CN107138762B - Processing method and system for opening multiple holes in large ball shell - Google Patents
Processing method and system for opening multiple holes in large ball shell Download PDFInfo
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- CN107138762B CN107138762B CN201710465129.3A CN201710465129A CN107138762B CN 107138762 B CN107138762 B CN 107138762B CN 201710465129 A CN201710465129 A CN 201710465129A CN 107138762 B CN107138762 B CN 107138762B
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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 application belongs to the technical field of shell processing, and discloses a large spherical shell opening and porous processing method, which comprises the following steps: establishing a three-dimensional space coordinate system of the large ball shell, and measuring three-dimensional data of the large ball shell; determining position coordinates of a processing system in the three-dimensional space coordinate system; comparing the processing theoretical model of the large spherical shell with the three-dimensional data of the large spherical shell to obtain processing coordinates based on the three-dimensional space coordinate system; moving the processing system to open a hole in the large ball housing based on the processing coordinates; repeating the steps to process the next hole. The application provides a processing method for perforating a spherical shell, which aims at a large-diameter specification and has high precision requirement.
Description
Technical Field
The application relates to the technical field of shell processing, in particular to a method and a system for processing a large spherical shell with multiple holes.
Background
The spherical shell is subjected to processing stress and dead weight change after material removal, so that the spherical shell is greatly deformed and the spherical center reference is deviated due to the fact that the spherical shell is perforated, and the processing is difficult.
In the prior art, the multi-hole machining of the spherical shell is generally realized by adopting the existing large-range five-axis machining center, the limitation of the method is too strong, the spherical shell with the diameter within the range of a machine tool can be machined, and the method for machining the high-precision multi-hole spherical shell beyond the machining range of the existing machine tool is not effective.
Disclosure of Invention
The application provides a method and a system for processing a large ball shell with multiple holes, which solve the technical problem that a high-precision processing method is lack for a large ball shell in the prior art.
In order to solve the technical problems, the application provides a processing method for opening a plurality of holes of a large spherical shell, which comprises the following steps:
establishing a three-dimensional space coordinate system of the large ball shell, and measuring three-dimensional data of the large ball shell;
determining position coordinates of a processing system in the three-dimensional space coordinate system;
comparing the processing theoretical model of the large spherical shell with the three-dimensional data of the large spherical shell to obtain processing coordinates based on the three-dimensional space coordinate system;
moving the processing system to open a hole in the large ball housing based on the processing coordinates;
repeating the steps to process the next hole.
Further, the establishing a three-dimensional space coordinate system of the large ball housing, and the measuring the three-dimensional data of the large ball housing includes:
the method comprises the steps that through two laser trackers symmetrically arranged on two sides of a large ball shell and four target balls, the large ball shell is fully covered, a three-dimensional space coordinate system is established, and a first group of three-dimensional data information is acquired;
measuring a second set of three-dimensional data information of the large ball housing by means of an articulated measuring arm;
fitting the second set of three-dimensional data information to the first set of three-dimensional data information based on the three-dimensional spatial coordinate system.
Further, the joint measuring arm fixes the target ball on the joint measuring arm before the measurement is executed, and a coordinate conversion relation from the joint measuring arm to the three-dimensional space coordinate system is established.
Further, the processing system may be configured to perform a hole opening operation on the large ball housing, comprising, in order: rough machining, semi-finishing, and finishing.
Further, the rough machining is completed, and before semi-finishing is carried out, the large ball shell is secondarily measured based on the three-dimensional space coordinate system, three-dimensional data information of the secondary large ball shell is obtained and is secondarily compared with a machining theoretical model of the large ball shell, and machining coordinates of the semi-finishing are obtained.
Further, the semi-finishing is completed, and before finishing, the large ball shell is measured for three times based on the three-dimensional space coordinate system, three-dimensional data information of the large ball shell is obtained for three times and compared with a machining theoretical model of the large ball shell for three times, and machining coordinates of finishing are obtained.
Further, the processing system includes: six industrial robots and combined movable support.
A large spherical shell open pore processing system comprising:
the three-dimensional data measurement system is used for establishing a three-dimensional space coordinate system of the large spherical shell and measuring three-dimensional data of the large spherical shell;
the processing system is used for executing the perforating processing operation of the large spherical shell;
the processing control system is used for determining the position coordinates of the processing system in the three-dimensional space coordinate system; and comparing the processing theoretical model of the large spherical shell with the three-dimensional data of the large spherical shell to obtain processing coordinates based on the three-dimensional space coordinate system.
Further, the three-dimensional data measurement system includes: the device comprises a first laser tracker, a second laser tracker, a joint measuring arm and four target balls;
the first laser tracker and the second laser tracker are symmetrically arranged at two sides of the spherical shell to be processed;
the four target balls are arranged around the ball shell to be processed;
the first laser tracker, the second laser tracker and the joint measuring arm are connected with the processing control system.
Further, the processing system includes: six-axis industrial robot and combined movable support;
the six-axis industrial robot is connected with the processing control system.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:
according to the method for processing the large spherical shell with multiple holes, provided by the embodiment of the application, the three-dimensional data information of the large spherical shell based on the three-dimensional space coordinate system is established by measuring the large spherical shell; and simultaneously, acquiring the position of the processing system in the three-dimensional space coordinate system. Determining processing coordinates by comparing a theoretical model recording target parameters of a processed product with the measured three-dimensional data information of the large spherical shell; and performing a tapping operation specifically by the machining system; namely, all measurement operations are based on a three-dimensional space coordinate system to realize data expression, so that high-precision shell positioning can be realized, and the machining precision is greatly improved; meanwhile, the optimal machining coordinates and machining allowance are obtained through comparison with a theoretical model recording target machining parameters of the product, and machining precision and reliability are further improved. And three-dimensional data are measured again for each hole, so that stress released by the holes of the spherical shell can be fully overcome, dead weight change is caused after materials are removed, the spherical shell is deformed and the influence of reference deviation of the spherical center caused by the processing of the holes of the spherical shell is fully ensured, and the processing precision is fully ensured.
Furthermore, by using a laser tracker and a joint measuring arm in combination and fitting the measurement data of the laser tracker and the joint measuring arm to a coordinate system based on the same three-dimensional space, high-precision acquisition of three-dimensional data is realized, and machining precision is further improved.
Further, the perforating processing is divided into three steps of rough processing, semi-finishing processing and finishing processing, structural changes of the shell caused by release processing are distributed, three-dimensional data of the large-scale ball shell are re-measured after the last processing step is completed, the accuracy of each processing is fully guaranteed, and further the overall processing accuracy and reliability are improved.
Furthermore, the six-axis industrial robot and the combined movable support are matched for use, so that the machining operation has good space adaptability, and the machining requirement of a large-size ball shell is met.
Drawings
FIG. 1 is a schematic diagram of a measuring layout of a method for processing open holes of a large spherical shell;
fig. 2 is a schematic diagram of a processing layout of the method for processing open holes of a large spherical shell.
Detailed Description
The embodiment of the application solves the technical problem that a high-precision processing method is lack for a large-size spherical shell in the prior art by providing a method and a system for processing the large-size spherical shell; the technical effect of improving the application range of the machining specification and the machining precision is achieved.
In order to solve the technical problems, the embodiment of the application provides the following general ideas:
three-dimensional data of the large spherical shell are obtained through measurement based on a three-dimensional space coordinate system; positioning a processing system in the three-dimensional space coordinate system; the machining precision is greatly improved; meanwhile, the theoretical model of target machining is compared with three-dimensional data information of the large ball shell, machining coordinates expressed based on a three-dimensional space coordinate system are screened out, machining operation is performed, machining precision and reliability are greatly improved, and meanwhile the machinable specification range is enlarged.
In order to better understand the above technical solutions, the following detailed description will be made with reference to the accompanying drawings and specific embodiments, and it should be understood that specific features in the embodiments and examples of the present application are detailed descriptions of the technical solutions of the present application, and not limit the technical solutions of the present application, and the technical features in the embodiments and examples of the present application may be combined with each other without conflict.
Referring to fig. 1 and 2, a method for processing a large spherical shell with multiple holes comprises the following steps:
establishing a three-dimensional space coordinate system of the large ball shell, and measuring three-dimensional data of the large ball shell; that is, the large ball housing is three-dimensionally dataized in a three-dimensional space coordinate system, and the center of the large ball housing is usually expanded with the origin of the space coordinate.
Determining position coordinates of a processing system in the three-dimensional space coordinate system; namely, the processing system is positioned in the three-dimensional space coordinate system, and a relative position relation based on a unified coordinate system is established.
Comparing the processing theoretical model of the large spherical shell with the three-dimensional data of the large spherical shell to obtain processing coordinates based on the three-dimensional space coordinate system; the method comprises the steps of comparing and screening a target product form of the large ball shell, namely a theoretical data model of the form after the hole is opened, with the measured three-dimensional data information of the large ball shell to obtain specific coordinate information of the hole, guiding subsequent processing operation and realizing high-precision hole opening guidance.
Moving the processing system to open a hole in the large ball housing based on the processing coordinates; the opening is specifically performed.
Repeating the steps to process the next hole; that is, in the whole task of opening a plurality of holes, each hole is repeatedly measured for three-dimensional data information of the large-sized ball shell, so that the influences of deformation of the ball shell and standard deviation of the ball center caused by the porous opening processing of the ball shell due to dead weight change of the shell after the material is removed in the hole clamping operation process are overcome; and the machining precision is ensured.
Specifically, the establishing the three-dimensional space coordinate system of the large ball housing, and the measuring the three-dimensional data of the large ball housing includes:
the method comprises the steps that through two laser trackers (2, 3) symmetrically arranged on two sides of the large-scale spherical shell and four target balls (5, 6, 7, 8), the large-scale spherical shell 1 is fully covered, a three-dimensional space coordinate system is established, and a first group of three-dimensional data information is acquired; i.e. three-dimensional datamation of the large ball housing based on the laser tracker.
Measuring a second set of three-dimensional data information of the large ball housing 1 by means of an articulated measuring arm 4; that is, based on the three-dimensional data of the joint measurement arm, specific features can be targeted.
Fitting the second set of three-dimensional data information to the first set of three-dimensional data information based on the three-dimensional spatial coordinate system. Fitting the data under two different data coordinate systems to form data information under one coordinate system; meanwhile, mutual verification and correction are realized, and data precision is improved.
Further, the joint measuring arm 4 fixes the target ball on the joint measuring arm 4 before performing measurement, and establishes a coordinate conversion relationship from the joint measuring arm 4 to the three-dimensional space coordinate system. That is, the fitting relationship of the two coordinate systems follows a predetermined conversion relationship; the target ball is tracked by the laser tracker, the conversion relation between the coordinates on the joint measuring arm and the previously established three-dimensional space coordinate system based on the laser tracker is obtained, and the fitting of the two is realized.
Further, the processing system may be configured to perform a hole opening operation on the large ball housing, comprising, in order: rough machining, semi-finishing, and finishing.
Specifically, the rough machining is completed, the large ball shell is secondarily measured based on the three-dimensional space coordinate system before semi-finishing is performed, three-dimensional data information of the secondary large ball shell is obtained, and secondary comparison is performed on the three-dimensional data information and the machining theoretical model of the large ball shell, so that the machining coordinates of the semi-finishing are obtained.
Further, the semi-finishing is completed, and before finishing, the large ball shell is measured for three times based on the three-dimensional space coordinate system, three-dimensional data information of the large ball shell is obtained for three times and compared with a machining theoretical model of the large ball shell for three times, and machining coordinates of finishing are obtained.
In the tapping process, three-dimensional data information of a large ball shell is measured before each machining step, and the accuracy of each machining is fully ensured.
Further, the processing system includes: six industrial robots and combined movable support. Thereby meeting the processing requirements of ball shells of various specifications.
The application also provides a processing system based on the method.
A large spherical shell open pore processing system comprising:
the three-dimensional data measurement system is used for establishing a three-dimensional space coordinate system of the large spherical shell 1 and measuring three-dimensional data of the large spherical shell;
the processing system is used for executing the perforating processing operation of the large spherical shell;
the processing control system is used for determining the position coordinates of the processing system in the three-dimensional space coordinate system; and comparing the processing theoretical model of the large spherical shell with the three-dimensional data of the large spherical shell to obtain processing coordinates based on the three-dimensional space coordinate system.
Further, the three-dimensional data measurement system includes: a first laser tracker 2, a second laser tracker 3, an articulation measuring arm 4, and four target balls (5, 6, 7, 8);
the first laser tracker 2 and the second laser tracker 3 are symmetrically arranged at two sides of the ball shell 1 to be processed;
the four target balls (5, 6, 7, 8) are arranged around the ball housing 1 to be processed;
the first laser tracker 2, the second laser tracker 3 and the joint measuring arm 4 are connected with the processing control system.
The processing control system can be a field control platform based on an industrial control computer or a numerical control system and the like.
Further, the processing system includes: a six-axis industrial robot 9 and a combined movable support 10; the six-axis industrial robot 9 is connected with the processing control system.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:
according to the method for processing the large spherical shell with multiple holes, provided by the embodiment of the application, the three-dimensional data information of the large spherical shell based on the three-dimensional space coordinate system is established by measuring the large spherical shell; and simultaneously, acquiring the position of the processing system in the three-dimensional space coordinate system. Determining processing coordinates by comparing a theoretical model recording target parameters of a processed product with the measured three-dimensional data information of the large spherical shell; and performing a tapping operation specifically by the machining system; namely, all measurement operations are based on a three-dimensional space coordinate system to realize data expression, so that high-precision shell positioning can be realized, and the machining precision is greatly improved; meanwhile, the optimal machining coordinates and machining allowance are obtained through comparison with a theoretical model recording target machining parameters of the product, and machining precision and reliability are further improved. And three-dimensional data are measured again for each hole, so that stress released by the holes of the spherical shell can be fully overcome, dead weight change is caused after materials are removed, the spherical shell is deformed and the influence of reference deviation of the spherical center caused by the processing of the holes of the spherical shell is fully ensured, and the processing precision is fully ensured.
Furthermore, by using a laser tracker and a joint measuring arm in combination and fitting the measurement data of the laser tracker and the joint measuring arm to a coordinate system based on the same three-dimensional space, high-precision acquisition of three-dimensional data is realized, and machining precision is further improved.
Further, the perforating processing is divided into three steps of rough processing, semi-finishing processing and finishing processing, structural changes of the shell caused by release processing are distributed, three-dimensional data of the large-scale ball shell are re-measured after the last processing step is completed, the accuracy of each processing is fully guaranteed, and further the overall processing accuracy and reliability are improved.
Furthermore, the six-axis industrial robot and the combined movable support are matched for use, so that the machining operation has good space adaptability, and the machining requirement of a large-size ball shell is met.
Finally, it should be noted that the above-mentioned embodiments are only for illustrating the technical solution of the present application, and not for limiting the same, and although the present application has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the present application without departing from the spirit and scope of the technical solution of the present application, and all such modifications and equivalents are intended to be encompassed in the scope of the claims of the present application.
Claims (7)
1. The processing method for opening the holes of the large spherical shell is characterized by comprising the following steps of:
the method comprises the steps that through two laser trackers symmetrically arranged on two sides of a large ball shell and four target balls, the large ball shell is fully covered, a three-dimensional space coordinate system is established, and a first group of three-dimensional data information is acquired;
measuring a second set of three-dimensional data information of the large ball shell through a joint measuring arm, wherein the target ball is fixed on the joint measuring arm, and establishing a coordinate conversion relation from the joint measuring arm to the three-dimensional space coordinate system;
fitting the second group of three-dimensional data information with the first group of three-dimensional data information based on the three-dimensional space coordinate system to obtain three-dimensional data of the large spherical shell;
determining position coordinates of a processing system in the three-dimensional space coordinate system;
comparing the processing theoretical model of the large spherical shell with the three-dimensional data of the large spherical shell to obtain processing coordinates based on the three-dimensional space coordinate system;
moving the processing system to open a hole in the large ball housing based on the processing coordinates;
repeating the steps to process the next hole, wherein the three-dimensional data information of the large ball shell is repeatedly measured after each hole is formed.
2. The method for processing a large ball housing with multiple holes according to claim 1, wherein the processing system sequentially comprises: rough machining, semi-finishing, and finishing.
3. The method for processing the open holes of the large spherical shell according to claim 2, wherein the method comprises the following steps: and (3) finishing the rough machining, and secondarily measuring the large ball shell based on the three-dimensional space coordinate system before semi-finishing, obtaining three-dimensional data information of the secondary large ball shell, and secondarily comparing the three-dimensional data information with a machining theoretical model of the large ball shell to obtain the machining coordinate of the semi-finishing.
4. A method for processing a large spherical shell with multiple holes according to claim 3, wherein: and 3, finishing the semi-finishing, and measuring the large ball shell for three times based on the three-dimensional space coordinate system before finishing, obtaining three-dimensional data information of the large ball shell for three times, and comparing the three-dimensional data information with a machining theoretical model of the large ball shell for three times to obtain the machining coordinate of finishing.
5. The large ball housing multi-hole machining method of claim 4, wherein the machining system comprises: six industrial robots and combined movable support.
6. A large spherical shell open-pore machining system, comprising:
the three-dimensional data measurement system is used for establishing a three-dimensional space coordinate system of the large spherical shell and measuring three-dimensional data of the large spherical shell;
the processing system is used for executing the perforating processing operation of the large spherical shell;
the processing control system is used for determining the position coordinates of the processing system in the three-dimensional space coordinate system; comparing the processing theoretical model of the large spherical shell with the three-dimensional data of the large spherical shell to obtain processing coordinates based on the three-dimensional space coordinate system;
wherein the three-dimensional data measurement system comprises: the first laser tracker, the second laser tracker, the joint measuring arm and four target balls are symmetrically arranged on two sides of a ball shell to be processed, the four target balls are arranged around the ball shell to be processed, and the first laser tracker, the second laser tracker and the joint measuring arm are connected with the processing control system;
the establishing the three-dimensional space coordinate system of the large ball housing and measuring the three-dimensional data of the large ball housing comprises the following steps:
the method comprises the steps of fully covering a large ball shell through a first laser tracker, a second laser tracker and four target balls which are symmetrically arranged at two sides of the large ball shell, establishing a three-dimensional space coordinate system, and acquiring a first group of three-dimensional data information of the large ball shell;
measuring a second set of three-dimensional data information of the large ball shell through a joint measuring arm, wherein the target ball is fixed on the joint measuring arm, and establishing a coordinate conversion relation from the joint measuring arm to the three-dimensional space coordinate system;
and fitting the second group of three-dimensional data information with the first group of three-dimensional data information based on the three-dimensional space coordinate system to obtain the three-dimensional data of the large spherical shell.
7. The large ball housing multi-hole machining system of claim 6, wherein the machining system comprises: six-axis industrial robot and combined movable support;
the six-axis industrial robot is connected with the processing control system.
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