CN114723160B - Measurement path planning method for on-machine detection - Google Patents
Measurement path planning method for on-machine detection Download PDFInfo
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Abstract
The invention belongs to the field of on-machine detection, and particularly relates to a measurement path planning method for on-machine detection, which comprises the following steps: acquiring the information of the engagement points of the measuring track, acquiring the structural information of the machine tool and the speed information of each movement axis, converting the position information of the engagement points into the position information of the movement axes of the machine tool, determining the function of the movement time required by each movement axis of the two engagement points, calculating the real movement time between any two engagement points, and solving the optimal measuring path. According to the method, the measuring path is calculated by taking the measuring time as a constraint condition, meanwhile, the movement problem of the rotating shaft is considered, and compared with a path planning method with the shortest path, the quality of measuring path planning can be improved remarkably, and the measuring efficiency is improved.
Description
Technical Field
The invention belongs to the field of on-machine detection, and particularly relates to a measurement path planning method for on-machine detection.
Background
The on-machine detection can finish the measurement of the size of the part under the condition of not disassembling the workpiece, thereby avoiding the problems of installation errors, deformation of thin-wall parts, loss of measurement efficiency and the like caused by secondary clamping, improving the measurement quality and the measurement efficiency, and being more and more widely applied in the aviation manufacturing industry.
Currently, on-machine detection is performed on the main measurement objects, namely point characteristics and hole characteristics, the measurement track of the characteristics is relatively fixed, and is generally automatically processed by measurement software without track planning. However, the measurement sequence between the features is not generally within the automatic processing range of the measurement software, and basically determined by the process personnel, and an improper measurement track will cause the increase of idle stroke of the machine tool and the loss of measurement efficiency. Therefore, the measuring track among the measuring features is reasonably planned, the measuring efficiency of on-machine detection can be improved, and the method has obvious economic benefits.
Currently, in determining the measurement trajectory between measurement features, there are mainly two approaches: firstly, the natural sequence of the measurement characteristics is directly used for track series connection, the method does not carry out extra planning on the measurement track, but only carries out measurement along the sequence of the measurement contents, and the quality and the measurement efficiency of the measurement track are not guaranteed; secondly, the shortest path of the measuring track is used as a measuring path, namely, only coordinate information of measuring features is used for calculating the distance between measuring points, and the path with the shortest distance is selected as the optimal path.
Disclosure of Invention
The invention discloses a measurement track planning method for on-machine detection, which is used for realizing high-quality on-machine detection track planning.
The invention is realized by the following technical scheme:
a measuring track planning method for on-machine detection comprises the following steps,
s1, acquiring a measurement track and a joint point information set P;
s2 obtaining machine tool structure information and speed information v of each movement axis Lm ；
S3, converting the engagement point position information set P into a machine tool motion axis position information set Q according to the machine tool structure information and the engagement point position information set P;
s4, determining any two elements Q in the machine tool movement axis position information set Q according to the speed information of each movement axis of the machine tool i ，q j Required by each shaftFunction f of movement time t m (i,j)；
s5 obtaining any two elements Q in Q i ，q j Real movement time f in between t (i,j)；
And s6, solving the optimal measurement path by taking the shortest movement time as a constraint condition.
Further, each element in the locus-to-joint information set P in s1 is composed of a pair of pose data, namelyWherein p is is Measuring the starting point of the track for a single feature, p ie Measuring the termination point of the track for a single feature, +.>Wherein (1)>For the coordinate of the initial position of the engagement point, ">A normal vector for the initial position of the engagement point; />For the end position coordinates of the engagement points->Terminating the position normal vector for the engagement point;
further, each element in the machine tool motion axis position information set Q in s3 is composed of a pair of pose data, namelyWherein q is And p as claimed in claim 2 is Correspondingly, q ie And p as claimed in claim 2 ie Corresponding to the above.
Still further, q is And p is as follows is According to different machine tool structures, has different correspondenceRelationship.
When the machine tool mechanism is an AC swing angle, the corresponding relation is as follows:
when the machine tool structure is BC swing angle, the corresponding relation is as follows:
when the machine tool structure is AB pivot angle, the corresponding relation is:
in the above-mentioned formulae, the first and second light-emitting elements,the swing angles of the rotating shafts corresponding to the machine tools with various structures are +.>The positions of the translational shafts corresponding to the machine tools with all structures are adopted.
Still further, q ie And p is as follows ie The correspondence relationship described above is also present.
Further, the function in s4
In the method, in the process of the invention,parameter for m-axis of the j-th feature starting position,/-, for example>Parameters of m-axis for the i-th feature termination position, v Lm Is the speed of the m-axis.
Further, the real motion time in s5
f t (i,j)＝min(f t x (i,j),f t y (i,j),f t z (i,j),f t A (i,j),f t B (i,j),f t C (i,j))。
Further, s6 is specifically: the elements in the machine tool motion axis position information set Q are fully arranged, and the measurement path set is A q Is arranged at willThe measuring paths are all one measuring path, and the corresponding measuring time is as follows:
using ant colony algorithm to find optimal solutionIf->Then path->Is the optimal measurement path.
The application has the advantages that:
according to the method and the device, the measurement track planning is carried out by taking the measurement time instead of the measurement track length as the constraint condition, so that the measurement efficiency of the measurement track is reflected more accurately, and the quality of the measurement track planning is improved. The motion time of the machine tool rotating shaft is taken into the consideration range of track planning, a measurement track planning method which only takes a translation axis as a consideration object is replaced, the measurement efficiency of the measurement track is reflected more accurately, and accordingly the measurement planning quality of on-machine detection is improved.
Drawings
FIG. 1 is a flow chart of a measurement trajectory planning method.
Fig. 2 is a variable schematic.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are intended to explain the present invention rather than to limit the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
s1 obtaining the measurement locus and the joint point information set P
s2 obtaining machine tool structure information and speed information v of each movement axis Lm ；
S3, converting the engagement point position information set P into a machine tool motion axis position information set Q according to machine tool structure information;
s4, determining any two elements Q in the machine tool movement axis position information set Q according to the speed information of each movement axis of the machine tool i ，q j Function f of the movement time required for each axis in between t m (i,j)；
s5 obtaining any two elements Q in Q i ，q j Real movement time f in between t (i,j)；
And s6, solving the optimal measurement path by taking the shortest movement time as a constraint condition.
Preferably, each element in P is composed of a pair of pose data, i.eWherein p is is Measuring the starting point of the track for a single feature, p ie The termination point of the trace is measured for a single feature,wherein (1)>For the coordinate of the initial position of the engagement point, ">A normal vector for the initial position of the engagement point; />For the end position coordinates of the engagement points->Terminating the position normal vector for the engagement point;
preferably, each element in Q is composed of a pair of pose data, i.eWherein q is And p as claimed in claim 2 is Correspondingly, q ie And p as claimed in claim 2 ie Corresponding to the above;
preferably q is And p is as follows is The correspondence relation with the machine tool structure is as follows:
(1) when the machine tool mechanism is an AC swing angle, the corresponding relation is as follows:
(2) when the machine tool structure is BC swing angle, the corresponding relation is as follows:
(3) when the machine tool structure is not AB, the corresponding relation is as follows:
in the above-mentioned formulae, the first and second light-emitting elements,the swing angles of the rotating shafts corresponding to the machine tools with various structures are +.>The positions of the translational shafts corresponding to the machine tools with all structures are adopted. q ie And p is as follows ie The correspondence relationship described above is also present.
Preferably, the function f of the movement time required for each axis t m The calculation method of (i, j) is as follows:
in the method, in the process of the invention,parameter for m-axis of the j-th feature starting position,/-, for example>Parameters of m-axis for the i-th feature termination position, v Lm Is the speed of the m-axis.
Preferably, the real movement time f t The calculation method of (i, j) is as follows:
f t (i,j)＝min(f t x (i,j),f t y (i,j),f t z (i,j),f t A (i,j),f t B (i,j),f t C (i,j))
preferably, the calculation method for solving the optimal measurement path is as follows: the elements in the machine tool motion axis position information set Q are fully arranged, and the measurement path set is A q Is arranged at willThe measuring paths are all one measuring path, and the corresponding measuring time is as follows:
using ant colony algorithm to find optimal solutionIf->Then path->Is the optimal measurement path.
Example 2
The invention provides the following technical scheme: 1) acquiring the information of the connecting points of the measuring track, 2) acquiring the information of the structure of the machine tool and the speed information of each moving axis, 3) converting the information of the connecting points into the position information of the moving axes of the machine tool, 4) determining the function of the moving time required by each moving axis of the two connecting points, 5) determining the real moving time between the connecting points, and 6) solving the optimal measuring path.
In particular, the method comprises the steps of,
s1: the measurement trajectory of the present embodiment is attached to the point information set p= { (P) 1s ,p 1e ),(p 2s ,p 2e ),(p 3s ,p 3e ) }, wherein
p 1s ＝p 1e ＝(2,2,3,0.0222,-0.0388,0.999)
p 2s ＝p 2e ＝(33,25,7,0.0127,0.3023,0.9531)
p 3s ＝p 3e ＝(48,5,5.5,0.0304,-0.2823,0.9589)
s2: the machine tool used in this embodiment has an AC pendulum structure, and the speed of each axis is:
s3: conversion machine tool motion axis position information set q= { (Q) 1s ,q 1e ),(q 2s ,q 2e ),(q 3s ,q 3e ) -wherein:
q 1s ＝q 1e ＝(2,2,3,2.555,19.114)
q 2s ＝q 2e ＝(33,25,7,17.705,177.884)
q 3s ＝q 3e ＝(48,5,5.5,16.553,6.002)
s4: determining the required movement time function f for each axis t m (i,j)：
s5: determining any two elements Q in Q i ，q j The real motion time between will q= { (Q) 1s ,q 1e ),(q 2s ,q 2e ),(q 3s ,q 3e ) Carry-over into the above equation, we can get:
the real time is f t (1,2)＝f t (2,1)＝2.646s，f t (1,3)＝f t (3,1)＝0.46s， f t (2,3)＝f t (3,2)＝2.865s。
s6: and solving the optimal measurement path by taking the shortest movement time as a constraint condition. The set Q has 3 groups of elements, and is arranged completely, and has { Q 1 ,q 2 ,q 3 },{q 1 ,q 3 ,q 2 },{q 2 ,q 1 ,q 3 },{q 2 ,q 3 ,q 1 }{q 3 ,q 1 ,q 2 }{q 3 ,q 2 ,q 1 6 arrangements. Each arrangement is a measuring path, and the measuring time of each path is respectively as follows: 5.501s,3.325s, 3.106s,5.501s.
It can be seen that the path { q 2 ,q 1 ,q 3 ' and path{q 3 ,q 1 ,q 2 The time is shortest, which is the optimal measurement path.
Claims (8)
1. A measurement trajectory planning method for on-machine detection, characterized by: comprises the following steps of the method,
s1, acquiring a measurement track and a joint point information set P;
s2 obtaining machine tool structure information and speed information v of each movement axis Lm ；
S3, converting the engagement point position information set P into a machine tool motion axis position information set Q according to machine tool structure information;
s4, determining any two elements Q in the machine tool movement axis position information set Q according to the speed information of each movement axis of the machine tool i ，q j Function f of the movement time required for each axis in between t m (i,j)；
s5 obtaining any two elements Q in Q i ，q j Real movement time f in between t (i,j)；
And s6, solving the optimal measurement path by taking the shortest movement time as a constraint condition.
2. A measurement trajectory planning method for on-machine detection according to claim 1, characterized by: each element in the locus joint information set P in s1 is composed of a pair of pose data, namelyp i ＝(p is ,p ie ) Wherein p is is Measuring the starting point of the track for a single feature, p ie The termination point of the trace is measured for a single feature,wherein (1)>For the coordinate of the initial position of the engagement point, ">A normal vector for the initial position of the engagement point; />For the end position coordinates of the engagement points->Terminating the position normal for the engagement point.
3. A measurement trajectory planning method for on-machine detection according to claim 2, characterized by: each element in the machine tool motion axis position information set Q in s3 is composed of a pair of pose data, namelyq i ＝(q is ,q ie ) Wherein q is And p is as follows is Correspondingly, q ie And p is as follows ie Corresponding to the above.
4. A measurement trajectory planning method for on-machine detection as claimed in claim 3, wherein: q is And p is as follows is According to different machine tool structures, the machine tool has different corresponding relations:
when the machine tool mechanism is an AC swing angle, the corresponding relation is as follows:
when the machine tool structure is BC swing angle, the corresponding relation is as follows:
when the machine tool structure is AB pivot angle, the corresponding relation is:
in the above-mentioned formulae, the first and second light-emitting elements,the swing angles of the rotating shafts corresponding to the machine tools with various structures are +.>The positions of the translational shafts corresponding to the machine tools with all structures are adopted.
5. A measurement trajectory planning method for on-machine detection as claimed in claim 4, wherein: q ie And p is as follows ie Also has q is And p is as follows is The same correspondence.
6. A measurement trajectory planning method for on-machine detection as claimed in claim 3, wherein: function in s4
In the method, in the process of the invention,parameter for m-axis of the j-th feature starting position,/-, for example>Parameters of m-axis for the i-th feature termination position, v Lm Is the speed of the m-axis.
7. A measurement trajectory planning method for on-machine detection as claimed in claim 6, wherein: real motion time in s5
f t (i,j)＝min(f t x (i,j),f t y (i,j),f t z (i,j),f t A (i,j),f t B (i,j),f t C (i,j))。
8. A measurement trajectory planning method for on-machine detection as claimed in claim 7, wherein: s6 is specifically: the elements in the machine tool motion axis position information set Q are fully arranged, and the measurement path set is A q Is arranged at willThe measuring paths are all one measuring path, and the corresponding measuring time is as follows:
using ant colony algorithm to find optimal solutionIf->Then path->Is the optimal measurement path.
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