CN104858712A

CN104858712A - Machining method and machining equipment for parts with curved surfaces

Info

Publication number: CN104858712A
Application number: CN201510169561.9A
Authority: CN
Inventors: 欧阳渺安; 李军旗; 聂炎; 范前锋
Original assignee: Yuanmeng Precision Technology Shenzhen Institute
Current assignee: Yuanmeng Precision Technology Shenzhen Institute
Priority date: 2015-04-10
Filing date: 2015-04-10
Publication date: 2015-08-26
Anticipated expiration: 2035-04-10
Also published as: CN104858712B

Abstract

The invention provides a machining method for parts with curved surfaces. The machining equipment is provided with a robot, a posture calibration block, a three-dimensional scanning device and a host computer, and the machining method comprises the following steps: scanning a part I with a curved surface I and the posture calibration block with the three-dimensional scanning device; sending the obtain image data I to the host computer, so as to conduct reverse modeling and data analysis on the image data I, and further obtain a first relative deflection value; machining the part I; replacing the part I with another part II with a curved surface II after the part I is machined; scanning the part II and the posture calibration block with the three-dimensional scanning device; sending the obtain image data II to the host computer, so as to conduct reverse modeling and data analysis on the image data II, and further obtain a second relative deflection value; calculating the deflection error between the second relative deflection value and the first relative deflection value; carrying out compensation on the robot with the host computer according to the deflection error; machining the part II; repeating the above steps till all the parts are machined. The invention further provides machining equipment for the parts with the curved surfaces.

Description

The processing method of curved surface part and the process equipment of curved surface part

Technical field

The present invention relates to the processing technique field of curved surface part, particularly relate to a kind of processing method of large scale curved surface part and the process equipment of curved surface part.

Background technology

At present for the processing mode of large-sized curved surface part, be commonly and adopt CNC machine processing or artificial, but, according to CNC machine processing, then there is the problem that lathe floor space is large, cost is high; According to artificial, then have that efficiency is low, the problem of low precision.

Therefore, be necessary to provide a kind of technological means to address the aforementioned drawbacks.

Summary of the invention

The object of the invention is to the defect overcoming prior art, the processing method of curved surface part is provided, have that floor space is large, cost is high, efficiency is low and the problem of low precision when machining large-sized curved surface part to solve in prior art.

The present invention is achieved in that the processing method of curved surface part, comprises the following steps:

S101, the individual curved surface part to be processed of preparation n, and n >=2, arbitrary described curved surface part has at least one machined surface, and arranges the machine direction in order to process described machined surface on described machined surface;

S102, arrange one and stop first rest area of placing for described curved surface part;

S103, a described curved surface part is located on described first rest area;

S104, the robot preparing in order to process described curved surface part, described robot is set and comprises robot body and the control unit in order to control described robot body work, make the actuator described robot body being equipped with to perform Machining Instruction, described actuator is set and comprises main shaft and process tool, make described process tool be located on described main shaft;

S105, arrange one, for described robot, the second rest area arranged is installed, and make described second rest area be close to described first rest area;

S106, the machine direction of machined surface described in described Robot moved and is located on described second rest area, and on described control unit, set the work coordinate system of described robot, and described work coordinate system is made to comprise mutually perpendicular X-direction, Y-direction and Z-direction;

S107, the pose calibrating block of shift position relative to the pose deviation of theoretical pose value defining described robot in order to mark is set on described main shaft, make the center line of described pose calibrating block and the vertical and intersectant centerline of described main shaft, described pose calibrating block is made to comprise mutually perpendicular length direction, width and short transverse, and make the length direction of described pose calibrating block parallel with the X-direction of described work coordinate system, the width of described pose calibrating block is parallel with the Y-direction of described work coordinate system, the short transverse of described pose calibrating block is parallel with the Z-direction of described work coordinate system,

S108, on described second rest area, arrange one for scanning the three dimensional space coordinate data that obtain measurand and the three-dimensional scanner of the data acquisition of characteristic point cloud and feature automatic Mosaic can being carried out these three dimensional space coordinate data, described three-dimensional scanner is moved and is located on described second rest area;

S109, preparation one are in order to send the host computer of operational order and display result data, make described host computer to be equipped with the model emulation analysis software that can carry out model emulation analysis to described curved surface part, and described host computer is electrically connected with described control unit, described three-dimensional scanner respectively;

S110, make described three-dimensional scanner scan described curved surface part, described pose calibrating block respectively, and reach described host computer by scanning the view data obtained;

S111, by the described model emulation analysis software of described host computer, reverse modeling and data analysis are carried out to the view data that described three-dimensional scanner transmits, to obtain the three dimensional space coordinate data in described curved surface part, described pose calibrating block respectively, and calculate the relative tilt value of three dimensional space coordinate relative to the three dimensional space coordinate of described pose calibrating block of described curved surface part, and to define this relative tilt value be that first-phase is to tilt value;

S112, control described robot by described control unit described curved surface part is processed;

S113, the described curved surface part processed to be moved apart on described first rest area, and curved surface part described in another one to be processed is located on described first rest area;

S114, make described three-dimensional scanner scan curved surface part described in another one, described pose calibrating block respectively, and reach described host computer by scanning the view data obtained;

S115, by the described model emulation analysis software of described host computer, reverse modeling and data analysis are carried out to the view data that described three-dimensional scanner transmits, to obtain the three dimensional space coordinate data in curved surface part described in another one, described pose calibrating block respectively, and calculate the relative tilt value of three dimensional space coordinate relative to the three dimensional space coordinate of described pose calibrating block of curved surface part described in another one, and to define this relative tilt value be that second-phase is to tilt value;

S116, by the described model emulation analysis software of described host computer, to deviant, reverse modeling and error analysis are carried out to deviant and described first-phase to described second-phase, to obtain the offset error of curved surface part described in another one relative to the described curved surface part of first processing;

S117, by described host computer, described offset error is reached described control unit, then compensated and corrected by the three dimensional space coordinate data that described control unit is current to described robot;

S118, control described robot by described control unit curved surface part described in another one is processed;

S119, repetition above-mentioned steps S113 to S118, until n described curved surface part machines.

Particularly, arranging described pose calibrating block is rectangular structure, and makes the length of described rectangular structure, width and unequal highly mutually.

The technique effect of the processing method of curved surface part of the present invention is: by being provided with robot, pose calibrating block, three-dimensional scanner and host computer, thus, first make three-dimensional scanner sweep surface part, pose calibrating block respectively, then data on image are reached host computer, by the model emulation analysis software of host computer, reverse modeling and data analysis are carried out to view data again, to obtain first-phase to tilt value; Then, this curved surface part is processed; And after processing, another one curved surface part in replacement; Then, three-dimensional scanner is made to scan another one curved surface part, pose calibrating block respectively again, then data on image are reached host computer, then by the model emulation analysis software of host computer, reverse modeling and data analysis are carried out to view data, to obtain second-phase to tilt value; Again then, calculate second-phase to tilt value and first-phase to the error between tilt value, draw offset error with correspondence; Again then, robot is compensated and corrected according to offset error by host computer; Then, another curved surface part is processed; Afterwards, above-mentioned steps is repeated, until all curved surface parts machine.

And adopt the processing method of curved surface part provided by the invention, the problem that curved surface part deflects can be there is after not only effectively solving curved surface part clamping, reduce with this mismachining tolerance that robot processes curved surface part, meanwhile, also help the machining accuracy improving curved surface part.

The processing method of the curved surface part that the position error on-line measurement that after the present invention also provides clamping, workpiece amount of deflection causes compensates, comprises the steps:

S201, the individual curved surface part to be processed of preparation n, and n >=2, arbitrary described curved surface part has at least one machined surface, and arranges the machine direction in order to process described machined surface on described machined surface;

S202, arrange one and stop first rest area of placing for described curved surface part;

S203, a described curved surface part is located on described first rest area;

S204, the robot preparing in order to process described curved surface part, described robot is set and comprises robot body and the control unit in order to control described robot body work, make the actuator described robot body being equipped with to perform Machining Instruction, described actuator is set and comprises main shaft and process tool, make described process tool be located on described main shaft;

S205, arrange one, for described robot, the second rest area arranged is installed, and make described second rest area be close to described first rest area;

S206, the machine direction of machined surface described in described Robot moved and is located on described second rest area, and on described control unit, set the work coordinate system of described robot, and described work coordinate system is made to comprise mutually perpendicular X-direction, Y-direction and Z-direction;

S207, between described first rest area and described second rest area, arrange one in order to identify the reference-calibrating block of the three dimensional space coordinate limiting described robot, make described reference-calibrating block extended along the machine direction of described machined surface, and described reference-calibrating block is set includes the segmentation benchmark of distance that several correspond to the segmentation movement of described robot;

S208, the calibrating and positioning part moving to the range deviation that another segmentation produces when the machine direction segmentation defining machined surface described in described Robot in order to mark is moved from a segmentation is set on described main shaft, set the deviant of described calibrating and positioning part relative to described process tool, and make the center line of described calibrating and positioning part and the center line of described process tool be spaced and parallel setting;

S209, the pose calibrating block of shift position relative to the pose deviation of theoretical pose value defining described robot in order to mark is set on described main shaft, make the center line of described pose calibrating block and the vertical and intersectant centerline of described main shaft, described pose calibrating block is made to comprise mutually perpendicular length direction, width and short transverse, and make the length direction of described pose calibrating block parallel with the X-direction of described work coordinate system, the width of described pose calibrating block is parallel with the Y-direction of described work coordinate system, the short transverse of described pose calibrating block is parallel with the Z-direction of described work coordinate system,

S210, on described second rest area, arrange one for scanning the three dimensional space coordinate data that obtain measurand and the three-dimensional scanner of the data acquisition of characteristic point cloud and feature automatic Mosaic can being carried out these three dimensional space coordinate data, described three-dimensional scanner is moved and is located on described second rest area, and set the position location of described three-dimensional scanner;

S211, preparation one are in order to send the host computer of operational order and display result data, make described host computer to be equipped with the model emulation analysis software that can carry out model emulation analysis to described curved surface part, and described host computer is electrically connected with described control unit, described three-dimensional scanner respectively;

S212, make described three-dimensional scanner scan described curved surface part, described pose calibrating block respectively, and reach described host computer by scanning the view data obtained;

S213, by the described model emulation analysis software of described host computer, reverse modeling and data analysis are carried out to the view data that described three-dimensional scanner transmits, to obtain the three dimensional space coordinate data in described curved surface part, described pose calibrating block respectively, and calculate the relative tilt value of three dimensional space coordinate relative to the three dimensional space coordinate of described pose calibrating block of described curved surface part, and to define this relative tilt value be that first-phase is to tilt value;

S214, to be controlled described robot by described control unit segmental machining region corresponding on described curved surface part is processed;

S215, the machine direction being controlled machined surface described in described Robot by described control unit move to another segmentation from a segmentation;

S216, make described three-dimensional scanner scan the described segmentation benchmark of distance corresponding to the movement of described robot on described calibrating and positioning part, described reference-calibrating block respectively, and reach described host computer by scanning the view data obtained;

S217, by the described model emulation analysis software of described host computer, reverse modeling and data analysis are carried out to the view data that described three-dimensional scanner transmits, to obtain the three dimensional space coordinate data corresponding to the described segmentation benchmark of the distance of described robot movement on described calibrating and positioning part, described reference-calibrating block respectively, and the three dimensional space coordinate data drawn both this are carried out error analysis, range error when moving to another segmentation with the machine direction obtaining machined surface described in described Robot from a segmentation;

S218, by described host computer, described range error is reached described control unit, then compensated and corrected by the D coordinates value that described control unit is current to described robot, and after compensating approach, this range error is reset;

S219, repetition above-mentioned steps S213 to S217, until described curved surface part machines;

S220, the described curved surface part processed to be moved apart on described first rest area, and curved surface part described in another one to be processed is located on described first rest area;

S221, make described three-dimensional scanner scan curved surface part described in another one, described pose calibrating block respectively, and reach described host computer by scanning the view data obtained;

S222, by the described model emulation analysis software of described host computer, reverse modeling and data analysis are carried out to the view data that described three-dimensional scanner transmits, to obtain the three dimensional space coordinate data in curved surface part described in another one, described pose calibrating block respectively, and calculate the relative tilt value of three dimensional space coordinate relative to the three dimensional space coordinate of described pose calibrating block of curved surface part described in another one, and to define this relative tilt value be that second-phase is to tilt value;

S223, by the described model emulation analysis software of described host computer, to tilt value, reverse modeling and error analysis are carried out to tilt value and described first-phase to described second-phase, to obtain the offset error of curved surface part described in another one relative to the described curved surface part of first processing;

S224, by described host computer, described offset error is reached described control unit, then compensated and corrected by the three dimensional space coordinate data that described control unit is current to described robot;

S225, repetition above-mentioned steps S214 to S218, until curved surface part machines described in another one;

S226, repetition above-mentioned steps 220 to S225, until n described curved surface part machines.

Further, make described reference-calibrating block be strip structure, and the distance arranging some described segmentation benchmark is L, and L > 0, make some described segmentation benchmark be that uniform intervals is arranged along same rectilinear direction.

The technique effect of the processing method of curved surface part of the present invention is: by being provided with robot, pose calibrating block, reference-calibrating block, calibrating and positioning part and three-dimensional scanner, thus, before processing, first make three-dimensional scanner respectively sweep surface part, pose calibrating block, then data on image are reached host computer, by the model emulation analysis software of host computer, reverse modeling and data analysis are carried out to view data again, to obtain first-phase to tilt value, adding man-hour, make robot to curved surface part segmental machining, and when robot moves to another segment distance from a segment distance, calibrating and positioning part is scanned respectively by three-dimensional scanner, the segmentation benchmark corresponding to the distance of robot movement on reference-calibrating block, to obtain calibrating and positioning part respectively, the three dimensional space coordinate data corresponding to the segmentation benchmark of the distance of robot movement on reference-calibrating block, and the three dimensional space coordinate data drawn both this are carried out reverse modeling and error analysis, range error when moving to another segmentation with the machine direction obtaining Robot machined surface from a segmentation, by host computer, corresponding for this range error data are sent to control unit again, then, the D coordinates value current to robot according to this range error by control unit compensates and corrects, and this range error is reset after compensating approach, afterwards, then continue to make robot move to another segment distance from a segment distance, until whole curved surface part machines, and man-hour is added to another one curved surface part, three-dimensional scanner is first made to scan another one curved surface part, pose calibrating block respectively, then data on image are reached host computer, by the model emulation analysis software of host computer, reverse modeling and data analysis are carried out to view data again, to obtain second-phase to tilt value, again then, calculate second-phase to tilt value and first-phase to the error between tilt value, draw offset error with correspondence, again then, robot is compensated and corrected according to offset error by host computer, afterwards, aforesaid operations is repeated, until another one curved surface part machines, repeat aforesaid operations again, until all curved surface parts machine.

Side by side, by the flexibility of processing of robots, also help and realize large scale curved surface part clamped one time overall processing.

The present invention also provides the process equipment of curved surface part, and described curved surface part has at least one machined surface, and described machined surface is provided with the machine direction in order to process described machined surface, and described process equipment comprises:

First rest area of placing is stopped for described curved surface part;

Be close to the second rest area of described first rest area;

In order to the robot processed described curved surface part, the machine direction of machined surface described in described Robot moves to be located on described second rest area, and described robot comprises robot body and the control unit in order to control described robot body work, described robot body is equipped with the actuator performing Machining Instruction, described actuator comprises main shaft and is located at the process tool on described main shaft, described control unit is provided with the work coordinate system of described robot, and work coordinate system described in this comprises mutually perpendicular X-direction, Y-direction and Z-direction,

The reference-calibrating block of the three dimensional space coordinate of described robot is limited in order to mark, described reference-calibrating block is located between described first rest area and described second rest area, and extended along the machine direction of described machined surface, and described reference-calibrating block includes the segmentation benchmark that several correspond to the distance of described robot segmentation movement;

In order to identify the calibrating and positioning part moving to the range deviation that another segmentation produces when the machine direction segmentation defining machined surface described in described Robot is moved from a segmentation, described calibrating and positioning part is located on described main shaft, and the center line of described calibrating and positioning part and the center line of described process tool are spaced and parallel setting;

The pose calibrating block of shift position relative to the pose deviation of theoretical pose value of described robot is defined in order to mark, described pose calibrating block is located on described main shaft, and the center line of described pose calibrating block and the vertical and intersectant centerline of described main shaft, described pose calibrating block comprises mutually perpendicular length direction, width and short transverse, and the length direction of described pose calibrating block is parallel with the X-direction of described work coordinate system, the width of described pose calibrating block is parallel with the Y-direction of described work coordinate system, the short transverse of described pose calibrating block is parallel with the Z-direction of described work coordinate system,

For scanning the three dimensional space coordinate data the three-dimensional scanner that can carry out reverse modeling and error analysis to these three dimensional space coordinate data that obtain measurand, described three-dimensional scanner moves to be located on described second rest area;

In order to send the host computer of operational order and display result data, described host computer is equipped with the model emulation analysis software that can carry out model emulation analysis to described curved surface part, and described host computer is electrically connected with described control unit, described three-dimensional scanner respectively.

Particularly, described pose calibrating block is rectangular structure, and the length of described rectangular structure, width and unequal highly mutually.

Particularly, described reference-calibrating block is strip structure, and the distance of some described segmentation benchmark is L, L > 0, and this some described segmentation benchmark is that uniform intervals is arranged along same rectilinear direction.。

Particularly, described robot also comprises the bottom of being located at described robot body and to slide the slide block arranged and the sliding platform coordinated with described skid to make described robot body, and described sliding platform is located on described second rest area and machine direction along described machined surface is extended.

Particularly, described three-dimensional scanner is located at the side of described robot bottom.

The technique effect of the process equipment of curved surface part of the present invention is: process equipment of the present invention forms primarily of robot, pose calibrating block, reference-calibrating block, calibrating and positioning part, three-dimensional scanner and host computer, thus, before processing, first make three-dimensional scanner sweep surface part, pose calibrating block respectively, then data on image are reached host computer, by the model emulation analysis software of host computer, reverse modeling and data analysis are carried out to view data again, to obtain first-phase to tilt value, adding man-hour, make robot to curved surface part segmental machining, and when robot moves to another segment distance from a segment distance, calibrating and positioning part is scanned respectively by three-dimensional scanner, the segmentation benchmark corresponding to the distance of robot movement on reference-calibrating block, to obtain calibrating and positioning part respectively, the three dimensional space coordinate data corresponding to the segmentation benchmark of the distance of robot movement on reference-calibrating block, and the three dimensional space coordinate data drawn both this are carried out reverse modeling and error analysis, range error when moving to another segmentation with the machine direction obtaining Robot machined surface from a segmentation, by host computer, corresponding for this range error data are sent to control unit again, then, the D coordinates value current to robot according to this range error by control unit compensates and corrects, and this range error is reset after compensating approach, afterwards, then continue to make robot move to another segment distance from a segment distance, until whole curved surface part machines, and man-hour is added to another one curved surface part, three-dimensional scanner is first made to scan another one curved surface part, pose calibrating block respectively, then data on image are reached host computer, by the model emulation analysis software of host computer, reverse modeling and data analysis are carried out to view data again, to obtain second-phase to tilt value, again then, calculate second-phase to tilt value and first-phase to the error between tilt value, draw offset error with correspondence, again then, robot is compensated and corrected according to offset error by host computer, afterwards, aforesaid operations is repeated, until another one curved surface part machines, repeat aforesaid operations again, until all curved surface parts machine.

Accompanying drawing explanation

Fig. 1 is the schematic diagram of the process equipment of curved surface part of the present invention;

Fig. 2 is the calibrating and positioning part of the process equipment of curved surface part of the present invention and the position relationship schematic diagram of process tool;

Fig. 3 is the schematic diagram of the first embodiment of the processing method of the process equipment of curved surface part of the present invention;

Fig. 4 is the FB(flow block) of the first embodiment of the processing method of the process equipment of curved surface part of the present invention;

Fig. 5 is the schematic diagram of the second embodiment of the processing method of the process equipment of curved surface part of the present invention;

Fig. 6 is the schematic diagram removing curved surface part in Fig. 4, to show the three-dimensional coordinate system of curved surface part.

Detailed description of the invention

In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.

the embodiment of the processing method of curved surface part:

embodiment one:

Refer to Fig. 1 to Fig. 4, below the processing method of the curved surface part of the present embodiment is set forth.

The processing method of the curved surface part of the present embodiment, comprises the following steps:

Step S101, the individual curved surface part 20 to be processed of preparation n, and n >=2, arbitrary curved surface part 20 has at least one machined surface 21, and on machined surface 21, arrange the machine direction in order to process machined surface 21, and wherein, this machine direction is as indicated by the arrowp;

Step S102, arrange one for curved surface part 20 stop place the first rest area 11;

Step S103, curved surface part 20 is located on the first rest area 11;

Step S104, the robot 12 of preparation one in order to process curved surface part 20, the control unit (not indicating in figure) that robot 12 comprises robot body 121 and works in order to control machine human body 121 is set, make the actuator 1210 robot body 121 being equipped with perform Machining Instruction, and actuator 1210 is set comprises main shaft 1211 and process tool 1212, process tool 1212 is made to be installed on main shaft 1211, wherein, this process tool 1212 can be drilling cutters or milling cutter;

Step S105, arrange one, for robot 12, the second rest area 13 arranged is installed, and make the second rest area 13 be close to the first rest area 11;

Step S106, robot 12 moved along the machine direction of machined surface 21 and is located on the second rest area 13, and on control unit, set the work coordinate system of robot 12, and make work coordinate system comprise mutually perpendicular X-direction, Y-direction and Z-direction;

Step S107, the pose calibrating block 18 of shift position relative to the pose deviation of theoretical pose value defining robot 12 in order to mark is set on main shaft 1211, and make the center line of pose calibrating block 18 and the vertical and intersectant centerline of main shaft 1211, pose calibrating block 18 is made to comprise mutually perpendicular length direction, width and short transverse, and make the length direction of pose calibrating block 18 parallel with the X-direction of work coordinate system, the width of pose calibrating block 18 is parallel with the Y-direction of work coordinate system, the short transverse of pose calibrating block 18 is parallel with the Z-direction of work coordinate system,

Step S108, on the second rest area 13, arrange one for scanning the three dimensional space coordinate data that obtain measurand and the three-dimensional scanner 15 of the data acquisition of characteristic point cloud and feature automatic Mosaic can being carried out these three dimensional space coordinate data, three-dimensional scanner 15 is moved and is located on the second rest area 13;

Step S109, preparation one are in order to send the host computer 16 of operational order and display result data, make host computer 16 to be equipped with the model emulation analysis software that can carry out model emulation analysis to curved surface part 20, wherein, this model emulation analysis software comprises CAD software and reverse modeling Geomagic software composition, meanwhile, host computer 16 is made to be electrically connected with control unit, three-dimensional scanner 15 respectively;

Step S110, make three-dimensional scanner 15 scan described curved surface part 20, pose calibrating block 18 respectively, and reach host computer 16 by scanning the view data obtained;

Step S111, by the model emulation analysis software of host computer 16, reverse modeling and data analysis are carried out to the view data that three-dimensional scanner 15 transmits, to obtain the three dimensional space coordinate data in curved surface part 20, pose calibrating block 18 respectively, and the three dimensional space coordinate calculating curved surface part 20 is relative to the relative tilt value of the three dimensional space coordinate of pose calibrating block 18, is (x1, y1, z1, Rx1, Ry1, Rz1,), and to define this relative tilt value be that first-phase is to tilt value;

Step S112, to be processed by control unit control 12 pairs of curved surface parts 20;

Step S113, the curved surface part 20 processed to be moved apart on the first rest area 11, and another one curved surface part 20 to be processed is located on the first rest area 11;

Step S114, make three-dimensional scanner 15 scan another one curved surface part 20, pose calibrating block 18 respectively, and reach host computer 16 by scanning the view data obtained;

Step S115, by the model emulation analysis software of host computer 16, reverse modeling and data analysis are carried out to the view data that three-dimensional scanner 15 transmits, to obtain the three dimensional space coordinate data in another one curved surface part 20, pose calibrating block 18 respectively, and calculate the relative tilt value of three dimensional space coordinate relative to the three dimensional space coordinate of pose calibrating block 18 of another one curved surface part 20, be (x2, y2, z2, Rx2, Ry2, Rz2,), and to define this relative tilt value be that second-phase is to tilt value;

Step S116, by the model emulation analysis software of host computer 16, to tilt value, reverse modeling and error analysis are carried out to tilt value and first-phase to second-phase, to obtain the offset error of another one curved surface part 20 relative to the curved surface part 20 of first processing, be (Δ x, Δ y, Δ z, Δ Rx, Δ Ry, Δ Rz);

Step S117, by host computer 16, offset error is reached control unit, then compensated and corrected by the three dimensional space coordinate data that control unit is current to robot 12;

Step S118, to be processed by control unit control 12 pairs of another one curved surface parts 20;

Step S119, repetition above-mentioned steps S113 to S118, until n curved surface part 20 machines.

The present embodiment is by being provided with robot 12, pose calibrating block 18, three-dimensional scanner 15 and host computer 16, thus, first make three-dimensional scanner 15 sweep surface part 20, pose calibrating block 18 respectively, then data on image are reached host computer 16, by the model emulation analysis software of host computer 16, reverse modeling and data analysis are carried out to view data again, to obtain first-phase to tilt value; Then, this curved surface part 20 is processed; And after processing, another one curved surface part 20 in replacement; Then, three-dimensional scanner 15 is made to scan another one curved surface part 20, pose calibrating block 18 respectively again, then data on image are reached host computer 16, then by the model emulation analysis software of host computer 16, reverse modeling and data analysis are carried out to view data, to obtain second-phase to tilt value; Again then, calculate second-phase to tilt value and first-phase to the error between tilt value, draw offset error with correspondence; Again then, robot 12 is compensated and corrected according to offset error by host computer 16; Then, another curved surface part 20 is processed; Afterwards, above-mentioned steps is repeated, until all curved surface parts 20 machine.

And the processing method of the curved surface part adopting the present embodiment to provide, the problem that curved surface part 20 deflects can be there is after not only effectively solving curved surface part 20 clamping, the mismachining tolerance of robot 12 pairs of curved surface parts 20 processing is reduced with this, meanwhile, the machining accuracy improving curved surface part 20 is also helped.

Refer to Fig. 2, for the ease of Production design, pose calibrating block 18 is set for rectangular structure, and make the length of rectangular structure, width and unequal highly mutually, so that user knows the length, width and the height that distinguish rectangular structure, the X-direction of the work coordinate system knowing robot 20, Y-direction and Z-direction then can be known.Further, the length arranging pose calibrating block 18 is 45-50mm, width is 25-30mm, highly for 15-20mm, and preferably, the length can choosing this pose calibrating block 18 is 50mm, width is 30mm, be highly 20mm.

embodiment two:

Refer to Fig. 5 and Fig. 6, and composition graphs 1 and Fig. 2, below the processing method of the curved surface part of the present embodiment is set forth.

Step S201, the individual curved surface part 20 to be processed of preparation n, and n >=2, arbitrary curved surface part 20 has at least one machined surface 21, and on machined surface 21, set the machine direction in order to process machined surface 21, and wherein, this machine direction is as indicated by the arrowp;

Step S202, arrange one for curved surface part 20 stop place the first rest area 11;

Step S203, a curved surface part 20 is located on the first rest area 11;

Step S204, prepare a sectional and move robot 12 to carry out segmental machining to curved surface part 20, the control unit (not indicating in figure) that robot 12 comprises robot body 121 and works in order to control machine human body 121 is set, make the actuator 1210 robot body 121 being equipped with perform Machining Instruction, and actuator 1210 is set comprises main shaft 1211 and process tool 1212, process tool 1212 is made to be installed on main shaft 1211, wherein, this process tool 1212 can be drilling cutters or milling cutter;

Step S205, arrange one, for robot 12, the second rest area 13 arranged is installed, and make the second rest area 13 be close to the first rest area 11;

Step S206, robot 12 moved along the machine direction of machined surface 21 and is located on the second rest area 13, and on control unit, set the work coordinate system of robot 12, and make work coordinate system comprise mutually perpendicular X-direction, Y-direction and Z-direction;

Step S207, between the first rest area 11 and the second rest area 13, arrange one in order to identify the reference-calibrating block 14 of the three dimensional space coordinate of limiting robot 12, make reference-calibrating block 14 extended along the machine direction of machined surface 21, and reference-calibrating block 14 is set includes the segmentation benchmark 141 of distance that several correspond to robot 12 segmentation movement;

Step S208, arrange on main shaft 1211 and define in order to mark the calibrating and positioning part 17 moving to the range deviation that another segmentation produces when robot 12 moves along the machine direction segmentation of machined surface 21 from a segmentation, setting calibrating and positioning part 17 relative to the deviant of process tool 1212, and makes the center line of the center line of calibrating and positioning part 17 and process tool 1212 be spaced and parallel setting;

Step S209, the pose calibrating block 18 of shift position relative to the pose deviation of theoretical pose value defining robot 12 in order to mark is set on main shaft 1211, and make the center line of pose calibrating block 18 and the vertical and intersectant centerline of main shaft 1211, pose calibrating block 18 is made to comprise mutually perpendicular length direction, width and short transverse, and make the length direction of pose calibrating block 18 parallel with the X-direction of work coordinate system, the width of pose calibrating block 18 is parallel with the Y-direction of work coordinate system, the short transverse of pose calibrating block 18 is parallel with the Z-direction of work coordinate system,

Step S210, in robot 12, arrange one for scanning the three dimensional space coordinate data that obtain measurand and the three-dimensional scanner 15 of the data acquisition of characteristic point cloud and feature automatic Mosaic can being carried out these three dimensional space coordinate data, three-dimensional scanner 15 is moved and is located on the second rest area 13, and the position location of setting three-dimensional scanner 15;

Step S211, preparation one are in order to send the host computer 16 of operational order and display result data, make host computer 16 to be equipped with the model emulation analysis software that can carry out model emulation analysis to curved surface part 20, wherein, this model emulation analysis software comprises CAD software and reverse modeling Geomagic software composition, meanwhile, host computer 16 is made to be electrically connected with control unit, three-dimensional scanner 15 respectively;

Step S212, make three-dimensional scanner 15 respectively sweep surface part 20, pose calibrating block 18, and reach host computer 16 by scanning the view data obtained;

Step S213, by the model emulation analysis software of host computer 16, reverse modeling and data analysis are carried out to the view data that three-dimensional scanner 15 transmits, to obtain the three dimensional space coordinate data in curved surface part 20, pose calibrating block 18 respectively, and the three dimensional space coordinate calculating curved surface part 20 is relative to the relative tilt value of the three dimensional space coordinate of pose calibrating block 18, is (x1, y1, z1, Rx1, Ry1, Rz1,), and to define this relative tilt value be that first-phase is to tilt value;

Step S214, to be processed by segmental machining region corresponding on control unit control 12 pairs of curved surface parts 20;

Step S215, move to another segmentation along the machine direction of machined surface 21 from a segmentation by control unit control 12;

Step S216, make three-dimensional scanner 15 scan the segmentation benchmark 141 corresponding to the distance of robot 12 movement on the tip portion of calibrating and positioning part 17, reference-calibrating block 14 respectively, and reach host computer 16 by scanning the view data obtained;

Step S217, by the model emulation analysis software of host computer 16, reverse modeling and data analysis are carried out to the view data that three-dimensional scanner 15 transmits, to obtain the three dimensional space coordinate data corresponding to the segmentation benchmark 141 of the distance of robot 12 movement on the tip portion of calibrating and positioning part 17, reference-calibrating block 14 respectively, may correspond to and be set to (x ₀, y ₀, z ₀), (x ₁, y ₁, z ₁), and the three dimensional space coordinate data drawn both this are carried out error analysis, to obtain range error when robot 12 moves to another segmentation along the machine direction of machined surface 21 from a segmentation, be (Δ x, Δ y, Δ z);

Step S218, by host computer 16, range error is reached control unit, then compensated and corrected by the D coordinates value that control unit is current to robot 12, and after compensating approach, this range error is reset;

Step S219, repetition above-mentioned steps S213 to S217, until curved surface part 20 machines.

Step S220, the curved surface part 20 processed to be moved apart on the first rest area 11, and another one curved surface part 20 to be processed is located on the first rest area 11;

Step S221, make three-dimensional scanner 15 scan another one curved surface part 20, pose calibrating block 18 respectively, and reach host computer 16 by scanning the view data obtained;

Step S222, by the model emulation analysis software of host computer 16, reverse modeling and data analysis are carried out to the view data that three-dimensional scanner 15 transmits, to obtain the three dimensional space coordinate data in another one curved surface part 20, pose calibrating block 18 respectively, and calculate the relative tilt value of three dimensional space coordinate relative to the three dimensional space coordinate of pose calibrating block 18 of another one curved surface part 20, be (x2, y2, z2, Rx2, Ry2, Rz2,), and to define this relative tilt value be that second-phase is to tilt value;

Step S223, by the model emulation analysis software of host computer 16, to tilt value, reverse modeling and error analysis are carried out to tilt value and first-phase to second-phase, to obtain the offset error of another one curved surface part 20 relative to the curved surface part 20 of first processing, be (Δ x, Δ y, Δ z, Δ Rx, Δ Ry, Δ Rz);

Step S224, by host computer 16, offset error is reached control unit, then compensated and corrected by the three dimensional space coordinate data that control unit is current to robot 12;

Step S225, repetition above-mentioned steps S214 to S218, until another one curved surface part 20 machines;

Step S226, repetition above-mentioned steps S220 to S225, until n curved surface part 20 machines.

The present embodiment is by being provided with robot 12, reference-calibrating block 14, calibrating and positioning part 17, pose calibrating block 18, three-dimensional scanner 15 and host computer 16, thus, before processing, first make three-dimensional scanner 15 sweep surface part 20, pose calibrating block 18 respectively, then data on image are reached host computer 16, by the model emulation analysis software of host computer 16, reverse modeling and data analysis are carried out to view data again, to obtain first-phase to tilt value, adding man-hour, make robot 12 pairs of curved surface part 20 segmental machining, and when robot 12 moves to another segment distance from a segment distance, calibrating and positioning part 17 is scanned respectively by three-dimensional scanner 15, the segmentation benchmark 141 corresponding to the distance of robot 12 movement on reference-calibrating block 14, to obtain calibrating and positioning part 17 respectively, the three dimensional space coordinate data corresponding to the segmentation benchmark 141 of the distance of robot 14 movement on reference-calibrating block 14, and the three dimensional space coordinate data drawn both this are carried out reverse modeling and error analysis, to obtain range error when robot 12 moves to another segmentation along the machine direction of machined surface from a segmentation, by host computer 16, corresponding for this range error data are sent to control unit again, then, the D coordinates value current to robot 12 according to this range error by control unit compensates and corrects, and this range error is reset after compensating approach, afterwards, then continue to make robot 12 move to another segment distance from a segment distance, until whole curved surface part 20 machines, and man-hour is added to another one curved surface part 20, three-dimensional scanner 15 is first made to scan another one curved surface part 20, pose calibrating block 18 respectively, then data on image are reached host computer 16, by the model emulation analysis software of host computer 16, reverse modeling and data analysis are carried out to view data again, to obtain second-phase to tilt value, again then, calculate second-phase to tilt value and first-phase to the error between tilt value, draw offset error with correspondence, again then, robot 12 is compensated and corrected according to offset error by host computer 16, afterwards, aforesaid operations is repeated, until another one curved surface part 20 machines, repeat aforesaid operations again, until all curved surface parts 20 machine.

Have again, calculated by the deflection value of three-dimensional scanner 15 pairs of curved surface parts 20, and the deflection value obtained is reached control unit, to make control unit can carry out corresponding compensation to the D coordinates value of robot 12, realize high position precision batch curved surface part 20 being added automatically to man-hour.

Refer to Fig. 1, and composition graphs 3, for the ease of processing, reference-calibrating block 14 is set for strip structure.Further, the distance arranging some segmentation benchmark 141 is L, and L > 0, and make some segmentation benchmark 141 be that uniform intervals is arranged along same rectilinear direction, so that the displacement of operating personnel's control 12, side by side, the processing sets up of producers is also conducive to.

the embodiment of the process equipment of curved surface part:

Refer to Fig. 1 to Fig. 6, below the most preferred embodiment of the process equipment of curved surface part of the present invention is set forth.

In the present embodiment, curved surface part 20 has at least one machined surface 21, machined surface 21 is provided with the machine direction in order to process machined surface 21, wherein, this machine direction as indicated by the arrowp, and the process equipment 10 of the present embodiment comprises the first rest area 13, rest area 11, second, robot 12, reference-calibrating block 14, calibrating and positioning part 17, three-dimensional scanner 15 and host computer 16, below each parts of this process equipment 10 are described further:

First rest area 11 is placed for stopping for curved surface part 20;

Second rest area 13 is close to the first rest area 11;

Robot 12 sectional moves to carry out segmental machining to curved surface part 20, wherein, the control unit (not indicating in figure) that robot 12 comprises robot body 121 and works in order to control machine human body 121, robot body 121 is equipped with the actuator 1210 performing Machining Instruction, actuator 1210 comprises main shaft 1211 and is installed on the process tool 1212 on main shaft 1211, actuator 1210 comprises main shaft 1211 and is located at the process tool 1212 on main shaft 1211, control unit is provided with the work coordinate system of robot 12, and this work coordinate system comprises mutually perpendicular X-direction, Y-direction and Z-direction, wherein, this process tool 1212 can be drilling or milling cutter,

Reference-calibrating block 14 is the three dimensional space coordinate in order to identify limiting robot 12, wherein, reference-calibrating block 14 is located between the first rest area 11 and the second rest area 13, and extended along the machine direction of machined surface 21, and reference-calibrating block 14 includes the segmentation benchmark 141 that several correspond to the distance of robot 12 segmentation movement;

Calibrating and positioning part 17 is define when robot 12 moves along the machine direction segmentation of machined surface 21 in order to mark to move to from a segmentation range deviation that another segmentation produces, wherein, calibrating and positioning part 17 is located on main shaft 1211, and the center line of the center line of calibrating and positioning part 17 and process tool 1212 is spaced and parallel setting;

Pose calibrating block 18 is define the pose deviation of shift position relative to initial position of robot 12 in order to mark, wherein, pose calibrating block 18 is located on main shaft 1211, and the vertical and intersectant centerline of the center line of pose calibrating block 18 and main shaft 1211, pose calibrating block 18 comprises mutually perpendicular length direction, width and short transverse, and the length direction of pose calibrating block 18 and the X-direction of work coordinate system parallel, the width of pose calibrating block 18 is parallel with the Y-direction of work coordinate system, the short transverse of pose calibrating block 18 is parallel with the Z-direction of work coordinate system,

Three-dimensional scanner 15 is also can carry out reverse modeling and error analysis to these three dimensional space coordinate data for scanning the three dimensional space coordinate data obtaining measurand, and wherein, three-dimensional scanner 15 moves to be located on the second rest area 13;

Host computer 16 is in order to send operational order and display result data, wherein, host computer 16 is equipped with the model emulation analysis software that can carry out model emulation analysis to curved surface part 20, and host computer 16 to be electrically connected with control unit, three-dimensional scanner 15 respectively.

The process equipment 10 of the present embodiment forms primarily of robot 12, pose calibrating block 18, calibrating and positioning part 17, three-dimensional scanner 15 and host computer 16, thus, before processing, first make three-dimensional scanner 15 sweep surface part 20, pose calibrating block 18 respectively, then data on image are reached host computer 16, by the model emulation analysis software of host computer 16, reverse modeling and data analysis are carried out to view data again, to obtain first-phase to tilt value, adding man-hour, make robot 12 pairs of curved surface part 20 segmental machining, and when robot 12 moves to another segment distance from a segment distance, calibrating and positioning part 17 is scanned respectively by three-dimensional scanner 15, the segmentation benchmark 141 corresponding to the distance of robot 12 movement on reference-calibrating block 14, to obtain calibrating and positioning part 17 respectively, the three dimensional space coordinate data corresponding to the segmentation benchmark 141 of the distance of robot 14 movement on reference-calibrating block 14, and the three dimensional space coordinate data drawn both this are carried out reverse modeling and error analysis, to obtain range error when robot 12 moves to another segmentation along the machine direction of machined surface from a segmentation, by host computer 16, corresponding for this range error data are sent to control unit again, then, the D coordinates value current to robot 12 according to this range error by control unit compensates and corrects, and this range error is reset after compensating approach, afterwards, then continue to make robot 12 move to another segment distance from a segment distance, until whole curved surface part 20 machines, and man-hour is added to another one curved surface part 20, three-dimensional scanner 15 is first made to scan another one curved surface part 20, pose calibrating block 18 respectively, then data on image are reached host computer 16, by the model emulation analysis software of host computer 16, reverse modeling and data analysis are carried out to view data again, to obtain second-phase to tilt value, again then, calculate second-phase to tilt value and first-phase to the error between tilt value, draw offset error with correspondence, again then, robot 12 is compensated and corrected according to offset error by host computer 16, afterwards, aforesaid operations is repeated, until another one curved surface part 20 machines, repeat aforesaid operations again, until all curved surface parts 20 machine.

Refer to Fig. 2, for the ease of Production design, this pose calibrating block 14 is rectangular structure, and the length of rectangular structure, width and unequal highly mutually, so that user knows the length, width and the height that distinguish rectangular structure, the X-direction of the work coordinate system knowing robot 20, Y-direction and Z-direction then can be known.Further, the length of pose calibrating block 14 is 45-50mm, width is 25-30mm, highly for 15-20mm, and preferably, the length can choosing this pose calibrating block 14 is 50mm, width is 30mm, be highly 20mm.

Refer to Fig. 1, and composition graphs 3, for the ease of processing, reference-calibrating block 14 is strip structure.Further, the distance of some segmentation benchmark 144 is L, and L > 0, and this some segmentation benchmark 141 is that uniform intervals is arranged along same rectilinear direction.So that the displacement of operating personnel's control 12, side by side, the processing sets up of producers is also conducive to.

Refer to Fig. 1, the robot 12 of the present embodiment also comprises the bottom of being located at robot body 121 and to slide the slide block 122 arranged and the sliding platform 123 be slidably matched with slide block 122 to make robot body 121, wherein, this sliding platform 123 is located on the second rest area 13, and extended along the machine direction of machined surface 21, this three-dimensional scanner 15 is located at one end of sliding platform 123.And by the setting of slide block 122 and sliding platform 123, make robot body 121 move along the machine direction of machined surface 21 simply and effectively.

In addition, the three-dimensional scanner 15 of the present embodiment is located at the side of robot 12 bottom, with this, can make to follow the movement of robot 12 and move, eliminating the setting of travel mechanism in three-dimensional scanner 15.

Below in conjunction with each graphic, the operation principle of the process equipment 10 of the curved surface part of the present embodiment is described further:

Before processing, first make three-dimensional scanner 15 sweep surface part 20, pose calibrating block 18 respectively, then data on image are reached host computer 16, then by the model emulation analysis software of host computer 16, reverse modeling and data analysis are carried out to view data, to obtain first-phase to tilt value, adding man-hour, make robot 12 pairs of curved surface part 20 segmental machining, and when robot 12 moves to another segment distance from a segment distance, calibrating and positioning part 17 is scanned respectively by three-dimensional scanner 15, the segmentation benchmark 141 corresponding to the distance of robot 12 movement on reference-calibrating block 14, to obtain calibrating and positioning part 17 respectively, the three dimensional space coordinate data corresponding to the segmentation benchmark 141 of the distance of robot 14 movement on reference-calibrating block 14, and the three dimensional space coordinate data drawn both this are carried out reverse modeling and error analysis, to obtain range error when robot 12 moves to another segmentation along the machine direction of machined surface from a segmentation, by host computer 16, corresponding for this range error data are sent to control unit again, then, the D coordinates value current to robot 12 according to this range error by control unit compensates and corrects, and this range error is reset after compensating approach, afterwards, then continue to make robot 12 move to another segment distance from a segment distance, until whole curved surface part 20 machines, and man-hour is added to another one curved surface part 20, three-dimensional scanner 15 is first made to scan another one curved surface part 20, pose calibrating block 18 respectively, then data on image are reached host computer 16, by the model emulation analysis software of host computer 16, reverse modeling and data analysis are carried out to view data again, to obtain second-phase to tilt value, again then, calculate second-phase to tilt value and first-phase to the error between tilt value, draw offset error with correspondence, again then, robot 12 is compensated and corrected according to offset error by host computer 16, afterwards, aforesaid operations is repeated, until another one curved surface part 20 machines, repeat aforesaid operations again, until all curved surface parts 20 machine.

The foregoing is only preferred embodiment of the present invention, its structure is not limited to the above-mentioned shape enumerated, and all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.

Claims

1. the processing method of curved surface part, is characterized in that, comprises the following steps:

S103, a described curved surface part is located on described first rest area;

2. the processing method of curved surface part as claimed in claim 1, is characterized in that: arranging described pose calibrating block is rectangular structure, and makes the length of described rectangular structure, width and unequal highly mutually.

3. the processing method of curved surface part, is characterized in that, comprises the steps:

S203, a described curved surface part is located on described first rest area;

4. the processing method of curved surface part as claimed in claim 3, is characterized in that: arranging described pose calibrating block is rectangular structure, and makes the length of described rectangular structure, width and unequal highly mutually.

5. the processing method of the curved surface part as described in claim 3 or 4, it is characterized in that: make described reference-calibrating block be strip structure, and the distance arranging some described segmentation benchmark is L, and L > 0, make some described segmentation benchmark be that uniform intervals is arranged along same rectilinear direction.

6. the process equipment of curved surface part, described curved surface part has at least one machined surface, and described machined surface is provided with the machine direction in order to process described machined surface, it is characterized in that, described process equipment comprises:

First rest area of placing is stopped for described curved surface part;

Be close to the second rest area of described first rest area;

For scanning the three dimensional space coordinate data the three-dimensional scanner that can carry out reverse modeling and error analysis to these three dimensional space coordinate data that obtain measurand, described three-dimensional scanner moves to be located on described second rest area; And

7. the process equipment of curved surface part as claimed in claim 6, is characterized in that: described pose calibrating block is rectangular structure, and the length of described rectangular structure, width and unequal highly mutually.

8. the process equipment of curved surface part as claimed in claim 6, it is characterized in that: described reference-calibrating block is strip structure, and the distance of some described segmentation benchmark is L, L > 0, this some described segmentation benchmark is that uniform intervals is arranged along same rectilinear direction.

9. the process equipment of the curved surface part as described in any one of claim 6-8, it is characterized in that: described robot also comprises the bottom of being located at described robot body and to slide the slide block arranged and the sliding platform coordinated with described skid to make described robot body, described sliding platform is located on described second rest area and machine direction along described machined surface is extended.

10. the process equipment of the curved surface part as described in any one of claim 6-8, is characterized in that: described three-dimensional scanner is located at the side of described robot bottom.