Tube tapping process

Abstract

Tube piercing method. The method involves providing an industrial robot (16) comprising an end effector (18) carrying a cutting tool (26) and programmable by means of a computerized programming unit (22) including a human-machine interface (24). A tube (14) is placed on a support (28). The robot (16) is programmed, notably by inputting, via the human-machine interface (24), a diameter of the first tube (12), a diameter of the second tube (14), a piercing direction, and a piercing position. A cutting trajectory for a piercing opening (32) in the second tube (14) is then calculated based on equations defining the shape of the opening (32). The opening (32) is then cut by the industrial robot (16), following the calculated points of the cutting trajectory. Figure for the abstract: Figure 1

Description

Title of the invention: Method for tapping tubes

[0001] The present invention relates to a method of tapping a first tube onto a second tube.

[0002] It should be recalled here that tapping is an operation consisting of connecting one tube to another tube, by making a tapping opening on the wall of one of the tubes.

[0003] Various stitching methods are known in the prior art.

[0004] Mechanical systems equipped with cutting inserts and are known in particular based on a camshaft mechanism.

[0005] Machines equipped with a matrix of a given diameter, such as belt sanders, are also known.

[0006] Known devices are not very adaptable because they generally only allow cutting tubes of a single predefined diameter.

[0007] Thus, the use of such devices may be justified in industries where parts are manufactured in large series, this is often not the case in the shipbuilding industry where the occurrence of parts is low and the ranges of pipe diameter and material are different.

[0008] The invention aims in particular to remedy this drawback, by proposing a tapping method easily adaptable to different tube diameters.

[0009] To this end, the invention relates in particular to a method for tapping a first tube onto a second tube, characterized in that it comprises:

[0010] - a step of supplying an industrial robot comprising an end effector carrying a cutting tool, said industrial robot being programmable by means of a computerized programming unit comprising a human-machine interface,

[0011] - a step of placing the second tube on a support,

[0012] - a programming step of the industrial robot, providing information in particular, by means of of the human-machine interface, a diameter of the first tube, a diameter of the second tube, a tapping direction and a tapping position,

[0013] - a computerized step for calculating a set of points of a trajectory of cutting a branch opening in the second tube, based on equations defining the shape of the branch opening,

[0014] - a step of cutting the tapping opening in the second tube, by the robot in industrial, by following the calculated cutting trajectory points.

[0015] The invention provides for equipping an industrial robot with a plasma torch to perform a cut on a tube for branching, regardless of the tube's diameter. This diameter is specified for calculating the cutting trajectory, using predefined equations.

[0016] A stitching method according to the invention may further comprise one or more of the following characteristics, taken alone or in any technically feasible combinations.

[0017] - The stitching process includes a second step of setting up the first tube on the support, a second computerized step of calculating a second set of points of a cutting trajectory of a branch mouth on the first tube, based on equations defining a shape of the branch mouth, and a second step of cutting the first tube, by the industrial robot, following the points of the calculated cutting trajectory.

[0018] - The support has two edges converging to form a receptacle in the shape of V intended to receive the tube.

[0019] - The stitching opening is of the "wolf's mouth" type.

[0020] - The industrial robot is equipped with a laser intended to project onto the second tube the position of the tapping.

[0021] - The effector is mobile over six degrees of freedom.

[0022] - The cutting tool is a plasma torch.

[0023] The invention also relates to a tapping device for implementing the tapping process defined above, characterized in that it comprises:

[0024] - an industrial robot comprising an end effector carrying a cutting tool, said an industrial robot that is programmable using a computerized programming unit including a human-machine interface,

[0025] - at least one receiving support for the second tube,

[0026] in which the computerized programming unit is configured to calculate a cutting trajectory of a tapping opening in the second tube, based on equations defining a shape of the tapping opening, and data including a diameter of the first tube, a diameter of the second tube, a tapping direction and a tapping position.

[0027] Various aspects and advantages of the invention will be highlighted in the following description, given solely by way of non-limiting example and with reference to the accompanying figures, among which:

[0028] [Fig-1] Fig. 1 schematically represents a device for implementing a stitching method according to an example of an embodiment of the invention.

[0029] [Fig.2] Fig.2 represents two tubes connected by the tapping process.

[0030] Figure [1] shows a device 10 for tapping a first tube 12 onto a second tube 14.

[0031] The stitching device 10 comprises an industrial robot 16, including an effector 18 mounted on an articulated arm 20.

[0032] By definition established by the International Organization for Standardization (ISO), a An industrial robot is an automatically controlled, multi-application, reprogrammable, versatile, manipulative system that is programmable on three or more axes. The end effector 18 is, by definition, the tool set in motion by the articulated arm 20.

[0033] According to the described embodiment, the industrial robot 16 is configured to move the end effector 18 under six degrees of freedom, namely three degrees of directional freedom, in translation along three longitudinal, transverse and elevation axes, and three degrees of orientation freedom, in rotation around said three axes.

[0034] The industrial robot 16 is programmable by means of a computerized programming unit 22, in a manner known per se.

[0035] The computerized programming unit 22 uses a classic programming language, for example the C# language or Python.

[0036] The computerized programming unit 22 includes a human-machine interface 24, through which a user can program a trajectory for the effector 18.

[0037] The invention provides for equipping the end effector 18 with a cutting tool 26, in particular a plasma torch. The idea of ​​equipping an industrial robot with a plasma torch makes it possible to perform a cut on a tube while perfectly controlling the distance between the plasma torch and the tube, as well as the angle of the plasma torch relative to the tube, due to the precise manipulation of the end effector 18 along six degrees of freedom.

[0038] The tapping device 10 includes at least one support 28 for at least one of the tubes 12, 14 to be cut. In the example described, the tapping device 10 includes two aligned supports 28, but it could alternatively include more supports, or a single elongated support.

[0039] Each support 28 has two edges 30 converging to form a V-shaped receptacle for receiving the tube 12, 14. Such a V-shaped receptacle makes it easy to receive the tube 12, 14 regardless of its diameter.

[0040] The tapping device 10 is intended to cut a tapping opening 32 on the second tube 14. For this purpose, the invention provides a tapping method which will now be described.

[0041] The stitching process includes a step of supplying the industrial robot 16 as defined above.

[0042] The tapping process then includes a step of placing the second tube 14 on at least one support 28. As indicated previously, due to the V-shape of the receptacle, the tube 14 is positioned on the support regardless of its diameter.

[0043] The tapping process then includes a programming step for the industrial robot 16, which, by means of the human-machine interface 24, provides information on the diameter of the first tube 12, the diameter of the second tube 14, a tapping direction, and a tapping position corresponding to the distance between the two neutral fibers of the pipes.

[0044] This data is necessary to determine the position and dimensions of a tapping opening 32 to be made on the second tube 14.

[0045] In particular, the diameter of the second tube 14 allows, by knowing the angle formed by the V of the receptacle, to know the position of the axis of the second tube 14, therefore the position of its wall, as well as the shape of the tapping opening 32 adapted to this diameter.

[0046] The diameter of the first tube 12 also allows the shape of the branch opening 32 to be determined, adapted to this diameter, for the purpose of connecting the first tube 12 with this branch opening 32.

[0047] Similarly, the tapping angle (i.e. the direction of the first tube 12 relative to the second tube 14) and the position of the tapping are necessary to determine the shape of the tapping opening 32.

[0048] The tapping process then includes a computerized step of calculating a set of points of a cutting trajectory of the tapping opening 32 in the second tube 14, on the basis of equations defining the shape of the tapping opening 32.

[0049] The equations are determined according to the type of branch opening 32 desired. For example, the branch opening 32 is of the "wolf's mouth" type.

[0050] A person skilled in the art only needs to enter these last four parameters; since the equations entered into the robot program are generic, the operator does not need to know these equations. The trajectories will therefore be calculated automatically.

[0051] The operator, knowing where the tapping must be placed on the tube 14, will be able to determine the position of the tube on its support(s) 28 and position it in the right place.

[0052] The tapping process then includes a step of cutting the second tube 14, by the industrial robot 16, following the points of the calculated cutting trajectory.

[0053] Advantageously, the industrial robot 16 is equipped with a laser for projecting the piercing position onto the second tube 14. This laser ensures the correct positioning of the cutting tool 26 relative to the desired piercing opening.

[0054] Optionally, before this step, the operator can ensure the correct positioning of the tube, in particular its angular orientation, for example when the tube has flanges.

[0055] According to another optional variant, the method may include a step of tracing the cutting path on the tube 14. For this purpose, the effector 18 will be equipped with a tracing tool. This tracing allows verification of the correct positioning and shape of the opening. If the tracing is satisfactory, the cutting is then initiated, following the same path.

[0056] It should be noted that this cutting step can be repeated identically on several second tubes of the same diameter.

[0057] Furthermore, the cutting quality will be the same regardless of the operator implementing the process.

[0058] It should also be noted that the method according to the invention can be easily adapted to different pipe sizes and different tapping orientations. The data simply needs to be entered during the programming step for it to be taken into account for the trajectory calculation. Depending on the pipe diameters to be processed, the type of industrial robot must be adjusted so that the arm has sufficient working volume to reach all points along the trajectory.

[0059] Advantageously, the tapping method according to the invention also provides for cutting the end of the first tube 12 to adapt it to the second tube 14.

[0060] To this end, the tapping process includes a second step of placing the first tube 12 on the support 28, followed by a second computerized step of calculating a second set of points of a cutting trajectory of a tapping mouth on the first tube 12, on the basis of equations defining a shape of the tapping mouth, and a second step of cutting the first tube 12, by the industrial robot, following the points of the calculated cutting trajectory.

[0061] Once the second tube 14, and preferably the first tube 12, has been cut, the tubes are assembled by joining the branch end of the first tube 12 to the branch opening of the second tube. This assembly is, for example, carried out by welding.

[0062] During assembly, the first tube 12 can optionally be held by the effector 18 of the industrial robot, and the second tube 14 by the support 28, while a welding tool performs the assembly.

[0063] It is clear that the invention allows for the automation of branch cutting and can be easily adapted to different tube sizes. The versatility of this solution overcomes the drawbacks of the known prior art.

Claims

Demands

1. A method for tapping a first tube (12) onto a second tube (14), comprising: - a step of supplying an industrial robot (16) including an end effector (18) carrying a cutting tool (26), said industrial robot (16) being programmable by means of a computerized programming unit (22) including a human-machine interface (24), - a step of placing the second tube (14) onto a support (28), - a step of programming the industrial robot (16), specifying, in particular by means of the human-machine interface (24), a diameter of the first tube (12), a diameter of the second tube (14), a tapping direction and a tapping position, - a computerized step of calculating a set of points of a cutting trajectory of a tapping opening (32) in the second tube (14), based on equations defining a shape of the tapping opening (32), - a cutting step the branch opening (32) in the second tube (14),by the industrial robot (16), following the calculated cutting trajectory points, characterized in that the tapping process comprises a second step of placing the first tube (12) on the support (28), a second computerized step of calculating a second set of points of a cutting trajectory of a tapping inlet on the first tube (12), based on equations defining a shape of the tapping inlet, and a second step of cutting the first tube (12), by the industrial robot (16), following the calculated cutting trajectory points.

2. A tapping method according to claim 1, wherein the support (28) has two edges (30) converging to form a V-shaped receptacle for receiving the tube (14).

3. A stitching method according to any one of the preceding claims, wherein the stitching opening (32) is of the "wolf's mouth" type.

4. A piercing method according to any one of the preceding claims, wherein the industrial robot (16) is equipped with a laser for projecting the piercing position onto the second tube (14).

5. A stitching method according to any one of the preceding claims. previous, in which the effector (18) is mobile over six degrees of freedom.

6. A stitching method according to any one of the preceding claims previous, in which the cutting tool (26) is a plasma torch.

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