CN108375956A - Double end lays post-processing approach - Google Patents
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- CN108375956A CN108375956A CN201810205929.6A CN201810205929A CN108375956A CN 108375956 A CN108375956 A CN 108375956A CN 201810205929 A CN201810205929 A CN 201810205929A CN 108375956 A CN108375956 A CN 108375956A
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- 238000013459 approach Methods 0.000 title claims abstract description 7
- 238000012805 post-processing Methods 0.000 title claims abstract description 7
- 238000000034 method Methods 0.000 claims abstract description 12
- 210000000707 wrist Anatomy 0.000 claims abstract description 12
- 238000012545 processing Methods 0.000 claims description 20
- 230000008859 change Effects 0.000 claims description 9
- 230000009977 dual effect Effects 0.000 claims description 7
- 230000006978 adaptation Effects 0.000 claims description 5
- 238000000280 densification Methods 0.000 claims description 4
- 230000008676 import Effects 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000012795 verification Methods 0.000 description 4
- 238000009826 distribution Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000009490 roller compaction Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 244000062793 Sorghum vulgare Species 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical group C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 235000019713 millet Nutrition 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000005204 segregation Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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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
- G05B19/4097—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 using design data to control NC machines, e.g. CAD/CAM
-
- 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
- G05B2219/32—Operator till task planning
- G05B2219/32153—Exchange data between user, cad, caq, nc, capp
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- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
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Abstract
The invention discloses double ends to lay post-processing approach, first track data is pre-processed, establish main shaft coordinate system, it is consistent with robot basis coordinates system so that each axis is directed toward, coordinate origin is on mold axis of rotation, envelope model is transformed under main shaft coordinate system and is indicated, piddler wrist dot position information can be obtained along normal direction extension to all data points in trace information, normal direction information unit vector is extracted from track data, to the wrist point data in each track, characteristic point is extracted in the directions z in an axial direction, define extracting method, all characteristic points in track are all extracted；Two characteristic points in different two tracks are handled to obtain control point along normal direction extension and are coordinated for tracing point by inserting point.The present invention decouples the coordination between Liang Ge robots, to reduce postpositive disposal difficulty.
Description
Technical field
The invention belongs to composite material automatic placement fields, are related to a kind of postpositive disposal calculation of dual robot synchronization piddler
Method.
Background technology
Double-station lays system mainly by dual robot, live spindle, double extension translating rails and double end effector groups
At wherein live spindle level is set up, and the lay of revolution mould is completed with auxiliary；The translation direction of translation pedestal is parallel to master
Axis direction, for solving the problems, such as that it is insufficient that large-scale component lays work opportunity device people stroke；Double end effectors integrate 8 tow paving
Silk head, to complete both sides while lay and promote lay efficiency.According to the particular demands of the task of lay, laying apparatus is usually adopted
Use flexible compression roller and cylinder as the execution end of roller compaction power.The size of roller compaction power is in addition to by air pressure size in cylinder
It is also related with the direction of exerting pressure of cylinder outside influencing.Therefore, the change of the direction of exerting pressure generated in order to prevent because die curve changes
Change the variation for causing to lay pressure, piddler executing agency must press along the normal vector for laying the residing curved surface of point always.By
In this special terminal angle constraints, real-time laying track point normal direction posture extended surface must assure that at work simultaneously
In the reachable enveloping space of both sides robot wrist point.
Along with continuously improving for airplane design and processing technology, it is new that some also proposed to the production of multiple material structural member
It is required that.It is more largely emerged using the wide-bodied aircraft of carbon fiber structural part so that the aircraft manufacturing unit of some mainstreams
Continuous more new machine and processing technology are needed with equipment supply quotient.And it is faced with equipment during composite material laying and lays effect
The relatively low contradiction with the limitation of prepreg service life of rate, to make, material component complexity is answered in manufacture and height lays both productivities and obtains
It takes into account, double-station laying apparatus has become the manufacture research hotspot of modern multiple material product.For the two-shipper of this paper class body members
Device people coordinates lay system, how to coordinate the movement of the piddler between Liang Ge robots and will be a difficult point.Invention is according to revolution
The structure feature of mould carry out the reasonable distribution of laying track and by the cooperation of Liang Ge robots length feed rate and
The restriction of operating space is completed the synchronous of double end and is laid.
Invention content
The purpose of the present invention is to provide double ends to lay post-processing approach, and the present invention moves the coordination between Liang Ge robots
It decouples, to reduce postpositive disposal difficulty.
The technical solution adopted in the present invention is to follow the steps below：
(1) first track data is pre-processed, establishes main shaft coordinate system B so that each axis is directed toward and robot basis coordinates
System is consistent, and envelope model is transformed under main shaft coordinate system and indicates on mold axis of rotation by coordinate origin, if mold is believed
Ceasing transformation matrix isFor space point (x, y, z)I, coordinate of this under main shaft coordinate system be：
(2) piddler wrist dot position information can be obtained along normal direction extension 900mm to all data points in trace information, from
Normal direction information unit vector Normal (x are extracted in track datan, yn, zn), for certain point (x on moldm, ym, zm), it obtains outer
The wrist point information (x delayedw, yw, zw), being write as component form is：
(3) to the wrist point data in each track, characteristic point is extracted in the directions z in an axial direction, extracting method is defined, for rail
Mark 1, judges whether next point is more than the value of some setting along the difference of z and a1 point by point since boundary point a1, is denoted as row
This point is denoted as a2, so analogizes, all characteristic points are all extracted by wide ξ if it is greater than ξ；
(4) for two characteristic points T1i, T2i in different two tracks along normal direction extension handle to obtain control point ki,
Mi is rotated around the spindle and is intersected to obtain ki', mi', ki ", mi " with both sides envelope curve bound respectively；
(5) time synchronization；When carrying out laying processing on complex-curved mold, adaptation allocation processing is being carried out to track
Before, the tracing point because changing greatly place with regard to curvature of curved surface first carries out densification so that is moved more by postpositive disposal to each axis
To be steady, and the reference that normal vector can change as curvature of curved surface in tracing point information, set the Curvature varying value of permission i.e.
Normal vector variable quantity is ε, is coordinated for two pairing tracing points by inserting point.
Further, in step (4), the track matched to two is verified point by point by period, until all point search finish, with
This filter criteria matched as track, according to being mutually matched to the discrete layering of three-dimensional CAD track data for length feed rate
Slice carries out the planning that dual trace adapts to cooperation by coordinating two track discrete point spacing.
Further, in step (5), determine that the step of inserting point position is as follows：
(1) it will first need to import with the tracing point information of processing；
(2) angle α between two neighboring tracing point per unit system arrow is found out, is become for characterizing the curved surface normal direction curvature at 2 points
Change；
(3) if α>ε, the then point to be inserted of label one between this 2 points；
(4) if also tracing point, then following two is taken, continues second step；Otherwise, terminate to insert point.
Description of the drawings
Fig. 1 is class swivel verification mold structure die appearance schematic diagram；
Fig. 2 is class swivel verification mold structure die axial direction schematic diagram；
Fig. 3 is double laying apparatus schematic layout patterns；
Fig. 4 is angle section judgement schematic diagram；
Fig. 5 is that track adapts to cooperation algorithm flow schematic diagram.
Specific implementation mode
The present invention is described in detail With reference to embodiment.
It is class swivel verification mold structure die shape as shown in Figure 1, Fig. 2 is class swivel verification mold structure die axis,
Fig. 3 is double laying apparatus layouts.Process method step of the present invention is as follows：
(1) reference frame of initial trace information is the coordinate system of catia digital-to-analogues, the coordinate system and robot basis coordinates
It is that each axis is directed toward possible difference.Therefore, it needs first to pre-process track data before verifying operation, establishes new mold
Coordinate system B (main shaft coordinate system) is so that each axis is directed toward is consistent with robot basis coordinates system, and coordinate origin is in mold rotating shaft
On line.Envelope model is transformed under main shaft coordinate system and is indicated, the calculating of position relationship is simplified.If die information transformation matrix isFor space point (x, y, z)I, coordinate of this under main shaft coordinate system be：
(2) piddler wrist dot position information can be obtained along normal direction extension 900mm to all data points in trace information.From
Normal direction information unit vector Normal (x are extracted in track datan, yn, zn), for certain point (x on moldm, ym, zm), it obtains outer
The wrist point information (x delayedw, yw, zw), being write as component form is：
(3) it is that characteristic point is extracted in the directions z in an axial direction to the wrist point data in each track.Extracting method is defined, when
Basis for estimation is provided for trace scheduling legitimacy, second is that for the generation service of initial solution.Consider for simplifying to calculate, for track
1, judge whether next point is more than the value of some setting along the difference of z and a1 point by point since boundary point a1, is denoted as col width
ξ.If it is greater than ξ, this point is denoted as a2, so analogizes, all characteristic points is all extracted.
(4) for two characteristic points T1i, T2i in different two tracks along normal direction extension handle to obtain control point ki,
Mi is rotated around the spindle and is intersected to obtain ki', mi', ki ", mi " with both sides envelope curve bound respectively.As shown in figure 4, O
Point is mold main-shaft core point.
Presence due to main shaft as redundant axes, in theory, if O is crossed at the corresponding control point in two tracks
Point angle can be in the section (α, β), can be reachable by so that two characteristic points can be in robot to the processing of main shaft
In space.The track matched to two is verified point by point by period, until all point search finish, in this, as the sieve of track pairing
It makes an accurate selection of then.It uses for reference Layered manufacturing, add up molding principle.According to being mutually matched to three-dimensional CAD track number for length feed rate
According to discrete hierarchy slicing, the planning that dual trace adapts to cooperation is carried out by coordinating two track discrete point spacing.
(5) time synchronization；Step (1)-(4) carry out the predistribution of class swivel mold laying track, by the paving of full die
It puts track and distributes to two lay robots, two tracks for being directed to while laying again after being assigned carry out tracing point adaptation and match
It closes i.e. densification or deletes an operation, to reach time synchronization effect.
When carrying out laying processing on complex-curved mold, the track theoretically generated should lay pressure roller and mold table
A kind of space curve that millet cake contact is constituted.But in actual processing, due to the limitation of CNC digital control system interpolation abilities, paving
Put what track was made of a section straight line connection.Obviously, the processing quality of the step-length selection and lay operation of machining locus
There is close association with processing efficiency.Higher depositing speeds can be obtained by improving step-length, but step-length, which crosses conference, leads to end
Movement locus generates apparent bending, especially goes out the more prominent of performance in the larger complex profile of Curvature varying, makes lay table
Face quality declines.In order to reach preferable precision, needs to carry out cumbersome follow-up trajectory processing work, reduce whole efficiency.But
It is that step-length selects the too small program structure that can make lay algorithm complicated, consumes memory, the process data being calculated is also more,
It influences to lay efficiency.
In the present invention, the mutual association of dual robot axially engaged mainly by robot base length feed rate
It transfers to complete, then completes the postpositive disposal of each axis of coordination system on this basis.Before carrying out adaptation allocation processing to track,
Tracing point because changing greatly place with regard to curvature of curved surface first carries out densification so that is moved by postpositive disposal to each axis more flat
Surely.And the reference that normal vector can change as curvature of curved surface in tracing point information, set the Curvature varying value i.e. normal direction of permission
Amount variable quantity is ε, is coordinated for two pairing tracing points by inserting point.Determine that the step of inserting point position is as follows：
(1) it will first need to import with the tracing point information of processing.
(2) angle α between two neighboring tracing point per unit system arrow is found out, is become for characterizing the curved surface normal direction curvature at 2 points
Change.
(3) if α>ε, the then point to be inserted of label one between this 2 points.
(4) if also tracing point, then following two is taken, continues second step；Otherwise, terminate to insert point.
The present invention is cut with the length feed cooperation of two robots of step-length selection control, by model track in axially progress adaptability
Piece ensures that only there are one tracing points for two tracks between being sliced at every two layers.In this way, being carried out on the basis of being pre-processed by track
When postpositive disposal, so that it may to convert two-shipper people's three dimensions coordination constraint ability to two dimensional surface problem.What algorithm to be determined
It is that the track that tracing point is constituted is selected according to the step-length in z-axis direction, by the curvature of upper analysis step-length selection and model surface each point
It is related.And the curvature feature of curved surface can be characterized with the normal vector of each point.If ni=(xi, yi, zi) be tracing point normal direction
Amount, due to normal direction magnitude in CAD trail filesIt is vectorial for unit, so | zi| represent niIn z
The size of axial projection's value, ziPositive and negative show method of loci vector niIn the direction of z-axis projection.
As shown in figure 5, track adapts to hop algorithm be the normal vector for searching out two pairing tracks in each step-length unit
Tracing point Traj [i] .point [m] and its normal vector n changed greatlyi.When determining step-length with tracing point Traj [i]
.point [m] and its normal vector niAs adaptability distribution parameter, here Traj [m] refer to the m articles track.Wherein Traj [i]
.point [m] is program language, refers to m-th of tracing point in i-th track, and algorithm basic step is as follows：
(1) initial step length is taken to set pw=0, pmax is step-length maximum value, and pmin is the minimum value of step-length, m=0, pmax
It is acquired with minimum step by the maximum step-length in two initial traces with pmin, Ha, Hb are the upper limit of the z values in a certain step-length section
And lower limit.
(2) search point [m] arrives the normal vector changing value of the section tracks Nei Liangtiao point [m+1], chooses normal direction quantitative change
Change larger track to be used as with reference to calculating in point [m] to the section point [m+1] endoadaptation step-length pw.
(3) point [m+1] in initial trace Traj [i] is assigned to T1, step-length section (Ha, Hb) where calculating pw,
And whether operative cooperation track Traj [j] contains tracing point in this section.If there is then by Traj [j] .point [m+1] point
Data assign T2, otherwise carry out inserting point processing to track Traj [j] at Hb.
(4) judge whether tracing point traverses completion, if not completing the processing operation of all tracing points, turn (2).Such as
Fruit completes the adaptation processing of all tracing points, turns (5).
(5) output adapts to two tracks T1, T2 that cooperation processing is completed；
The present invention is to grind with the laying forming of more complex class body member from robot coordinated space constraint is laid
Study carefully object, research dual robot parallel system coordinates to complete the motion planning problem of such operation, and detailed analysis is same in the time
The track distribution method of step and space up to robot coordinated running under two constraintss.It generates and processes in CAD segregation reasons
After the processed file of track, track reallocation is carried out by dynamic constrained of effective impulse stroke of double SCM, by two machines
Coordination decoupling between device people, to reduce postpositive disposal difficulty.
The above is only the better embodiment to the present invention, not makees limit in any form to the present invention
System, every any simple modification that embodiment of above is made according to the technical essence of the invention, equivalent variations and modification,
Belong in the range of technical solution of the present invention.
Claims (3)
1. double end lays post-processing approach, it is characterised in that：
(1) first track data is pre-processed, establishes main shaft coordinate system B so that each axis is directed toward and robot basis coordinates system guarantor
It holds unanimously, envelope model is transformed under main shaft coordinate system and indicates on mold axis of rotation by coordinate origin, if die information becomes
Changing matrix isFor space point (x, y, z)I, coordinate of this under main shaft coordinate system be：
(2) piddler wrist dot position information can be obtained along normal direction extension 900mm to all data points in trace information, from track
Extracting data normal direction information unit vector Normal (xn, yn, zn), for certain point (x on moldm, ym, zm), obtain outer delay
Wrist point information (xw, yw, zw), being write as component form is：
(3) to the wrist point data in each track, characteristic point is extracted in the directions z in an axial direction, defines extracting method, for track 1,
Judge whether next point is more than the value of some setting along the difference of z and a1 point by point since boundary point a1, be denoted as col width ξ,
If it is greater than ξ, this point is denoted as a2, so analogizes, all characteristic points is all extracted；
(4) two characteristic points T1i, T2i in different two tracks are handled to obtain control point ki, mi along normal direction extension, it will
It is rotated around the spindle intersects to obtain ki', mi', ki ", mi " with both sides envelope curve bound respectively；
(5) time synchronization；When carrying out laying processing on complex-curved mold, before carrying out adaptation allocation processing to track, because
The tracing point for curvature of curved surface being changed greatly first to place carries out densification so that is moved by postpositive disposal to each axis more flat
Surely, the reference that normal vector can change as curvature of curved surface and in tracing point information, set the Curvature varying value i.e. normal direction of permission
Amount variable quantity is ε, is coordinated for two pairing tracing points by inserting point.
2. laying post-processing approach according to double end described in claim 1, it is characterised in that：In the step (4), two are matched
Track verified point by point by period, until all point search finish, in this, as the filter criteria of track pairing, according to longitudinal direction into
To being mutually matched to the discrete hierarchy slicing of three-dimensional CAD track data for rate, carried out by coordinating two track discrete point spacing
Dual trace adapts to the planning of cooperation.
3. laying post-processing approach according to double end described in claim 1, it is characterised in that：In the step (5), slotting point is determined
The step of setting is as follows：
(1) it will first need to import with the tracing point information of processing；
(2) angle α between two neighboring tracing point per unit system arrow is found out, for characterizing the curved surface normal direction Curvature varying at 2 points；
(3) if α>ε, the then point to be inserted of label one between this 2 points；
(4) if also tracing point, then following two is taken, continues second step；Otherwise, terminate to insert point.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110614632A (en) * | 2019-07-18 | 2019-12-27 | 南京康德复合材料有限公司 | Multi-robot laying track distribution design method |
| CN110704991A (en) * | 2019-07-17 | 2020-01-17 | 南京康德复合材料有限公司 | Multi-robot wire laying track fixed angle design method |
| WO2024016495A1 (en) * | 2022-07-18 | 2024-01-25 | 成都飞机工业（集团）有限责任公司 | Method for solving motion angle of rotary tool positioner of automated fiber placement apparatus |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110704991A (en) * | 2019-07-17 | 2020-01-17 | 南京康德复合材料有限公司 | Multi-robot wire laying track fixed angle design method |
| CN110614632A (en) * | 2019-07-18 | 2019-12-27 | 南京康德复合材料有限公司 | Multi-robot laying track distribution design method |
| WO2024016495A1 (en) * | 2022-07-18 | 2024-01-25 | 成都飞机工业（集团）有限责任公司 | Method for solving motion angle of rotary tool positioner of automated fiber placement apparatus |
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| Publication number | Publication date |
|---|---|
| CN108375956B (en) | 2020-04-28 |
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