembling pipelines in narrow spaces according to claim 1, characterized in that, In step S5, the group segmentation curve integration includes the following steps: Step S51: Classify by type; classify the trace curve segments according to wrench head module, screw connection module, and force application module, and integrate the trace curve segment features between modules of the same type; Step S52: Classify by shape; classify the trace curve segments in the same type of module according to shape characteristics; Step S53: Perform feature analysis; analyze the characteristics of the trace curve segments with similar shape features; Step S54: Perform line segment integration; Under the same plane and similar shape, merge and integrate the straight line segments with lengths and step heights within 5mm, straight line segments with included angles within 5°, and arc radii within 2mm, so as to process and manufacture them as a single line segment.

5. A design method for a flexible and reconfigurable tightening tool for assembling pipes in narrow spaces, based on the construction method of a modular tool library for assembling pipes in narrow spaces as described in any one of claims 1-4, characterized in that... Based on the modular tool library, tightening tools can be freely assembled and combined by using the interchangeability, recombination and rotation adjustment between modules; the tightening tools include any one or more of the following: wrench head modules, screw connection modules, and force application modules, and the dimensions of the shaft-to-shaft structure and the hole-to-hole structure are the same between different types of modules, and the hole and shaft are clearance fit.

6. The design method for a flexible and reconfigurable tightening tool for assembling pipelines in narrow spaces according to claim 5, characterized in that, A tightening tool consisting of m modules, which achieves 12 tightenings through rotation. m-1 Type of pose transformation.

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