CN111581841A - DELMIA-based automatic creation method for machining simulation tasks of five-axis drilling and riveting machine tool - Google Patents
DELMIA-based automatic creation method for machining simulation tasks of five-axis drilling and riveting machine tool Download PDFInfo
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- CN111581841A CN111581841A CN202010414122.0A CN202010414122A CN111581841A CN 111581841 A CN111581841 A CN 111581841A CN 202010414122 A CN202010414122 A CN 202010414122A CN 111581841 A CN111581841 A CN 111581841A
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Abstract
The invention relates to the technical field of five-axis drilling and riveting machine tool machining simulation, and discloses a method for automatically creating a five-axis drilling and riveting machine tool machining simulation task based on DELMIA, which specifically comprises the following steps: step S1: introducing a five-axis drilling and riveting machine tool model into DELMIA; step S2: creating a five-axis drilling and riveting machine tool motion simulation model; step S3: importing a process resource model, and forming a machine tool motion simulation model consistent with a machining site; step S4: laying out each process resource model according to the pose relationship calibrated on the machining site, and creating a virtual machining operation environment; step S5: and automatically creating a machine tool machining simulation task in the virtual machining operation environment. The invention has the beneficial effects that: the invention can effectively realize the establishment of the virtual machining operation environment, directly import the NC program file into the simulation environment for verification, check whether the collision interference condition exists in the corresponding machining process, and ensure the safety of the machining operation of the equipment.
Description
Technical Field
The invention relates to the technical field of five-axis drilling and riveting machine tool machining simulation, in particular to a method for automatically creating a five-axis drilling and riveting machine tool machining simulation task based on DELMIA.
Background
With the continuous development of the automation technology, the application of the automatic drilling and riveting equipment in the assembly of aircraft parts is more and more extensive.
Disclosure of Invention
The invention aims to provide a DELMIA-based automatic creation method for a machining simulation task of a five-axis drilling and riveting machine tool, which can directly import a program file into a simulation environment for verification, check whether collision interference exists in a corresponding machining process and ensure the safety of equipment machining operation.
The invention is realized by the following technical scheme:
a method for automatically creating a machining simulation task of a five-axis drilling and riveting machine tool based on DELMIA specifically comprises the following steps:
step S1: introducing a five-axis drilling and riveting machine tool model into DELMIA;
step S2: creating a five-axis drilling and riveting machine tool motion simulation model;
step S3: importing a process resource model, and forming a machine tool motion simulation model consistent with a machining site;
step S4: laying out each process resource model according to the pose relationship calibrated on the machining site, and creating a virtual machining operation environment;
step S5: and automatically creating a machine tool machining simulation task in the virtual machining operation environment.
Further, in order to better implement the present invention, step S2 specifically refers to: the method comprises the steps of establishing kinematic pairs of all axes of a machine tool under a DeviceBuilding workbench in DELMIA, establishing an inverse kinematics model of the machine tool under the DeviceBuilding workbench, and selecting a numerical inverse solution type by a solver.
Further, in order to better implement the present invention, the process resource model in step S3 includes an end effector, a ground rail; the step S3 specifically includes:
step S31: leading in an end effector and a ground rail;
step S32: defining a machine tool ground rail by using a Device Building workbench in DELMIA and creating a corresponding kinematic pair;
step S33: and (3) utilizing a Device Attributes tool to install and connect the machine tool and the ground rail, and simultaneously installing and connecting the end effector and a machine tool flange to form a machine tool motion simulation model consistent with a machining field.
Further, in order to better implement the present invention, the step S5 specifically includes the following steps:
step S51: selecting a text file of a machine tool machining NC program by using a FileSelectionBox interface;
step S52: the machine tool machining NC program file is used for reading and storing coordinate values and normal direction vectors of all machining point positions by line-by-line reading and text operation;
step S53: performing inverse kinematics analysis on the machine tool, and calculating to obtain a relational expression between the swing angles a and b of the machine tool and normal vectors i, j and k;
step S54: the swing angles of the machine tools a and b are obtained according to calculation, and the pose matrix of the terminal TCP is calculated through positive kinematics of the machine tool;
step S55: calculating corresponding attitude angles, namely Euler angles alpha, beta and gamma, of the current processing point according to the TCP attitude matrix and the space attitude conversion relation;
step S56: calculating the x, y, z, alpha, beta and gamma of the Tag point corresponding to the processing point according to the x, y, z, i, j and k values read in the step S52;
step S57: and automatically adding the Tag in the simulation environment by using the CreateTagGroup and CreateTag interfaces, and creating a machine tool motion simulation task associated with the Tag point by using the CreateRobotMotion interface.
Further, in order to better implement the present invention, the five-axis drilling and riveting machine tool includes three translational shafts X, Y, Z and two rotational shafts A, B.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the invention can effectively realize the establishment of the virtual machining operation environment, directly import the NC program file into the simulation environment for verification, check whether the collision interference condition exists in the corresponding machining process, and ensure the safety of the machining operation of the equipment.
Drawings
FIG. 1 is a flow chart of the operation of the present invention;
FIG. 2 is a schematic diagram of the movement of a five-axis drilling and riveting machine tool mechanism in the invention;
FIG. 3 is a diagram showing the relationship between the rotation axis of the five-axis drilling and riveting machine and the spatial dimension of the tool spindle;
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.
Example 1:
the invention is realized by the following technical scheme, as shown in figures 1-3:
a method for automatically creating a machining simulation task of a five-axis drilling and riveting machine tool based on DELMIA specifically comprises the following steps:
step S1: introducing a five-axis drilling and riveting machine tool model into DELMIA;
step S2: creating a five-axis drilling and riveting machine tool motion simulation model;
step S3: importing a process resource model, and forming a machine tool motion simulation model consistent with a machining site;
step S4: laying out each process resource model according to the pose relationship calibrated on the machining site, and creating a virtual machining operation environment;
step S5: and automatically creating a machine tool machining simulation task in the virtual machining operation environment.
By the above improvement, step S1: introducing a five-axis drilling and riveting machine tool model into DELMIA software;
step S2: creating a five-axis drilling and riveting machine tool motion simulation model;
step S3: importing other process resource models such as an end effector and a ground rail;
step S4: according to the position and posture relation calibrated on the processing site, distributing all process resources and creating a virtual processing operation environment;
step S5: based on DELMIA software secondary development technology, the method realizes automatic creation of machine tool machining simulation tasks in a virtual machining operation environment according to NC program files selected by a user.
The five-axis drilling and riveting machine tool mainly comprises a portal frame, a sliding table, a ram and a multifunctional end effector, and comprises three translation shafts X, Y, Z and two rotation shafts A, B.
Example 2:
the present embodiment is further optimized based on the above embodiment, as shown in fig. 1, further, in order to better implement the present invention, the step S2 specifically refers to: the method comprises the steps of establishing a machine tool each-axis kinematic pair under a Device Building workbench in DELMIA, establishing a machine tool inverse kinematics model under the Device Building workbench, and selecting a numerical inverse solution type by a solver.
It should be noted that, through the above improvement, the motion pairs of each axis of the machine tool are created under a Device Building workbench in DELMIA software, then, an ik (Inverse kinematic) command under the workbench is used to create an Inverse kinematic model of the machine tool, and a solver selects a numerical Inverse solver type, so as to realize five-axis motion simulation of the machine tool.
Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.
Example 3:
the present embodiment is further optimized based on the above embodiment, as shown in fig. 1, and further, in order to better implement the present invention, the process resource model in step S3 includes an end effector, a ground rail; the step S3 specifically includes:
step S31: leading in an end effector and a ground rail;
step S32: defining a machine tool ground rail by using a Device Building workbench in DELMIA and creating a corresponding kinematic pair;
step S33: and (3) utilizing a Device Attributes tool to install and connect the machine tool and the ground rail, and simultaneously installing and connecting the end effector and a machine tool flange to form a machine tool motion simulation model consistent with a machining field.
It should be noted that, through the above improvement, other process resource models such as the end effector and the ground rail are introduced, the ground rail of the machine tool is defined and a corresponding kinematic pair is created on a Device Building workbench of DELMIA software, then the machine tool and the ground rail are installed and connected by using a Device Attributes tool, and the end effector and a flange of the machine tool are installed and connected at the same time, so as to form a machine tool motion simulation model consistent with a machining site.
Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.
Example 4:
the embodiment is further optimized based on the above embodiment, as shown in fig. 1, and further, in order to better implement the present invention, the step S5 specifically includes the following steps:
step S51: selecting a text file of a machine tool machining NC program by using a FileSelectionBox interface;
step S52: the machine tool machining NC program file is used for reading and storing coordinate values and normal direction vectors of all machining point positions by line-by-line reading and text operation;
step S53: performing inverse kinematics analysis on the machine tool, and calculating to obtain a relational expression between the swing angles a and b of the machine tool and normal vectors i, j and k;
step S54: the swing angles of the machine tools a and b are obtained according to calculation, and the pose matrix of the terminal TCP is calculated through positive kinematics of the machine tool;
as shown in FIG. 3, wherein L1～L4The dimensional relationships represented by A, B between the axis of rotation and the end effector tool spindle, respectively, are constants;
step S55: through the TCP position and posture matrix, the relation is converted from the space position and posture,
calculating to obtain corresponding attitude angles of the current processing point, namely Euler angles alpha, beta and gamma;
step S56: calculating the x, y, z, alpha, beta and gamma of the Tag point corresponding to the processing point according to the x, y, z, i, j and k values read in the step S52;
step S57: and automatically adding the Tag in the simulation environment by using the CreateTagGroup and CreateTag interfaces, and creating a machine tool motion simulation task associated with the Tag point by using the CreateRobotMotion interface.
Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.
Claims (5)
1. A method for automatically creating a machining simulation task of a five-axis drilling and riveting machine tool based on DELMIA is characterized by comprising the following steps: the method specifically comprises the following steps:
step S1: introducing a five-axis drilling and riveting machine tool model into DELMIA;
step S2: creating a five-axis drilling and riveting machine tool motion simulation model;
step S3: importing a process resource model, and forming a machine tool motion simulation model consistent with a machining site;
step S4: laying out each process resource model according to the pose relationship calibrated on the machining site, and creating a virtual machining operation environment;
step S5: and automatically creating a machine tool machining simulation task in the virtual machining operation environment.
2. The DELMIA-based five-axis drilling and riveting machine tool machining simulation task automatic creation method according to claim 1, wherein: the step S2 specifically includes: the method comprises the steps of establishing a machine tool each-axis kinematic pair under a Device Building workbench in DELMIA, establishing a machine tool inverse kinematics model under the Device Building workbench, and selecting a numerical inverse solution type by a solver.
3. The DELMIA-based five-axis drilling and riveting machine tool machining simulation task automatic creation method according to claim 2, wherein: the process resource model in the step S3 includes an end effector and a ground rail; the step S3 specifically includes:
step S31: leading in an end effector and a ground rail;
step S32: defining a machine tool ground rail by using a Device Building workbench in DELMIA and creating a corresponding kinematic pair;
step S33: and (3) utilizing a Device Attributes tool to install and connect the machine tool and the ground rail, and simultaneously installing and connecting the end effector and a machine tool flange to form a machine tool motion simulation model consistent with a machining field.
4. The DELMIA-based five-axis drilling and riveting machine tool machining simulation task automatic creation method according to claim 1, wherein: the step S5 specifically includes the following steps:
step S51: selecting a text file of a machine tool machining NC program by using a FileSelectionBox interface;
step S52: coordinate value of machining point in NC program file for machine tool machiningx、y、zAnd a machining normal direction vectori、j、kThe method comprises the steps of utilizing machine tool machining NC program files to read line by line and text operation to read and store coordinate values of all machining point positions and normal direction vectors;
step S53: performing inverse kinematics analysis on the machine tool, and calculating to obtain the machine toola、bAngle of oscillation and normal vectori、j、kThe relation between (A) and (B);
step S54: obtaining the machine tool according to the calculationa、bA swing angle, namely calculating a pose matrix of the terminal TCP through positive kinematics of the machine tool;
step S55: calculating the corresponding attitude angle of the current processing point, namely the Euler angle, by the TCP position and attitude matrix and the space position and attitude conversion relationα、β、γ；
Step S56: according to the reading in step S52x、y、z、i、j、kThe value is calculated to obtain the corresponding Tag point of the processing pointx、y、 z、α、β、γ；
Step S57: and automatically adding the Tag in the simulation environment by using the CreateTagGroup and CreateTag interfaces, and creating a machine tool motion simulation task associated with the Tag point by using the CreateRobotMotion interface.
5. The DELMIA-based five-axis drilling and riveting machine tool machining simulation task automatic creation method according to claim 1, wherein: the five-axis drilling and riveting machine tool comprises three translational shafts X, Y, Z and two rotating shafts A, B.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113268830A (en) * | 2021-06-01 | 2021-08-17 | 重庆大学 | Disassembly information matrix automatic generation method based on moving distance dynamic detection |
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