CN114850691B - A customized catheter excess automatic removal process method - Google Patents
A customized catheter excess automatic removal process method Download PDFInfo
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- CN114850691B CN114850691B CN202210383479.6A CN202210383479A CN114850691B CN 114850691 B CN114850691 B CN 114850691B CN 202210383479 A CN202210383479 A CN 202210383479A CN 114850691 B CN114850691 B CN 114850691B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/06—Tubes
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
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Abstract
本发明涉及一种定制化导管余量自动去除工艺方法，采用三维激光测量系统测量与导管连接接口的空间位置坐标，采用三维照相测量系统进行管型数据测量，采用激光切割系统进行导管余量的360°环切，采用高精度机器人负责导管在各系统之间的周转。实现发动机导管自动抓取及调姿、导管3D测量、切割余量计算、激光自动切割、端口自动打磨以及自动下料等功能，为发动机管口的连接提供尺寸合格的导管，改变传统人工配管效率低、可靠性不高的局面。
The present invention relates to a customized automatic removal process of catheter excess, which uses a three-dimensional laser measurement system to measure the spatial position coordinates of the interface connected to the catheter, a three-dimensional photography measurement system to measure the tube type data, a laser cutting system to perform 360° circular cutting of the catheter excess, and a high-precision robot to be responsible for the turnover of the catheter between various systems. It realizes the functions of automatic grasping and posture adjustment of the engine catheter, 3D measurement of the catheter, calculation of cutting excess, automatic laser cutting, automatic polishing of the port, and automatic material cutting, and provides a catheter with a qualified size for the connection of the engine pipe mouth, changing the situation of low efficiency and low reliability of traditional manual piping.
Description
Technical Field
The invention mainly relates to a customized automatic catheter allowance removing process method which is suitable for allowance removing work before welding of each end of an engine catheter.
Background
The pipeline assembly formed by the guide pipes has the functions of conveying engine propellant, pneumatically controlling and blowing off all the systems and the like. Any leakage or rupture of the tubing can have a significant impact on the rocket engine and even result in failure of the rocket to launch. Therefore, in rocket engine assembly production, welding and assembly of the guide pipe are very important. In the processes of manufacturing, assembling and welding the guide pipe, the guide pipe allowance removing technology directly influences the assembly quality and the assembly efficiency of the engine.
In the existing catheter assembly production process, after the catheter is bent and formed, the catheter is manually taken to an engine to be repeatedly tested to determine the cutting position, and then the sawing, file repairing, welding and other works are continuously completed. The method of 'duct sample comparison and visual measurement' causes low efficiency of duct allowance removal, the precision and consistency are difficult to be ensured, the assembly welding consistency and vibration characteristics of the engine are unstable, and the quality of the duct allowance removal directly influences the working characteristics of the engine and success and failure of rocket launching.
Disclosure of Invention
The invention solves the technical problems that: the method overcomes the defects of the prior art, provides a process method for automatically removing the allowance of the customized guide pipe by utilizing professional process equipment, changes the situation that the traditional manual tubing is low in efficiency and low in reliability, and improves the digitization and lean levels of the engine assembly.
The technical scheme adopted by the invention is as follows:
A customized catheter margin automatic removal process method, comprising:
performing spatial position measurement of the catheter connection interface;
Importing relevant data of the catheter according to the catheter drawing number, and visually arranging a semi-finished catheter according to the generated three-dimensional projection;
The robot grabs the catheter to the inside of the three-dimensional photographic measurement system according to a preset path;
The robot adjusts the pose of the catheter in the three-dimensional photogrammetry system according to a preset path;
measuring catheter tube data by a three-dimensional photogrammetry system;
The robot sends the catheter to a laser cutting system according to a preset path;
The robot automatically puts the pose of the catheter in the laser cutting system according to the position of the catheter connecting interface and the catheter tube type data, and automatically adjusts the angle of the laser cutting head according to the bevel angle size of the port of the catheter;
performing laser cutting according to the specification of the catheter according to the catheter type data;
the robot sends the guide pipe to the port polishing system according to a preset path, so that the port fixing position is ensured;
The port polishing system polishes the port of the catheter according to the specification of the catheter, removes burrs and cuts and splashes the laser;
And the robot sends the guide pipe to the blanking tray according to a preset path to finish automatic allowance removal.
Further, the performing spatial position measurement of the catheter connection interface specifically includes: and measuring the space azimuth information of the interface connected with the catheter by using a three-dimensional laser scanning mode, wherein the space azimuth information comprises interface circle center space coordinates and normal vector coordinates.
Further, after the relevant data of the catheter is imported according to the catheter drawing number, the three-dimensional projection of the catheter is displayed by utilizing the three-dimensional projection technology and is used for placing the feeding posture of the catheter, the visual projection is overlapped with the catheter real object, and the automatic and accurate clamping of the robot is ensured.
Further, the robot grabs the catheter to the inside of the three-dimensional photogrammetry system according to a preset path, and the action precision of the robot is +/-0.06 mm.
Further, the robot adjusts the pose of the catheter in the three-dimensional photogrammetry system according to a preset path, and the three-dimensional photogrammetry system is used for measuring tubular data, namely coordinates of center points of all ports of the catheter and coordinates of normal vector vectors of end faces, wherein the three-dimensional model of the catheter is reconstructed to assist according to data of connecting interfaces with the catheter and the tubular data, and the three-dimensional reconstruction of the catheter is completed through virtual simulation by means of straight line segments, measured center lines and bending radius characteristic information.
Further, the robot is according to the position of the catheter connection interface and the pose of the catheter in the laser cutting system of tubular data automatic arrangement, according to the angle size of the groove of the catheter port automatic adjustment laser cutting head, include: the port to be cut of the catheter is directed downwards, and the laser cutting line pair Ji Daoguan is used for removing the allowance part.
Further, the laser cutting starts automatic cutting according to the specification of the catheter, specifically: the laser cutting is 360-degree circular cutting, and the rotary geometric precision of the cutting motion is +/-0.05 mm.
Further, the robot sends the catheter to the port polishing system according to a preset path, the port position is guaranteed to be fixed, and the action precision of the robot is +/-0.06 mm.
Further, the robot sends the guide pipe to the blanking tray according to a preset path, the automatic removal of the allowance is completed, and the action precision of the robot is +/-0.06 mm.
Further, the allowance of each port of the catheter is cut and removed by laser, and the precision is 1mm.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention adopts a three-dimensional laser measuring system to measure the space position coordinates of the connecting interface with the catheter, adopts a three-dimensional photographic measuring system to measure the tubular data, adopts a laser cutting system to carry out 360-degree circular cutting on the allowance of the catheter, and adopts a high-precision robot to take charge of the turnover of the catheter among the systems. Specific processes and flows are set, and various methods are combined and applied, so that the problem of automatic removal of the allowance of the customized catheter is solved.
(2) The invention has high automation degree, can greatly save labor cost, and the prior art is to repeatedly test the catheter and the connecting interface thereof manually, score lines and saw the catheter manually until the requirements are met.
(3) The invention obviously improves the precision, the processing efficiency and the processing consistency, and the efficiency of removing the residual quantity of the conduit is low in the prior art by the mode of 'comparison of conduit sample pieces and visual measurement', so that the precision and the consistency are difficult to be ensured. By improving the process method, the problems in the prior art are solved effectively, and the production precision and efficiency are improved greatly.
Drawings
FIG. 1 is a schematic illustration of the automatic customized catheter margin removal process of the present invention;
FIG. 2 is a schematic view of the perpendicularity H of the end surface of the conduit with the axis thereof after the allowance is removed;
Fig. 3 is a schematic view of a catheter in an embodiment.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the accompanying drawings.
The pipeline assembly formed by the guide pipes has the functions of conveying engine propellant, pneumatically controlling and blowing off all the systems and the like. Any leakage or rupture of the tubing can have a significant impact on the rocket engine and even result in failure of the rocket to launch. Therefore, in rocket engine assembly production, welding and assembly of the guide pipe are very important. In the processes of manufacturing, assembling and welding the guide pipe, the guide pipe allowance removing technology directly influences the assembly quality and the assembly efficiency of the engine.
The invention provides a process method for automatically removing customized catheter allowance by using professional process equipment. The method adopts a three-dimensional laser measuring system to measure the space position coordinates of a connecting interface with the catheter, adopts a three-dimensional photographic measuring system to measure tubular data, adopts a laser cutting system to carry out 360-degree circular cutting on the allowance of the catheter, and adopts a high-precision robot to take charge of the turnover of the catheter among the systems. The functions of automatic grabbing and posture adjustment of the engine guide pipe, 3D measurement of the guide pipe, calculation of cutting allowance, automatic laser cutting, chamfering, descaling, deburring, splashing and the like are realized, the guide pipe with qualified size is provided for connection of the engine pipe orifice, the situation that the traditional manual piping is low in efficiency and low in reliability is changed, and the digitization and lean levels of engine assembly are improved.
Specifically, as shown in fig. 1, the method for automatically removing the allowance of the customized catheter provided by the invention comprises the following steps:
step 1, measuring the spatial position of a catheter connection interface;
the embodiment uses a three-dimensional laser scanning mode to measure the space azimuth information of the connecting interface with the catheter, wherein the space azimuth information comprises the space coordinate of the center of the circle of the interface and the vector coordinate of the normal vector, and the accuracy can reach 0.03 mm-point cloud measurement method.
Step 2, inputting the figure number of the formed catheter, automatically bringing related data of the catheter, and visually placing the semi-finished catheter according to three-dimensional projection; the robot is used for placing the feeding gesture of the guide pipe, and the visual projection is overlapped with the guide pipe real object, so that the robot can automatically and accurately clamp the guide pipe.
The catheter margin removal is realized based on a catheter margin removal system. The margin removal process system includes: the device comprises a console, a three-dimensional projection device, a three-dimensional photogrammetry system, a robot, a laser cutting system and a port polishing system.
A control desk: the control console is provided with platform software, and the platform software comprises a system calibration module, a catheter measurement module, a virtual assembly and allowance calculation module, a robot path planning module, a laser processing and deburring process planning module and the like. The functions of the platform software are as follows:
(1) And a system calibration module: the basic setting function of the platform software system is realized, and the basic setting function comprises the calibration basic functions of parameter calibration in a camera, system global multi-camera coordinate system calibration and the like.
(2) Catheter measurement module: the method realizes the measurement of the shape and the posture of the catheter, and provides data support for robot grabbing, path planning, virtual assembly and allowance calculation.
(3) Robot path planning module: and planning a motion path of the robot according to the constraint relation between the robot and the environment and the task description.
(4) Laser processing and deburring process gauge module: the method is used for optimizing the technological parameters of laser cutting and chamfering and optimizing the path parameters of deburring.
(5) Virtual assembly and margin calculation module: for calculating the margin to be removed.
Three-dimensional projection device: machining conduits with a margin removal system as needed the three-dimensional projection guides the placement of the catheter space pose.
Three-dimensional photogrammetry system: by adopting a three-dimensional optical measurement system based on multi-camera fusion and adopting a non-contact three-dimensional optical measurement technology, the accurate three-dimensional data of the complex pipe fitting can be captured through a plurality of high-frame-frequency and high-resolution industrial cameras, and a three-dimensional model can be quickly reconstructed, so that the measurement precision is high and the speed is high. The method can meet the field rapid and precise measurement of complex pipe fittings.
And (3) a robot: and the 6-degree-of-freedom robot clamps the guide pipe from the feeding placement platform, performs three-dimensional measurement, laser cutting and pipe end polishing, automatically completes all operations, and finally sends the processed guide pipe to the blanking conveying system.
Laser cutting system: the laser cutting system controls the gesture of the catheter to be cut through the automatic gesture adjusting robot, and achieves laser automatic cutting of reserved welding allowance at one end or two ends of the catheter.
Port polishing system: after the laser cutting is completed, burrs and oxide scales are generated near the cut, and splashes are remained to influence the subsequent welding. In order to eliminate the problems, a port polishing system is designed and matched with an automatic posture adjusting system for removing multiple residual foreign matters after the catheter is cut.
Step 3, the robot grabs the catheter into the three-dimensional photogrammetry system according to a preset path;
The robot grabs the catheter into the three-dimensional photographic measurement system through the clamping jaw of the head of the robot according to a preset path, the action precision of the robot is +/-0.06 mm, and the distance between the clamping jaw and the bending points on two sides is equal to or more than 15mm.
Step 4, automatically placing the pose of the catheter in the three-dimensional photogrammetry system by the robot according to a preset path;
The robot places the catheter in the three-dimensional photogrammetry system through the clamping jaw, automatically places the catheter pose according to a preset path, and places the principle to ensure that 18 cameras above can shoot the outer contour of the catheter and the contour of the end face of the catheter, and does not allow shielding, so that the bending point, the end face center point and the end face normal are conveniently extracted.
Step 5, measuring out tubular data (namely coordinates of center points of all ports of the guide pipe and vector coordinates of normal vector of the end face) by a three-dimensional photographic measurement system;
The three-dimensional photogrammetry system is used for reconstructing a tube by extracting the obtained outline, automatically extracting a bending point and an end face center point, forming a real-time three-dimensional model of the catheter according to the preset catheter diameter, giving out coordinate values of the end face center point of the catheter and an end face normal vector, and unifying coordinates with the robot through coordinate conversion.
Step 6, the robot sends the catheter to a laser cutting system according to a preset path;
Step 7, the controller software automatically puts the pose of the catheter in the laser cutting system according to the position of the catheter connecting interface and the tubular data;
And automatically adjusting the angle of the laser cutting head according to the angle size of the bevel of the port of the catheter, leading the port to be cut of the catheter to face downwards, aligning the laser cutting line with the cutting part of the port of the catheter, and realizing the automatic processing of the bevel of the port.
Step 8, starting laser automatic cutting according to the specification of the catheter; the laser cutting is 360-degree circular cutting, and the rotary geometric precision of the cutting motion is +/-0.05 mm.
Step 9, the robot sends the guide pipe to a port polishing system according to a preset path, so that the port fixing position is ensured;
Step 10, polishing a catheter port by a port polishing system, deburring and laser cutting splashing;
and 11, repeating the steps 6-10 to remove the residual quantity of other ports.
Step 12, the robot sends the guide pipe to a blanking tray according to a preset path, and automatic allowance removal is completed; the action precision of the robot is +/-0.06 mm.
After the catheter allowance is removed, the following requirements are met:
(1) After the welding allowance of the guide pipe is removed, the perpendicularity requirement of the welding end face is as follows:
The perpendicularity H of the end face of the catheter with the axis thereof is shown in FIG. 2.
The perpendicularity of the welding end surface of each specification conduit is generally required, and the special requirements of part of the conduit are shown in the following table.
TABLE 1 perpendicularity H (mm) of the end surface of a catheter to its axis
(2) Catheter welding after margin removal the end straight line section is required to be more than or equal to 15mm.
Examples:
the catheter features shown in FIG. 3 include a specification of Φ25X1.5, a material of 1Cr18Ni9Ti, a length of 2300mm, 5 bends and 2 end faces.
1. Starting a catheter allowance removing system after interface data at two ends of the catheter are transmitted to a server;
2. Placing the guide pipe on an upper material platform according to a three-dimensional projection device, and placing a reference shaft and a C port as supporting points; the reference axis view shows the axis in dashed lines.
3. The robot clamps the guide pipe to the inside of the three-dimensional photographic measurement system through the clamping jaw, and the clamping part is the middle position of the reference shaft;
4. The robot adjusts the pose of the guide pipe in the three-dimensional photographic measurement system through the clamping jaw, so that the normal lines of the port A and the port C are ensured to have inclination angles, and the normal lines are strictly forbidden to be horizontal or vertical;
5. Extracting the outer contour of the catheter by the three-dimensional photogrammetry system, reconstructing a model, and extracting the bending points, the end surface center point and the end surface normal vector;
6. the robot sends the guide pipe to the laser cutting system through the clamping jaw, and the end face of the opening A faces downwards;
7. The control system virtually cuts the cutting end face formed by the coordinates of the interface data center and the normal vector onto the catheter tube, meets the requirement of perpendicularity H through the cutting end face, and unifies cutting data with the coordinates of the robot, wherein the included angle between the normal vector and the normal vector of the interface data is minimum and meets the length and size requirements of the straight line segment to be the optimal solution.
8. The laser cutting device performs 360-degree circular cutting on the opening A.
9. The robot sends the catheter to port polishing equipment through the clamping jaw, and the exposed length of the port is ensured to be fixed.
10. The port polishing equipment removes flash, burr, laser cutting splash and port laser cutting remelting layer of the port.
Repeating the steps 6-10, and removing the allowance of the port B of the catheter.
11. The robot sends the guide pipe to the blanking system through the clamping jaw, and the blanking system finishes blanking
According to the invention, the allowance of each port of the catheter is removed by laser cutting according to the space position coordinates of the interface connected with the catheter and the tubular data, and the accuracy can reach 0.1mm.
The invention is not described in detail in the field of technical personnel common knowledge.
Claims (5)
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| CN115555805B (en) * | 2022-09-30 | 2024-09-13 | 陕西飞机工业有限责任公司 | Digital manufacturing method of large-diameter aircraft conduit |
| CN116851879B (en) * | 2023-07-14 | 2026-01-30 | 中航材航空技术(江苏)有限公司 | An arc welding repair method for damaged oil and gas pipe components in aircraft engines |
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