CN1256990A - Intelligent locating working method - Google Patents
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Abstract
the present invention belongs to the field of machining and machinebuilding technology. Said method includes the following steps: firstly, adopting visual measurement system to quickly obtain the integral macroinformation of workpiece, and utilizing minimum distance perturbation and matching algorithm to obtain the accurate three-dimensional position and attitude of said workpiece, then adopting intelligent controller to utilize input CAD pattern storage, system-normalized workpiece geometric and technological informations and said workpiece position and attitude informations to produce real-time working control pathway, and finally using servodriving module to drive working unit to make position and attitute self-adaptive machining of said workpiece. Said invention can shorten production period, raise production speed and reduce production cost and machining difficulty.
Description
The invention belongs to machining manufacturing technology field.
In process of producing product, influence product and order goods from receiving that to begin to the factor of the required TPT of finishing the work mainly be two parts: produce time; The actual production time.Statistics show, under the situation of single-piece, small lot batch manufacture, produce the 50%-70% that time often accounts for TPT, that is to say that the time over half need consume among the preparation of production process.Like this,, improved many processing throughputs, but in single-piece, small batch production process, this part saved time then seems insignificant even adopted advanced production technology, production equipment in the production process.
Therefore, to make quick response to changes in market demand, the multi-varieties and small-batch product is produced fast, the emphasis of problem then from how to raise labour productivity forwards to how to shorten to be produced time, realize the quick switching of production process, so just calculate the principal contradiction of catching problem, could realize quick response truly.
Traditional " location-clamping-processing " made production process as shown in Figure 1.The quality of its processing, speed, reliability or the like each side needs two key elements to guarantee: workpiece is in the precalculated position; The workpiece procedure is fixed.This also just requires will use on the one hand the precise positioning anchor clamps to guarantee that workpiece is in accurate predetermined Working position and (or manually adjusts, though increased the clamping flexibility, even but experienced master worker also can't guarantee to install accurately), but it is actual after clamping, the state of workpiece then may change, can't know its physical location, cause the processing mistake easily; Need carry out manual programming according to the predetermined position to be processed of workpiece on the other hand, digital control system is carried out machining control, and its code immobilizes, can only be applied to current state, when if workpiece itself is not in ideal position, can't revise automatically, or need programme again (non-machining state), or cause processing mistake (machining state).
Be not difficult to find by analysis, play following problems of clamp body itself existence that guarantees that classical production process is carried out smoothly: 1. the cost of manufacture expense of paying in whole manufacturing process is too high: statistics show that the expense of anchor clamps accounts for the 10-20% of whole manufacturing cost; 2. the design manufacturing cycle of frock clamp is long: in some country, the design manufacturing cycle of frock clamp accounts for the 30%-50% of whole production preparatory period more; 3. be difficult to continue to improve crudy: because the accuracy of manufacture of anchor clamps setting element accounts for the 1/3-1/5 of machining accuracy, as require to continue to improve the machining accuracy of workpiece to be machined, the requirement on machining accuracy of setting element is higher, and nonlinear cost performance makes the anchor clamps cost to improve greatly and be worth choosing.And in new product development or single and mini-batch production production, because the time that the actual processing of workpiece is consumed all reduces relative with cost, frock clamp time and cost proportion increase gradually, what above-mentioned three subject matters embodied will be more outstanding, reduce the ability to react to market conditions of enterprise significantly, improved the cost per unit of product.
The objective of the invention is to for overcoming the weak point of prior art, a kind of brand-new intelligent locating working method is proposed, this method can be made the situation of fast reaction (for example new product development or single and mini-batch production production) at product needed to market, shorten enterprise and produce time, to accelerate the product speed to introduce, reduce auxiliary cost of manufacture, reduce difficulty of processing, improve the enterprise market respond.
The present invention proposes a kind of intelligent locating working method, it is characterized in that, may further comprise the steps:
1) place measurement/processing station with to be processed after, according to predetermined systems organization, adopt vision measurement system, by with the cad model storehouse in the matching operation of part model, obtain the integral macroscopic information of this workpiece fast;
2) again according to this whole workpiece macroscopic information that obtains, according to systems organization, measurement point, measuring route by generating in the cad model storehouse accurately record abundant sample point, again by perturbation minimum distance match algorithm, obtain the accurate three-dimensional pose of this workpiece;
3) adopt intelligent controller that the cad model storehouse of input and how much of workpiece, technique information and this workpiece posture information of systems organization are generated real-time machining control track;
4), drive machining cell by servo-driven module this workpiece is carried out the pose adaptive machining according to the 3rd described control information of step.
The integral macroscopic information approach that above-mentioned first step obtains this workpiece can comprise two-dimensional process and two stages of three-dimensional process;
The said two-dimensional process stage comprises: at first the parameter of whole measuring system institute basic need is carried out the initialization setting; Then, absorb sensed image automatically according to predetermined systems organization; Again image is carried out basic pretreatment operation; Carry out the workpiece automatic centering afterwards and handle, make workpiece be under the camera fully; Again by with the cad model storehouse in the matching operation of part model, identify the workpiece kind of current location, and with workpiece on during the station kind class-mark of input compare, whether be correct workpiece, provide monitor message if differentiating; By the rotary inertia method workpiece is carried out the analysis of two-dimensional space pose at last, finish two-dimentional macroscopic information and obtain.
The said three-dimensional process stage comprises; At first the parameter of whole measuring system institute basic need is carried out the initialization setting: then according to the workpiece two-dimensional space pose that obtains in the macroscopic view stage of obtaining, according to predetermined systems organization, workpiece is automatically moved within the structure light vision measurement device projection scope, comply with the current pose of workpiece, automatically projective structure light picked-up sensed image; After some basic pretreatment operation to image processing, seek an extraction of the correlated characteristic that feature is carried out according to workpiece in the cad model storehouse visual: afterwards, ask for the three dimensional space coordinate that formula is learnt these features according to coordinate, data and cad model after calculating are carried out matching treatment, learn the three dimensions pose of object.
The accurate three-dimensional pose method that the second above-mentioned step obtains this workpiece specifically can comprise: the at first measurement point planning that generates according to cad model according to systems organization, measuring route planning, with said macroscopic measurement result is foundation, regenerates the absolute coordinate planning of measurement point and the absolute coordinate planning of measuring route automatically; Then make gauge head finish the measurement task of measuring point initiatively, quickly and accurately, obtain abundant sample point according to points planning and measuring route planning; Afterwards,, learn the three dimensions pose of object, solve optimum transition matrix, finish three-dimensional microcosmic information and obtain according to perturbation minimum distance match algorithm.
The real-time processing control method of above-mentioned third step specifically comprises: the geometry processes file that at first extracts workpiece according to systems organization from the process planning work station, by basic preliminary treatment, while is in conjunction with the actual microcosmic posture information of workpiece, carry out the coordinate transform of technique information, generate processing planning according to producing reality, quantize the Cutting trajectory of cutter, and calculate by coordinate motion, the coordinate motion sequence is input to controller, finishes real-time machining control.
Operation principle of the present invention and major technique feature are described in detail as follows:
The present invention has fundamentally broken the constraint of traditional " location-clamping-processing " method that clamps based on the anchor clamps location, and its basic process as shown in Figure 2.It makes full use of advanced intellectual technology, initiatively obtain workpiece information from scene to be processed, obtain the three dimensions pose of workpiece to be machined by intelligent locating, and be guiding with this information, generate machining locus in real time, generate nc program automatically, and then realize controlling in real time, finish the processing of the nothing of workpiece accurately being located constraint by the equipment that can realize complying with reality processing, in brief, i.e. " the real processing in position-comply with sought in simple clampings-active ".Its process can specifically be refined as following step: macroscopic information obtains-microscopic information obtains-and machining control-comply with reality processing in real time.In the middle of each step, all there is multiple implementation method available, as a kind of novel processing method, the difference of its specific implementation method has also just determined the technology diversity of this processing method, can dynamically adjust along with the development of different technologies developing period and corresponding achievement in research, keep the optimality of overall technology.
The present invention is then from current techniques frontier development angle, specifically adopted non-contact type visible sensation method macroscopic measurement, the contact measuring head measuring method is accurately measured, combined with intelligent is sought an algorithm, carry out machining control with the multiple degrees of freedom Cartesian method of control, realize the pre-programmed reality processing of complying with is accurately located, do not had to the nothing of workpiece by this new model terminal executing agency of intelligent locating machining cell.Entire block diagram is seen accompanying drawing 3.Be described below:
After measurement (processing) is stood on the workpiece, at first carry out macroscopical vision two-dimensional measurement, realization is carried out space orientation with directed to workpiece, by the three-dimensional vision measurement work of this information guiding, at a high speed, reliably, measure to degree of precision three dimensions pose (three translational movements of workpiece, three rotation amounts), then under the three-dimensional prerequisite that accurately pose obtains, can guide gauge head to carry out autotelic measurement, at a high speed, near workpiece, accurately record the sample coordinate figure reliably, ask for the three dimensions pose of workpiece by the intelligent locating algorithm, and realizing real-time machining control with this, the smooth realization of practical work is complied with in guiding.In this process, the effect that the input of the external model of each step information is provided is played in the cad model storehouse always, and systems organization then plays the effect of work in order of commander's global coordination.
By Fig. 1, Fig. 2 contrast as can be seen, the significant difference with conventional method is:
1, replace Passive Positioning initiatively to seek the position:
Like this after the positioning function cancellation, the specification requirement of anchor clamps itself then can obtain maximum simplification, realized that entity is carried out with the clamping function in the location of anchor clamps to be decomposed, only give " anchor clamps " to clamp function, by introducing " not having the location ", seeking the new ideas that the position processes, " location " function is achieved by " seeking the position " method, only need workpiece to be fixed on the processing workbench, and do not need complicated setting element can realize processing smoothly by simple clamping the (for example the screw pressing plate clamps).
2, replace forcing processing to comply with the flexible processing of reality by set relation:
Guiding by intelligent locating information, generate the cutter machining locus in real time, replaced traditional programing work in advance, avoided the mandatory of processing, increased the compliance of processing, can accomplish askewly to put askew processing, if eliminated the problem that workpiece in the traditional diamond-making technique is placed the processing of making the mistake after the skew fully.
For realizing such purpose, basic skills of the present invention is to adopt macro and micro to combine, and layering is passed rank and carried out information processing.From methodology and angle of practice, a challenge is decomposed into several simple problems, be unusual efficient ways from slightly solving to smart (Coarse to Fine).Promptly start with from macroscopical solution earlier, obtain the macroscopic description of workpiece with the higher precision of the fastest speed, then as constraint, in workpiece under comparatively accurate situation (result in macroscopic view stage), carry out little perturbation microscopic measurement, realize the measurement of high accuracy, high reliability, its convergence and convergence rate all obtain high assurance.And the result owing to the macroscopic view stage only plays a guiding function to the follow-up microcosmic stage in the middle of this process, it is sought a precision and is not accumulated to a whole precision centre of seeking, a whole precision of seeking is sought result's decision in a stage fully by last microcosmic, thereby has also determined the different greatly of deal with problems method and existing method of the present invention.Seeking after a reliable operation finishes, then adopt real-time control strategy, seek the real-time automatically machining control track that generates of a workpiece virtual condition information of module feedback by intelligent controller according to the workpiece geometry processes information and the workpiece of input, drive the relevant component movement of complying with real machining cell by servo-driven module at last, blank or semi-finished product are carried out the pose adaptive machining obtain qualified workpiece finished product, method is achieved will " to seek position-processing " on the whole.
Sequentially from each realization link summary of the invention is further described below: 1, macroscopic information obtains the stage
Obtain the stage at macroscopic information, purpose is to obtain the integral macroscopic information of processed object fast, guiding by these macroscopic informations, realize that smoothly accurate microscopic measurement seeks a process, improve reliability, the agility of whole system, this just mentions the requirement of the rapidity in this stage on the higher position.Contactless measurement process then is to reach the optional reasonable measuring method of this purpose.And this wherein, and then along with the continual renovation of related hardware equipment improves, and the The Research of Relevant Technology achievement constantly occurs, and makes this method be very suitable for obtaining macroscopic information based on vision measuring method.Be subdivided into two stages of two-dimensional process and three-dimensional process simultaneously.
A, two-dimensional process stage: the processing means of utilization computer vision measurement, adopt the rotary inertia method to carry out the image templates analysis, realize at a high speed, hang down precision, reliable measurements, object pose macroscopic information as much as possible is provided.
The operation principle in this stage is: through vision system carry out that the compression of image pickup, background, noise are dispeled, after the basic visual preprocessing process such as zone strengthens, two-value processing, employing barycenter inertia method is carried out two-dimentional pose analysis.The barycenter inertia method is to utilize the area of object or a kind of method that volume, position, direction and some other parameter are explained the object characteristic.Should this notion of rotary inertia be from mechanics field.This method has translation, size, rotation transformation object space position and attitude is determined that work does not have the advantage of influence, this also just makes this method compare spatial pose that general for example correlation method determines object no matter on speed, still all has incomparable advantage on reliable coupling.
In image processing, the rotary inertia formula of two-dimensional bodies adopts discrete mathematical expression form as follows:
In the formula: m, n represent that digital image resolution ratio is n * m
I, j are respectively digital image row, column index value
P+q is an object rotation inertia progression in the discrete picture
(x, being the discrete digital image y), (x y) locates the density function of pixel to f at anchor point.
Space orientation: in two-dimensional digital image, the position of an object is represented with the Mass Distribution center of this object.And the Mass Distribution centre coordinate first order inertia square of two-dimensional digital image just.Promptly have:
Spatial orientation: in two-dimensional digital image, the video direction of an object is represented by this video main shaft and image coordinate system X-axis angulation θ.Just like giving a definition:
The main shaft of an object video is by this object Mass Distribution center and corresponding the long-pending M of object video second level rotary inertia
11Obtain the direction of minimum of a value.
For calculating major axes orientation angle θ, we introduce the rotary inertia of relative mass distribution center: I
Pq=∑ ∑ f (x, y) (x-X)
p(y-Y)
q
When around object image quality distribution center when being rotated counterclockwise the XOY coordinate system, second level rotary inertia I
11Constantly change, and make I in some rotational angle theta
11Reach zero.Then the deflection of object video can be expressed as:
This processing stage basic process as follows:
At first the parameter of whole measuring system institute basic need is carried out the initialization setting, for example the basic parameter of stylus obtains, on the machine origin, workpiece before the station background images obtain or the like; Then, absorb sensed image automatically according to certain systems organization; After some basic pretreatment operation, enter workpiece automatic centering process to image processing.The purpose of workpiece automatic centering is that workpiece is under the camera fully, makes analysis result more reliable, more accurate.If there is not the video of workpiece in the sensed image, then under the effect of systems organization, control strategy control movable workbench to the new position according to certain stops when the workpiece video occurs and be in visual field central authorities; By with the cad model storehouse in the matching operation of part model, identify the workpiece kind of current location, and with workpiece on during the station kind class-mark of input compare, whether be correct workpiece, provide monitor message if differentiating; Afterwards, workpiece is carried out the analysis of two-dimensional space pose, finish two-dimentional macroscopic information and obtain, shown in Fig. 4 (a) by the rotary inertia method.B, three-dimensional process stage: adopt the computer vision measurement method to handle means, on the basis of two-dimentional pose measuring method, realize that at a high speed, relatively accurately workpiece three dimensions pose measures.Specifically may further comprise the steps:
The operation principle in this stage is: the method for the imaging analysis that choice structure raster grid method is asked for as three-dimensional coordinate.This method is directly given image with depth information by projection grid space coding, pass through trigonometric calculations, be easy to carry out information processing, speed, precision are also higher, original resolution also can be controlled by the control lattice dimensions, reduced computational complexity, improved the reliability of three-dimensional body identification, therefore obtained to use widely.
Consider linear structure optical mode type earlier, optical plane is at reference frame (Xr, Yr, Zr) in by Os point (incidence point) with the incident of θ angle, and optical plane is parallel to the Yr axle and hands over the Xr axle in Om point (when not having object), and the coordinate of incident point Os is (0,0 TSz,) (annotate: footmark Zr is illustrated in the projection of Zr axle, and is as follows).(Zi), its Zi axle becomes β with the Yr axle to imaging planar central Oi, sees accompanying drawing 5 for image plane coordinate system Xi, Yi.By analytical derivation (simple trigonometry), simultaneous solution gets:
Wherein: XgYgZg is an actual coordinate of waiting to ask each point on the AB curve, and f is a focal length, and θ is the structured light incidence angle, and β becomes image angle for the camera optical axis, and all the other each parameter practical significances are seen accompanying drawing 5.
Like this, incident information that just can be by light belt determine and image point is becoming locus on the image plane to try to achieve the three-dimensional coordinate information of surface optical zone.
Consider the grating structured light model again.In fact, grating structured light is the expansion of linear structure light just, can regard the combination of a plurality of optical planes of incident angle difference (but the angle of every light belt is fixed) as, need before use through calibration, determine the incident information of each optical plane, could correctly analyze the three-dimensional coordinate information of light belt.Its algorithm and linear structure light are in full accord, and systematic parameter is except becoming the incidence angle θ in each expression formula the incidence angle θ of n optical plane
nOutside, other is all constant.
Like this, promptly obtained the analytical method that the workpiece three-dimensional information obtains.Abundant and effectively seek a feature samples by choosing in the measuring point set, carry out analytical calculation, ask for three-dimensional coordinate, give the information match, and with the cad model information matches, ask for the space three-dimensional pose of seeking a feature.
This processing stage basic process as follows:
At first the parameter of whole measuring system institute basic need is carried out the initialization setting, for example structured light system calibration, camera parameter adjustment or the like: then according to the workpiece two-dimensional space pose that obtains in the macroscopic view stage of obtaining, according to certain systems organization, workpiece is automatically moved within the structure light vision measurement device projection scope, comply with the current pose of workpiece, automatically projective structure light picked-up sensed image; After some basic pretreatment operation, enter a feature extraction process of seeking to image processing.This process is to seek an extraction of the correlated characteristic that feature is carried out according to workpiece in the cad model storehouse visual, point (the center of circle for example, angle point etc.), line (seamed edge, circular hole etc.), face (plane, cylinder, curved surface etc.) or the like, these combination of features are enough to characterize the spatial pose of a workpiece reality: afterwards, ask for formula according to top coordinate, change places and learn the three dimensional space coordinate of these features, data and cad model after calculating are carried out matching treatment, learn the three dimensions pose of object at an easy rate, finish two-dimentional macroscopic information and obtain, shown in Fig. 4 (b).2, microscopic information obtains the stage: adopt contact measurement method, obtaining spatial pose with vision measurement system is guiding, obtains workpiece high accuracy spatial pose, and direct subsequent is complied with the realization of real process.
The purpose in this stage is the guiding by macroscopic information, realizes that the reliable microscopic measurement of precision is sought position work, and this just mentions the accuracy in this stage, the requirement of reliability on the higher position.Utilize the contact measurement method of precision positions sensor can well reach this requirement.Contact measuring head is with its mature technique, wide industrial is used the feasibility that has proved this method, its reliability, accuracy have been passed through check widely, have more relatively characterisitic parameter can to use on experience ground, and surveying work is guaranteed veritably.The operation principle of its realization is as follows:
Generally, the available homogeneous transformation matrix T of relation between workpiece machining coordinate system and the design coordinate system represents that its expression formula is:
Wherein: α, β, γ---machining coordinate is the anglec of rotation of framework winding meter coordinate system X, Y, Z axle
X, y, z---machining coordinate is the translational movement of initial point with respect to the design coordinate origin
After the macroscopical posture information acquisition process of process, only in very little perturbation scope, transformation matrix then can carry out linearization process to the workpiece unknown state, has:
Wherein: d α, d β, d γ---machining coordinate is the perturbation corner of framework winding meter coordinate system X, Y, Z axle;
Dx, dy, dz---machining coordinate is the perturbation translation of initial point with respect to the design coordinate origin.
For trying to achieve 6 parameters among the T, consider intuitively for one to be, on workpiece, get the individual measurement point Pi of m (m 〉=6) (i=1,2 ..., m), on its cad model, find m corresponding points Q simultaneously
i, construct an object function then
Wherein:
P
i---the homogeneous coordinates P of i measurement point of workpiece in the design coordinate system
i=[p
Xip
Yip
Zi1]
T
Q
i---in the workpiece cad model with P
iCorresponding homogeneous coordinates Q in the design coordinate system
i=[q
Xiq
Yiq
Zi1] T
M---measurement point sum
Obviously, Zui You T should make the J minimalization.Ask the partial derivative of J to 6 parameters, and make its equal zero equation group:
[ξ
1?ξ
2?ξ
3?ξ
4?ξ
5?ξ
6]＝[dα?dβ?dγ?dx?dy?dz]
Find the solution and to get optimum transition matrix T.The information of comprehensive thick smart two aspects can obtain from what machining coordinate was tied to the design coordinate system seeking an information with a wide range of precise.
Here, because the guiding of macroscopic information is arranged, increased information constrained, make that contact type measurement work is in a kind of data of obtaining required measurement point under the state on one's own initiative of predicting, avoided the blindness of measuring, reduced the quantity of measurement point, improved measuring speed, intractability has been changed the algorithm problem that data are handled that is kept to more.And this respect, under these information constrained prerequisites, make measuring point and cad model initial offset be in very little scope, simplified the matching optimization computing of six variablees, amount of calculation is little, solve former pose convergence, the difficult problem that guarantees of convergence rate, can make the pose algorithm that the precondition that realizes has been arranged.In the present invention, just be based on this realized to the simplification of existing pose algorithm with replenish, the method for intelligent locating also is able to real realization.
This processing stage basic process as follows:
At first the measurement point planning that generates according to cad model according to systems organization, measuring route planning are foundation with the macroscopic measurement result, regenerate the absolute coordinate planning of measurement point and the absolute coordinate planning of measuring route automatically; Then make gauge head finish the measurement task of measuring point initiatively, quickly and accurately, obtain abundant sample point according to points planning and measuring route planning; Afterwards,, can learn the three dimensions pose of object at an easy rate, solve optimum transition matrix, finish three-dimensional microcosmic information and obtain, as shown in Figure 6 according to top perturbation minimum distance match algorithm.3, the real-time machining control stage:
After the three dimensions pose that obtains workpiece is described, how under its guiding, to generate cutter path and machine tool motion control command adaptively, realize complying with reality processing, then become another problem that need solve of Intelligent Searching Machining Technology.
The principle of its realization is as follows:
At first seek an information to carrying out coordinate transform, obtain its description under machining coordinate system, handle by the processing planning module then, generate the processing sequence chained list and the cutting parameter of surface of the work through pretreated workpiece geological information by the coordinate transformation module basis.On this basis, solve Cutting trajectory on the surface of the work by the Cutting trajectory computing module.
If the part processing surface can be expressed as S (u, v)=x (u, v) i+y (u, v) j+z (u, v) k
Take cutter plane Ax+By+Cz+D=0 away according to the processing planning information
Feed plane and part processing deliver personally the u-v territory expression formula of Cutting trajectory:
Ax(u，v)+By(u，v)+Cz(u，v)+D＝0
Further try to achieve u, v sampled value u according to feed speed and requirement on machining accuracy
i, v
i, can obtain the Cutting trajectory that coordinate function is represented:
x
cut＝x(u
i，v
i)；y
cut＝y(u
i，v
i)；z
cut＝z(u
i，v
i)；
Vow information according to tool radius and cutting point method again, can try to achieve cutter path:
x
troce＝x(u
i，v
i)+rN
x(u
i，v
i)
y
troce＝y(u
i，v
i)+rN
y(u
i，v
i)
z
troce＝z(u
i，v
i)+rN
z(u
i，v
i)
Wherein, r is a tool radius, N
x, N
y, N
zBe that per unit system is vowed the component on each at XYZ.
The multi-coordinate processing terminal equipment of selecting for use for us, the relation and the machine tool structure of can be further vowing according to tool axis and cutting point method, obtain rotational coordinates motion control instruction A, B, C, and consider the rectilinear coordinates motion control instruction behind decoupling zero correction amount x, Δ y, the Δ z
x
control＝x
troce+Δx
y
control＝y
troce+Δy
z
control＝z
troce+Δz
This processing stage basic process as follows:
At first from the process planning work station, extract the geometry processes file of workpiece according to systems organization, by basic preliminary treatment, in conjunction with the attained pose information (three translational movements, three rotation amounts) of workpiece, carry out the coordinate transform of technique information simultaneously, generate processing planning according to producing reality, quantize the Cutting trajectory of cutter, and calculate, the coordinate motion sequence is input to controller by coordinate motion, finish real-time machining control, as shown in Figure 7.4, comply with the reality process segment:
In the present invention, select for use novel intelligent locating machining cell as end effector, it is at " imaginary axis machining tool " (Virtual Axis Machine Tools, VAMT) on the basis, seek by improving it that position planning and control cutter path control strategy constitute, and inherited the degree of modularity height of VAMT, it is big to exert oneself, speed is fast, the precision height, cost is low, the multiple degrees of freedom machining characteristics, can realize the multi-coordinate digital control processing within the specific limits, functions such as measurement, be suitable for realizing seeking the position, process integrated working environment, realize intelligent locating processing smoothly.Its extensive use also will provide the most strong support for the realization and the practicability of Intelligent Searching Machining Technology.Introducing based on this equipment; make and adopt multi-coordinate control method to have more practical meaning; machining coordinate system and design coordinate system are consistent; and need not cutter path or pose be revised in real time; thereby simplified control, and improved processing flexibility.Overall structure as shown in Figure 8.
The present invention passs the method on rank by multiresolution, layering, macro and micro is in conjunction with realizing that contactless macroscopical macroscopic measurement guides, the contact microcosmic is accurately measured, rigid position constraint is converted into a soft algorithm of seeking to be realized, do not need the measuring point priori corresponding with cad model, realized that workpiece is sought the position on a large scale, the non-generative nature in advance of track makes that complying with reality processing is achieved, and has solved the problem that responds fast in the production reality, has stronger novelty.
Compare traditional production method, the present invention has great advantage: I. and has eliminated the operation benchmark and located not coincidence error of benchmark, significantly reduces the error of tradition location
In traditional localization method, can not accurately realize being the location of benchmark with imaginary axis such as symmetry axis, gyroaxises, and can only be with inside and outside lip-deep some approximate location of feature, design basis does not overlap with the location benchmark, as adopting straight pin, V-block etc., all has certain alignment error, measurement is inverted the location by the measurement of symmetrical feature with the revolution feature, can calculate the attitude of the imaginary axis such as symmetry axis, gyroaxis, realize design basis and locate overlapping of benchmark, get rid of the error that causes thus; Simultaneously, the clamping order of " clamp earlier, then seek the position " owing to realized, make the deviations that in traditional clamping, causes be eliminated, reduced the requirement of adjusting installing, and can under the situation of multiple clamping, make machining accuracy reach design accuracy by clamp operation.Workpiece adds the mismachining tolerance in man-hour in anchor clamps, except that processing course error, can be removed or reduction in various degree.II. simplify the structure of anchor clamps, reduced the cost of anchor clamps
Cause is by seeking the spatial pose that an equipment can obtain workpiece, that is to say and reach traditional " location " operation, the positioning function of anchor clamps will weaken greatly, deteriorate to clamping and local positioning to workpiece, make anchor clamps only need adopt universal fixturing to meet the demands, simplify the structure of anchor clamps greatly, reduced the manufacturing cost of anchor clamps.III. shortened the production preparatory period
Because of " clamping-seek position-processing " production method does not need special-purpose precise clamp, replace with universal fixturing (or even simple fixation mechanism), then need under the occasion of preparation precise clamp at new product development and product transformation etc., the advantage that this method is brought embodies more obviously.IV. improved the flexibility of system significantly
Locating working method can be so that the dependence that workpiece is processed environment greatly reduces, accomplish workpiece is complied with reality processing, promptly can generate the cutter path trajectory planning automatically according to the attained pose of workpiece, and do not need pre-programmed is carried out in the processing of workpiece, make the flexibility of system improve greatly.V. reduced specification requirement to operating personnel
Because of traditional processing method requires workpiece processing " clamping ", operating personnel's technical merit is had relatively high expectations." seek position " operation realizes that then the pose of workpiece being complied with reality obtains, and the operator only need carry out the operation of simple " installing-compress ", and other work is as seeking the position, generating machining code automatically and then give the intelligent locating machining workstation and get final product.VI. the rate that manufactures a finished product and the reliability of system have been improved
This processing method realizes production process automatically, reduced the error propagation of many intermediate links, remove outside the mismachining tolerance simultaneously, how to introduce the location position and attitude error in each operation before no matter processing, all when online detection, be reduced to measure error, and can realize 100% online detection to processed workpiece, make the quality of workpiece can obtain to guarantee that the reliability of production process also is greatly improved.VII. enlarged the scope that to process profile
Because traditional processing method has proposed too much constraint in the selection of locating surface, the unable solution that seems under the situation of machining interference is being arranged, initiatively seek the position and then do not have the setting element entity, also just there is not the problem of interfering between location and the processing, make a clamping processing profile increase, both guaranteed the uniformity of processing, improved crudy, simplify process again, made working (machining) efficiency be improved.
Brief Description Of Drawings:
Fig. 1 is the basic implementation procedure block diagram of traditional positioning and processing method
Fig. 2 is the basic implementation procedure block diagram of novel intelligent locating working method
Fig. 3 is the whole block diagram of realizing of the selected scheme of the present invention
Fig. 4 obtains the phase process flow process for macroscopic information, (a) is to be the three-dimensional process stage in the two-dimensional process stage (b)
Fig. 5 is a structured light projective structure model
Fig. 6 obtains the phase process flow process for microscopic information
Fig. 7 is the real-time process segment handling process of no preset program
Fig. 8 is the integrated form implementation structure schematic diagram of embodiment one
Fig. 9 is the distributed implementation structure schematic diagram of embodiment two
Embodiment 1 is the intelligent locating system of processing of integrated structure form.
The notion of integrated structure is, workpiece initiatively sought the position and comply with reality processing being integrated in the manufacturing cell (or process equipment), and the intelligent searching position and the processing of workpiece to be machined can independently be finished in this unit.Such elementary cell is made up, can constitute more massive manufacturing system.By the basic structure of a kind of intelligent locating machining cell of this thinking exploitation with realize block diagram as shown in Figure 8.Whole integrated form implementation structure is by servo-drive control module 1, seeks position processing integrated unit 2 and intelligent locating processor 11 3 big parts constitute.Servo-drive control module 1 is mainly finished and is sought the control of position processing integrated unit 2 servo-drive.Seeking position processing integrated unit 2 serves as control and frame foundation with " imaginary axis machining tool ", and integrated intelligent is sought the position and complied with the bottom floor units of reality processing, as the terminal actuating equipment of whole Intelligent Searching Machining Technology.Intelligent locating processor 11 serves as that the basis constitutes with a PII233, finishes information processing, seeks an algorithm and seeks work such as a path planning.The major function piece of wherein seeking position processing integrated unit 2 has: the in-process measurement cell body comprises servomotor 5, connecting rod 6 (totally 6, arrange in the space), spindle motor 8, moving platform 9 (but implementation space six-freedom motion) and process tool 15; Measuring unit, comprise structured light projector 3 (realize Workpiece structure optical information give work), accurate turntable 4 (drive 3 and 10 under certain control strategy accurate the rotation, with a characteristic information of seeking of the part that effectively obtains undefined position), CCD gamma camera 7 (picked-up workpiece macroscopic information), CCD gamma camera 10 (picked-up projects the structured light information of surface of the work) and gauge head 15; Seek a processing object, comprise pallet 12, workpiece 13 and anchor clamps 14 (only needs are realized simple fixed function).
The working method of this system is: at first use general fastening clamp element (as bolt, pressing plate etc.) that workpiece is fixed on the workbench and (need not accurately locate), then by seeking position processing integrated unit and intelligent locating processor to pass the virtual condition (position and attitude) that the rank mode is obtained workpiece profile information fast and solved workpiece in real time.Further the workpiece virtual condition information of seeking module feedback according to the workpiece geometry processes information and the workpiece of input by the intelligent locating processor generates the machining control track in real time.At last drive the associated components motion of seeking position processing integrated unit, blank or semi-finished product are carried out the pose adaptive machining obtain qualified workpiece finished product by servo-driven module.
Embodiment 2 is the intelligent locating system of processing of distributed frame form.
The notion of distributed frame is, separate unit is resolved in intelligent locating, path planning, workpiece processing etc. be distributed in places different in the system, carry out information exchange by network system, coordinate the operation of whole system by the dynamic dispatching software in the supervisory computer.Distributed basic composition of seeking a system of processing comprises: process planning work station 21, the real-time generation module 22 of cutter path, management control work station 23, model library 24, depot 25, intelligent locating work station 26, a plurality of machining center 27 of seeking, as shown in Figure 9.In this distributed implementation structure, each functional module has been carried out Function Decomposition completely, the different work of siphunculus respectively, architecture is distributed, middle information and control stream transmit by network environment fully, for example adopt fieldbus 28 (CAN bus) to carry out the distributed apparatus interconnection in the native system.Wherein process planning work station 21 is finished the process planning problem of whole production processing; The real-time generation module 22 of cutter path is the current attained poses of workpiece that obtain according to intelligent locating work station 26, generates the processing Cutting trajectory of cutter under the guiding of process planning information automatically in real time; Management control work station 23 is finished the macro coordination management work of whole system, monitoring in real time, logistics management; Needed model information and specific planning in 24 unified induction-arrangement systematic surveys of model library and the processing; 26 of intelligent locating work stations are finished the on-line automatic position of seeking of station workpiece and are worked, and direct subsequent is complied with carrying out smoothly of real processing work; Seek 27 of machining centers and accept information and control stream in the fieldbus, comply with reality processing, its basic structure and integrated structure seek that position processing is integrated wishes similarly substantially, only removed it and sought an equipment.25 of depots are finished part transportation media in logistics system.
After this system received new processing tasks, according to the workpiece design information that CAD provides, the processing technology that CAPP provides required and produces the workpiece blank information that preparation system provides, and can start under scheduler subsystem control and begin processing.Concrete running is:
The operating personnel of depot are fixed in workpiece on the pallet with general fastening clamp element according to dispatch command, and workpiece/pallet complex are sent to workpiece seek a work station.Workpiece is sought a work station and is initiatively obtained surface of the work macroscopic view and microscopic information with Intelligentized method, solves the virtual condition of workpiece in real time, and by fieldbus workpiece virtual condition direct information cutter path is generated work station in real time.Cutter path generates work station in real time will be according to the virtual condition information of design information, technique information and workpiece to be machined, generate the tool motion path file that this lambda line of workpiece to be machined is processed by real-time planning on each lathe, and the cutter path file is sent to corresponding machine tool control system (a kind of novel pose self adaptation digital control system) by fieldbus, it is got ready.In case workpiece is sent to this lathe by logistics system and can be processed.After all process steps of this lambda line of workpiece is finished, by logistics it is sent to the outlet depot, by operating personnel workpiece is unloaded from pallet, pallet is then got back to the system entry place, prepares to load new workpiece.
Under this integration environment that is made of fieldbus networks, workpiece is sought the position and can be walked abreast and carry out with process operation.For example, several workpiece P is arranged
1, P
2, P
3... the system of entering processes, then machining center to the workpiece that is introduced into system (as P
1) add man-hour, information obtain work station can be simultaneously to the follow-up workpiece of system that enters (as P
2) seek the position processing, and this moment, depot also can be with new workpiece (as P
3) load onto pallet and prepare to send into system, all these operations are parallel fully to be carried out, system's efficient operation without any confusion under dispatching patcher control.
Distributed system only needs a cover to seek a device, and system cost is lower.In addition because work-handling, transmit, seek the position and processing massive parallelism, make system have higher utilization rate of equipment and installations and productivity ratio.
Claims (4)
1, a kind of intelligent locating working method is characterized in that, may further comprise the steps:
1) place measurement/processing station with to be processed after, according to predetermined systems organization, adopt vision measurement system, by with the cad model storehouse in the matching operation of part model, obtain the integral macroscopic information of this workpiece fast;
2) again according to this whole workpiece macroscopic information that obtains, according to systems organization, measurement point, measuring route by generating in the cad model storehouse accurately record abundant sample point, again by perturbation minimum distance match algorithm, obtain the accurate three-dimensional pose of this workpiece:
3) adopt intelligent controller that the cad model storehouse of input and how much of workpiece, technique information and this workpiece posture information of systems organization are generated real-time machining control track;
4), drive machining cell by servo-driven module this workpiece is carried out the pose adaptive machining according to the 3rd described control information of step.
2, intelligent locating working method as claimed in claim 1 is characterized in that, the integral macroscopic information approach that said first step obtains this workpiece comprises two-dimensional process and two stages of three-dimensional process;
The said two-dimensional process stage comprises: at first the parameter of whole measuring system institute basic need is carried out the initialization setting; Then, absorb sensed image automatically according to predetermined systems organization; Again image is carried out basic pretreatment operation; Carry out the workpiece automatic centering afterwards and handle, make workpiece be under the camera fully; Again by with the cad model storehouse in the matching operation of part model, identify the workpiece kind of current location, and with workpiece on during the station kind class-mark of input compare, whether be correct workpiece, provide monitor message if differentiating; By the rotary inertia method workpiece is carried out the analysis of two-dimensional space pose at last, finish two-dimentional macroscopic information and obtain.
The said three-dimensional process stage comprises; At first the parameter of whole measuring system institute basic need is carried out the initialization setting; Then according to the workpiece two-dimensional space pose that obtains in the macroscopic view stage of obtaining, the systems organization according to predetermined is automatically moved to workpiece within the structure light vision measurement device projection scope, complies with the current pose of workpiece, automatically projective structure light picked-up sensed image; After some basic pretreatment operation to image processing, seek an extraction of the correlated characteristic that feature is carried out according to workpiece in the cad model storehouse visual: afterwards, ask for the three dimensional space coordinate that formula is learnt these features according to coordinate, data and cad model after calculating are carried out matching treatment, learn the three dimensions pose of object.
3, intelligent locating working method as claimed in claim 1, it is characterized in that, the accurate three-dimensional pose method that said second step obtains this workpiece specifically comprises: the at first measurement point planning that generates according to cad model according to systems organization, measuring route planning, with said macroscopic measurement result is foundation, regenerates the absolute coordinate planning of measurement point and the absolute coordinate planning of measuring route automatically; Then make gauge head finish the measurement task of measuring point initiatively, quickly and accurately, obtain abundant sample point according to points planning and measuring route planning; Afterwards,, learn the three dimensions pose of object, solve optimum transition matrix, finish three-dimensional microcosmic information and obtain according to perturbation minimum distance match algorithm.
4, intelligent locating working method as claimed in claim 1, it is characterized in that, the real-time processing control method of said third step specifically comprises: the geometry processes file that at first extracts workpiece according to systems organization from the process planning work station, by basic preliminary treatment, while is in conjunction with the actual microcosmic posture information of workpiece, carry out the coordinate transform of technique information, generate processing planning according to producing reality, quantize the Cutting trajectory of cutter, and calculate by coordinate motion, the coordinate motion sequence is input to controller, finishes real-time machining control.
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| CN99127180A CN1075420C (en) | 1999-12-30 | 1999-12-30 | Intelligent locating working method |
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| CN99127180A CN1075420C (en) | 1999-12-30 | 1999-12-30 | Intelligent locating working method |
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| US5259710A (en) * | 1991-08-26 | 1993-11-09 | Ingersoll Milling Machine Company | Octahedral machine tool frame |
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