CN1075419C - Intelligent locating working-equipment - Google Patents
Intelligent locating working-equipment Download PDFInfo
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- CN1075419C CN1075419C CN99127179A CN99127179A CN1075419C CN 1075419 C CN1075419 C CN 1075419C CN 99127179 A CN99127179 A CN 99127179A CN 99127179 A CN99127179 A CN 99127179A CN 1075419 C CN1075419 C CN 1075419C
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Abstract
The present invention belongs to the field of mechanical processing and manufacture. The present invention comprises a tower structure of a large octahedron of a virtual shaft; the upper part of the octahedron is fixed with an active visual information obtaining system, and the bottom is fixed with a translational workbench; the lateral surface of the workbench is fixed with an on-line tool magazine; one end of each of six driving telescopic shafts is connected with three hinges positioned at the top, and the other end is connected with a processing moving platform; the present invention also comprises a computer unit of an automatic generation control program for storing actual positions of compliance workpieces. The present invention can realize the actual precise processing of the compliance workpieces in a large range under the condition of simple constraints.
Description
The invention belongs to machining manufacturing technology field.Be particularly related to the structural design of the process equipment that adopts intelligent locating working method.
In traditional processing method, owing to adopt traditional " location-processing " production model, thereby be with the inevitable disadvantage of traditional mode of production pattern:
1, can't eliminate the operation benchmark and locate not coincidence error of benchmark, can not accurately realize being the location of benchmark with imaginary axis such as symmetry axis, gyroaxises, and can only be with inside and outside lip-deep some approximate location of feature, simultaneously also can't eliminate the deviations that causes by clamp operation, crudy is affected;
2, need complicated clamp body, improved manufacturing cost;
3, owing to need to make precise clamp, prolonged production time, reduced the ability to react to market conditions of enterprise;
4, owing in the selection of locating surface, proposed too much constraint, the unable solution that seems under the situation of machining interference is being arranged, and No. one time clamping processing profile is less, can't guarantee the uniformity of processing, owing to there is not coincidence error of benchmark, reduced crudy virtually simultaneously.
These problems along with market to enterprise propose faster, finish the requirement of its production better and come out highlightedly, especially in the process of single and mini-batch production production, new product development, need make market reaction apace, but seem unable to do what one wishes.Carry work on by candle-light to the utmost being discord of epoch of the situation of manual processing and current rapid technological improvement by several skilled workers.
The appearing as of intelligent locating working method reversed this discordant situation provides theoretical foundation and method.This technology has fundamentally been broken the constraint of traditional " location-clamping-processing " pattern that clamps based on the anchor clamps location, utilize the active method for position-finding to obtain the three dimensions pose of workpiece to be machined, and be guiding with this information, based on the cad model storehouse, automatically generate nc program, finish the processing of the nothing of workpiece accurately being located constraint by realizing the equipment of complying with reality processing, in brief, i.e. " the real processing in position-comply with sought in simple clampings-active ", avoided above-mentioned disadvantage fully, market is made the situation of fast reaction (for example new product development or single and mini-batch production production) at product needed, shorten enterprise and produce time,, reduce auxiliary cost of manufacture to accelerate the product speed to introduce, reduce difficulty of processing, improve the enterprise market respond.
But, consider that from the angle of bottom the realization of this technical method but lacks the support of relevant device.For now, novel lathe-imaginary axis the machining tool of appearance recent years that process equipment is more representative, though fundamentally changed the relative motion pattern of cutter and workpiece, increased the flexibility of cutter Working motion, make equipment have bigger technological flexibility and control mobility, but still have the disadvantage that processing space is limited, need restriction technological flexibility such as precise clamp location, programming in advance and processing mobility.Simultaneously,, the range of work of a maximum is arranged on a fixing position just, and along with the vertical change (forward or backwards) of this position, its range of work will reduce thereupon all because the range of work of this equipment changes with vertical direction.And owing to there is not tool magazine, this equipment can't be realized the on-line continuous process operation, does not constitute a machining center truly.The part advantage of performance imaginary axis machining tool mechanism and thinking develop a kind of workpiece of can realizing and is initiatively sought the position, can realize complying with the integrated form equipment of real processing (workpiece askew put askew processing) again and then bring into schedule relatively.
The present invention seeks to overcome the weak point of existing equipment, by class imaginary axis structure of modification, and it is integrated with it with initiatively seeking bit location, design a kind of novel intelligent locating working-equipment, realization (simply clamps it in simple constraint workpiece, need not be special-purpose the precise clamp location, and do not require that workpiece strictly is on the predetermined Working position) condition under, accomplish to comply with on a large scale the Precision Machining of workpiece reality.
The present invention proposes a kind of intelligent locating working-equipment, the big octahedra tower structure that comprises the imaginary axis machining tool, it is connected to form the space octahedral structure by 12 bars by 3 hinges that are positioned at the bottom and 3 hinges that are positioned at the top, it is characterized in that, this octahedral structure top is fixed with active visual information and obtains system, the bottom is fixed with X-Y translation workbench, the side of this workbench is fixed with deposits to processing the online tool magazine that cutter and contact measuring head are provided continuously, the end that the six roots of sensation is steric driving telescopic shaft links to each other with 3 hinges that are positioned at the top respectively, the other end links to each other with the processing moving platform, also comprises with active visual information and obtains the computer unit that stores the automatic generation control program of complying with the workpiece physical location that system links to each other with contact measuring head.
This active visual information is obtained system can comprise a structured light projector and two the CCD cameras that are fixed in lathe top equilateral triangle cradling piece midpoint.
The present invention also comprises the intelligent locating working method that adopts above-mentioned intelligent locating working-equipment, it is characterized in that may further comprise the steps:
1) at first carry out the non-contact type visible sensation method and carry out macroscopic measurement: by the structured light projector polishing, two CCD cameras picked-up image; Then the structured light image that gets access to is carried out the sampling that workpiece is sought a characteristic point earlier, the three-dimensional coordinate that carries out surface of the work point by the stereoscopic vision method of classics calculates, and mates with the cad model of workpiece, calculates actual macroscopical spatial pose of workpiece;
2) secondly carrying out the contact measuring head measuring method accurately measures: control processing moving platform carries out tool changing operation, exchange contact measuring head for, the measurement point and the measuring route of planning contact measuring head, finish accurate contact type measurement, mate by cad model, calculate the actual micro-space pose of workpiece with workpiece;
3) carry out real-time machining control again: at first seek an information to carrying out coordinate transform through pretreated workpiece geological information according to what obtain in the 2nd step, obtain its description under machining coordinate system, handle to generate the processing sequence chained list and the cutting parameter of surface of the work, and and then generate the flexible length control sequence of six telescopic shafts;
4) comply with reality processing at last: after generating the driving control program through the 3rd step, choose suitable process tool, by the driving effect of six telescopic shaft drive systems, realize the accurate cutting movement of complying with the workpiece attained pose of processing moving platform, finish the real process operation of complying with of workpiece.
Compare traditional process equipment, the present invention has great advantage:
1, shortens product (single-piece the reaches new product in small batches) production cycle greatly
Since this simplified equipment to the requirement of anchor clamps, do not need special-purpose precise clamp, replace with universal fixturing (or even simple fixation mechanism), then need under the occasion of preparation precise clamp in single and mini-batch production and new product development etc., shortened the whole production cycle greatly, for enterprise converts the guarantee that the first market opportunities provide the process equipment level, strengthened the market competitiveness of enterprise.
2, realization intelligence is complied with reality processing
Promptly can be by initiatively measuring Calculation Method, comply with the current real space state of workpiece intelligently, generate the machining code of workpiece automatically real-time, realize quick, accurate, submissive processing, just can accomplish " askew put askew processing " to workpiece workpiece.
3, reduced the entire product production cost
Because the design of clamp body, production cost non-linear relative raising along with the minimizing of the raising that workpiece quality is required, production quantity, simultaneously because the proportion of cost in the whole production cost of anchor clamps is bigger, can realize macroscopical production cost control to the reliable control of anchor clamps cost.And this equipment only needs the simple fixing processing that can realize smoothly on the one hand by simplifying the clamp body requirement, thereby reduces production cost of products greatly.
4, improved crudy
Because the intelligent locating method has been eliminated the operation benchmark and has been located not coincidence error of benchmark, significantly reduces the error of tradition location; Simultaneously, the clamping order of " clamp earlier, then seek the position " owing to realized, make the deviations that in traditional clamping, causes be eliminated, reduced the requirement of adjusting installing, and can under the situation of multiple clamping, make machining accuracy reach design accuracy by clamp operation.On the other hand,, realize " location " function, can improve " location " precision of workpiece effectively, thereby improve indirectly by the intelligent locating method owing to there is not mechanical setting element.Under the situation of processing terminal basically identical, workpiece adds the mismachining tolerance in man-hour in tradition, except that processing course error, can be removed or reduction in various degree.And clamping processing profile increases, and guaranteed the uniformity of processing.
But 5, processing work scope and profile have been enlarged
Owing on the basis of big octahedral face body frame structure, six bar drives structure, increased X-Y translation work stage, expanded the range of work of workpiece effectively.And traditional processing method has proposed too much constraint in the selection of locating surface, the unable solution that seems under the situation of machining interference is being arranged, initiatively seek the position and then do not have the setting element entity, also just there is not the problem of interfering between location and the processing, make a clamping processing profile increase, make working (machining) efficiency be improved.
Realized that on-line measurement processing is integrated
The introducing of tool magazine makes class virtual-shaft machine tool structure to process continuously, realizes the function of machining center truly, and the carrying contact measuring head, for contact type measurement is given security.Vision measurement system is then finished macroscopical posture information and is obtained.This means that also this equipment has the ability of online multi-functional operation, and can be the different operating purpose provides underlying device to guarantee.
Brief Description Of Drawings:
Fig. 1 is the lathe mechanism body structural representation of the embodiment of the invention.
Fig. 2 is the schematic top view of the machine framework structure of present embodiment.
Fig. 3 is the X-Y translation Working table structure schematic diagram sketch of present embodiment.
Fig. 4 is the tool magazine structural representation of present embodiment.
Fig. 5 is the vision measurement system principle schematic of present embodiment.
Fig. 6 is the system works flow process figure of present embodiment.
Below in conjunction with each accompanying drawing, introduce composition and the structure thereof of a kind of embodiment of the present invention in detail.
Fig. 1 is the lathe mechanism body structural representation of present embodiment.Its basic boom is VAMT1Y type imaginary axis machining tool (the Virtual Axis Machine Tools of Tsing-Hua University's development, VAMT) big octahedra tower structure, the little octahedra frame-type workbench in bottom that has removed former mechanism supports and workbench, replace with traditional X-Y translation workbench 1, translational motion by the translation workbench, remedy simple dependence telescopic shaft and driven the too small disadvantage of processing space that causes, and by increasing online tool magazine 4 and active information acquisition apparatus, the sense of touch measuring system, (the ruby gauge head is positioned in the tool magazine 4).Carry out space processing by being steric 6 driving telescopic shafts 5 according to certain 9 pairs of workpiece of control program driving processing moving platform.
The big eight body frameworks of present embodiment are connected to form the space octahedral structure by 12 bars 3 by 3 hinges 2 that are positioned at the bottom and 3 hinges 6 that are positioned at the top.This octahedral structure top is fixed with active visual information and obtains system, and this system comprises a structured light projector 8 and two the CCD cameras 7 that are fixed in lathe top equilateral triangle cradling piece midpoint.The bottom is fixed with X-Y translation workbench 1, by its translational motion, drives workpiece and moves on a large scale.The side of workbench 1 is fixed with online tool magazine 4, provides the place for continuous processing provides cutter and contact measuring head to deposit.The end that the six roots of sensation is steric driving telescopic shaft 5 links to each other with 3 hinges 6 that are positioned at the top respectively, and the other end links to each other with processing moving platform 9.
Fig. 2 is the schematic top view (having omitted the machine operation structure among the figure) of the machine framework structure of present embodiment.
Among the figure, the top equilateral triangle is made up of three bars 31, and bottom triangle is made up of three bars 32.Two triangular nodes are tied by six bars 33, constitute a big regular octahedron.When any one node applies active force, each root bar of octahedra framework all only is subjected to tension and compression, is not subjected to moment of flexure, so it has very high rigidity, and frame construction is simple simultaneously, free space is big.
Fig. 3 is the X-Y translation Working table structure schematic diagram sketch of present embodiment.
Present embodiment adopts traditional diaxon to drive workbench, by grating chi sensor positional feedback, driven by servomotor, realizes the control of precise motion position closed loop.X on workbench 11, be furnished with X to grating chi position sensor 10 (position feedback), leading screw 13 (accurate guiding), gear pair 15 (transmission), servomotor 14 (drivings), and Y to workbench 16, be fixed in the guide rail of X on workbench to the 12 drive Y of the straight line guide pin bushing on the workbench to workbench and carrying out linear slide by being fixed in Y.Y structure and X on workbench drive work piece platform and carry out linear slide being fixed in the guide rail of Y on workbench by being fixed in straight line guide pin bushing 17 on the work piece platform 18 to the workbench basically identical.But so promptly can effectively expand the range of work, obviously improve machine tool capability by the translation of workbench.
Fig. 4 is the tool magazine structural representation of present embodiment.Wherein, a is a front view, and b is a vertical view, and c is a side view.
The tool magazine of present embodiment is a trapezoidal cuboid, and end face is by having a plurality of cutter grooves 20 on it, and its side has a plurality of screw holes 21, by screw hole 21 tool magazine is fixed in the side of X-Y translation workbench, can carry out the precise motion location thereupon.Structure 22 supports floor for tool magazine.Cutter groove 20 is placed required cutter and contact measuring head in the processing.When process needs tool changing (can be cutter, it also can be contact measuring head, mounting means is identical) time, main on the one hand by the driving of six telescopic shafts, precision moves to desired location, work as the tool magazine physical location on the other hand and exceed after the driving space of six telescopic shaft structures, the translation of control translation workbench realizes the tool changing action by six telescopic shaft structures then to suitable tool change position.
Fig. 5 is the vision measurement system principle schematic of present embodiment.
Present embodiment projects grid type light on workpiece 19 surfaces that are fixed on the work piece platform 18 by structured light projection 8 (being arranged in the mid point of a bar of top equilateral triangle), form the parallel light belt that several cover surface of the work, by CCD camera 7 (being arranged in the top equilateral triangle mid point of two bars in addition) the pick-up structure light image of two symmetric arrangement, and send into and carry out the relevant information processing in the information processing system.
Fig. 6 is the system works control flow chart of present embodiment.
Its basic process:
1. the non-contact type visible sensation method carries out macroscopic measurement: will process moving platform by six telescopic shafts earlier and be raised to the extreme higher position, and avoid vision measurement to interfere; The picked-up image carries out two-dimensional process then, determines the position and the attitude of workpiece roughly; By the structured light projector polishing, the picked-up of two CCD cameras is visual afterwards; Then the structured light image that gets access to is carried out the sampling that workpiece is sought a characteristic point earlier, the three-dimensional coordinate that carries out surface of the work point by the stereoscopic vision method of classics calculates, under systems organization control, mate with the cad model of workpiece, calculate actual macroscopical spatial pose of workpiece;
2. the contact measuring head measuring method is accurately measured: carrying out through the 1st step after the workpiece attained pose measures, under systems organization control, control processing moving platform carries out tool changing operation, exchanging contact measuring head for (installs with traditional cutter mounting means, be positioned over tool magazine), can on purpose plan the measurement point and the measuring route of contact measuring head, fast and effeciently finish accurate contact type measurement, mate by cad model, calculate the actual micro-space pose of workpiece with workpiece;
3. real-time machining control: under system's rule chemical control system, in conjunction with the cad model storehouse, seek an information to carrying out coordinate transform according to what obtain in the 2nd step through pretreated workpiece geological information, obtain its description under machining coordinate system, handle the processing that generates surface of the work and comply with chained list and cutting parameter, and then generate the flexible length control sequence of six telescopic shafts;
4. comply with reality processing: under system's rule chemical control system, in conjunction with the cad model storehouse, after generating the driving control strategy through the 3rd step, choose suitable process tool, driving effect by six telescopic shaft drive systems, realize the accurate cutting movement of the order workpiece attained pose of processing moving platform, finish the order reality process operation of workpiece.
The working method of this system is: at first use general fastening clamp element (as bolt, pressing plate etc.) that workpiece is fixed on the workbench and (need not accurately locate), obtain the virtual condition (position and attitude) that workpiece profile information also solves workpiece in real time by the workpiece position-finding system fast to pass the rank mode then.Further the workpiece virtual condition information of seeking module feedback according to the workpiece geometry processes information and the workpiece of input by intelligent controller generates the machining control track in real time.Drive at last effective component movement of machining cell, blank or semi-finished product are carried out the pose adaptive machining obtain suitable workpiece finished product by servo-driven module.
Claims (2)
1. intelligent locating working-equipment, the big octahedra tower structure that comprises the imaginary axis machining tool, it is connected to form the space octahedral structure by 12 bars by 3 hinges that are positioned at the bottom and 3 hinges that are positioned at the top, it is characterized in that, this octahedral structure top is fixed with active visual information and obtains system, the bottom is fixed with X-Y translation workbench, the side of this workbench is fixed with deposits to processing the online tool magazine that cutter and contact measuring head are provided continuously, the end that the six roots of sensation is steric driving telescopic shaft links to each other with 3 hinges that are positioned at the top respectively, the other end links to each other with the processing moving platform, also comprises with active visual information and obtains the computer unit that stores the automatic generation control program of complying with the workpiece physical location that system links to each other with contact measuring head.
2. intelligent locating working-equipment as claimed in claim 1 is characterized in that, this active visual information is obtained system and comprised a structured light projector and two the CCD cameras that are fixed in lathe top equilateral triangle cradling piece midpoint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN99127179A CN1075419C (en) | 1999-12-30 | 1999-12-30 | Intelligent locating working-equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN99127179A CN1075419C (en) | 1999-12-30 | 1999-12-30 | Intelligent locating working-equipment |
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| Publication Number | Publication Date |
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| CN1256989A CN1256989A (en) | 2000-06-21 |
| CN1075419C true CN1075419C (en) | 2001-11-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN99127179A Expired - Fee Related CN1075419C (en) | 1999-12-30 | 1999-12-30 | Intelligent locating working-equipment |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101887241B (en) * | 2009-05-14 | 2013-03-06 | 杨岚 | Automatically programming processing method |
| CN101890643B (en) * | 2010-07-14 | 2012-05-23 | 哈尔滨工业大学 | Movable processing machine tool of overlarge member |
| CN106378655B (en) * | 2016-11-29 | 2018-06-08 | 武汉理工大学 | A kind of weak rigid workpiece series-parallel connection intelligence grip device |
| CN108303024A (en) * | 2018-03-02 | 2018-07-20 | 徐皓 | A kind of full-automatic forging on-line detecting system and implementation method |
| CN108747499A (en) * | 2018-07-29 | 2018-11-06 | 赫克测控技术(苏州)有限公司 | Automatic processing one-shot measurement rollback system and lathe |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5392663A (en) * | 1991-08-26 | 1995-02-28 | The Ingersoll Milling Machine Company | Octahedral machine tool frame |
| CN1182003A (en) * | 1997-07-04 | 1998-05-20 | 清华大学 | Machine tool structure with dioctahedral frame virtual shaft |
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1999
- 1999-12-30 CN CN99127179A patent/CN1075419C/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5392663A (en) * | 1991-08-26 | 1995-02-28 | The Ingersoll Milling Machine Company | Octahedral machine tool frame |
| CN1182003A (en) * | 1997-07-04 | 1998-05-20 | 清华大学 | Machine tool structure with dioctahedral frame virtual shaft |
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| CN1256989A (en) | 2000-06-21 |
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