CN114167810A - Controllable foil strip cloud model manufacturing method and control system based on four-axis wire inserting machine - Google Patents

Controllable foil strip cloud model manufacturing method and control system based on four-axis wire inserting machine Download PDF

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CN114167810A
CN114167810A CN202111236834.9A CN202111236834A CN114167810A CN 114167810 A CN114167810 A CN 114167810A CN 202111236834 A CN202111236834 A CN 202111236834A CN 114167810 A CN114167810 A CN 114167810A
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cube
foil
foil strip
coordinates
coordinate
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CN114167810B (en
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杨昊嘉
余乐
左炎春
刘伟
郭立新
赵欣瑜
卢雅雯
刘迎澳
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Xidian University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4086—Coordinate conversions; Other special calculations
    • 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
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Abstract

The invention belongs to the technical field of foil strip wire insertion, and discloses a controllable foil strip cloud model manufacturing method and a controllable foil strip cloud model control system based on a four-axis wire insertion machine, wherein the controllable foil strip cloud model manufacturing method based on the four-axis wire insertion machine comprises the following steps: simulating to obtain a theoretical model of the foil cloud cluster; performing area subdivision on the foil strip based on a foil strip cloud space distribution model, and numbering the areas and marking each surface; transforming the simulation model coordinate into an actual wire inserting coordinate through coordinate transformation of a three-dimensional coordinate system; and (4) inserting wires by using a four-axis wire inserting machine, and splicing the wires into a foil cloud model after wire inserting is finished. The invention is based on a four-axis wire inserting machine, can realize the manufacture of a controllable foil strip cloud cluster physical model, and can ensure that the physical model is accurate and accords with a theoretical model in practical application. The invention realizes the conversion from the simulation model coordinate to the actual wire inserting coordinate based on the three-dimensional space coordinate transformation formula, and is convenient for the subsequent wire inserting treatment. The invention uses the four-axis wire inserting machine to insert the wires of the foil strips, eliminates the error of manual wire inserting, and ensures the consistency of the physical model and the simulation model.

Description

Controllable foil strip cloud model manufacturing method and control system based on four-axis wire inserting machine
Technical Field
The invention belongs to the field of electronic science and technology, relates to a theoretical modeling method of foil cloud distribution and realization of an actual model, can be used for calculating a scattering cross section of an actual foil cloud cluster radar and analyzing scattering characteristics of the actual foil cloud cluster radar in the field of electronic countermeasure, and particularly relates to a controllable foil cloud model manufacturing method and a controllable foil cloud model control system based on a four-axis wire inserting machine.
Background
At present, foil strip interference is the most widely applied one in passive interference technology, plays a vital role in modern electromagnetic wars, airplanes and ships often use foil strip bombs to interfere enemy radars in the wars, in the Soviet wars in 1968, the Soviet throws a large number of foil strips to form an air foil strip corridor, so that the air war wins, and the England sea warship in 1982 proves that the foil strips have great effect on the interference of flying anti-ship missiles. The foil strip bullet forms the foil strip cloud after being put into, and the interference of foil strip cloud to the radar has following two kinds of modes: firstly, a plurality of false targets are formed on radar echoes to deceive enemy radars, so that the enemy radars cannot be positioned to a unit of operation of our party. And secondly, electromagnetic waves emitted by the detection radar are strongly reflected, and disordered interference echoes are displayed on an enemy radar to cover radar signals of the enemy, so that the enemy cannot detect the fighting unit of the enemy. The interference performance of the foil cloud cluster needs to be evaluated, and the scattering echo of the foil cloud needs to be researched, so that the method has important application value for researching the scattering property of the foil cloud cluster.
At present, two methods are mainly used for researching the cloud scattering characteristics of the foil strips: the first method is to simulate a theoretical model and then make a corresponding physical model for researching the cloud cluster scattering characteristics of the foil strips. The method can obtain accurate theoretical models which accord with the required distribution, but is difficult to manufacture corresponding physical models; the second method is to create a physical model and then study the scattering properties of the physical model. Although this method obtains an actual measurement result corresponding to one model, it cannot exhaust all situations, and the actual measurement result is not universal and cannot be popularized. The difficulty of the second method is that a lot of time and manpower are consumed for manufacturing physical models in all situations, the difficulty is difficult to solve, the difficulty of the first method is that the precision of manual wire insertion of the foil strips is limited, and the difficulty can be solved by controlling a four-axis wire inserting machine through a program to complete the precise wire insertion of the foil strips.
In summary, there are several obvious disadvantages related to the manufacturing of the foil strip cloud cluster physical model: first, the distribution and orientation of the foil strips are random. Secondly, the actual wire insertion coordinates of the foil strip are difficult to obtain. And finally, the foil strips are not connected with each other, and the problem of fixing the foil strips in the physical model needs to be considered. Therefore, a new method for manufacturing a controllable foil strip cloud model is needed.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) the existing method for simulating the theoretical model and then manufacturing the corresponding physical model for researching the scattering characteristics of the foil strip cloud cluster is difficult to manufacture, and a large amount of time and labor are consumed for manufacturing the physical model in all situations.
(2) The existing method for manufacturing the physical model and researching the scattering property of the physical model has no universality and cannot be popularized.
(3) In the existing foil strip cloud cluster physical model manufacturing process, the distribution and orientation of foil strips are random, and the actual wire inserting coordinates of the foil strips are difficult to obtain; meanwhile, the foil strips are not connected with each other, and the problem of fixing the foil strips in the physical model needs to be considered.
The difficulty in solving the above problems and defects is: how to make a physical model which accurately accords with a theoretical model and has application value is a main problem.
The significance of solving the problems and the defects is as follows: the foil cloud cluster physical model which accurately accords with a theoretical model and has application value is provided for researching the scattering characteristics of the foil cloud cluster, the reliability of the actually measured data is improved, and the actually measured result is popularized to the general situation.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a controllable foil cloud model manufacturing method based on a four-axis wire inserting machine, in particular relates to a controllable foil cloud model manufacturing method based on a four-axis wire inserting machine, which accurately accords with a theoretical model and has application value, and aims to solve the problem of how to manufacture a foil cloud cluster physical model which accurately accords with the theoretical model and has application value in the field of electronic countermeasure.
The invention is realized in such a way that a controllable foil cloud model manufacturing method based on a four-axis wire inserting machine comprises the following steps:
establishing a global coordinate system, and respectively representing the position and the orientation of the foil strip by using a center coordinate and an orientation coordinate;
generating N central coordinates and orientation coordinates which accord with uniform distribution by using a rand (N,1) function to obtain a foil strip cloud cluster model which accords with uniform distribution;
dividing the obtained foil strip cloud cluster by using cubes, numbering each cube, and marking 6 different surfaces of each cube with distinguishing marks;
fourthly, manufacturing a cloud cluster physical model formed by cubes by adopting a foam flat plate;
inputting the numbering information of different cubes into a wire inserting machine, converting the position and orientation coordinates of the foil strips in the corresponding cubes into the coordinates of actual wire inserting of the wire inserting machine, and inputting the coordinates into the wire inserting machine to insert the foil strips;
and step six, splicing the plastic cubes into a foil strip cloud cluster physical model according to the split foil strip cloud cluster simulation model after all the cubes are subjected to wire insertion.
Further, in the first step, establishing a global coordinate system, and representing the position and orientation of the foil strip by using the center coordinate and the orientation coordinate respectively includes:
establishing a three-dimensional right-handed rectangular coordinateThe system is used as a global coordinate system, and the central coordinate of the kth foil strip is set as (x)k,yk,zk) The orientation coordinate of the foil strip is
Figure BDA0003317948600000031
The definition theta is a pitch angle,
Figure BDA0003317948600000032
is the azimuth angle.
Further, in the second step, the step of generating N central coordinates and orientation coordinates conforming to the uniform distribution by using the rand (N,1) function to obtain a foil strip cloud cluster model conforming to the uniform distribution includes:
Figure BDA0003317948600000033
the rand (N,1) function randomly generates N random numbers which are more than or equal to a and less than or equal to b according to uniform distribution, and generates the central coordinates and the orientation coordinates of all the uniformly distributed foil strips;
giving the length information of the foil strips and combining the coordinate information to obtain the coordinates of two end points of each foil strip, and setting the coordinates as (x)k1,yk1,zk1) And (x)k2,yk2,zk2) And obtaining the foil strip cloud cluster theoretical model which accords with uniform distribution.
Further, in the third step, the subdividing of the obtained foil strip cloud cluster by using a cube includes:
(1) according to given foil strip cloud space data, searching the maximum value and the minimum value of three dimensions:
xmax，xmin，ymax，ymin，zmax，zmin
and dividing the space by using cubes, wherein the side lengths of each cube in three directions are (delta x, delta y and delta z), and the central point of each cube region is as follows:
Figure BDA0003317948600000041
and is
Figure BDA0003317948600000042
Wherein the ceil () function represents an upward integer;
(2) the wire inserting machine can only completely insert the foil strips into each cube, so that the foil strips need to be screened; the side length of each cube is 6, a total of p cube grids are arranged, and the central coordinate of each cube grid is (x)n,yn,zn) N represents that the cube grid is the n-th cube; when the center coordinate and the end point coordinate of a certain foil strip both satisfy xk∈[xn-3,xn+3),yk∈[yn-3,yn+3),zk∈[zn-3,zn+3), the foil strip is considered to be positioned in the n-th cube, and if the center coordinate and the end point coordinate of a certain foil strip are positioned in different cube areas, the foil strip is deleted;
(3) since the plastic cube of the physical model cannot distinguish each face and the wire insertion condition thereof, six faces of each cube are marked; the direction from the positive direction of the x axis to the original point is taken as a front view direction, the face of the cube viewed from the front is marked as a red face, the face of the cube viewed from the top view direction is marked as a blue face, the face of the cube viewed from the right view direction is marked as a yellow face, the face of the red face is marked as a red face, the face of the blue face is marked as a blue face, and the face of the yellow face is marked as a yellow face, so that six faces of the cube can be distinguished after marking; giving each cube its own coordinate system, and taking the intersection point of blue-opposite surface, red-opposite surface and yellow-opposite surface as origin point, the origin point coordinate is (x)n-3,yn-3,zn-3) using the blue opposite side as the xoy side, the red opposite side as the yoz side, and the yellow opposite side as the xoz side;
(4) the coordinate transformation of the foil strip in the global coordinate system to the coordinate of each cube in the respective coordinate system is carried out, and the coordinate of the center coordinate of the foil strip in the global coordinate system is (x)k,yk,zk) The coordinate of the origin of the respective coordinate system of each cube in the global coordinate system is (x)n-3,yn-3,zn-3), the coordinates of the foil strip within the cube to which it belongs are (x)k-(xn-3),yk-(yn-3),zk-(zn-3))。
Further, in the fourth step, the manufacturing of the cloud cluster physical model formed by cubes by using the foam flat plate includes:
m blocks of 6 x 6 plastic cubes in cm were made from foam plates, and each plastic cube was numbered and colored according to the simulation model.
Further, in step five, the inserting of the foil strips into the plastic cube by using a wire inserting machine comprises:
the wire inserting machine is characterized in that a 360-degree rotary turntable for changing an azimuth angle is arranged on an upper table top of the wire inserting machine, a wire inserting coordinate system is established by taking the center of the turntable as an origin of coordinates, the direction of the origin of the front view is the positive direction of an x axis, the direction of the origin of the right view is the positive direction of a y axis, the direction of the origin of the front view is the positive direction of a z axis, four sliding guide rails are arranged on a disc for fixing a square plastic block and performing translation of an xoy surface, a base is used as the xoy surface, a wire inserting gun is fixed right above the diameter of a semicircular disc parallel to the y axis, 180-degree rotation is performed for determining the orientation of a foil strip, a pitching sliding rail controls the vertical height of a contact pin, and a handle controls the immersion depth of the contact pin;
(1) and (4) screening out cubic grids without foil strips from the m grids, wherein the rest grids are cubic grids with foil strips.
(2) Calculating the intersection points of the extension lines of the foil strips and the surfaces to distinguish different conditions; setting the coordinates of the end points of the two ends of the foil strips in the cube to which the foil strips belong as (x)k1,yk1,zk1) And (x)k2,yk2,zk2) And then the coordinates of the intersection point of the straight line where the foil strip is located and any one surface of the cube are as follows:
(xk1+m(xk1-xk2),yk1+m(yk1-yk2),zk1+m(zk1-zk2))；
wherein,
Figure BDA0003317948600000051
ax+by+cz + d is 0 and is a plane equation of one side of the cube;
(3) the intersection points of two different surfaces of a certain foil strip extension line and a cube are divided into fifteen conditions of four types:
the first type is that one intersection point is located in the blue plane, and five conditions of blue-yellow, blue-red pair, blue-yellow pair and blue-blue pair are shared, and the conditions only need to be subjected to coordinate translation transformation and
Figure BDA0003317948600000052
changing angles, wherein the cutting angles are theta values of the foil strips in the cube to which the foil strips belong;
because the wire inserting position of the strip inserting machine is the origin of the coordinate system of the strip inserting machine, the coordinates of the foil strip in the cube to which the foil strip belongs need to be converted into the coordinates of the strip inserting machine, and the coordinates of the end point of the foil strip close to the blue plane in the cube to which the foil strip belongs are projected to the xoy plane (x is the x planek1,yk1) If the coordinate of the origin of the coordinate system of the strip inserting machine in the coordinate system of the cube of the foil strip is (3,3), the cube plastic block is moved 3-x in the positive direction of the x axisk1(cm), moving 3-y in the positive direction of the y-axisk1(cm) determining the position of the cutting;
according to
Figure BDA0003317948600000061
The angle difference is differently changed when
Figure BDA0003317948600000062
The cube plastic block is rotated counterclockwise
Figure BDA0003317948600000063
When in use
Figure BDA0003317948600000064
The cube plastic block is rotated clockwise
Figure BDA0003317948600000065
When in use
Figure BDA00033179486000000612
The cube plastic block is rotated counterclockwise
Figure BDA0003317948600000066
When in use
Figure BDA0003317948600000067
The cube plastic block is rotated clockwise
Figure BDA0003317948600000068
Calculating the distance between the end point coordinate of the foil strip close to the blue surface and the wire inserting point coordinate to be used as the immersion depth of the wire inserting gun;
the second kind of situation is that one intersection point is located on the red surface and the other intersection point is not located on the blue surface, and there are four situations of red-yellow, red-red pair, red-yellow pair and red-blue pair, which need to be carried out rotation transformation, coordinate translation transformation and
Figure BDA0003317948600000069
changing the angle;
all coordinate systems are right-hand coordinate systems, and the positive direction of rotation of the object is specified to be a right-hand spiral direction, namely, the positive half axis of the axis is in a counterclockwise direction when viewed from the origin; in order to rotate the plastic cube by 270 degrees in a counterclockwise direction around the positive direction of the y axis and enable the red surface to be parallel to the plane of the cutting strip, namely the xoy surface, the transformation formula is rotated according to coordinates:
Figure BDA00033179486000000610
obtaining coordinates of each point of the foil strip after the foil strip rotates 270 degrees, namely alpha is 270 degrees, and converting the relationship according to a rectangular coordinate system and a spherical coordinate system:
Figure BDA00033179486000000611
obtaining orientation coordinates of the rotated foil strips from the rotated (x ', y', z
Figure BDA0003317948600000071
The angle of the cutting is theta';
the coordinate after the rotation transformation is positioned in the second octagon, so the coordinate of the foil strip in the first octagon can be obtained only by adding 6 to the x value of the coordinate of each point after the foil strip transformation, the operation of translating to the central point is carried out as in the first kind of case, and the coordinate of the foil strip which is close to the end point of the red surface and is projected to the xoy plane is set as (x is the coordinate of the end point of the foil strip close to the red surfacek′1+6,y′k1) The cube plastic block is moved in the positive x-axis direction by 3- (x'k1+6) (cm), moving 3-y 'in the positive y-axis direction'k1(cm) determining the position of the cutting;
Figure BDA0003317948600000072
the change of angle is identical to the first kind of condition, after the rotation change
Figure BDA0003317948600000073
Become into
Figure BDA0003317948600000074
When in use
Figure BDA0003317948600000075
The cube plastic block is rotated counterclockwise
Figure BDA0003317948600000076
When in use
Figure BDA0003317948600000077
The cube plastic block is rotated clockwise
Figure BDA0003317948600000078
When in use
Figure BDA0003317948600000079
The cube plastic block is rotated counterclockwise
Figure BDA00033179486000000710
When in use
Figure BDA00033179486000000711
The cube plastic block is rotated clockwise
Figure BDA00033179486000000712
Calculating the distance between the end point coordinate of the foil strip close to the red surface and the wire inserting point coordinate to be used as the immersion depth of the wire inserting gun;
thirdly, the third kind of situation is that one intersection point is located on the yellow surface and the other intersection point is not located on the blue surface and the red surface, and the three situations are yellow-yellow pair, yellow-red pair and yellow-blue pair;
rotating the plastic cube by 90 degrees anticlockwise around the positive direction of the x axis, enabling the yellow surface to be parallel to the plane of the cutting, namely the xoy surface, and rotating the transformation formula according to the coordinates of a right-hand coordinate system:
Figure BDA00033179486000000713
obtaining coordinates of each point of the foil strip which is rotated by 90 degrees, namely alpha is 90 degrees, and converting the relationship according to a rectangular coordinate system and a spherical coordinate system:
Figure BDA00033179486000000714
obtaining orientation coordinates of the rotated foil strips from the rotated (x ', y', z
Figure BDA00033179486000000715
The angle of the cutting is theta';
the coordinates after the rotation transformation are positioned in the fourth octagon, so that the coordinates of the foil strip in the first octagon can be obtained only by adding 6 to the y value of the coordinates of each point after the foil strip is transformed, the operation of translating to the central point is carried out as in the first case, and the coordinates of the foil strip, which are projected to the xoy plane near the red end point, are (x'k1,y′k1+6), moving the cube plastic block by 3-x 'in the positive x-axis direction'k1(cm) in the forward y-axis direction by 3- (y'k1+6) (cm) the position of the cutting is determined;
Figure BDA0003317948600000081
the change of angle is identical to the first kind of condition, after the rotation change
Figure BDA0003317948600000082
Become into
Figure BDA0003317948600000083
When in use
Figure BDA0003317948600000084
The cube plastic block is rotated counterclockwise
Figure BDA0003317948600000085
When in use
Figure BDA0003317948600000086
The cube plastic block is rotated clockwise
Figure BDA0003317948600000087
When in use
Figure BDA0003317948600000088
The cube plastic block is rotated counterclockwise
Figure BDA0003317948600000089
When in use
Figure BDA00033179486000000810
The cube plastic block is rotated clockwise
Figure BDA00033179486000000811
Calculating the distance between the coordinate of the end point of the foil strip close to the yellow surface and the coordinate of the wire inserting point as the immersion depth of the wire inserting gun;
the fourth case is that one intersection point is positioned opposite to the red and the other intersection point is positioned opposite to the yellow or opposite to the blue, and the four cases have two cases of red-to-yellow pairs and red-to-blue pairs;
rotating the plastic cube by 90 degrees anticlockwise around the positive direction of the y axis, enabling the red opposite surface to be parallel to the plane of the cutting, namely, the xoy surface, and rotating a transformation formula according to the coordinates of a right-hand coordinate system:
Figure BDA00033179486000000812
obtaining coordinates of each point of the foil strip which is rotated by 90 degrees, namely alpha is 90 degrees, and converting the relationship according to a rectangular coordinate system and a spherical coordinate system:
Figure BDA00033179486000000813
obtaining orientation coordinates of the rotated foil strips from the rotated (x ', y', z
Figure BDA00033179486000000814
The angle of the cutting is theta';
the coordinates after the rotation transformation are positioned in the fifth octave, the operation of translating to the central point is directly carried out as the first case because the coordinates in the z direction are not considered by the cutting strip, and the coordinates of the foil strip, which are projected to the xoy plane near the red end point, are (x'k1,y′k1) Moving the cube plastic block by 3-x 'in the positive x-axis direction'k1(cm), moving 3-y 'in the positive y-axis direction'k1(cm) determining the position of the cutting;
Figure BDA0003317948600000091
the change of angle is identical to the first kind of condition, after the rotation change
Figure BDA0003317948600000092
Become into
Figure BDA0003317948600000093
When in use
Figure BDA0003317948600000094
The cube plastic block is rotated counterclockwise
Figure BDA0003317948600000095
When in use
Figure BDA0003317948600000096
The cube plastic block is rotated clockwise
Figure BDA0003317948600000097
When in use
Figure BDA0003317948600000098
The cube plastic block is rotated counterclockwise
Figure BDA0003317948600000099
When in use
Figure BDA00033179486000000910
The cube plastic block is rotated clockwise
Figure BDA00033179486000000911
Calculating the distance between the end point coordinate of the foil strip close to the red opposite side and the wire inserting point coordinate to be used as the immersion depth of the wire inserting gun;
the fifth case is that one intersection point is located opposite to yellow and the other intersection point is located opposite to blue, and only one case exists;
rotating a plastic cube by 270 degrees anticlockwise around the positive direction of an x axis, enabling a yellow opposite surface to be parallel to a cutting plane, namely, an xoy surface, and rotating a transformation formula according to coordinates:
Figure BDA00033179486000000912
obtaining coordinates of each point of the foil strip after the foil strip rotates 270 degrees, namely alpha is 270 degrees, and converting the relationship according to a rectangular coordinate system and a spherical coordinate system:
Figure BDA00033179486000000913
by rotation ofThe latter (x ', y ', z ') results in the orientation coordinates of the foil strip after rotation
Figure BDA00033179486000000914
The angle of the cutting is theta';
the coordinates after the rotation transformation are positioned in the eighth octave, the operation of translating to the central point is directly carried out as the first case because the coordinates in the z direction are not considered by the cutting strip, and the coordinates of the foil strip, which are projected to the xoy plane near the red end point, are (x'k1,y′k1) Moving the cube plastic block by 3-x 'in the positive x-axis direction'k1(cm), moving 3-y 'in the positive y-axis direction'k1(cm) determining the position of the cutting;
Figure BDA00033179486000000915
the change of angle is identical to the first kind of condition, after the rotation change
Figure BDA00033179486000000916
Become into
Figure BDA00033179486000000917
When in use
Figure BDA00033179486000000918
The cube plastic block is rotated counterclockwise
Figure BDA00033179486000000919
When in use
Figure BDA00033179486000000920
The cube plastic block is rotated clockwise
Figure BDA00033179486000000921
When in use
Figure BDA00033179486000000922
The cube plastic block is rotated counterclockwise
Figure BDA00033179486000000923
When in use
Figure BDA0003317948600000101
The cube plastic block is rotated clockwise
Figure BDA0003317948600000102
Calculating the distance between the end point coordinate of the foil strip close to the opposite side of the yellow strip and the wire inserting point coordinate to be used as the immersion depth of the wire inserting gun;
(4) and inputting the coordinate transformation programs under different conditions into the strip cutting machine to perform strip cutting.
The invention further aims to provide a filamentous target accurate modeling technology applying the controllable foil strip cloud modeling technology based on the four-axis wire inserting machine.
The invention also aims to provide a hole-shaped structure accurate modeling technology applying the controllable foil strip cloud modeling technology based on the four-axis wire inserting machine.
Another object of the present invention is to provide a controllable foil cloud model control system using the controllable foil cloud model manufacturing method based on a four-axis wire inserting machine, where the controllable foil cloud model control system includes:
the global coordinate system establishing module is used for establishing a global coordinate system and respectively representing the position and the orientation of the foil strip by using a central coordinate and an orientation coordinate;
the foil strip cloud cluster model building module is used for generating N central coordinates and orientation coordinates which accord with uniform distribution by using a rand (N,1) function to obtain a foil strip cloud cluster model which accords with uniform distribution;
the foil strip cloud cluster dividing module is used for dividing the obtained foil strip cloud cluster by using cubes, numbering each cube and marking 6 different surfaces of each cube with distinguishing marks;
the cloud cluster physical model manufacturing module is used for manufacturing a cloud cluster physical model consisting of cubes by adopting a foam flat plate;
the foil strip wire inserting module is used for inputting the number information of different cubes into the wire inserting machine, converting the position and orientation coordinates of the foil strips in the corresponding cubes into the coordinates of actual wire inserting of the wire inserting machine and inputting the coordinates into the wire inserting machine for wire inserting of the foil strips;
and the foil strip cloud cluster physical model manufacturing module is used for splicing the plastic cubes into the foil strip cloud cluster physical model according to the split foil strip cloud cluster simulation model after all the cubes are subjected to wire insertion.
By combining all the technical schemes, the invention has the advantages and positive effects that: the invention provides a controllable foil cloud model manufacturing method and a controllable foil cloud model control system based on a four-axis wire inserting machine, relates to a theoretical modeling method of foil cloud distribution and realization of an actual model, and can be used for calculating scattering cross sections of actual foil cloud cluster radars and analyzing scattering characteristics of the actual foil cloud cluster radars in the field of electronic countermeasure. The method and the device solve the problem that a foil cloud object model conforming to a theoretical model cannot be obtained in the prior art, and simultaneously effectively solve the problem that foil cloud object measurement data cannot be popularized.
The invention is based on a four-axis wire inserting machine, can realize the manufacture of a controllable foil strip cloud cluster physical model, and can ensure that the physical model is accurate and accords with a theoretical model in practical application. The invention realizes the conversion from the simulation model coordinate to the actual wire inserting coordinate based on the three-dimensional space coordinate transformation formula, and is convenient for the subsequent wire inserting treatment. The invention uses a four-axis wire inserting machine to insert wires into the foil strips, eliminates the error of manual wire inserting, and ensures the consistency of the physical model and the simulation model.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flow chart of a controllable foil strip cloud model manufacturing method based on a four-axis wire inserting machine according to an embodiment of the invention.
FIG. 2 is a block diagram of a controllable foil strip cloud model control system according to an embodiment of the present invention;
in the figure: 1. a global coordinate system establishing module; 2. a foil strip cloud cluster model building module; 3. a foil strip cloud cluster subdivision module; 4. a cloud cluster physical model making module; 5. a foil strip wire inserting module; 6. and a foil strip cloud cluster physical model manufacturing module.
Fig. 3 is a schematic diagram of a cloud model conforming to uniform distribution of foil strips according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a cube marker provided in an embodiment of the present invention.
Fig. 5 is a schematic view of a four-axis wire inserting machine according to an embodiment of the present invention.
Fig. 6 is a schematic view of a cloud-shaped plastic block of a foil strip finished by wire insertion according to an embodiment of the invention.
Fig. 7 is a schematic view of a cloud physical model of a spherical foil strip according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a controllable foil strip cloud model manufacturing method based on a four-axis wire inserting machine, and the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the method for manufacturing the controllable foil strip cloud model based on the four-axis wire inserting machine according to the embodiment of the invention comprises the following steps:
s101, establishing a global coordinate system, and respectively representing the position and orientation of the foil strip by using a center coordinate and an orientation coordinate;
s102, generating N central coordinates and orientation coordinates which accord with uniform distribution by using a rand (N,1) function to obtain a foil strip cloud cluster model which accords with uniform distribution;
s103, dividing the obtained foil strip cloud cluster by using cubes, numbering each cube, and marking 6 different surfaces of each cube with distinguishing marks;
s104, manufacturing a cloud cluster physical model consisting of cubes by adopting a foam flat plate;
s105, inputting the numbering information of different cubes into a wire inserting machine, converting the position and orientation coordinates of the foil strips in the corresponding cubes into the coordinates of actual wire inserting of the wire inserting machine, and inputting the coordinates into the wire inserting machine to perform wire inserting of the foil strips;
and S106, splicing the plastic cubes into a foil strip cloud cluster physical model according to the split foil strip cloud cluster simulation model after all the cubes are subjected to wire insertion.
As shown in fig. 2, the controllable foil strip cloud model control system provided in the embodiment of the present invention includes:
the global coordinate system establishing module 1 is used for establishing a global coordinate system and respectively representing the position and the orientation of the foil strip by a central coordinate and an orientation coordinate;
the foil cloud cluster model building module 2 is used for generating N central coordinates and orientation coordinates which accord with uniform distribution by using a rand (N,1) function to obtain a foil cloud cluster model which accords with uniform distribution;
the foil strip cloud cluster dividing module 3 is used for dividing the obtained foil strip cloud cluster by using cubes, numbering each cube and marking 6 different surfaces of each cube with distinguishing marks;
the cloud cluster physical model making module 4 is used for making a cloud cluster physical model consisting of cubes by adopting a foam flat plate;
the foil strip wire inserting module 5 is used for inputting the numbering information of different cubes into the wire inserting machine, converting the position and orientation coordinates of the foil strips in the corresponding cubes into the coordinates of actual wire inserting of the wire inserting machine and inputting the coordinates into the wire inserting machine for wire inserting of the foil strips;
and the foil strip cloud cluster physical model manufacturing module 6 is used for splicing the plastic cubes into the foil strip cloud cluster physical model according to the split foil strip cloud cluster simulation model after all the cubes are subjected to wire insertion.
The technical solution of the present invention is further described below with reference to specific examples.
The method solves the problem of how to manufacture the foil strip cloud cluster physical model which accurately accords with a theoretical model and has application value; firstly, a foil strip cloud cluster theoretical model is generated, then, the theoretical model is subjected to region subdivision and numbering marking, then, coordinates of foil strips in the model are transformed into actual wire inserting coordinates through three-dimensional coordinate system coordinate transformation, wire inserting is carried out by using a four-axis wire inserting machine, finally, all plastic cubes after wire inserting are obtained, and the plastic cubes are spliced into a physical model according to the theoretical model.
The invention discloses a controllable foil cloud model manufacturing method and a controllable foil cloud model control system based on a four-axis wire inserting machine, which are based on the four-axis wire inserting machine, and mainly solve the problem of how to manufacture a foil cloud cluster physical model which accurately accords with a theoretical model and has application value in the field of electronic countermeasure, wherein the main scheme is as follows: 1. simulating to obtain a theoretical model of the foil cloud cluster; 2. performing area subdivision on the foil strip based on a foil strip cloud space distribution model, and numbering the areas and marking each surface; 3. transforming the simulation model coordinate into an actual wire inserting coordinate through coordinate transformation of a three-dimensional coordinate system; 4. and (4) inserting wires by using a four-axis wire inserting machine, and splicing the wires into a foil cloud model after wire inserting is finished. The method and the device solve the problem that a foil cloud object model conforming to a theoretical model cannot be obtained in the prior art, and simultaneously effectively solve the problem that foil cloud object measurement data cannot be popularized.
The invention is realized in such a way that a method for manufacturing a foil strip cloud cluster physical model which accurately accords with a theoretical model and has application value comprises the following steps:
firstly, establishing a global coordinate system, and setting the central coordinate and the orientation coordinate of the foil strip.
And secondly, generating N central coordinates which accord with uniform distribution by using a rand (N,1) function to obtain a foil strip cloud cluster model which accords with uniform distribution.
And thirdly, dividing the obtained foil strip cloud cluster by using cubes, numbering each cube, and marking 6 different surfaces of each cube with distinguishing marks.
And fourthly, manufacturing a cloud cluster physical model consisting of cubes by adopting a foam flat plate.
And fifthly, inputting the number information of different cubes into the wire inserting machine, converting the position and orientation coordinates of the foil strips in the corresponding cubes into the coordinates of actual wire inserting of the wire inserting machine, and inputting the coordinates into the wire inserting machine to perform wire inserting of the foil strips.
And sixthly, splicing the cubes into a foil strip cloud cluster physical model after all the cubes are subjected to wire insertion.
(1) Firstly, establishing a three-dimensional right-handed rectangular coordinate system as a global coordinate system, and setting the central coordinate of the kth foil strip as (x)k,yk,zk) The orientation coordinate of the foil strip is
Figure BDA0003317948600000145
The definition theta is a pitch angle,
Figure BDA0003317948600000141
is the azimuth angle.
(2) Further, a uniformly distributed foil strip cloud theoretical model is based on
Figure BDA0003317948600000142
The rand (N,1) function randomly generates N random numbers which are more than or equal to a and less than or equal to b according to uniform distribution, and generates the central coordinates and the orientation coordinates of all the uniformly distributed foil strips;
giving the length information of the foil strips and combining the coordinate information to obtain the coordinates of two end points of each foil strip, and setting the coordinates as (x)k1,yk1,zk1) And (x)k2,yk2,zk2) Fig. 3 shows a theoretical model of cloud cluster of foil strips in accordance with uniform distribution.
(3) Further, the area subdivision of the foil strip model specifically comprises the following steps:
(3.1) searching the maximum value and the minimum value of three dimensions according to given foil strip cloud space data:
xmax，xmin，ymax，ymin，zmax，zmin
and dividing the space by using cubes, wherein the side lengths of each cube in three directions are (delta x, delta y and delta z), and the central point of each cube region is as follows:
Figure BDA0003317948600000143
and is
Figure BDA0003317948600000144
Wherein the ceil () function represents an upward integer;
(3.2) because the wire inserting machine can only completely insert the foil strips into each cube, the foil strips need to be screened; the side length of each cube is 6, a total of p cube grids are arranged, and the central coordinate of each cube grid is (x)n,yn,zn) N represents that the cube grid is the n-th cube; when the center coordinate and the end point coordinate of a certain foil strip both satisfy xk∈[xn-3,xn+3),yk∈[yn-3,yn+3),zk∈[zn-3,zn+3), the foil strip is considered to be positioned in the n-th cube, and if the center coordinate and the end point coordinate of a certain foil strip are positioned in different cube areas, the foil strip is deleted;
(3.3) marking six faces of each cube because the plastic cube of the physical model cannot distinguish each face and the wire inserting condition of each face; the direction from the positive direction of the x axis to the original point is taken as a front view direction, the face of the cube viewed from the front is marked as a red face, the face of the cube viewed from the top view direction is marked as a blue face, the face of the cube viewed from the right view direction is marked as a yellow face, the face of the red face is marked as a red face, the face of the blue face is marked as a blue face, and the face of the yellow face is marked as a yellow face, so that six faces of the cube can be distinguished after marking; giving each cube its own coordinate system, and taking the intersection point of blue-opposite surface, red-opposite surface and yellow-opposite surface as origin point, the origin point coordinate is (x)n-3,yn-3,zn-3) using the blue opposite side as the xoy side, the red opposite side as the yoz side, and the yellow opposite side as the xoz side;
(3.4) carrying out coordinate transformation of the coordinates of the foil strips in the global coordinate system to the coordinate system of each cube, wherein the coordinate of the center of each foil strip in the global coordinate system is (x)k,yk,zk) The coordinate of the origin of the respective coordinate system of each cube in the global coordinate system is (x)n-3,yn-3,zn-3), the coordinates of the foil strip within the cube to which it belongs are (x)k-(xn-3),yk-(yn-3),zk-(zn-3))。
(4) M blocks of 6 x 6 (units in cm) plastic cubes were made from foam plates, and each plastic cube was numbered and colored according to the simulation model.
(5) Further, a wire inserting machine is used for inserting the foil strips into the plastic cube, and the method comprises the following specific steps:
the structure of the wire inserting machine is shown in figure 5: a 360-degree rotating turntable used for changing an azimuth angle is arranged on the upper table top, a wire inserting coordinate system is established by taking the circle center of the turntable as an origin of coordinates, the direction of the origin looking into the front view is the positive direction of an x axis, the direction of the origin looking into the right view is the positive direction of a y axis, the direction of the origin looking into the top view is the positive direction of a z axis, four sliding guide rails are arranged on the disc and used for fixing a cube plastic block and performing translation of an xoy surface, the base is used as the xoy surface, a wire inserting gun is fixed right above the diameter of a semicircular disc parallel to the y axis, 180-degree rotation is performed to determine the orientation of foil strips, the vertical height of a contact pin is controlled by a pitching sliding rail, and the immersion depth of the contact pin is controlled by a handle;
(5.1) screening out cubic grids without foil strips from the m grids, wherein the rest grids are cubic grids with foil strips.
(5.2) solving the intersection points of the extension lines of the foil strips and the surfaces to distinguish different situations; setting the coordinates of the end points of the two ends of the foil strips in the cube to which the foil strips belong as (x)k1,yk1,zk1) And (x)k2,yk2,zk2) And then the coordinates of the intersection point of the straight line where the foil strip is located and any one surface of the cube are as follows:
(xk1+m(xk1-xk2),yk1+m(yk1-yk2),zk1+m(zk1-zk2))；
wherein,
Figure BDA0003317948600000161
ax+by+cz+ d-0 is a plane equation of one side of the cube;
(5.3) the intersection points of the extension line of a certain foil strip and two different faces of the cube are divided into fifteen cases in four categories:
the first type is that one intersection point is located in the blue plane, and five conditions of blue-yellow, blue-red pair, blue-yellow pair and blue-blue pair are shared, and the conditions only need to be subjected to coordinate translation transformation and
Figure BDA0003317948600000162
changing angles, wherein the cutting angles are theta values of the foil strips in the cube to which the foil strips belong;
because the wire inserting position of the strip inserting machine is the origin of the coordinate system of the strip inserting machine, the coordinates of the foil strip in the cube to which the foil strip belongs need to be converted into the coordinates of the strip inserting machine, and the coordinates of the end point of the foil strip close to the blue plane in the cube to which the foil strip belongs are projected to the xoy plane (x is the x planek1,yk1) If the coordinate of the origin of the coordinate system of the strip inserting machine in the coordinate system of the cube of the foil strip is (3,3), the cube plastic block is moved 3-x in the positive direction of the x axisk1(cm), moving 3-y in the positive direction of the y-axisk1(cm) determining the position of the cutting;
according to
Figure BDA0003317948600000163
The angle difference is differently changed when
Figure BDA0003317948600000164
The cube plastic block is rotated counterclockwise
Figure BDA0003317948600000165
When in use
Figure BDA0003317948600000166
The cube plastic block is rotated clockwise
Figure BDA0003317948600000167
When in use
Figure BDA0003317948600000168
The cube plastic block is rotated counterclockwise
Figure BDA0003317948600000169
When in use
Figure BDA00033179486000001610
The cube plastic block is rotated clockwise
Figure BDA00033179486000001611
Calculating the distance between the end point coordinate of the foil strip close to the blue surface and the wire inserting point coordinate to be used as the immersion depth of the wire inserting gun;
the second kind of situation is that one intersection point is located on the red surface and the other intersection point is not located on the blue surface, and there are four situations of red-yellow, red-red pair, red-yellow pair and red-blue pair, which need to be carried out rotation transformation, coordinate translation transformation and
Figure BDA0003317948600000171
changing the angle;
all coordinate systems are right-hand coordinate systems, and the positive direction of rotation of the object is specified to be a right-hand spiral direction, namely, the positive half axis of the axis is in a counterclockwise direction when viewed from the origin; in order to rotate the plastic cube by 270 degrees in a counterclockwise direction around the positive direction of the y axis and enable the red surface to be parallel to the plane of the cutting strip, namely the xoy surface, the transformation formula is rotated according to coordinates:
Figure BDA0003317948600000172
obtaining coordinates of each point of the foil strip after the foil strip rotates 270 degrees, namely alpha is 270 degrees, and converting the relationship according to a rectangular coordinate system and a spherical coordinate system:
Figure BDA0003317948600000173
obtaining orientation coordinates of the rotated foil strips from the rotated (x ', y', z
Figure BDA0003317948600000174
The angle of the cutting is theta';
the coordinates after the rotation transformation are positioned in the second octagon, so that the coordinates of the foil strip in the first octagon can be obtained only by adding 6 to the x value of the coordinates of each point after the foil strip is transformed, the operation of translating to the central point is carried out as in the first case, and the coordinates of the foil strip, which is projected to the xoy plane near the red end point, are set as (x'k1+6,y′k1) The cube plastic block is moved in the positive x-axis direction by 3- (x'k1+6) (cm), moving 3-y 'in the positive y-axis direction'k1(cm) determining the position of the cutting;
Figure BDA0003317948600000175
the change of angle is identical to the first kind of condition, after the rotation change
Figure BDA0003317948600000176
Become into
Figure BDA0003317948600000177
When in use
Figure BDA0003317948600000178
The cube plastic block is rotated counterclockwise
Figure BDA0003317948600000179
When in use
Figure BDA00033179486000001710
The cube plastic block is rotated clockwise
Figure BDA00033179486000001711
When in use
Figure BDA00033179486000001712
The cube plastic block is rotated counterclockwise
Figure BDA00033179486000001713
When in use
Figure BDA00033179486000001714
The cube plastic block is rotated clockwise
Figure BDA00033179486000001715
Calculating the distance between the end point coordinate of the foil strip close to the red surface and the wire inserting point coordinate to be used as the immersion depth of the wire inserting gun;
thirdly, the third kind of situation is that one intersection point is located on the yellow surface and the other intersection point is not located on the blue surface and the red surface, and the three situations are yellow-yellow pair, yellow-red pair and yellow-blue pair;
rotating the plastic cube by 90 degrees anticlockwise around the positive direction of the x axis, enabling the yellow surface to be parallel to the plane of the cutting, namely the xoy surface, and rotating the transformation formula according to the coordinates of a right-hand coordinate system:
Figure BDA0003317948600000181
obtaining coordinates of each point of the foil strip which is rotated by 90 degrees, namely alpha is 90 degrees, and converting the relationship according to a rectangular coordinate system and a spherical coordinate system:
Figure BDA0003317948600000182
obtaining orientation coordinates of the rotated foil strips from the rotated (x ', y', z
Figure BDA0003317948600000183
The angle of the cutting is theta';
the coordinates after the rotation transformation are positioned in the fourth octagon, so that the coordinates of the foil strip in the first octagon can be obtained only by adding 6 to the y value of the coordinates of each point after the foil strip is transformed, the operation of translating to the central point is carried out as in the first case, and the coordinates of the foil strip, which are projected to the xoy plane near the red end point, are (x'k1,y′k1+6), moving the cube plastic block by 3-x 'in the positive x-axis direction'k1(cm) in the forward y-axis direction by 3- (y'k1+6) (cm) the position of the cutting is determined;
Figure BDA0003317948600000184
the change of angle is identical to the first kind of condition, after the rotation change
Figure BDA0003317948600000185
Become into
Figure BDA0003317948600000186
When in use
Figure BDA0003317948600000187
The cube plastic block is rotated counterclockwise
Figure BDA0003317948600000188
When in use
Figure BDA0003317948600000189
The cube plastic block is rotated clockwise
Figure BDA00033179486000001810
When in use
Figure BDA00033179486000001811
The cube plastic block is rotated counterclockwise
Figure BDA00033179486000001812
When in use
Figure BDA00033179486000001813
The cube plastic block is rotated clockwise
Figure BDA00033179486000001814
Calculating the distance between the coordinate of the end point of the foil strip close to the yellow surface and the coordinate of the wire inserting point as the immersion depth of the wire inserting gun;
the fourth case is that one intersection point is positioned opposite to the red and the other intersection point is positioned opposite to the yellow or opposite to the blue, and the four cases have two cases of red-to-yellow pairs and red-to-blue pairs;
rotating the plastic cube by 90 degrees anticlockwise around the positive direction of the y axis, enabling the red opposite surface to be parallel to the plane of the cutting, namely, the xoy surface, and rotating a transformation formula according to the coordinates of a right-hand coordinate system:
Figure BDA0003317948600000191
obtaining coordinates of each point of the foil strip which is rotated by 90 degrees, namely alpha is 90 degrees, and converting the relationship according to a rectangular coordinate system and a spherical coordinate system:
Figure BDA0003317948600000192
obtaining orientation coordinates of the rotated foil strips from the rotated (x ', y', z
Figure BDA0003317948600000193
The angle of the cutting is theta';
the coordinates after the rotation transformation are positioned in the fifth octave, the operation of translating to the central point is directly carried out as the first case because the coordinates in the z direction are not considered by the cutting strip, and the coordinates of the foil strip, which are projected to the xoy plane near the red end point, are (x'k1,y′k1) Moving the cube plastic block by 3-x 'in the positive x-axis direction'k1(cm), moving 3-y 'in the positive y-axis direction'k1(cm) determining the position of the cutting;
Figure BDA0003317948600000194
the change of angle is identical to the first kind of condition, after the rotation change
Figure BDA0003317948600000195
Become into
Figure BDA0003317948600000196
When in use
Figure BDA0003317948600000197
The cube plastic block is rotated counterclockwise
Figure BDA0003317948600000198
When in use
Figure BDA0003317948600000199
The cube plastic block is rotated clockwise
Figure BDA00033179486000001910
When in use
Figure BDA00033179486000001911
The cube plastic block is rotated counterclockwise
Figure BDA00033179486000001912
When in use
Figure BDA00033179486000001913
The cube plastic block is rotated clockwise
Figure BDA00033179486000001914
Calculating the distance between the end point coordinate of the foil strip close to the red opposite side and the wire inserting point coordinate to be used as the immersion depth of the wire inserting gun;
the fifth case is that one intersection point is located opposite to yellow and the other intersection point is located opposite to blue, and only one case exists;
rotating a plastic cube by 270 degrees anticlockwise around the positive direction of an x axis, enabling a yellow opposite surface to be parallel to a cutting plane, namely, an xoy surface, and rotating a transformation formula according to coordinates:
Figure BDA0003317948600000201
obtaining coordinates of each point of the foil strip after the foil strip rotates 270 degrees, namely alpha is 270 degrees, and converting the relationship according to a rectangular coordinate system and a spherical coordinate system:
Figure BDA0003317948600000202
by after rotation(x ', y ', z ') obtaining orientation coordinates of the foil strip after rotation
Figure BDA0003317948600000203
The angle of the cutting is theta';
the coordinates after the rotation transformation are positioned in the eighth octave, the operation of translating to the central point is directly carried out as the first case because the coordinates in the z direction are not considered by the cutting strip, and the coordinates of the foil strip, which are projected to the xoy plane near the red end point, are (x'k1,y′k1) Moving the cube plastic block by 3-x 'in the positive x-axis direction'k1(cm), moving 3-y 'in the positive y-axis direction'k1(cm) determining the position of the cutting;
Figure BDA0003317948600000204
the change of angle is identical to the first kind of condition, after the rotation change
Figure BDA0003317948600000205
Become into
Figure BDA0003317948600000206
When in use
Figure BDA0003317948600000207
The cube plastic block is rotated counterclockwise
Figure BDA0003317948600000208
When in use
Figure BDA0003317948600000209
The cube plastic block is rotated clockwise
Figure BDA00033179486000002010
When in use
Figure BDA00033179486000002011
The cube plastic block is rotated counterclockwise
Figure BDA00033179486000002012
When in use
Figure BDA00033179486000002013
The cube plastic block is rotated clockwise
Figure BDA00033179486000002014
Calculating the distance between the end point coordinate of the foil strip close to the opposite side of the yellow strip and the wire inserting point coordinate to be used as the immersion depth of the wire inserting gun;
and (5.4) inputting the coordinate transformation programs of different conditions into the strip cutting machine to perform strip cutting.
(6) After all the cubes are inserted with wires, splicing the plastic cubes into a foil cloud cluster physical model according to the split foil cloud cluster simulation model.
The cloud-shaped plastic block of the foil strip after wire insertion is shown in figure 6, and the cloud-shaped plastic block of the foil strip after wire insertion is shown in figure 7.
The invention has not been described in detail in part of the common general knowledge of those skilled in the art.
The technical effects of the present invention will be described in detail below with reference to the comparative table.
The efficiency of the wire inserting machine relative to manual wire inserting is improved as shown in table 1, and the efficiency is generally improved by 70% -80% compared with the efficiency of manual wire inserting after the wire inserting machine is used for foil strip wire inserting, which indicates that the wire inserting time can be effectively reduced by using the wire inserting machine for wire inserting.
TABLE 1 wire-inserting machine efficiency comparison table
Figure BDA0003317948600000211
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.

Claims (7)

1. A controllable foil cloud model manufacturing method based on a four-axis wire inserting machine is characterized by comprising the following steps:
establishing a global coordinate system, and respectively representing the position and the orientation of the foil strip by using a center coordinate and an orientation coordinate;
generating N central coordinates and orientation coordinates which accord with uniform distribution by using a rand (N,1) function to obtain a foil strip cloud cluster model which accords with uniform distribution;
dividing the obtained foil strip cloud cluster by using cubes, numbering each cube, and marking 6 different surfaces of each cube with distinguishing marks;
fourthly, manufacturing a cloud cluster physical model formed by cubes by adopting a foam flat plate;
inputting the numbering information of different cubes into a wire inserting machine, converting the position and orientation coordinates of the foil strips in the corresponding cubes into the coordinates of actual wire inserting of the wire inserting machine, and inputting the coordinates into the wire inserting machine to insert the foil strips;
and step six, splicing the plastic cubes into a foil strip cloud cluster physical model according to the split foil strip cloud cluster simulation model after all the cubes are subjected to wire insertion.
2. The method for manufacturing the controllable foil cloud model based on the four-axis wire inserting machine according to claim 1, wherein in the first step, establishing a global coordinate system to represent the position and orientation of the foil by a center coordinate and an orientation coordinate respectively comprises:
establishing a three-dimensional right-handed rectangular coordinate system as a global coordinate system, and setting the central coordinate of the kth foil strip as (x)k,yk,zk) The orientation coordinate of the foil strip is
Figure FDA0003317948590000011
The definition theta is a pitch angle,
Figure FDA0003317948590000012
is the azimuth angle.
3. The method for manufacturing the controllable foil cloud model based on the four-axis wire inserting machine according to claim 1, wherein in the second step, the N central coordinates and the orientation coordinates conforming to the uniform distribution are generated by using a rand (N,1) function, so as to obtain the foil cloud cluster model conforming to the uniform distribution, and the method comprises the following steps:
according to the following steps:
Figure FDA0003317948590000021
the rand (N,1) function randomly generates N random numbers which are more than or equal to a and less than or equal to b according to uniform distribution, and generates the central coordinates and the orientation coordinates of all the uniformly distributed foil strips;
giving the length information of the foil strips and combining the coordinate information to obtain the coordinates of two end points of each foil strip, and setting the coordinates as (x)k1,yk1,zk1) And (x)k2,yk2,zk2) And obtaining the foil strip cloud cluster theoretical model which accords with uniform distribution.
4. The method for manufacturing the controllable foil cloud model based on the four-axis wire inserting machine according to claim 1, wherein in the third step, the dividing of the obtained foil cloud cluster by using a cube comprises:
(1) according to given foil strip cloud space data, searching the maximum value and the minimum value of three dimensions:
xmax，xmin，ymax，ymin，zmax，zmin
and dividing the space by using cubes, wherein the side lengths of each cube in three directions are (delta x, delta y and delta z), and the central point of each cube region is as follows:
Figure FDA0003317948590000022
wherein the ceil () function represents an upward integer;
(2) the wire inserting machine can only completely insert the foil strips into each cube, so that the foil strips need to be screened; the side length of each cube is 6, a total of p cube grids are arranged, and the central coordinate of each cube grid is (x)n,yn,zn) N represents that the cube grid is the n-th cube; when the center coordinate and the end point coordinate of a certain foil strip both satisfy xk∈[xn-3,xn+3),yk∈[yn-3,yn+3),zk∈[zn-3,zn+3), the foil strip is considered to be positioned in the n-th cube, and if the center coordinate and the end point coordinate of a certain foil strip are positioned in different cube areas, the foil strip is deleted;
(3) since the plastic cube of the physical model cannot distinguish each face and the wire insertion condition thereof, six faces of each cube are marked; the direction from the positive direction of the x axis to the original point is taken as a front view direction, the face of the cube viewed from the front is marked as a red face, the face of the cube viewed from the top view direction is marked as a blue face, the face of the cube viewed from the right view direction is marked as a yellow face, the face of the red face is marked as a red face, the face of the blue face is marked as a blue face, and the face of the yellow face is marked as a yellow face, so that six faces of the cube can be distinguished after marking; giving each cube its own coordinate system, and taking the intersection point of blue-opposite surface, red-opposite surface and yellow-opposite surface as origin point, the origin point coordinate is (x)n-3,yn-3,zn-3) using the blue opposite side as the xoy side, the red opposite side as the yoz side, and the yellow opposite side as the xoz side;
(4) the coordinate transformation of the foil strip in the global coordinate system to the coordinate of each cube in the respective coordinate system is carried out, and the coordinate of the center coordinate of the foil strip in the global coordinate system is (x)k,yk,zk) The coordinate of the origin of the respective coordinate system of each cube in the global coordinate system is (x)n-3,yn-3,zn-3), the coordinates of the foil strip within the cube to which it belongs are (x)k-(xn-3),yk-(yn-3),zk-(zn-3))。
5. The method for manufacturing the controllable foil strip cloud model based on the four-axis wire inserting machine according to claim 1, wherein in the fourth step, the manufacturing of the cloud cluster physical model composed of cubes by using the foam flat plate comprises the following steps:
m blocks of 6 x 6 plastic cubes in cm were made from foam plates, and each plastic cube was numbered and colored according to the simulation model.
6. The manufacturing method of the controllable foil strip cloud model based on the four-axis wire inserting machine according to claim 1, wherein in the fifth step, the inserting of the foil strip into the plastic cube by using the wire inserting machine comprises the following steps:
the wire inserting machine is characterized in that a 360-degree rotary turntable for changing an azimuth angle is arranged on an upper table top of the wire inserting machine, a wire inserting coordinate system is established by taking the center of the turntable as an origin of coordinates, the direction of the origin of the front view is the positive direction of an x axis, the direction of the origin of the right view is the positive direction of a y axis, the direction of the origin of the front view is the positive direction of a z axis, four sliding guide rails are arranged on a disc for fixing a square plastic block and performing translation of an xoy surface, a base is used as the xoy surface, a wire inserting gun is fixed right above the diameter of a semicircular disc parallel to the y axis, 180-degree rotation is performed for determining the orientation of a foil strip, a pitching sliding rail controls the vertical height of a contact pin, and a handle controls the immersion depth of the contact pin;
(1) screening square grids without foil strips from the m grids, wherein the rest grids are square grids with foil strips;
(2) calculating the intersection points of the extension lines of the foil strips and the surfaces to distinguish different conditions; setting the coordinates of the end points of the two ends of the foil strips in the cube to which the foil strips belong as (x)k1,yk1,zk1) And (x)k2,yk2,zk2) And then the coordinates of the intersection point of the straight line where the foil strip is located and any one surface of the cube are as follows:
(xk1+m(xk1-xk2),yk1+m(yk1-yk2),zk1+m(zk1-zk2))；
wherein,
Figure FDA0003317948590000041
ax + by + cz + d is a plane equation of a certain face of the cube, and 0 is the sum of the x + by + cz + d;
(3) the intersection points of two different surfaces of a certain foil strip extension line and a cube are divided into fifteen conditions of four types:
the first type is that one intersection point is located in the blue plane, and five conditions of blue-yellow, blue-red pair, blue-yellow pair and blue-blue pair are shared, and the conditions only need to be subjected to coordinate translation transformation and
Figure FDA0003317948590000042
changing angles, wherein the cutting angles are theta values of the foil strips in the cube to which the foil strips belong;
because the wire inserting position of the strip inserting machine is the origin of the coordinate system of the strip inserting machine, the coordinates of the foil strip in the cube to which the foil strip belongs need to be converted into the coordinates of the strip inserting machine, and the coordinates of the end point of the foil strip close to the blue plane in the cube to which the foil strip belongs are projected to the xoy plane (x is the x planek1,yk1) If the coordinate of the origin of the coordinate system of the strip inserting machine in the coordinate system of the cube of the foil strip is (3,3), the cube plastic block is moved 3-x in the positive direction of the x axisk1(cm), moving 3-y in the positive direction of the y-axisk1(cm) determining the position of the cutting;
according to
Figure FDA0003317948590000043
The angle difference is differently changed when
Figure FDA0003317948590000044
The cube plastic block is rotated counterclockwise
Figure FDA0003317948590000045
When in use
Figure FDA0003317948590000046
The cube plastic block is rotated clockwise
Figure FDA0003317948590000047
When in use
Figure FDA0003317948590000048
The cube plastic block is rotated counterclockwise
Figure FDA0003317948590000049
When in use
Figure FDA00033179485900000410
The cube plastic block is rotated clockwise
Figure FDA00033179485900000411
Calculating the distance between the end point coordinate of the foil strip close to the blue surface and the wire inserting point coordinate to be used as the immersion depth of the wire inserting gun;
the second kind of situation is that one intersection point is located on the red surface and the other intersection point is not located on the blue surface, and there are four situations of red-yellow, red-red pair, red-yellow pair and red-blue pair, which need to be carried out rotation transformation, coordinate translation transformation and
Figure FDA00033179485900000412
changing the angle;
all coordinate systems are right-hand coordinate systems, and the positive direction of rotation of the object is specified to be a right-hand spiral direction, namely, the positive half axis of the axis is in a counterclockwise direction when viewed from the origin; in order to rotate the plastic cube by 270 degrees in a counterclockwise direction around the positive direction of the y axis and enable the red surface to be parallel to the plane of the cutting strip, namely the xoy surface, the transformation formula is rotated according to coordinates:
Figure FDA0003317948590000051
obtaining coordinates of each point of the foil strip after the foil strip rotates 270 degrees, namely alpha is 270 degrees, and converting the relationship according to a rectangular coordinate system and a spherical coordinate system:
Figure FDA0003317948590000052
obtaining orientation coordinates of the rotated foil strips from the rotated (x ', y', z
Figure FDA0003317948590000053
The angle of the cutting is theta';
the coordinates after the rotation transformation are positioned in the second octagon, so that the coordinates of the foil strip in the first octagon can be obtained only by adding 6 to the x value of the coordinates of each point after the foil strip is transformed, the operation of translating to the central point is carried out as in the first case, and the coordinates of the foil strip, which is projected to the xoy plane near the red end point, are set as (x'k1+6,y′k1) The cube plastic block is moved in the positive x-axis direction by 3- (x'k1+6) (cm), moving 3-y 'in the positive y-axis direction'k1(cm) determining the position of the cutting;
Figure FDA0003317948590000054
the change of angle is identical to the first kind of condition, after the rotation change
Figure FDA0003317948590000055
Become into
Figure FDA0003317948590000056
When in use
Figure FDA0003317948590000057
The cube plastic block is rotated counterclockwise
Figure FDA0003317948590000058
When in use
Figure FDA0003317948590000059
The cube plastic block is rotated clockwise
Figure FDA00033179485900000510
When in use
Figure FDA00033179485900000511
The cube plastic block is rotated counterclockwise
Figure FDA00033179485900000512
When in use
Figure FDA00033179485900000513
The cube plastic block is rotated clockwise
Figure FDA00033179485900000514
Calculating the distance between the end point coordinate of the foil strip close to the red surface and the wire inserting point coordinate to be used as the immersion depth of the wire inserting gun;
thirdly, the third kind of situation is that one intersection point is located on the yellow surface and the other intersection point is not located on the blue surface and the red surface, and the three situations are yellow-yellow pair, yellow-red pair and yellow-blue pair;
rotating the plastic cube by 90 degrees anticlockwise around the positive direction of the x axis, enabling the yellow surface to be parallel to the plane of the cutting, namely the xoy surface, and rotating the transformation formula according to the coordinates of a right-hand coordinate system:
Figure FDA0003317948590000061
obtaining coordinates of each point of the foil strip which is rotated by 90 degrees, namely alpha is 90 degrees, and converting the relationship according to a rectangular coordinate system and a spherical coordinate system:
Figure FDA0003317948590000062
obtaining orientation coordinates of the rotated foil strips from the rotated (x ', y', z
Figure FDA0003317948590000063
The angle of the cutting is theta';
the coordinates after the rotation transformation are positioned in the fourth octagon, so the coordinates of each point after the foil strip is transformed are required to be transformedAdding 6 to the y value of the foil strip to obtain the coordinate of the foil strip in the first diagram limit, translating the foil strip to the central point as in the first case, and projecting the foil strip to the xoy plane by the coordinate (x ') close to the red end point'k1,y′k1+6), moving the cube plastic block by 3-x 'in the positive x-axis direction'k1(cm) in the forward y-axis direction by 3- (y'k1+6) (cm) the position of the cutting is determined;
Figure FDA0003317948590000064
the change of angle is identical to the first kind of condition, after the rotation change
Figure FDA0003317948590000065
Become into
Figure FDA0003317948590000066
When in use
Figure FDA0003317948590000067
The cube plastic block is rotated counterclockwise
Figure FDA0003317948590000068
When in use
Figure FDA0003317948590000069
The cube plastic block is rotated clockwise
Figure FDA00033179485900000610
When in use
Figure FDA00033179485900000611
The cube plastic block is rotated counterclockwise
Figure FDA00033179485900000612
When in use
Figure FDA00033179485900000613
Then will be squareClockwise rotation of the body plastic mass
Figure FDA00033179485900000614
Calculating the distance between the coordinate of the end point of the foil strip close to the yellow surface and the coordinate of the wire inserting point as the immersion depth of the wire inserting gun;
the fourth case is that one intersection point is positioned opposite to the red and the other intersection point is positioned opposite to the yellow or opposite to the blue, and the four cases have two cases of red-to-yellow pairs and red-to-blue pairs;
rotating the plastic cube by 90 degrees anticlockwise around the positive direction of the y axis, enabling the red opposite surface to be parallel to the plane of the cutting, namely, the xoy surface, and rotating a transformation formula according to the coordinates of a right-hand coordinate system:
Figure FDA00033179485900000615
obtaining coordinates of each point of the foil strip which is rotated by 90 degrees, namely alpha is 90 degrees, and converting the relationship according to a rectangular coordinate system and a spherical coordinate system:
Figure FDA0003317948590000071
obtaining orientation coordinates of the rotated foil strips from the rotated (x ', y', z
Figure FDA0003317948590000072
The angle of the cutting is theta';
the coordinates after the rotation transformation are positioned in the fifth octave, the operation of translating to the central point is directly carried out as the first case because the coordinates in the z direction are not considered by the cutting strip, and the coordinates of the foil strip, which are projected to the xoy plane near the red end point, are (x'k1,y′k1) Moving the cube plastic block by 3-x 'in the positive x-axis direction'k1(cm), moving 3-y 'in the positive y-axis direction'k1(cm) determining the position of the cutting;
Figure FDA0003317948590000073
the change of angle is identical to the first kind of condition, after the rotation change
Figure FDA0003317948590000074
Become into
Figure FDA0003317948590000075
When in use
Figure FDA0003317948590000076
The cube plastic block is rotated counterclockwise
Figure FDA0003317948590000077
When in use
Figure FDA0003317948590000078
The cube plastic block is rotated clockwise
Figure FDA0003317948590000079
When in use
Figure FDA00033179485900000710
The cube plastic block is rotated counterclockwise
Figure FDA00033179485900000711
When in use
Figure FDA00033179485900000712
The cube plastic block is rotated clockwise
Figure FDA00033179485900000713
Calculating the distance between the end point coordinate of the foil strip close to the red opposite side and the wire inserting point coordinate to be used as the immersion depth of the wire inserting gun;
the fifth case is that one intersection point is located opposite to yellow and the other intersection point is located opposite to blue, and only one case exists;
rotating a plastic cube by 270 degrees anticlockwise around the positive direction of an x axis, enabling a yellow opposite surface to be parallel to a cutting plane, namely, an xoy surface, and rotating a transformation formula according to coordinates:
Figure FDA00033179485900000714
obtaining coordinates of each point of the foil strip after the foil strip rotates 270 degrees, namely alpha is 270 degrees, and converting the relationship according to a rectangular coordinate system and a spherical coordinate system:
Figure FDA0003317948590000081
obtaining orientation coordinates of the rotated foil strips from the rotated (x ', y', z
Figure FDA0003317948590000082
The angle of the cutting is theta';
the coordinates after the rotation transformation are positioned in the eighth octave, the operation of translating to the central point is directly carried out as the first case because the coordinates in the z direction are not considered by the cutting strip, and the coordinates of the foil strip, which are projected to the xoy plane near the red end point, are (x'k1,y′k1) Moving the cube plastic block by 3-x 'in the positive x-axis direction'k1(cm), moving 3-y 'in the positive y-axis direction'k1(cm) determining the position of the cutting;
Figure FDA0003317948590000083
the change of angle is identical to the first kind of condition, after the rotation change
Figure FDA0003317948590000084
Become into
Figure FDA0003317948590000085
When in use
Figure FDA0003317948590000086
The cube plastic block is rotated counterclockwise
Figure FDA0003317948590000087
When in use
Figure FDA0003317948590000088
The cube plastic block is rotated clockwise
Figure FDA0003317948590000089
When in use
Figure FDA00033179485900000810
The cube plastic block is rotated counterclockwise
Figure FDA00033179485900000811
When in use
Figure FDA00033179485900000812
The cube plastic block is rotated clockwise
Figure FDA00033179485900000813
Calculating the distance between the end point coordinate of the foil strip close to the opposite side of the yellow strip and the wire inserting point coordinate to be used as the immersion depth of the wire inserting gun;
(4) and inputting the coordinate transformation programs under different conditions into the strip cutting machine to perform strip cutting.
7. A controllable foil cloud model control system for implementing the controllable foil cloud model manufacturing method based on the four-axis wire inserting machine according to any one of claims 1 to 6, wherein the controllable foil cloud model control system comprises:
the global coordinate system establishing module is used for establishing a global coordinate system and respectively representing the position and the orientation of the foil strip by using a central coordinate and an orientation coordinate;
the foil strip cloud cluster model building module is used for generating N central coordinates and orientation coordinates which accord with uniform distribution by using a rand (N,1) function to obtain a foil strip cloud cluster model which accords with uniform distribution;
the foil strip cloud cluster dividing module is used for dividing the obtained foil strip cloud cluster by using cubes, numbering each cube and marking 6 different surfaces of each cube with distinguishing marks;
the cloud cluster physical model manufacturing module is used for manufacturing a cloud cluster physical model consisting of cubes by adopting a foam flat plate;
the foil strip wire inserting module is used for inputting the number information of different cubes into the wire inserting machine, converting the position and orientation coordinates of the foil strips in the corresponding cubes into the coordinates of actual wire inserting of the wire inserting machine and inputting the coordinates into the wire inserting machine for wire inserting of the foil strips;
and the foil strip cloud cluster physical model manufacturing module is used for splicing the plastic cubes into the foil strip cloud cluster physical model according to the split foil strip cloud cluster simulation model after all the cubes are subjected to wire insertion.
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