CN100458799C - Automatic optimizing desing method for end pick up - Google Patents
Automatic optimizing desing method for end pick up Download PDFInfo
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- CN100458799C CN100458799C CNB2005101118266A CN200510111826A CN100458799C CN 100458799 C CN100458799 C CN 100458799C CN B2005101118266 A CNB2005101118266 A CN B2005101118266A CN 200510111826 A CN200510111826 A CN 200510111826A CN 100458799 C CN100458799 C CN 100458799C
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Abstract
The invention belongs to the field of machine design and is especially about an automatic optimization design for the end view equipment. The design bases on the further development to the CAD system, and use the algorithm to automatic optimization, The spatial structure of the end view equipment is be regarded as the spatial structure with five freedoms in it. A non-linear multivariant equation set can be gained by the alternation of the coordinate or the Robot kinematics. The location information of the module and the type of the sucking disc can be obtained by solve it. The iteration method is used in the design and the standard sucking disc can be chosen by changing the location of the vice-pole. The location of the sucking disc is altered on the curved surface of pressing part according to the iteration method, thus we can gain an accurate result suit for the length of the standard pole. The structure of the end-viewing equipment is optimized by this invention, and the difficulty and time for design are decreased, the design quality is improved, the component chosen can be assembled to be an end viewing equipment for practical application, needing not to be processed and cut out furthermore. Because the error of each sucking-disc point is guaranteed to be in the range requested while they are designed, the installation quality has been improved, and the ordinary work of the end-viewing has been guaranteed. And the time on preparing for the production has been shortened and the production efficiency has been improved, and the cost for production has been decreased.
Description
Technical field
The invention belongs to mechanical design field, be specifically related to a kind of method of Automatic Optimal Design of punch line terminal-collecting machine.
Background technology
Terminal-collecting machine is a kind of conveying machinery grasping mechanism of being made up of rod member and sucker or clamper on hand that is installed in, on punch line, stamping parts is transported to next station by terminal-collecting machine from a station, course of conveying is by mechanical arm terminal-collecting machine to be moved to suitable position, sucker is contacted with stamping parts, by vacuumizing, the stamping parts adsorbed close to terminal-collecting machine, is taken out stamping parts by mechanical arm and terminal-collecting machine then and is transported to next station from mould then.
Terminal-collecting machine is made up of mobile jib, secondary bar, linking arm, steering connections and sucker, and wherein the length of standard member and linking arm is to be series, that is to say that its length is not continuous, but is at interval.Common method for designing be by the designer in the CAD environment, assemble by hand, need constantly coupling adjustment just can finish preliminary design, make the design cycle lengthening.And have no idea to design accurately, can only draw a reference dimension of associated components, all select very big factor of assurance usually.When Installation and Debugging are carried out at the scene, assemble with method of trial and error, often according to actual conditions design proposal is carried out very big modification, long rod member will be reduced, and causes the Installation and Debugging time long, the waste of workpiece material.
Summary of the invention
The objective of the invention is to propose a kind of by adopting the method for Automatic Optimal, automatically design the space structure and the assembling form of terminal-collecting machine, thereby shorten the design cycle greatly, improve designing quality, make the installation assembling no longer need the reduction that standard member is carried out, reduce the automatic optimizing design method of the terminal-collecting machine of set-up time and cost.
The automatic optimizing design method of the terminal-collecting machine that the present invention proposes, its concrete steps are as follows:
(1) locus of location stamping parts: generally be to be positioned in the press machine mould;
(2) the initial space position of positioning mechanical arm arm: mechanical arm is positioned at an initial position;
(3) select mobile jib and being installed on the mechanical arm;
(4) on stamping parts, choose the sucker mounting points: regard the space structure of terminal-collecting machine as to have the 5DOF space structure, obtain a nonlinear multielement system of equations by coordinate transform or robot kinematics, thereby separate the spatial orientation information that this equation with many unknowns group obtains assembly, obtain the model of sucker;
(5) select the type of secondary bar and preliminary installation site;
(6) selection is connected to the sucker point on the different secondary bars: set up the corresponding relation of rod member and sucker point, select concrete some peace to change on corresponding secondary bar;
(7) immovable sucker point is installed: adopt process of iteration, by the position of moving sets bar, the sucker of selection standard;
(8) the sucker point that moves is installed: adopt process of iteration, according to the surface equation of stamping parts, the position of mobile sucker point on the stamping parts curved surface;
(9) analog simulation: whether and between mould and the press motion of analog simulation terminal-collecting machine exists interference problem, and interference is arranged, and then adjusts, up to meeting the demands;
(10) generate wiring layout and material table, operation is finished.
Among the present invention, the building block of terminal-collecting machine as shown in Figure 1, form by mobile jib, secondary bar, sucker, sensor, binding clasp, linking arm, mechanical arm, mechanical arm is clamped in mobile jib in the binding clasp by quick binding clasp, and secondary bar links together by binding clasp and mobile jib, and linking arm links together secondary bar and steering connections, last steering connections and sucker are installed together, promptly get a complete terminal-collecting machine, wherein, mobile jib and secondary bar adopt common rod member.
Among the present invention, Fig. 2 is the coordinate definition synoptic diagram of system.The example that is installed as with a sucker, set up departments the true origin of system in mobile jib and secondary bar junction, the definition of coordinate system such as Fig. 2, the target of design is exactly with angle linking arm to be installed in place, steering connections and sucker overlap the sucker point of selecting on the bottom center of sucker and the stamping parts.Wherein x1 is the installation site of linking arm on secondary bar, and x2 is the angle that linking arm rotates around secondary bar, and x3 is the length of linking arm, the angle that x4 rotates for the linking arm joint, x5 is the angle that steering connections rotates, and this tittle all is unknown, need determine in design.D1 is the distance of linking arm axis to secondary rod axis, D2 is the distance of linking arm axis to the steering connections axis, D3 is the distance of sucker axis to the steering connections center, D4 is the height of sucker, this tittle is that the relevant physical dimension (as shown in Figure 2) of selected parts is a known quantity, just can determine before design.The sucker point of P point for choosing on the stamping parts, its coordinate and normal vector known (px, py, pz, I, J, K).
The automatic design of the sucker space structure that the present invention proposes adopts coordinate transformation method or robot kinematics's method to design.
1, adopts coordinate transformation method
With coordinate system through a series of translation and rotational transform, at last with coordinate transform in base coordinate system.At first define coordinate system O8, O8 is an initial point with the P point, and P point normal vector direction is the Y coordinate direction, and O7 is the center of steering connections and linking arm joint end, being transformed in the O7 of the coordinate conversion among the O8:
B7＝[1?0?0?0；0?1?0-D4；0?0?1?D3；0?0?0?1]；
(wherein the sign of D3 is determined by the installation site of steering connections and sucker)
In like manner derive O7 to O6, O6 is to O5, and O5 is to O4, and O4 is to O3, and O3 is to O2, and O2 is to O1, and O1 is to the coordinate transform of O:
B6＝[cos(x5)-sin(x5)00；sin(x5)cos(x5)0?0；0?0?1?0；0?0?0?1]；
B5＝[1?0?0?0；0?1?0-D2；0?0?1?0；0?0?0?1]；
B4＝[1?0?0?0；0cos(x4)-sin(x4)0；0?sin(x4)cos(x4)0；0?0?0?1]；
B3＝[1?0?0?x3；0?1?0-D1；0?0?1?0；0?0?0?1]；
B2＝[cos(x2)-sin(x2)00；sin(x2)cos(x2)0?0；0?0?1?0；0?0?0?1]；
B1＝[1?0?0?0；0?1?0?0；0?0?1?x1；0?0?0?1]；
O8 to the coordinate transform of O is like this
T＝(B1×(B2×(B3×(B4×(B5×(B6×(B7)))))))
Can obtain following six system of equations thus:
cos(x(2))×(sin(x(5))×D4+x(3))-sin(x(2))×(cos(x(4))×(-cos(x(5))×D4-D2)-sin(x(4))×D3-D1)＝px；
sin(x(2))×(sin(x(5))×D4+x(3))+cos(x(2))×(cos(x(4))×(-cos(x(5))×D4-D2)-sin(x(4))×D3-D1)＝py；
sin(x(4))×(-cos(x(5))×D4-D2)+cos(x(4))×D3+x(1)＝pz；
-cos(x(2))×sin(x(5))-sin(x(2))×cos(x(4))×cos(x(5))＝I；
-sin(x(2))×sin(x(5))+cos(x(2))×cos(x(4))×cos(x(5))＝J；
sin(x(4))×cos(x(5))＝K；
It is a nonlinear multielement system of equations, wherein x1 is the installation site of linking arm on secondary bar, x2 is the angle that linking arm rotates around secondary bar, x3 is the length of linking arm, the angle that x4 rotates for the linking arm joint, x5 is the angle that steering connections rotates, and solves this five unknown numbers, can obtain the space structure of terminal-collecting machine.
The present invention adopts in the Matlab optimization toolbox fsolve function to find the solution, and wherein the nonlinear multielement system of equations is:
function?y＝myfun(x，px，py，pz，I，J，K，D1，D2，D3，D4)
y(1)＝cos(x(2))×(sin(x(5))×D4+x(3))-sin(x(2))×(cos(x(4))×(-cos(x(5))×D4-D2)-sin(x(4))×D3-D1)-px；
y(2)＝sin(x(2))×(sin(x(5))×D4+x(3))+cos(x(2))×(cos(x(4))×(-cos(x(5))×D4-D2)-sin(x(4))×D3-D1)-py；
y(3)＝sin(x(4))×(-cos(x(5))×D4-D2)+cos(x(4))×D3+x(1)-pz；
y(4)＝-cos(x(2))×sin(x(5))-sin(x(2))×cos(x(4))×cos(x(5))-I；
y(5)＝-sin(x(2))×sin(x(5))+cos(x(2))×cos(x(4))×cos(x(5))-J
y(6)＝sin(x(4))×cos(x(5))-K；
y＝[y(1)y(2)y(3)y(4)y(5)y(6)]；
The fsolve function needs the initial value of a unknown number, so that Matlab provides an optimization solution fast, establishing initial value is x0[x1, x2, x3, x4, x5] method that clicks determines:
x0＝[(zp-D3)，-atan((abs(py)-D4)/px)，sign(px)×sqrt(px^2+(abs(py-D4)^2))，atan(K/J)，-(atan(I/J)+(atan((abs(py)-D4)/px)))]
Following Matlab program just can solve 5 unknown numbers:
[x]＝fsolve(@myfun，x0，，px，py，pz，I，J，K，D1，D2，D3，D4)
x1＝x(1)；
x2＝x(2)；
x3＝x(3)；
x4＝x(4)；
x5＝x(5)；
Such 5 known variables just can be obtained and separate.
2, robot kinematics's method
A lot of the robot field to the theory and the achievement of the kinematics research of multi-bar linkage, the terminal-collecting machine that the present invention relates to can be regarded as the motion of robot, adopt the method for robot that terminal-collecting machine is carried out The Automation Design.As Fig. 2, regard it robot of 5 coordinates as, wherein x1, x4 are rectilinear motion, and other coordinates are for rotatablely moving, and according to the D-H method, the terminal matrix of arm is:
T＝[Xx?Yx?Zx?px，Xy?Yy?Zy?py，Xz?Yz?Zz?pz，0?0?0?1]；
Finding the solution with method 1 of gained system of equations, can adopt uses the same method separates this nonlinear multielement system of equations.
Two, fixing sucking disk point is adjusted secondary bar position
Irremovable sucker point normally has obstacle or cavity on every side, and inconvenience is moved and made an inventory.As the linking arm that calculates is 152.5mm, and in the series near having only 150mm, the 175mm linking arm has only the position of moving sets bar like this, meets the demands.The present invention adopts process of iteration to calculate, concrete steps following (as shown in Figure 3):
1, select the approaching linking arm of length, and computational length error delta L;
2, whether the error of calculation less than then end, otherwise carries out next step calculating less than the threshold epsilon of stipulating;
3, calculate the displacement Δ X that secondary bar moves: secondary bar is along the displacement of x direction of principal axis, Δ X=Δ L * COS (x2);
4, return step (1), according to new secondary bar position calculating is installed automatically again.
Three, mobile sucker point methods
Usually adjust by mobile sucker point, adapt to the length of linking arm series, concrete steps following (as shown in Figure 4):
1, select the approaching linking arm of length, and computational length error delta L;
2, whether the error of calculation less than then end, otherwise carries out next step calculating less than the threshold epsilon of stipulating;
3, calculate the mobile displacement Δ X:x direction of principal axis displacement of sucker point, Δ X=Δ L * COS (x2), then according to surface equation recomputate sucker point P (px, py, pz, I, J, K);
4, return step (1), according to new sucker point calculating is installed automatically again.
The present invention be directed to the automatic design of punch line terminal-collecting machine and propose, but its ultimate principle is all meaningful to the clamping apparatus of the transmitting workpiece of all similar structures, its advantage mainly makes user's design effort become very simple, the deviser is as long as choose the installation site and the sucker model of sucker on stamping parts, and mechanical arm moved to suitable position, automatically obtain the structure and the relative dimensions of terminal-collecting machine then according to optimized Algorithm by system, thereby guarantee same in practical set of the terminal-collecting machine design, do not need assembly is processed reduction, directly assembling is finished.The present invention adopts the Automatic Optimal algorithm, thereby obtains an exact solution that adapts to standard member length series.The present invention makes the design automation of terminal-collecting machine, optimizes the space structure of terminal-collecting machine, reduces design difficulty and design time, improves designing quality, and selected element does not need to process reduction again, just can be assembled into the terminal-collecting machine of practical application.Since in design the time just can guarantee scope that the error of each sucker point requiring, thus the raising installation quality, the normal reliable work of assurance terminal-collecting machine.
Description of drawings
Fig. 1 is the structural representation of terminal-collecting machine.
Figure .2 is a coordinate definition synoptic diagram.
Fig. 3 is a moving sets bar process flow diagram.
Fig. 4 is mobile sucker point process flow diagram.
Number in the figure: 1 is mechanical arm, and 2 is quick binding clasp, and 3 is mobile jib, and 4 is secondary bar, and 5 is linking arm, and 6 is steering connections, and 7 is sucker, and 8 is sensor, and 9 is binding clasp.
Embodiment
Further specify the present invention below by embodiment.
1, the three-dimensional model of calling in press, mechanical arm, mould and stamping parts is in CATIA, and the position between the parts is determined before closing and tying up to the mould design in advance;
2, the initial position of mechanical arm is to determine in advance, adjusts if desired, and button mobile manipulator in CATIA that can provide by software is adjusted to suitable position with mechanical arm;
3, selected the brand of terminal-collecting machine standard component by the designer, select the mobile jib of suitable types to install then, system is installed to mobile jib on the mechanical arm automatically;
4, determine to install the point of sucker on stamping parts, the function that provides by software is directly clicked the mouse on stamping parts and is selected to install the point of sucker, selects the model of sucker then, has so just determined initializaing variable:
D1＝25.5；
D2＝12.7；
D3＝27.501；
D4＝69.350；
Following be the sucker point on stamping parts, selected coordinate (x, y, z):
These points are the points on the stamping parts curved surface, and system obtains the normal direction of this point on the curved surface automatically, and this direction is for installing the axis direction of sucker.Point coordinate according to this 20mm on the normal is:
5, secondary bar is installed in reconnaissance on mobile jib, and a secondary bar only is installed in the present embodiment, and coordinates of reference points is on the secondary bar:
(38.581 939.75 -10)
6, with sucker point and the secondary bar association that will be connected, system can be installed on the secondary bar by automatically that these are related with secondary bar point like this, and these three points are all related with secondary bar;
7, do not have the not removable fixing sucker point of selection in this example, the method for adjustment of point of fixity is seen shown in Figure 3, and it is to adapt to standard component series by the position of adjusting secondary bar;
8, start automatic installation function, system adopts algorithm of the present invention to calculate automatically, to optimize the new mounting points position of sucker of gained by calling Matlab, the space mounting position coordinates of each standard component passes to CATIA, system is installed to appointed positions with these standard components automatically, and the coordinate that obtains sucker at last is:
The length of the linking arm of optimizing:
The connection brachium of sucker 1 correspondence: 125mm,
The connection brachium of sucker 2 correspondences: 150mm,
The connection brachium of sucker 3 correspondences: 175mm.
(connecting brachium series) for differing the series of 25mm;
9, analog simulation: whether and between mould and the press mechanically moving hand-motion terminal-collecting machine motion, the motion of analog simulation terminal-collecting machine exist interference problem, and interference is arranged, and then adjust, even design again up to meeting the demands;
10, generate wiring layout and material table at last, finish the design effort of terminal-collecting machine.
Claims (3)
1, a kind of automatic optimizing design method of terminal-collecting machine, this terminal-collecting machine comprises mobile jib, secondary bar, sucker, sensor, binding clasp, linking arm, mechanical arm, mechanical arm is clamped in mobile jib in the binding clasp by quick binding clasp, secondary bar links together by binding clasp and mobile jib, linking arm links together secondary bar and steering connections, and last steering connections and sucker are installed together; It is characterized in that concrete steps are as follows:
(1) locus of location stamping parts in the press machine mould;
(2) the initial space position of positioning mechanical arm arm is positioned at initial position with mechanical arm;
(3) select mobile jib and being installed on the mechanical arm;
(4) on stamping parts, choose the sucker mounting points: regard the space structure of terminal-collecting machine as to have the 5DOF space structure, obtain a nonlinear multielement system of equations by coordinate transformation method, thereby separate the spatial orientation information that this equation with many unknowns group obtains assembly, obtain the model of sucker;
(5) select the type of secondary bar and preliminary installation site;
(6) selection is connected to the sucker point on the different secondary bars: set up the corresponding relation of rod member and sucker point, select concrete point to be installed on the corresponding secondary bar;
(7) immovable sucker point is installed: adopt process of iteration, by the position of moving sets bar, the sucker of selection standard;
(8) the sucker point that moves is installed: adopt process of iteration, according to the surface equation of stamping parts, the position of mobile sucker point on the stamping parts curved surface;
(9) analog simulation: whether and between mould and the press motion of analog simulation terminal-collecting machine exists interference problem, and interference is arranged, and then adjusts, till not having interference problem;
(10) generate wiring layout and material table, operation is finished.
2, the automatic optimizing design method of terminal-collecting machine according to claim 1, when it is characterized in that installing in the step (7) immovable sucker point, the employing process of iteration is adjusted secondary bar position, and concrete steps are as follows:
(1) select the approaching linking arm of length, and computational length error delta L;
(2) whether the error of calculation less than then end, otherwise carries out next step calculating less than the threshold epsilon of stipulating;
(3) calculate the displacement Δ X that secondary bar moves: secondary bar is along the displacement of x direction of principal axis, Δ X=Δ L * COS (x2);
(4) return step (1), according to new secondary bar position calculating is installed automatically again;
Wherein, x2 is the angle that linking arm rotates around secondary bar.
3, the automatic optimizing design method of terminal-collecting machine according to claim 1 is characterized in that the middle method that mobile sucker point is installed of step (8), and concrete steps are as follows:
(1) select the approaching linking arm of length, and computational length error delta L;
(2) whether the error of calculation less than then end, otherwise carries out next step calculating less than the threshold epsilon of stipulating;
(3) calculate the displacement Δ X:x direction of principal axis displacement that sucker point moves, Δ X=Δ L * COS (x2), the surface equation according to stamping parts recomputates sucker point P (px, py, pz then, I, J, K), and wherein, (px, py pz) is the coordinate of sucker point, and (I, J K) are its normal direction;
(4) return step (1), according to new sucker point calculating is installed automatically again;
Wherein, x2 is the angle that linking arm rotates around secondary bar.
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102554060B (en) * | 2012-02-22 | 2014-12-10 | 奇瑞汽车股份有限公司 | Tooling for stamping production line |
| CN102646142B (en) * | 2012-02-23 | 2013-10-16 | 奇瑞汽车股份有限公司 | Simulation aided design method for automated stamping end picking-up devices |
| CN102717391B (en) * | 2012-06-21 | 2014-07-09 | 广州汽车集团乘用车有限公司 | End picking-up device for robot |
| CN103240352A (en) * | 2013-05-10 | 2013-08-14 | 上汽通用五菱汽车股份有限公司 | Tooling |
| CN104889987A (en) * | 2015-05-19 | 2015-09-09 | 天津市天锻压力机有限公司 | Method for establishing tooling tool coordinate system |
| CN105397830A (en) * | 2015-12-14 | 2016-03-16 | 苏州源硕精密模具有限公司 | Suction cup type end picking device for board machining |
| CN106003121A (en) * | 2016-06-29 | 2016-10-12 | 芜湖新泉汽车饰件系统有限公司 | Unloading manipulator clamp for rear-left door |
| CN109590406A (en) * | 2018-12-17 | 2019-04-09 | 保定市屹马汽车配件制造有限公司 | A kind of basin stamping parts production automation work station |
| CN110143435B (en) * | 2019-05-22 | 2020-10-02 | 奇瑞汽车股份有限公司 | Turnover end picking device |
| CN113600702B (en) * | 2021-08-04 | 2023-07-18 | 武汉维谘信息技术有限公司 | Pre-construction system of end effector and control method thereof |
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