CN1851575A - Production site-faced semi-immersion assembling process planning method - Google Patents
Production site-faced semi-immersion assembling process planning method Download PDFInfo
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- CN1851575A CN1851575A CN 200610081500 CN200610081500A CN1851575A CN 1851575 A CN1851575 A CN 1851575A CN 200610081500 CN200610081500 CN 200610081500 CN 200610081500 A CN200610081500 A CN 200610081500A CN 1851575 A CN1851575 A CN 1851575A
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Abstract
The present invention fully combines immerse type virtual environment and tradition engineering environmental advantage, providing a semi immerse type assembly technique programming method, belonging to advanced virtual technique of manufacture field. Method consists of obtaining model information, assembly shop model building facing to production field, initial assembly technique generation and assembly technique aftertreatment. The present invention solves complex product assembly technique programming problem.
Description
Technical field
The present invention relates to a kind of novel electromechanical assembling process of products planing method, belong to the Virtual Manufacture category in the advanced manufacturing field, particularly the virtual assembling process planning method of semi-immersion.
Background technology
Because the complicacy of assembly problem, the assembly process planning of complex product is the weak link in the electronic product integrated manufacturing system (IMS) always, particularly for the assembling of complicated weaponrys such as guided missile, satellite, because it has many kinds, become batch, assembly precision requirement height, the assembling packed density is big, assembly quality is difficult to prediction, based on manual setting and also to require characteristics such as security assembling or nonreversibility assembling, its assembly process planning and optimization problem sometimes be focus and the difficult point of studying always.
At present, aspect the assembling process planning method of complicated weaponrys such as area of computer aided guided missile and satellite, mainly also rest on trial assembly in kind and fill out the method that the technical papers of card form is directly edited.Assemble sequence though utilize computing machine and artificial intelligence technology can set up the assembly relation model and generate product automatically by rule-based reasoning, because: 1) along with the number of parts that product comprised increases, shot array can appear in possible assembling sequence number; 2) development level of artificial intelligence technology also is difficult to planning personnel's knowledge and experience is abstracted into concrete rule at present; (3) in the practical set, operating personnel's working environment and field management level will produce material impact to assembly technology, still rest on the manual formulation stage that relies on trial assembly in kind so the assembly process planning of present complicated weaponry is formulated major part.
The appearance of virtual mounting technology is for providing a valid approach from the relative present situation that falls behind with the assembly process planning technology that changes present complicated machinery product of many-side research assembly process plannings such as how much, physics, process.The virtual trim designs environment VADE of state university of Washington, DC and National Institute of Standards and Tech NIST cooperative development is a representative virtual assembly system
[1,2], its fundamental purpose is to explore the possibility that product is made the utilization virtual reality technology by generating a virtual environment that is used for assembling planning and estimates.The manufacturing system laboratory Chryssolouris of Greece Patras university etc. has developed virtual assembly work unit, and with the example that is assembled into of the screw propeller of speedboat, the factor that influences installation time (as assembler's strength, working cell layout etc.) is carried out assay, and set up the time model of semi-empirical relation
[3,4]Scholars such as Nong Ye of U.S. Arizona state university and the Prashant Banerjee of Illinois university have carried out contrast test to traditional engineering-environment (TE), non-immersion desktop virtual environment (DVR) and immersion CAVE virtual environment (CVR), draw
[5]: 1) adopt virtual mounting technology to reduce the time of practical set greatly.2) adopt virtual mounting technology can significantly reduce the quantity that goes wrong in the practical set process.3) adopt virtual mounting technology can significantly reduce the quantity of complicated assembly process in the practical set process.4) adopt virtual mounting technology to make and adopt more similarity between the practical set operation.
List of references
[1]Sankar?Jayaram，Hugh?I?Connacher，Kevin?W?Lyons.Virtual?assembly?using?virtual?reality?techniques.Computer-Aided?Design，1997，29(8)：575～584
[2]Connacher?H?I，Jayaram?S.Virtual?Assembly?Design?Environment.Proceedings?of?the?Computers?inEngineering?Conference?and?the?Engineering?Database?Symposium，ASME?1995：875-885
[3]George?Chryssolouris，Dimitris?Mavrikios，Dimitris?Fragos?et?al.?A?virtual?reality-based?experimentationenvironment?for?the?verification?of?human-related?factors?in?assembly?processes.Robotics?and?ComputerIntegrated?Manufacturing，2000，l6：267～276
[4]University?of?Patras.Laboratory?for?Manufacturing?Systems?&?Automation?[EB/OL].http：//lms.mech.upatras.gr/index.html，2004-10-25
[5]Nong?Ye，Prashant?Banerjee，Amamath?Banerjee.?A?Comparative?Study?of?Assembly?Planning?inTraditional?and?Virtual?Environments.IEEE?Transactions?on?Systems，Man?and?Cybernetics，Part?C：Applications?and?Reviews，1999，29(4)：546～555
Summary of the invention
For assembly process planning difficulty, the assembly quality that solves Complex Mechatronic Products is difficult to problems such as prediction and erecting yard be backward in management, a kind of virtual assembling process planning method of semi-immersion has been proposed, this method by model data obtain, towards the making-up shop modeling of production scene, initial assembly technology generates and assembly technology aftertreatment four parts are formed.So-called " semi-immersion " is meant in the process of virtual assembly process planning, do not covet and all adopt the virtual environment of immersion in the assembly process planning overall process, and just in assemble sequence that needs most and path planning stage, adopt the virtual environment of immersion, with experience and the wisdom that makes full use of the people; In other link, obtain etc. the environment that then adopts non-immersion as the information inquiry in assembly path optimization, system parameter setting, assembly technology aftertreatment, the assembling process, assembling process animation.
This method is with technology and management effective integration, support that the deviser carries out interactive program operation intuitively in immersive virtual environment, set up assemble sequence, the assembly path of each parts of product, and checking and analyze the space operability of millwright, anchor clamps, simulate the variety of issue and the phenomenon that may occur in erecting yard and the assembling process in real time, for from aspect research assembling process techniques such as how much, process with change the relative present situation that falls behind of present assembly technology a valid approach be provided.
The present invention provides a kind of novel electronic product assembling process planning method for technological design personnel and workshop assembly crewman, given full play to the advantage separately of immersive virtual environment and traditional engineering-environment, for the problem of the assembly process planning difficulty that solves complex product provides a valid approach.
Description of drawings
Fig. 1 is the workflow of the electronic product assembly process planning of semi-immersion of the present invention
Fig. 2 is a geometric description file layout of the present invention
Fig. 3 is a patch model file layout of the present invention
Fig. 4 is the making-up shop towards the production scene of the present invention
Fig. 5 is the groundwork flow process that initial assembly technology of the present invention generates
Fig. 6 is the wheel box that assembles of the present invention
Fig. 7 is the data store organisation synoptic diagram of assembling sequence of product of the present invention
Fig. 8 is that assembly path of the present invention shows
Fig. 9 is the process establishment device of assembly technology aftertreatment of the present invention
Embodiment
One, the engineering goods assembling process planning method flow process of semi-immersion
The workflow such as a mistake of the engineering goods assembly process planning of semi-immersion! Do not find Reference source.Shown in, it mainly is divided into four-stage, and promptly model data is obtained stage, the making-up shop modelling phase towards the production scene, initial assembly technology generation phase and assembly technology post-processing stages.
Model data is obtained the stage: the deviser to from the commercialization three dimensional CAD system (as Pro/E, UG etc.) the data that design a model (mainly comprising parts, instrument, anchor clamps and suspender model etc.) transform, needed neutral file in the engineering goods assembling process planning method of acquisition semi-immersion.
Towards the making-up shop modelling phase of production scene: the workshop topology of utilizing man-machine interactive, set up the assembly process planning immersion scene similar, comprise parts to be assembled, instrument, anchor clamps, suspender, operator's console etc. in this scene to the erecting yard height.
Initial assembly technology generation phase: the deviser is based on the virtual making-up shop of setting up, man-machine interaction ground carries out the three-dimensional visualization assembling to the dummy model of product, setting up and the assemble sequence of each parts of analytic product, assembly path, and the space operability of checking and analysis millwright, anchor clamps, and form the initial assembly technology (mainly comprising the technique informations of using in assemble sequence, assembly path, assembling animation and the assembling process such as clamping apparatus) of product with this.
Assembly technology post-processing stages: on the basis of the initial assembly technology that forms on last stage, replenish and improve the assembly technology information of product, thereby form assembly technology card comparatively perfect, that meet factory's specific format, generate technology forms such as supporting inventory, frock inventory, auxiliary material inventory simultaneously.
" partly immersing " in the engineering goods assembling process planning method of semi-immersion, be meant in the process of assembly process planning, do not pursue the virtual environment that the assembly process planning overall process all adopts immersion, and just need most utilize virtual reality technology towards the making-up shop modelling phase of production scene and the part link in the initial assembly technology generation phase, adopt the virtual environment of immersion; In other link, obtain and assembly technology aftertreatment etc. as model data, then adopt the environment (traditional engineering-environment) of non-immersion.The user interface of non-immersion is mainly based on interactive means and equipment such as common two-dimensional menu, two-dimentional mouse and common keyboard, and it generally is used for finishing the function such as management attribute inquiry, virtual environment parameters setting, assembly technology aftertreatment of parts.The user interface of immersion is then mainly based on data glove, position tracker, 3D mouse, anaglyph spectacles and 3 d menu, it can make the user be immersed in the virtual environment, and the mutual assembly manipulation function of the direct three-dimensional visualizations such as parts that grasp parts, mobile parts, rotation parts, release extracting is provided for the user.The characteristics that this immersion and non-immersion user interface combine can make things convenient for comings and goings or operation in the planning of user flexibility processing three-dimensional assembly technique, have also given full play to the advantage separately of immersion and non-immersion user interface simultaneously.
Two, model data is obtained
The model that adopts in the engineering goods assembling process planning method of semi-immersion (comprising parts, instrument, anchor clamps and suspender model etc.) data layout, with the commercialization three dimensional CAD system (as Pro/E, therefore UG etc.) the model data form in exists difference, the model data in the commercialization three dimensional CAD system need be converted to the model data form in the engineering goods assembling process planning method of semi-immersion.
The form of employing neutral file is come the expression of implementation model information in the engineering goods assembling process planning method of semi-immersion, for each part (instrument, anchor clamps and suspender), its model data is made of two parts, be geometric description file (file extent is called .gdf) and patch model file (file extent is called .slp), concrete implication is as follows:
Geometric description file (.gdf file): the correlation attribute information of describing each part, the feature that comprises each part is formed, geometric element, the bulk properties of part (as color, material, density, weight) etc., simultaneously, be linked to how much dough sheet description document (.slp file) of this part by part name, its document form as shown in Figure 2.
Patch model file (.slp file): how much dough sheets describing part are formed, and mainly are made up of a series of triangle surface data, and its document form as shown in Figure 3.
Three, towards the making-up shop modeling of production scene
Utilize the virtual reality modelling instrument, set up the virtual assembly process planning immersion scene similar to the erecting yard height, comprise making-up shop, operator's console etc., import parts to be planned, instrument, anchor clamps, suspender model data etc. (form by neutral file imports) simultaneously, and above model is put in place.The immersion assembling process planning scene of being set up as shown in Figure 2.
Four, initial assembly technology generates
Initial assembly technology generates and mainly comprises the definite of assemble sequence and assembly path, the generation of the technique informations such as use of assembly tool and frock.
Initial assembly technology generates the virtual making-up shop that mainly is based on foundation, utilize human-computer interaction technology that the digitizing model of parts of product is assembled, practical set process with the form artificial product that plays with building blocks, to set up and the location of assemble sequence, assembly path and the assembly tool of each parts of analytic product and frock and installation method etc., carry out record by process and historical information simultaneously, form the initial assembly technology of product assembly manipulation.
1) the groundwork flow process of initial assembly technology generation
The groundwork flow process that initial assembly technology generates as shown in Figure 5, its basic step is:
Step 1: the deviser starts immersive virtual environment, be sequentially arranged in when parts are initial (as shown in Figure 4) on the pseudo operation platform, the user can adjust oneself viewpoint position in virtual environment by interactive device (data glove, keyboard or 3D mouse etc.), browses in environment;
Step 2: determine assembly to be assembled.
Step 3: utilize virtual hand grabbing assembly (part or parts).
Step 4: by interactive devices such as data hand, 3D mouse or keyboards, in virtual environment, move or rotate and treat arrangement, make it to the assembling gtoal setting.
Step 5: detect the interference and collision for the treatment of between other dummy object in arrangement and the virtual scene (comprising operator's console, other parts, clamping apparatus etc.).
Step 6: interfere collision if treat arrangement and other dummy object, will treat that then arrangement returns to its original state, and re-move or rotate this and treat arrangement.
Step 7: the space tracking of arrangement treated in record, forms its assembly path.
Step 8: use frock if desired, then grasp corresponding frock, and carry out the location and the fitting operation of frock, simultaneously frock operating process information is carried out record.
Step 9: judge that whether this assembly is seated, if do not have, returns step 4; Otherwise discharge this assembly.
Step 10: this assembly is added assembling sequence chained list, get back to step 2.The wheel box of Fig. 6 in virtual scene, assembling.
In the above in the process of assembly manipulation, the deviser can utilize gesture, menu and keyboard to carry out the various command operation, comprises cancelling operation, restarting, check (hiding) assembly path, virtual environment is provided with parameter is provided with etc.
2) record of assemble sequence
The assemble sequence of product writes down by a fittage sequence, and the data store organisation of this fittage sequence as shown in Figure 7.Each fittage, unique fittage object (being part or parts) is all arranged, and for fittage to as if the fittage of parts (also whistle assembly), it comprises the fittage sequence of a lower floor again, simultaneously for each fittage, all comprise an assembly manipulation chained list, be used for describing assembly technology information such as the installation of the clamping apparatus in the assembly process planning process and location.As shown in Figure 7, this product by a fittage sequence (AT1, AT2, AT3 ..., ATn) form, wherein the pairing task object of AT2 in this fittage sequence is a sub-assemblies, this sub-assemblies is made up of lower floor's fittage sequence again.And the fittage AT22 in lower floor's fittage sequence has comprised an assembly manipulation sequence, when this sequence of operation has been represented Assembly part 22, and auxiliary assembly manipulation technique informations such as the tool operation that need carry out, fixture operation and the adjustment of assembling matrix.
3) record of assembly path
Assembly path has write down the motion process of dummy object from initial orientation to the target rigging position.In the process of interactively virtual assembly manipulation, when the deviser utilizes 3D mouse, data glove or keyboard direct manipulation dummy object (comprising parts, instrument, anchor clamps etc.) motion, the assembly path of this dummy object be by write down this object the positional information of series of discrete spatial point of process obtain.Assembly path is described by a discrete point sequence: Path={p
T1, p
T2, p
T3, p
Tn, p wherein
TiRepresent i sequence node, can be described as: p
Ti={ x
i, y
i, z
i, α
i, β
i, γ
i, x wherein
i, y
i, z
iRepresent this dummy object location in space information, α
i, β
i, γ
iRepresent its attitude information.Fig. 8 is that the assembly path of product shows.
In the engineering goods assembling process planning method of semi-immersion the assembly path point that meets the following conditions is just write down (the assembly path point that is recorded also is effective sampling points), the condition that effective sampling points need satisfy is as follows:
1. the initial position of dummy object point, promptly dummy object first path point in the assembly manipulation process is an effective sampling points.
2. second sampled point of dummy object in assembling process also is effective sampling points.This is because the direction of first and second sampled point definition promptly is the direction that can move freely of dummy object, that is initial assembly direction.
3. the final rigging position point of dummy object, promptly the target rigging position point of dummy object also is that dummy object last sampled point in assembling process is an effective sampling points.
For other sampled point P, it must satisfy equation (1) and (2) just can become effective sampling points:
Dot_product(P
1P
2，P
2P)＞＝0.0， (1)
Wherein P is a current sampling point, P
1And P
2Be to be positioned at P effective sampling points before.
Distance_product(P
i-1，P
i)＞＝0.0， (2)
P wherein
iBeing current sampling point, is P
I-1It is the previous employing point of current sampling point.
Five, assembly technology aftertreatment
The assembly technology aftertreatment is on the basis of initial assembly technology, by interactively assembly technology editor, assembling process of products is carried out perfect, form the subassembly dispatch meet factory's actual demand, simultaneously forms such as the supporting table of output products, frock table and auxiliary material table.
The assembly technology aftertreatment mainly is by the build environment that an interactively assembly technology card is provided (as shown in Figure 9), on the basis of initial assembly technology, replenish and improve other technique information of product, as the text description of auxiliary material, special tooling instrument, operation sketch, technology, quality inspection information etc., thereby form assembly technology document comparatively perfect, that meet factory's specific format.
Claims (2)
1, the virtual assembling process planning method of semi-immersion
It is characterized in that, combine the advantage separately of immersive virtual environment and traditional engineering-environment, assembling process planning method is divided into model data obtains, generate and assembly technology aftertreatment four parts towards the making-up shop modeling of production scene, initial assembly technology.So-called " semi-immersion " is meant in the process of virtual assembly process planning, do not covet and all adopt the virtual environment of immersion in the assembly process planning overall process, and just in assemble sequence that needs most and path planning stage, adopt the virtual environment of immersion, with experience and the wisdom that makes full use of the people; In other link, obtain etc. the environment that then adopts non-immersion as the information inquiry in assembly path optimization, system parameter setting, assembly technology aftertreatment, the assembling process, assembling process animation.
2, initial assembly technology generates
It is characterized in that, by in immersive virtual environment, carrying out interactive program operation intuitively, set up assemble sequence, the assembly path of each parts of product, and checking and analyze the space operability of millwright, anchor clamps, simulate the variety of issue and the phenomenon that may occur in erecting yard and the assembling process in real time.Basic step is:
Step 1: the deviser starts immersive virtual environment, be sequentially arranged in when parts are initial on the pseudo operation platform, the user can adjust oneself viewpoint position in virtual environment by interactive device (data glove, keyboard or 3D mouse etc.), browses in environment;
Step 2: determine assembly to be assembled.
Step 3: utilize virtual hand grabbing assembly (part or parts).
Step 4: by interactive devices such as data hand, 3D mouse or keyboards, in virtual environment, move or rotate and treat arrangement, make it to the assembling gtoal setting.
Step 5: detect the interference and collision for the treatment of between other dummy object in arrangement and the virtual scene (comprising operator's console, other parts, clamping apparatus etc.).
Step 6: interfere collision if treat arrangement and other dummy object, will treat that then arrangement returns to its original state, and re-move or rotate this and treat arrangement.
Step 7: the space tracking of arrangement treated in record, forms its assembly path.
Step 8: use frock if desired, then grasp corresponding frock, and carry out the location and the fitting operation of frock, simultaneously frock operating process information is carried out record.
Step 9: judge that whether this assembly is seated, if do not have, returns step 4; Otherwise discharge this assembly.
Step 10: this assembly is added assembling sequence chained list, get back to step 2.
In the above in the process of assembly manipulation, the deviser can utilize gesture, menu and keyboard to carry out the various command operation, comprises cancelling operation, restarting, check (hiding) assembly path, virtual environment is provided with parameter is provided with etc.
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