CN112872845A - Machining positioning method and flexible tool system - Google Patents

Machining positioning method and flexible tool system Download PDF

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Publication number
CN112872845A
CN112872845A CN202110165235.6A CN202110165235A CN112872845A CN 112872845 A CN112872845 A CN 112872845A CN 202110165235 A CN202110165235 A CN 202110165235A CN 112872845 A CN112872845 A CN 112872845A
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disc
platform
positioning
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CN112872845B (en
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宋韬
彭江涛
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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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
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Abstract

The invention relates to a processing positioning method and a flexible tool system. The six-degree-of-freedom platform is driven by the mechanical arm to move, so that the automation can be greatly improved, the system can be suitable for processing and positioning the workpieces which are the same in type and basically consistent in structure but different in positioning hole position and pose, the tool design time and the manufacturing cost are greatly reduced, the production period is shortened, and the workpiece positioning precision and efficiency can be improved. Meanwhile, the mechanical arm and the six-degree-of-freedom platform are connected through the quick-change disc, so that the machining and positioning precision can be further improved.

Description

Machining positioning method and flexible tool system
Technical Field
The invention relates to the technical field of machining, in particular to a machining positioning method and a flexible tool system.
Background
For the traditional machining, the complex part machining needs to specially design and manufacture a set of corresponding tools, and as the part machining is finished, the corresponding tools end. Therefore, the problems of resource waste, increased expenditure, high cost and the like are caused, and the development of the manufacturing industry is restricted. With the rapid development of modern industrial production and the market demand, the development of flexible tools draws extensive attention of the whole society. The flexible tool is a tool technology for carrying out modular recombination and automatic assembly based on a product digital size coordination system, can avoid designing and manufacturing special fixing frames and tools for assembling various parts, can reduce the manufacturing cost of the tool, shorten the preparation period of the tool, reduce the production land and greatly improve the assembly productivity.
In most of the existing flexible clamp devices, the clamping and positioning precision is limited by the control precision of external equipment or human operation factors, and the requirement for high-precision positioning cannot be met.
Disclosure of Invention
The invention aims to provide a processing positioning method and a flexible tool system, which can realize the recycling of positioning parts of various product clamps and improve the positioning precision of the processing positioning system.
In order to achieve the purpose, the invention provides the following scheme:
a flexible tooling system for machining positioning, the system comprising:
the six-degree-of-freedom platforms are used for clamping a product to be processed;
the mechanical arm is used for adjusting the six-degree-of-freedom platform to a target pose;
the quick change disc tool disc is arranged on the six-degree-of-freedom platform;
the quick-change disc main disc is arranged at the tail end of the mechanical arm; the quick-change disc tool disc is in pneumatic connection with the quick-change disc main disc;
when the six-degree-of-freedom platform is adjusted, the quick-change disc main disc on the mechanical arm and the quick-change disc tool disc form pneumatic connection, and the six-degree-of-freedom platform is adjusted to a target pose.
Optionally, the invention further provides a processing and positioning method, and the method using the flexible tool system includes:
controlling a mechanical arm to move to a six-degree-of-freedom platform, locking a quick-change disc main disc at the tail end of the mechanical arm with a quick-change disc tool disc on the six-degree-of-freedom platform, and enabling the six-degree-of-freedom platform to be in a floating state;
after the mechanical arm is controlled to adjust the six-degree-of-freedom platform to a target pose, the six-degree-of-freedom platform is in a fixed state, and a quick-change disk main disk at the tail end of the mechanical arm is separated from a quick-change disk tool disk on the six-degree-of-freedom platform, so that the six-degree-of-freedom platform is fixed at the target pose;
and placing a product to be processed on the six-degree-of-freedom platform, and fixing the product to be processed by using a pneumatic clamp of the six-degree-of-freedom platform.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a processing positioning method and a flexible tool system, wherein a quick-change disc is arranged between a mechanical arm and a six-degree-of-freedom platform, so that the mechanical arm and the six-degree-of-freedom platform are detachably connected, the pose of the six-degree-of-freedom platform can be directly adjusted by the mechanical arm, and higher positioning precision is achieved. Meanwhile, the six-degree-of-freedom platform is provided with a pressure retaining valve, so that the six-degree-of-freedom platform can be fixed after the target pose is reached, and the influence of external factors on the pose of the six-degree-of-freedom platform is avoided. The positioning component can be repeatedly used, is simple to disassemble and low in manufacturing cost, can be well suitable for processing and positioning workpieces of the same type, basically consistent in structure and different in positioning hole poses, and greatly improves the automation level of the manufacturing industry.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural view of a processing positioning flexible tool system according to an embodiment of the present invention;
fig. 2 is a schematic view of a mechanical arm in a processing positioning flexible tooling system according to an embodiment of the present invention;
fig. 3 is a schematic view of a six-degree-of-freedom platform in a processing and positioning flexible tool system according to an embodiment of the present invention;
fig. 4 is a top view of a six-degree-of-freedom platform in a flexible tooling system for machining and positioning according to an embodiment of the present invention;
fig. 5 is an axonometric view of a quick-change disc tool disc in the flexible tooling system for machining and positioning according to an embodiment of the present invention;
fig. 6 is a front view of a quick-change disc tool disc in the flexible tooling system for machining and positioning according to an embodiment of the present invention;
fig. 7 is a left side view of a quick-change disc tool disc in the flexible tooling system for machining and positioning according to an embodiment of the present invention;
fig. 8 is an axonometric view of a quick-change disk master disk in the flexible tooling system for processing and positioning according to the embodiment of the present invention;
fig. 9 is a front view of a quick-change disk main disk in a flexible tooling system for machining and positioning according to an embodiment of the present invention;
fig. 10 is a left side view of a quick-change disk main disk in the flexible tooling system for machining and positioning according to the embodiment of the present invention;
fig. 11 is a schematic view of an air supply port of a quick-change disk tool disk in a flexible tooling system for processing and positioning according to an embodiment of the present invention;
FIG. 12 is a flowchart of a method for positioning a workpiece according to an embodiment of the present invention;
FIG. 13 is a schematic diagram of a six-DOF platform motion analysis provided in an embodiment of the present invention;
fig. 14 is a schematic diagram of a six-degree-of-freedom platform movement and fixation hydraulic pressure provided by an embodiment of the invention.
Description of the symbols:
the automatic control system comprises a mechanical arm 1, a 2-six-degree-of-freedom platform, a 3-quick-change-disc main disc, a 4-quick-change-disc tool disc, a 5-moving platform, a 6-hook hinge, a 7-hydraulic cylinder, an 8-fixing platform, a 9-positioning pin, a 10-piston rod, a 11-locking pin, a 12-steel ball, a 13-release port, a 14-clamping port, a 15-positioning hole, a 16-three-position four-way O-shaped electromagnetic reversing valve, a 17-three-position four-way H-shaped electromagnetic reversing valve and an 18-hydraulic pump.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, most of existing flexible clamp devices are changed no matter how the workpiece to be machined is changed, the clamp is reconstructed through external equipment or manual work, direct digital control on the clamp is not realized, the clamping and positioning precision is limited by the control precision of the external equipment or human operation factors, and the requirement of high-precision positioning cannot be met.
The invention aims to provide a processing positioning method and a flexible tool system, which can realize the recycling of positioning parts of various product clamps and improve the positioning precision of the processing positioning system.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example 1
As shown in fig. 1, the present embodiment provides a flexible tooling system for processing and positioning, including:
the six-degree-of-freedom platforms 2 are used for clamping a product to be processed;
the mechanical arm 1 is used for adjusting the pose of each six-degree-of-freedom platform 2 to a target;
the quick change disk tool disk 4 is arranged on the six-degree-of-freedom platform 2;
a quick change disk main disk 3 mounted at the end of the mechanical arm; the quick change disk tool disk 4 is in pneumatic connection with the quick change disk main disk 3;
when the six-degree-of-freedom platform 2 is adjusted, the fast disk changing main disk 3 on the mechanical arm and the fast disk changing tool disk 4 form pneumatic connection, and the six-degree-of-freedom platform 2 is adjusted to a target pose.
Therefore, the pneumatic connection between the mechanical arm and the six-degree-of-freedom platform is formed through the quick-change disc, so that the mechanical arm can directly and accurately adjust the six-degree-of-freedom platform for clamping a product to be processed, the clamping and positioning precision and the automation level of the system can be greatly improved, the system can be suitable for processing and positioning workpieces which are the same in type and basically identical in structure but different in positioning hole posture, the tool design time and the manufacturing cost are greatly reduced, and the production period is shortened.
For a clearer explanation of the machining positioning flexible tooling system provided by the embodiment, a UR5 mechanical arm and a Stewart platform are specifically selected for further explanation. Fig. 2 and 3 show the structure of the robot arm 1 and the six-degree-of-freedom platform 2, respectively. In practical applications, the present embodiment does not specifically limit the types of the two.
As shown in fig. 3, the six-degree-of-freedom platform 2, i.e., the six-axis parallel robot, includes a moving platform 5 and a fixed platform 8, and six hydraulic cylinders 7 connected between the moving platform 5 and the fixed platform 8. The hydraulic cylinders 7 are connected with the moving platform 5 and the fixed platform 8 by the Hooke's joints 6, and the six-degree-of-freedom motion of the moving platform 5 in the space is realized through the telescopic coordination action of the six hydraulic cylinders 7. The hydraulic cylinder 7 of the mechanism has the telescopic capacity and is equivalent to a moving pair (P), and the piston/piston rod of the hydraulic cylinder 7 can realize the rotation (R) with one degree of freedom with the cylinder barrel, so that the piston and the cylinder barrel of the hydraulic cylinder have two degrees of freedom (PR). Thus, the platform has six degrees of freedom. The Stewart platform has the characteristics of high rigidity, strong bearing capacity, no accumulated position error and the like. Fig. 4 is a top view of a six degree-of-freedom platform.
As shown in fig. 1, the mechanical arm 1 may be fixed at a certain position to adjust the Stewart platform within the moving range, or the mechanical arm 1 may be mounted on another movable device, so that the mechanical arm 1 has a larger moving range, and the pose of each Stewart platform is better adjusted as required. Certainly, in order to further improve the efficiency of processing location, the number of the mechanical arms 1 can be set to be multiple, and the Stewart platforms can be adjusted according to needs.
Fig. 1 shows a scenario when the number of Stewart platforms is three. Each Stewart platform has a quick change disk tool disk 4 mounted thereon, the quick change disk tool disk 4 being configured as shown in figures 5, 6 and 7. The quick change disk tool disk 4 is connected to an external air supply through an air supply tube. Referring to fig. 11, two gas ports, namely a release port 13 and a clamping port 14, are arranged at the joint of the quick-change disc tool disc 4 and the gas supply pipe, when the quick-change disc tool disc 4 and the quick-change disc main disc 3 need to be connected, the quick-change disc tool disc 4 supplies gas through the clamping port 14, the quick-change disc tool disc 4 is in locking connection with the quick-change disc main disc 3, and the connection precision and the sealing performance can be effectively guaranteed; after the pose of the six-degree-of-freedom platform 2 is adjusted by the mechanical arm 1, air is supplied through the release port 13, and the quick-change plate tool plate 4 is disconnected with the quick-change plate main plate 3.
The following describes the specific structure and connection manner of the quick change disc master 3 and the quick change disc tool disc 4 in detail:
quick-change plate tool dish 4 includes the tool dish base, be equipped with piston rod 10 on the tool dish base, piston rod 10 side is equipped with fitting pin 11, and fitting pin 11 includes steel ball 12, steel ball 12 pneumatic mounting in on the piston rod 10.
The structure of the fast disc master 3 is shown in fig. 8, 9 and 10. The quick-change disc main disc 3 comprises a main disc base, a through hole is formed in the position, corresponding to the piston rod 10, of the main disc base, a locking groove is formed in the side face of the through hole, and the locking groove is arranged corresponding to the locking pin 11.
The diameter of the steel ball 12 is the same as the width of the locking groove. When the clamping port 14 supplies air, the piston tension and the internal spring in the quick-change disc tool disc 4 enable the piston rod 10 to be pulled back, the steel balls 12 are extruded by air pressure and embedded into the locking grooves, and the steel balls 12 clamp the quick-change disc main disc 3 and the quick-change disc tool disc 4 together. When the release port 13 supplies air, the piston rod 10 is in a pressing state by the generated pneumatic thrust, the steel ball 12 is collected on the inner side, and the quick change disc main disc 3 is separated from the quick change disc tool disc 4.
In order to ensure the alignment of the quick-change disc main disc 3 at the tail end of the mechanical arm when being connected with each quick-change disc tool disc 4, a plurality of positioning pins 9 are further arranged on the tool disc base, and are cylindrical protrusions as shown in fig. 7; the main disc base is provided with a plurality of positioning holes 15, the positioning holes 15 are arranged corresponding to the positioning pins 9, and the depth of each positioning hole 15 is not less than the height of each positioning pin 9. When the quick-change disc main disc 3 is connected with the quick-change disc tool disc 4, the positioning pin 9 is inserted into the positioning hole 15, and the pressure sensor on the quick-change disc tool disc 4 can supply air to the clamping port due to the fact that the pressure sensor receives pressure information, so that the quick-change disc tool disc 4 and the quick-change disc main disc 3 are clamped together. Therefore, the positioning pin 9 is matched with the locking pin 11, so that the quick change disc main disc 3 and the quick change disc tool disc 4 are prevented from generating relative displacement, the fastening degree of pneumatic connection is further improved, the accuracy of the mechanical arm 1 in controlling the movement of the six-degree-of-freedom platform 2 is ensured, and the processing and positioning accuracy is improved.
Through the pneumatic connection between the quick change disc main disc 3 and the quick change disc tool disc 4, the mechanical arm 1 can well start from the initial pose (X)11,Y11,Z11,A11,B11,C11)，(X12,Y12,Z12,A12,B12,C12),(X13,Y13,Z13,A13,B13,C13) Move to target pose (X)21,Y21,Z21,A21,B21,C21),(X22,Y22,Z22,A22,B22,C22),(X23,Y23,Z23,A23,B23,C23). This pose information is input to the UR5 robot arm in advance, and is more accurate than manual adjustment. And the full-automatic pneumatic connection mode enables the influence of the mechanical arm 1 on the displacement of the Stewart platform in the connection and separation processes to be minimized, so that the processing and positioning precision is further improved. And a pressure retaining valve for controlling the Stewart platform can be matched. As shown in fig. 14, when the quick change disc master 3 is connected to the quick change disc tool disc 4, the three-position four-way H-shaped electromagnetic directional valve 17 of the Stewart platform is in a middle function, each oil port is fully opened, the system has no oil pressure, the oil inlet and the oil return port are all communicated with the working oil port, two cavities are communicated and directly communicated with the oil tank, oil in two cavities of the oil cylinder is automatically supplemented or removed, the rotary motor is in a floating state, that is, the platform with six degrees of freedom is in a floating state, at this time, the UR5 mechanical arm can be connected to three quick change disc tool discs 4 through the quick change disc master 3 mounted at the tail end ofRespectively driving the three Stewart platforms to move freely. When the quick-change disc main disc 3 is disconnected with the quick-change disc tool disc 4, the three-position four-way O-shaped electromagnetic reversing valve 16 of the Stewart platform is positioned in a middle position and can be used for realizing the function, coils on two sides are simultaneously powered off, oil inlet and oil return ports of the hydraulic cylinder are closed, oil passages of an upper cavity and a lower cavity are both closed and pressurized, and the hydraulic cylinder is fixed at a fixed position, so that the posture of the Stewart platform after the Stewart platform moves can be stably kept unchanged, the influence on the posture of the platform when the mechanical arm 1 is separated from the platform is further reduced, and parts subsequently machined and positioned on the Stewart platform can.
After the pose of each Stewart platform is adjusted, the workpieces which need to be machined and have the same type and basically consistent results but can be distinguished from the pose of the positioning hole 15 are placed on the pneumatic clamps of the three Stewart platforms, and the pneumatic clamps are used for clamping the workpieces, so that a flexible platform is provided for the subsequent machining operation of the workpieces.
The flexible tooling system for machining and positioning provided by the embodiment overcomes the defects that clamp positioning components of various products in the prior art cannot be reused, the design period is long, the manufacturing cost is high and the like, the automation can be greatly improved by driving the Stewart platform to move by using the mechanical arm, the system can be suitable for machining and positioning workpieces which are the same in type and basically consistent in structure but different in positioning hole 15 poses, the tooling design time and the manufacturing cost are greatly reduced, the production period is shortened, and the workpiece positioning precision and efficiency can be improved.
Example 2
As another embodiment of the present invention, there is provided a processing positioning method, as shown in fig. 12, using the processing positioning flexible tooling system as described in claim 1, the method including:
step 101: controlling a mechanical arm 1 to move to a six-degree-of-freedom platform 2, locking a quick-change disc main disc 3 at the tail end of the mechanical arm with a quick-change disc tool disc 4 on the six-degree-of-freedom platform 2, enabling a three-position four-way H-shaped electromagnetic reversing valve 17 in the six-degree-of-freedom platform 2 to be positioned in a middle position, fully opening oil ports, enabling the system to have no oil pressure, enabling an oil inlet and an oil return port to be fully communicated with working oil ports, realizing communication of two cavities and direct oil tank communication, automatically supplementing or removing oil liquid in the two cavities of an oil cylinder, enabling a rotary motor to be in a floating state, namely enabling the six-degree-of-freedom platform 2 to be in a floating;
step 102: after the mechanical arm 1 is controlled to adjust the six-degree-of-freedom platform 2 to a target pose, the three-position four-way O-shaped electromagnetic reversing valve 16 in the six-degree-of-freedom platform 2 is positioned in a middle position and has the functions of two side coils simultaneously powered off, an oil inlet and an oil outlet of the hydraulic cylinder 7 are closed, an upper cavity oil circuit and a lower cavity oil circuit are both closed and pressurized, the hydraulic cylinder 7 is static and fixed, namely the six-degree-of-freedom platform 2 is fixed at the target pose, and the quick-change disk main disk 3 at the tail end of the mechanical arm is separated from the quick-;
step 103: and placing a product to be processed on the six-degree-of-freedom platform 2, and fixing the product to be processed by using a pneumatic clamp of the six-degree-of-freedom platform 2.
In order to implement the processing positioning method provided by this embodiment better, before the controlling of the robot arm 1 moves to the six-degree-of-freedom platform 2, the method further includes verifying whether a target pose is reasonable:
constructing the six-degree-of-freedom platform coordinate system B1And a global coordinate system B0As shown in fig. 13;
according to the six-degree-of-freedom platform coordinate system B1And a global coordinate system B0Obtaining a homogeneous transformation matrix between coordinate systems
Figure BDA0002937547580000081
Figure BDA0002937547580000082
As a coordinate system B of the motion platform 51In a global coordinate system B0Position vectors in the pose matrix;
Figure BDA0002937547580000083
as a coordinate system B of the motion platform 51In a global coordinate system B0A rotation matrix in the pose matrix;
according to the coordinate spaceHomogeneous transformation matrix
Figure BDA0002937547580000084
Analyzing the target pose and the initial pose of the six-degree-of-freedom platform, and judging whether the motion range of the six-degree-of-freedom platform is within a preset range, namely judging the elongation s required by the piston rod of the hydraulic cylinder 7 at the target poseiWhether it exceeds its working space. Specifically, the method comprises the following steps:
Figure BDA0002937547580000085
Figure BDA0002937547580000086
i.e. for any one rod:
Figure BDA0002937547580000087
wherein the content of the first and second substances,
Figure BDA0002937547580000088
representing a global coordinate system B0The vector of the connecting line of the origin and the end point of any connecting rod on the fixed platform 8,
Figure BDA0002937547580000089
represents a coordinate system B1A vector of a connecting line between the origin and the end of any connecting rod on the motion platform 5;
Figure BDA00029375475800000810
representing a global coordinate system B0Origin and coordinate system B1Vector of origin line.
When the required elongation of the piston rod 10 does not exceed the working space of the piston rod, the mechanical arm 1 works normally; when the elongation required by the piston rod 10 exceeds the working space of the piston rod, an alarm device can send alarm information to inform a manager to adjust the target pose of the six-degree-of-freedom platform 2 in time.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The method disclosed by the embodiment corresponds to the system disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the system part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (11)

1. The utility model provides a flexible frock system of processing location which characterized in that, the system includes:
the six-degree-of-freedom platforms are used for clamping a product to be processed;
the mechanical arm is used for adjusting the six-degree-of-freedom platform to a target pose;
the quick change disc tool disc is arranged on the six-degree-of-freedom platform;
the quick-change disc main disc is arranged at the tail end of the mechanical arm; the quick-change disc tool disc is in pneumatic connection with the quick-change disc main disc;
when the six-degree-of-freedom platform is adjusted, the quick-change disc main disc on the mechanical arm and the quick-change disc tool disc form pneumatic connection, and the six-degree-of-freedom platform is adjusted to a target pose.
2. The tooling system of claim 1 wherein the quick change disk tooling plate is connected to an external air supply via an air supply tube.
3. The flexible tooling system for machining and positioning of claim 2, wherein the quick-change disk tool plate is provided with two air ports, a release port and a clamping port.
4. The flexible tooling system for machining and positioning of claim 1, wherein the quick-change plate tool plate comprises a tool plate base, a piston rod is arranged on the tool plate base, and a locking pin is arranged on a side surface of the piston rod.
5. The flexible tooling system for machining and positioning of claim 4, wherein the quick-change disk main disk comprises a main disk base, a through hole for the piston rod to move is formed in the main disk base, the position of the through hole on the main disk base corresponds to the position of the piston rod on the tool disk base, a locking groove is formed in the side face of the through hole, and the locking groove is arranged corresponding to the locking pin.
6. The flexible tooling system for machining and positioning of claim 5, wherein the locking pin comprises a steel ball, the steel ball is pneumatically mounted on the piston rod, and the diameter of the steel ball is the same as the width of the locking groove.
7. The flexible tooling system for machining and positioning of claim 5, wherein a plurality of positioning pins are arranged on the tool tray base, and the positioning pins are cylindrical protrusions; the main disc base is provided with a plurality of positioning holes, the positioning holes correspond to the positioning pins, and the depth of the positioning holes is not smaller than the height of the positioning pins.
8. The flexible tooling system for machining and positioning of claim 1, wherein the six-degree-of-freedom platform comprises a moving platform and a fixed platform, and the fixed platform is connected with the moving platform through a hydraulic cylinder; the hydraulic cylinder is connected with the fixed platform and the moving platform through hook hinges.
9. The flexible tooling system for machining and positioning of claim 1, wherein the six-degree-of-freedom platform further comprises a pressure retaining valve, and the pressure retaining valve is used for fixing the pose of the six-degree-of-freedom platform.
10. A method of machining a location using the flexible tooling system of claim 1, the method comprising:
controlling a mechanical arm to move to a six-degree-of-freedom platform, locking a quick-change disc main disc at the tail end of the mechanical arm with a quick-change disc tool disc on the six-degree-of-freedom platform, and enabling the six-degree-of-freedom platform to be in a floating state;
after the mechanical arm is controlled to adjust the six-degree-of-freedom platform to a target pose, the six-degree-of-freedom platform is in a fixed state, and a quick-change disk main disk at the tail end of the mechanical arm is separated from a quick-change disk tool disk on the six-degree-of-freedom platform, so that the six-degree-of-freedom platform is fixed at the target pose;
and placing a product to be processed on the six-degree-of-freedom platform, and fixing the product to be processed by using a pneumatic clamp of the six-degree-of-freedom platform.
11. The machine-positioning method of claim 10, wherein before the controlling the robotic arm to move to the six-dof platform, the method further comprises verifying whether a target pose is reasonable:
constructing a six-degree-of-freedom platform coordinate system and a global coordinate system;
obtaining a homogeneous transformation matrix between coordinate systems according to the six-degree-of-freedom platform coordinate system and the global coordinate system;
and analyzing the target pose and the initial pose of the six-degree-of-freedom platform according to the coordinate homogeneous transformation matrix, and judging whether the motion range of the six-degree-of-freedom platform is within a preset range.
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