CN107138762A - A kind of large-scale global shell opens porous processing method and system - Google Patents
A kind of large-scale global shell opens porous processing method and system Download PDFInfo
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- CN107138762A CN107138762A CN201710465129.3A CN201710465129A CN107138762A CN 107138762 A CN107138762 A CN 107138762A CN 201710465129 A CN201710465129 A CN 201710465129A CN 107138762 A CN107138762 A CN 107138762A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B41/00—Boring or drilling machines or devices specially adapted for particular work; Accessories specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2452—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces
- B23Q17/2471—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces of workpieces
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Abstract
The invention belongs to housing processing technique field, disclose a kind of large-scale global shell and open porous processing method, including：The three-dimensional coordinate system of the large-scale global shell is set up, the large-scale global shell three-dimensional data is measured；Determine position coordinates of the system of processing in three-dimensional coordinate system system；The processing Theory model of the large-scale global shell is compared with the large-scale global shell three-dimensional data, the machining coordinate based on the three-dimensional coordinate system is obtained；The mobile system of processing, based on machining coordinate perforate on the large-scale global shell；Repeat the above steps, process next hole.Major diameter specification, and the high global shell perforate processing method of required precision are directed to the invention provides one kind.
Description
Technical field
The present invention relates to housing processing technique field, more particularly to a kind of large-scale global shell opens porous processing method and is
System.
Background technology
Influenceed by deadweight change after machining stress and removal material, global shell, which holds porous processing, to cause global shell to deform
Larger, centre of sphere datum offset, processing difficulties.
In the prior art, global shell is opened porous processing and typically realized using existing a wide range of Five-axis NC Machining Center, this
The limitation of kind of method is too strong, can only in the range of machining tool diameter global shell, for beyond existing machine tooling model
The high accuracy enclosed opens porous global shell processing and lacks effective processing method.
The content of the invention
The present invention provides a kind of large-scale global shell and opens porous processing method and system, solves to be directed to big specification in the prior art
Global shell lacks the technical problem of high-precision processing method.
In order to solve the above technical problems, porous processing method is opened the invention provides a kind of large-scale global shell, including：
The three-dimensional coordinate system of the large-scale global shell is set up, the large-scale global shell three-dimensional data is measured；
Determine position coordinates of the system of processing in three-dimensional coordinate system system；
The processing Theory model of the large-scale global shell is compared with the large-scale global shell three-dimensional data, obtains and is based on institute
State the machining coordinate of three-dimensional coordinate system；
The mobile system of processing, based on machining coordinate perforate on the large-scale global shell；
Repeat the above steps, process next hole.
Further, the three-dimensional coordinate system for setting up the large-scale global shell, measures the large-scale global shell three
Dimension data includes：
Pass through two laser trackers and four target balls for being symmetricly set on the large-scale global shell both sides, all standing institute
State large-scale global shell and set up three-dimensional coordinate system, obtain its first group of three-dimensional data information；
Pass through second group of three-dimensional data information of large-scale global shell described in joint measurment arm measure；
Second group of three-dimensional data information is based on into the three-dimensional coordinate system with first group of three-dimensional data to believe
Breath fitting.
Further, the target ball is fixed on the joint measurment arm by the joint measurment arm before measurement is performed,
The joint measurment arm is set up to the coordinate transformation relation of the three-dimensional coordinate system.
Further, system of processing tap operation on the large-scale global shell includes successively：Roughing, half finishing
Work and finishing.
Further, the roughing is completed, before semifinishing is carried out, based on the three-dimensional coordinate system, two
The secondary measurement large-scale global shell, obtains secondary large-scale global shell three-dimensional data information and is managed with the processing of the large-scale global shell
Secondary comparison is carried out by model, semi-finished machining coordinate is obtained.
Further, the semifinishing is completed, before being finished, based on the three-dimensional coordinate system, three
The secondary measurement large-scale global shell, obtains large-scale three times global shell three-dimensional data information and is managed with the processing of the large-scale global shell
Three comparisons are carried out by model, the machining coordinate of finishing is obtained.
Further, the system of processing includes：Six-shaft industrial robot and assembled moving support.
A kind of large-scale global shell opens porous processing system, including：
Three-dimensional vision information system, sets up the three-dimensional coordinate system of the large-scale global shell, measures the large-scale spherical shell
Body three-dimensional data；
System of processing, performs large-scale global shell perforate process operation；
Control system for processing, determines position coordinates of the system of processing in three-dimensional coordinate system system；Will be described big
The processing Theory model of type global shell is compared with the large-scale global shell three-dimensional data, is obtained and is based on the three-dimensional coordinate system
Machining coordinate.
Further, the three-dimensional vision information system includes：First laser tracker, second laser tracker, joint
Measuring arm and four target balls；
The first laser tracker and the second laser tracker are symmetricly set on global shell both sides to be processed；
Four target balls are arranged on around the global shell to be processed；
The first laser tracker, the second laser tracker, the joint measurment arm and the machining control system
System is connected.
Further, the system of processing includes：Six-shaft industrial robot and assembled moving support；
The six-shaft industrial robot is connected with the control system for processing.
The one or more technical schemes provided in the embodiment of the present application, have at least the following technical effects or advantages：
The large-scale global shell provided in the embodiment of the present application opens porous processing method, by measuring large-scale global shell, sets up
Large-scale global shell three-dimensional data information based on three-dimensional coordinate system；Meanwhile, obtain system of processing and sat in the three dimensions
Position in mark system.By comparing the large-scale global shell three-dimensional data recorded the theoretical model of converted products target component and measured
Information, determines machining coordinate；And tap operation specifically performed by system of processing by described；That is, all measurement operations are all bases
Data representation is realized in three-dimensional coordinate system, high-precision housing positioning can be realized so that machining accuracy is substantially improved；Together
When, compared by the theoretical model with recording product objective machined parameters, obtain optimal machining coordinate and allowance, enter one
Step improves machining accuracy and reliability.The measurement of three-dimensional data is re-started for each hole, ball can be fully overcome
Opening in shell discharges stress, removes change of conducting oneself with dignity after material, and global shell opens global shell deformation, centre of sphere benchmark caused by porous processing
The influence of skew, fully ensures that machining accuracy.
Further, being applied in combination by laser tracker and joint measurment arm, and both measurement data are intended
Close based on same three-dimensional coordinate system, realize the high accuracy acquisition of three-dimensional data, further improve the precision of processing.
Further, perforate processing is divided into roughing, three steps of semifinishing and finishing, distribution release processing is made
Into shell structure change, and in completion after a procedure of processing, remeasure the three-dimensional data of large-scale global shell, fully protect
The precision processed every time is demonstrate,proved, and then lifts overall machining accuracy and reliability.
Further, by six-shaft industrial robot and assembled moving support, with the use of realizing that process operation possesses
Good spatial adaptation ability, adapts to the processing needs of big specification global shell.
Brief description of the drawings
Fig. 1 opens the measurement schematic layout pattern of porous processing method for the large-scale global shell that the present invention is provided；
Fig. 2 opens the layout processing schematic diagram of porous processing method for the large-scale global shell that the present invention is provided.
Embodiment
The embodiment of the present application opens porous processing method and system by providing a kind of large-scale global shell, solves in the prior art
Lack the technical problem of high-precision processing method for big specification global shell；Reach that lifting can will process the accommodation of specification
And the technique effect of machining accuracy.
In order to solve the above technical problems, the general thought that the embodiment of the present application provides technical scheme is as follows：
By the measurement based on three-dimensional coordinate system, by large-scale global shell three-dimensional data；And by system of processing in institute
State in three-dimensional coordinate system and position；Greatly improve machining accuracy；Meanwhile, by the theoretical model of processing target with it is large-scale
The three-dimensional data information of global shell is compared, and filters out the machining coordinate expressed based on three-dimensional coordinate system, performs process operation,
Machining accuracy and reliability are greatly improved, while have also been enlarged machinable specification limit.
In order to be better understood from above-mentioned technical proposal, below in conjunction with Figure of description and specific embodiment to upper
State technical scheme to be described in detail, it should be understood that the specific features in the embodiment of the present invention and embodiment are to the application skill
The detailed description of art scheme, rather than the restriction to technical scheme, in the case where not conflicting, the embodiment of the present application
And the technical characteristic in embodiment can be mutually combined.
Referring to Fig. 1 and Fig. 2, a kind of large-scale global shell opens porous processing method, including：
The three-dimensional coordinate system of the large-scale global shell is set up, the large-scale global shell three-dimensional data is measured；That is, will be big
Type global shell carries out three-dimensional data in three-dimensional coordinate system, is typically to be sat by space of the centre of sphere of the large-scale global shell
Mark origin expansion.
Determine position coordinates of the system of processing in three-dimensional coordinate system system；That is, by system of processing described three
Positioned in dimension space coordinate system, set up the relative position relation based on unified coordinate system.
The processing Theory model of the large-scale global shell is compared with the large-scale global shell three-dimensional data, obtains and is based on institute
State the machining coordinate of three-dimensional coordinate system；That is, by the target product form of large-scale global shell, that is, the form behind hole is ended
The three-dimensional data information of large-scale global shell of the theoretical data model with measuring screening is compared to obtain the specific of perforate
Coordinate information, instructs subsequent machining operations, realizes that high-precision perforate is instructed.
The mobile system of processing, based on machining coordinate perforate on the large-scale global shell；It is specific to perform perforate.
Repeat the above steps, process next hole；That is, in the overall task for opening multiple holes, often opening a hole, all
The three-dimensional data information of the large-scale global shell of duplicate measurements, to overcome in hole clipping operating process, due to perforate stress, removes shell after material
Body deadweight change, global shell opens global shell deformation, the influence of centre of sphere datum offset caused by porous processing；Ensure machining accuracy.
Specifically, the three-dimensional coordinate system for setting up the large-scale global shell, measures the large-scale global shell three
Dimension data includes：
By two laser trackers (2,3) for being symmetricly set on the large-scale global shell both sides and four target balls (5,
6th, 7,8), large-scale global shell 1 described in all standing simultaneously sets up three-dimensional coordinate system, obtains its first group of three-dimensional data information；I.e.
The three-dimensional data of large-scale global shell based on laser tracker.
Second group of three-dimensional data information of the large-scale global shell 1 is measured by joint measurment arm 4；It is based on joint measurment
The three-dimensional data of arm, can be directed to specific feature.
Second group of three-dimensional data information is based on into the three-dimensional coordinate system with first group of three-dimensional data to believe
Breath fitting.Data under two different pieces of information coordinate systems are fitted, the data message under a coordinate system is made；Together
Shi Shixian is mutually authenticated and corrected, and lifts data precision.
Further, the target ball is fixed on the joint measurment arm 4 by the joint measurment arm 4 before measurement is performed
On, set up the coordinate transformation relation that the joint measurment arm 4 arrives the three-dimensional coordinate system.That is, two coordinate systems
Fit correlation, it then follows a set transformational relation；That is, target ball is followed the trail of by laser tracker, obtained on joint measurment arm
Coordinate realizes both fittings to the transformational relation for the three-dimensional coordinate system based on laser tracker formerly set up.
Further, system of processing tap operation on the large-scale global shell includes successively：Roughing, half finishing
Work and finishing.
Specifically, the roughing is completed, before semifinishing is carried out, based on the three-dimensional coordinate system, two
The secondary measurement large-scale global shell, obtains secondary large-scale global shell three-dimensional data information and is managed with the processing of the large-scale global shell
Secondary comparison is carried out by model, semi-finished machining coordinate is obtained.
Further, the semifinishing is completed, before being finished, based on the three-dimensional coordinate system, three
The secondary measurement large-scale global shell, obtains large-scale three times global shell three-dimensional data information and is managed with the processing of the large-scale global shell
Three comparisons are carried out by model, the machining coordinate of finishing is obtained.
That is, in perforate process, often carry out all surveying the three-dimensional data letter of large-scale global shell before a procedure of processing
Breath, fully ensures that the precision processed every time.
Further, the system of processing includes：Six-shaft industrial robot and assembled moving support.So that various
The process requirements of specification global shell.
The present invention also provides a kind of system of processing based on the above method.
A kind of large-scale global shell opens porous processing system, including：
Three-dimensional vision information system, sets up the three-dimensional coordinate system of the large-scale global shell 1, measures the large-scale spherical shell
Body three-dimensional data；
System of processing, performs large-scale global shell perforate process operation；
Control system for processing, determines position coordinates of the system of processing in three-dimensional coordinate system system；Will be described big
The processing Theory model of type global shell is compared with the large-scale global shell three-dimensional data, is obtained and is based on the three-dimensional coordinate system
Machining coordinate.
Further, the three-dimensional vision information system includes：First laser tracker 2, second laser tracker 3, pass
Save measuring arm 4 and four target balls (5,6,7,8)；
The first laser tracker 2 and the second laser tracker 3 are symmetricly set on the both sides of global shell 1 to be processed；
Four target balls (5,6,7,8) are arranged on around the global shell to be processed 1；
The first laser tracker 2, the second laser tracker 3, the joint measurment arm 4 and the machining control
System is connected.
Control system for processing, can select the field control platform based on industrial control computer or digital control system etc..
Further, the system of processing includes：Six-shaft industrial robot 9 and assembled moving support 10；Described six
Shaft industrial robot 9 is connected with the control system for processing.
The one or more technical schemes provided in the embodiment of the present application, have at least the following technical effects or advantages：
The large-scale global shell provided in the embodiment of the present application opens porous processing method, by measuring large-scale global shell, sets up
Large-scale global shell three-dimensional data information based on three-dimensional coordinate system；Meanwhile, obtain system of processing and sat in the three dimensions
Position in mark system.By comparing the large-scale global shell three-dimensional data recorded the theoretical model of converted products target component and measured
Information, determines machining coordinate；And tap operation specifically performed by system of processing by described；That is, all measurement operations are all bases
Data representation is realized in three-dimensional coordinate system, high-precision housing positioning can be realized so that machining accuracy is substantially improved；Together
When, compared by the theoretical model with recording product objective machined parameters, obtain optimal machining coordinate and allowance, enter one
Step improves machining accuracy and reliability.The measurement of three-dimensional data is re-started for each hole, ball can be fully overcome
Opening in shell discharges stress, removes change of conducting oneself with dignity after material, and global shell opens global shell deformation, centre of sphere benchmark caused by porous processing
The influence of skew, fully ensures that machining accuracy.
Further, being applied in combination by laser tracker and joint measurment arm, and both measurement data are intended
Close based on same three-dimensional coordinate system, realize the high accuracy acquisition of three-dimensional data, further improve the precision of processing.
Further, perforate processing is divided into roughing, three steps of semifinishing and finishing, distribution release processing is made
Into shell structure change, and in completion after a procedure of processing, remeasure the three-dimensional data of large-scale global shell, fully protect
The precision processed every time is demonstrate,proved, and then lifts overall machining accuracy and reliability.
Further, by six-shaft industrial robot and assembled moving support, with the use of realizing that process operation possesses
Good spatial adaptation ability, adapts to the processing needs of big specification global shell.
It should be noted last that, above embodiment is merely illustrative of the technical solution of the present invention and unrestricted,
Although the present invention is described in detail with reference to example, it will be understood by those within the art that, can be to the present invention
Technical scheme modify or equivalent substitution, without departing from the spirit and scope of technical solution of the present invention, it all should cover
Among scope of the presently claimed invention.
Claims (10)
1. a kind of large-scale global shell opens porous processing method, it is characterised in that including：
The three-dimensional coordinate system of the large-scale global shell is set up, the large-scale global shell three-dimensional data is measured；
Determine position coordinates of the system of processing in three-dimensional coordinate system system；
The processing Theory model of the large-scale global shell is compared with the large-scale global shell three-dimensional data, obtains and is based on described three
The machining coordinate of dimension space coordinate system；
The mobile system of processing, based on machining coordinate perforate on the large-scale global shell；
Repeat the above steps, process next hole.
2. large-scale global shell as claimed in claim 1 opens porous processing method, it is characterised in that described to set up the large-scale ball
The three-dimensional coordinate system of housing, measuring the large-scale global shell three-dimensional data includes：
It is big described in all standing by two laser trackers and four target balls for being symmetricly set on the large-scale global shell both sides
Type global shell simultaneously sets up three-dimensional coordinate system, obtains its first group of three-dimensional data information；
Pass through second group of three-dimensional data information of large-scale global shell described in joint measurment arm measure；
Second group of three-dimensional data information is based on into the three-dimensional coordinate system with first group of three-dimensional data information to intend
Close.
3. large-scale global shell as claimed in claim 2 opens porous processing method, it is characterised in that：The joint measurment arm is being held
Before row measurement, the target ball is fixed on the joint measurment arm, the joint measurment arm is set up and is sat to the three dimensions
Mark the coordinate transformation relation of system.
4. the large-scale global shell as described in any one of claims 1 to 3 opens porous processing method, it is characterised in that the processing
System tap operation on the large-scale global shell includes successively：Roughing, semifinishing and finishing.
5. large-scale global shell as claimed in claim 4 opens porous processing method, it is characterised in that：The roughing is completed,
Carry out before semifinishing, based on the three-dimensional coordinate system, large-scale global shell described in double measurement obtains secondary large-scale ball
Housing three-dimensional data information and with the processing Theory model of the large-scale global shell carry out it is secondary compare, obtain it is semi-finished plus
Work area mark.
6. large-scale global shell as claimed in claim 5 opens porous processing method, it is characterised in that：The semifinishing is completed,
Before being finished, based on the three-dimensional coordinate system, three measurement large-scale global shells obtain three large-scale balls
Housing three-dimensional data information simultaneously with the processing Theory model of the large-scale global shell compare for three times, obtains the processing of finishing
Coordinate.
7. large-scale global shell as claimed in claim 6 opens porous processing method, it is characterised in that the system of processing includes：
Six-shaft industrial robot and assembled moving support.
8. a kind of large-scale global shell opens porous processing system, it is characterised in that including：
Three-dimensional vision information system, sets up the three-dimensional coordinate system of the large-scale global shell, measures the large-scale global shell three
Dimension data；
System of processing, performs large-scale global shell perforate process operation；
Control system for processing, determines position coordinates of the system of processing in three-dimensional coordinate system system；By the large-scale ball
The processing Theory model of housing is compared with the large-scale global shell three-dimensional data, obtains adding based on the three-dimensional coordinate system
Work area mark.
9. large-scale global shell as claimed in claim 8 opens porous processing system, it is characterised in that the three-dimensional vision information system
System includes：First laser tracker, second laser tracker, joint measurment arm and four target balls；
The first laser tracker and the second laser tracker are symmetricly set on global shell both sides to be processed；
Four target balls are arranged on around the global shell to be processed；
The first laser tracker, the second laser tracker, the joint measurment arm and the control system for processing phase
Even.
10. large-scale global shell as claimed in claim 9 opens porous processing system, it is characterised in that the system of processing includes：
Six-shaft industrial robot and assembled moving support；
The six-shaft industrial robot is connected with the control system for processing.
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| CN201710465129.3A CN107138762B (en) | 2017-06-19 | 2017-06-19 | Processing method and system for opening multiple holes in large ball shell |
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| CN111037364A (en) * | 2019-12-27 | 2020-04-21 | 佛山市科莱机器人有限公司 | Machining and positioning method for different local machining areas of shell |
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| CN107138762B (en) | 2023-08-15 |
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