CN111889989B - High-precision machining method and system based on mixed reality - Google Patents
High-precision machining method and system based on mixed reality Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 63
- 238000003754 machining Methods 0.000 title claims abstract description 47
- 238000005553 drilling Methods 0.000 claims abstract description 130
- 238000000227 grinding Methods 0.000 claims abstract description 42
- 238000005266 casting Methods 0.000 claims abstract description 12
- 238000004519 manufacturing process Methods 0.000 claims abstract description 8
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- 238000006243 chemical reaction Methods 0.000 claims description 8
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- 238000010438 heat treatment Methods 0.000 claims description 7
- 238000003801 milling Methods 0.000 claims description 7
- 239000011248 coating agent Substances 0.000 claims description 6
- 238000000576 coating method Methods 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 6
- 238000002844 melting Methods 0.000 claims description 6
- 230000008018 melting Effects 0.000 claims description 6
- 239000002994 raw material Substances 0.000 claims description 4
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- 230000008859 change Effects 0.000 description 2
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- 230000002950 deficient Effects 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
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- G06T3/14—
Abstract
The invention provides a high-precision machining method and a machining system based on mixed reality. The method specifically comprises the following steps: casting a blank of a mechanical element; the end face, the outer circumferential face and the matching connection hole of the mechanical element blank are machined through rough turning and fine turning steps, the turned product is subjected to rough grinding, fine grinding, drilling and the like, then the drilling position and the drilling precision of the mechanical element are checked, and the product is ensured to be qualified; the machining system comprises a pre-manufacturing module, a model planning module, a registration module, a tracking module, a positioning module, a drilling module and a computer module. The processing method provided by the application has the advantages that the drilling positioning precision is high, the high-precision positioning requirements of different precision mechanical elements can be realized, the position error of drilling is effectively guaranteed not to exceed the position tolerance zone required by a drawing, the processing quality is guaranteed, and the method can be used for precision drilling of mechanical elements such as sleeves, shafts and discs.
Description
The technical field is as follows:
the invention belongs to the technical field of precision machining, and particularly relates to a high-precision machining method and a high-precision machining system based on mixed reality.
Background art:
the mechanical element is a single manufacturing which can not be disassembled and constitutes a machine and the machine is more and more widely used nowadays, and the requirement on the mechanical element is more and more increased, so that the machining of the mechanical element is more and more emphasized, and the precision, the performance and the reliability of the mechanical element play a key role in the precision, the performance and the reliability of a host machine. For example, in the conventional mechanical element drilling process, a target position to be drilled generally needs to be planned first, then a technician manually aligns the drilling position according to experience after determining the target position to be machined, positions the machining device right above the element, and then machines the element, so that the requirement on the positioning accuracy is high, the position needs to be rearranged if deviation occurs, otherwise, the drilling position error exceeds a position tolerance band required by a drawing, and the product quality is unqualified. The mode is time-consuming and labor-consuming, the machining efficiency is low, and especially when complex mechanical surfaces are drilled, a certain deviation exists in the positioning process of a drilling tool, so that the drilling position is not accurate, and the defective rate is high.
The invention content is as follows:
the present invention aims to provide a high-precision machining method and a machining system based on mixed reality, which can solve the above problems.
The technical scheme for realizing the purpose of the invention is as follows: a high-precision machining method based on mixed reality comprises the following steps:
s1, casting: uniformly mixing the raw materials, heating, melting, injecting into a mold, casting a blank of a mechanical element, and reserving a construction chuck for the blank;
s2, turning: processing two end surfaces, an outer circumferential surface and a matching hole of the mechanical element blank through rough turning and finish turning;
s3, coarse grinding: roughly grinding the turned product, wherein the roughly grinding sequentially comprises the procedures of flat grinding and universal grinding, and the parallelism of two end surfaces of the flat grinding is kept to be 0.05;
s4, milling: removing the construction clamp by milling;
s5, fine grinding: the fine grinding sequentially comprises the procedures of flat grinding, cylindrical grinding and universal grinding, the machining precision is guaranteed, products with qualified size requirements are obtained, and the parallelism of two end faces is guaranteed to be 0.02;
s6, establishing a model: establishing a three-dimensional model based on the mechanical element obtained in the step, presetting a target position to be drilled and a plurality of model positioning points, generating a data packet and transmitting the data packet to a computer module, sending the data packet to a mixed reality module by the computer module, and connecting the computer module with an infrared module;
s7, depth fusion: registering and positioning the three-dimensional model and the entity of the mechanical element to realize the deep fusion of the three-dimensional model and the entity of the mechanical element in the mixed reality module; the depth fusion process includes registration, tracking, and localization;
s8, drilling: the computer module controls the drilling module to move to a target position to be processed on the mechanical element according to the planned path, and then the mechanical element is drilled;
s9, checking: and (4) checking the drilling position and precision of the mechanical element, ensuring that the product is qualified, and finishing the machining of the mechanical element.
According to the processing method, the positioning accuracy of the drilling tool and the target position to be drilled is high, the positioning error is as small as millimeter level, the positioning accuracy is far higher than that in the prior art, the high-accuracy positioning requirements of different types of application scenes are realized, the position error of drilling is effectively guaranteed not to exceed the position tolerance zone required by a drawing, and the processing quality is guaranteed.
Preferably, in the step S1, the mechanical element is a bearing sleeve type element, and the temperature for heating and melting in the casting process is 1220-1225 ℃.
Preferably, the machining allowance of the rough turning step is 0.5-2 mm.
Preferably, step S5 further includes the step of heat-treating the mechanical element after the refining.
Preferably, the method further comprises the step of coating a dry film on the surface of the mechanical element before drilling, drilling the mechanical element after coating the dry film, and removing the dry film after drilling.
Preferably, in step S8, the drilling module includes a support, and a moving mechanism, a drilling photosensitive module and a drilling tool that are disposed on the support, the support is fixed to one side of the mechanical element, the moving mechanism is connected to the drilling tool and drives the drilling tool to a target position to be drilled according to a planned path under the action of the computer module, and the drilling photosensitive module is used to obtain a real-time position of the drilling tool.
Preferably, in step S8, the process of moving along the planned path includes: fixing a support to one side of the mechanical element to be drilled; the infrared module obtains the current position information of the drilling tool through the tracking drilling photosensitive module and sends the current position information to the computer module; the computer module reads a target position to be drilled on the mechanical element, receives the current position sent by the infrared module, then plans a motion path of the current position to the target position to be drilled, generates motion control parameters, and controls the motion mechanism according to the control parameters so as to drive the drilling tool to the target position to be drilled.
The drilling may include the procedures of vertical drilling, horizontal drilling and inclined drilling, wherein the vertical drilling includes the steps of presetting a plurality of target positions for vertical drilling on the three-dimensional model, the horizontal drilling includes the steps of presetting a plurality of target positions for horizontal drilling on the three-dimensional model, and the inclined drilling includes the steps of presetting the target positions for inclined drilling and presetting the drilling angles on the three-dimensional model.
Preferably, in step S7, the registration process includes first introducing an infrared module, connecting the infrared module to a computer module, and then calculating to obtain a coordinate transformation matrix between the mixed reality module and the infrared module at the same spatial position. A coordinate transformation matrix of the same spatial position between the mixed reality module and the infrared module is obtained by introducing a calibration module, and the calibration module comprises a characteristic image module and a calibration photosensitive module which are fixedly connected. And the calibration module can be in any form which can satisfy the condition that the position of the characteristic image module and the position of the calibration photosensitive module have a measurable fixed relation.
The process of the coordinate transformation matrix of the same spatial position between the mixed reality module and the infrared module is as follows: the infrared module is through tracking calibration photosensitive module to calculate and obtain the feature image module central point is in position data in the infrared module, mixed reality module tracks the feature image module obtains the feature image central point is in position data in the mixed reality module, based on the feature image module central point is in the infrared module with position data in the mixed reality module, obtain same spatial position and be in mixed reality module with coordinate conversion matrix between the infrared module.
Preferably, the first and second liquid crystal materials are,in step S7, the positioning process is implemented by a positioning module, which includes a positioning photosensitive module and a positioning probe that are fixedly connected. The positioning process comprises the following steps: the positioning probe sequentially selects positioning points on the mechanical element according to the sequence, the infrared module tracks and positions the spatial position and the attitude of the photosensitive module, the spatial position coordinate of the positioning probe in the infrared module is obtained through calculation, and then the conversion matrix is used for
The positioning probe position information is converted into a space position coordinate in a mixed reality module, the position information of the positioning probe in the mixed reality module is obtained, then the model positioning points in the three-dimensional model are correspondingly bound with the needle point positions of the positioning probes of the mechanical elements in the mixed reality module one by one according to the information of the corresponding model positioning points on the loaded three-dimensional model, the relative attitude relation of the positioning module and the three-dimensional model during positioning point planning is kept in the mixed reality module in real time, and then the depth fusion of the mechanical elements and the three-dimensional model in the mixed reality module is realized by moving the needle points of the positioning probes on the positioning module to the entity positioning points on the corresponding mechanical elements in the scene.
In addition, the invention also provides a high-precision machining system based on mixed reality, which comprises a pre-manufacturing module, a model planning module, a registering module, a tracking module, a positioning module, a drilling module and a computer module, wherein the model planning module, the registering module and the drilling module are connected with the computer module.
The model planning module is used for establishing a three-dimensional model of the mechanical element based on an entity of the mechanical element with the drilled hole; the registration module comprises an infrared module, a calibration module and a mixed reality module and is used for obtaining a coordinate conversion matrix of the same spatial position between the mixed reality module and the infrared module; the tracking module is used for tracking the position of the mechanical element in real time; the positioning module is used for fusion positioning of the mechanical element and the three-dimensional model in the mixed reality module; the computer module is used for being connected with the model planning module, the registration module and the drilling module and controlling the operation of the drilling system.
The high-precision machining method and the high-precision machining system based on the mixed reality have the beneficial effects that:
(1) the drilling positioning precision is high: the invention provides a high-precision machining method based on mixed reality, which comprises the steps of manufacturing a mechanical element to be drilled in advance, establishing a three-dimensional model, presetting a target position to be drilled on the model, carrying out depth fusion and drilling machining on the three-dimensional model and the mechanical element, ensuring that the positioning precision of a drilling tool and the target position to be drilled is high and far higher than that in the prior art, realizing the high-precision positioning requirements of different types of application scenes, being applicable to the drilling machining of complex mechanical surfaces, effectively ensuring that the position error of the drilled hole does not exceed the position tolerance band required by a drawing and ensuring the machining quality. In addition, the precision of the infrared equipment is introduced into the drilling system by introducing the calibration module and designing the precision structure of the calibration module, so that the positioning precision of the existing equipment is greatly improved, the positioning precision of the existing equipment is improved, the requirement of higher precision in machining such as mechanical element drilling is met, and the error of later-stage machining is reduced. The punching machine can be used for precise punching of mechanical elements such as sleeves, shafts, discs and the like.
(2) The product quality is even, and drilling efficiency is high: the computer module plans a motion path from the current position to the target position by reading the information of the current position and the target position, generates motion control parameters, controls the motion mechanism according to the control parameters to drive the drilling tool to the target position, is convenient to operate and high in positioning precision, and avoids the problems of unstable quality and high defective rate caused by the influence of technical manual operation level in the positioning process of manually holding the drilling tool and the deviation in the positioning process. In addition, the drilling system and method of the present application also improve drilling efficiency.
Description of the drawings:
FIG. 1 is a schematic workflow diagram of the process of the present invention,
figure 2 is a schematic diagram of the operation of the drilling module of the present invention,
figure 3 is a schematic structural diagram of a registration module of the present invention,
figure 4 is a schematic view of the structure of the calibration plate of the present invention,
fig. 5 is a schematic structural diagram of a positioning module according to the present invention.
In the figure, 1 mechanical element, 2 calibration modules, 21 characteristic image modules, 22 calibration photosensitive modules, 3 mixed reality modules, 4 infrared modules, 5 positioning modules, 51 positioning probes, 52 positioning photosensitive modules, 6 drilling modules, 61 supports, 62 motion mechanisms, 63 drilling tools, 64 drilling photosensitive modules, 7 tracking modules and 8 workbenches.
The specific implementation mode is as follows:
the following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention more readily understood by those skilled in the art, and thus will more clearly and distinctly define the scope of the invention.
Example 1
Referring to fig. 1 to 5, a high-precision machining method based on mixed reality includes the following steps: casting, turning, rough grinding, milling, fine grinding, modeling, depth fusion, drilling and inspection.
In this embodiment, the mechanical element 1 is a bearing bush-like element, and a hole (such as an oil passage hole) is drilled in the bearing bush-like element. In the machining process of mechanical drilling of bearing sleeve type elements, whether the drilling positioning is accurate directly determines the machining quality. The method and the device have the advantages that the three-dimensional model of the bearing sleeve type element is reconstructed through acquired data, the target position of the hole to be drilled in the element and the model positioning point are planned, and a data packet is generated. And then, in the actual processing process, the three-dimensional model and the entity of the bearing sleeve type element are subjected to depth fusion, and the drilling module 6 reaches the planned target drilling position according to the planned path to perform drilling processing on the bearing sleeve type element.
The processing method comprises the following specific steps:
s1, casting: uniformly mixing raw materials (all raw materials of the bearing sleeve), heating, melting, injecting into a mold, casting a blank of a bearing sleeve type element, and reserving a construction chuck for the blank; the temperature for heating and melting in the casting process is 1220 ℃, 1222 ℃ or 1223 ℃.
S2, turning: processing two end surfaces, an outer circumferential surface and a matching connection hole of a blank of the bearing sleeve type element through rough turning and finish turning steps, wherein the processing allowance of the rough turning step is 0.5-1 mm;
s3, coarse grinding: roughly grinding the turned product, wherein the roughly grinding sequentially comprises the procedures of flat grinding and universal grinding, and the parallelism of two end surfaces of the flat grinding is kept to be 0.05;
s4, milling: removing the construction clamp by milling;
s5, fine grinding: the fine grinding sequentially comprises the procedures of flat grinding, cylindrical grinding and universal grinding, the machining precision is guaranteed, the parallelism of two end faces is guaranteed to be 0.02 by the flat grinding, and a product with qualified size requirement is obtained; preferably, the method further comprises the step of carrying out heat treatment on the bearing sleeve type element after the fine grinding.
S6, establishing a model: the method comprises the steps of establishing a three-dimensional model based on bearing sleeve type elements to be drilled, presetting a target position to be drilled and a plurality of model positioning points, generating a data packet and transmitting the data packet to a computer module, sending the data packet to a mixed reality module 3 by the computer module, and connecting the computer module with an infrared module 4.
Firstly, planning a target drilling position in a model and a model positioning point for carrying out depth fusion according to the shape and the structure of a real object by using related data acquired in advance. The target locations for multiple boreholes can be planned as desired. The model positioning points are three or more than three, and the planning process is as follows: three or more characteristic points which are easy to identify and select of the bearing sleeve type element are sequentially selected.
S7, depth fusion: registering and positioning the three-dimensional model and the entity of the bearing sleeve type element to realize the deep fusion of the three-dimensional model and the entity of the bearing sleeve type element in the mixed reality module; the depth fusion process includes registration, tracking, and localization.
The registration process comprises the steps of firstly introducing an infrared module 4, connecting the infrared module 4 with a computer module, and then obtaining a coordinate conversion matrix of the same spatial position between the mixed reality module 3 and the infrared module 4 through calculation; the tracking process comprises the step of fixing a tracking module 7 on the bearing sleeve type element for tracking the position of the bearing sleeve type element in real time, and the positioning process comprises the step of positioning the bearing sleeve type element and the three-dimensional model in the mixed reality module 3 by adopting the positioning module 5 to realize deep fusion.
The registering process comprises the steps of placing the calibration module 2 at a bearing sleeve type element to be processed, adjusting the position and the angle of the infrared module 4 to enable the infrared module to track the calibration module 2, and obtaining a coordinate conversion matrix between the mixed reality module 3 and the infrared module 4 at the same spatial position through the calibration module 2
Wherein, the calibration module 2 comprises a fixedly connected feature image module 21 and a calibration photosensitive module 22. The feature image module 21 includes one or more feature images, the size and arrangement of the feature images are not limited, and the feature images may be arranged at will, and the number of the feature images in this embodiment is 3, and the feature images are not on the same straight line. Any configuration of the calibration module 2 that satisfies the condition that the position of the feature image module has a measurable fixed relationship with the position of the calibration photosensitive module 22 is possible and is not limited to the configuration of fig. 4. The characteristic image is a two-dimensional code or other image which can be identified by a computer module and contains information.
Because the calibration photosensitive module 22 on the calibration module 2 has a rigid fixed relation with the central point of the characteristic image module 21, the infrared module 4 tracks the calibration photosensitive module 22 to obtain the position information
Mechanical structure relation matrix based on calibration module 2
Obtaining the position data of the central point of the characteristic image module 21 in the infrared module 4
By
Calculating to obtain the coordinate of the central point of the characteristic image module 21 in the coordinate system of the mixed reality module 3
Based on the position data of the characteristic image module 21 in the infrared module 4 and the mixed reality module 3, corresponding coordinate conversion matrixes are obtained through calculation
Specifically, the infrared module 4 first tracks and calibrates the photosensitive module 22 to obtain a position matrix of the calibration module 2 as
Due to the precise machining structure of the calibration module 2, the central points of the 3 characteristic images in the calibration module 2 and the calibration photosensitive module 22 identified by the infrared positioning device have a rigid position relationship
Can be obtained in the optically positioned position of
The position matrix of the characteristic image module 21 in the mixed reality coordinate system is obtained by the mixed reality module 3
Can calculate the transformation matrix of the coordinate system of the infrared module 4 in the coordinate system of the mixed reality module 3 into
In addition, coordinate transformation matrix obtained in the registration process
The position matrix obtained by identifying the calibration module 2 by the mixed reality module 3 and the infrared module 4 at the same time
And
and (4) calculating. (the origin of coordinates of the mixed reality module 3 is determined for the module start time, and then the movement of the module does not change the position of the origin, and the mixed reality module 3 has SLAM space positioning capability, so that the determination is made
The value does not change thereafter.
Furthermore, the tracking module 7 comprises a tracking photosensitive module and a fixed module which are fixedly connected, and the fixed module is used for tracking the bearing sleeve type element and is fixedly connected with the bearing sleeve type element to track the real-time position of the bearing sleeve type element. And the infrared module 4 tracks the tracking photosensitive module to obtain the real-time position of the bearing sleeve type element entity. The tracking module may also be needle-shaped, columnar, or other structures.
The positioning module 5 comprises a positioning photosensitive module 52 and a positioning probe 51 which are fixedly connected, wherein the infrared module 4 tracks the positioning photosensitive module 52 to obtain the real-time position of the positioning probe 51. The specific process is as follows: sequentially selecting positioning points on the bearing sleeve type elements by using the positioning probe 51 on the positioning module 5 according to the sequence, obtaining the spatial position coordinates of the positioning probe 51 in the infrared module 4 by the infrared module 4 through tracking the spatial position and the attitude of the positioning photosensitive module 52 and calculating, and converting the matrix
The three-dimensional model locating point is converted into a space position coordinate in the mixed reality module 3, and then the model locating point in the three-dimensional model can be bound with the needle point position of the locating probe of the bearing sleeve type element in the mixed reality module 3 one by one according to the information of the corresponding model locating point on the imported three-dimensional modelThe relative attitude relationship between the positioning module 5 and the three-dimensional model in the mixed reality module 3 during the positioning point planning is maintained in real time, and then the depth fusion of the bearing sleeve type element and the three-dimensional model in the mixed reality module is realized by sequentially moving the needle point of the positioning probe 51 on the positioning module 5 to each entity positioning point on the bearing sleeve type element in the scene.
In the positioning process, the spatial position (a ') of the photosensitive module 52 positioned on the positioning module 5 is obtained through the infrared module 4'p，b′p，c′p，d′p...n′p) Where each spatial location is a three-dimensional spatial coordinate point, such as a'pHas the coordinates of (x)a′，ya′，za′). The model anchor point planned in advance is (a)p，bp，cp，dp...np) Wherein a ispHas the coordinates of (x)a，ya，za). Calculating by the one-to-one correspondence of the two
The corresponding relationship is as follows:
to solve the transformation matrix
9 ofThe unknown parameters theoretically need to be solved simultaneously by at least 9 equations, namely 3 sets of point sets are needed, n is larger than or equal to 3, and when n is larger than 3, the unknown parameters are solved by a least square method. And the three sets of points are not on the same line.
For practical application, (a'p，b′p，c′p，d′p...n′p) The shape of the constituent point set is transformed into (a) by rigidityp，bp，cp，dp...np) The shape of the constituent point set, therefore
Only include translation and rotation operations, and do not include zoom-in and zoom-out operations. The solution process applies the principle as follows:
a) firstly, (a'p，b′p，c′p，d′p...n′p) A 'as a whole by translational and rotational operations'pAnd apThe points coincide.
b) Then respectively undergo X/Y/Z three-axis rotation to obtain transformed (a'p，b′p，c′p，d′p...n′p) And (a)p，bp，cp，dp...np) The combined error of (2) is minimal.
c) The translational position is then fine tuned so that the composite error is further reduced.
Finally obtaining
And (5) finishing positioning and quitting the positioning operation.
The mixed reality module 3 may be a head-mounted glasses device. The tracking module 7 is substantially identical in structure to the positioning module 5.
S8, drilling: and the computer module controls the drilling module to move to a target position to be processed on the bearing sleeve type element according to the planned path, and then the bearing sleeve type element is drilled.
In addition, the embodiment provides a drilling module 6, the drilling module 6 includes a support 61, and a moving mechanism 62, a drilling photosensitive module 64 and a drilling tool 63 which are arranged on the support, wherein the support 61 is fixed on one side of a bearing sleeve type element, the moving mechanism 62 is connected with the drilling tool 63, and drives the drilling tool 63 to a target position to be drilled according to a planned path under the action of a computer module, and the drilling photosensitive module 64 is used for obtaining a real-time position of the drilling tool 63. Before drilling, the mechanical element 1 is placed on the workbench 8 and fixed, and the movement mechanism 62 can adopt the existing three-dimensional movement control module and drive the drilling tool 63 to the target position under the control of the computer module.
Preferably, the drilling may include the steps of vertical drilling, horizontal drilling and inclined drilling, wherein the vertical drilling includes the step of presetting a plurality of target positions for vertical drilling on the three-dimensional model, the horizontal drilling includes the step of presetting a plurality of target positions for horizontal drilling on the three-dimensional model, and the inclined drilling includes the step of presetting a target position for inclined drilling and a preset drilling angle on the three-dimensional model.
The process of moving according to the planned path comprises the following steps: fixing a bracket 61 to one side of the bearing bush-like element to be drilled; the infrared module 4 obtains the current position information of the drilling tool 63 through the tracking drilling photosensitive module 64 and sends the current position information to the computer module; the computer module reads the target position of the bearing sleeve type element to be drilled on the entity, receives the current position sent by the infrared module 4, then plans the motion path of the current position reaching the target position of the to-be-drilled hole and generates motion control parameters, and the computer module controls the motion mechanism 62 according to the control parameters so as to drive the drilling tool 63 to the target position of the to-be-drilled hole.
Preferably, the process of planning the movement path of the drilling tool 63 from the current position to the target position is as follows: and adjusting the vector of the drilling tool to be parallel to the normal vector of the plane of the target position, wherein the vertex of the drilling tool is positioned on the target position.
In addition, the method also comprises a step of coating a dry film on the surface of the bearing sleeve type element before drilling, drilling the bearing sleeve type element after coating the dry film, and removing the dry film after drilling. Because the residues are splashed during the drilling process, if the residues cannot be completely removed, the subsequent processing process of the bearing sleeve type element is greatly influenced. This problem can be solved by applying a dry film.
In this embodiment, the infrared module 4 is used for tracking the calibration photosensitive module 22, the positioning photosensitive module 52, the tracking photosensitive module and the drilling photosensitive module. The calibration photosensitive module 22, the positioning photosensitive module 52, the tracking photosensitive module and the drilling photosensitive module comprise 4 photosensitive balls, wherein the photosensitive balls are positioned on the same plane, and the area of a formed graph is not less than 40cm2。
In addition, the invention also provides a high-precision machining system based on mixed reality, which comprises a pre-manufacturing module, a model planning module, a registering module, a tracking module, a positioning module 5, a drilling module 6 and a computer module, wherein the model planning module, the registering module and the drilling module 6 are connected with the computer module;
the prefabricated module is used for manufacturing a mechanical element to be drilled, and the model planning module is used for establishing a three-dimensional model of the bearing sleeve type element on the basis of the entity of the bearing sleeve type element; the registration module comprises an infrared module 4, a calibration module 2 and a mixed reality module 3 and is used for obtaining a coordinate conversion matrix between the mixed reality module 3 and the infrared module 4 at the same spatial position; the tracking module 7 is used for tracking the position of the bearing sleeve type element in real time; the positioning module 5 is used for fusion positioning of the bearing sleeve type element and the three-dimensional model in the mixed reality module; the computer module is used for being connected with the model planning module, the registration module and the drilling module and controlling the operation of the drilling system.
S9, checking: and (4) checking the drilling position and precision of the mechanical element, ensuring that the product is qualified, and finishing the machining of the mechanical element. Such as checking the drill hole location and angle, machining dimensions, etc.
Example 2
In this embodiment, the drilling system and the drilling method for drilling bearing bush-like members are basically the same as in embodiment 1, except that: in the processing method of the present embodiment, wherein the casting temperature is setThe temperature is 1225 ℃, and the machining allowance in the rough turning step is 1.5-2 mm; in the adopted calibration module 2, the number of the characteristic images is 4, and the characteristic images are arranged in a straight line. The photosensitive module is provided with 5 photosensitive balls, the photosensitive balls are not in a straight line, and the area of a formed graph is not less than 60cm2。
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (10)
1. A high-precision machining method based on mixed reality is characterized by comprising the following steps:
s1, casting: uniformly mixing the raw materials, heating, melting, injecting into a mold, casting a blank of a mechanical element, and reserving a construction chuck for the blank;
s2, turning: processing two end surfaces, an outer circumferential surface and a matching hole of the mechanical element blank through rough turning and finish turning;
s3, coarse grinding: roughly grinding the turned product, wherein the roughly grinding sequentially comprises the procedures of flat grinding and universal grinding, and the parallelism of two end surfaces of the flat grinding is kept to be 0.05;
s4, milling: removing the construction clamp by milling;
s5, fine grinding: the fine grinding sequentially comprises the procedures of flat grinding, cylindrical grinding and universal grinding, wherein the flat grinding ensures that the parallelism of two end surfaces is 0.02;
s6, establishing a model: establishing a three-dimensional model based on the fine grinding element obtained in the step, presetting a target position to be drilled and a plurality of model positioning points, generating a data packet and transmitting the data packet to a computer module, sending the data packet to a mixed reality module by the computer module, and connecting the computer module with an infrared module;
s7, depth fusion: registering and positioning the three-dimensional model and the entity of the mechanical element to realize the deep fusion of the three-dimensional model and the entity of the mechanical element in the mixed reality module; the depth fusion process includes registration, tracking, and localization;
s8, drilling: the computer module controls the drilling module to move to a target position to be processed on the mechanical element according to the planned path, and then the mechanical element is drilled;
s9, checking: and (4) checking the drilling position and precision of the mechanical element, ensuring that the product is qualified, and finishing the machining of the mechanical element.
2. The mixed reality-based high-precision machining method according to claim 1, characterized in that: in step S1, the mechanical element is a bearing sleeve type element, and the temperature of the heating and melting in the casting process is 1220-1225 ℃.
3. The mixed reality-based high-precision machining method according to claim 1, wherein in step S2, the machining allowance of the rough turning step is 0.5-2 mm.
4. The mixed reality based high-precision machining method according to claim 1, further comprising a step of heat-treating the machine element after the finish grinding in step S5.
5. The mixed reality-based high-precision machining method according to claim 1, wherein the step S8 includes a step of coating a dry film on the surface of the mechanical element before drilling, and drilling the mechanical element after coating the dry film, and removing the dry film after drilling.
6. The mixed reality-based high-precision machining method according to claim 1, wherein in the step S8, the drilling module comprises a support, and a moving mechanism, a drilling photosensitive module and a drilling tool which are arranged on the support, the support is fixed on one side of a mechanical element, the moving mechanism is connected with the drilling tool and drives the drilling tool to a target position to be drilled according to a planned path under the action of a computer module, and the drilling photosensitive module is used for obtaining a real-time position of the drilling tool.
7. The mixed reality-based high-precision machining method according to claim 6, wherein in the step S8, the process of moving according to the planned path is as follows: fixing a support to one side of the mechanical element to be drilled; the infrared module obtains the current position information of the drilling tool through the tracking drilling photosensitive module and sends the current position information to the computer module; the computer module reads a target position to be drilled on the mechanical element, receives the current position sent by the infrared module, then plans a motion path of the current position to the target position to be drilled, generates motion control parameters, and controls the motion mechanism according to the control parameters so as to drive the drilling tool to the target position to be drilled.
8. The mixed reality-based high-precision machining method according to claim 1, wherein in the step S7, the registration process includes firstly introducing an infrared module, connecting the infrared module with a computer module, and then calculating to obtain a coordinate transformation matrix between the mixed reality module and the infrared module at the same spatial position; a coordinate transformation matrix of the same spatial position between the mixed reality module and the infrared module is obtained by introducing a calibration module, and the calibration module comprises a characteristic image module and a calibration photosensitive module which are fixedly connected.
9. The mixed reality-based high-precision machining method according to claim 1, wherein in the step S7, the positioning process is implemented by a positioning module, the positioning module includes a fixedly connected positioning photosensitive module and a positioning probe, and the positioning process is as follows: the positioning probe sequentially selects positioning points on the mechanical element according to the sequence, the infrared module tracks and positions the spatial position and the attitude of the photosensitive module, and the positioning probe is obtained on the infrared module through calculationSpatial position coordinates of (1), and then by converting the matrix
The positioning probe position information is converted into a space position coordinate in a mixed reality module, the position information of the positioning probe in the mixed reality module is obtained, then the model positioning points in the three-dimensional model are correspondingly bound with the needle point positions of the positioning probes of the mechanical elements in the mixed reality module one by one according to the information of the corresponding model positioning points on the loaded three-dimensional model, the relative attitude relation of the positioning module and the three-dimensional model during positioning point planning is kept in the mixed reality module in real time, and then the depth fusion of the mechanical elements and the three-dimensional model in the mixed reality module is realized by moving the needle points of the positioning probes on the positioning module to the entity positioning points on the corresponding mechanical elements in the scene.
10. A high-precision machining system based on mixed reality is characterized by comprising a pre-manufacturing module, a model planning module, a registering module, a tracking module, a positioning module, a drilling module and a computer module, wherein the model planning module, the registering module and the drilling module are connected with the computer module;
the prefabricated module is used for manufacturing a mechanical element to be drilled, and the model planning module is used for establishing a three-dimensional model of the mechanical element based on the mechanical element to be drilled; the registration module comprises an infrared module, a calibration module and a mixed reality module and is used for obtaining a coordinate conversion matrix of the same spatial position between the mixed reality module and the infrared module; the tracking module is used for tracking the position of the mechanical element in real time; the positioning module is used for fusion positioning of the mechanical element and the three-dimensional model in the mixed reality module; the computer module is used for being connected with the model planning module, the registration module and the drilling module and controlling the operation of the drilling system.
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