CN114670244B - Structure manufacturing method and device - Google Patents
Structure manufacturing method and device Download PDFInfo
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- CN114670244B CN114670244B CN202210318397.3A CN202210318397A CN114670244B CN 114670244 B CN114670244 B CN 114670244B CN 202210318397 A CN202210318397 A CN 202210318397A CN 114670244 B CN114670244 B CN 114670244B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
Abstract
The application relates to the technical field of manufacturing, and discloses a structure manufacturing method and device, wherein the method comprises the following steps: dividing the target structure into sub-structures, and determining whether the target structure is a periodically repeated structure; after the target structure is determined to be a periodic repeated structure, selecting or designing a working module according to the outline of the substructure, and determining the optimal installation position of the working module; according to the obtained optimal installation position, designing a self-positioning tool module, and simultaneously designing characteristic points serving as positioning references on a substructure; the self-positioning tool module and the operation module are transported to the vicinity of the installation position of the substructure operation through the logistics transportation module, and the self-positioning tool module is positioned and fixed by taking the characteristic points as references; and controlling the operation module to operate until the operation task of the last substructure is completed. Therefore, the full-automatic operation of the operation module on the target structure can be realized, manual real-time observation and intervention are not needed, the production cost is reduced, and the method has the characteristics of high compatibility and high flexibility.
Description
Technical Field
The present application relates to the field of manufacturing technologies, and in particular, to a method and an apparatus for manufacturing a structure.
Background
In the process of structure production and manufacture, the successful application of the structure automation manufacturing workstation greatly improves the automation degree of structure welding, and the manufacturing quality and efficiency of the structure are greatly improved by virtue of the flexibility of the mechanical arm and the stability of the manufacturing process.
Most of existing structural automation manufacturing workstations are combined by a gantry and a positioner, and for medium and large structures, the arm span of a mechanical arm cannot completely cover the large structure, so that the mechanical arm can only work on part of the large structure. In order to realize the whole automatic manufacture of the large-scale structure, after the mechanical arm finishes the local operation, the mechanical arm needs to be transported to the next operation area, and the mechanical arm can be transported by the gantry structure, as shown in fig. 1, and the transportation of the mechanical arm 03 is realized through the vertical and longitudinal movement of the cantilever 01 and the transverse movement of the cross arm 02.
For some complex structures, the robot arm reaches the vicinity of the working area, and cannot process the structure, and at this time, the workpiece needs to be turned over by a positioner to perform the work at the best angle for the robot arm. The design concept does not design a suitable manufacturing workstation from the characteristics of the structure itself, when the structure shown in fig. 2 and 3 is manufactured and the interference piece 05 exists near the working area 04, the cantilever is a rigid structure, so that the cantilever cannot transfer the mechanical arm to the vicinity of the working target, and for the large-scale structure, the structure is not turned to a suitable position by adopting a positioner, so that the mechanical arm can not perform the working on the working area in a suitable posture even if the workpiece can be turned. Therefore, the workstation designed according to the idea has the limitation, in addition, the workstation combined by the gantry and the positioner has extremely high manufacturing cost, and the workstation cannot bear the early investment cost for some small and medium manufacturing enterprises.
Disclosure of Invention
Therefore, the application aims to provide a structure manufacturing method and device, which can realize full-automatic operation of a target structure without manual real-time observation and intervention, and reduce production cost.
The specific scheme is as follows:
a method of manufacturing a structure, comprising:
dividing a target structure into sub-structures, and determining whether the target structure is a periodically repeated structure;
after determining that the target structure is a periodic repeated structure, selecting or designing a working module according to the outline of the substructure, and determining the optimal installation position of the working module;
according to the obtained optimal installation position, designing a self-positioning tool module, and simultaneously designing characteristic points serving as positioning references on a substructure;
transferring the self-positioning tool module and the operation module to the vicinity of the installation position of the substructure operation through a logistics conveying module, and positioning and fixing the operation module by taking the characteristic points as references;
and controlling the operation module to operate until the operation task of the last substructure is completed.
Preferably, in the above structure manufacturing method provided by an embodiment of the present application, dividing a target structure into sub-structures, determining whether the target structure is a periodically repeating structure includes:
performing edge detection and fitting on a target structure, and dividing the target structure into a plurality of substructures;
calculating the similarity between the substructures;
and determining whether the target structure is a periodically repeated structure according to the duty ratio of the similarity reaching a set threshold value.
Preferably, in the above structure manufacturing method provided by the embodiment of the present application, before selecting or designing the job module according to the substructure profile, the method further includes:
scanning the substructure to obtain point cloud data of the substructure;
and removing outliers through a filtering algorithm according to the obtained point cloud data, and extracting the substructures.
Preferably, in the above structure manufacturing method provided by the embodiment of the present application, determining an optimal mounting position of the job module includes:
calculating the coincidence ratio of the operation envelope space of the operation module and the outline of the substructure;
when the overlap ratio is the maximum value, primarily determining the positioning range of the operation module;
an optimal installation position of the work module is determined in the positioning range according to the optimal reachable pose and the fixed portability of the work module.
Preferably, in the above structure manufacturing method provided by the embodiment of the present application, positioning and fixing the self-positioning tool module with the feature point as a reference includes:
aligning a positioning hole on a positioning block of the self-positioning tool module with the characteristic point on the substructure, inserting a positioning pin, and positioning the operation module;
and opening a powerful magnetic seat switch on the self-positioning tool module to fix the operation module.
Preferably, in the above structure manufacturing method provided by the embodiment of the present application, the controlling the operation of the operation module until the operation task of the last substructure is completed includes:
controlling the operation module to operate one substructure, transferring the operation module to the next substructure through the logistics conveying module after the operation of the one substructure is completed, and repeating the periodic operation until the operation task of the last substructure is completed; or alternatively, the first and second heat exchangers may be,
and simultaneously controlling a plurality of operation modules to operate the plurality of substructures, transferring the plurality of operation modules to the other plurality of substructures through the logistics conveying module after the operation of the plurality of substructures is completed, and repeating the periodic operation until the operation task of the last substructures is completed.
Preferably, in the method for manufacturing a structure provided by the embodiment of the present application, the feature points may be used repeatedly and periodically on each sub-structure workpiece;
the operation mode of the operation module comprises at least one of a non-contact operation mode and a contact mode; the operation objects of the operation module are points, lines, planes and bodies of the target structure.
The embodiment of the application also provides a structure manufacturing device for operating by adopting the structure manufacturing method provided by the embodiment of the application, which comprises the following steps: the logistics conveying module, the self-positioning tool module and the operation module are arranged on the self-positioning tool module; wherein, the liquid crystal display device comprises a liquid crystal display device,
and the logistics conveying module is used for transferring the self-positioning tool module and the operation module to the vicinity of the installation position of the substructure operation, and positioning and fixing the self-positioning tool module by taking the characteristic points on the substructure as references.
Preferably, in the structure manufacturing apparatus provided by the embodiment of the present application, the logistics transportation module includes a frame base and a flexible hoisting module;
the flexible hoisting module comprises a movable suspension structure, a driving structure and a flexible structure; one end of the flexible hoisting module is connected with the frame base body through the movable hanging structure, and the other end of the flexible hoisting module is connected with the self-positioning tool module through the quick connecting structure.
Preferably, in the above structure manufacturing apparatus provided in an embodiment of the present application, the working module includes a body movement module and an end execution module;
the main body movement module is arranged on the self-positioning tool module; the end execution module is mounted on the main body movement module; the main body movement module is used for driving the end actuating mechanism to move in a specific track.
According to the technical scheme, the structure manufacturing method provided by the application comprises the following steps of: dividing the target structure into sub-structures, and determining whether the target structure is a periodically repeated structure; after the target structure is determined to be a periodic repeated structure, selecting or designing a working module according to the outline of the substructure, and determining the optimal installation position of the working module; according to the obtained optimal installation position, designing a self-positioning tool module, and simultaneously designing characteristic points serving as positioning references on a substructure; the self-positioning tool module and the operation module are transported to the vicinity of the installation position of the substructure operation through the logistics transportation module, and the self-positioning tool module is positioned and fixed by taking the characteristic points as references; and controlling the operation module to operate until the operation task of the last substructure is completed.
According to the structure manufacturing method provided by the application, by combining the characteristics of the structure, a proper operation module is selected or designed, and then a proper characteristic point and a self-positioning tool module are designed, so that the operation module can be quickly and conveniently positioned to an optimal operation position, the full-automatic operation of the operation module on a target structure is realized, manual real-time observation and intervention are not needed, the working place is saved, the production cost is reduced, and the structure has the characteristics of high compatibility and high flexibility.
In addition, the application also provides a corresponding device for the structure manufacturing method, so that the method has more practicability, and the device has corresponding advantages.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described, and it is apparent that the drawings in the following description are only embodiments of the present application, and other drawings may be obtained according to the provided drawings without inventive effort for those skilled in the art.
FIG. 1 is a schematic diagram of a gantry type workstation in the prior art;
FIG. 2 is a front view of a prior art construction;
FIG. 3 is a cross-sectional view of a prior art construction;
FIG. 4 is a flow chart of a method of fabricating a structure according to an embodiment of the present application;
FIG. 5 is a schematic diagram of the number of recognition substructures according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a substructure model provided in an embodiment of the present application;
FIG. 7 is a schematic diagram of a substructure outline provided by an embodiment of the present application;
FIG. 8 is a schematic diagram of a job envelope space of a job module according to an embodiment of the present application;
fig. 9 is a schematic diagram of an optimal mounting point of a mechanical arm according to an embodiment of the present application;
FIG. 10 is a schematic diagram of a design of relevant dimensions of a self-positioning tooling module according to an embodiment of the present application;
FIG. 11 is a schematic view of a positioning hole on a substructure according to an embodiment of the present application;
FIG. 12 is a schematic view of a positioning hole in an overall structure according to an embodiment of the present application;
FIG. 13 is a schematic diagram of a self-positioning tooling module according to an embodiment of the present application;
FIG. 14 is a second schematic diagram of a self-positioning tool module according to an embodiment of the present application;
FIG. 15 is a third schematic diagram of a self-positioning tool module according to an embodiment of the present application;
FIG. 16 is a schematic view of job module transfer according to an embodiment of the present application;
FIG. 17 is a schematic diagram of a multi-machine parallel operation according to an embodiment of the present application;
FIG. 18 is a schematic diagram illustrating an overall structure manufacturing apparatus according to an embodiment of the present application;
FIG. 19 is a left side view of a structure fabrication apparatus according to an embodiment of the present application;
fig. 20 is a schematic diagram of a self-positioning tool module and an operation module according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The application provides a structure manufacturing method, as shown in fig. 4, comprising the following steps:
s401, dividing a target structure into sub-structures, and determining whether the target structure is a periodical repetitive structure;
it should be noted that, step S401 identifies whether the target structure is a repetitive periodic structure or a common structure, and may guide the later design and production, thereby improving the working efficiency.
S402, after the target structure is determined to be a periodical repeated structure, selecting or designing a working module according to the outline of the substructure, and determining the optimal installation position of the working module;
in particular, the working envelope space a of the working module can be known from the prior art conditions and the substructure profile b can be extracted before designing a suitable working module. For contact type operation, the operation module can operate at various positions of the substructure, the operation module with a more than or equal to b is required to be designed, and when only the position of the substructure is operated, the operation module with a less than b is designed; for non-contact operation, the operation module can operate at various positions of the substructure, and an operation module with a more than or equal to b or an operation module with a < b and a less than b controlled within a specific value delta is required to be designed; when working only on sub-structure part positions, a < b is designed, but a is smaller than a working module whose range value of b is outside a specific value delta.
S403, designing a self-positioning tool module according to the obtained optimal mounting position, and simultaneously designing characteristic points serving as positioning references on the substructure;
it should be noted that, when executing step S403, a suitable self-positioning tooling module is designed according to the obtained optimal installation position, and meanwhile, the feature points on the substructure are designed as positioning references of the self-positioning tooling module, so that the operation module can be ensured to be installed at the optimal installation position.
Preferably, the characteristic points serving as positioning references can be repeatedly used on each substructure workpiece, and the error delta 1 of the characteristic points is less than or equal to +/-5 mm. The feature points used as positioning references can be permanent feature points designed in the earlier stage of the target structure, or can be newly added and modified on the target structure workpiece by other auxiliary measures. The positioning reference may select a single feature point or a combination of feature points. The repeated positioning precision delta 2 of the installation after the operation module reaches the next substructure is less than or equal to +/-10 mm. The self-positioning tool module can be used for rapidly and conveniently positioning through the characteristic points on each substructure.
S404, transferring the self-positioning tool module and the operation module to the vicinity of the installation position of the substructure operation through the logistics conveying module, and positioning and fixing the operation module by taking the characteristic points as references;
it should be noted that the logistics transportation module has a rigid-flexible coupling characteristic, and can transport the operation module to the installation position in various movement tracks under the condition of auxiliary external force. The operation module can be fixed through the characteristic points and the self-positioning tool module in various postures.
S405, controlling the operation module to operate until the operation task of the last substructure is completed.
In the structure manufacturing method provided by the embodiment of the application, by combining the characteristics of the structure, selecting or designing a proper operation module, and then designing a proper characteristic point and a self-positioning tool module, the operation module can be quickly and conveniently positioned to an optimal operation position, so that the full-automatic operation of the operation module on a target structure is realized, manual real-time observation and intervention are not needed, the working place is saved, the production cost is reduced, and the structure has the characteristics of high compatibility and high flexibility.
The following takes the structure of fig. 2 as an example, and aims at polishing and detecting combined operation, and the manufacturing method of the structure provided by the embodiment of the application is explained with reference to the attached drawings.
In a specific implementation, in the above structure manufacturing method provided by the embodiment of the present application, step S401 divides the target structure into sub-structures, and determining whether the target structure is a periodically repeating structure may specifically include: firstly, edge detection and fitting are carried out on a target structure, the target structure is divided into a plurality of substructures, and the substructures can be converted into a substructures model; then calculating the similarity between the substructures; and finally, determining whether the target structure is a periodically repeated structure according to the duty ratio of the similarity reaching the set threshold value.
Preferably, the similarity setting threshold may be set to 90%; when the similarity reaches the duty ratio of more than 95% of the set threshold, the structure may be determined to be a periodically repeating structure. In practical application, the structure model can be directly identified, and whether the target structure is a periodically repeated structure can be judged.
Specifically, the structure of fig. 2 can be divided into 12 sub-structures by performing edge detection and fitting on the structure, as shown in fig. 5. As shown in fig. 6, each sub-structure is transformed into a sub-structure model. And calculating the similarity among the substructures, and judging that the structure is a periodically repeated structure when the similarity among the substructures exceeds 90 percent and the similarity reaches the duty ratio of a set threshold value to be more than 95 percent.
In a specific implementation, in the above structure manufacturing method provided by the embodiment of the present application, before executing step S402, selecting or designing the job module according to the sub-structure profile, the method may further include: firstly, scanning a substructure to obtain point cloud data of the substructure; and then removing outliers through a filtering algorithm according to the obtained point cloud data, and extracting the substructure profile b.
Specifically, according to the substructure model shown in fig. 6, point cloud data of the substructure can be obtained; and removing outliers according to the point cloud data through a filtering algorithm, and extracting the substructure profile b shown in fig. 7. The polishing operation is a contact operation, and all areas of the substructure need to be polished, and according to the outline b of the substructure, the arm can be selected to be a mechanical arm with the width of about 900mm, so that an operation envelope space a of the mechanical arm is obtained, and the mechanical arm is a sphere with the diameter of 1800mm as shown in fig. 8.
In a specific implementation, in the above structure manufacturing method provided by the embodiment of the present application, step S402 determines an optimal mounting position of the job module, which may specifically include: firstly, calculating the coincidence ratio of a working envelope space a of a working module and a substructure outline b; when the overlap ratio is the maximum value, primarily determining a positioning range c of the operation module; the optimal installation position of the working module is then determined in the positioning range c according to the optimal reachable pose and the fixed portability of the working module.
Specifically, by calculating the overlap ratio of the working envelope space a of the working module and the substructure outline b, when the overlap ratio is maximum, the positioning range of the working module is preliminarily determined, and then the optimal installation position P' of the working module shown in fig. 9 can be determined according to the best reachable posture, positioning and fixing convenience of the working module. As shown in fig. 9, the line at the midpoint of the both side line a intersects the line at the midpoint of the short arc line B and the long arc line C at a point P, a perpendicular L to the reference plane is drawn through the point P, and the optimum mounting position P 'is on the perpendicular L and is 200mm from the reference plane aa'.
Further, in the implementation, step S403 designs the self-positioning tooling module according to the obtained optimal installation position, and designs the feature point serving as the positioning reference on the substructure at the same time, which specifically includes: as shown in fig. 10, in order to ensure that the origin of the manipulator of the working module is on the vertical line L, the point P is taken as the center, the short arc end point connecting line D is taken as the short side, the distance between the short arc end point connecting line D and the long arc end point connecting line E is taken as the long side, the positioning hole (i.e., the feature point) is on the diagonal line of the rectangle, the angle of the cross Liang Gajiao of the self-positioning tool module is the angle at which the diagonal lines of the rectangle intersect, the specific position of the positioning hole 10 is determined according to the distance from the positioning hole 10 to the side line, and then the positions of the positioning hole 20, the positioning hole 30 and the positioning hole 40 are determined according to the position of the positioning hole 10.
Fig. 11 and 12 are schematic diagrams of all positioning holes O on the substructure and the target structure, the distance between the positioning holes O of the two diagonal positioning blocks of the self-positioning tooling module is 834mm, the diameter of the positioning holes O is 20mm, the included angle of the cross beam is 102 °, and the distance between the optimal positioning position and the reference plane is 200mm, so that the overall height of the self-positioning tooling module is 200mm, and the self-positioning tooling module shown in fig. 13 to 15 is designed. Through the design to structural locating hole O and automatic position frock, guarantee that the operation module can install in optimum mounted position P'.
In a specific implementation, in the method for manufacturing a structure provided by the embodiment of the present application, step S404 locates and fixes the self-locating tool module with the feature point as a reference, and may specifically include: aligning a positioning hole on a positioning block of the self-positioning tool module with a characteristic point on the substructure, inserting a positioning pin, and positioning the operation module; and opening a powerful magnetic seat switch on the self-positioning tool module to fix the operation module.
Specifically, as shown in fig. 16, the logistics transportation module transfers the operation module from a starting position to a position 100, an auxiliary external force F1 is applied to a proper position of the auxiliary self-positioning tool module, the operation module is transferred to a position 200, a longitudinal guide rail of the logistics transportation module is stopped in situ, and a driving motor continuously lengthens a flexible sling; after the work module reaches the position 200, two auxiliary external forces F2 are applied to the automatic positioning tool, and the force F1 is removed, so that the work module moves along the force direction F2 to reach the position 300. And then, aligning a positioning hole on the self-positioning tool module positioning block with a positioning hole on the structure, inserting a positioning pin, positioning the operation module, opening a powerful magnetic seat switch on the self-positioning tool module, and fixing the operation module.
In a specific implementation, in the above structure manufacturing method provided by the embodiment of the present application, step S405 controls the operation of the operation module until the operation task of the last substructure is completed, which may include two embodiments: the first implementation mode is to control the operation module to operate one substructure, after the operation of one substructure is completed, the operation module is transferred to the next substructure through the logistics conveying module, and the periodic operation is repeated until the operation task of the last substructure is completed; in a second embodiment, the plurality of operation modules are controlled to operate the plurality of substructures simultaneously, after the operation of the plurality of substructures is completed, the plurality of operation modules are transferred to the plurality of other substructures through the logistics conveying module, and the periodic operation is repeated until the operation task of the last substructures is completed.
Specifically, a polishing system is started, polishing operation is started in the substructure, after the polishing operation is completed, the polished surface is detected through line laser, and whether the polishing quality meets the requirement is checked. After the operation of one substructure is completed, the operation module is transferred to the 2 nd substructure through the material conveying module, and the periodic operation is repeated until the 12 th substructure operation is completed. As shown in fig. 17, a plurality of operation modules can also operate simultaneously, first, 4 sets of operation modules 11 are respectively installed on 4 substructures, after the operation of the 4 sets of operation modules 11 is completed, the 4 operation modules 11 are transferred into the other 4 substructures through the flexible hoisting module of the logistics conveying module, and the operation is repeated periodically, so that the operation of 12 substructures is completed.
It should be noted that the self-positioning tooling module can be quickly separated from the structure without affecting the positioning in the next step. The path of movement of the job module between the substructures is not limited. When the structure is operated, a plurality of operation modules can be applied to the same periodic repeated structure, and the operation modules can operate in parallel, so that the operation efficiency can be greatly improved.
In a specific implementation, in the method for manufacturing a structure provided by the embodiment of the application, the operation mode of the operation module includes at least one of a non-contact operation mode and a contact mode, that is, the operation module can replace different execution mechanisms according to different working conditions to perform different operation modes. The operation module can perform non-contact operation, including but not limited to spraying, sand blasting, cutting, laser rust removal and the like; contact type operations may also be performed including, but not limited to, joint inspection, welding, grinding, milling, drilling, etc.; the job module may be used in one or several compatible modes. According to the application, different execution mechanisms can be replaced according to different working conditions, and a single automatic workstation can finish different modes of operation, so that the working field is saved, and the production cost is reduced. In addition, the operation object of the operation module can be the point, the line, the surface and the body of the target structure, and the whole operation process can realize full-automatic operation.
Based on the same inventive concept, the embodiment of the present application further provides a structure manufacturing apparatus for performing the operation by using the foregoing structure manufacturing method, where the implementation of the structure manufacturing apparatus may refer to the implementation of the foregoing structure manufacturing method, and certainly, the implementation of the foregoing structure manufacturing method may refer to the implementation of the structure manufacturing apparatus, and the repetition is omitted.
In specific implementation, the structure manufacturing device provided by the embodiment of the application specifically includes: the logistics conveying module, the self-positioning tool module and the operation module are arranged on the self-positioning tool module; the logistics conveying module is used for transferring the self-positioning tool module and the operation module to the vicinity of the installation position of the substructure operation, and positioning and fixing the operation module by taking the characteristic points on the substructure as references. The automatic positioning tool can be connected with the logistics conveying module and can be separated from the logistics module.
In the structure manufacturing device provided by the embodiment of the application, the logistics conveying module can transfer the operation module to any position of the structure under the condition of auxiliary external force, and the operation module can be positioned and fixed on the structure in various postures by designing the corresponding self-positioning tool module, so that the full-automatic operation of the operation module on the target structure is realized, the manual real-time observation and the intervention are not required, the working site is saved, and the production cost is reduced.
In addition, the application has the same characteristics as a portal frame under the condition of no external force, and can enable the operation module to be transported to the position without interference parts around the structure in a linear motion track. The logistics conveying module can be designed and customized according to different types of structures, so that the operation process requirements of the different types of structures are met. The operation module can be installed on the structure through the self-positioning tool module by taking the characteristic points which are inherent in the structure or the auxiliary measures as positioning references and newly adding and modifying the characteristic points on the target structure.
In a specific implementation, in the structure manufacturing device provided by the embodiment of the application, the logistics conveying module comprises a frame matrix and a flexible hoisting module; the flexible hoisting module comprises a movable suspension structure, a driving structure and a flexible structure; one end of the flexible hoisting module is connected with the frame matrix through the movable hanging structure, and the other end of the flexible hoisting module is connected with the self-positioning tool module through the quick connecting structure, so that the quick connection or separation of the self-positioning tool module and the flexible hoisting module can be ensured.
In particular, as shown in fig. 18 and 19, the logistics transport module may comprise a ground rail 12, a frame base 13 and a flexible lifting module; the flexible hoist module may include a longitudinal rail 14, a drive motor 15, and a flexible sling 16. The ground rail 12 is arranged in the foundation in an embedded mode, a frame base body 13 is arranged on the ground rail 12, and the frame base body 13 can move transversely along the ground rail 12. The lower side of the cross beam of the frame base 13 is provided with a chute, and the longitudinal guide rail 14 is arranged on the frame base 13 through the chute and can slide along the cross beam; the longitudinal guide rail 14 is provided with a chute, and the driving motor 15 is arranged on the longitudinal guide rail 14 through the chute and can slide along the longitudinal guide rail 14; the flexible sling 16 terminates with a hook. Fig. 18 also shows the target structure 17, the guide wheel 18, the self-positioning tooling module 19.
In a specific implementation, in the structure manufacturing apparatus provided by the embodiment of the present application, the operation module includes a main body movement module and an end execution module; the main body movement module is arranged on the self-positioning tool module; the tail end execution module is arranged on the main body movement module; and the main body movement module is used for driving the end actuating mechanism to move in a specific track.
Specifically, as shown in fig. 20, the self-positioning tool module may include a cross beam 21, a supporting leg 22, a connecting hanging ring 23, a fixing plate 24, a positioning block 25 and a strong magnetic seat 26, wherein a positioning hole O is provided on the positioning block 25 for positioning the tool, a switch is provided on the strong magnetic seat 26 for controlling the magnetic force of the strong magnetic seat to be turned on or off, and the magnetic force of the strong magnetic seat is strong enough to bear the weight of the operation module and the self-positioning tool module; the operation module may include a mechanical arm 27, a polishing head 28 and a line laser 29, where the mechanical arm 27 is fixed on the self-positioning tool module by a fixing plate, and the origin of the mechanical arm 27 is ensured to be at the center of the self-positioning tool module, and the polishing head 28 and the line laser 29 are disposed at the tail end of the mechanical arm 27. The hanging ring 23 on the self-positioning tool module is connected with the tail end hanging hook of the flexible sling 16, so that the self-positioning tool module is connected with the logistics conveying module.
According to the structure manufacturing device provided by the embodiment of the application, the flexible hoisting module of the logistics conveying module can transfer the operation module to any position of the structure in various motion tracks under the condition of auxiliary external force, when an interference piece exists near the operation area, the operation module can still be transferred to the vicinity of the operation area, and the operation module can be ensured to be positioned and fixed on the structure in various postures through the designed self-positioning tool module; and then polishing the target structure, and detecting the polished surface through line laser after finishing the polishing operation. The above-described structure manufacturing apparatus has the same function as a gantry structure without an auxiliary external force. The traditional gantry structure is a rigid structure, when an interference piece exists near a working area, the working module cannot be transported to the vicinity of a working target, and the working task cannot be completed.
In the embodiment of fig. 16 and 18, the transfer of the working module is illustrated, the logistics transportation module transfers the working module from the initial position to the position 100, the auxiliary external force F1 is applied to the proper position of the flexible sling, the working module is transferred to the position 200, the longitudinal guide rail is stopped in situ, and the driving motor continuously lengthens the flexible sling; after the work module reaches the position 200, two auxiliary external forces F2 are applied to the automatic positioning tool, and the force F1 is removed, so that the work module moves along the force direction F2 to reach the position 300. Aligning the positioning hole on the automatic positioning tool positioning block with the positioning hole on the structure, inserting the positioning pin, positioning the operation module, opening the powerful magnetic seat switch on the automatic positioning tool module, and fixing the operation module.
For more specific working procedures of the above modules, reference may be made to the corresponding contents disclosed in the foregoing embodiments, and no further description is given here.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, so that the same or similar parts between the embodiments are referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
In summary, a method for manufacturing a structure provided by an embodiment of the present application includes: dividing the target structure into sub-structures, and determining whether the target structure is a periodically repeated structure; after the target structure is determined to be a periodic repeated structure, selecting or designing a working module according to the outline of the substructure, and determining the optimal installation position of the working module; according to the obtained optimal installation position, designing a self-positioning tool module, and simultaneously designing characteristic points serving as positioning references on a substructure; the self-positioning tool module and the operation module are transported to the vicinity of the installation position of the substructure operation through the logistics transportation module, and the self-positioning tool module is positioned and fixed by taking the characteristic points as references; and controlling the operation module to operate until the operation task of the last substructure is completed. The method combines the characteristics of the structure, selects or designs a proper operation module, designs a proper characteristic point and a self-positioning tool module, can quickly and conveniently position the operation module to an optimal operation position, realizes the full-automatic operation of the operation module on the target structure, does not need manual real-time observation and intervention, saves the working place, reduces the production cost, and has the characteristics of high compatibility and high flexibility. In addition, the application also provides a corresponding device for the structure manufacturing method, so that the method has more practicability, and the device has corresponding advantages.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing has outlined the more detailed description of the method and apparatus for manufacturing a structure in accordance with the present application, and the detailed description of the principles and embodiments of the application have been provided herein by way of example only to facilitate the understanding of the method and core concepts of the application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Claims (7)
1. A method of manufacturing a structure, comprising:
performing edge detection and fitting on a target structure, and dividing the target structure into a plurality of substructures; calculating the similarity between the substructures; determining whether the target structure is a periodic repeated structure according to the duty ratio of the similarity reaching a set threshold value;
after determining that the target structure is a periodic repeated structure, selecting or designing a working module according to the outline of the substructure, and calculating the coincidence ratio of the working envelope space of the working module and the outline of the substructure; when the overlap ratio is the maximum value, primarily determining the positioning range of the operation module; determining an optimal mounting position of the work module in the positioning range according to an optimal reachable pose and fixed portability of the work module;
according to the obtained optimal installation position, designing a self-positioning tool module, and simultaneously designing characteristic points serving as positioning references on a substructure;
transferring the self-positioning tool module and the operation module to the vicinity of the installation position of the substructure operation through a logistics conveying module, and positioning and fixing the operation module by taking the characteristic points as references; the logistics conveying module comprises a frame matrix and a flexible hoisting module; the flexible hoisting module comprises a movable suspension structure, a driving structure and a flexible structure; one end of the flexible hoisting module is connected with the frame base body through the movable suspension structure, and the other end of the flexible hoisting module is connected with the self-positioning tool module through the quick connection structure;
and controlling the operation of the operation module, and transferring the operation module through the logistics conveying module to realize repeated periodic operation of the operation module on the substructure until the operation task of the last substructure is completed.
2. The method of manufacturing a structure according to claim 1, further comprising, prior to selecting or designing the job module according to the sub-structure profile:
scanning the substructure to obtain point cloud data of the substructure;
and removing outliers through a filtering algorithm according to the obtained point cloud data, and extracting the substructures.
3. The structure manufacturing method according to claim 2, wherein positioning and fixing the work module by the self-positioning tool module with respect to the feature points includes:
aligning a positioning hole on a positioning block of the self-positioning tool module with the characteristic point on the substructure, inserting a positioning pin, and positioning the operation module;
and opening a powerful magnetic seat switch on the self-positioning tool module to fix the operation module.
4. A method of manufacturing a structure according to claim 3, wherein controlling the operation of the operation module, transferring the operation module through the logistics transport module to effect a repeated periodic operation of the operation module on the substructure until the operation task of the last substructure is completed, comprises:
controlling the operation module to operate one substructure, transferring the operation module to the next substructure through the logistics conveying module after the operation of the one substructure is completed, and repeating the periodic operation until the operation task of the last substructure is completed; or alternatively, the first and second heat exchangers may be,
and simultaneously controlling a plurality of operation modules to operate the plurality of substructures, transferring the plurality of operation modules to the other plurality of substructures through the logistics conveying module after the operation of the plurality of substructures is completed, and repeating the periodic operation until the operation task of the last substructures is completed.
5. The method of fabricating a structure according to claim 4, wherein the feature points are repeatedly used in cycles on each sub-structure workpiece;
the operation mode of the operation module comprises at least one of a non-contact operation mode and a contact mode; the operation objects of the operation module are points, lines, planes and bodies of the target structure.
6. A structure manufacturing apparatus that performs an operation using the structure manufacturing method according to any one of claims 1 to 5, comprising: the logistics conveying module, the self-positioning tool module and the operation module are arranged on the self-positioning tool module; wherein, the liquid crystal display device comprises a liquid crystal display device,
the logistics conveying module is used for transferring the self-positioning tool module and the operation module to the vicinity of the installation position of the substructure operation, and positioning and fixing the operation module by taking the characteristic points on the substructure as references; the logistics conveying module comprises a frame matrix and a flexible hoisting module; the flexible hoisting module comprises a movable suspension structure, a driving structure and a flexible structure; one end of the flexible hoisting module is connected with the frame base body through the movable hanging structure, and the other end of the flexible hoisting module is connected with the self-positioning tool module through the quick connecting structure.
7. The structure manufacturing apparatus according to claim 6, wherein the working module includes a body movement module and an end execution module;
the main body movement module is arranged on the self-positioning tool module; the end execution module is mounted on the main body movement module; the main body movement module is used for driving the end execution module to move in a specific track.
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