CN106647631A - Gantry hole making machine tool machining collision detection analysis method - Google Patents

Abstract

The invention provides a gantry hole making machine tool machining collision detection analysis method. In the gantry hole making machine tool machining collision detection analysis method, the workpiece curve surface and the clamp of a fixed workpiece are subjected to discrete processing to obtain discrete point cloud data, the sub-machine-tool of a gantry hole making machine tool is subjected to modeling to obtain a first key parameter set (as shown in the description) and a second key parameter set (as shown in the description) of the sub-machine-tool, a point cloud set of a theoretical processing hole for collision determination is further selected, and whether the points in the point cloud set collide with the sub-machine-tool of the theoretical processing hole is determined, all of the theoretical processing holes of the workpiece are subjected to the above determination, so that the machinability analysis of all of the theoretical processing holes of the workpiece can be completed, and the subsequent actual hole making can be facilitated.

Description

Gantry drilling lathe manufacturing collision determination method

Technical field

The present invention relates to Aviation Digitalization manufacture field, more particularly to a kind of detection and analysis of gantry drilling lathe manufacturing collision Method.

Background technology

Drilling task is very important task in aviation drilling, and in aircraft manufacturing with production very big operation ratio is occupied Weight, existing processing mode mainly by the way of artificial drilling, with artificial line and then using manual electric drill drilling operation is completed. Because in artificial drilling, drilling quality quality relies on the highly skilled degree of workman, it is difficult to ensure uniform quality, it is possible that group The serious drilling problem of the overproof grade in hole.Drilling part is aircraft wing or fuselage grid beam and covering, is had already been through in early stage many The installation and fixation of procedure, manufacturing cost is expensive, and for the aeronautical product for having particular/special requirement, to requirement on machining accuracy compared with It is high.In recent years, start to be applied in aviation drilling task as the digitlization hole fabrication techniques of process equipment using Digit Control Machine Tool. In aeronautical manufacture, processing arrangement of boring holes is generally irregular on workpiece, it is difficult to intuitively determine whether the hole position can process.It is especially right In the inwall drilling of tubular workpiece, determine whether processing processing machine can reach the theoretical processing of design in early stage processes planning The hole position in hole, to reject the theoretical processing hole that can not be processed in planning early stage, is particularly important so as to avoid colliding.

The content of the invention

In view of the defect that prior art is present, it is an object of the invention to provide a kind of inspection of gantry drilling lathe manufacturing collision Analysis method is surveyed, it can complete the machinability analysis in all theoretical processing hole of workpiece, so as to be conducive to subsequently actually carrying out Drilling operation.

To achieve these goals, the invention provides a kind of gantry drilling lathe manufacturing collision determination method, uses In detection and analysis of drilling lathe in gantry to the manufacturing collision in the theoretical processing hole of workpiece, drilling lathe in gantry is sub including n Lathe, it is characterised in that gantry drilling lathe manufacturing collision determination method includes step：

S1, in workpiece coordinate system O_W-X_WY_WZ_WIt is lower to build the theoretical processing hole of workpiece, and extract the position in theoretical processing hole CoordinateWith the unit normal vector in theoretical processing holeWherein, I_k, J_k, K_kIt is respectively theoretical The unit normal vector in processing hole is in workpiece coordinate system O_W-X_WY_WZ_WX_WAxle, Y_WAxle, Z_WUnit vector on axle, wherein, k=1, 2,...,N_total, N_totalFor the sum in the theoretical processing hole on workpiece；

S2, measures and is calculated the processing machine coordinate system O of processing machine using laser tracker_Mi-X_MiY_MiZ_MiSit in workpiece Mark system O_W-X_WY_WZ_WUnder relative pose

Wherein, Mi=1,2 ..., n, Mi represent that processing machine Mi, n represent the sum of the processing machine on gantry drilling lathe, n >=1,Represent the X of processing machine Mi_MiThe axle direction of motion is in workpiece coordinate system O_W-X_WY_WZ_WIn arrow Amount expression,Represent the Y of processing machine Mi_MiThe axle direction of motion is in workpiece coordinate system O_W-X_WY_WZ_WIn Vector representation,Represent the Z of processing machine Mi_MiThe axle direction of motion is in workpiece coordinate system O_W-X_WY_WZ_WIn Vector representation,Represent origin of coordinates O of processing machine Mi_MiIn workpiece coordinate system O_W-X_WY_WZ_WIn vector representation；

S3, to creating fixture bounding box for the fixture for fixing workpiece, distinguishes discrete by curve surface of workpiece and fixture bounding box For discrete point cloud data wBndBox_3×wsizeAnd fBndBox_3×fsize, wherein, wsize is discrete for the discrete point cloud of curve surface of workpiece Point quantity, fsize is the discrete point quantity of the discrete point cloud of fixture bounding box, so as to obtain including the discrete point cloud of curve surface of workpiece The population variance cloud data BndBox of the discrete point cloud data of data and fixture bounding box_{3×(wsize+fsize)}, wherein, (wsize+ Fsize) for curve surface of workpiece discrete point cloud and fixture bounding box discrete point cloud discrete point total quantity；

S4, according to the position coordinates in the theoretical processing hole obtained in step S1With theoretical processing hole Unit normal vectorAnd the processing machine coordinate system O of the processing machine obtained in step S2_Mi-X_MiY_MiZ_MiIn work Part coordinate system O_W-X_WY_WZ_WIn vectorObtain the first key parameter set of processing machineWith the second key parameter Set

S5, according to the position coordinates in the theoretical processing hole obtained in step S1With the handset obtained in step S2 The processing machine coordinate system O of bed_Mi-X_MiY_MiZ_MiIn workpiece coordinate system O_W-X_WY_WZ_WUnder relative pose Judge the corresponding affiliated processing machine for processing the theoretical processing hole in theoretical processing hole；

S6, according to the position coordinates in the theoretical processing hole obtained in step S1With theoretical processing hole Unit normal vectorThe population variance cloud data BndBox obtained in step S3_{3×(wsize+fsize)}And step The affiliated processing machine for processing hole for processing Theory obtained in S5, Choice Theory processes the point cloud for doing collision judgment in hole Set

S7, according to the first key parameter set of the processing machine obtained in step S4With the second key parameter collection CloseAnd the point for doing collision judgment in the theoretical processing hole obtained in step S6 converges conjunctionObtain The point for doing collision judgment in theory processing hole converges conjunctionIn every bitHole is processed with for processing Theory Affiliated processing machine collision first condition and second condition；

S8, the point for doing collision judgment for judging theoretical processing hole converges conjunctionIn every bitWhether First condition or second condition are met, if the point for doing collision judgment in theoretical processing hole converges conjunctionIn have full The point of sufficient first condition or second condition, then it represents that theory processing hole and the affiliated processing machine for processing the theoretical processing hole Collide, the theoretical processing hole for meeting first condition or second condition is set to into non-machinable hole；If the use in theory processing hole Conjunction is converged in the point for doing collision judgmentIn every bitAll it is unsatisfactory for first condition and second condition, then it represents that Theory processing hole with do not collide for processing the theoretical affiliated processing machine for processing hole, first condition and the will be unsatisfactory for The theoretical processing hole of two conditions is set to and can process hole.

Beneficial effects of the present invention are as follows：

In gantry drilling lathe manufacturing collision determination method of the invention, to curve surface of workpiece and fixed workpiece Fixture carries out discrete processes and obtains discrete point cloud data, and the processing machine of gantry drilling lathe is modeled obtains processing machine First key parameter setWith the second key parameter setFurther Choice Theory processing hole for doing The point of collision judgment converges and merges whether the point for judging a little to converge in closing touches with the processing machine that hole is processed for processing Theory Hit, above-mentioned judgement is all carried out to all theoretical processing hole of workpiece with the mode of circulation, add so as to complete all theoretical of workpiece The machinability analysis in work hole, so as to the drilling operation for being conducive to subsequently actually carrying out.

Description of the drawings

Fig. 1 is gantry void formers employed in gantry drilling lathe manufacturing collision determination method of the invention The overall schematic of bed；

Fig. 2 is that theoretical processing hole correspondence is judged in gantry drilling lathe manufacturing collision determination method of the invention For processing Theory process hole affiliated processing machine schematic diagram；

Fig. 3 is the structure lathe coordinate system O- in gantry drilling lathe manufacturing collision determination method of the invention The schematic diagram of XYZ；

Fig. 4 is the enlarged drawing of encircled portion in Fig. 1；

Fig. 5 is the position of the virtual point of a knife of gantry drilling lathe in Fig. 1 one of processing machine in an initial condition Rough schematic view；

Fig. 6 is that the point that the point for doing collision judgment in theoretical processing hole is converged in closing does collision calculation with cuboid collision Schematic diagram；

Fig. 7 is that the point that the point for doing collision judgment in theoretical processing hole is converged in closing does collision calculation with cylinder collision Schematic diagram；

Fig. 8 is the bounding box of the 3rd linear motion axis, the first rotary motion axle and the second rotary motion axle of processing machine Schematic diagram.

Wherein, description of reference numerals is as follows：

1 crossbeam K cutters

2 left column T wrists heart points

The virtual points of a knife of 3 right column TCP

4 ground bridges

Specific embodiment

With reference to the accompanying drawings describing gantry drilling lathe manufacturing collision determination method of the invention in detail.

Referring to figs. 1 to Fig. 8, gantry drilling lathe manufacturing collision determination method of the present invention, for gantry void formers Detection and analysis of the bed to the manufacturing collision in the theoretical processing hole of workpiece, gantry drilling lathe includes n processing machine, and its feature exists In gantry drilling lathe manufacturing collision determination method includes step：

S1, in workpiece coordinate system O_W-X_WY_WZ_WIt is lower to build the theoretical processing hole of workpiece, and extract the position in theoretical processing hole CoordinateWith the unit normal vector in theoretical processing holeWherein, I_k, J_k, K_kIt is respectively theoretical The unit normal vector in processing hole is in workpiece coordinate system O_W-X_WY_WZ_WX_WAxle, Y_WAxle, Z_WUnit vector on axle, wherein, k=1, 2,...,N_total, N_totalFor the sum in the theoretical processing hole on workpiece；

S2, measures and is calculated the processing machine coordinate system O of processing machine using laser tracker (not shown)_Mi-X_MiY_MiZ_Mi In workpiece coordinate system O_W-X_WY_WZ_WUnder relative pose

Wherein, Mi=1,2 ..., n, Mi represent that processing machine Mi, n represent the sum of the processing machine on gantry drilling lathe, n >=1,Represent the X of processing machine Mi_MiThe axle direction of motion is in workpiece coordinate system O_W-X_WY_WZ_WIn vector Represent,Represent the Y of processing machine Mi_MiThe axle direction of motion is in workpiece coordinate system O_W-X_WY_WZ_WIn arrow Amount expression,Represent the Z of processing machine Mi_MiThe axle direction of motion is in workpiece coordinate system O_W-X_WY_WZ_WIn Vector representation,Represent origin of coordinates O of processing machine Mi_MiIn workpiece coordinate system O_W-X_WY_WZ_WIn vector representation；

S3, to creating fixture bounding box for the fixture for fixing workpiece, distinguishes discrete by curve surface of workpiece and fixture bounding box For discrete point cloud data wBndBox_3×wsizeAnd fBndBox_3×fsize, wherein, wsize is discrete for the discrete point cloud of curve surface of workpiece Point quantity, fsize is the discrete point quantity of the discrete point cloud of fixture bounding box, so as to obtain including the discrete point cloud of curve surface of workpiece The population variance cloud data BndBox of the discrete point cloud data of data and fixture bounding box_{3×(wsize+fsize)}, wherein, (wsize+ Fsize) for curve surface of workpiece discrete point cloud and fixture bounding box discrete point cloud discrete point total quantity；

S4, according to the position coordinates in the theoretical processing hole obtained in step S1With theoretical processing hole Unit normal vectorAnd the processing machine coordinate system O of the processing machine obtained in step S2_Mi-X_MiY_MiZ_MiIn work Part coordinate system O_W-X_WY_WZ_WIn vectorObtain the first key parameter set of processing machineWith the second crucial ginseng Manifold is closed

S5, according to the position coordinates in the theoretical processing hole obtained in step S1With the son obtained in step S2 The processing machine coordinate system O of lathe_Mi-X_MiY_MiZ_MiIn workpiece coordinate system O_W-X_WY_WZ_WUnder relative pose Judge the corresponding affiliated processing machine for processing the theoretical processing hole in theoretical processing hole；

S6, according to the position coordinates in the theoretical processing hole obtained in step S1With theoretical processing hole Unit normal vectorThe population variance cloud data BndBox obtained in step S3_{3×(wsize+fsize)}And step The affiliated processing machine for processing hole for processing Theory obtained in S5, Choice Theory processes the point cloud for doing collision judgment in hole Set

S7, according to the first key parameter set of the processing machine obtained in step S4With the second key parameter setAnd the point for doing collision judgment in the theoretical processing hole obtained in step S6 converges conjunctionManaged Conjunction is converged by the point for doing collision judgment in processing holeIn every bitHole is processed with for processing Theory The first condition and second condition of affiliated processing machine collision；

S8, the point for doing collision judgment for judging theoretical processing hole converges conjunctionIn every bitWhether First condition or second condition are met, if the point for doing collision judgment in theoretical processing hole converges conjunctionIn have full The point of sufficient first condition or second condition, then it represents that theory processing hole and the affiliated processing machine for processing the theoretical processing hole Collide, the theoretical processing hole for meeting first condition or second condition is set to into non-machinable hole；If the use in theory processing hole Conjunction is converged in the point for doing collision judgmentIn every bitAll it is unsatisfactory for first condition and second condition, then it represents that Theory processing hole with do not collide for processing the theoretical affiliated processing machine for processing hole, first condition and the will be unsatisfactory for The theoretical processing hole of two conditions is set to and can process hole.

In gantry drilling lathe manufacturing collision determination method of the invention, to curve surface of workpiece and fixed workpiece Fixture carries out discrete processes and obtains discrete point cloud data, and the processing machine of gantry drilling lathe is modeled obtains processing machine First key parameter setWith the second key parameter setFurther Choice Theory processing hole for touching The point for hitting judgement converges and merges whether the point judged a little to converge in closing collides with the processing machine for being used for processing Theory processing hole, Above-mentioned judgement is all carried out to all theoretical processing hole of workpiece with the mode of circulation, so as to complete all theoretical processing hole of workpiece Machinability analysis, so as to the drilling operation for being conducive to subsequently actually carrying out.

Remark additionally here, the three-dimensional digital-to-analogue of workpiece can be set up using three-dimensional software CATIA R18, from what is set up The theoretical position coordinates for processing hole in extraction step S1 in the three-dimensional digital-to-analogue of workpieceWith the list in theoretical processing hole Position normal vectorData.

Using STL rapid shapings (the Stereolithographic Rapid in three-dimensional software CATIA R18 Prototyping) module realizes step S3 curve surface of workpiece and fixture bounding box is discrete for discrete point cloud data wBndBox_3×wsizeAnd fBndBox_3×fsize。

In gantry drilling lathe manufacturing collision determination method of the invention, step S2 include step S21, S22, S23 and S24.

S21, not conllinear p target ball pedestal of setting is used as p mark on the locating surface for the fixture for fixing workpiece Point, is respectively correspondingly arranged on a target ball on p target ball pedestal, measured for fixing workpiece using laser tracker (not shown) P index point ERS1 on fixture^m～ERSp^mCoordinateI=1,2 ..., p, p (p >=3) are represented Index point quantity, calculates workpiece coordinate system O_W-X_WY_WZ_WX_WAxle, Y_WAxle and Z_WUnit direction vector, so as to set up workpiece Coordinate system O_W-X_WY_WZ_WIn laser tracker coordinate system O_LT-X_LTY_LTZ_LTUnder position auto―control^WT_LT；

S22, demarcates lathe coordinate system O-XYZ, sets up the processing machine coordinate system O of n processing machine_Mi-X_MiY_MiZ_MiSit in lathe Position auto―control under mark system O-XYZ^MiT_B；

S23, not conllinear fixed q target ball pedestal is used as q index point, q target on the crossbeam 1 of gantry drilling lathe A target ball is respectively correspondingly arranged on ball pedestal, using laser tracker (not shown) q index point on crossbeam 1 is measured BMS1^m～BMSq^mCoordinateAnd indicate with q of measurement under the lathe coordinate system O-XYZ for demarcating Point BMS1^d～BMSq^dCoordinateRegistration, i=1,2 ..., q, q (q >=3) represent index point quantity, Lathe coordinate system O-XYZ is set up in laser tracker coordinate system O_LT-X_LTY_LTZ_LTUnder position auto―control^BT_LT；

S24, the workpiece coordinate system O in step S21_W-X_WY_WZ_WIn laser tracker coordinate system O_LT-X_LTY_LTZ_LTUnder Position auto―control^WT_LT, lathe coordinate system O-XYZ in step S23 is in laser tracker coordinate system O_LT-X_LTY_LTZ_LTUnder pose square Battle array^BT_LTWith the processing machine coordinate system O of n processing machine in step S22_Mi-X_MiY_MiZ_MiPose under lathe coordinate system O-XYZ Matrix^MiT_B, it is calculated the processing machine coordinate system O of n processing machine_Mi-X_MiY_MiZ_MiOpposite piece coordinate system O_W-X_WY_WZ_WConversion Matrix is

Remark additionally here, laser tracker coordinate system O_LT-X_LTY_LTZ_LTIt is solid with laser tracker (not shown) Knot, is determined by the inside of laser tracker (not shown).Q index point BMS1 in step S23^m～BMSq^mCoordinateWith the q index point BMS1 measured under the lathe coordinate system O-XYZ for demarcating^d～BMSq^dCoordinateRegistration operation can be realized using the autoregistration function in Space Analysis softwares.

With reference to Fig. 3 to Fig. 5, position auto―control in step S22^MiT_BProcess of setting up be：S221, demarcates lathe coordinate system O- XYZ：Index point is set on four angles A, B, C and D of the ground bridge 4 of lathe, with upper surface A1, B1, C1 and the D1 at four angles and Both side surface A2, B2, C2, D2 and A3, B3, C3, D3 as index plane, using index point and index plane on the ground bridge 4 of lathe Lathe coordinate system O-XYZ is set up on the ground bridge 4 of lathe；S222：Processing machine for AC yaws five-axis machine tool, wherein AC yaws The X-axis of five-axis machine tool be first straight line kinematic axis, Y-axis be second straight line kinematic axis, Z axis be the 3rd linear motion axis, principal axis A be the One rotary motion axle A_MiAnd main shaft C is the second rotary motion axle C_Mi, AC yaws are also including cutter K, the first rotary motion axle A_MiAnd knife Tool K can be with the second rotary motion axle C_MiRotary motion, cutter K is arranged on the first rotary motion axle A_MiOn, by the adjustment of each processing machine To original state, and gantry drilling lathe is adjusted to into original state, using the tracking of laser tracker (not shown) first is arranged on Rotary motion axle A_MiWith the second rotary motion axle C_MiOn target ball measure the first straight line kinematic axis of each processing machine, second straight line fortune The unit direction vector of moving axis and the 3rd linear motion axis under lathe coordinate system O-XYZ is respectivelyAnd first Rotary motion axle A_MiAxisWith the second rotary motion axle C_MiAxisPosition, obtain the first rotary motion axle A_MiAxle LineLinear equation in lathe coordinate system O-XYZ isAnd second rotation Kinematic axis C_MiAxisLinear equation in lathe coordinate system O-XYZ is： Wherein, (x_A,y_A,z_A)^TFor axisThe coordinate of upper any point, (x_C,y_C,z_C)^TFor axisThe coordinate of upper any point,For axisUnit direction vector,For axisUnit direction vector,For axisOn known point,For axisOn known point,For axisLinear equation parameter,For axisLinear equation Parameter；S223：According to the first rotary motion axle A obtained in step S222_MiAxisWith the second rotary motion axle C_Mi's AxisThe first rotary motion axle A of each processing machine Mi is calculated by geometrical relationship_MiAxisWith the second rotary motion axle C_Mi AxisAxis common vertical line F_Mi, and calculate the axis common vertical line F of each processing machine Mi_MiWith its second rotary motion axle C_Mi's AxisIntersection point T_Mi, by intersection point T_MiAs the wrist heart point T of the AC yaws of processing machine, from wrist heart point T along the second rotary motion Axle C_MiAxisOffset the first rotary motion axle A_MiPendulum length apart from L_MiThe position of virtual point of a knife TCP is obtained, after skew Processing machine coordinate system Os of the virtual point of a knife TCP for obtaining as processing machine_Mi-X_MiY_MiZ_MiOrigin O_Mi, Fig. 4 and Fig. 5 only illustrates and sets Put the position view of the processing machine on the crossbeam 1 of gantry drilling lathe and its virtual point of a knife TCP；S224：If processing machine Processing machine coordinate system O_Mi-X_MiY_MiZ_MiX_MiThe X-axis of the positive direction of axle and the lathe coordinate system O-XYZ of gantry drilling lathe is just Direction X+ is consistent, by the first straight line kinematic axis of each processing machine obtained in step S222, second straight line kinematic axis and the 3rd Unit direction vector of the linear motion axis under lathe coordinate system O-XYZBy the most long straight line fortune of wherein stroke Processing machine coordinate system O of unit direction vector of the moving axis under lathe coordinate system O-XYZ as processing machine_Mi-X_MiY_MiZ_MiIt is corresponding The unit direction vector of axle, using the processing machine coordinate system O of the method amendment processing machine of vectorial multiplication cross_Mi-X_MiY_MiZ_MiOther two The unit direction vector of individual axle, by the processing machine coordinate system O of processing machine_Mi-X_MiY_MiZ_MiOrigin O_MiWith the unit side of each axle To vectorObtain the processing machine coordinate system O of processing machine_Mi-X_MiY_MiZ_MiPose under lathe coordinate system O-XYZ Matrix

Remark additionally here, the original state of each processing machine refers to the first rotary shaft A of processing machine_MiRotation side To the processing machine coordinate system O with each processing machine_Mi-X_MiY_MiZ_MiX_MiThe direction of axle is consistent and the second rotary shaft C_MiDirection of rotation With the processing machine coordinate system O of each processing machine_Mi-X_MiY_MiZ_MiZ_MiThe location status when direction of axle is consistent.Gantry drilling lathe Original state refer to the gantry being made up of crossbeam 1, left column 2 and right column 3 in the one of the ground bridge 4 of gantry drilling lathe End, the processing machine that is arranged on crossbeam 1 are in an intermediate position, processing machine that is being arranged on left column 2 and right column 3 is respectively at The upper end of left column 2 and right column 3 and be arranged at ground bridge 4 on processing machine in ground bridge 4 one end location status.

With reference to Fig. 3, built on the ground bridge 4 of lathe using the index point and index plane on the ground bridge 4 of lathe in step S221 Upper surface A1, B1, C1 and D1 are specifically fitted to a plane by vertical lathe coordinate system O-XYZ, are sat the plane as lathe The X/Y plane of the X-axis of mark system O-XYZ and Y-axis composition, corresponding vertical X/Y plane vector upwards is the unit direction vector of Z axisThen, two side planes at one of angle in tetra- angles of A, B, C and D are measured using laser tracker (not shown), respectively The intersection of two side planes and X/Y plane is calculated, and calculates the origin O of the intersection point as lathe coordinate system O-XYZ of two intersections； Then, a target ball pedestal is fixed on gantry, a target ball and mobile gantry is set on the target ball pedestal, in mobile gantry While using laser tracker (not shown) track target ball, draw measurement data and by the move contrail fitting of target ball into one Straight line simultaneously obtains the unit direction vector that target ball moves (i.e. gantry motion), can measure back and forth here certainly repeatedly, and according to Multiple measurement results obtain the unit direction vector of gantry motionTake the unit direction vector of gantry motionFor machine coordinates It is the unit direction vector of the X-axis of O-XYZ；Finally, by the unit direction vector of Z axisWith the unit direction vector of X-axis It is calculated the unit direction vector of the Y-axis of the lathe coordinate system O-XYZ of gantry drilling latheThus Go outIt is vertical two-by-two, so as to set up the lathe coordinate system O-XYZ of gantry drilling lathe.

Known point in step S222WithRefer respectively to target ball and be separately positioned on the first rotary motion axle A_MiWith second Rotary motion axle C_MiThe center of circle of the fitting circle to be formed was moved when upper.

With reference to Fig. 6 to Fig. 8, the first key parameter set of processing machine in step S4With the second key parameter collection CloseAcquisition process it is as follows：

Create the 3rd linear motion axis, the first rotary motion axle A of processing machine_MiAnd the second rotary motion axle C_MiBag Box is enclosed, by the 3rd linear motion axis of processing machine, the first rotary motion axle A_MiAnd second rotary motion axle bounding box segmentation For N_rIndividual cuboid and N_cIndividual cylinder, obtains each cuboid R_rFirst length of sideSecond length of side3rd length of side With each cylinder C_cRadius r_cWith length l_c, by the position coordinates in theoretical processing holeUnit normal vectorAnd the Z of processing machine_WThe axle direction of motion is in workpiece coordinate system O_W-X_WY_WZ_WIn vectorWith each square Body R_rWith each cylinder C_cPosition relationship be calculated each cuboid R_rCenterThe normal direction in the first face AmountThe normal vector in the second faceWith the normal vector in the 3rd faceAnd each cylinder C_cCenterAnd axle Line vectorObtain each cuboid R_rThe first key parameter With each cylinder C_cThe second key parameterSo as to obtain the 3rd linear motion of processing machine Axle, the first rotary motion axle A_MiAnd the second rotary motion axle C_MiBounding box segmentation N_rFirst key parameter of individual cuboid Collection is combined into：

Wherein, r=1,2 ..., N_r, N_rRepresent cuboid number；

And N_cSecond key parameter collection of individual cylinder is combined into：

Wherein, c=1,2 ..., N_c, N_cRepresent cylinder number.

With reference to Fig. 8, each cuboid R_rCenterThe normal vector in the first faceThe normal vector in the second faceWith the normal vector in the 3rd faceAnd each cylinder C_cCenterWith axis vectorCalculating Journey is as follows：By the 3rd linear motion axis of processing machine, the first rotary motion axle A_MiWith the second rotary motion axle C_MiBounding box point It is cut into four cuboid R₁、R₂、R₃And R₄With four cylinder C₁、C₂、C₃And C₄, calculate cuboid R₁、R₂、R₃And R₄Centre bit PutThe normal vector in the first faceThe normal vector in the second faceWith the normal vector in the 3rd faceAnd cylinder C₁、 C₂、C₃And C₄CenterWith axis vectorFor：

Wherein,It is from virtual point of a knife TCP to cuboid R₁CenterDistance,It is from virtual point of a knife TCP to cuboid R₂CenterDistance,It is from wrist heart point T to cuboid R₃CenterDistance,From wrist heart point T to cuboid R₄CenterDistance,It is from virtual point of a knife TCP to cylinder C₁Centre bit PutDistance,It is from virtual point of a knife TCP to cylinder C₂CenterDistance,It is from virtual point of a knife TCP To its center C₃CenterDistance,It is from wrist heart point T to cylinder C₄CenterAway from From.

With reference to Fig. 2, step S5 comprises the steps：S51, takes and workpiece coordinate system O_W-X_WY_WZ_WZ_WThe vertical N of axle_sIt is individual The cross section of workpiece, obtains the interior conduit cross section curve set of workpieceIt is bent to each interior conduit section Line S_iAsk for minimum circumscribed circle C_i, obtain minimum circumscribed circle C_iCentral coordinate of circle beRadius isWherein, i= 1,2,…,N_s；By the position coordinates in theoretical processing holeFind satisfactionMinimum circumscribed circle C_i, correspondence central coordinate of circleWith radiusWith minimum circumscribed circle C_i+1, correspondence central coordinate of circleWith RadiusAnd computational theory processes hole position i.e. in Z_WValue on axle is z_kThe minimum of the interior conduit cross section curve of place's workpiece Circumscribed circleCentral coordinate of circleAnd radiusFor：

S52, the position coordinates in the theoretical processing hole obtained according to step S1Calculate with step S51 The minimum circumscribed circle of the interior conduit cross section curve of the theoretical processing hole position arrivedCentral coordinate of circle And radiusIfThe theoretical processing hole is judged for endoporus, endoporus is by being arranged on dragon Door drilling lathe crossbeam 1 on processing machine or be arranged on the ground bridge 4 of gantry drilling lathe processing machine processing, wherein, whenAnd z_k≥Z_UDWhen, the theoretical processing hole belongs to the processing machine being arranged on crossbeam 1 and adds Work, the affiliated processing machine in the theoretical processing hole is the processing machine being arranged on crossbeam 1；When And z_k＜ Z_UDWhen, the theoretical processing hole belongs to the processing machine processing being arranged on the ground bridge 4 of gantry drilling lathe, the theory The affiliated processing machine in processing hole is the processing machine being arranged on the ground bridge 4 of gantry drilling lathe, wherein, Z_UDTo be arranged on gantry system Processing machine on the crossbeam 1 of hole machine tool and the processing machine being arranged on the ground bridge 4 of gantry drilling lathe are in Z_WAdding on direction of principal axis Work scope cut off value；IfThe theoretical processing hole is judged for exit orifice, exit orifice is by arranging Processing machine on the left column 2 of gantry drilling lathe or the processing machine processing being arranged on the right column 3 of gantry drilling lathe, Wherein, whenAnd y_k＜ Y_RL, theory processing hole belongs to and is arranged on gantry drilling lathe Processing machine processing on left column 2, the theoretical processing hole is added by the processing machine being arranged on the left column 2 of gantry drilling lathe Work；WhenAnd y_k≥Y_RL, the theoretical processing hole belongs to and is arranged on gantry drilling lathe Right column 3 on processing machine processing, theory processing hole affiliated processing machine be to be arranged on the right column 3 of gantry drilling lathe Processing machine, wherein, Y_RLFor the processing machine that is arranged on the left column 2 of gantry drilling lathe and it is arranged on gantry drilling lathe Processing machine on right column 3 is in Y_WRange of work cut off value on direction of principal axis.

Remark additionally here, number N that the cross section of workpiece takes in step S51_sDetermined by the complexity of workpiece Fixed, the processing machine being arranged on the crossbeam 1 of gantry drilling lathe and the processing machine being arranged on the ground bridge 4 of gantry drilling lathe exist Z_WRange of work cut off value Z on direction of principal axis_UDBy on the processing machine and ground bridge 4 being arranged on the crossbeam 1 of gantry drilling lathe The stroke of processing machine determines, the processing machine being arranged on the left column 2 of gantry drilling lathe and is arranged on gantry drilling lathe Processing machine on right column 3 is in Y_WRange of work cut off value Y on direction of principal axis_RLBy the son being arranged on left column 2 and right column 3 Lathe is along Y_MiThe stroke of axle is determined.

The point for doing collision judgment in theoretical processing hole converges conjunction in step S6Selection course it is as follows： According to the affiliated processing machine for obtaining processing hole for processing Theory in step S5, if affiliated processing machine is provided in gantry drilling Processing machine on the crossbeam 1 of lathe, then in total discrete point cloud data BndBox_{3×(wsize+fsize)}Collision judgment is done in middle extraction Point converges conjunctionIn pointMeet：

If affiliated processing machine is provided in the processing machine on the ground bridge 4 of gantry drilling lathe, in total discrete point cloud Data BndBox_{3×(wsize+fsize)}The point that collision judgment is done in middle extraction converges conjunctionIn pointMeet：

If affiliated processing machine is provided in the processing machine on the left column 2 of gantry drilling lathe, in total discrete point Cloud data BndBox_{3×(wsize+fsize)}The point that collision judgment is done in middle extraction converges conjunctionIn pointMeet：

If affiliated processing machine is provided in the processing machine on the right column 3 of gantry drilling lathe, in total discrete point Cloud data BndBox_{3×(wsize+fsize)}The point that collision judgment is done in middle extraction converges conjunctionIn pointMeet：

Wherein, L_AIt is from virtual point of a knife TCP to the first rotary motion axle A along generating tool axis vector direction_MiLength, H_AIt is vertical The first rotary motion axle A in straight knife axial vector direction_MiCornerwise half of rectangle for obtaining of projection.

With reference to Fig. 6, the first condition in step S7 is：

Represent that point converges conjunctionIn pointIn cuboid R_rIn, extract the first key parameter set In r row data obtain cuboid R_rThe first key parameterIn formula, d₁、d₂And d₃For the theoretical position for processing hole to cuboid R_rCenterDisplacement respectively in cuboid R_rThe first face Normal vectorThe normal vector in the second faceWith the normal vector in the 3rd faceUnit vector on direction；

With reference to Fig. 7, the second condition in step S7 is：

Represent that point converges conjunctionIn pointIn cylinder C_cIn, extract the second key parameter set In c row data obtain cylinder C_cThe second key parameterIn formula, d^||And d^⊥Representation theory The position in processing hole is to cylinder C_cCenterDisplacement respectively axis vectorOn direction and vertical axis VectorOrthographic projection value on direction.

Claims (8)

1. a kind of gantry drilling lathe manufacturing collision determination method, hole is processed for gantry drilling lathe to the theoretical of workpiece Manufacturing collision detection with analysis, gantry drilling lathe include n processing machine, it is characterised in that gantry drilling lathe Manufacturing collision determination method includes step：

S1, in workpiece coordinate system O_W-X_WY_WZ_WIt is lower to build the theoretical processing hole of workpiece, and extract the position coordinates in theoretical processing holeWith the unit normal vector in theoretical processing holeWherein, I_k, J_k, K_kRespectively theoretical processing The unit normal vector in hole is in workpiece coordinate system O_W-X_WY_WZ_WX_WAxle, Y_WAxle, Z_WUnit vector on axle, wherein, k=1, 2,...,N_total, N_totalFor the sum in the theoretical processing hole on workpiece；

S2, measures and is calculated the processing machine coordinate system O of processing machine using laser tracker_Mi-X_MiY_MiZ_MiIn workpiece coordinate system O_W-X_WY_WZ_WUnder relative pose

Wherein, Mi=1,2 ..., n, Mi represent that processing machine Mi, n represent the sum of the processing machine on gantry drilling lathe, n >=1,Represent the X of processing machine Mi_MiThe axle direction of motion is in workpiece coordinate system O_W-X_WY_WZ_WIn vector table Show,Represent the Y of processing machine Mi_MiThe axle direction of motion is in workpiece coordinate system O_W-X_WY_WZ_WIn vector Represent,Represent the Z of processing machine Mi_MiThe axle direction of motion is in workpiece coordinate system O_W-X_WY_WZ_WIn arrow Amount expression,Represent origin of coordinates O of processing machine Mi_MiIn workpiece coordinate system O_W-X_WY_WZ_WIn vector representation；

S3, to for fix workpiece fixture create fixture bounding box, by curve surface of workpiece and fixture bounding box respectively it is discrete be from Scattered cloud data wBndBox_3×wsizeAnd fBndBox_3×fsize, wherein, wsize is the discrete points of the discrete point cloud of curve surface of workpiece Amount, fsize is the discrete point quantity of the discrete point cloud of fixture bounding box, so as to obtain including the discrete point cloud data of curve surface of workpiece With the population variance cloud data BndBox of the discrete point cloud data of fixture bounding box_{3×(wsize+fsize)}, wherein, (wsize+fsize) The discrete point total quantity of the discrete point cloud of discrete point cloud and fixture bounding box for curve surface of workpiece；

S4, according to the position coordinates in the theoretical processing hole obtained in step S1With the per unit system in theoretical processing hole VectorAnd the processing machine coordinate system O of the processing machine obtained in step S2_Mi-X_MiY_MiZ_MiIn workpiece coordinate It is O_W-X_WY_WZ_WIn vectorObtain the first key parameter set of processing machineWith the second key parameter set

S5, according to the position coordinates in the theoretical processing hole obtained in step S1With the processing machine obtained in step S2 Processing machine coordinate system O_Mi-X_MiY_MiZ_MiIn workpiece coordinate system O_W-X_WY_WZ_WUnder relative pose Judge the corresponding affiliated processing machine for processing the theoretical processing hole in theoretical processing hole；

S6, according to the position coordinates in the theoretical processing hole obtained in step S1With the per unit system in theoretical processing hole VectorThe population variance cloud data BndBox obtained in step S3_{3×(wsize+fsize)}And in step S5 The affiliated processing machine for processing hole for processing Theory for arriving, the point for doing collision judgment in Choice Theory processing hole converges conjunction

S7, according to the first key parameter set of the processing machine obtained in step S4With the second key parameter setAnd the point for doing collision judgment in the theoretical processing hole obtained in step S6 converges conjunctionManaged Conjunction is converged by the point for doing collision judgment in processing holeIn every bitHole is processed with for processing Theory The first condition and second condition of affiliated processing machine collision；

S8, the point for doing collision judgment for judging theoretical processing hole converges conjunctionIn every bitWhether meet First condition or second condition, if the point for doing collision judgment in theoretical processing hole converges conjunctionIn have satisfaction The point of one condition or second condition, then it represents that theory processing hole occurs with the affiliated processing machine for being used to process the theoretical processing hole Collision, by the theoretical processing hole for meeting first condition or second condition non-machinable hole is set to；If theory processing hole for doing The point of collision judgment converges conjunctionIn every bitAll it is unsatisfactory for first condition and second condition, then it represents that theoretical Processing hole does not collide with the affiliated processing machine for being used to process the theoretical processing hole, will be unsatisfactory for first condition and Article 2 The theoretical processing hole of part is set to and can process hole.

2. gantry drilling lathe manufacturing collision determination method according to claim 1, it is characterised in that step S2 bag Include step：

S21, not conllinear p target ball pedestal of setting is used as p index point, p on the locating surface for the fixture for fixing workpiece A target ball is respectively correspondingly arranged on individual target ball pedestal, is measured for p on the fixture for fixing workpiece using laser tracker Index point ERS1^m～ERSp^mCoordinateI=1,2 ..., p, p (p >=3) represent index point quantity, Calculate workpiece coordinate system O_W-X_WY_WZ_WX_WAxle, Y_WAxle and Z_WUnit direction vector, so as to set up workpiece coordinate system O_W- X_WY_WZ_WIn laser tracker coordinate system O_LT-X_LTY_LTZ_LTUnder position auto―control^WT_LT；

S22, demarcates lathe coordinate system O-XYZ, sets up the processing machine coordinate system O of n processing machine_Mi-X_MiY_MiZ_MiIn lathe coordinate system Position auto―control under O-XYZ^MiT_B；

S23, not conllinear fixed q target ball pedestal is used as q index point, q target ball on the crossbeam (1) of gantry drilling lathe A target ball is respectively correspondingly arranged on pedestal, using laser tracker q index point BMS1 on crossbeam (1) is measured^m～BMSq^m CoordinateAnd with demarcate lathe coordinate system O-XYZ under measure q index point BMS1^d~ BMSq^dCoordinateRegistration, i=1,2 ..., q, q (q >=3) represent index point quantity, set up lathe seat Mark system O-XYZ is in laser tracker coordinate system O_LT-X_LTY_LTZ_LTUnder position auto―control^BT_LT；

S24, the workpiece coordinate system O in step S21_W-X_WY_WZ_WIn laser tracker coordinate system O_LT-X_LTY_LTZ_LTUnder pose Matrix^WT_LT, lathe coordinate system O-XYZ in step S23 is in laser tracker coordinate system O_LT-X_LTY_LTZ_LTUnder position auto―control^BT_LT With the processing machine coordinate system O of n processing machine in step S22_Mi-X_MiY_MiZ_MiPose square under lathe coordinate system O-XYZ Battle array^MiT_B, it is calculated the processing machine coordinate system O of n processing machine_Mi-X_MiY_MiZ_MiOpposite piece coordinate system O_W-X_WY_WZ_WConversion square Battle array be

${T_{Mi}}_W={\left({T_W}_{LT}\right)}^{-1}\·{T_B}_{LT}\·{T_{Mi}}_B=\left[\begin{array}{cccc}{\stackrel{\→}{x}_{Mi}}_W& {\stackrel{\→}{y}_{Mi}}_W& {\stackrel{\→}{z}_{Mi}}_W& {\stackrel{\→}{p}_{Mi}}_W\\ & {\stackrel{\→}{0}}_{1\×3}& & 1\end{array}\right].$

3. gantry drilling lathe manufacturing collision determination method according to claim 2, it is characterised in that step S22 Middle position auto―control^MiT_BProcess of setting up be：

S221, demarcates lathe coordinate system O-XYZ：Index point is set on four angles A, B, C and D of the ground bridge (4) of lathe, with four Upper surface A1, B1, C1 and the D1 at individual angle and both side surface A2, B2, C2, D2 and A3, B3, C3, D3 as index plane, using lathe Ground bridge (4) on index point and index plane set up lathe coordinate system O-XYZ on the ground bridge (4) of lathe；

S222：Processing machine is the five-axis machine tool of AC yaws, and wherein the X-axis of the five-axis machine tool of AC yaws is first straight line kinematic axis, Y Axle is second straight line kinematic axis, Z axis are the 3rd linear motion axis, principal axis A is the first rotary motion axle A_MiAnd main shaft C is the second rotation Transhipment moving axis C_Mi, AC yaws are also including cutter (K), the first rotary motion axle A_MiCan be with the second rotary motion axle with cutter (K) C_MiRotary motion, cutter (K) is arranged on the first rotary motion axle A_MiOn, each processing machine is adjusted to into original state, and by gantry Drilling lathe is adjusted to original state, and using laser tracker tracking the first rotary motion axle A is arranged on_MiWith the second rotary motion Axle C_MiOn target ball measure first straight line kinematic axis, second straight line kinematic axis and the 3rd linear motion axis of each processing machine in machine Unit direction vector under bed coordinate system O-XYZ is respectivelyAnd the first rotary motion axle A_MiAxisWith Second rotary motion axle C_MiAxisPosition, obtain the first rotary motion axle A_MiAxisIn lathe coordinate system O- Linear equation in XYZ isAnd the second rotary motion axle C_MiAxle LineLinear equation in lathe coordinate system O-XYZ is：Wherein, (x_A,y_A,z_A)^TFor axisThe coordinate of upper any point, (x_C,y_C,z_C)^TFor axisThe coordinate of upper any point,For AxisUnit direction vector,For axisUnit direction vector,For axisOn known point,For AxisOn known point,For axisLinear equation parameter,For axisLinear equation parameter；

S223：According to the first rotary motion axle A obtained in step S222_MiAxisWith the second rotary motion axle C_MiAxle LineThe first rotary motion axle A of each processing machine Mi is calculated by geometrical relationship_MiAxisWith the second rotary motion axle C_Mi's AxisAxis common vertical line F_Mi, and calculate the axis common vertical line F of each processing machine Mi_MiWith its second rotary motion axle C_MiAxle LineIntersection point T_Mi, by intersection point T_MiAs wrist heart point (T) of the AC yaws of processing machine, from wrist heart point (T) along the second rotation fortune Moving axis C_MiAxisOffset the first rotary motion axle A_MiPendulum length apart from L_MiThe position of virtual point of a knife (TCP) is obtained, will be inclined Processing machine coordinate system O of the virtual point of a knife (TCP) obtained after shifting as processing machine_Mi-X_MiY_MiZ_MiOrigin O_Mi；

S224：If the processing machine coordinate system O of processing machine_Mi-X_MiY_MiZ_MiX_MiThe positive direction of axle is sat with the lathe of gantry drilling lathe Positive direction X+ of the X-axis of mark system O-XYZ is consistent, by the first straight line kinematic axis of each processing machine obtained in step S222, second The unit direction vector of linear motion axis and the 3rd linear motion axis under lathe coordinate system O-XYZBy its Processing machine coordinate of unit direction vector of the most long linear motion axis of middle stroke under lathe coordinate system O-XYZ as processing machine It is O_Mi-X_MiY_MiZ_MiCorresponding axle unit direction vector, using the processing machine coordinate system of the method amendment processing machine of vectorial multiplication cross O_Mi-X_MiY_MiZ_MiOther two axles unit direction vector, by the processing machine coordinate system O of processing machine_Mi-X_MiY_MiZ_MiOriginal Point O_MiWith the unit direction vector of each axleObtain the processing machine coordinate system O of processing machine_Mi-X_MiY_MiZ_MiSit in lathe Position auto―control under mark system O-XYZ

4. gantry drilling lathe manufacturing collision determination method according to claim 1, it is characterised in that in step S4 First key parameter set of processing machineWith the second key parameter setAcquisition process it is as follows：

Create the 3rd linear motion axis, the first rotary motion axle A of processing machine_MiAnd the second rotary motion axle C_MiBounding box, By the 3rd linear motion axis of processing machine, the first rotary motion axle A_MiAnd second the bounding box of rotary motion axle be divided into N_rIt is individual Cuboid and N_cIndividual cylinder, obtains each cuboid R_rFirst length of sideSecond length of side3rd length of sideAnd each Cylinder C_cRadius r_cWith length l_c, by the position coordinates in theoretical processing holeUnit normal vectorAnd the Z of processing machine_WThe axle direction of motion is in workpiece coordinate system O_W-X_WY_WZ_WIn vectorWith each square Body R_rWith each cylinder C_cPosition relationship be calculated each cuboid R_rCenterThe normal direction in the first face AmountThe normal vector in the second faceWith the normal vector in the 3rd faceAnd each cylinder C_cCenterAnd axle Line vectorObtain each cuboid R_rThe first key parameter With each cylinder C_cThe second key parameterSo as to obtain the 3rd linear motion of processing machine Axle, the first rotary motion axle A_MiAnd the second rotary motion axle C_MiBounding box segmentation N_rFirst key parameter of individual cuboid Collection is combined into：

Wherein, r=1,2 ..., N_r, N_rRepresent cuboid number；

And N_cSecond key parameter collection of individual cylinder is combined into：

Wherein, c=1,2 ..., N_c, N_cRepresent cylinder number.

5. gantry drilling lathe manufacturing collision determination method according to claim 4, it is characterised in that each rectangle Body R_rCenterThe normal vector in the first faceThe normal vector in the second faceWith the normal vector in the 3rd faceWith And each cylinder C_cCenterWith axis vectorCalculating process it is as follows：

By the 3rd linear motion axis of processing machine, the first rotary motion axle A_MiWith the second rotary motion axle C_MiBounding box be divided into Four cuboid R₁、R₂、R₃And R₄With four cylinder C₁、C₂、C₃And C₄, calculate cuboid R₁、R₂、R₃And R₄CenterThe normal vector in the first faceThe normal vector in the second faceWith the normal vector in the 3rd faceAnd cylinder C₁、 C₂、C₃And C₄CenterWith axis vectorFor：

Wherein, L_R1It is from virtual point of a knife (TCP) to cuboid R₁CenterDistance, L_R2It is from virtual point of a knife (TCP) To cuboid R₂CenterDistance,It is from wrist heart point (T) to cuboid R₃CenterDistance, L_R4From wrist heart point (T) to cuboid R₄CenterDistance, L_C1It is from virtual point of a knife (TCP) to cylinder C₁In Heart positionDistance,It is from virtual point of a knife (TCP) to cylinder C₂CenterDistance,It is from virtual Point of a knife (TCP) arrives its center C₃CenterDistance,It is from wrist heart point (T) to cylinder C₄Centre bit PutDistance.

6. gantry drilling lathe manufacturing collision determination method according to claim 1, it is characterised in that step S5 bag Include following steps：

S51, takes and workpiece coordinate system O_W-X_WY_WZ_WZ_WThe vertical N of axle_sThe cross section of individual workpiece, the interior conduit for obtaining workpiece cuts Surface curve setTo each interior conduit cross section curve S_iAsk for minimum circumscribed circle C_i, obtain minimum external Circle C_iCentral coordinate of circle beRadius isWherein, i=1,2 ..., N_s；By the position coordinates in theoretical processing holeFind satisfactionMinimum circumscribed circle C_i, correspondence central coordinate of circleWith radiusWith minimum circumscribed circle C_i+1, correspondence central coordinate of circleWith radiusAnd computational theory processing hole position I.e. in Z_WValue on axle is z_kThe minimum circumscribed circle of the interior conduit cross section curve of place's workpieceCentral coordinate of circle And radiusFor：

$\left\{\begin{array}{c}{x}_{C_{P_k}}=\frac{x_{C_i}-x_{C_{i+1}}}{z_{C_i}-z_{C_{i+1}}}(z_{C_{P_k}}-z_{C_i})+x_{C_i}\\ y_{C_{P_k}}=\frac{y_{C_i}-y_{C_{i+1}}}{z_{C_i}-z_{C_{i+1}}}(z_{C_{P_k}}-z_{C_i})+y_{C_i}\\ r_{C_{P_k}}=\frac{r_{C_i}-r_{C_{i+1}}}{z_{C_i}-z_{C_{i+1}}}(z_{C_{P_k}}-z_{C_i})+r_{C_i}\end{array}\right.$

S52, the position coordinates in the theoretical processing hole obtained according to step S1With the calculated reason of step S51 By the minimum circumscribed circle of the interior conduit cross section curve of processing hole positionCentral coordinate of circleAnd radiusIfThe theoretical processing hole is judged for endoporus, endoporus is by gantry system of being arranged on Processing machine on the crossbeam (1) of hole machine tool or the processing machine processing being arranged on the ground bridge (4) of gantry drilling lathe, wherein, whenAnd z_k≥Z_UDWhen, the theoretical processing hole belongs to the processing machine processing being arranged on crossbeam (1), institute The affiliated processing machine for stating theoretical processing hole is the processing machine being arranged on crossbeam (1)；WhenAnd z_k ＜ Z_UDWhen, the theoretical processing hole belongs to the processing machine processing being arranged on the ground bridge (4) of gantry drilling lathe, and the theory adds The affiliated processing machine in work hole is the processing machine being arranged on the ground bridge (4) of gantry drilling lathe, wherein, Z_UDTo be arranged on gantry system Processing machine on the crossbeam (1) of hole machine tool and the processing machine being arranged on the ground bridge (4) of gantry drilling lathe are in Z_WOn direction of principal axis Range of work cut off value；IfJudge the theoretical processing hole for exit orifice, exit orifice by The processing machine being arranged on the left column of gantry drilling lathe (2) or the son being arranged on the right column of gantry drilling lathe (3) Machine tooling, wherein, whenAnd y_k＜ Y_RL, theory processing hole belongs to gantry system of being arranged on Processing machine processing on the left column (2) of hole machine tool, the theoretical processing hole is by the left column (2) for being arranged on gantry drilling lathe On processing machine processing；WhenAnd y_k≥Y_RL, the theoretical processing hole belongs to and is arranged on Processing machine processing on the right column (3) of gantry drilling lathe, the affiliated processing machine in theory processing hole is to be arranged on gantry drilling Processing machine on the right column (3) of lathe, wherein, Y_RLFor the processing machine that is arranged on the left column of gantry drilling lathe (2) and The processing machine on the right column of gantry drilling lathe (3) is arranged in Y_WRange of work cut off value on direction of principal axis.

7. gantry drilling lathe manufacturing collision determination method according to claim 6, it is characterised in that in step S6 The point for doing collision judgment in theory processing hole converges conjunctionSelection course it is as follows：

According to the affiliated processing machine for obtaining processing hole for processing Theory in step S5, if affiliated processing machine is provided in gantry Processing machine on the crossbeam (1) of drilling lathe, then in total discrete point cloud data BndBox_{3×(wsize+fsize)}Middle extraction is collided The point of judgement converges conjunctionIn pointMeet：

$P_{bndbox}=\{\stackrel{\→}{p}={\[p_x,p_y,p_z\]}^T|\begin{array}{c}{x}_k-L_A\≤p_x\≤x_k+L_A\\ y_k-L_A\≤p_y\≤y_k+L_A\\ p_z\≥\min \left(z_k-H_A,z_k+L_A{K}_k-H_A\right)\end{array}\}$

If affiliated processing machine is provided in the processing machine on the ground bridge (4) of gantry drilling lathe, in total discrete point cloud number According to BndBox_{3×(wsize+fsize)}The point that collision judgment is done in middle extraction converges conjunctionIn pointMeet：

$P_{bndbox}=\{\stackrel{\→}{p}={\[p_x,p_y,p_z\]}^T|\begin{array}{c}{x}_k-L_A\≤p_x\≤x_k+L_A\\ y_k-L_A\≤p_y\≤y_k+L_A\\ p_z\≤\max \left(z_k+H_A,z_k+L_A{K}_k+H_A\right)\end{array}\}$

If affiliated processing machine is provided in the processing machine on the left column of gantry drilling lathe (2), in total discrete point cloud Data BndBox_{3×(wsize+fsize)}The point that collision judgment is done in middle extraction converges conjunctionIn pointMeet：

$P_{bndbox}=\{\stackrel{\→}{p}={\[p_x,p_y,p_z\]}^T|\begin{array}{c}{x}_k-L_A\≤p_x\≤x_k+L_A\\ z_k-L_A\≤p_y\≤z_k+L_A\\ p_y\≤\max \left(y_k+H_A,y_k+L_A{J}_k+H_A\right)\end{array}\}$

If affiliated processing machine is provided in the processing machine on the right column of gantry drilling lathe (3), in total discrete point cloud Data BndBox_{3×(wsize+fsize)}The point that collision judgment is done in middle extraction converges conjunctionIn pointMeet：

$P_{bndbox}=\{\stackrel{\→}{p}={\[p_x,p_y,p_z\]}^T|\begin{array}{c}{x}_k-L_A\≤p_x\≤x_k+L_A\\ z_k-L_A\≤p_y\≤z_k+L_A\\ p_y\≥\min \left(y_k-H_A,y_k+L_A{J}_k-H_A\right)\end{array}\}$

Wherein, L_AIt is from virtual point of a knife (TCP) to the first rotary motion axle A along generating tool axis vector direction_MiLength, H_AFor vertical The first rotary motion axle A in generating tool axis vector direction_MiCornerwise half of rectangle for obtaining of projection.

8. according to gantry drilling lathe manufacturing collision determination method described in claim 4, it is characterised in that step S7 In first condition be：

$\left\{\begin{array}{c}{d}_1=|\left(\stackrel{\&RightArrow;}{p}-{\stackrel{\&RightArrow;}{RP}}_r\right)\&CenterDot;{\stackrel{\&RightArrow;}{NV}}_r^1|/\left|\right|{\stackrel{\&RightArrow;}{NV}}_r^1\left|\right|<W_r^1/2\\ d_2=|\left(\stackrel{\&RightArrow;}{p}-{\stackrel{\&RightArrow;}{RP}}_r\right)\&CenterDot;{\stackrel{\&RightArrow;}{NV}}_r^2|/\left|\right|{\stackrel{\&RightArrow;}{NV}}_r^2\left|\right|<W_r^2/2\\ d_3=|\left(\stackrel{\&RightArrow;}{p}-{\stackrel{\&RightArrow;}{RP}}_r\right)\&CenterDot;{\stackrel{\&RightArrow;}{NV}}_r^3|/\left|\right|{\stackrel{\&RightArrow;}{NV}}_r^3\left|\right|<W_r^3/2\end{array}\right.$

Represent that point converges conjunctionIn pointIn cuboid R_rIn, extract the first key parameter setIn r Row data obtain cuboid R_rThe first key parameterIn formula, d₁、d₂ And d₃For the theoretical position for processing hole to cuboid R_rCenterDisplacement respectively in cuboid R_rThe first face method VectorThe normal vector in the second faceWith the normal vector in the 3rd faceUnit vector on direction；

Second condition in step S7 is：

Represent that point converges conjunctionIn pointIn cylinder C_cIn, extract the second key parameter setIn c Row data obtain cylinder C_cThe second key parameterIn formula, d^||And d^⊥Representation theory processes hole Position to cylinder C_cCenterDisplacement respectively axis vectorWith vertical axis vector on directionOrthographic projection value on direction.