CN114740801B - Base coordinate system creation method for installation of numerical control equipment group cooperative production line - Google Patents
Base coordinate system creation method for installation of numerical control equipment group cooperative production line Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
- G05B19/4086—Coordinate conversions; Other special calculations
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The application discloses a base coordinate system creation method for installation of a numerical control equipment group cooperative production line, which comprises the following steps: measuring a plurality of point coordinates of the upper surface of the square box leveled by the level meter by the space position measuring instrument, fitting a reference plane of the production line, measuring the center point coordinates of all foundation embedded plates on site, and fitting a course line of the production line; projecting the course line onto a reference plane to serve as a Y-direction vector of a base coordinate system, obtaining a normal vector of the reference plane to serve as a Z-direction vector of the base coordinate system, and performing cross product operation on a Y, Z vector to obtain an X-direction vector of the base coordinate system; measuring coordinates of central points of two foundation embedded plates of reference equipment on two sides of a course line, projecting a straight line formed by the two points onto a reference plane, and intersecting the straight line with the course line projection to obtain a base coordinate system origin; and determining the pose T of the base coordinate system by using the direction vector and the origin. The application can effectively determine the optimal reference for the installation of the production line and is used for the digital accurate adjustment of the numerical control equipment group.
Description
Technical Field
The application relates to the technical field of numerical control equipment assembly and adjustment, in particular to a base coordinate system creation method for installation of a numerical control equipment group cooperative production line.
Background
At present, along with the rapid development of the technology of a digital factory, a mode of processing parts by a single numerical control device in the system of the digital device is developed to a mode of precisely assembling and finishing large parts by adjusting the pose of the single numerical control device in the current numerical control device group cooperative production line, the assembly and processing coordinate data of the parts are not based on the device coordinate system of the single numerical control device, but based on the common coordinate system of the production line, namely the base coordinate system, the pose of the numerical control device group and the transfer device is precisely installed, and the pose of the assembly of the parts or the pose track of a processing tool is controlled by the cooperative motion of the numerical control device group under the common coordinate system, so that the base coordinate system of the numerical control device group cooperative production line is very important.
The traditional installation of numerical control equipment group cooperative production line adopts the ruler to measure the distance to determine the installation position of the numerical control equipment group and adjust the mutual parallel relationship, so that the installation efficiency is low, the precision is poor, and the spatial position of the single-axis numerical control equipment and the transfer equipment in the numerical control equipment group cannot be accurately adjusted. With the development of digital measurement technology, a spatial position measuring instrument can solve the high-efficiency and high-precision requirements of the installation of a numerical control device group and a production line, but a basic coordinate system of the installation of the production line is required to be established firstly, more establishment methods are adopted at present, a basic coordinate system established by the method is firstly assembled and adjusted, the spatial position measuring instrument is used for measuring the motion characteristic data of the numerical control device, the numerical control device coordinate system is determined in the measurement system coordinate system, and the basic coordinate system of the production line is determined in the measurement system coordinate system according to the pose relation between the basic numerical control device coordinate system of the numerical control device and the basic coordinate system of the production line in a digital model.
Disclosure of Invention
The application aims to provide a method for effectively determining the installation optimal reference of a production line, which is used for more comprehensively and reasonably mapping a digital-analog theory base coordinate system to obtain a base coordinate system which is suitable for all equipment installation on the production line site and is used for digital accurate adjustment of a numerical control equipment group collaborative production line. The device can be mounted efficiently and with high precision, and the situation that the device at the far end of the course of the production line is mounted outside the foundation embedded plate and even interferes with the edge of the foundation can be effectively avoided.
The application is realized by the following technical scheme:
the base coordinate system creation method for installing the numerical control equipment group cooperative production line is characterized by comprising the following steps of:
s1, measuring a plurality of point coordinates of the upper surface of a square box leveled by a level meter by using a space position measuring instrument, and fitting a reference plane of a production line;
s2, measuring the coordinates of the central points of all foundation embedded plates on site, and fitting a course line of a production line;
s3, projecting a course line onto the reference plane to serve as a Y-direction vector of a base coordinate system;
s4, acquiring a normal vector of a reference plane as a Z-direction vector of a base coordinate system;
s5, carrying out cross product operation on the Y-direction vector and the Z-direction vector to obtain an X-direction vector of a base coordinate system;
s6, measuring the coordinates of central points of two foundation embedded plates of the reference equipment at two sides of the course line, and projecting a straight line formed by the two points onto a reference plane to intersect the course line projection to obtain a base coordinate system origin o;
and S7, determining a pose matrix T of the base coordinate system under the current tracker coordinate system by using the Y-direction vector, the Z-direction vector, the X-direction vector and the origin o of the base coordinate system obtained in the step.
In order to better implement the method of the present application, in step S1, the specific method for fitting the reference plane of the production line is that the spatial position measuring instrument measures n (n is greater than or equal to 3) point coordinates h (x) on the upper surface of the square box leveled by the level meter i ,y i ,z i ) Using a plane fitting least squares model Σ (a) 0 x i +a 1 y i +a 2 -z i ) 2 Solving the optimal general plane equation parameter a 0 、a 1 、a 2 And then an equation of the reference plane P of the production line is obtained.
In order to better implement the method of the present application, in step S2, the specific method for fitting the course line of the production line is that the spatial position measuring instrument measures the coordinates f (x) of the central points of all foundation embedded boards (not less than 3) on site i ,y i ,z i ) Least square matrix model [ x ] using straight line fitting i y i ] T ＝[z i 1] T [a b c d] T Solving the optimal linear equation parameter a, b, c, d to obtain the course line l of the production line c Is a straight line set of equations for (1).
In order to better implement the method of the present application, further, in the step S3, the heading line l c Projection calculation Prj of reference plane P P lc The specific method is that the course line l is utilized c Equation and normal line equation of reference plane P are combined to obtain course line c And the normal plane P 'equation perpendicular to the plane P, the reference plane P and the normal plane P' are combined to obtain the intersection line of the two planes, namely the course line l c Projecting the plane to the reference plane P to obtain a course projection line l c ' Y-vector V as a base coordinate system Y 。
In order to better implement the method of the present application, further, in the step S4, the specific method of normal vector calculation of the reference plane is to use a heading line l c Intersection point with plane P (x c ,y c ,z c ) And plane P equation, calculate coefficient of point normal plane equation, i.e. normal vector of reference plane P, and take its unit vector V n Z-vector V as a base coordinate system Z 。
In order to better implement the method of the present application, in the step S5, the specific method for determining the X direction of the base coordinate system is to perform a cross product operation (V Y ^V Z ) I.e. the X-direction vector V of the base coordinate system X ；
In order to better implement the method of the present application, in step S6, the specific method for determining the origin of the base coordinate system is to determine two reference device foundation embedded boards on both sides of the heading line on site according to the layout position of the reference device in the digital-analog, and measure the two reference device foundation embedded boards b by using a spatial position measuring instrument 1 、b 2 Center point coordinates, performing projection operation Prj on a straight line formed by two points P b Obtaining a projection line equation projected onto the reference plane P, and further obtaining the projection l of the projection line equation and the course line c The intersection point of the 'intersection' is the origin o (x o ,y o ,z o )；
The three direction vectors and a coordinate origin point obtained by the method can be used for determining the pose T x of the basic coordinate system under the coordinate system of the current measuring system o y o z o V X V Y V Z ]All point position coordinate data measured by the measuring system can be converted into the base coordinate system, so that a digital-analog theoretical base coordinate system and theoretical pose of all equipment are mapped and used as a reference for installation of all equipment on a production line, and meanwhile, the reference is also a common reference for controlling the product pose or the processing tool pose by cooperative movement of numerical control equipment groups on the production line.
Compared with the prior art, the application has the following advantages:
(1) The application is oriented to the numerical control equipment group cooperative production line, provides different creation methods aiming at the base coordinate system installed on the production line, comprehensively and effectively maps out the digital-analog theory base coordinate system, and simultaneously provides a more scientific and reasonable method for the installation of the numerical control equipment group cooperative production line and the reference selection of the cooperative movement of the numerical control equipment group;
(2) According to the application, based on the on-site installed equipment foundation embedded plates, the standard with the minimum error of the production line installed in the navigation direction is obtained by fitting operation on the centers of all the embedded plates, and the digital adjustment of the equipment pose of the production line is carried out by using the standard, so that the situation that equipment at the far end of the navigation direction of the production line is installed outside the foundation embedded plates can be effectively avoided, and the method is more scientific and efficient;
(3) The method for creating the base coordinate system of the numerical control equipment group collaborative production line is applicable to the installation of various digital equipment production lines, is particularly applicable to the installation and adjustment of the digital high-precision equipment production lines with large span, long distance and numerous sub-equipment, and is suitable for wide popularization and application.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings.
FIG. 1 is a specific flow chart of the method of the present application;
FIG. 2 is a schematic view of an application scenario of the method of the present application;
FIG. 3 is a schematic diagram of the problems associated with the prior art method;
FIG. 4 is a schematic view of a scene modeling of the method of the present application;
FIG. 5 is a schematic illustration of geometric modeling of the method of the present application;
reference numerals:
1. the production line of the numerical control equipment group collaborative system comprises 2 numerical control equipment with different shaft numbers, 3 a product to be processed, 4 a reference numerical control equipment, 5 a base coordinate system, 6 a spatial position measuring instrument, 7 a foundation embedded plate, 8 a level meter, 9 a square box, 10 and a reference foundation embedded plate.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Example 1
Referring to fig. 1 to 5, the present embodiment provides a method for creating a base coordinate system for installation of a coordinated production line of a numerical control device group, in which the method uses a coordinated production line 1 of the numerical control device group as an application scenario as an embodiment, and creates a base coordinate system for digitalized adjustment of the poses of various types of numerical control devices 2 of the production line, and compared with the existing method for creating a base coordinate system 5 by using a reference numerical control device 4 as a reference, the method avoids the situation that devices at the far end of the course of the production line are installed outside a foundation embedded board.
The specific implementation flow of the application is shown in figure 1, and comprises the following steps:
1) Leveling the upper surface of the square box 9 by using a level meter 8, measuring a plurality of point coordinates of the upper surface of the marble square box 9 by using a spatial position measuring instrument 6, and fitting a reference plane of a production line;
2) Marking a central point on each numerical control device and a foundation embedded plate 7 of each section of transfer track on site, and measuring the coordinates of all the central points by a spatial position measuring instrument 6 so as to fit a course line of a production line;
3) Projecting the course line onto a reference plane as a Y-direction vector of a base coordinate system;
4) Obtaining a normal vector of a reference plane as a Z-direction vector of a base coordinate system;
5) Performing cross product operation on the Y, Z vector to obtain an X-direction vector of the base coordinate system;
6) Measuring the coordinates of the central points of the foundation embedded plates 10 of two datum equipment on two sides of a course line by using a space position measuring instrument, projecting a straight line formed by the two points onto a reference plane, and intersecting the straight line with the course line projection to obtain an origin o of a basic coordinate system;
7) And determining the pose T of the base coordinate system under the current tracker coordinate system by using the three direction vectors and the origin obtained above.
In this embodiment, the course line is a central axis of a linear transmission type parallel operation production line. The spatial position measuring instrument is one type of instrument with the function of acquiring spatial position coordinate data of a measured object. Square boxes are a type of appliance with positive/cuboid features and high geometric accuracy (flatness, straightness, perpendicularity, etc.). The foundation embedded board of the reference equipment is a foundation board to be placed for each numerical control equipment and each section of transfer track on site, and is a geometrical flat board which can mark a central point by utilizing geometrical characteristics (square diagonal lines or round vertical diameter lines and the like), and the foundation embedded board is arranged and installed on site in advance according to a digital-analog layout position. The reference equipment foundation embedded plate is a reference plate which establishes a position relation with a theoretical coordinate system in digital-analog. The basic coordinate system is a reference for installing all equipment on a production line, and is also a common reference for controlling the production pose or the processing tool pose by the cooperative motion of numerical control equipment groups on the production line.
Example 2
In order to better implement the method of the present application, the step 1) is further described in detail with reference to the scene model of fig. 4 and the geometric model of fig. 5 on the basis of embodiment 1.
The specific method for fitting the reference plane 11 of the production line is that the spatial position measuring instrument 6 measures n (n is more than or equal to 3) point coordinates h (x) of the upper surface n (n is more than or equal to 3) of the square box 9 leveled by the level meter 8 i ,y i ,z i ) Simplifying the general formula plane equation (1) into the equation (2) and converting the equation into the equation (3), utilizing a plane fitting least square model, namely that the variance of the distances from all points to the plane is minimum, utilizing a multiple linear regression least square method to estimate the model (5) and solving the optimal solution matrix algorithm (6), and solving the optimal general formula plane equation parameter b (a 0 、a 1 、a 2 ) And then an equation of the reference plane P of the production line is obtained.
Ax+by+cz+d=0 formula (1)
z＝a 0 x+a 1 y+a 2 (3)
min b ||Ab-Y|| 2 ，A＝[x i y i ] T ,b＝[a 0 a 1 a 2 ] T ,Y＝z i (5)
Describing the step 2) in detail, fitting the course line l of the production line c 12 is specifically that the spatial position measuring instrument 6 measures the central point coordinates f (x) of all foundation embedded boards 7 (more than or equal to 3) on site i ,y i ,z i ) Converting the group linear equation (7) into a matrix form equation (8-1) which accords with a linear fitting least square matrix model, namely, the variance of the distances from all points to the straight line is minimum, estimating the model form (5) by utilizing a multi-element linear regression least square method and solving the optimal solution matrix algorithm equation (6), solving the optimal straight line equation parameter a, b, c, d, and further obtaining the heading line l of the production line c Is a straight line set of equations for (1).
[x i y i ] T ＝[z i 1] T [a b c d] T ,A＝[z i 1] T ,b＝[a b c d] T ,Y＝[x i y i ] T (8-1)
Further describing the step 3) in detail, the course line l c Projection calculation Prj of reference plane P P lc The specific method of (a) is as follows: the course line l of the production line obtained by the above method c To determine the intersection point (x c ,y c ,z c ) And will thus refer to the plane 11 in generalEquation (1) is converted to a point French equation (9), where n (A, B, C) is the normal vector to the reference plane 11, using the intersection point (x c ,y c ,z c ) Equation (9-1) for normal line 14 can be found, taking heading line l c The equation (7) is converted into a point-to-point equation (9-2), and the course line equation (9-2) and the normal line equation (9-1) are combined to obtain a course line l c And the normal plane 20 equation (10) perpendicular to the reference plane 11, the reference plane 11 equation (9) and the normal plane 20 equation (10) are combined to obtain the intersection line 13 of the two planes, namely the heading line 12 is projected onto the reference plane 11 to obtain the heading projection line l c ' the unit vector of the projection straight line is taken as the Y-direction vector V of the base coordinate system Y 。
A(x-x c )+B(y-y c )+C(z+(D+Ax c +By c ) /C) =0 (9)
Describing the step 4) in more detail, the reference plane normal vector is calculated by using the intersection point (x c ,y c ,z c ) And a reference plane 11 equation (1), a point normal plane equation (9) is obtained, wherein the coefficients n (A, B, C) are the normal vector of the reference plane P, and the unit vector V is taken n Z-vector V as a base coordinate system Z 。
Further describing the step 5), the specific method of determining the X direction 15 of the base coordinate system is to determine the Y vector (Y x ，Y y ，Y z ) 13, base coordinate system Z-vector (Z x ，Z y ，Z z ) Performing a cross product operation (V) of formula (11) Y ^V Z ) In the formula (11), i, j and k are direct coordinate system unit direction vectors, and coefficients in front of i, j and k are X-direction vectors V of a base coordinate system X ；
Describing the step 6) in detail, the specific method for determining the origin 19 of the base coordinate system is to determine two reference device foundation embedded boards 16 on two sides of the course line on site according to the layout position 10 of the reference device in the digital model, and measure the two reference device foundation embedded boards b by using the spatial position measuring instrument 6 1 、b 2 Center point coordinates, two points form a linear equation, and a straight line 17 formed by the two points is subjected to projection operation Prj by using the method of the step 3) P b Obtaining a projection line 18 equation projected onto the reference plane, then combining with the course line projection equation, and obtaining an intersection point of two straight lines to obtain a base coordinate system origin o (x) o ,y o ,z o )；
The three direction vectors and a coordinate origin point obtained by the method can be used for determining the pose T x of the basic coordinate system under the coordinate system of the current measuring system o y o z o V X V Y V Z ]All point position coordinate data measured by the measuring system can be converted into the base coordinate system, so that a digital-analog theoretical base coordinate system and theoretical pose of all equipment are mapped and used as a reference for installation of all equipment on a production line, and meanwhile, the reference is also a common reference for controlling the product pose or the processing tool pose by cooperative movement of numerical control equipment groups on the production line.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather the equivalent structures or equivalent processes using the descriptions and drawings of the present application, or the direct or indirect application in other related technical fields, are all included in the scope of the present application.
Claims (4)
1. The base coordinate system creation method for installing the numerical control equipment group cooperative production line is characterized by comprising the following steps of:
s1, measuring a plurality of point coordinates of the upper surface of a square box leveled by a level meter by using a space position measuring instrument, and fitting a reference plane of a production line; the specific method for fitting the reference plane of the production line comprises the following steps: the space position measuring instrument measures n point coordinates h (x) of the upper surface of the square box leveled by the level meter i ,y i ,z i ) N is more than or equal to 3; using a plane fitting least squares model Σ (a) 0 x i +a 1 y i +a 2 -z i ) 2 Solving the optimal general plane equation parameter a 0 、a 1 、a 2 Obtaining an equation of a reference plane P of the production line;
s2, measuring the coordinates of the central points of all foundation embedded plates on site, and fitting a course line of a production line; the specific method for fitting the course line of the production line is as follows: the space position measuring instrument measures the central point coordinates f (x) of all foundation embedded boards on site i ,y i ,z i ) The method comprises the steps of carrying out a first treatment on the surface of the Matrix model [ x ] of least square method by using straight line fitting i y i ] T =[z i 1] T [a b c d] T Solving the optimal linear equation parameter a, b, c, d to obtain the course line l of the production line c Straight line set equation of (2);
s3, projecting a course line onto the reference plane to serve as a Y-direction vector of a base coordinate system; the specific method for projection calculation of the course line on the reference plane comprises the following steps: by means of course line l c The linear group equation of (2) is combined with the normal line equation of the reference plane P to obtain the passing course line l c And a normal plane P perpendicular to the reference plane P ’ Equation, reference plane P and its normal plane P ’ Simultaneously, the intersection line of the two planes is obtained, namely the course line l c Projecting the plane to the reference plane P to obtain a course projection line l c ‘ Y-vector V as a base coordinate system Y ；
S4, acquiring a normal vector of a reference plane as a Z-direction vector of a base coordinate system; the specific method for calculating the normal vector of the reference plane is to use a course line l c Intersection point (x) with reference plane P c ,y c ,z c ) And equation of reference plane P, obtaining coefficient of point normal plane equation as normal vector of reference plane P, taking unit vector V n Z-vector V as a base coordinate system Z ；
S5, carrying out cross product operation on the Y-direction vector and the Z-direction vector to obtain an X-direction vector of a base coordinate system; the specific method for determining the X direction of the base coordinate system comprises the following steps: since the vector cross product operation conforms to the rectangular coordinate system right hand rule, the cross product operation (V) is performed on the Y-direction and Z-direction vectors of the obtained base coordinate system Y ^V Z ) I.e. the X-direction vector V of the base coordinate system X ；
S6, measuring the coordinates of central points of two foundation embedded plates of the reference equipment at two sides of the course line, and projecting a straight line formed by the two points onto a reference plane to intersect the course line projection to obtain a base coordinate system origin o; the specific method for determining the origin of the base coordinate system comprises the following steps: according to the layout position of the reference equipment in the digital-analog, determining two reference equipment foundation embedded plates on two sides of the course line on site, and measuring two reference equipment foundation embedded plates b by using a space position measuring instrument 1 、b 2 Center point coordinates, performing projection operation Prj on a straight line formed by two points P b Obtaining a projection line equation projected onto the reference plane P, and further obtaining the projection l of the projection line equation and the course line c ‘ The intersection point of the intersection is the origin o (x o ,y o ,z o )；
And S7, determining a pose matrix T of the base coordinate system under the current tracker coordinate system by using the Y-direction vector, the Z-direction vector, the X-direction vector and the origin o of the base coordinate system obtained in the step.
2. The method for creating the base coordinate system for installing the numerical control equipment group collaborative production line according to claim 1, wherein the foundation embedded board is a foundation board to be placed for each numerical control equipment and each transfer track on site, is a geometric flat board capable of marking a center point by utilizing geometric features, and is arranged and installed on site in advance according to the digital-analog layout position.
3. The method for creating the base coordinate system for installation of the numerical control equipment group cooperative production line according to claim 1, wherein the reference equipment foundation embedded board is a reference board which establishes a position relation with a theoretical coordinate system in digital-analog.
4. The method for creating the base coordinate system for the installation of the numerical control equipment group collaborative production line according to claim 1, wherein the base coordinate system is a reference for the installation of all equipment on the production line and is also a common reference for controlling the production grade or the processing tool pose by the collaborative movement of the numerical control equipment group on the production line.
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