空间管路数字化协调系统设计与开发

Design and Development of Digital Coordinate System for Space Pipeline

一些分段加工的管路无法直接进行无缝拼接,需对管件进行协调,方可成功拼接。目前协调工作通过人工协调完成,工时长且无法确保质量。数字化协调指在管路最终拼接前,实物取样取得管路安装连接的接口位置、走向值及管件的实测值,在数字空间中对管路部件的部分尺寸进行修正性地再设计或确定,根据数字协调结果加工制造管件。本论文对管路数字化协调的3个关键步骤：实物数字化、数字空间中的协调求解、数字化协调结果实物化（即数字放样）进行了研究和实现。对逆向软件Imageware进行二次开发来实现管件测量点云的曲面重构;对管路进行数字协调求解,并在3维软件Creo中采用Pro/TOOLKIT二次开发实现管件数字空间中的自动切割、拼接以及装配;以四元数轨迹确定实物加工所需的工具姿态,在Robot Studio中完成数字放样仿真。

Some segmented pipelines may be impossible to weld seamlessly together. Therefore,it is necessary to do some coordination work on the parts of the pipelines so as to make it possible. For now,the coordination work has always been conducted by operators in the way of manually coordination,which leads to long manufacturing time and no consistent quality guarantee. Here,the digital coordination method was raised in response to the above difficulties.Before being welded together,firstly,the actual data—position,orientation and route of the segmented pipelines would be sampled,secondly,parts of the dimensions of the segmented pipelines would be modified or redesigned according to final requirements,finally,the coordination results would be used for machining the segmented pipelines. This paper focuses on three main steps involving in the process of the coordination work： digitizing the segmented pipelines,coordinating in digital space and realizing digital coordination results. The surface reconstruction work using the point clouds representing the pipelines of the pipe is performed in Imageware through secondary development. Feasible solutions was found and automatic cutting,slicing and pre-welding is done in the 3 D modelling software using secondary development with the help of Pro/TOOLKIT. The tool orientation required for the physical processing is determined by quaternion,and lastly,the simulation work verifying the coordination results is done in the Robot Studio.