Visual positioning system for pipe bundle final flushing workstation equipment

Abstract

The utility model relates to a visual positioning system for pipe bundle final washing workstation equipment, which comprises an operation platform driven by a three-axis sliding component to move. The supporting roller assembly is used for placing pipe fittings; the first visual positioning system is fixedly mounted on the side, close to the pipe fitting, of the operation platform and used for measuring the three-dimensional coordinates of the end face of the pipe fitting; the six-axis robot moves on the operation platform through the third sliding block and sliding rail assembly to get close to or get away from the end face of the pipe fitting and moves with the three-dimensional coordinate value obtained through measurement of the first visual positioning system as the reference. The second visual positioning system is mounted at the output tail end of the six-axis robot, and the second visual positioning system is used for recognizing a pipe hole in the end face of the pipe fitting to obtain a two-dimensional coordinate; the first visual positioning system and the second visual positioning system are matched for positioning in two steps, so that high-precision coordinates can be provided for subsequent automatic operation.

Description

Technical Field

[0001] The utility model relates to a visual positioning system for a tube bundle final flushing workstation device, belonging to the technical field of steam generator tube bundle flushing. Background Technique

[0002] A steam generator is a device that converts a liquid into steam, which is widely used in the field of thermal energy, especially in industrial fields such as nuclear power stations and thermal power plants. It converts the thermal energy in a liquid (such as water) into steam energy for driving a generator or providing thermal energy.

[0003] A steam generator usually consists of a closed container and a series of heat exchange tube bundle assemblies. The liquid is heated in the container to increase its temperature and convert it into steam. In a nuclear power station, the thermal energy released in the nuclear reactor is transferred to the liquid coolant (usually water) through the tube bundle assembly of the steam generator in the reactor shape, causing it to boil and convert into steam. In a thermal power plant, a common method is to bring the high-temperature flue gas generated by combustion into contact with water through a heat exchanger to convert the water into steam.

[0004] Currently, for the existing steam generator tube bundles, the final flushing, drying, and inspection of cleanliness and other processes are all completed manually, which is not only time-consuming and laborious, but also has poor cleaning effect, low cleaning efficiency, and poses a certain threat to the personal safety of operators. Therefore, a cleaning device is needed for automatic cleaning;

[0005] When the steam generator to be cleaned is transported to the cleaning position, there is an error between the end face of the steam generator and the ideal end face. In order for the cleaning device to automatically clean the steam generator, it is necessary to position the steam generator before cleaning to provide an accurate reference coordinate system for subsequent automatic cleaning. Summary of the Utility Model

[0006] The purpose of the utility model is to provide a visual positioning system for a tube bundle final flushing workstation device,

[0007] so as to solve the problems raised in the above background technique.

[0008] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0009] A visual positioning system for a tube bundle final flushing workstation device includes:

[0010] An operation platform, which is driven to move through a three-axis sliding component;

[0011] A support roller assembly, which is used for placing pipe fittings;

[0012] The first vision positioning system is fixedly installed on one side of the operating platform close to the pipe fitting and is used to measure the three-dimensional coordinates of the end face of the pipe fitting;

[0013] The six-axis robot moves closer to or away from the end face of the pipe fitting by moving on the operating platform through the third slider rail assembly and moves based on the three-dimensional coordinate values measured by the first vision positioning system;

[0014] The second vision positioning system is installed at the output end of the six-axis robot, and the second vision positioning system is used to identify the pipe holes on the end face of the pipe fitting to obtain two-dimensional coordinates.

[0015] Preferably, the pipe fitting has a rotary body structure.

[0016] Preferably, the third slider rail assembly includes a support base plate, a third gear rack assembly and a third motor. The six-axis robot is installed on the support base plate. The third motor is installed on the support base plate and is used to drive the third gear rack assembly, and the third gear rack assembly is used to push the support base plate to slide linearly.

[0017] Compared with the prior art, the present utility model has the following characteristics and beneficial effects:

[0018] When the pipe fitting is placed on the support roller assembly, there will inevitably be errors, and due to the large size of the pipe fitting, it is inconvenient to adjust; therefore, the first vision positioning system is used to perform preliminary positioning on the pipe fitting to obtain the three-dimensional coordinates of the cylindrical end face of the pipe fitting, and the control system guides the six-axis robot to perform preliminary positioning of the operation position based on this three-dimensional coordinate;

[0019] Since there are numerous pipe holes on the cylindrical end face of the pipe fitting, the distance between the first vision positioning system and the pipe holes is far and not aligned. Obviously, the first vision positioning system is not suitable for obtaining the coordinates of small-diameter pipe holes;

[0020] The six-axis robot can move the second vision positioning system to the vicinity of the pipe hole to be positioned. The six-axis robot is based on the three-dimensional coordinates, which is beneficial for the second vision positioning system to align with the pipe hole, thereby improving the two-dimensional coordinate recognition accuracy of the second vision positioning system for the pipe hole.

[0021] By cooperating with the first vision positioning system and the second vision positioning system to perform positioning in two steps, it is beneficial to provide high-precision coordinates for subsequent automatic operations. Description of the Drawings

[0022] Figure 1 It is a schematic structural diagram of the utility model;

[0023] Figure 2 It is a complete schematic diagram of the operating platform of the utility model and its cooperating components;

[0024] Figure 3It is a partial schematic diagram of the utility model operation platform and its mating components;

[0025] Figure 4 It is a schematic diagram of the cooperation between the six-axis robot of the utility model and the third slider rail assembly.

[0026] Figure 5 It is a schematic diagram of the circular end face of the pipe fitting of the utility model.

[0027] Among them, the reference numerals are:

[0028] 100, pipe fitting; 200, three-axis sliding assembly;

[0029] 401, third slider rail assembly; 2031, support base plate; 2032, third motor; 2035, operation platform; 2039, third gear-rack assembly;

[0030] 300, support roller assembly; 400, six-axis robot; 601, first vision positioning system; 602, second vision positioning system. Detailed implementation manners

[0031] The present utility model will be described in more detail below in conjunction with embodiments.

[0032] As Figures 1 to 4 shown:

[0033] The X-axis sliding assembly, Y-axis sliding assembly and Z-axis sliding assembly form the three-axis sliding assembly 200; the operation platform 2035 is horizontally arranged and used for installing various devices and for staff to walk, and the three-axis sliding assembly 200 drives the operation platform 2035 to move along the X, Y, and Z directions. The Z-axis sliding assembly in the three-axis sliding assembly 200 can be omitted. Usually, the installed operation platform 2035 will not move along the Z direction anymore.

[0034] The third slider rail assembly 401 includes a support base plate 2031, a third gear-rack assembly 2039 and a third motor 2032. The six-axis robot 400 and the third motor 2032 are installed on the support base plate 2031. The support base plate 2031 linearly slides along the Z direction relative to the operation platform 2035 through the slider rail assembly. The third motor 2032 is used to drive the rotation of the gear in the third gear-rack assembly 2039, and the rack in the third gear-rack assembly 2039 is fixed on the operation platform 2035. Thus, the third gear-rack assembly drives the support base plate 2031 to move along the Z direction through the drive of the third motor 2032.

[0035] The first vision positioning system 601 and the second vision positioning system 602 perform positioning through vision recognition, which is the prior art. The first vision positioning system 601 has a larger field of view and is used for initial positioning. The second vision positioning system 602 has a smaller field of view, which can improve the positioning accuracy. The innovation point of this solution is to apply them.

[0036] The support roller assembly 300 is fixedly arranged on the ground. The support roller assembly 300 can adopt four horizontally arranged rollers. Since the outer shape of the pipe fitting 100 is a rotary body structure, it can self-align when the pipe fitting 100 is placed on the support roller assembly 300, and the axis of the pipe fitting 100 is roughly aligned with the envisioned axis.

[0037] The first vision positioning system 601 is fixedly installed on the side wall of the operation platform 2035 close to the support roller assembly 300. The second vision positioning system 602 is fixedly installed at the output end of the six-axis robot 400.

[0038] Furthermore, the pipe holes on the circular end face of the pipe fitting 100 are symmetrically distributed above and below the middle cross beam. The automatic cleaning device needs to clean the pipe holes. The first vision positioning system 601 includes a 2D vision system (acquiring the X, Y values of the center of the circular end face and the Rz rotation value) and a point laser displacement sensor (acquiring the Z value of the depth of the circular end face, Rx value, and Ry value). The specific implementation method is as follows:

[0039] 1) The 2D vision system takes a picture of the circular end face of the pipe fitting 100 to obtain the image of the center of the circular end face. Then, through the intersection point of the connection line of the upper and lower symmetric pipe holes and the center line of the middle cross beam, the X value, Y value of the center coordinates and the rotation angle Rz around the Z axis can be obtained.

[0040] 2) The point laser displacement sensor can calculate the Z value in the depth direction of the circular end face of the pipe fitting 100 by measuring the distance values of three points on the same plane of the end face. Then, the plane is fitted by the least squares method through the distance values of the three points, and then the normal direction of the fitted plane is calculated, so as to obtain the Rx value of the circular end face of the pipe fitting 100 rotating around the X axis and the Ry value rotating around the Y axis.

[0041] Furthermore, the first vision positioning system 601 can also be compared with the built-in database to identify the model of the pipe fitting 100, so as to determine various data of this model.

[0042] The six-axis robot 400 can adopt the Fanuc model of Japan, RobotR-2000iC / 165F.

[0043] Working principle:

[0044] The pipe fitting 100 is placed on the support roller assembly 300 through an external device to achieve rough axis alignment. Since the pipe fitting 100 is large in size, it is not convenient to adjust.

[0045] At this time, the three-axis sliding component 200 drives the operation platform 2035 to move in the X and Y directions, so that the first vision positioning system 601 is roughly aligned with the center of the circular end face of the pipe fitting 100. The first vision positioning system 601 obtains the center coordinates (X and Y values), the depth direction deviation (Z value), and the end face rotation deviation (Rx value, Ry value, Rz value) of the cylindrical end face of the pipe fitting 100. After obtaining the above six degrees of freedom of the circular end face of the pipe fitting 100, it sends them to the control system, and the control system guides the six-axis robot 400 to perform an initial positioning of the operation position based on this coordinate data.

[0046] After the first vision positioning system 601 performs an initial positioning on the circular end face of the pipe fitting 100, the six-axis robot 400 is calibrated, thereby realizing the unification of the coordinate system. Then the third slider rail component 401 drives the six-axis robot 400 to approach the circular end face of the pipe fitting 100, and the six-axis robot 400 drives the second vision positioning system 602 at the end to take a close-up photo of the pipe holes on the circular end face. The above settings can improve the accuracy.

[0047] The second vision positioning system 602 identifying the positions of the local pipe holes on the circular end face can provide accurate position coordinates for subsequent processing.

[0048] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "inner", "outer", "upper", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0049] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present invention can be understood according to specific situations.

[0050] Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

Claims

1. A visual positioning system for equipment in a final flushing station for a tube bundle, characterized in that: include: An operating platform (2035), wherein the operating platform (2035) is driven to move by a three-axis sliding assembly (200); A supporting roller assembly (300), wherein the supporting roller assembly (300) is used to place the pipe (100); A first visual positioning system (601) is fixedly mounted on a side of the operating platform (2035) close to the pipe (100) and is used to measure the three-dimensional coordinates of the end face of the pipe (100); The six-axis robot (400) moves on the operating platform (2035) via the third slider rail assembly (401) to approach or move away from the end face of the pipe (100), and moves based on the three-dimensional coordinate values ​​measured by the first visual positioning system (601); The second visual positioning system (602) is installed at the output end of the six-axis robot (400), and the second visual positioning system (602) is used to identify the pipe hole on the end face of the pipe fitting (100) to obtain the two-dimensional coordinates.

2. According to claim 1, a visual positioning system for a tube bundle final flushing workstation is characterized in that: The pipe fitting (100) is a rotating body structure.

3. According to claim 1, a visual positioning system for a tube bundle final flushing workstation is characterized in that: The third slider rail assembly (401) comprises a supporting base plate (2031), a third gear rack assembly (2039) and a third motor (2032); the six-axis robot (400) is mounted on the supporting base plate (2031); the third motor (2032) is mounted on the supporting base plate (2031) and is used to drive the third gear rack assembly (2039); the third gear rack assembly (2039) is used to push the supporting base plate (2031) to slide linearly.

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