CN106647631B - Gantry drilling lathe manufacturing collision determination method - Google Patents

Gantry drilling lathe manufacturing collision determination method Download PDF

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Publication number
CN106647631B
CN106647631B CN201611087666.0A CN201611087666A CN106647631B CN 106647631 B CN106647631 B CN 106647631B CN 201611087666 A CN201611087666 A CN 201611087666A CN 106647631 B CN106647631 B CN 106647631B
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machine tool
sub
axis
coordinate system
hole
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CN106647631A (en
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王国磊
饶刚
陈恳
吴丹
徐静
张庆彪
任田雨
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Tsinghua University
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Tsinghua University
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    • 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

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  • Mechanical Engineering (AREA)
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  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

The present invention provides a kind of gantry drilling lathe manufacturing collision determination methods, in gantry drilling lathe manufacturing collision determination method according to the present invention, discrete processes are carried out to the fixture of curve surface of workpiece and fixed workpiece and obtain discrete point cloud data, and the processing machine of gantry drilling lathe is modeled to obtain the first key parameter set of processing machineWith the second key parameter setThe point for doing collision judgment in further Choice Theory processing hole, which converges to merge, judges a little to converge whether the point in closing collides with the processing machine for processing hole for processing Theory, above-mentioned judgement is all carried out to all theoretical processing holes of workpiece with the mode of cycle, machinability to complete all theoretical processing holes of workpiece is analyzed, to be conducive to the drilling operation subsequently actually carried out.

Description

Gantry hole making machine tool machining collision detection analysis method
Technical Field
The invention relates to the field of aviation digital manufacturing, in particular to a method for detecting and analyzing machining collision of a gantry hole making machine tool.
Background
The hole making task is an important task in aviation hole making, and occupies a great proportion of operation in aircraft manufacturing and production, and the existing processing mode mainly adopts a manual hole making mode, and completes the hole making operation by manual scribing and then using an electric hand drill. In the manual hole making, the quality of the hole making depends on the technical purity of workers, the quality consistency is difficult to ensure, and serious hole making problems such as group hole out-of-tolerance and the like can occur. The hole-making components are airplane wings or fuselage frame beams and skins, are installed and fixed through a plurality of processes in the prior period, are high in manufacturing cost, and have higher requirements on processing precision for aviation products with special requirements. In recent years, digital hole-making technology using a numerically controlled machine tool as a machining apparatus is beginning to be applied to an aviation hole-making task. In aeronautical manufacturing, the arrangement of processing hole sites on a workpiece is usually irregular, and it is difficult to visually determine whether the hole sites can be processed. Particularly, for the inner wall hole making of the tubular workpiece, whether the machining sub-machine tool can reach the hole position of the designed theoretical machining hole is determined in the early machining planning, so that the theoretical machining hole which cannot be machined is eliminated in the early planning, and the collision is avoided.
Disclosure of Invention
In view of the defects in the prior art, the invention aims to provide a machining collision detection analysis method for a gantry drilling machine, which can complete the machinability analysis of all theoretical machining holes of a workpiece, thereby facilitating the subsequent actual drilling operation.
In order to achieve the above object, the present invention provides a gantry drilling machine tool processing collision detection analysis method, which is used for detecting and analyzing a processing collision of a gantry drilling machine tool to a theoretical processing hole of a workpiece, wherein the gantry drilling machine tool comprises n sub-machine tools, and the gantry drilling machine tool processing collision detection analysis method is characterized by comprising the steps of:
s1, in the object coordinate system OW-XWYWZWTheoretical machining holes of the workpiece are constructed, and position coordinates of the theoretical machining holes are extractedAnd unit normal vector of theoretical machining holeWherein, Ik，Jk，KkRespectively as unit normal vector of theoretical machining hole in workpiece coordinate system OW-XWYWZWX of (2)WAxis, YWAxis, ZWUnit vector on axis, where k is 1,2total，NtotalThe total number of theoretical machining holes on the workpiece;
s2, measuring and calculating by using the laser tracker to obtain a sub-machine tool coordinate system O of the sub-machine toolMi-XMiYMiZMiIn the object coordinate system OW-XWYWZWRelative pose of
Wherein Mi is 1,2, n, Mi represents the sub machine tool Mi, n represents the total number of the sub machine tools on the gantry drilling machine tool, n is more than or equal to 1,x for representing sub-machine MiMiAxis direction of motion in the workpiece coordinate system OW-XWYWZWThe vector of (1) represents the vector of (b),y representing sub-machine MiMiAxis direction of motion in the workpiece coordinate system OW-XWYWZWThe vector of (1) represents the vector of (b),z of the sub-machine MiMiAxis direction of motion in the workpiece coordinate system OW-XWYWZWThe vector of (1) represents the vector of (b),coordinate origin O of sub-machine MiMiIn the object coordinate system OW-XWYWZWVector (III)(ii) a quantity representation;
s3, creating a clamp bounding box for a clamp for fixing the workpiece, and respectively dispersing the curved surface of the workpiece and the clamp bounding box into discrete point cloud data wBndBox3×wsizeAnd fBndBox3×fsizeWherein wsize is the discrete point number of the discrete point cloud of the workpiece curved surface, fsize is the discrete point number of the discrete point cloud of the fixture bounding box, thereby obtaining the total discrete point cloud data BndBox including the discrete point cloud data of the workpiece curved surface and the discrete point cloud data of the fixture bounding box3×(wsize+fsize)Wherein (wsize + fsize) is the total number of discrete points of the discrete point cloud of the workpiece curved surface and the discrete point cloud of the fixture bounding box;
s4, according to the position coordinates of the theoretical machining hole obtained in the step S1And unit normal vector of theoretical machining holeAnd the sub-machine coordinate system O of the sub-machine obtained in step S2Mi-XMiYMiZMiIn the object coordinate system OW-XWYWZWVector of (5)Obtaining a first set of key parameters of the sub-machineAnd a second set of key parameters
S5, according to the position coordinates of the theoretical machining hole obtained in the step S1And the sub-machine coordinate system O of the sub-machine obtained in step S2Mi-XMiYMiZMiIn the object coordinate system OW-XWYWZWRelative pose ofJudging a sub machine tool which corresponds to the theoretical machining hole and is used for machining the theoretical machining hole;
s6, according to the position coordinates of the theoretical machining hole obtained in the step S1And unit normal vector of theoretical machining holeThe total discrete point cloud data bndbobox obtained in step S33×(wsize+fsize)And the sub machine tool for processing the theoretical processing hole obtained in the step S5, and the point cloud set for collision judgment of the theoretical processing hole is selected
S7, according to the first key parameter set of the sub-machine bed obtained in the step S4And a second set of key parametersAnd the point cloud set of the theoretical processing hole obtained in the step S6 for collision judgmentObtaining a point cloud set of theoretical processing holes for collision judgmentEach point inA first condition and a second condition for collision with an associated sub-machine tool for machining a theoretical machining hole;
s8, judging the point cloud set of the theoretical processing hole for collision judgmentEach point inWhether the first condition or the second condition is met or not, if the point cloud set of the theoretical machining hole for collision judgment is usedIf the point meeting the first condition or the second condition exists, the theoretical machining hole collides with the sub machine tool used for machining the theoretical machining hole, and the theoretical machining hole meeting the first condition or the second condition is set as a non-machinable hole; point cloud set for collision judgment if theoretical machining hole is formedEach point inAnd if the theoretical machining hole does not meet the first condition and the second condition, the theoretical machining hole does not collide with the sub machine tool used for machining the theoretical machining hole, and the theoretical machining hole which does not meet the first condition and the second condition is set as a machinable hole.
The invention has the following beneficial effects:
according to the gantry drilling machine tool processing collision detection analysis method, discrete processing is carried out on a workpiece curved surface and a fixture for fixing a workpiece to obtain discrete point cloud data, modeling is carried out on a sub-machine tool of the gantry drilling machine tool to obtain a first key parameter set of the sub-machine toolAnd a second set of key parametersAnd further selecting a point cloud set of the theoretical machining holes for collision judgment, judging whether points in the point cloud set collide with a sub-machine tool for machining the theoretical machining holes, and performing judgment on all the theoretical machining holes of the workpiece in a circulating mode, so that the machinability analysis of all the theoretical machining holes of the workpiece is completed, and the subsequent actual hole machining operation is facilitated.
Drawings
Fig. 1 is an overall schematic view of a gantry drilling machine used in the gantry drilling machine processing collision detection analysis method according to the present invention;
FIG. 2 is a schematic diagram of a sub-machine tool for machining a theoretical machining hole corresponding to a theoretical machining hole judged in the Longmen hole-making machine tool machining collision detection analysis method according to the invention;
FIG. 3 is a schematic diagram of a construction machine coordinate system O-XYZ in the Longmen hole-making machine processing collision detection analysis method according to the present invention;
FIG. 4 is an enlarged view of the circled portion of FIG. 1;
FIG. 5 is a simplified schematic diagram of the position of the virtual nose of one of the sub-machines of the gantry drilling machine of FIG. 1 in an initial state;
FIG. 6 is a schematic diagram of collision calculation of collision between a point in a point cloud set for collision judgment and a rectangular body in a theoretical machining hole;
FIG. 7 is a schematic diagram of collision calculation of collision between a point in a point cloud set for collision judgment and a cylinder in a theoretical machining hole;
fig. 8 is a schematic diagram of bounding boxes of the third linear axis of motion, the first rotational axis of motion, and the second rotational axis of motion of the sub-machine.
Wherein the reference numerals are as follows:
1 crossbeam K cutter
2 left column T wrist center point
3 right column TCP virtual knife tip
4 ground bridge
Detailed Description
The collision detection analysis method for machining of the gantry drilling machine according to the present invention will be described in detail with reference to the accompanying drawings.
Referring to fig. 1 to 8, the gantry drilling machine tool processing collision detection analysis method of the present invention is used for detecting and analyzing a processing collision of a theoretical processing hole of a workpiece by a gantry drilling machine tool, the gantry drilling machine tool includes n sub-machine tools, and the gantry drilling machine tool processing collision detection analysis method is characterized by including the steps of:
s1, in the object coordinate system OW-XWYWZWTheoretical machining holes of the workpiece are constructed, and position coordinates of the theoretical machining holes are extractedAnd unit normal vector of theoretical machining holeWherein, Ik，Jk，KkRespectively as unit normal vector of theoretical machining hole in workpiece coordinate system OW-XWYWZWX of (2)WAxis, YWAxis, ZWUnit vector on axis, where k is 1,2total，NtotalThe total number of theoretical machining holes on the workpiece;
s2, measuring and calculating the sub-machine tool coordinate system O of the sub-machine tool by using a laser tracker (not shown)Mi-XMiYMiZMiIn the object coordinate system OW-XWYWZWRelative pose of
Wherein Mi is 1,2, n, Mi represents the sub machine tool Mi, n represents the total number of the sub machine tools on the gantry drilling machine tool, n is more than or equal to 1,x for representing sub-machine MiMiAxis direction of motion in the workpiece coordinate system OW-XWYWZWThe vector of (1) represents the vector of (b),y representing sub-machine MiMiAxis direction of motion in the workpiece coordinate system OW-XWYWZWThe vector of (1) represents the vector of (b),z of the sub-machine MiMiAxis direction of motion in the workpiece coordinate system OW-XWYWZWThe vector of (1) represents the vector of (b),coordinate origin O of sub-machine MiMiIn the object coordinate system OW-XWYWZWVector representation of (1);
s3, creating a clamp bounding box for a clamp for fixing the workpiece, and respectively dispersing the curved surface of the workpiece and the clamp bounding box into discrete point cloud data wBndBox3×wsizeAnd fBndBox3×fsizeWherein wsize is the discrete point number of the discrete point cloud of the workpiece curved surface, fsize is the discrete point number of the discrete point cloud of the fixture bounding box, thereby obtaining the total discrete point cloud data BndBox including the discrete point cloud data of the workpiece curved surface and the discrete point cloud data of the fixture bounding box3×(wsize+fsize)Wherein (wsize + fsize) is the curved surface of the workpieceThe total number of discrete points of the discrete point cloud of (a) and the discrete point cloud of the fixture bounding box;
s4, according to the position coordinates of the theoretical machining hole obtained in the step S1And unit normal vector of theoretical machining holeAnd the sub-machine coordinate system O of the sub-machine obtained in step S2Mi-XMiYMiZMiIn the object coordinate system OW-XWYWZWVector of (5)Obtaining a first set of key parameters of the sub-machineAnd a second set of key parameters
S5, according to the position coordinates of the theoretical machining hole obtained in the step S1And the sub-machine coordinate system O of the sub-machine obtained in step S2Mi-XMiYMiZMiIn the object coordinate system OW-XWYWZWRelative pose ofJudging a sub machine tool which corresponds to the theoretical machining hole and is used for machining the theoretical machining hole;
s6, according to the position coordinates of the theoretical machining hole obtained in the step S1And unit normal vector of theoretical machining holeThe total discrete point cloud data bndbobox obtained in step S33×(wsize+fsize)And the sub machine tool for processing the theoretical processing hole obtained in the step S5, and the point cloud set for collision judgment of the theoretical processing hole is selected
S7, according to the first key parameter set of the sub-machine bed obtained in the step S4And a second set of key parametersAnd the point cloud set of the theoretical processing hole obtained in the step S6 for collision judgmentObtaining a point cloud set of theoretical processing holes for collision judgmentEach point inA first condition and a second condition for collision with an associated sub-machine tool for machining a theoretical machining hole;
s8, judging the point cloud set of the theoretical processing hole for collision judgmentEach point inWhether the first condition or the second condition is met or not, if the theoretical machining hole is used for collision judgmentBroken point cloud collectionIf the point meeting the first condition or the second condition exists, the theoretical machining hole collides with the sub machine tool used for machining the theoretical machining hole, and the theoretical machining hole meeting the first condition or the second condition is set as a non-machinable hole; point cloud set for collision judgment if theoretical machining hole is formedEach point inAnd if the theoretical machining hole does not meet the first condition and the second condition, the theoretical machining hole does not collide with the sub machine tool used for machining the theoretical machining hole, and the theoretical machining hole which does not meet the first condition and the second condition is set as a machinable hole.
According to the gantry drilling machine tool processing collision detection analysis method, discrete processing is carried out on a workpiece curved surface and a fixture for fixing a workpiece to obtain discrete point cloud data, modeling is carried out on a sub-machine tool of the gantry drilling machine tool to obtain a first key parameter set of the sub-machine toolAnd a second set of key parametersAnd further selecting a point cloud set of the theoretical machining holes for collision judgment, judging whether points in the point cloud set collide with a sub-machine tool for machining the theoretical machining holes, and performing judgment on all the theoretical machining holes of the workpiece in a circulating mode, so that the machinability analysis of all the theoretical machining holes of the workpiece is completed, and the subsequent actual hole machining operation is facilitated.
It is additionally stated that the three-dimensional software CATIA R18 may be used to create a three-dimensional digifax of a workpiece from which it is createdPosition coordinates of the theoretical machining hole in the extraction step S1And unit normal vector of theoretical machining holeAnd (4) data.
The step S3 of dispersing the workpiece curved surface and the clamp bounding box into discrete point cloud data wBndBox is realized by using an STL rapid prototyping (stereolithography) module in three-dimensional software CATIA R183×wsizeAnd fBndBox3×fsize。
In the gantry drilling machine processing collision detection analysis method according to the present invention, the step S2 includes steps S21, S22, S23, and S24.
S21, setting p target ball bases as p index points on the positioning surface of the clamp for fixing the workpiece in a non-collinear manner, setting a target ball on each of the p target ball bases, and measuring p index points ERS1 on the clamp for fixing the workpiece by using a laser tracker (not shown)m～ERSpmCoordinates of (2)i is 1,2, …, p, p (p is more than or equal to 3) represents the number of the mark points, and the work coordinate system O is calculatedW-XWYWZWX of (2)WAxis, YWAxis and ZWThereby establishing a workpiece coordinate system OW-XWYWZWIn the laser tracker coordinate system OLT-XLTYLTZLTPose matrix ofWTLT；
S22, calibrating the machine tool coordinate system O-XYZ, and establishing the sub-machine tool coordinate system O of the n sub-machine toolsMi-XMiYMiZMiPose matrix under machine tool coordinate system O-XYZMiTB；
S23, on gantry drilling machineQ target ball bases which are not collinear are fixed on the beam 1 and serve as q mark points, one target ball is correspondingly arranged on each of the q target ball bases, and a laser tracker (not shown) is used for measuring the q mark points BMS1 on the beam 1m～BMSqmCoordinates of (2)And is matched with q mark points BMS1 measured under a calibrated machine tool coordinate system O-XYZd～BMSqdCoordinates of (2)Registering, i is 1,2, …, q, q (q is more than or equal to 3) represents the number of the mark points, and establishing a machine tool coordinate system O-XYZ in a laser tracker coordinate system OLT-XLTYLTZLTPose matrix ofBTLT；
S24, according to the object coordinate system O in the step S21W-XWYWZWIn the laser tracker coordinate system OLT-XLTYLTZLTPose matrix ofWTLTAnd step S23, wherein the machine tool coordinate system O-XYZ is in the laser tracker coordinate system OLT-XLTYLTZLTPose matrix ofBTLTAnd the sub-machine coordinate system O of the n sub-machines in step S22Mi-XMiYMiZMiPose matrix under machine tool coordinate system O-XYZMiTBAnd calculating to obtain a sub-machine coordinate system O of n sub-machine toolsMi-XMiYMiZMiRelative workpiece coordinate system OW-XWYWZWIs transformed into
It is additionally stated here that the laser tracker coordinate system OLT-XLTYLTZLTIs fixed with a laser tracker (not shown) and is provided with a laser tracker (not shown)) Is determined internally. Q landmark points BMS1 in step S23m～BMSqmCoordinates of (2)Q mark points BMS1 measured under a calibrated machine tool coordinate system O-XYZd～BMSqdCoordinates of (2)The registration operation of (a) can be implemented using an automatic registration function in Space Analysis software.
Referring to fig. 3 to 5, the attitude matrix in step S22MiTBThe establishment process comprises the following steps: s221, calibrating a machine tool coordinate system O-XYZ: setting mark points at four corners A, B, C and D of a ground bridge 4 of the machine tool, taking upper surfaces A1, B1, C1 and D1 and two side surfaces A2, B2, C2, D2, A3, B3, C3 and D3 of the four corners as mark surfaces, and establishing a machine tool coordinate system O-XYZ on the ground bridge 4 of the machine tool by using the mark points and the mark surfaces on the ground bridge 4 of the machine tool; s222: the sub machine tool is an AC swing head five-axis machine tool, wherein the X axis of the AC swing head five-axis machine tool is a first linear motion axis, the Y axis is a second linear motion axis, the Z axis is a third linear motion axis, and the main axis A is a first rotary motion axis AMiAnd the principal axis C is a second axis of rotary motion CMiThe AC swing head also comprises a cutter K and a first rotary motion shaft AMiAnd the axis C of the tool K is movable with the second rotationMiRotary movement, the tool K being mounted on a first rotary axis AMiThe sub-machines are adjusted to the initial state, the gantry drilling machine is adjusted to the initial state, and the laser tracker (not shown) is used for tracking the gantry drilling machine arranged on the first rotary motion axis AMiAnd a second axis of rotational movement CMiThe unit direction vectors of the first linear motion axis, the second linear motion axis and the third linear motion axis of each sub machine tool measured by the target ball under the machine tool coordinate system O-XYZ are respectivelyAnd a first axis of rotational movement AMiAxis of (A)And a second axis of rotational movement CMiAxis of (A)To obtain a first axis of rotational movement AMiAxis of (A)The equation of a straight line in the machine tool coordinate system O-XYZ isAnd a second axis of rotational movement CMiAxis of (A)The equation of a straight line in the machine coordinate system O-XYZ is as follows:wherein (x)A,yA,zA)TIs an axisCoordinates of any point above (x)C,yC,zC)TIs an axisThe coordinates of any one of the points above,is an axisThe unit direction vector of (a) is,is an axisThe unit direction vector of (a) is,is an axisAt a known point in the image to be displayed,is an axisAt a known point in the image to be displayed,is an axisThe parameters of the linear equation of (a) are,is an axisThe parameters of the linear equation of (a); s223: according to the first rotary motion axis A obtained in step S222MiAxis of (A)And a second axis of rotational movement CMiAxis of (A)Calculating the first axis of rotation A of each sub-machine Mi from the geometrical relationshipMiAxis of (A)And a second axis of rotational movement CMiAxis of (A)Axis of (a) is perpendicular to (F)MiAnd calculating the axis common perpendicularity F of each sub-machine tool MiMiAnd its second axis of rotary motion CMiAxis of (A)Cross point of (T)MiWill intersect point TMiA wrist point T of the AC swing head as a sub-machine tool along a second rotary motion axis C from the wrist point TMiAxis of (A)Offset from the first axis of rotary motion AMiPendulum length distance LMiObtaining the position of the virtual tool tip TCP, and using the virtual tool tip TCP obtained after the deviation as a sub-machine coordinate system O of the sub-machineMi-XMiYMiZMiOrigin O ofMiFig. 4 and 5 are schematic views showing only the positions of the sub-machine tools and the virtual nose TCP thereof provided on the cross beam 1 of the gantry drilling machine tool; s224: sub-machine coordinate system O of machine toolMi-XMiYMiZMiX of (2)MiThe positive direction of the axis coincides with the positive direction X + of the X axis of the machine tool coordinate system O-XYZ of the gantry drilling machine tool, and the unit direction vector of the first linear motion axis, the second linear motion axis and the third linear motion axis of each sub-machine tool obtained in step S222 in the machine tool coordinate system O-XYZTaking the unit direction vector of the linear motion axis with the longest stroke in the machine tool coordinate system O-XYZ as the sub-machine tool coordinate system O of the sub-machine toolMi-XMiYMiZMiThe unit direction vector of the corresponding axis, and the sub-machine coordinate system O of the sub-machine is corrected by using the vector cross multiplication methodMi-XMiYMiZMiThe unit direction vectors of the other two axes of (2) through the sub-machine coordinate system O of the sub-machineMi-XMiYMiZMiOrigin O ofMiAnd unit direction vector of each axisObtaining a sub-machine coordinate system O of the sub-machineMi-XMiYMiZMiOn the machine tool seatPose matrix under O-XYZ system
It should be noted that the initial state of each sub-machine tool is the first rotation axis a of the sub-machine toolMiAnd the sub-machine coordinate system O of each sub-machineMi-XMiYMiZMiX of (2)MiThe directions of the axes are the same and the second rotation axis CMiAnd the sub-machine coordinate system O of each sub-machineMi-XMiYMiZMiZ of (A)MiThe position state when the axial directions are coincident. The initial state of the gantry drilling machine tool means that the gantry consisting of the cross beam 1, the left upright post 2 and the right upright post 3 is positioned at one end of a ground bridge 4 of the gantry drilling machine tool, the sub-machine tools arranged on the cross beam 1 are positioned at the middle positions, the sub-machine tools arranged on the left upright post 2 and the right upright post 3 are respectively positioned at the upper ends of the left upright post 2 and the right upright post 3, and the sub-machine tools arranged on the ground bridge 4 are positioned at one end of the ground bridge 4.
Referring to fig. 3, in step S221, the machine coordinate system O-XYZ is established on the ground bridge 4 of the machine tool by using the mark points and the mark surfaces on the ground bridge 4 of the machine tool, specifically, the upper surfaces a1, B1, C1 and D1 are fitted to a plane, the plane is taken as an XY plane formed by the X axis and the Y axis of the machine coordinate system O-XYZ, and the corresponding vector in the vertical XY plane is the unit direction vector of the Z axisNext, two side planes of one of the four corners A, B, C and D are measured by a laser tracker (not shown), intersection lines of the two side planes and the XY plane are respectively calculated, and an intersection point of the two intersection lines is calculated as an origin O of a machine tool coordinate system O-XYZ; next, a target ball base is fixed on the gantry, a target ball is arranged on the target ball base, the gantry is moved, the target ball is tracked by a laser tracker (not shown) while the gantry is moved, measurement data is obtained, and the movement locus of the target ball is fitted to a straight lineAnd obtaining the unit direction vector of the target ball movement (namely, the gantry movement), wherein the unit direction vector of the gantry movement can be obtained according to the measurement results of a plurality of timesTaking unit direction vector of gantry motionA unit direction vector of an X axis of a machine tool coordinate system O-XYZ; finally, the unit direction vector through the Z axisAnd unit direction vector of X axisCalculating to obtain the unit direction vector of the Y axis of the machine tool coordinate system O-XYZ of the gantry drilling machine toolFrom this it followsAnd the two parts are perpendicular to each other, so that a machine tool coordinate system O-XYZ of the gantry drilling machine tool is established.
The known point in step S222Andrespectively, the target balls are respectively arranged on the first rotary motion axis AMiAnd a second axis of rotational movement CMiThe circle center of the fitting circle formed by the motion is arranged.
Referring to fig. 6 to 8, a first set of key parameters of a sub-machine tool in step S4And a second set of key parametersThe acquisition process is as follows:
creating a third linear motion axis and a first rotary motion axis A of the sub-machine toolMiAnd a second axis of rotational movement CMiThe third linear motion axis and the first rotary motion axis A of the sub-machine toolMiAnd the bounding box of the second axis of rotational motion is divided into NrA cuboid and NcA cylinder to obtain each rectangular body RrFirst side length ofLength of second sideThe third side is longAnd each cylinder CcRadius r ofcAnd length lcFrom the position coordinates of the theoretical machining holeUnit normal vectorAnd Z of sub machine toolWAxis direction of motion in the workpiece coordinate system OW-XWYWZWVector of (5)With each cuboid RrAnd each cylinder CcThe position relation of the rectangular bodies R is calculated to obtain each rectangular body RrCentral position ofNormal vector of the first surfaceNormal vector of the second surfaceAnd the normal vector of the third faceAnd each cylinder CcCentral position ofAnd axis vectorObtaining each cuboid RrFirst key parameter ofAnd each cylinder CcSecond key parameter ofThereby obtaining a third linear motion axis and a first rotary motion axis A of the sub-machine toolMiAnd a second axis of rotational movement CMiN of bounding box divisionrThe first key parameter set for an individual cuboid is:
wherein, r is 1,2r，NrThe number of rectangular bodies is represented;
and NcThe second key parameter set for each cylinder is:
wherein, c is 1,2c，NcThe number of cylinders is shown.
Referring to FIG. 8, eachRectangular body RrCentral position ofNormal vector of the first surfaceNormal vector of the second surfaceAnd the normal vector of the third faceAnd each cylinder CcCentral position ofAnd axis vectorThe calculation process of (2) is as follows: the third linear motion axis and the first rotary motion axis A of the sub-machine toolMiAnd a second axis of rotational movement CMiThe bounding box is divided into four rectangular bodies R1、R2、R3And R4And four cylinders C1、C2、C3And C4Calculating the rectangular volume R1、R2、R3And R4Central position ofNormal vector of the first surfaceNormal vector of the second surfaceAnd the normal vector of the third faceAnd a cylinder C1、C2、C3And C4Central position ofAnd axis vectorComprises the following steps:
wherein,from a virtual nose TCP to a rectangular body R1Central position ofThe distance of (a) to (b),from a virtual nose TCP to a rectangular body R2Central position ofThe distance of (a) to (b),from the wrist center point T to a cuboid R3Central position ofThe distance of (a) to (b),from the wrist center point T to the rectangular body R4Central position ofThe distance of (a) to (b),from the virtual nose TCP to the cylinder C1Central position ofThe distance of (a) to (b),from the virtual nose TCP to the cylinder C2Central position ofThe distance of (a) to (b),from the virtual nose TCP to the cylinder center C3Central position ofThe distance of (a) to (b),from the wrist center point T to the cylinder C4Central position ofThe distance of (c).
Referring to fig. 2, step S5 includes the steps of: s51, taking the coordinate system O of the workpieceW-XWYWZWZ of (A)WAxial perpendicular NsObtaining the cross section of each workpiece, and obtaining the inner pipeline section curve set of the workpieceFor each inner pipeline section curve SiCalculating the minimum circumcircle CiTo obtain the minimum circumscribed circle CiHas a center coordinate ofRadius ofWherein, i is 1,2, …, Ns(ii) a Position coordinates of theoretical machining holesFind out to satisfyMinimum circumscribed circle C ofiCorresponding to the center coordinates of the circleRadius ofAnd a minimum circumscribed circle Ci+1Corresponding to the center coordinates of the circleRadius ofAnd calculating the position of the theoretical machining hole, namely the position ZWValue on the axis zkMinimum circumcircle of inner pipeline section curve of workpieceCenter of a circle coordinate ofAnd radiusComprises the following steps:
s52, according to the position coordinates of the theoretical machining hole obtained in the step S1And step S51, calculating the minimum circumcircle of the section curve of the inner pipeline at the position of the theoretical processing holeCenter of a circle coordinate ofAnd radiusIf it isJudging the theoretical machining hole as an inner hole, wherein the inner hole is machined by a sub-machine tool arranged on the cross beam 1 of the gantry drilling machine tool or a sub-machine tool arranged on the ground bridge 4 of the gantry drilling machine tool, and when the theoretical machining hole is an inner hole, the theoretical machining hole is a holeAnd z isk≥ZUDThe theoretical machining hole belongs to a sub-machine tool arranged on the cross beam 1 for machining, and the sub-machine tool of the theoretical machining hole is a sub-machine tool arranged on the cross beam 1; when in useAnd z isk＜ZUDThe theoretical machining hole belongs to the sub-machine tool machining arranged on the ground bridge 4 of the gantry hole making machine tool, the sub-machine tool of the theoretical machining hole belongs to the sub-machine tool arranged on the ground bridge 4 of the gantry hole making machine tool, and Z isUDIs a sub machine tool arranged on a beam 1 of the gantry drilling machine tool and a ground bridge 4 arranged on the gantry drilling machine toolSub-machine bed in ZWA machining range boundary value in the axial direction; if it isJudging that the theoretical machining hole is an outer hole, and machining the outer hole by a sub-machine tool arranged on a left upright post 2 of the gantry drilling machine tool or a sub-machine tool arranged on a right upright post 3 of the gantry drilling machine tool, wherein when the theoretical machining hole is the outer holeAnd y isk＜YRLThe theoretical machining hole belongs to the machining of a sub-machine tool arranged on a left upright post 2 of the gantry drilling machine tool, and the theoretical machining hole is machined by the sub-machine tool arranged on the left upright post 2 of the gantry drilling machine tool; when in useAnd y isk≥YRLThe theoretical machining hole belongs to the sub-machine tool machining arranged on the right upright post 3 of the gantry drilling machine tool, the sub-machine tool of the theoretical machining hole belongs to the sub-machine tool arranged on the right upright post 3 of the gantry drilling machine tool, and Y is the sub-machine tool machining arranged on the right upright post 3 of the gantry drilling machine toolRLIs a sub machine tool arranged on a left upright post 2 of the gantry drilling machine tool and a sub machine tool arranged on a right upright post 3 of the gantry drilling machine tool in YWA machining range boundary value in the axial direction.
It should be noted that the number N of cross-sectional views of the workpiece taken in step S51 is NsThe sub-machine tool arranged on the beam 1 of the gantry drilling machine tool and the sub-machine tool arranged on the ground bridge 4 of the gantry drilling machine tool are determined by the complexity of the workpieceWBoundary value Z of processing range in axial directionUDThe stroke of the sub-machine tool arranged on the beam 1 of the gantry drilling machine tool and the stroke of the sub-machine tool arranged on the ground bridge 4 are determined, and the sub-machine tool arranged on the left upright post 2 of the gantry drilling machine tool and the sub-machine tool arranged on the right upright post 3 of the gantry drilling machine tool are determined in YWMachining range boundary value Y in axial directionRLIs composed of a sub-machine tool arranged on a left upright post 2 and a right upright post 3 along YMiThe stroke of the shaft.
Point cloud set for collision judgment of theoretical machining hole in step S6The selection process of (2) is as follows: obtaining the sub machine tool for processing the theoretical processing hole according to the step S5, and if the sub machine tool is the sub machine tool arranged on the beam 1 of the gantry hole making machine tool, obtaining the total discrete point cloud data BndBox3×(wsize+fsize)Extracting point cloud set for collision judgmentPoint of (5)Satisfies the following conditions:
if the sub-machine tool is a sub-machine tool arranged on the ground bridge 4 of the gantry drilling machine tool, the total discrete point cloud data BndBox is obtained3×(wsize+fsize)Extracting point cloud set for collision judgmentPoint of (5)Satisfies the following conditions:
if the sub-machine tool is the sub-machine tool arranged on the left upright post 2 of the gantry hole making machine tool, the total discrete point cloud data BndBox is obtained3×(wsize+fsize)Extracting point cloud set for collision judgmentPoint of (5)Satisfies the following conditions:
if the sub-machine tool is the sub-machine tool arranged on the right column 3 of the gantry hole making machine tool, the total discrete point cloud data BndBox is obtained3×(wsize+fsize)Extracting point cloud set for collision judgmentPoint of (5)Satisfies the following conditions:
wherein L isAFrom the virtual tool tip TCP to a first rotary motion axis A along the vector direction of the tool shaftMiLength of (H)AA first axis of rotary motion A perpendicular to the vector direction of the cutter axisMiThe projection of (c) results in half the diagonal of the rectangle.
Referring to fig. 6, the first condition in step S7 is:
representing a collection of point cloudsPoint of (5)In a rectangular body RrExtracting a first key parameter setR row data in (1) to obtain a rectangular volume RrFirst key parameter ofIn the formula (d)1、d2And d3For machining the position of the hole to the rectangular body RrCentral position ofRespectively in the rectangular body RrNormal vector of the first face ofNormal vector of the second surfaceAnd the normal vector of the third faceA unit vector in the direction;
referring to fig. 7, the second condition in step S7 is:
representing a collection of point cloudsPoint of (5)In a cylinder CcExtracting a second key parameter setC rows of data in (1) to obtain a cylinder CcSecond key parameter ofIn the formula (d)||And d⊥Indicating the position of the theoretical machining hole to the cylinder CcCentral position ofRespectively on the axis vectorDirection and vertical axis vectorThe forward projected value in the direction.

Claims (8)

1. A gantry drilling machine tool processing collision detection analysis method is used for detecting and analyzing the processing collision of a theoretical processing hole of a workpiece by a gantry drilling machine tool, the gantry drilling machine tool comprises n sub-machine tools, and the gantry drilling machine tool processing collision detection analysis method is characterized by comprising the following steps:
s1, in the object coordinate system OW-XWYWZWTheoretical machining holes of the workpiece are constructed, and position coordinates of the theoretical machining holes are extractedAnd unit normal vector of theoretical machining holeWherein, Ik，Jk，KkRespectively as unit normal vector of theoretical machining hole in workpiece coordinate system OW-XWYWZWX of (2)WAxis, YWAxis, ZWUnit vector on axis, where k is 1,2total，NtotalThe total number of theoretical machining holes on the workpiece;
s2, measuring and calculating by using the laser tracker to obtain a sub-machine tool coordinate system O of the sub-machine toolMi-XMiYMiZMiIn the object coordinate system OW-XWYWZWRelative pose of
Wherein Mi is 1,2, n, Mi represents the sub machine tool Mi, n represents the total number of the sub machine tools on the gantry drilling machine tool, n is more than or equal to 1,x for representing sub-machine MiMiAxis direction of motion in the workpiece coordinate system OW-XWYWZWThe vector of (1) represents the vector of (b),y representing sub-machine MiMiAxis direction of motion in the workpiece coordinate system OW-XWYWZWThe vector of (1) represents the vector of (b),z of the sub-machine MiMiAxis direction of motion in the workpiece coordinate system OW-XWYWZWThe vector of (1) represents the vector of (b),coordinate origin O of sub-machine MiMiIn the object coordinate system OW-XWYWZWVector representation of (1);
s3, creating a clamp bounding box for a clamp for fixing the workpiece, and respectively dispersing the curved surface of the workpiece and the clamp bounding box into discrete point cloud data wBndBox3×wsizeAnd fBndBox3×fsizeWherein wsize is the discrete point number of the discrete point cloud of the workpiece curved surface, fsize is the discrete point number of the discrete point cloud of the fixture bounding box, thereby obtaining the total discrete point cloud data BndBox including the discrete point cloud data of the workpiece curved surface and the discrete point cloud data of the fixture bounding box3×(wsize+fsize)Wherein (wsize + fsize) is the total number of discrete points of the discrete point cloud of the workpiece curved surface and the discrete point cloud of the fixture bounding box;
s4, according to the position coordinates of the theoretical machining hole obtained in the step S1And unit normal vector of theoretical machining holeAnd the sub-machine coordinate system O of the sub-machine obtained in step S2Mi-XMiYMiZMiIn the object coordinate system OW-XWYWZWVector of (5)Obtaining a first set of key parameters of the sub-machineAnd a second set of key parametersNrRepresenting a first set of key parametersThe number of the middle rectangular bodies; n is a radical ofcRepresenting a second set of key parametersThe number of the middle cylinders;
s5, according to the position coordinates of the theoretical machining hole obtained in the step S1And the sub-machine coordinate system O of the sub-machine obtained in step S2Mi-XMiYMiZMiIn the object coordinate system OW-XWYWZWRelative pose ofJudging a sub machine tool which corresponds to the theoretical machining hole and is used for machining the theoretical machining hole;
s6, according to the position coordinates of the theoretical machining hole obtained in the step S1And unit normal vector of theoretical machining holeThe total discrete point cloud data bndbobox obtained in step S33×(wsize+fsize)And the sub machine tool for processing the theoretical processing hole obtained in the step S5, and the point cloud set for collision judgment of the theoretical processing hole is selected
S7, according to the first key parameter set of the sub-machine bed obtained in the step S4And a second set of key parametersAnd the point cloud set of the theoretical processing hole obtained in the step S6 for collision judgmentObtaining a point cloud set of theoretical processing holes for collision judgmentEach point inA first condition and a second condition for collision with an associated sub-machine tool for machining a theoretical machining hole;
s8, judging the point cloud set of the theoretical processing hole for collision judgmentEach point inWhether the first condition or the second condition is met or not, if the point cloud set of the theoretical machining hole for collision judgment is usedIf the point meeting the first condition or the second condition exists, the theoretical machining hole collides with the sub machine tool used for machining the theoretical machining hole, and the theoretical machining hole meeting the first condition or the second condition is set as a non-machinable hole; point cloud set for collision judgment if theoretical machining hole is formedEach point inNeither satisfy the first condition nor the second conditionAnd if so, indicating that the theoretical machining hole does not collide with the sub machine tool for machining the theoretical machining hole, and setting the theoretical machining hole which does not meet the first condition and the second condition as a machinable hole.
2. The gantry drilling machine processing collision detection analysis method according to claim 1, wherein the step S2 includes the steps of:
s21, setting p target ball bases as p index points on the positioning surface of the clamp for fixing the workpiece in a non-collinear way, setting a target ball on each of the p target ball bases, and measuring p index points ERS1 on the clamp for fixing the workpiece by using a laser trackerm～ERSpmCoordinates of (2)i is 1,2, …, p, p represents the number of mark points and p is more than or equal to 3, and the workpiece coordinate system O is calculatedW-XWYWZWX of (2)WAxis, YWAxis and ZWThereby establishing a workpiece coordinate system OW-XWYWZWIn the laser tracker coordinate system OLT-XLTYLTZLTPose matrix ofWTLT；
S22, calibrating the machine tool coordinate system O-XYZ, and establishing the sub-machine tool coordinate system O of the n sub-machine toolsMi-XMiYMiZMiPose matrix under machine tool coordinate system O-XYZMiTB；
S23, fixing q target ball bases which are not collinear on a beam (1) of the gantry hole making machine tool as q mark points, wherein each q target ball base is correspondingly provided with a target ball, and measuring the q mark points BMS1 on the beam (1) by using a laser trackerm～BMSqmCoordinates of (2)And is matched with q mark points BMS1 measured under a calibrated machine tool coordinate system O-XYZd～BMSqdCoordinates of (2)Registering, i is 1,2, …, q, q represents the number of the mark points and q is more than or equal to 3, establishing a machine tool coordinate system O-XYZ in a laser tracker coordinate system OLT-XLTYLTZLTPose matrix ofBTLT；
S24, according to the object coordinate system O in the step S21W-XWYWZWIn the laser tracker coordinate system OLT-XLTYLTZLTPose matrix ofWTLTAnd step S23, wherein the machine tool coordinate system O-XYZ is in the laser tracker coordinate system OLT-XLTYLTZLTPose matrix ofBTLTAnd a sub-machine coordinate system O of the n sub-machines in step S22Mi-XMiYMiZMiPose matrix under machine tool coordinate system O-XYZMiTBAnd calculating to obtain a sub-machine coordinate system O of n sub-machine toolsMi-XMiYMiZMiRelative workpiece coordinate system OW-XWYWZWIs transformed into
3. The gantry drilling machine processing collision detection analysis method as claimed in claim 2, wherein the attitude matrix in step S22MiTBThe establishment process comprises the following steps:
s221, calibrating a machine tool coordinate system O-XYZ: setting mark points at four corners A, B, C and D of a ground bridge (4) of a machine tool, taking upper surfaces A1, B1, C1 and D1 and two side surfaces A2, B2, C2, D2, A3, B3, C3 and D3 of the four corners as mark surfaces, and establishing a machine tool coordinate system O-XYZ on the ground bridge (4) of the machine tool by using the mark points and the mark surfaces on the ground bridge (4) of the machine tool;
s222: the sub-machine tool is an AC swinging five-axis machine tool, wherein the X of the AC swinging five-axis machine toolThe axis is a first linear motion axis, the Y axis is a second linear motion axis, the Z axis is a third linear motion axis, and the main axis A is a first rotary motion axis AMiAnd the principal axis C is a second axis of rotary motion CMiThe AC swing head also comprises a cutter (K) and a first rotary motion shaft AMiAnd the tool (K) can move along the second rotary motion axis CMiA tool (K) is mounted on a first axis of rotation AMiAdjusting each sub-machine tool to an initial state, adjusting the gantry drilling machine tool to the initial state, and tracking and setting the gantry drilling machine tool on a first rotating movement axis A by using a laser trackerMiAnd a second axis of rotational movement CMiThe unit direction vectors of the first linear motion axis, the second linear motion axis and the third linear motion axis of each sub machine tool measured by the target ball under the machine tool coordinate system O-XYZ are respectivelyAnd a first axis of rotational movement AMiAxis of (A)And a second axis of rotational movement CMiAxis of (A)To obtain a first axis of rotational movement AMiAxis of (A)The equation of a straight line in the machine tool coordinate system O-XYZ isAnd a second axis of rotational movement CMiAxis of (A)The equation of a straight line in the machine coordinate system O-XYZ is as follows:wherein，(xA,yA,zA)TIs an axisCoordinates of any point above (x)C,yC,zC)TIs an axisThe coordinates of any one of the points above,is an axisThe unit direction vector of (a) is,is an axisThe unit direction vector of (a) is,is an axisAt a known point in the image to be displayed,is an axisAt a known point in the image to be displayed,is an axisStraight line ofThe parameters of the equations are such that,is an axisThe parameters of the linear equation of (a);
s223: according to the first rotary motion axis A obtained in step S222MiAxis of (A)And a second axis of rotational movement CMiAxis of (A)Calculating the first axis of rotation A of each sub-machine Mi from the geometrical relationshipMiAxis of (A)And a second axis of rotational movement CMiAxis of (A)Axis of (a) is perpendicular to (F)MiAnd calculating the axis common perpendicularity F of each sub-machine tool MiMiAnd its second axis of rotary motion CMiAxis of (A)Cross point of (T)MiWill intersect point TMiA wrist point (T) of the AC swing head as a sub machine tool along a second rotary motion axis C from the wrist point (T)MiAxis of (A)Offset from the first axis of rotary motion AMiPendulum length distance LMiObtaining the position of a virtual tool Tip (TCP), and using the virtual tool Tip (TCP) obtained after the deviation as a sub-machine coordinate system O of the sub-machineMi-XMiYMiZMiOrigin O ofMi；
S224: sub-machine coordinate system O of machine toolMi-XMiYMiZMiX of (2)MiThe positive direction of the axis coincides with the positive direction X + of the X axis of the machine tool coordinate system O-XYZ of the gantry drilling machine tool, and the unit direction vector of the first linear motion axis, the second linear motion axis and the third linear motion axis of each sub-machine tool obtained in step S222 in the machine tool coordinate system O-XYZTaking the unit direction vector of the linear motion axis with the longest stroke in the machine tool coordinate system O-XYZ as the sub-machine tool coordinate system O of the sub-machine toolMi-XMiYMiZMiThe unit direction vector of the corresponding axis, and the sub-machine coordinate system O of the sub-machine is corrected by using the vector cross multiplication methodMi-XMiYMiZMiThe unit direction vectors of the other two axes of (2) through the sub-machine coordinate system O of the sub-machineMi-XMiYMiZMiOrigin O ofMiAnd unit direction vector of each axisObtaining a sub-machine coordinate system O of the sub-machineMi-XMiYMiZMiPose matrix under machine tool coordinate system O-XYZ
4. The gantry drilling machine processing collision detection analysis method according to claim 1, wherein the first key parameter set of the sub-machine in step S4And a second set of key parametersThe acquisition process is as follows:
creating a third linear motion axis and a first rotary motion axis A of the sub-machine toolMiAnd a second axis of rotational movement CMiThe third linear motion axis and the first rotary motion axis A of the sub-machine toolMiAnd the bounding box of the second axis of rotational motion is divided into NrA cuboid and NcA cylinder to obtain each rectangular body RrFirst side length ofLength of second sideThe third side is longAnd each cylinder CcRadius r ofcAnd length lcFrom the position coordinates of the theoretical machining holeUnit normal vectorAnd Z of sub machine toolWAxis direction of motion in the workpiece coordinate system OW-XWYWZWVector of (5)With each cuboid RrAnd each cylinder CcThe position relation of the rectangular bodies R is calculated to obtain each rectangular body RrCentral position ofNormal vector of the first surfaceNormal vector of the second surfaceAnd the normal vector of the third faceAnd each cylinder CcCentral position ofAnd axis vectorObtaining each cuboid RrFirst key parameter ofAnd each cylinder CcSecond key parameter ofThereby obtaining a third linear motion axis and a first rotary motion axis A of the sub-machine toolMiAnd a second axis of rotational movement CMiN of bounding box divisionrThe first key parameter set for an individual cuboid is:
wherein, r is 1,2r，NrThe number of rectangular bodies is represented;
and NcThe second key parameter set for each cylinder is:
wherein, c is 1,2c，NcThe number of cylinders is shown.
5. Gantry drilling machine tool according to claim 4The processing collision detection analysis method is characterized in that each rectangular body RrCentral position ofNormal vector of the first surfaceNormal vector of the second surfaceAnd the normal vector of the third faceAnd each cylinder CcCentral position ofAnd axis vectorThe calculation process of (2) is as follows:
the third linear motion axis and the first rotary motion axis A of the sub-machine toolMiAnd a second axis of rotational movement CMiThe bounding box is divided into four rectangular bodies R1、R2、R3And R4And four cylinders C1、C2、C3And C4Calculating the rectangular volume R1、R2、R3And R4Central position ofNormal vector of the first surfaceNormal vector of the second surfaceAnd the normal vector of the third faceAnd a cylinder C1、C2、C3And C4Central position ofAnd axis vectorComprises the following steps:
wherein,from a virtual nose (TCP) to a rectangular body R1Central position ofThe distance of (a) to (b),from a virtual nose (TCP) to a rectangular body R2Central position ofThe distance of (a) to (b),from the wrist center point (T) to a cuboid R3Central position ofThe distance of (a) to (b),from the wrist center point (T) to the rectangular body R4Central position ofThe distance of (a) to (b),from a virtual nose (TCP) to a cylinder C1Central position ofThe distance of (a) to (b),from a virtual nose (TCP) to a cylinder C2Central position ofThe distance of (a) to (b),from a virtual nose (TCP) to the center C of the cylinder3Central position ofThe distance of (a) to (b),from the wrist center point (T) to the cylinder C4Central position ofThe distance of (c).
6. The gantry drilling machine processing collision detection analysis method according to claim 1, wherein the step S5 includes the steps of:
s51, taking the coordinate system O of the workpieceW-XWYWZWZ of (A)WAxial perpendicular NsObtaining the cross section of each workpiece, and obtaining the inner pipeline section curve set of the workpieceFor each inner pipeline section curve SiCalculating the minimum circumcircle CiTo obtain the minimum circumscribed circle CiHas a center coordinate ofRadius ofWherein, i is 1,2, …, Ns(ii) a Position coordinates of theoretical machining holesFind out to satisfyMinimum circumscribed circle C ofiCorresponding to the center coordinates of the circleRadius ofAnd a minimum circumscribed circle Ci+1Corresponding to the center coordinates of the circleRadius ofAnd calculating the position of the theoretical machining hole, namely the position ZWValue on the axis zkMinimum circumcircle of inner pipeline section curve of workpieceCenter of a circle coordinate ofAnd radiusComprises the following steps:
s52, according to the position coordinates of the theoretical machining hole obtained in the step S1And step S51, calculating the minimum circumcircle of the section curve of the inner pipeline at the position of the theoretical processing holeCenter of a circle coordinate ofAnd radiusIf it isJudging the theoretical machining hole as an inner hole, wherein the inner hole is machined by a sub-machine tool arranged on a cross beam (1) of the gantry drilling machine tool or a sub-machine tool arranged on a ground bridge (4) of the gantry drilling machine tool, and when the theoretical machining hole is an inner hole, machining the inner hole by the sub-machine toolAnd z isk≥ZUDThe theoretical machining hole belongs to a sub-machine tool arranged on the cross beam (1) for machining, and the sub-machine tool of the theoretical machining hole is a sub-machine tool arranged on the cross beam (1); when in useAnd z isk＜ZUDThe theoretical machining hole belongs to sub-machine tool machining arranged on a ground bridge (4) of the gantry hole machining machine tool, the sub-machine tool of the theoretical machining hole belongs to a sub-machine tool arranged on the ground bridge (4) of the gantry hole machining machine tool, and ZUDIs a sub machine tool arranged on a beam (1) of the gantry hole making machine tool and a sub machine tool arranged on a ground bridge (4) of the gantry hole making machine tool on ZWA machining range boundary value in the axial direction; if it isJudging the theoretical machining hole as an outer hole, wherein the outer hole is machined by a sub-machine tool arranged on a left upright post (2) of the gantry drilling machine tool or a sub-machine tool arranged on a right upright post (3) of the gantry drilling machine tool, and when the theoretical machining hole is the outer hole, machining the outer hole by the sub-machine tool on the left upright post (2) of the gantry drilling machine tool or the sub-machine tool onAnd y isk＜YRLThe theoretical machining hole belongs to the sub-machine tool machining arranged on the left upright post (2) of the gantry hole making machine tool, and is machined by the sub-machine tool arranged on the left upright post (2) of the gantry hole making machine tool; when in useAnd y isk≥YRLThe theoretical machining hole belongs to the sub machine tool machining arranged on the right upright post (3) of the gantry hole making machine tool, the sub machine tool of the theoretical machining hole belongs to the sub machine tool arranged on the right upright post (3) of the gantry hole making machine tool, and Y isRLIs a sub machine tool arranged on a left upright post (2) of the gantry drilling machine tool and a right upright post (3) of the gantry drilling machine toolThe sub-machine bed is in YWA machining range boundary value in the axial direction.
7. The gantry drilling machine tool processing collision detection analysis method as claimed in claim 6, wherein the point cloud set of the theoretical processed hole for collision judgment in step S6The selection process of (2) is as follows:
obtaining a subordinate sub machine tool for processing theoretical processing holes according to the step S5, and if the subordinate sub machine tool is a sub machine tool arranged on a beam (1) of the gantry hole making machine tool, obtaining the total discrete point cloud data BndBox3×(wsize+fsize)Extracting point cloud set for collision judgmentPoint of (5)Satisfies the following conditions:
if the sub-machine tool is a sub-machine tool arranged on a ground bridge (4) of the gantry hole making machine tool, the total discrete point cloud data BndBox is processed3×(wsize+fsize)Extracting point cloud set for collision judgmentPoint of (5)Satisfies the following conditions:
if the sub-machine tool is arranged on a gantry hole making machine toolOn the left column (2), in the total discrete point cloud data BndBox3×(wsize+fsize)Extracting point cloud set for collision judgmentPoint of (5)Satisfies the following conditions:
if the sub-machine tool is arranged on the right column (3) of the gantry hole making machine tool, the total discrete point cloud data BndBox is processed3×(wsize+fsize)Extracting point cloud set for collision judgmentPoint of (5)Satisfies the following conditions:
wherein L isAFrom a virtual Tip (TCP) to a first axis of rotary motion A along the vector direction of the cutter shaftMiLength of (H)AA first axis of rotary motion A perpendicular to the vector direction of the cutter axisMiThe projection of (c) results in half the diagonal of the rectangle.
8. The method for collision detection and analysis in gantry drilling machine tool machining according to claim 4, wherein the first condition in step S7 is:
indicating pointsCloud collectionPoint of (5)In a rectangular body RrExtracting a first key parameter setR row data in (1) to obtain a rectangular volume RrFirst key parameter ofIn the formula (d)1、d2And d3For machining the position of the hole to the rectangular body RrCentral position ofRespectively in the rectangular body RrNormal vector of the first face ofNormal vector of the second surfaceAnd the normal vector of the third faceA unit vector in the direction;
the second condition in step S7 is:
representing a collection of point cloudsPoint of (5)In a cylinder CcExtracting a second key parameter setC rows of data in (1) to obtain a cylinder CcSecond key parameter ofIn the formula (d)||And d⊥Indicating the position of the theoretical machining hole to the cylinder CcCentral position ofRespectively on the axis vectorDirection and vertical axis vectorThe forward projected value in the direction.
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