CN105182905B - The large-sized structural parts mobile mechanical arm multi-axis machining center implementation method of view-based access control model - Google Patents
The large-sized structural parts mobile mechanical arm multi-axis machining center implementation method of view-based access control model Download PDFInfo
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- CN105182905B CN105182905B CN201510493502.7A CN201510493502A CN105182905B CN 105182905 B CN105182905 B CN 105182905B CN 201510493502 A CN201510493502 A CN 201510493502A CN 105182905 B CN105182905 B CN 105182905B
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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Abstract
In order to overcome mobile mechanical arm that large-sized structural parts can not be completed with the technological deficiency of multi-axis machining center function, the present invention proposes a kind of large-sized structural parts mobile mechanical arm multi-axis machining center implementation method of view-based access control model, and this method on mobile mechanical arm by setting processing tasks and process；Boring, milling, brill process tool, setting track and automatic fixture are installed, in the multiple smooth identification points of track periphery setting in mobile mechanical arm different directions, and CCD and laser ranging are installed on mobile mechanical arm or connect cameras are installed, tuning on-line monitoring and error correction are carried out in process, fault alarm is provided to system of processing, technical problem of the mobile mechanical arm to large-sized structural parts multi-axis machining center function is solved.
Description
Technical field
The present invention relates to multi-axis machining center, mobile robot and visually-perceptible method, more particularly to view-based access control model
Large-sized structural parts mobile mechanical arm multi-axis machining center implementation method, belongs to machinery and areas of information technology.
Background technology
Equipment manufacture is described as " industrial machine tool ", is manufacturing foundation stone.All kinds of equipments needed for the modernization of industry and
Facility all be unable to do without high-grade machining center and basic manufacturing equipment, and its performance, quality and owning amount have turned into current and weighed one
National industrialized level, the important symbol of overall national strength；Take a broad view of the whole world, world's equipment manufacture power such as the U.S., Japan, Germany
Nothing thinks little of controlling this industry commanding elevation of high-end manufacturing equipment, attention high-tech optimization lifting traditional equipment manufacturing, branch
High-end manufacture is supportted, industrial advantage is kept；With the development of machine tool industry, the technical merit of machining center has also obtained larger hair
Exhibition；Machining center has following main feature：(1) machining center versatility is big, and large-scale workpiece clamping and centering are difficult and take
When, it is desirable to which all surfaces are processed in once mounting as far as possible, so the versatility of machining center is larger, numerical control
Lathe can carry out the various work such as boring, milling, brill；(2) because machining center is huge, for make it is easy to operate for the sake of, typically use
Suspension type console panel or console centralized control；(3) convenient in order to observe part displacements, machining center has moving parts mostly
The digital display device of column, main spindle box and boring axial displacement, to save the time of observation and measurement displacement and mitigate workman's work
Intensity；The general trend of machining center technology development is high speed, accurate and multi-functional, weight of its product development for difficult-to-machine material
Cut machine, for the complicated intelligent multijoint control device for switching processing and comprehensive multi-axis control system.
5-axis machining center price based on traditional gold cutting is very high, more expensive if large-sized gantry；The processing
Center torque is big, and precision is high, and speed is slow, can process various metals and nonmetallic；
Robot technology is to be related to mechanics, sensor technology, actuation techniques, control technology, the communication technology and computer
One comprehensive new and high technology of technology, is both the important foundation of optical, mechanical and electronic integration, is the allusion quotation of light mechanical and electrical integration again
Type is represented, and it is the inevitable outcome of multidisciplinary scientific and technological revolution.In recent years, continuing to develop with robot research, robot
Technology starts continuously to permeate to the every field of mankind's activity, various with reference to the application characteristic in these fields
Robot with difference in functionality is developed, and is obtained for and is widely applied in different application fields；For example, beautiful
MR5 the and MR7 explosive-removal robots of state's Wolstenholme machines corporations production, can be used for indoor and outdoor environment, adapt to various
Landform activity, completes explosive function, is widely used by US military；Explosive-removal robot is one kind of specialized robot, mainly
For excluding processing explosive and other dangerous goods in the site of the accident；The multifunction manipulator of explosive-removal robot, as explosive
The main actuator of the completion crawl task of robot, should be able to complete a series of tasks including crawl explosive, for
It is particularly important for explosive-removal robot；Explosive is the process of a complexity full of change, and task is performed in explosive-removal robot
During, a step of most critical is exactly that the multifunction manipulator of control machine people goes crawl object, i.e. control machinery hand accurate
Navigate to target object location, complete grasping movement；The explosive-removal robot come into operation in the world at present, in working method
On, a veteran operator is required for, remote manual control is carried out to manipulator, the pinpoint mesh of manipulator is reached
's.This working method, on the one hand the requirement to operator is very high, on the other hand, and control manually also is difficult to reach very high
Precision；Therefore, if can be realized by computer vision technique, the automatic of manipulator is accurately positioned, without removing manual control machine
Each joint of tool hand, it will largely improve the performance of explosive-removal robot.
However, mobile mechanical arm is to large-sized structural parts（Such as aircraft structure）Multi-axis machining center can't be completed
Function, it is impossible to effectively reduce the expensive price of multi-axis concerted action machining center.
The content of the invention
In order to overcome mobile mechanical arm that large-sized structural parts can not be completed with the technological deficiency of multi-axis machining center function, this
Invention proposes a kind of large-sized structural parts mobile mechanical arm multi-axis machining center implementation method of view-based access control model, this method by
Processing tasks and process are set on mobile mechanical arm；Boring, milling, brill process tool, setting are installed in mobile mechanical arm different directions
Track and automatic fixture, multiple smooth identification points are erect on track periphery, and install on mobile mechanical arm CCD and laser ranging or
Person's assemble and interlinking interconnection camera, carries out tuning on-line monitoring and error correction in process, fault alarm is provided to system of processing, solves
Determine technical problem of the mobile mechanical arm to large-sized structural parts multi-axis machining center function.
The present invention solve its technical problem use technical scheme be, a kind of large-sized structural parts mechanically moving of view-based access control model
Arm multi-axis machining center implementation method, its feature comprises the following steps：
（1）Processing tasks and process are set on mobile mechanical arm；Boring, milling, brill are installed in mobile mechanical arm different directions
Process tool, track and automatic fixture are set, multiple smooth identification points are erect on track periphery, and installed on mobile mechanical arm
CCD and laser ranging or assemble and interlinking interconnection camera；When mobile mechanical arm is moved to a certain processing stand of structural member, mechanically moving
Arm stop motion is simultaneously automatically locked, and CCD and laser ranging or assemble and interlinking interconnection camera erect multiple cursors according to track periphery and known
Point carries out multi-coordinate alignment and is accurately positioned, and controls process by mobile mechanical arm multi-joint control device, and carry out online
Accumulated error amendment is processed, fixture is unclamped after machining, mobile mechanical arm is moved to next process；
（2）Mobile mechanical arm has multi-joint control function；Installed on mobile mechanical arm CCD and laser ranging or
Assemble and interlinking interconnection camera, when mobile mechanical arm is moved to a certain processing stand of structural member, mobile mechanical arm stop motion is simultaneously automatic
Locked, CCD and laser ranging or assemble and interlinking interconnection camera erect multiple cursors according to track periphery and know point progress multi-coordinate alignment
Be accurately positioned, pass through mobile mechanical arm multi-joint control device control process；
It is assumed that the cursor knowledge point coordinates that a certain procedure detects the setting of some track periphery is respectively, and be known quantity；The number of light identification point,
Laser range finder laser exit or interconnect image center coordinate be, the positioning requirements of laser ranging are：
And
Wherein,RespectivelyArrive
Distance, errorMeet condition,For given positive number,For the position set in advance in processing technology,Missed for given maximum positioning
Difference,For given maximum image site error,For matrixInfinite Norm；
Simultaneously, it is desirable to be first directed at the coordinate of the light identification point of some track periphery settingPicture position, remaining is more
Coordinate position of the individual light identification point in ccd image will be met：
Wherein,The cursor respectively erect on track periphery is known
The coordinate of pointCoordinate position in ccd image,The cursor respectively erect on track periphery knows point coordinatesIdeal coordinates position in ccd image, and be known quantity；
For maximum allowable image placement errors；
（3）In boring, milling, the process bored, moment of torsion and mechanical oscillation can cause position error, in process not
It is disconnected to use step（2）Method detection positioning precision, mobile mechanical arm control the slow balancing out motions moment of torsion of multi-joint and machinery shake
Action is used, and is processed accumulated error with online reduction and is carried out error correction；
（4）Work as worst error、OrWhen can not control, machining accuracy can not meet requirement, and system is reported
It is alert；Work as worst error、OrMeet and require, but with the date constantly increase and close to worst error、Or,
Fault pre-alarming is carried out to system.
The present invention beneficial outcomes be：By setting processing tasks and process on mobile mechanical arm；In mobile mechanical arm
Different directions install boring, milling, bore process tool, set track and automatic fixture, erectting multiple smooth identification points on track periphery, and
CCD and laser ranging or assemble and interlinking interconnection camera are installed on mobile mechanical arm, process carry out tuning on-line monitoring and
Error correction, fault alarm is provided to system of processing, realizes mobile mechanical arm to large-sized structural parts multi-axis machining center work(
Energy.
The present invention is elaborated with reference to example.
Brief description of the drawings
Realize schematic layout pattern in accompanying drawing 1, large-sized structural parts mobile mechanical arm multi-axis machining center.
Embodiment
Reference picture 1.
（1）Processing tasks and process are set on mobile mechanical arm；Boring, milling, brill are installed in mobile mechanical arm different directions
Process tool, track and automatic fixture are set, multiple smooth identification points are erect on track periphery, and installed on mobile mechanical arm
CCD and laser ranging or assemble and interlinking interconnection camera；When mobile mechanical arm is moved to a certain processing stand of structural member, mechanically moving
Arm stop motion is simultaneously automatically locked, and CCD and laser ranging or assemble and interlinking interconnection camera erect multiple cursors according to track periphery and known
Point carries out multi-coordinate alignment and is accurately positioned, and controls process by mobile mechanical arm multi-joint control device, and carry out online
Accumulated error amendment is processed, fixture is unclamped after machining, mobile mechanical arm is moved to next process；
（2）Mobile mechanical arm has multi-joint control function；Installed on mobile mechanical arm CCD and laser ranging or
Assemble and interlinking interconnection camera, when mobile mechanical arm is moved to a certain processing stand of structural member, mobile mechanical arm stop motion is simultaneously automatic
Locked, CCD and laser ranging or assemble and interlinking interconnection camera erect multiple cursors according to track periphery and know point progress multi-coordinate alignment
Be accurately positioned, pass through mobile mechanical arm multi-joint control device control process；
It is assumed that the cursor knowledge point coordinates that a certain procedure detects the setting of some track periphery is respectively, and be known quantity；The number of light identification point,
Laser range finder laser exit or interconnect image center coordinate be, the positioning requirements of laser ranging are：
And
Wherein,RespectivelyArrive
Distance, errorMeet condition,For given positive number,For the position set in advance in processing technology,Missed for given maximum positioning
Difference,For given maximum image site error,For matrixInfinite Norm；
Simultaneously, it is desirable to be first directed at the coordinate of the light identification point of some track periphery settingPicture position, remaining is more
Coordinate position of the individual light identification point in ccd image will be met：
Wherein,The cursor respectively erect on track periphery is known
The coordinate of pointCoordinate position in ccd image,The cursor respectively erect on track periphery knows point coordinatesIdeal coordinates position in ccd image, and be known quantity；
For maximum allowable image placement errors；
（3）In boring, milling, the process bored, moment of torsion and mechanical oscillation can cause position error, in process not
It is disconnected to use step（2）Method detection positioning precision, mobile mechanical arm control the slow balancing out motions moment of torsion of multi-joint and machinery shake
Action is used, and is processed accumulated error with online reduction and is carried out error correction；
（4）Work as worst error、OrWhen can not control, machining accuracy can not meet requirement, and system is reported
It is alert；Work as worst error、OrMeet and require, but with the date constantly increase and close to worst error、Or,
Fault pre-alarming is carried out to system.
Claims (1)
1. a kind of large-sized structural parts mobile mechanical arm multi-axis machining center implementation method of view-based access control model, its feature includes following
Step：
（1）Processing tasks and process are set on mobile mechanical arm；Boring, milling, brill processing are installed in mobile mechanical arm different directions
Cutters, track and automatic fixture are set, multiple smooth identification points are erect on track periphery, and install on mobile mechanical arm CCD and
Laser ranging or assemble and interlinking interconnection camera；When mobile mechanical arm is moved to a certain processing stand of structural member, mobile mechanical arm stops
Only move and be automatically locked, CCD and laser ranging or assemble and interlinking interconnection camera erect multiple cursors according to track periphery and know click-through
Row multi-coordinate is aligned and is accurately positioned, and controls process by mobile mechanical arm multi-joint control device, and carry out on-line machining
Accumulated error amendment, unclamps fixture after machining, mobile mechanical arm is moved to next process；
（2）Mobile mechanical arm has multi-joint control function；CCD and laser ranging or installation are installed on mobile mechanical arm
Camera is interconnected, when mobile mechanical arm is moved to a certain processing stand of structural member, mobile mechanical arm stop motion is simultaneously automatically locked,
CCD and laser ranging or assemble and interlinking interconnection camera erect multiple cursors according to track periphery and know point progress multi-coordinate alignment and accurate
Positioning, process is controlled by mobile mechanical arm multi-joint control device；
It is assumed that the cursor knowledge point coordinates that a certain procedure detects the setting of some track periphery is respectively, and be known quantity；The number of light identification point,
Laser range finder laser exit or interconnect image center coordinate be, the positioning requirements of laser ranging are：
And
Wherein,RespectivelyArrive
Distance, errorMeet condition,
For given positive number,For the position set in advance in processing technology,For given maximum positioning error,For given maximum image site error,For matrixInfinite Norm；
Simultaneously, it is desirable to be first directed at the coordinate of the light identification point of some track periphery settingPicture position, remaining multiple light
Coordinate position of the identification point in ccd image will be met：
Wherein,The coordinate for the light identification point respectively erect on track peripheryCoordinate position in ccd image,The cursor respectively erect on track periphery knows point coordinatesIdeal coordinates position in ccd image, and be known quantity；
For maximum allowable image placement errors；
（3）In boring, milling, the process bored, moment of torsion and mechanical oscillation can cause position error, constantly adopt in process
Use step（2）Method detection positioning precision, mobile mechanical arm control the slow balancing out motions moment of torsion of multi-joint and mechanical oscillation make
With processing accumulated error with online reduce and carry out error correction；
（4）Work as worst error、OrWhen can not control, machining accuracy can not meet requirement, and system is alarmed；When
Worst error、OrMeet and require, but with the date constantly increase and close to worst error、Or, to being
System carries out fault pre-alarming.
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