CN106647631A - Gantry hole making machine tool machining collision detection analysis method - Google Patents
Gantry hole making machine tool machining collision detection analysis method Download PDFInfo
- Publication number
- CN106647631A CN106647631A CN201611087666.0A CN201611087666A CN106647631A CN 106647631 A CN106647631 A CN 106647631A CN 201611087666 A CN201611087666 A CN 201611087666A CN 106647631 A CN106647631 A CN 106647631A
- Authority
- CN
- China
- Prior art keywords
- processing machine
- processing
- point
- axis
- coordinate system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
- G05B19/4086—Coordinate conversions; Other special calculations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35356—Data handling
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
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
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 OW-XWYWZWIt 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, Ik, Jk, KkIt is respectively theoretical
The unit normal vector in processing hole is in workpiece coordinate system OW-XWYWZWXWAxle, YWAxle, ZWUnit vector on axle, wherein, k=1,
2,...,Ntotal, NtotalFor 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 trackerMi-XMiYMiZMiSit in workpiece
Mark system OW-XWYWZWUnder 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 MiMiThe axle direction of motion is in workpiece coordinate system OW-XWYWZWIn arrow
Amount expression,Represent the Y of processing machine MiMiThe axle direction of motion is in workpiece coordinate system OW-XWYWZWIn
Vector representation,Represent the Z of processing machine MiMiThe axle direction of motion is in workpiece coordinate system OW-XWYWZWIn
Vector representation,Represent origin of coordinates O of processing machine MiMiIn workpiece coordinate system OW-XWYWZWIn 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 wBndBox3×wsizeAnd fBndBox3×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 box3×(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 S2Mi-XMiYMiZMiIn work
Part coordinate system OW-XWYWZWIn 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 bedMi-XMiYMiZMiIn workpiece coordinate system OW-XWYWZWUnder 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 S33×(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 OW-XWYWZWIt 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, Ik, Jk, KkIt is respectively theoretical
The unit normal vector in processing hole is in workpiece coordinate system OW-XWYWZWXWAxle, YWAxle, ZWUnit vector on axle, wherein, k=1,
2,...,Ntotal, NtotalFor 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-XMiYMiZMi
In workpiece coordinate system OW-XWYWZWUnder 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 MiMiThe axle direction of motion is in workpiece coordinate system OW-XWYWZWIn vector
Represent,Represent the Y of processing machine MiMiThe axle direction of motion is in workpiece coordinate system OW-XWYWZWIn arrow
Amount expression,Represent the Z of processing machine MiMiThe axle direction of motion is in workpiece coordinate system OW-XWYWZWIn
Vector representation,Represent origin of coordinates O of processing machine MiMiIn workpiece coordinate system OW-XWYWZWIn 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 wBndBox3×wsizeAnd fBndBox3×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 box3×(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 S2Mi-XMiYMiZMiIn work
Part coordinate system OW-XWYWZWIn 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 latheMi-XMiYMiZMiIn workpiece coordinate system OW-XWYWZWUnder 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 S33×(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
wBndBox3×wsizeAnd fBndBox3×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 fixturem~ERSpmCoordinateI=1,2 ..., p, p (p >=3) are represented
Index point quantity, calculates workpiece coordinate system OW-XWYWZWXWAxle, YWAxle and ZWUnit direction vector, so as to set up workpiece
Coordinate system OW-XWYWZWIn laser tracker coordinate system OLT-XLTYLTZLTUnder position auto―controlWTLT;
S22, demarcates lathe coordinate system O-XYZ, sets up the processing machine coordinate system O of n processing machineMi-XMiYMiZMiSit in lathe
Position auto―control under mark system O-XYZMiTB;
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
BMS1m~BMSqmCoordinateAnd indicate with q of measurement under the lathe coordinate system O-XYZ for demarcating
Point BMS1d~BMSqdCoordinateRegistration, i=1,2 ..., q, q (q >=3) represent index point quantity,
Lathe coordinate system O-XYZ is set up in laser tracker coordinate system OLT-XLTYLTZLTUnder position auto―controlBTLT;
S24, the workpiece coordinate system O in step S21W-XWYWZWIn laser tracker coordinate system OLT-XLTYLTZLTUnder
Position auto―controlWTLT, lathe coordinate system O-XYZ in step S23 is in laser tracker coordinate system OLT-XLTYLTZLTUnder pose square
Battle arrayBTLTWith the processing machine coordinate system O of n processing machine in step S22Mi-XMiYMiZMiPose under lathe coordinate system O-XYZ
MatrixMiTB, it is calculated the processing machine coordinate system O of n processing machineMi-XMiYMiZMiOpposite piece coordinate system OW-XWYWZWConversion
Matrix is
Remark additionally here, laser tracker coordinate system OLT-XLTYLTZLTIt is solid with laser tracker (not shown)
Knot, is determined by the inside of laser tracker (not shown).Q index point BMS1 in step S23m~BMSqmCoordinateWith the q index point BMS1 measured under the lathe coordinate system O-XYZ for demarcatingd~BMSqdCoordinateRegistration 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 S22MiTBProcess 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 AMiAnd main shaft C is the second rotary motion axle CMi, AC yaws are also including cutter K, the first rotary motion axle AMiAnd knife
Tool K can be with the second rotary motion axle CMiRotary motion, cutter K is arranged on the first rotary motion axle AMiOn, 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 AMiWith the second rotary motion axle CMiOn 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 AMiAxisWith the second rotary motion axle CMiAxisPosition, obtain the first rotary motion axle AMiAxle
LineLinear equation in lathe coordinate system O-XYZ isAnd second rotation
Kinematic axis CMiAxisLinear equation in lathe coordinate system O-XYZ is:
Wherein, (xA,yA,zA)TFor axisThe coordinate of upper any point, (xC,yC,zC)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 S222MiAxisWith the second rotary motion axle CMi's
AxisThe first rotary motion axle A of each processing machine Mi is calculated by geometrical relationshipMiAxisWith the second rotary motion axle CMi
AxisAxis common vertical line FMi, and calculate the axis common vertical line F of each processing machine MiMiWith its second rotary motion axle CMi's
AxisIntersection point TMi, by intersection point TMiAs the wrist heart point T of the AC yaws of processing machine, from wrist heart point T along the second rotary motion
Axle CMiAxisOffset the first rotary motion axle AMiPendulum length apart from LMiThe 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 machineMi-XMiYMiZMiOrigin OMi, 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 OMi-XMiYMiZMiXMiThe 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 machineMi-XMiYMiZMiIt is corresponding
The unit direction vector of axle, using the processing machine coordinate system O of the method amendment processing machine of vectorial multiplication crossMi-XMiYMiZMiOther two
The unit direction vector of individual axle, by the processing machine coordinate system O of processing machineMi-XMiYMiZMiOrigin OMiWith the unit side of each axle
To vectorObtain the processing machine coordinate system O of processing machineMi-XMiYMiZMiPose 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 machineMiRotation side
To the processing machine coordinate system O with each processing machineMi-XMiYMiZMiXMiThe direction of axle is consistent and the second rotary shaft CMiDirection of rotation
With the processing machine coordinate system O of each processing machineMi-XMiYMiZMiZMiThe 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 AMiWith second
Rotary motion axle CMiThe 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 machineMiAnd the second rotary motion axle CMiBag
Box is enclosed, by the 3rd linear motion axis of processing machine, the first rotary motion axle AMiAnd second rotary motion axle bounding box segmentation
For NrIndividual cuboid and NcIndividual cylinder, obtains each cuboid RrFirst length of sideSecond length of side3rd length of side
With each cylinder CcRadius rcWith length lc, by the position coordinates in theoretical processing holeUnit normal vectorAnd the Z of processing machineWThe axle direction of motion is in workpiece coordinate system OW-XWYWZWIn vectorWith each square
Body RrWith each cylinder CcPosition relationship be calculated each cuboid RrCenterThe normal direction in the first face
AmountThe normal vector in the second faceWith the normal vector in the 3rd faceAnd each cylinder CcCenterAnd axle
Line vectorObtain each cuboid RrThe first key parameter
With each cylinder CcThe second key parameterSo as to obtain the 3rd linear motion of processing machine
Axle, the first rotary motion axle AMiAnd the second rotary motion axle CMiBounding box segmentation NrFirst key parameter of individual cuboid
Collection is combined into:
Wherein, r=1,2 ..., Nr, NrRepresent cuboid number;
And NcSecond key parameter collection of individual cylinder is combined into:
Wherein, c=1,2 ..., Nc, NcRepresent cylinder number.
With reference to Fig. 8, each cuboid RrCenterThe normal vector in the first faceThe normal vector in the second faceWith the normal vector in the 3rd faceAnd each cylinder CcCenterWith axis vectorCalculating
Journey is as follows:By the 3rd linear motion axis of processing machine, the first rotary motion axle AMiWith the second rotary motion axle CMiBounding 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 OW-XWYWZWZWThe vertical N of axlesIt 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 SiAsk for minimum circumscribed circle Ci, obtain minimum circumscribed circle CiCentral coordinate of circle beRadius isWherein, i=
1,2,…,Ns;By the position coordinates in theoretical processing holeFind satisfactionMinimum circumscribed circle
Ci, correspondence central coordinate of circleWith radiusWith minimum circumscribed circle Ci+1, correspondence central coordinate of circleWith
RadiusAnd computational theory processes hole position i.e. in ZWValue on axle is zkThe 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 zk≥ZUDWhen, 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 zk< ZUDWhen, 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, ZUDTo 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 ZWAdding 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 yk< YRL, 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 yk≥YRL, 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, YRLFor 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 YWRange of work cut off value on direction of principal axis.
Remark additionally here, number N that the cross section of workpiece takes in step S51sDetermined 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
ZWRange of work cut off value Z on direction of principal axisUDBy 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 YWRange of work cut off value Y on direction of principal axisRLBy the son being arranged on left column 2 and right column 3
Lathe is along YMiThe 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 BndBox3×(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 BndBox3×(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 BndBox3×(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 BndBox3×(wsize+fsize)The point that collision judgment is done in middle extraction converges conjunctionIn pointMeet:
Wherein, LAIt is from virtual point of a knife TCP to the first rotary motion axle A along generating tool axis vector directionMiLength, HAIt is vertical
The first rotary motion axle A in straight knife axial vector directionMiCornerwise 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 RrIn, extract the first key parameter set
In r row data obtain cuboid RrThe first key parameterIn formula,
d1、d2And d3For the theoretical position for processing hole to cuboid RrCenterDisplacement respectively in cuboid RrThe 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 CcIn, extract the second key parameter set
In c row data obtain cylinder CcThe second key parameterIn formula, d||And d⊥Representation theory
The position in processing hole is to cylinder CcCenterDisplacement 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 OW-XWYWZWIt 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, Ik, Jk, KkRespectively theoretical processing
The unit normal vector in hole is in workpiece coordinate system OW-XWYWZWXWAxle, YWAxle, ZWUnit vector on axle, wherein, k=1,
2,...,Ntotal, NtotalFor 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 trackerMi-XMiYMiZMiIn workpiece coordinate system
OW-XWYWZWUnder 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 MiMiThe axle direction of motion is in workpiece coordinate system OW-XWYWZWIn vector table
Show,Represent the Y of processing machine MiMiThe axle direction of motion is in workpiece coordinate system OW-XWYWZWIn vector
Represent,Represent the Z of processing machine MiMiThe axle direction of motion is in workpiece coordinate system OW-XWYWZWIn arrow
Amount expression,Represent origin of coordinates O of processing machine MiMiIn workpiece coordinate system OW-XWYWZWIn 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 wBndBox3×wsizeAnd fBndBox3×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 box3×(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 S2Mi-XMiYMiZMiIn workpiece coordinate
It is OW-XWYWZWIn 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 OMi-XMiYMiZMiIn workpiece coordinate system OW-XWYWZWUnder 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 S33×(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 ERS1m~ERSpmCoordinateI=1,2 ..., p, p (p >=3) represent index point quantity,
Calculate workpiece coordinate system OW-XWYWZWXWAxle, YWAxle and ZWUnit direction vector, so as to set up workpiece coordinate system OW-
XWYWZWIn laser tracker coordinate system OLT-XLTYLTZLTUnder position auto―controlWTLT;
S22, demarcates lathe coordinate system O-XYZ, sets up the processing machine coordinate system O of n processing machineMi-XMiYMiZMiIn lathe coordinate system
Position auto―control under O-XYZMiTB;
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 measuredm~BMSqm
CoordinateAnd with demarcate lathe coordinate system O-XYZ under measure q index point BMS1d~
BMSqdCoordinateRegistration, 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 OLT-XLTYLTZLTUnder position auto―controlBTLT;
S24, the workpiece coordinate system O in step S21W-XWYWZWIn laser tracker coordinate system OLT-XLTYLTZLTUnder pose
MatrixWTLT, lathe coordinate system O-XYZ in step S23 is in laser tracker coordinate system OLT-XLTYLTZLTUnder position auto―controlBTLT
With the processing machine coordinate system O of n processing machine in step S22Mi-XMiYMiZMiPose square under lathe coordinate system O-XYZ
Battle arrayMiTB, it is calculated the processing machine coordinate system O of n processing machineMi-XMiYMiZMiOpposite piece coordinate system OW-XWYWZWConversion square
Battle array be
3. gantry drilling lathe manufacturing collision determination method according to claim 2, it is characterised in that step S22
Middle position auto―controlMiTBProcess 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 AMiAnd main shaft C is the second rotation
Transhipment moving axis CMi, AC yaws are also including cutter (K), the first rotary motion axle AMiCan be with the second rotary motion axle with cutter (K)
CMiRotary motion, cutter (K) is arranged on the first rotary motion axle AMiOn, 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 onMiWith the second rotary motion
Axle CMiOn 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 AMiAxisWith
Second rotary motion axle CMiAxisPosition, obtain the first rotary motion axle AMiAxisIn lathe coordinate system O-
Linear equation in XYZ isAnd the second rotary motion axle CMiAxle
LineLinear equation in lathe coordinate system O-XYZ is:Wherein,
(xA,yA,zA)TFor axisThe coordinate of upper any point, (xC,yC,zC)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 S222MiAxisWith the second rotary motion axle CMiAxle
LineThe first rotary motion axle A of each processing machine Mi is calculated by geometrical relationshipMiAxisWith the second rotary motion axle CMi's
AxisAxis common vertical line FMi, and calculate the axis common vertical line F of each processing machine MiMiWith its second rotary motion axle CMiAxle
LineIntersection point TMi, by intersection point TMiAs wrist heart point (T) of the AC yaws of processing machine, from wrist heart point (T) along the second rotation fortune
Moving axis CMiAxisOffset the first rotary motion axle AMiPendulum length apart from LMiThe 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 machineMi-XMiYMiZMiOrigin OMi;
S224:If the processing machine coordinate system O of processing machineMi-XMiYMiZMiXMiThe 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 OMi-XMiYMiZMiCorresponding axle unit direction vector, using the processing machine coordinate system of the method amendment processing machine of vectorial multiplication cross
OMi-XMiYMiZMiOther two axles unit direction vector, by the processing machine coordinate system O of processing machineMi-XMiYMiZMiOriginal
Point OMiWith the unit direction vector of each axleObtain the processing machine coordinate system O of processing machineMi-XMiYMiZMiSit 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 machineMiAnd the second rotary motion axle CMiBounding box,
By the 3rd linear motion axis of processing machine, the first rotary motion axle AMiAnd second the bounding box of rotary motion axle be divided into NrIt is individual
Cuboid and NcIndividual cylinder, obtains each cuboid RrFirst length of sideSecond length of side3rd length of sideAnd each
Cylinder CcRadius rcWith length lc, by the position coordinates in theoretical processing holeUnit normal vectorAnd the Z of processing machineWThe axle direction of motion is in workpiece coordinate system OW-XWYWZWIn vectorWith each square
Body RrWith each cylinder CcPosition relationship be calculated each cuboid RrCenterThe normal direction in the first face
AmountThe normal vector in the second faceWith the normal vector in the 3rd faceAnd each cylinder CcCenterAnd axle
Line vectorObtain each cuboid RrThe first key parameter
With each cylinder CcThe second key parameterSo as to obtain the 3rd linear motion of processing machine
Axle, the first rotary motion axle AMiAnd the second rotary motion axle CMiBounding box segmentation NrFirst key parameter of individual cuboid
Collection is combined into:
Wherein, r=1,2 ..., Nr, NrRepresent cuboid number;
And NcSecond key parameter collection of individual cylinder is combined into:
Wherein, c=1,2 ..., Nc, NcRepresent cylinder number.
5. gantry drilling lathe manufacturing collision determination method according to claim 4, it is characterised in that each rectangle
Body RrCenterThe normal vector in the first faceThe normal vector in the second faceWith the normal vector in the 3rd faceWith
And each cylinder CcCenterWith axis vectorCalculating process it is as follows:
By the 3rd linear motion axis of processing machine, the first rotary motion axle AMiWith the second rotary motion axle CMiBounding 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, LR1It is from virtual point of a knife (TCP) to cuboid R1CenterDistance, LR2It is from virtual point of a knife (TCP)
To cuboid R2CenterDistance,It is from wrist heart point (T) to cuboid R3CenterDistance,
LR4From wrist heart point (T) to cuboid R4CenterDistance, LC1It 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 OW-XWYWZWZWThe vertical N of axlesThe cross section of individual workpiece, the interior conduit for obtaining workpiece cuts
Surface curve setTo each interior conduit cross section curve SiAsk for minimum circumscribed circle Ci, obtain minimum external
Circle CiCentral coordinate of circle beRadius isWherein, i=1,2 ..., Ns;By the position coordinates in theoretical processing holeFind satisfactionMinimum circumscribed circle Ci, correspondence central coordinate of circleWith radiusWith minimum circumscribed circle Ci+1, correspondence central coordinate of circleWith radiusAnd computational theory processing hole position
I.e. in ZWValue on axle is zkThe minimum circumscribed circle of the interior conduit cross section curve of place's workpieceCentral coordinate of circle
And radiusFor:
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 zk≥ZUDWhen, 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 zk
< ZUDWhen, 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, ZUDTo 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 ZWOn 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 yk< YRL, 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 yk≥YRL, 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, YRLFor 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 YWRange 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 BndBox3×(wsize+fsize)Middle extraction is collided
The point of judgement 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 number
According to BndBox3×(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 of gantry drilling lathe (2), in total discrete point cloud
Data BndBox3×(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 of gantry drilling lathe (3), in total discrete point cloud
Data BndBox3×(wsize+fsize)The point that collision judgment is done in middle extraction converges conjunctionIn pointMeet:
Wherein, LAIt is from virtual point of a knife (TCP) to the first rotary motion axle A along generating tool axis vector directionMiLength, HAFor vertical
The first rotary motion axle A in generating tool axis vector directionMiCornerwise 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:
Represent that point converges conjunctionIn pointIn cuboid RrIn, extract the first key parameter setIn r
Row data obtain cuboid RrThe first key parameterIn formula, d1、d2
And d3For the theoretical position for processing hole to cuboid RrCenterDisplacement respectively in cuboid RrThe 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 CcIn, extract the second key parameter setIn c
Row data obtain cylinder CcThe second key parameterIn formula, d||And d⊥Representation theory processes hole
Position to cylinder CcCenterDisplacement respectively axis vectorWith vertical axis vector on directionOrthographic projection value on direction.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201611087666.0A CN106647631B (en) | 2016-11-30 | 2016-11-30 | Gantry drilling lathe manufacturing collision determination method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201611087666.0A CN106647631B (en) | 2016-11-30 | 2016-11-30 | Gantry drilling lathe manufacturing collision determination method |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106647631A true CN106647631A (en) | 2017-05-10 |
CN106647631B CN106647631B (en) | 2018-10-02 |
Family
ID=58814601
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201611087666.0A Active CN106647631B (en) | 2016-11-30 | 2016-11-30 | Gantry drilling lathe manufacturing collision determination method |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN106647631B (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108021098A (en) * | 2017-12-05 | 2018-05-11 | 华中科技大学 | A kind of tool path optimization method for automatically generating tire-mold safety cylinder body |
CN109117602A (en) * | 2018-10-17 | 2019-01-01 | 江西洪都航空工业集团有限责任公司 | Large scale covering digitizing detection method based on laser tracker |
CN109986410A (en) * | 2018-01-02 | 2019-07-09 | 东莞市鑫国丰机械有限公司 | Integrated structure milling machine processing and measured |
CN110456730A (en) * | 2019-07-25 | 2019-11-15 | 上海拓璞数控科技股份有限公司 | Collision avoidance system and method for double five axis mirror images milling equipment |
CN110497088A (en) * | 2019-08-31 | 2019-11-26 | 大连理工大学 | Flexible conformal antenna based on curved surface mapping laser machines error control method |
CN117252901A (en) * | 2023-10-24 | 2023-12-19 | 郑州轻工业大学 | Multi-axis numerical control machine tool safety production prediction and early warning method based on digital twinning |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58143941A (en) * | 1982-02-18 | 1983-08-26 | Mitsubishi Electric Corp | Numerically controlled processing system |
CN104483950A (en) * | 2014-12-18 | 2015-04-01 | 清华大学 | Control system of multichannel drilling machine tool |
CN105911960A (en) * | 2016-04-01 | 2016-08-31 | 广州兴森快捷电路科技有限公司 | Laser boring method for packaging substrate |
CN106017326A (en) * | 2016-08-02 | 2016-10-12 | 清华大学 | Point location accuracy evaluation method for gantry drilling machine tool |
CN106078359A (en) * | 2016-06-02 | 2016-11-09 | 清华大学 | The zero point definition of a kind of planer-type many main shafts drilling building-block machine and scaling method |
-
2016
- 2016-11-30 CN CN201611087666.0A patent/CN106647631B/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58143941A (en) * | 1982-02-18 | 1983-08-26 | Mitsubishi Electric Corp | Numerically controlled processing system |
CN104483950A (en) * | 2014-12-18 | 2015-04-01 | 清华大学 | Control system of multichannel drilling machine tool |
CN105911960A (en) * | 2016-04-01 | 2016-08-31 | 广州兴森快捷电路科技有限公司 | Laser boring method for packaging substrate |
CN106078359A (en) * | 2016-06-02 | 2016-11-09 | 清华大学 | The zero point definition of a kind of planer-type many main shafts drilling building-block machine and scaling method |
CN106017326A (en) * | 2016-08-02 | 2016-10-12 | 清华大学 | Point location accuracy evaluation method for gantry drilling machine tool |
Non-Patent Citations (2)
Title |
---|
冯晓波: "机器人准确制孔技术研究", 《中国优秀硕士学位论文全文数据库信息科技辑(月刊)》 * |
孙涛: "六轴飞机装配钻铣机数控系统", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑(月刊)》 * |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108021098A (en) * | 2017-12-05 | 2018-05-11 | 华中科技大学 | A kind of tool path optimization method for automatically generating tire-mold safety cylinder body |
CN109986410A (en) * | 2018-01-02 | 2019-07-09 | 东莞市鑫国丰机械有限公司 | Integrated structure milling machine processing and measured |
CN109117602A (en) * | 2018-10-17 | 2019-01-01 | 江西洪都航空工业集团有限责任公司 | Large scale covering digitizing detection method based on laser tracker |
CN110456730A (en) * | 2019-07-25 | 2019-11-15 | 上海拓璞数控科技股份有限公司 | Collision avoidance system and method for double five axis mirror images milling equipment |
CN110456730B (en) * | 2019-07-25 | 2021-05-11 | 上海拓璞数控科技股份有限公司 | Anti-collision system and method for double five-axis mirror milling equipment |
CN110497088A (en) * | 2019-08-31 | 2019-11-26 | 大连理工大学 | Flexible conformal antenna based on curved surface mapping laser machines error control method |
CN117252901A (en) * | 2023-10-24 | 2023-12-19 | 郑州轻工业大学 | Multi-axis numerical control machine tool safety production prediction and early warning method based on digital twinning |
Also Published As
Publication number | Publication date |
---|---|
CN106647631B (en) | 2018-10-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN106647631A (en) | Gantry hole making machine tool machining collision detection analysis method | |
CN104765936B (en) | Deployed based on Autodesk inventor software three-dimensional modelings and generate the operating method of setting-out coordinate | |
CN100435055C (en) | Method for planning smooth and non-interference tool route of 5-axis numerical control machining | |
CN101763069B (en) | Identification method of machining characteristics of complex parts of airplane | |
CN106502202B (en) | A kind of semi analytic modeling method of rose cutter and guide vane contact area | |
CN101556704B (en) | Method for establishing temporary supporting frame system assembled by steel structures | |
CN107972034A (en) | A kind of complex part Trajectory Planning system based on ROS platforms | |
CN106078359B (en) | A kind of zero definition of more main shaft drilling building-block machines of planer-type and scaling method | |
CN107577882A (en) | A kind of surface topography modeling of side milling ruled surface and the emulation mode of shaping | |
CN106133628A (en) | For determining the method and system in the path of the cutter of processing groove shapes | |
CN109976259A (en) | A kind of robot free curve surface work pieces polishing off-line programing method based on VTK | |
Feng et al. | Sandwich panel design and performance optimization based on triply periodic minimal surfaces | |
CN104375460A (en) | Method for analyzing machining precision reliability sensitivity of numerically-controlled machine tool | |
CN103777570A (en) | Machining error rapid detection and compensation method based on NURBS curved surface | |
CN105468796A (en) | Method for establishing temporary support moulding bed system for steel structure assembly | |
CN102426613A (en) | Making method for large-aperture spatial bend pipe intersection line and bevel | |
CN104881560B (en) | A kind of simulation of ship pipe-line layout environmental modeling method | |
CN108549327A (en) | A kind of five axis of complex structural member increase and decrease material hybrid process Sequence Planning method | |
CN102866671A (en) | Large-arc ruled surface numerical control machining cutter path planning method | |
CN110059879A (en) | The automatic planning of vehicle body three-dimensional coordinates measurement | |
Zhou et al. | Off-line programming system of industrial robot for spraying manufacturing optimization | |
CN107065765B (en) | Thickness of cutting calculation method based on tool axis motion model | |
CN105446264A (en) | Feature-based machine tool accuracy optimization design method | |
CN107471882A (en) | A kind of processing of robots control system of large volume workpiece engraving | |
CN105270702B (en) | The spherical crown surface bottom foamed plastics uniform thickness processing unit (plant) and method of a kind of large diameter thin wall casing |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |