CN1232382C - General design method for positioning options of aperture system combined clamp - Google Patents

General design method for positioning options of aperture system combined clamp Download PDF

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CN1232382C
CN1232382C CN 03158227 CN03158227A CN1232382C CN 1232382 C CN1232382 C CN 1232382C CN 03158227 CN03158227 CN 03158227 CN 03158227 A CN03158227 A CN 03158227A CN 1232382 C CN1232382 C CN 1232382C
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gulde edge
algorithm
setting element
gulde
location
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CN1593844A (en
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吴玉光
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Changzhou Campus of Hohai University
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Changzhou Campus of Hohai University
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Abstract

The present invention aims at providing a general design method utilizing a computer to design hole system combined clamp positioning proposals, which comprises the following steps that the structure size of a three-dimensional solid model, a foundation plate and a setting element of a workpiece can be input into a computer; a main positioning datum surface and an alternate selection side positioning datum surface in the solid model of the workpiece are determined by human-computer interaction; the side positioning datum surface is projected on the foundation plate by the computer, and a positioning side collection E of the workpiece on a hole system combined clamp foundation plate is built; a module is determined by the computer utilizing positioning proposals, and the collection of the whole positioning proposals is completed; all the positioning proposals in the positioning proposal collection are optimized; the computer can one by one display three-dimensional solid models of the optimized positioning proposals. Because the method utilizes the computer, the positioning proposals have quick design and accuracy, and the work efficiency is largely enhanced. The method provides convenience for the use of a combined clamp.

Description

General Design Method for Hole Series Combined Fixture Positioning Scheme
Technical field
The present invention relates to the general design method of dowel-pin modular fixture targeting scheme.
Background technology
Anchor clamps are the devices that guarantee reliable location of workpiece and fixation workpiece, are the basic activities of production operation in many manufacturing links such as metal cutting processing, assembling, check to accurate location of workpiece and secure fixation.The hole is that the soleplate built-up jig has the locating hole of accurate spacing and the soleplate of fastener hole, according to the concrete shape of part, by forming an anchor clamps integral body on the suitable locating hole that fixture is placed in soleplate.Because the hole is that the soleplate built-up jig has good rigidly, fixture positioning accuracy and reliability height, advantages such as short and the flexible and fixture processing technology of built-up time is good make that the hole is that the soleplate built-up jig becomes current C NC system and uses the most rising built-up jig.
Anchor clamps need one can bear plane mainly stressed in the operation as main location benchmark usually, and this benchmark has limited 3 frees degree of workpiece.Key issue is to determine the setting element feasible location of other 3 frees degree of restriction in the design of built-up jig clamping targeting scheme.Usually these 3 frees degree are to realize by two or three sides perpendicular to the primary standard plane are positioned, because the setting element of dowel-pin modular fixture can only be installed on the locating hole of soleplate, step-less adjustment can not be carried out according to the contour shape of workpiece in the position of setting element, the clamping targeting scheme design of dowel-pin modular fixture is very difficult, and this is the main cause that causes dowel-pin modular fixture still can not be generalizable since invention over half a century.At present, designing a trepanning is the combination-fixture component combination, basically be rely on designer personal experience, intuition and repeatedly examination gather, randomness is bigger, also need adopt the adjustable bit units of adjusting such as eccentric bushing to adjust the gap of alignment pin and workpiece at last, efficient is very low, and positioning accuracy is difficult to also guarantee that the result of design often is not optimum.
Summary of the invention
The objective of the invention is to propose a kind of general design method that utilizes computer design dowel-pin modular fixture targeting scheme.
The soleplate of dowel-pin modular fixture of the present invention is provided with the locating hole that rectangular array is arranged, setting element is straight pin and half " V " shape piece, and computer is a known computer, and for achieving the above object, method for designing comprises the following steps:
The first step: physical dimension from workpiece to computer that import three-dimensional entity model, soleplate and the setting element of;
Second step: main location datum level and the candidate's side location datum level in the workpiece physical model determined in man-machine interaction;
The 3rd step: computer is located side for datum level and carry out projection on soleplate, but sets up the gulde edge set E of workpiece on the dowel-pin modular fixture soleplate;
The 4th step: computer is enabled the targeting scheme determination module, wherein belongs to the targeting scheme determination module M of 3-2-1 locate mode 321But locate benchmark, finish whole targeting schemes set that all two gulde edges make up among the gulde edge set E as the side with two gulde edges; The targeting scheme determination module M that belongs to the 3-3 locate mode 33But locate benchmark, finish whole targeting schemes set that all three gulde edges make up among the gulde edge set E as the side with three gulde edges;
The 5th step: all targeting schemes in the targeting scheme set are carried out preferably, choose 50 with interior preferred orientation scheme;
The 6th step: computer shows the three-dimensional entity model of preferred orientation scheme one by one.
Above-mentioned 3-2-1 mode targeting scheme module M 321Flow process as follows:
(1) but judge among the gulde edge set E whether the gulde edge e that does not handle as first gulde edge is arranged i(e iBelong to E, i=1, n); As be judged as not, then flow process finishes;
(2) be judged as step () and be, then get undressed gulde edge, judge whether first gulde edge is straight line as first gulde edge;
(3) be judged as step (two) and be;
1. enable submodule M 321-1, be the setting element of location first gulde edge by two straight pins, take S 1Algorithm is set up and the first gulde edge e iThe feasible location S set of first and second setting element that keeps in touch I1Pair set S I1In each element, finish following operation: remove the first gulde edge e among the gulde edge set E but get iOuter other gulde edge e j, (j=1, n, j ≠ i) one by one as second gulde edge, be straight line as second gulde edge, by the setting element of straight pin, then take L as location second gulde edge 11Algorithm is set up targeting scheme set L I11, be circular arc as second gulde edge, by straight pin and the setting element of half " V " shape piece, then take L respectively respectively as location second gulde edge 12, L 13Algorithm is set up targeting scheme set L I12And L I13, until S set I1Middle all elements is all finished above operation;
2. return step ();
(4) be judged as not as step (two), then the first gulde edge e iIt is circular arc;
1. enable submodule M 321-2, be the setting element of location first gulde edge by two straight pins, take S 2Algorithm is set up and the first gulde edge e iThe feasible location S set of first and second setting element that keeps in touch I2Pair set S I2In each element, finish following operation: remove the first gulde edge e among the gulde edge set E but get iOuter other gulde edge e j, (j=1, n, j ≠ i) one by one as second gulde edge, be straight line as second gulde edge, be the setting element of location second gulde edge by straight pin, then take L 21Algorithm is set up targeting scheme set L I21, be circular arc as second gulde edge, by straight pin and the setting element of half " V " shape piece, then take L respectively respectively as location second gulde edge 22And L 23Algorithm is set up targeting scheme set L I22And L I23, until S set I2Middle all elements is all finished above operation;
2. enable submodule M 321-3, be the setting element of location first gulde edge by a straight pin and half " V " shape piece, take S 3Algorithm is set up and the first gulde edge e iThe feasible location S set of first and second setting element that keeps in touch I3Pair set S I3In each element, finish following operation: remove the first gulde edge e among the gulde edge set E but get iOuter other gulde edge e j, (j=1, n, j ≠ i) one by one as second gulde edge, be straight line as second gulde edge, by the setting element of straight pin, then take L as location second gulde edge 31Algorithm is set up targeting scheme set L I31, be circular arc as second gulde edge, by straight pin and the setting element of half " V " shape piece, then take L respectively respectively as location second gulde edge 32And L 33Algorithm is set up targeting scheme set L I32And L I33, until S set I3Middle all elements is all finished above operation;
3. enable submodule M 321-4,, take S by the setting element of two halves " V " shape piece for location first gulde edge 4Algorithm is set up and the first gulde edge e iThe feasible location S set of first and second setting element that keeps in touch I4Pair set S I4In each element, finish following operation: remove the first gulde edge e among the gulde edge set E but get iOuter other gulde edge e j, (j=1, n, j ≠ i) one by one as second gulde edge, be straight line as second gulde edge, by the setting element of straight pin, then take L as location second gulde edge 41Algorithm is set up targeting scheme set L I41, be circular arc as second gulde edge, then, take L respectively respectively by straight pin and the setting element of half " V " shape piece as location second gulde edge 42And L 43Algorithm is set up targeting scheme set L I42And L I43, until S set I4Middle all elements is all finished above operation;
4. return step ().
The above-mentioned 3-3 mode targeting scheme module M that belongs to 33Flow process comprise the steps:
(1) but judge the gulde edge combination e that whether has among the gulde edge set E not as first and second gulde edge combined treatment i, e j(i=1, n j=i+1, n); As be judged as not, then flow process finishes;
(2) be judged as step () and be, then get undressed two gulde edges combination first and second gulde edge combination, judge whether combination is the combination of two sections straight lines as targeting scheme;
(3) be judged as step (two) and be;
1. enable submodule M 33-1, be the setting element of locating first and second gulde edge respectively by two straight pins, take T 1Algorithm is set up respectively and the first gulde edge e iWith the second gulde edge e jThe feasible location set T of first and second setting element that keeps in touch I1Pair set T I1In each element, finish following operation: remove first and second gulde edge e among the gulde edge set E but get i, e jOuter other gulde edge e k, (k=1, n, k ≠ i, k ≠ j) one by one as the 3rd gulde edge, be straight line or circular arc as the 3rd gulde edge, by the setting element of straight pin, then take Q as location the 3rd gulde edge 11Algorithm is set up targeting scheme set Q I11As the 3rd gulde edge is circular arc, by the setting element of half " V " shape piece as location second gulde edge, then takes Q 12Algorithm is set up targeting scheme set Q I12Until set T I1Middle all elements is all finished above operation;
2. return step ();
(4) be not judged as not as step (two), judge further then whether first and second gulde edge combination is the combination of circular arc limit, as be judged as and be;
1. enable submodule M 33-2, be the setting element of locating first and second gulde edge respectively by two straight pins, take T 2Algorithm set up respectively with the first gulde edge ei (i=1, n) and the second gulde edge e j, (j=1, n, j ≠ i), the feasible location of first and second setting element that keeps in touch set T I2Pair set T I2In each element, finish following operation: remove first and second gulde edge e among the gulde edge set E but get i, e jOuter other gulde edge e k, (k=1, n, k ≠ i, k ≠ j) one by one as the 3rd gulde edge, be straight line or circular arc as the 3rd gulde edge, by the setting element of straight pin, then take Q as location the 3rd gulde edge 21Algorithm is set up targeting scheme set Q I21, be circular arc as the 3rd gulde edge, by the setting element of half " V " shape piece, then take Q as location second gulde edge 22Algorithm is set up targeting scheme set Q I22, until set T I2Middle all elements is all finished above operation;
2. enable submodule M 33-3, be the setting element of locating first and second gulde edge respectively by a straight pin and half " V " shape piece, take T 3Algorithm is set up respectively and the first gulde edge e i(i=1 is n) with the second gulde edge e j(j=1, n, the feasible location set T of first and second setting element of j ≠ i) keep in touch I3Pair set T I3In each element, finish following operation: remove first and second gulde edge e among the gulde edge set E but get i, e jOuter other gulde edge e k, (k=1, n, k ≠ i, k ≠ j) one by one as the 3rd gulde edge; As the 3rd gulde edge is straight line or circular arc, by the setting element of straight pin as location the 3rd gulde edge, then takes Q 31Algorithm is set up targeting scheme set Q I31As the 3rd gulde edge is circular arc, by the setting element of half " V " shape piece as location second gulde edge, then takes Q 32Algorithm is set up targeting scheme set Q I32, until set T I3Middle all elements is all finished above operation;
3. enable submodule M 33-4, for locating the setting element of first and second gulde edge respectively, take T by two halves " V " shape piece 4Algorithm is set up respectively and the first gulde edge e i(i=1 is n) with the second gulde edge e j(j=1, n, the feasible location set T of first and second setting element of j ≠ i) keep in touch I4Pair set T I4In each element, finish following operation: remove first and second gulde edge e among the gulde edge set E but get i, e jOuter other gulde edge e k, (k=1, n, k ≠ i, k ≠ j) one by one as the 3rd gulde edge; As the 3rd gulde edge is straight line or circular arc, and straight pin is taked Q as the setting element of location the 3rd gulde edge 41Algorithm is set up targeting scheme set Q I41As the 3rd gulde edge is circular arc, and the setting element of locating second gulde edge is half " V " shape piece, takes Q 42Algorithm is set up targeting scheme set Q I42, until set T I4Middle all elements is all finished above operation;
4. return step ();
(5) be judged as not as step (four), then first and second gulde edge combination is straight line and the combination of circular arc limit;
1. enable submodule M 33-5, be respectively the setting element of locating first and second gulde edge by two straight pins, take T 5Algorithm is set up respectively and the first gulde edge e i(i=1 is n) with the second gulde edge e j(j=1, n, the feasible location set T of first and second setting element of j ≠ i) keep in touch I5Pair set T I5In each element, finish following operation: remove first and second gulde edge e among the gulde edge set E but get i, e jOuter other gulde edge e k, (k=1, n, k ≠ i, k ≠ j), one by one as the 3rd gulde edge, be straight line or circular arc as the 3rd gulde edge, straight pin is then taked Q as the setting element of location the 3rd gulde edge 51Algorithm is set up targeting scheme set Q I51, be circular arc as the 3rd gulde edge, by the setting element of half " V " shape piece, then take Q as location second gulde edge 52Algorithm is set up targeting scheme set Q I52, until set T I5Middle all elements is all finished above operation;
2. enable submodule M 33-6, be respectively the setting element of locating first and second gulde edge by a straight pin and half " V " shape piece, take T 6Algorithm is set up respectively and the first gulde edge e i(i=1 is n) with the second gulde edge e j(j=1, n, the feasible location set T of first and second setting element of j ≠ i) keep in touch I6Pair set T I6In each element, remove first and second gulde edge e among the gulde edge set E but get i, e jOuter other gulde edge e k, (k=1, n, k ≠ i, k ≠ j) one by one as the 3rd gulde edge; As the 3rd gulde edge is straight line or circular arc, by the setting element of straight pin as location the 3rd gulde edge, then takes Q 61Algorithm is set up targeting scheme set Q I61As the 3rd gulde edge is circular arc, by the setting element of half " V " shape piece as location second gulde edge, then takes Q 62Algorithm is set up targeting scheme set Q I62, until set T I6Middle all elements is all finished above operation;
3. return step ().
Above-mentioned preferred orientation scheme is taked following evaluate alternatives function: the F=∑ iw iF i
In the formula: F iBe the index of i factor of influence, wi is the weight of i the factor.
Above-mentioned soleplate physical dimension comprises the aperture and the pitch-row of locating hole on the size dimension, soleplate of soleplate, and the setting element physical dimension comprises that fastener hole on half " V " shape piece is apart from the distance at edge.
The present invention so the design of targeting scheme is quick, accurate, has improved operating efficiency, for the use of built-up jig is provided convenience owing to utilize computer greatly.Built-up jig can be save adjustable setting elements such as eccentric bushing, reduces the cost of built-up jig.
Description of drawings
Fig. 1 is a flow chart of the present invention;
Fig. 2 is the flow chart of the 3-2-1 mode targeting scheme module of locating;
Fig. 3 is the element targeting scheme collecting structure that the 3-2-1 mode is located;
Fig. 4 is the flow chart of the 3-3 mode targeting scheme module of locating;
Fig. 5 is the element targeting scheme collecting structure figure that the 3-3 mode is located;
Fig. 6 is half " V " shape block structural diagram;
Fig. 7-the 10th, the various arrangement forms of two halves " V " shape piece;
Figure 11 is M 321-1Submodule is set up the targeting scheme S set I1S 1The algorithm demonstration graph;
Figure 12-the 13rd, M 321-3Submodule is set up the targeting scheme S set I3S 3The algorithm demonstration graph;
Figure 14-the 18th, M 321-4Submodule is set up the targeting scheme S set I4S 4The algorithm demonstration graph;
Figure 19 is M 321-1Submodule is set up targeting scheme set L I11L 11The algorithm demonstration graph;
Figure 20 is M 321-1Submodule is set up targeting scheme set L I12L 12The algorithm demonstration graph;
Figure 21-the 22nd, M 321-1Submodule is set up targeting scheme set L I13L 13The algorithm demonstration graph;
Figure 23 is M 321-2Submodule is set up targeting scheme set L I21L 21The algorithm demonstration graph;
Figure 24 is M 321-2Submodule is set up targeting scheme set L I22L 21The algorithm demonstration graph;
Figure 25-the 26th, M 321-2Submodule is set up targeting scheme set L I31L 23The algorithm demonstration graph;
Figure 27 is M 321-2Submodule is set up targeting scheme set L I31L 31The algorithm demonstration graph;
Figure 28 is M 321-2Submodule is set up targeting scheme set L I32L 32The algorithm demonstration graph;
Figure 29-the 30th, M 321-2Submodule is set up targeting scheme set L I33L 33The algorithm demonstration graph;
Figure 31 is M 321-2Submodule is set up targeting scheme set L I41L 41The algorithm demonstration graph;
Figure 32 is M 321-2Submodule is set up targeting scheme set L I42L 42The algorithm demonstration graph;
Figure 33-the 34th, M 321-4Submodule is set up targeting scheme set L I43L 43The algorithm demonstration graph;
Figure 35 is M 33-1Submodule is set up targeting scheme set T I1T 1The algorithm demonstration graph;
Figure 36-the 37th, M 33-3Submodule is set up targeting scheme set T I3T 3The algorithm demonstration graph;
Figure 38-the 41st, M 33-4Submodule is set up targeting scheme set T I4T 4The algorithm demonstration graph;
Figure 42-the 43rd, the 3-3 mode is located the algorithm principle figure that sets up the targeting scheme set;
Figure 44 is M 33-1Submodule is set up targeting scheme set Q I11Q 11The algorithm demonstration graph;
Figure 45 is M 33-1Submodule is set up targeting scheme set Q I12Q 12The algorithm demonstration graph;
Figure 46 is M 33-2Submodule is set up targeting scheme set Q I21Q 21The algorithm demonstration graph;
Figure 47 is M 33-2Submodule is set up targeting scheme set Q I22Q 22The algorithm demonstration graph;
Figure 48-the 49th, M 33-3Submodule is set up targeting scheme set Q I31Q 31The algorithm demonstration graph;
Figure 50-the 51st, M 33-3Submodule is set up targeting scheme set Q I32Q 32The algorithm demonstration graph;
Figure 52-the 53rd, M 33-4Submodule is set up targeting scheme set Q I41Q 41The algorithm demonstration graph;
Figure 54-the 55th, M 33-4Submodule is set up targeting scheme set Q I42Q 42The algorithm demonstration graph;
Figure 56 is M 33-5Submodule is set up targeting scheme set Q I51Q 51The algorithm demonstration graph;
Figure 57 is M 33-5Submodule is set up targeting scheme set Q I52Q 52The algorithm demonstration graph;
Figure 58-the 59th, M 33-5Submodule is set up targeting scheme set Q I61Q 61The algorithm demonstration graph;
Figure 60-the 61st, M 33-5Submodule is set up targeting scheme set Q I62Q 62The algorithm demonstration graph.
The specific embodiment
The soleplate of dowel-pin modular fixture is provided with locating hole and the fastener hole that rectangular array is arranged, setting element is straight pin and half " V " shape piece, straight pin can directly insert in the locating hole, the contour shape of half " V " shape piece is an isosceles right triangle, as shown in Figure 6, half " V " shape piece is provided with locating hole and fastener hole, can locate on the soleplate and be fixed on the soleplate by alignment pin.Many locate modes can be formed in three limits of two and half " V " shape piece, shown in Fig. 7～10.
The present invention adopts known computer, with " C ++" Programming with Pascal Language, step of the present invention as shown in Figure 1:
The first step: to three-dimensional entity model and the soleplate and the setting element physical dimension of computer input workpiece.
The soleplate physical dimension comprises the aperture and the pitch-row of locating hole on the size dimension, soleplate of soleplate, the setting element physical dimension comprises the size dimension, the fastener hole on half " V " shape piece of half " V " shape piece distance H, the T (see figure 6) apart from the edge, locating hole the and partly aperture of the locating hole of " V " shape piece is identical on the diameter of straight pin and the soleplate.
Second step: main location datum level and the side location datum level in the workpiece physical model determined in man-machine interaction.
Because the locating surface of built-up jig setting element is perpendicular to the primary standard plane, therefore located for the side of workpiece is necessarily perpendicular to the primary standard plane, when with workpiece during to the primary standard plane projection, this moment workpiece the side be projected as the general contour shape of forming by straight line and circular arc.Therefore the projection to the side is the problem that straight line and circular arc position to the side orientation problem of workpiece on the datum plane of main location with regard to being converted into;
The 3rd step: but computer is set up the gulde edge set E of workpiece on the dowel-pin modular fixture soleplate automatically.
But the gulde edge among the present invention occurs with two kinds of forms, and first kind is the projection of side-locating face on soleplate of workpiece, i.e. straightway and arc section; Second kind is the equal space line of the projection line of side-locating face on soleplate of workpiece, and equal space line is straight line and arc section equally, and the distance of its equal space line is the straight pin radius value.Select the form of different gulde edges respectively for use according to different setting element types, promptly, in the algorithm of determining half " V " shape piece feasible location, select projection line for use in the algorithm of determining the straight pin feasible location, selecting equal space line for use.
The 4th step: computer is enabled the targeting scheme module.
The targeting scheme module comprises 3-2-1 mode targeting scheme module M 321With 3-3 mode targeting scheme module M 33
The targeting scheme module M that wherein belongs to the 3-2-1 locate mode 321But but to finish taking two gulde edges among the gulde edge set E and locate the targeting scheme set (see figure 2) that first gulde edge, the 3rd setting element are located second gulde edge by two setting elements, each element of above-mentioned targeting scheme set comprises information (as shown in Figure 3) such as the type of three setting elements, position, direction.The targeting scheme module M that belongs to the 3-3 locate mode 33But but but finish targeting scheme set (see figure 4) to taking three gulde edges among the gulde edge set E and three setting elements to locate three gulde edges respectively, each element of above-mentioned targeting scheme set comprises information (as shown in Figure 5) such as the type of three setting elements, position, direction.
The 5th step: the targeting scheme in all targeting scheme set is carried out preferably.
In order to select best targeting scheme the targeting scheme that satisfies property easy to loading and unloading and the requirement of clamping property from all, need estimate targeting scheme, the quality with the scheme of clamping is located in quantification.In set of 3-2-1 mode targeting scheme and the set of 3-3 mode targeting scheme, choose 50 altogether with interior preferred orientation scheme, generally choose 30 with interior preferred orientation scheme.
The quality of an anchor clamps scheme depends on many factors, and the quality of accurately estimating the anchor clamps scheme is the problem of very complicated and difficulty.The present invention only considers these influence factors from geometric angle, determines the quality index of the location and the scheme of clamping qualitatively.The anchor clamps evaluate alternatives function of comprehensive multiple factor is as follows:
The F=∑ iw iF iIn the formula: F iBe the index of i factor of influence, wi is the weight of i the factor.
Factor of influence comprises alignment quality, loading and unloading quality and clamps quality.The factor of influence Fi that the present invention considers has three, and concrete numerical value allows user's input, embodies user's intervention capacity, and default value is 1.
Weighted factor wi is divided into, better, general three grades, corresponding respectively concrete numerical value is 3,2,1.
The concrete meaning of weighted factor grade is as follows:
A, alignment quality factor
Targeting scheme is good: the workpiece gulde edge is two straight lines, and the gulde edge number is few more, the easy more assurance of precision.
Targeting scheme is better: the workpiece gulde edge is three straight lines or dome arc, and perhaps workpiece gulde edge quantity is two, but a dome arc is wherein arranged.
Targeting scheme is general: the workpiece gulde edge has three, and concave arc is wherein arranged.
B, loading and unloading qualitative factor
Property easy to loading and unloading is good: if there is the translating, loading and unloading motion in targeting scheme, and feasible direction cone is greater than 90 °.
Property easy to loading and unloading is better: if there is the translating, loading and unloading motion in targeting scheme, but feasible direction cone is less than 90 °.Perhaps the rotating fulcrum number of rotation loading and unloading motion is greater than 2.
Property easy to loading and unloading is general: the rotation loading and unloading motion of targeting scheme has only a rotating fulcrum.
C, clamping qualitative factor
Clamping property is good: there is straight line in the gripper edge of workpiece, and gripper edge quantity more than the angle between the direction of motion of the executive item of or gripper edge and clamping device less than 30 °.
Clamping property is better: there is straight line in the gripper edge of workpiece, but the angle of the gripper edge and the clamping device direction of motion is greater than 30 °.
Clamping property is general: the gripper edge of workpiece is the circular arc limit.
The 6th step: computer shows the three-dimensional entity model of preferred orientation scheme.
According to the three-dimensional entity model of preferred orientation scheme, can finish the location of workpiece on the soleplate of dowel-pin modular fixture by hand, also can finish the location of workpiece on the soleplate of dowel-pin modular fixture by manipulator.
Above-mentioned 3-2-1 mode targeting scheme module M 321Flow process as shown in Figure 2:
(1) but judge among the gulde edge set E whether the gulde edge e that does not handle as first gulde edge is arranged i(e iBelong to E, i=1, n); As be judged as not, then flow process finishes;
(2) being judged as step () is then to get undressed gulde edge as the first gulde edge e i, judge whether first gulde edge is straight line;
(3) be judged as step (two) and be;
1. enable submodule M 321-1, be the setting element of location first gulde edge by two straight pins, take S 1Algorithm is set up and the first gulde edge e iThe feasible location S set of first and second setting element that keeps in touch I1S set I1In the content of each element comprise the position of the type of two setting elements, two setting elements, the type and the position of two gulde edges that setting element contacted; Corresponding S set I1In each element, finish following operation: remove the first gulde edge e among the gulde edge set E but get iOuter other gulde edge e j, (j=1, n, j ≠ i) one by one as second gulde edge, be straight line as second gulde edge, by the setting element of straight pin, then take L as location second gulde edge 11Algorithm is set up targeting scheme set L I11, be circular arc as second gulde edge, by straight pin and the setting element of half " V " shape piece, then take L respectively respectively as location second gulde edge 12, L 13Algorithm is set up targeting scheme set L I12And L I13, until S set I1Middle all elements is all finished above operation;
2. return step ();
(4) be judged as not as step (two), then the first gulde edge e iIt is circular arc;
1. enable submodule M 32-2, be the setting element of location first gulde edge by two straight pins, take S 2Algorithm is set up and the first gulde edge e iThe feasible location S set of first and second setting element that keeps in touch I2S set I2In the content of each element comprise the position of the type of two setting elements, two setting elements, the type and the position of two gulde edges that setting element contacted; Corresponding S set I2In each element, finish following operation: remove the first gulde edge e among the gulde edge set E but get iOuter other gulde edge e j, (j=1, n, j ≠ i) one by one as second gulde edge, be straight line as second gulde edge, be the setting element of location second gulde edge by straight pin, then take L 21Algorithm is set up targeting scheme set L I21, be circular arc as second gulde edge, by straight pin and the setting element of half " V " shape piece, then take L respectively respectively as location second gulde edge 22And L 23Algorithm is set up targeting scheme set L I22And L I23, until S set I2Middle all elements is all finished above operation;
2. enable submodule M 321-3, be the setting element of location first gulde edge by a straight pin and half " V " shape piece, take S 3Algorithm is set up and the first gulde edge e iThe feasible location S set of first and second setting element that keeps in touch I3S set I3In the content of each element comprise the position of the type of two setting elements, two setting elements, the type and the position of two gulde edges that setting element contacted; Corresponding S set I3In each element, finish following operation: remove the first gulde edge e among the gulde edge set E but get iOuter other gulde edge e j, (j=1, n, j ≠ i) one by one as second gulde edge, be straight line as second gulde edge, by the setting element of straight pin, then take L as location second gulde edge 31Algorithm is set up targeting scheme set L I31, be circular arc as second gulde edge, by straight pin and the setting element of half " V " shape piece, then take L respectively respectively as location second gulde edge 32And L 33Algorithm is set up targeting scheme set L I32And L I33, until S set I3Middle all elements is all finished above operation;
3. enable submodule M 321-4,, take S by the setting element of two halves " V " shape piece for location first gulde edge 4Algorithm is set up and the first gulde edge e iThe feasible location S set of first and second setting element that keeps in touch I4S set I4In the content of each element comprise the position of the type of two setting elements, two setting elements, the type and the position of two gulde edges that setting element contacted; Corresponding S set I4In each element, finish following operation: remove the first gulde edge e among the gulde edge set E but get iOuter other gulde edge e j, (j=1, n, j ≠ i) one by one as second gulde edge, be straight line as second gulde edge, by the setting element of straight pin, then take L as location second gulde edge 41Algorithm is set up targeting scheme set L I41, be circular arc as second gulde edge, then, take L respectively respectively by straight pin and the setting element of half " V " shape piece as location second gulde edge 42And L 43Algorithm is set up targeting scheme set L I42And L I43, until S set I4Middle all elements is all finished above operation;
4. return step ().
Above-mentioned set L I11, L I12, L I13, L I21, L I22, L I23, L I31, L I32, L I33, L I41, L I42, L I43Each element comprise the information such as type, position, direction of three setting elements, the whole targeting schemes of 3-2-1 mode are by forming with upper set.
Above-mentioned targeting scheme module M 321Flow process in S 1, S 2, S 3, S 4, L 11, L 12, L 13, L 21, L 22, L 23, L 31, L 32, L 33, L 41, L 42, L 43Algorithm is as follows.Because the relative position of targeting scheme major concern setting element on soleplate, no matter locating two setting elements of first gulde edge is that type, therefore stipulating that first setting element is the initial point that is positioned at the soleplate coordinate system, is exactly the feasible location set of second setting element on the feasible location collective entity of preceding like this two setting elements.
Above-mentioned targeting scheme module M 321In the flow process, S 1Algorithm is at the situation by two straight pins location straight line.S 1Algorithm is as follows: as shown in figure 11, because first straight pin is positioned at the initial point of soleplate coordinate system, the center of circle of the second straight pin position is in an annulus of initial point, can obtain the feasible location of second straight pin on the soleplate according to circle ring area, the radius of this annulus outer shroud be exactly can be simultaneously with two straight pins that given gulde edge contacts between ultimate range l Max, interior ring radius is the minimum range l between two anchor points allowing of clamp structure MinFor the straight line gulde edge, two anchor point ultimate ranges are gulde edge length, and the minimum range between two anchor points is for depending on clamp structure, as the locating hole spacing of soleplate or the data of user's input.Because locating hole arranges that with rectangular array the location situation of each quadrant is the same on the soleplate, so we only need to consider the first quartile part.If locating hole and the screw hole spacing on coordinate direction is T, the position number (u of second alignment pin on soleplate so 2, v 2) should satisfy condition:
u 2, v 2=0～INT (l Max/ T) (1) and l min ≤ T × u 2 2 + v 2 2 + ≤ l max .
Above-mentioned targeting scheme module M 321In the flow process, S 2Algorithm is at the situation by circular arc limit, two straight pins location, so S 2Algorithm basically with S 1Algorithm is the same, can be referring to Figure 11, difference be two anchor point ultimate ranges except and the circular arc two-end-point between distance dependent, also depend on the size of circular arc central angle; If the circular arc central angle is less than 180 °, ultimate range is the distance between the circular arc end points.When if the equidistant limit of circular arc surpasses semicircle, the ultimate range between two anchor points is the diameter of circular arc.
Above-mentioned targeting scheme module M 321In the flow process, S 3Algorithm is the situation at a straight pin and circular arc limit, half " V " shape piece location.Because the first gulde edge circular arc R can contact with the arbitrfary point on half " V " shape piece hypotenuse, and circular arc R is in that guarantee under the prerequisite that contact with half " V " shape piece can also be around self center rotation, the feasible location that therefore can guarantee the straight pin that contacts with circular arc R gather be the circular arc limit R of workpiece on the hypotenuse of " V " shape piece partly rolling and slip and on the soleplate plane inswept zone.S 3Algorithm is shown in Figure 12-13, and specific algorithm is as follows: the first gulde edge circular arc R of translation and turning of work piece, make circular arc R starting point b just with tangent contact of hypotenuse end points of half " V " shape piece, the center of circular arc R is the d point at this moment.With the angle of circular arc R around a suitable circular arc R central angle of center of circle d clockwise direction rotation, this moment, the starting point b of circular arc R arrived the c point.With circular arc a-b-c along V 1Hypotenuse length of hypotenuse translation, then circular arc a-b-c scans out a regional a-b-c-c '-b '-a '-a (seeing Figure 12).Because the feasible location of straight pin is represented with the center of straight pin, therefore also this closed area will be needed again outwards expansion, the distance of expansion is the straight pin radius value.Distance is outwards done on whole circular arcs limit in this zone be the equal space line of straight pin radius.With joining end to end of these equal space lines, form a new closed area a-b-c-c '-b '-a '-a (seeing Figure 13), can obtain the feasible location S of second straight pin on the soleplate according to formed new closed area I3Set.
Above-mentioned targeting scheme module M 321In the flow process, S 4Algorithm is at circular arc limit, two halves " V " shape piece location situation.S 4Algorithm is shown in Figure 14-18, wherein Figure 14 is that two and half " V " shape piece and the workpiece first gulde edge circular arc R are with 45 ° of location, regulation half " V " shape piece V1 is positioned at the soleplate initial point and contacts with circular arc R with hypotenuse, and second half " V " shape piece V2 contacts with circular arc R with vertical edges.The solid line circular arc represents respectively that with the dotted line circular arc circular arc R can guarantee two extreme positions that contact with the hypotenuse of first half " V " shape piece, to each extreme position of circular arc R, second half " V " shape piece V2 all exists two can guarantee the extreme position that contacts with circular arc R in vertical direction.Therefore according to above analysis,, the initial point of second half " V " shape piece can guarantee all within the parallelogram a-b-c-d that two and half " V " shape piece and same arc section R keep in touch as long as being positioned at.Can obtain the feasible location S set of second half " V " shape piece on the soleplate according to this zone I4The contacting gulde edge and can have multiple of two and half " V " shape piece and workpiece, Figure 15 is that two and half " V " shape piece contacts the another kind of arrangement form in location with the workpiece circular arc R with 45 °, Figure 16 is that two and half " V " shape piece contacts the location with the workpiece circular arc R with 90 °, Figure 17 is that two and half " V " shape piece contacts the location with the workpiece circular arc R with 135 °, and Figure 18 is that two and half " V " shape piece contacts another arrangement form of locating with the workpiece circular arc R with 135 °.Asking S set I4The time, must consider above-mentioned various arrangement form, S set I4Union for the subclass under the above-mentioned various arrangement forms.The different collocation forms that have to be noted that two and half " V " shape piece equally have different requirements to circular arc R central angle size, and central angle at least must be greater than the folded angle of gulde edge normal of two and half " V " shape piece.
Above-mentioned targeting scheme module M 321In the flow process, L 11Algorithm is corresponding S set 1iIn an element, and be straight line at second gulde edge, the 3rd setting element is the situation of straight pin, determines whole feasible location set of the straight pin on second limit, location.L 11Algorithm as shown in figure 19, P1, P2 are the equal space line e of first gulde edge 1Last two straight pin positions, this equal space line keep with condition that preceding two straight pin centers contact under be d with respect to the permission displacement of soleplate, the equal space line e of the second gulde edge of workpiece at this moment 2Scan out closed area a-b-b ' a '-a on soleplate, this zone is the feasible location set at the 3rd straight pin center on the soleplate, can obtain targeting scheme set L according to this zone I11D among the figure 0Value be used for determining workpiece under current location in order to keep in touch the distance that workpiece must move along the P2-P1 direction with three straight pins.
Above-mentioned targeting scheme module M 321In the flow process, L 12Algorithm is corresponding S set I1In an element, and be circular arc at second gulde edge, the 3rd setting element is under the situation of straight pin, determines the whole feasible position location set of the straight pin on second limit, location.This algorithm and L 11The class of algorithms seemingly, as shown in figure 20, the calculating of difference sweeping area when scanning with the circular arc limit.When the radius vectors line on sweep directions and circular arc limit was vertical, sweeping area can produce selfing, and this moment need be with second gulde edge e 2At the radius vectors line position vertical with sweep directions with e 2Segment processing.Because e 2The radius vectors line vertical at c point place with sweep directions, sweeping area produces selfing.With e 2In the punishment of c point is two sections, and then sweeping area is divided into two part: a-c-c '-a '-a and c-b-b '-c '-c.This zone is the feasible location set at the 3rd straight pin center on the soleplate, can obtain targeting scheme set L according to this two parts zone I12
Above-mentioned targeting scheme module M 321In the flow process, L 13Algorithm is corresponding S set I1In an element, and be circular arc at second gulde edge, the 3rd setting element is under the situation of half " V " shape piece, determines whole feasible location set of half " V " shape piece on second limit, location.Though half " V " shape piece can adopt different orientation and three limits all can be used for the location, the algorithm of setting up targeting scheme when different azimuth and gulde edge position is duplicate.L 13Algorithm is shown in Figure 21-22, because half " V " shape piece can have four installation directions, therefore three gulde edges of half " V " shape piece can form 8 angles such as 0 °, 45 °, 90 °, 135 °, 180 °, 225 °, 270 °, 315 ° with x axle forward, and promptly half " V " shape piece can contact with 8 position tangent lines of circular arc.With the feasible location set method for solving and the process of half " V " shape piece of the tangent contact of this 8 positions of second circular arc is identical, below with the 3rd setting element half " V " shape piece V 3Hypotenuse be example as gulde edge, imagine the 3rd half " V " shape piece V 3The position that is positioned on the soleplate is (x ', y '), second location circular arc R 2Radius be r, make the 3rd half " V " shape piece V of diagram position (x ', y ') 3The equal space line of hypotenuse, the distance between the equal space line are workpiece location circular arc R 2Radius.Because the feasible location of the 3rd half " V " shape piece can be on all locating holes of soleplate, so in fact equal space line forms a L of equal space line family 2Obviously, guarantee circular arc R 2Half " V " shape piece V with shown position 3Hypotenuse contact, circular arc R then 2The center of circle one be positioned the L of equal space line family 2Straight line on.Therefore, guaranteeing e 1With preceding two alignment pin P 1, P 2Translation workpiece under the prerequisite of contact makes R 2The center of circle be positioned on this straight line, just can make R 2With V 3Gulde edge contact.R 2Intersection points such as deferent and equal space line family can both make R 2With V 3Gulde edge contact, to R 2The position of intersecting point that each of the center of circle is such, half " V " shape piece V 3All there are two extreme positions.Obtain R 2Deferent and the intersection point of equal space line family cathetus, these intersection points and half " V " shape piece V 3Two extreme positions constitute V together 3Whole areas of feasible solutions, as the dashed region a-b-c-d-a of figure.Can obtain targeting scheme set L according to this zone I13
Above-mentioned targeting scheme module M 321In the flow process, L 21Algorithm is corresponding S set I2In an element, and be straight line at second gulde edge, the 3rd setting element is the situation of straight pin, L 21Algorithm as shown in figure 23 because the first gulde edge e 1Be circular arc R 1This circular arc keep with condition that two straight pins contact under be φ with respect to the permission rotational angle of soleplate, this moment, the second gulde edge straight line L of workpiece scanned out closed area a-b-b '-a '-a on soleplate, this zone is the feasible location set at the 3rd straight pin center on the soleplate, can obtain targeting scheme set L according to this zone I21Use the corner parameter phi this moment 0Value is determined the relative position relation of workpiece, straight pin and soleplate.It should be noted that equally also may there be the selfing situation in closed area a-b-b '-a '-a, if cross the first gulde edge R 1The center of circle make the vertical line of L, if intersection point on second gulde edge L, then the closed area just produces selfing, therefore second gulde edge L must be divided into two sections in the intersection point position, asks the closed area then respectively.
Above-mentioned targeting scheme module M 321In the flow process, L 22Algorithm is corresponding S set I2In an element, and be that circular arc, the 3rd setting element are the situations of straight pin at second gulde edge, L 22Algorithm as shown in figure 24 because the first gulde edge e 1Be circular arc R 1, this circular arc R 1Keep with condition that two straight pins contact under be φ with respect to the permission rotational angle of soleplate, the second gulde edge circular arc limit R of workpiece at this moment 2Scan out closed area a-b-b '-a '-a on soleplate, this zone is the feasible location set at the 3rd straight pin center on the soleplate, can obtain targeting scheme set L according to this zone I21Use the corner parameter phi this moment 0Value is determined the relative position relation of workpiece, straight pin and soleplate.It should be noted that equally also may there be the selfing situation in closed area a-b-b '-a '-a.
Above-mentioned targeting scheme module M 321In the flow process, L 23Algorithm is corresponding S set I2In an element, and be circular arc at second gulde edge, the 3rd setting element is under the situation of half " V " shape piece, determines whole feasible location set of half " V " shape piece on second limit, location.L 23Algorithm shown in Figure 25-26, algorithm principle and L 13Similar, difference is the first gulde edge e 1It is circular arc R 1Therefore, guarantee the second gulde edge circular arc R 2Half " V " shape piece V with shown position 3Hypotenuse contact, circular arc R then 2The center of circle one be positioned the L of equal space line family 2Straight line on.Guaranteeing the first gulde edge circular arc R 1With preceding two alignment pin P 1, P 2Rotational workpieces under the prerequisite of contact makes circular arc R 2The center of circle be positioned on this straight line, just can make circular arc R 2With half " V " shape piece V 3Gulde edge contact.Circular arc R 2Intersection points such as deferent and equal space line family can both make circular arc R 2With half " V " shape piece V 3Gulde edge contact, to circular arc R 2The position of intersecting point that each of the center of circle is such, half " V " shape piece V 3All there are two extreme positions.Obtain circular arc R 2Deferent and the intersection point of equal space line family cathetus, these intersection points and half " V " shape piece V 3Two extreme positions constitute half " V " shape piece V together 3Whole areas of feasible solutions, as the dashed region a-b-c-d-a of figure.Can obtain targeting scheme set L according to this zone I23
Above-mentioned targeting scheme module M 321In the flow process, L 31Algorithm is corresponding S set I3In an element, and be straight line at second gulde edge, the 3rd setting element is the situation of straight pin, L 31Algorithm and L 31Algorithm is the same.Difference is S I3Pairing setting element is half " V " shape piece and straight pin combination, rather than two straight pins.L 31Algorithm as shown in figure 27 because the first gulde edge e 1Be circular arc R 1, this circular arc R 1 keep with " V " shape piece partly and condition that straight pin contacts under be φ with respect to the permission rotational angle of soleplate, this moment, the second gulde edge straight line L of workpiece scanned out closed area a-b-b ' a '-a on soleplate, this zone is the feasible location set at the 3rd straight pin center on the soleplate, can obtain targeting scheme set L according to this zone I21Use the corner parameter phi this moment 0Value is determined the relative position relation of workpiece, straight pin and soleplate.It should be noted that equally also may there be the selfing situation in closed area a-b-b '-a '-a, if cross the first gulde edge R 1The center of circle make the vertical line of second gulde edge L, if intersection point on second gulde edge L, then the closed area just produces selfing, therefore second gulde edge L must be divided into two sections in the intersection point position, asks the closed area then respectively.
Above-mentioned targeting scheme module M 321In the flow process, L 32Algorithm is corresponding S set I3In an element, and be that circular arc the 3rd setting element is the situation of straight pin at second gulde edge, L 32Algorithm and L 22Algorithm is the same.Difference is S I3Pairing setting element is half " V " shape piece and straight pin combination, rather than two straight pins.L 32Algorithm as shown in figure 28 because the first gulde edge e 1Be circular arc R 1, this circular arc R 1Keep with half " V " shape piece and condition that straight pin contacts under be φ with respect to the permission rotational angle of soleplate, the second gulde edge circular arc limit R of workpiece at this moment 2Scan out closed area a-b-b '-a '-a on soleplate, this zone is the feasible location set at the 3rd straight pin center on the soleplate, can obtain targeting scheme set L according to this zone I21Use the corner parameter phi this moment 0Value is determined the relative position relation of workpiece, straight pin and soleplate.It should be noted that equally also may there be the selfing situation in closed area a-b-b '-a '-a.
Above-mentioned targeting scheme module M 321In the flow process, L 33Algorithm is corresponding S set I3In an element, and be circular arc at second gulde edge, the 3rd setting element is the situation of half " V " shape piece, L 33Algorithm and L 23Algorithm is the same.Difference is S I3Pairing setting element is half " V " shape piece and straight pin combination, rather than two straight pins.L 33Therefore algorithm, guarantee the second gulde edge circular arc R shown in Figure 29-30 2The 3rd setting element half " V " shape piece V with shown position 3Hypotenuse contact, circular arc R then 2The center of circle one be positioned the L of equal space line family 2Straight line on.Guaranteeing the first gulde edge circular arc limit R 1With rotational workpieces under half " V " shape piece and the prerequisite that alignment pin contacts, make circular arc R 2The center of circle be positioned on this straight line, just can make circular arc R 2Contact with the gulde edge of half " V " shape piece.Circular arc R 2Intersection points such as deferent and equal space line family can both make circular arc R 2With V 3Gulde edge contact, to circular arc R 2The position of intersecting point that each of the center of circle is such, half " V " shape piece V 3All there are two extreme positions.Obtain circular arc R 2Deferent and the intersection point of equal space line family cathetus, these intersection points and half " V " shape piece V 3Two extreme positions constitute V together 3Whole areas of feasible solutions, as the dashed region a-b-c-d-a among the figure.Can obtain targeting scheme set L according to this zone I33
Above-mentioned targeting scheme module M 321In the flow process, L 41Algorithm is corresponding S set I4In an element, and be straight line at second gulde edge, the 3rd setting element is the situation of straight pin, L 41Algorithm and L 21Algorithm is that the same difference is S I4Pairing setting element is the combination of two and half " V " shape piece, rather than two straight pins.L 41Algorithm as shown in figure 31 because the first gulde edge e 1Be circular arc R 1This circular arc keep with condition that two and half " V " shape piece contacts under be φ with respect to the permission rotational angle of soleplate, this moment, the second location straight line L of workpiece scanned out closed area a-b-b '-a '-a on soleplate, this zone is the feasible location set at the 3rd straight pin center on the soleplate, can obtain targeting scheme set L according to this zone I12Use the corner parameter phi this moment 0Value is determined the relative position relation of workpiece, straight pin and soleplate.It should be noted that equally also may there be the selfing situation in closed area a-b-b '-a '-a, if cross article one gulde edge R 1The center of circle make the vertical line of second location straight line L, if intersection point on the straight line L of second location, then the closed area just produces selfing, therefore second must be located straight line L is divided into two sections in the intersection point position, asks the closed area then respectively.
Above-mentioned targeting scheme module M 321In the flow process, L 42Algorithm is corresponding S set I4In an element, and be that circular arc the 3rd setting element is the situation of straight pin at second gulde edge, L 42Algorithm and L 22Algorithm is the same.Difference is S 2iPairing setting element is two and half " V " shape piece, rather than two straight pins.L 42Algorithm shown in figure 32 because the first gulde edge e 1Be circular arc R 1, this circular arc R 1Keep with half " V " shape piece and condition that straight pin contacts under be φ with respect to the permission rotational angle of soleplate, the second gulde edge circular arc limit R of workpiece at this moment 2Scan out closed area a-b-a '-b '-a on soleplate, this zone is the feasible location set at the 3rd straight pin center on the soleplate, can obtain targeting scheme set L according to this zone I21Use the corner parameter phi this moment 0Value is determined the relative position relation of workpiece, straight pin and soleplate.It should be noted that equally also may there be the selfing situation in closed area a-b-b '-a '-a.
Above-mentioned targeting scheme module M 321In the flow process, L 43Algorithm is corresponding S set I4In an element, and be circular arc at second gulde edge, the 3rd setting element is the situation of half " V " shape piece.L 43Algorithm and L 23Algorithm is the same.Difference is S I4Pairing setting element is two and half " V " shape piece, rather than two straight pins.L 43Therefore algorithm, guarantee circular arc R shown in Figure 33-34 2Half " V " shape piece V with shown position 3Hypotenuse contact, the second gulde edge circular arc R then 2The center of circle one be positioned the L of equal space line family 2Straight line on.Guaranteeing the first gulde edge e 1With rotational workpieces under half " V " shape piece and the prerequisite that alignment pin contacts, make circular arc R 2The center of circle be positioned on this straight line, just can make circular arc R 2With V 3Gulde edge contact.Circular arc R 2Intersection points such as deferent and equal space line family can both make circular arc R 2With V 3Gulde edge contact, to circular arc R 2The position of intersecting point that each of the center of circle is such, half " V " shape piece V 3All there are two extreme positions.Obtain circular arc R 2Deferent and the intersection point of equal space line family cathetus, these intersection points and half " V " shape piece V 3Two extreme positions constitute V together 3Whole areas of feasible solutions, as the dashed region a-b-c-d-a among the figure.Can obtain targeting scheme set L according to this zone I43
Above-mentioned 3-3 mode targeting scheme module M 33Flow process as shown in Figure 4:
(1) but judge the gulde edge e that whether has among the gulde edge set E not as first and second gulde edge combined treatment i(i=1, n), e j, (j=i+1, n) combination; As be judged as not, then flow process finishes;
(2) be judged as step () and be, then get undressed first and second gulde edge combination, judge whether combination is the straight line combination as first and second gulde edge combination;
(3) be judged as step (two) and be;
1. enable submodule M 33-1, be the setting element of locating first and second gulde edge respectively by two straight pins, take T 1Algorithm is set up respectively and the first gulde edge e iWith the second gulde edge e jThe feasible location set T of first and second setting element that keeps in touch I1Set T I1In the content of each element comprise the position of the type of two setting elements, two setting elements, the type and the position on two borders, location that setting element contacted; Corresponding set T I1In each element, finish following operation: remove first and second gulde edge e among the gulde edge set E but get i, e jOuter other gulde edge e k, (k=1, n, k ≠ i, k ≠ j) one by one as the 3rd gulde edge, be straight line as the 3rd gulde edge, by the setting element of straight pin, then take Q as location the 3rd gulde edge 11Algorithm is set up targeting scheme set Q I11As the 3rd gulde edge is circular arc, by straight pin and the setting element of half " V " shape piece as location second gulde edge, then takes Q respectively respectively 11And Q 12Algorithm is set up targeting scheme set Q I11And Q I12Until set T I1In until the set T I1Middle all elements is all finished above operation;
2. return step ();
(4) be not judged as not as step (two), judge further then whether first and second gulde edge combination is the combination of circular arc limit, as be judged as and be;
1. enable submodule M 33-2, be the setting element of locating first and second gulde edge respectively by two straight pins, take T 2Algorithm set up respectively with the first gulde edge ei (i=1, n) and the second gulde edge e j, (j=1, n, j ≠ i), the feasible location of first and second setting element that keeps in touch set T I2Set T I2In the content of each element comprise the position of the type of two setting elements, two setting elements, the type and the position on two borders, location that setting element contacted; Corresponding set T I2In each element, finish following operation: remove first and second gulde edge e among the gulde edge set E but get i, e jOuter other gulde edge e k, (k=1, n, k ≠ i, k ≠ j) one by one as the 3rd gulde edge, be straight line as the 3rd gulde edge, by the setting element of straight pin, then take Q as location the 3rd gulde edge 21Algorithm is set up targeting scheme set Q I21, be circular arc as the 3rd gulde edge, by straight pin and the setting element of half " V " shape piece, then take Q respectively respectively as location second gulde edge 21And Q 22Algorithm is set up targeting scheme set Q I21And Q I22, until set T I2Middle all elements is all finished above operation;
2. enable submodule M 33-3, be the setting element of locating first and second gulde edge respectively by a straight pin and half " V " shape piece, take T 3Algorithm is set up respectively and the first gulde edge e i(i=1 is n) with the second gulde edge e j(j=1, n, the feasible location set T of first and second setting element of j ≠ i) keep in touch I3Set T I3In the content of each element comprise the position of the type of two setting elements, two setting elements, the type and the position on two borders, location that setting element contacted; Corresponding set T I3In each element, finish following operation: remove first and second gulde edge e among the gulde edge set E but get i, e jOuter other gulde edge e k, (k=1, n, k ≠ i, k ≠ j) one by one as the 3rd gulde edge; As the 3rd gulde edge is straight line, by the setting element of straight pin as location the 3rd gulde edge, then takes Q 31Algorithm is set up targeting scheme set Q I31As the 3rd gulde edge is circular arc, by straight pin and the setting element of half " V " shape piece as location second gulde edge, then takes Q respectively respectively 31And Q 32Algorithm is set up targeting scheme set Q I31And Q I32, until set T I3Middle all elements is all finished above operation;
3. enable submodule M 33-4, for locating the setting element of first and second gulde edge respectively, take T by two halves " V " shape piece 4Algorithm is set up respectively and the first gulde edge e i(i=1 is n) with the second gulde edge e j(j=1, n, the feasible location set T of first and second setting element of j ≠ i) keep in touch I4Set T I4In the content of each element comprise the position of the type of two setting elements, two setting elements, the type and the position on two borders, location that setting element contacted; Corresponding set T I4In each element, finish following operation: remove first and second gulde edge e among the gulde edge set E but get i, e jOuter other gulde edge e k, (k=1, n, k ≠ i, k ≠ j) one by one as the 3rd gulde edge; As the 3rd gulde edge is straight line, and straight pin is taked Q as the setting element of location the 3rd gulde edge 41Algorithm is set up targeting scheme set Q I41As the 3rd gulde edge is circular arc, and the setting element of locating second gulde edge is straight pin and half " V " shape piece, takes Q respectively 41And Q 42Algorithm is set up targeting scheme set Q I41And Q I42, until set T I4Middle all elements is all finished above operation;
4. return step ();
(5) be judged as not as step (four), then first and second gulde edge combination is straight line and the combination of circular arc limit;
1. enable submodule M 33-5, be respectively the setting element of locating first and second gulde edge by two straight pins, take T 5Algorithm is set up respectively and the first gulde edge e i(i=1 is n) with the second gulde edge e j(j=1, n, the feasible location set T of first and second setting element of j ≠ i) keep in touch I5Set T I5In the content of each element comprise the position of the type of two setting elements, two setting elements, the type and the position on two borders, location that setting element contacted; Corresponding set T I5In each element, finish following operation: remove first and second gulde edge e among the gulde edge set E but get i, e jOuter other gulde edge e k, (k=1, n, k ≠ i, k ≠ j) one by one as the 3rd gulde edge, be straight line as the 3rd gulde edge, straight pin is then taked Q as the setting element of location the 3rd gulde edge 51Algorithm is set up targeting scheme set Q I51, be circular arc as the 3rd gulde edge, by straight pin and the setting element of half " V " shape piece, then take Q respectively respectively as location second gulde edge 51And Q 52Algorithm is set up targeting scheme set Q I51And Q I52, until set T I5Middle all elements is all finished above operation;
2. enable submodule M 33-6, be respectively the setting element of locating first and second gulde edge by a straight pin and half " V " shape piece, take T 61Algorithm is set up respectively and the first gulde edge e i(i=1 is n) with the second gulde edge e j(j=1, n, the feasible location set T of first and second setting element of j ≠ i) keep in touch I6Set T I6In the content of each element comprise the position of the type of two setting elements, two setting elements, the type and the position on two borders, location that setting element contacted; Corresponding set T I6In each element, finish following operation: remove first and second gulde edge e among the gulde edge set E but get i, e jOuter other gulde edge e k, (k=1, n, k ≠ i, k ≠ j) one by one as the 3rd gulde edge; As the 3rd gulde edge is straight line, by the setting element of straight pin as location the 3rd gulde edge, then takes Q 61Algorithm is set up targeting scheme set Q I61As the 3rd gulde edge is circular arc, by straight pin and the setting element of half " V " shape piece as location second gulde edge, then takes Q respectively respectively 61And Q 62Algorithm is set up targeting scheme set Q I61And Q I62, until set T I6Middle all elements is all finished above operation;
Because set Q I11, Q I12, Q I21, Q I22, Q I31, Q I32, Q I41, Q I42, Q I51, Q I52, Q I61, Q I62Each element comprise the information such as type, position, direction of three setting elements, therefore, whole targeting schemes of 3-3 mode are by forming with upper set.
Above-mentioned targeting scheme module M 321Flow process in T 1, T 2, T 3, T 4, T 5, T 6, Q 11, Q 12, Q 13, Q 21, Q 22, Q 23, Q 31, Q 32, Q 33, Q 41, Q 42, Q 43, Q 51, Q 52, Q 53, Q 61, Q 62, Q 63Algorithm is as follows.At M 33In the flow process, because the relative position of targeting scheme major concern setting element on soleplate, no matter locating two setting elements of first gulde edge is that type, therefore stipulating that first setting element is the initial point that is positioned at the soleplate coordinate system, therefore is exactly the feasible location set of second setting element on the feasible location collective entity of preceding two setting elements.
Above-mentioned targeting scheme module M 33In the flow process, T 1Algorithm is at the situation of being located the combination of two straight lines by two straight pins.S 1Algorithm as shown in figure 35, obtain the equal space line of two given gulde edges, regulation is positioned at the origin of coordinates with the straight pin that article one straight line expansion edge joint touches, allow article one straight line expansion limit around origin translation and rotation, this moment, an annulus was scanned out on second straight line expansion limit on the xy coordinate plane, obviously pass through suitably translation and turning of work piece, the point that is positioned at this annulus all might contact with the equal space line on second workpiece limit, can obtain the feasible location set T of first and second setting element according to circle ring area I1
The internal diameter of annulus is two minimum ranges between the straight line expansion limit, outward through being two ultimate ranges between the straight line expansion limit.Minimum range and ultimate range are respectively maximum and minimum of a value in 8 distance values; 8 distance values refer to when the end of a straight line makes vertical line to another straight line, if intersection point in another straight line inside, is obtained the distance of intersection point to the end points of first straight line, has four possible distance values.Two end points of one straight line also have four possible distance values to the distance of two end points of another straight line.Because locating hole arranges that with rectangular array the location situation of quadrant is the same on the soleplate, so only need consider the first quartile part.
Above-mentioned targeting scheme module M 33In the flow process, T 2Algorithm is at the situation of being located the combination of two circular arc limits by two straight pins.T 2Algorithm can be referring to Figure 35, and this moment, two limits all were circular arcs, and second straight pin so still is positioned at an annulus, can obtain the feasible location set T of first and second setting element according to circle ring area I2, also a need is considered the first quartile part of annulus.When the type on two equidistant limits is circular arc, the internal diameter of annulus and maximum and minimum of a value in being respectively 14 distance values outward; The end points that 14 distance values refer to first circular arc is made line to the center of second circular arc, and prolongs this line, if with second circular arc intersection point is arranged, obtains the distance of intersection point to the end points of first circular arc.Because intersection point may be between circle center line connecting, also may be outside circle center line connecting, therefore, all might there be two distance values in each circular arc end points, and four end points of such two circular arcs have 8 distance values.Make two center of arc's lines,, then obtain the distance between the intersection point if this line and two circular arcs all have intersection point, make two center of arc's lines, the outside to two center of arc prolongs line, if all there is intersection point in this line and the two circular arcs outside, then obtains the distance between the intersection point.The end points of one circular arc is to the distance of the end points of another circular arc, and such distance value has four.
Above-mentioned targeting scheme module M 33In the flow process, T 3Algorithm is at the situation of being located the combination of two circular arc limits by straight pin and half " V " shape piece, T 3Algorithm stipulates that half " V " shape piece is positioned at the soleplate coordinate origin, half " V " shape piece and circular arc limit R as shown in figure 36 1Contact, straight pin and circular arc limit R 2Contact (the expansion edge joint on straight pin center and circular arc limit touches).Specific algorithm is as follows: 1) translation workpiece makes on it starting point and half of first circular arc R of location " V " the shape piece to go up point tangent; 2) around the center c rotational workpieces of locating circular arc R, up to the terminal point and half of circular arc R " V " the tangent contact of shape piece hypotenuse, this moment, the straight line expansion limit ab of workpiece swept a regional a-b-b '-a '-a on the soleplate plane; 3) should the zone along half " V " bevel direction of shape piece moves to down point from last point, this zone has moved to new position a 1-b 1-b 1'-a 1'-a 1In the translation process, scan out a new regional a-b-b '-b 1'-a 1'-a is all feasible location at straight pin center, can obtain the feasible location set T of first and second setting element according to this zone I3The selfing problem that when calculating sweeping area, needs consideration of regional equally.
Above-mentioned targeting scheme module M 33In the flow process, T 4Algorithm is at the situation of being located the combination of two circular arc limits by two halves " V " shape piece, T 4Algorithm is shown in Figure 37-40, and two half " V " shape piece locating surface is can structure at 45, three kinds of angles such as 90 °, 135 °.If two circular arcs are respectively A and B.Stipulate the first half " V " shape piece V1 is positioned at the soleplate origin of coordinates, contacts with circular arc A is tangent.According to the configuration relations such as size, central angle and relative position of two location circular arc R, the second half " V " shape piece V 2Three limits all may have situation with the tangent location of circular arc B.Below introduce at first in detail with the inclined-plane of the second half " V " shape pieces feasible location set T as locating surface I3Definite method.Because the feasible location of other locating surface determines that situation is similar,, the feasible location set of other locating surface only partly is illustrated in difference so being set up situation.Specifically ask method as shown in figure 37: 1) determine the initial position of workpiece, translation and rotational workpieces make the starting point and half " V " shape piece V of locating circular arc limit A 1To go up point tangent.2) around the center of location circular arc A counter clockwise direction rotational workpieces, rotating range is from the terminal point and half " V " shape piece V of current location up to circular arc A 1The tangent contact in inclined-plane till.In rotary course, may have 45 ° of tangent lines on the circular arc B of workpiece, these point of contacts just with V 2The point of hypotenuse contact, obtain the angle range of the workpiece that satisfies this condition, obtain and promptly can realize and half " V " shape piece V 2The angle range of the tangent contact of hypotenuse, what this scope can be with the center of circle movement locus of circular arc B represents that promptly when the center of circle was positioned on this track, there were 45 degree tangent lines in circular arc B.3) obtain one according to deferent and can guarantee half " V " shape piece V 2With the tangent regional a-a '-b '-b-a that contacts of circular arc B.4) should move to the partly following point of " V " shape piece, a that scans out from putting of half " V " formula shape piece in the zone along bevel direction 1-a 1'-a '-b '-b-b 1-a 1Zone (seeing Figure 38) is half " V " shape piece V 2The feasible location zone, this zone can be the feasible location set T of first and second setting element I4
In addition, for the situation that adopts 90 degree and 0 degree tangent line location, all there are two kinds of arrangement forms in half " V " shape piece, shown in Figure 39-40, therefore determines half " V " shape piece V 2Feasible location also should consider this problem.
Above-mentioned targeting scheme module M 33In the flow process, T 5Algorithm is at the situation by two straight pin location straight lines and the combination of circular arc limit, T 5Algorithm can be referring to Figure 35, and have one to be circular arc in two gulde edges this moment, and the straight pin in two setting elements is positioned at an annulus, in like manner also only needs to consider the first quartile part of annulus.The internal diameter of annulus is two minimum ranges between the expansion limit, outward through being two ultimate ranges between the expansion limit.Ultimate range and minimum range are respectively 8 maximum and minimum of a values in the distance value; The end points that 8 distance values refer to straight line is made line to the center of circular arc, prolongs this line, if with circular arc intersection point is arranged, obtains the distance of intersection point to the end points of straight line, totally four distance values.The end points of straight line is to the distance of the end points of circular arc, totally four distance values.
Above-mentioned targeting scheme module M 33In the flow process, T 6Algorithm is at the situation by straight pin and half " V " shape piece location straight line and the combination of circular arc limit, T 6Algorithm is referring to shown in Figure 41, and regulation half " V " shape piece is positioned at the soleplate coordinate origin, and half " V " shape piece contacts with circular arc limit R, and straight pin contacts (the straight pin center contacts with the expansion limit L of straight line) with straight line.Specifically ask method as follows: 1) translation workpiece makes the starting point of location circular arc R on it tangent with the upward point of half " V " shape piece; 2) around the center c rotational workpieces of location circular arc R, up to the terminal point and half tangent contact of " V " shape piece hypotenuse of circular arc R, this moment, the straight line expansion limit ab of workpiece swept a regional a-b-b '-a '-a on the soleplate plane; 3) should the zone along half " V " bevel direction of shape piece moves to down point from last point, this zone has moved to new position a 1-b 1-b 1'-a 1'-a 1In the translation process, scan out a new regional a-b-b '-b 1'-a 1'-d 1-d-a is all feasible location at straight pin center, can obtain the feasible location set T of first and second setting element according to this zone I6
Set T I1～T I6In the content of each element comprise the position of the type of two setting elements, two setting elements, the type and the position of two gulde edges that setting element contacted.
At above-mentioned targeting scheme module M 33In the flow process, what determine that the method for the 3rd setting element position adopts is that coupler-point curve is asked the friendship principle, as shown in figure 42, for adopting the situation of three straight pins location, imagination has been selected 2 corresponding locating hole P on two gulde edges of workpiece and the soleplate shown in the figure 1And P 2, workpiece is fixed, making soleplate is the expansion limit e of workpiece together with the movement locus at two round centers 1And e 2, because e 1And e 2Have only 2 kinds of forms of straight line and circular arc, this moment, soleplate was the linkage plane motion with respect to the motion of workpiece, and promptly soleplate and workpiece promptly constitute one " imaginary linkage ", and the track that the center of the arbitrary locating hole P on the soleplate is depicted is coupler-point curve C.If there is intersection point J in this coupler-point curve C with other gulde edge of workpiece in its interval of definition, then soleplate is moved to the P point is overlapped with this intersection point J, this moment P point and P 1, P 22 targeting schemes that just constitute 1 candidate together.According to the linkage principle, all adopt the situation of straight pin for three setting elements, corresponding " imaginary linkage " is respectively slider-crank mechanism, double-slider mechanism and crank and rocker mechanism.When setting element adopts half " V " during the shape piece, " imaginary linkage " is the mechanism of other form.First and second setting elements are two and half " V " shape piece among Figure 43, and " imaginary linkage " is double guide-bar mechanism.
Above-mentioned targeting scheme module M 33In the flow process, Q 11Algorithm is corresponding set T I1In an element, and be straight line or circular arc at the 3rd gulde edge, the 3rd setting element is the situation of straight pin.L 11Algorithm as shown in figure 44, the center of known first straight pin is at the initial point of soleplate coordinate system, the position at the center of second straight pin is with the coordinate sequence number (u of locating hole on the soleplate, v) represent, because setting element is a straight pin, therefore straight pin is represented with its central point gulde edge is represented with corresponding equal space line.Effective line segment on the expansion limit of two gulde edges is respectively (P on the workpiece 1s, P 1e) and (P 2s, P 2e), P 1t, P 2tThe center of respectively corresponding first and second locating holes.According to the type of workpiece gulde edge, slide at two gulde edge equal space lines of workpiece in two straight pin centers on the soleplate, and soleplate is formed an imaginary double-slider mechanism with respect to workpiece.Two gulde edge positions of the position of preceding two straight pins and workpiece, effective slip parameter area of the equal space line on compute location limit with the function of the locating hole coordinate substitution coupler-point curve C on the soleplate of location, is obtained the coupler-point curve section in the actual parameter interval.All equal space lines of coupler-point curve and workpiece gulde edge profile are asked friendship, exist as intersection point, obtain the position of two slide blocks of intersection point place correspondence on the coupler-point curve, then position of intersecting point is together with three points on the equal space line that is exactly workpiece gulde edge profile of these two positions, just can obtain three anchor points on the workpiece gulde edge according to these three points.In the imaginary double-slider mechanism of Figure 44, parameter a, b represents the position of locating hole center in mechanism's coordinate system on the soleplate, any some movement locus H (coupler-point curve) on workpiece can represent with parametric t on the soleplate, if have effective intersection point J between the 3rd the limit ek of coupler-point curve and workpiece, then this intersection point J is exactly the position of three cylindrical pin.
May there be two kinds of forms in the thing that should be noted that, four-bar mechanism.For the corresponding different coupler-point curve of different forms, may also exist another targeting scheme of organizing three cylindrical pin set.
Above-mentioned targeting scheme module M 33In the flow process, Q 12Algorithm is corresponding set T I1In an element, and be circular arc at the 3rd gulde edge, the 3rd setting element is the situation of half " V " shape piece.Q 12Algorithm as shown in figure 45, e wherein i, e jBe the equal space line of first and second gulde edge, e kBeing the 3rd gulde edge, is a circular arc limit, at the 3rd gulde edge e kWhen also not locating, workpiece can move with respect to soleplate, and workpiece constitutes a double guide-bar mechanism with respect to soleplate, workpiece with respect to the soleplate motion process in, the 3rd gulde edge e of workpiece kOn may exist and become 0 °, 45 °, 90 °, 135 °, 180 °, 225 °, 270 °, 315 ° equal angular tangent lines with x axle forward, the position, point of contact of these tangent lines contacts with the gulde edge of half " V " shape piece just, therefore just may adopt half " V " three limits of shape piece locate e to the 3rd kPosition.The location situation deterministic process of the tangent line of various angles is similar, below with the location situation of 90 ° of tangent lines definite method in the feasible location zone of half " V " shape piece is described.The position of workpiece is with being connected in e iOn coordinate system X j-O j-Y jRepresent, represent the position of workpiece with respect to soleplate with parameter d and φ.Make workpiece do the linkage plane motion, obtain e in this angular range of φ with respect to soleplate kThe movement locus cc ' at center.According to e kRadius set up the equal space line family of half " V " shape piece gulde edge, obtain the equal space line that intersection point is arranged with coupler-point curve cc ' in equal space line family, can determine the 3 half according to these equal space lines and position of intersecting point thereof " V " feasible location zone a-b-b '-a '-a of piece, obtain targeting scheme set Q according to this zone I12
Above-mentioned targeting scheme module M 33In the flow process, Q 21Algorithm is corresponding set T I2In an element, and be straight line or circular arc at the 3rd gulde edge, the 3rd setting element is the situation of straight pin.Q 21Algorithm maintains static workpiece as shown in figure 46, and first and second straight pin constitutes a crank and rocker mechanism together with soleplate with respect to workpiece.Obtain targeting scheme set Q I21Q 21Algorithm and Q 11The class of algorithms seemingly, difference is to adopt the crank and rocker mechanism principle to calculate coupler-point curve herein.
Above-mentioned targeting scheme module M 33In the flow process, Q 22Algorithm is corresponding set T I2In an element, and be circular arc at the 3rd gulde edge, the 3rd setting element is the situation of half " V " shape piece.Q 22Algorithm as shown in figure 47, e wherein i, e jBe the equal space line of first and second gulde edge, e kBeing the 3rd gulde edge, is a circular arc limit, at the 3rd gulde edge e kWhen also not locating, workpiece can move with respect to soleplate, and workpiece constitutes a crank and rocker mechanism with respect to soleplate, obtains targeting scheme set Q I32Q 32Algorithm and Q 12The class of algorithms seemingly, difference is to adopt the crank and rocker mechanism principle to calculate circular arc e herein kThe coupler-point curve of circle centre position.
Above-mentioned targeting scheme module M 33In the flow process, Q 31Algorithm is corresponding set T I3In an element, and be straight line or circular arc at the 3rd gulde edge, the 3rd setting element is the situation of straight pin.Q 31Algorithm maintains static workpiece shown in Figure 48-49, half " V " shape piece and straight pin are together with the equivalent linkage of soleplate with respect to the motion of workpiece, and this imagination mechanism is a crank guide rod mechanism (seeing Figure 49).Obtain targeting scheme set Q I31Q 31Algorithm and Q 11The class of algorithms seemingly, difference is to adopt the crank guide rod mechanism principle to calculate coupler-point curve herein.
Above-mentioned targeting scheme module M 33In the flow process, Q 32Algorithm is corresponding set T I3In an element, and be circular arc at the 3rd gulde edge, the 3rd setting element is the situation of half " V " shape piece.Q 32Algorithm is shown in Figure 50-51, at the 3rd gulde edge e kWhen also not locating, workpiece can move with respect to soleplate.Workpiece is a slider-crank mechanism (seeing Figure 51) with respect to the equivalent linkage of soleplate motion, obtains targeting scheme set Q I32Q 32Algorithm and Q 12The class of algorithms seemingly, difference is to adopt the slider-crank mechanism principle to calculate circular arc e herein kThe coupler-point curve of circle centre position.
Above-mentioned targeting scheme module M 33In the flow process, Q 41Algorithm is corresponding set T I4In an element, and be straight line or circular arc at the 3rd gulde edge, the 3rd setting element is the situation of straight pin.Q 41Algorithm maintains static workpiece shown in Figure 52-53, half " V " shape piece and straight pin are together with the equivalent linkage of soleplate with respect to the motion of workpiece, and this imagination mechanism is a double guide-bar mechanism (seeing Figure 53).Obtain targeting scheme set Q I41Q 41Algorithm and Q 11The class of algorithms seemingly, difference is to adopt the double guide-bar mechanism principle to calculate coupler-point curve herein.
Above-mentioned targeting scheme module M 33In the flow process, Q 42Algorithm is corresponding set T I4In an element, and be circular arc at the 3rd gulde edge, the 3rd setting element is the situation of half " V " shape piece.Q 41Algorithm is shown in Figure 54-55, at the 3rd gulde edge e kWhen also not locating, workpiece can move with respect to soleplate.Figure 55 is the equivalent linkage of workpiece with respect to the soleplate motion, and this mechanism is a double-slider mechanism, sets up set Q I42Q 42Algorithm and Q 12The class of algorithms seemingly, difference is to adopt the double-slider mechanism principle to calculate circular arc e herein kThe coupler-point curve of circle centre position.
Above-mentioned targeting scheme module M 33In the flow process, Q 51Algorithm is corresponding set T I5In an element, and be straight line or circular arc at the 3rd gulde edge, the 3rd setting element is the situation of straight pin.Q 51Algorithm maintains static workpiece shown in Figure 56, and first and second straight pin constitutes a slider-crank mechanism together with soleplate with respect to workpiece.Set up set Q I51Algorithm Q 51With Q 11The class of algorithms seemingly, difference is to adopt the slider-crank mechanism principle to calculate coupler-point curve herein.
Above-mentioned targeting scheme module M 33In the flow process, Q 52Algorithm is corresponding set T I5In an element, and be circular arc at the 3rd gulde edge, the 3rd setting element is the situation of half " V " shape piece.Q 52Algorithm shown in Figure 57, e wherein i, e jBe the equal space line of first and second gulde edge, e kBeing the 3rd gulde edge, is a circular arc limit, at the 3rd gulde edge e kWhen also not locating, workpiece can move with respect to soleplate, and workpiece constitutes the crank guide rod mechanism that offset distance is h with respect to soleplate, sets up set Q I52Q 52Algorithm and Q 12The class of algorithms seemingly, difference is to adopt the crank guide rod mechanism principle to calculate circular arc e herein kThe coupler-point curve of circle centre position.
State targeting scheme module M 33In the flow process, Q 61Algorithm is corresponding set T I6In an element, and be straight line or circular arc at the 3rd gulde edge, the 3rd setting element is the situation of straight pin.Q 61Algorithm maintains static workpiece shown in Figure 58-59, half " V " shape piece and straight pin be equivalent to the imaginary linkage of workpiece motion s together with soleplate, and this imagination mechanism is a guide rod slide block mechanism (seeing Figure 59).Set up set Q I61Q 61Algorithm and Q 11The class of algorithms seemingly, difference is to adopt guide rod slide block mechanism principle to calculate coupler-point curve herein.
Above-mentioned targeting scheme module M 33In the flow process, Q 62Algorithm is corresponding set T I6In an element, and be circular arc at the 3rd gulde edge, the 3rd setting element is the situation of half " V " shape piece.Q 62Algorithm shown in Figure 60-61, e wherein kBe the 3rd gulde edge, at the 3rd gulde edge e kWhen also not locating, workpiece can move with respect to soleplate.Figure 61 is the equivalent linkage of workpiece with respect to the soleplate motion, and this mechanism equally also is a guide rod slide block mechanism, sets up set Q I62Q 62Algorithm and Q 12The class of algorithms seemingly, difference is to adopt guide rod slide block mechanism principle to calculate circular arc e herein kThe coupler-point curve of circle centre position.

Claims (5)

1, a kind of General Design Method for Hole Series Combined Fixture Positioning Scheme, the soleplate of dowel-pin modular fixture is provided with the locating hole that rectangular array is arranged, setting element is straight pin and half " V " shape piece, and computer is a known computer, it is characterized in that: this method for designing comprises the following steps:
The first step: physical dimension from workpiece to computer that import three-dimensional entity model, soleplate and the setting element of;
Second step: main location datum level and the candidate's side location datum level in the workpiece physical model determined in man-machine interaction;
The 3rd step: computer is located side for datum level and carry out projection on soleplate, but sets up the gulde edge set E of workpiece on the dowel-pin modular fixture soleplate;
The 4th step: computer is enabled the targeting scheme determination module, wherein belongs to the targeting scheme determination module M of 3-2-1 locate mode 321But locate benchmark, finish whole targeting schemes set that all two gulde edges make up among the gulde edge set E as the side with two gulde edges; The targeting scheme determination module M that belongs to the 3-3 locate mode 33But locate benchmark, finish whole targeting schemes set that all three gulde edges make up among the gulde edge set E as the side with three gulde edges;
The 5th step: all targeting schemes in the targeting scheme set are carried out preferably, choose 50 with interior preferred orientation scheme;
The 6th step: computer shows the three-dimensional entity model of preferred orientation scheme one by one.
2, General Design Method for Hole Series Combined Fixture Positioning Scheme according to claim 1 is characterized in that: 3-2-1 mode targeting scheme module M 321Flow process as follows:
(1) but judge among the gulde edge set E whether the gulde edge e that does not handle as first gulde edge is arranged iAs be judged as not, then flow process finishes;
(2) be judged as step () and be, then get undressed gulde edge, judge whether first gulde edge is straight line as first gulde edge;
(3) be judged as step (two) and be;
1. enable submodule M 321-1, be the setting element of location first gulde edge by two straight pins, take S 1Algorithm is set up and the first gulde edge e iThe feasible location S set of first and second setting element that keeps in touch I1Pair set S I1In each element, finish following operation: remove the first gulde edge e among the gulde edge set E but get iOuter other gulde edge e j, one by one as second gulde edge, be straight line as second gulde edge, by the setting element of straight pin, then take L as location second gulde edge 11Algorithm is set up targeting scheme set L I11, be circular arc as second gulde edge, by straight pin and the setting element of half " V " shape piece, then take L respectively respectively as location second gulde edge 12, L 13Algorithm is set up targeting scheme set L I12And L I13, until S set I1Middle all elements is all finished above operation;
2. return step ();
(4) be judged as not as step (two), then the first gulde edge e iIt is circular arc;
1. enable submodule M 321-2, be the setting element of location first gulde edge by two straight pins, take S 2Algorithm is set up and the first gulde edge e iThe feasible location S set of first and second setting element that keeps in touch I2Pair set S I2In each element, finish following operation: remove the first gulde edge e among the gulde edge set E but get iOuter other gulde edge e j, one by one as second gulde edge, be straight line as second gulde edge, be the setting element of location second gulde edge by straight pin, then take L 21Algorithm is set up targeting scheme set L I21, be circular arc as second gulde edge, by straight pin and the setting element of half " V " shape piece, then take L respectively respectively as location second gulde edge 22And L 23Algorithm is set up targeting scheme set L I22And L I23, until S set I2Middle all elements is all finished above operation;
2. enable submodule M 321-3, be the setting element of location first gulde edge by a straight pin and half " V " shape piece, take S 3Algorithm is set up and the first gulde edge e iThe feasible location S set of first and second setting element that keeps in touch I3Pair set S I3In each element, finish following operation: remove the first gulde edge e among the gulde edge set E but get iOuter other gulde edge e j, one by one as second gulde edge, be straight line as second gulde edge, by the setting element of straight pin, then take L as location second gulde edge 31Algorithm is set up targeting scheme set L I31, be circular arc as second gulde edge, by straight pin and the setting element of half " V " shape piece, then take L respectively respectively as location second gulde edge 32And L 33Algorithm is set up targeting scheme set L I32And L I33, until S set I3Middle all elements is all finished above operation;
3. enable submodule M 321-4,, take S by the setting element of two halves " V " shape piece for location first gulde edge 4Algorithm is set up and the first gulde edge e iThe feasible location S set of first and second setting element that keeps in touch I4Pair set S I4In each element, finish following operation: remove the first gulde edge e among the gulde edge set E but get iOuter other gulde edge e j, one by one as second gulde edge, be straight line as second gulde edge, by the setting element of straight pin, then take L as location second gulde edge 41Algorithm is set up targeting scheme set L I41, be circular arc as second gulde edge, then, take L respectively respectively by straight pin and the setting element of half " V " shape piece as location second gulde edge 42And L 43Algorithm is set up targeting scheme set L I42And L I43, until S set I4Middle all elements is all finished above operation;
4. return step ().
3, General Design Method for Hole Series Combined Fixture Positioning Scheme according to claim 1 is characterized in that: belong to 3-3 mode targeting scheme module M 33Flow process comprise the steps:
(1) but judge the gulde edge combination e that whether has among the gulde edge set E not as first and second gulde edge combined treatment i, e jAs be judged as not, then flow process finishes;
(2) be judged as step () and be, then get undressed two gulde edges combination first and second gulde edge combination, judge whether combination is the combination of two sections straight lines as targeting scheme;
(3) be judged as step (two) and be;
1. enable submodule M 33-1, be the setting element of locating first and second gulde edge respectively by two straight pins, take T 1Algorithm is set up respectively and the first gulde edge e iWith the second gulde edge e jThe feasible location set T of first and second setting element that keeps in touch I1Pair set T I1In each element, finish following operation: remove first and second gulde edge e among the gulde edge set E but get i, e jOuter other gulde edge e k, one by one as the 3rd gulde edge, be straight line or circular arc as the 3rd gulde edge, by the setting element of straight pin, then take Q as location the 3rd gulde edge 11Algorithm is set up targeting scheme set Q I11As the 3rd gulde edge is circular arc, by the setting element of half " V " shape piece as location second gulde edge, then takes Q 12Algorithm is set up targeting scheme set Q I12Until set T I1Middle all elements is all finished above operation;
2. return step ();
(4) be not judged as not as step (two), judge further then whether first and second gulde edge combination is the combination of circular arc limit, as be judged as and be;
1. enable submodule M 33-2, be the setting element of locating first and second gulde edge respectively by two straight pins, take T 2Algorithm is set up respectively and the first gulde edge ei and the second gulde edge e j, the feasible location set T of first and second setting element that keeps in touch I2Pair set T I2In each element, finish following operation: remove first and second gulde edge e among the gulde edge set E but get i, e jOuter other gulde edge e k, one by one as the 3rd gulde edge, be straight line or circular arc as the 3rd gulde edge, by the setting element of straight pin, then take Q as location the 3rd gulde edge 21Algorithm is set up targeting scheme set Q I21, be circular arc as the 3rd gulde edge, by the setting element of half " V " shape piece, then take Q as location second gulde edge 22Algorithm is set up targeting scheme set Q I22, until set T I2Middle all elements is all finished above operation;
2. enable submodule M 33-3, be the setting element of locating first and second gulde edge respectively by a straight pin and half " V " shape piece, take T 3Algorithm is set up respectively and the first gulde edge e iWith the second gulde edge e jThe feasible location set T of first and second setting element that keeps in touch I3Pair set T I3In each element, finish following operation: remove first and second gulde edge e among the gulde edge set E but get i, e jOuter other gulde edge e k, one by one as the 3rd gulde edge; As the 3rd gulde edge is straight line or circular arc, by the setting element of straight pin as location the 3rd gulde edge, then takes Q 31Algorithm is set up targeting scheme set Q I31As the 3rd gulde edge is circular arc, by the setting element of half " V " shape piece as location second gulde edge, then takes Q 32Algorithm is set up targeting scheme set Q I32, until set T I3Middle all elements is all finished above operation;
3. enable submodule M 33-4, for locating the setting element of first and second gulde edge respectively, take T by two halves " V " shape piece 4Algorithm is set up respectively and the first gulde edge e iWith the second gulde edge e jThe feasible location set T of first and second setting element that keeps in touch I4Pair set T I4In each element, finish following operation: remove first and second gulde edge e among the gulde edge set E but get i, e jOuter other gulde edge e k, one by one as the 3rd gulde edge; As the 3rd gulde edge is straight line or circular arc, and straight pin is taked Q as the setting element of location the 3rd gulde edge 41Algorithm is set up targeting scheme set Q I41As the 3rd gulde edge is circular arc, and the setting element of locating second gulde edge is half " V " shape piece, takes Q 42Algorithm is set up targeting scheme set Q I42, until set T I4Middle all elements is all finished above operation;
4. return step ();
(5) be judged as not as step (four), then first and second gulde edge combination is straight line and the combination of circular arc limit;
1. enable submodule M 33-5, be respectively the setting element of locating first and second gulde edge by two straight pins, take T 5Algorithm is set up respectively and the first gulde edge e iWith the second gulde edge e jThe feasible location set T of first and second setting element that keeps in touch I5Pair set T I5In each element, finish following operation: remove first and second gulde edge e among the gulde edge set E but get i, e jOuter other gulde edge e k,, one by one as the 3rd gulde edge, be straight line or circular arc as the 3rd gulde edge, straight pin is then taked Q as the setting element of location the 3rd gulde edge 51Algorithm is set up targeting scheme set Q I51, be circular arc as the 3rd gulde edge, by the setting element of half " V " shape piece, then take Q as location second gulde edge 52Algorithm is set up targeting scheme set Q I52, until set T I5Middle all elements is all finished above operation;
2. enable submodule M 33-6, be respectively the setting element of locating first and second gulde edge by a straight pin and half " V " shape piece, take T 6Algorithm is set up respectively and the first gulde edge e iWith the second gulde edge e jThe feasible location set T of first and second setting element that keeps in touch I6Pair set T I6In each element, remove first and second gulde edge e among the gulde edge set E but get i, e jOuter other gulde edge e k, one by one as the 3rd gulde edge; As the 3rd gulde edge is straight line or circular arc, by the setting element of straight pin as location the 3rd gulde edge, then takes Q 61Algorithm is set up targeting scheme set Q I61As the 3rd gulde edge is circular arc, by the setting element of half " V " shape piece as location second gulde edge, then takes Q 62Algorithm is set up targeting scheme set Q I62, until set T I6Middle all elements is all finished above operation;
3. return step ().
4, General Design Method for Hole Series Combined Fixture Positioning Scheme according to claim 1 is characterized in that: the preferred orientation scheme is taked following evaluate alternatives function: the F=∑ iw iF i
In the formula: F iBe the index of i factor of influence, wi is the weight of i the factor.
5, General Design Method for Hole Series Combined Fixture Positioning Scheme according to claim 1, it is characterized in that: the soleplate physical dimension comprises the aperture and the pitch-row of locating hole on the size dimension, soleplate of soleplate, and the setting element physical dimension comprises that fastener hole on half " V " shape piece is apart from the distance at edge.
CN 03158227 2003-09-10 2003-09-10 General design method for positioning options of aperture system combined clamp Expired - Fee Related CN1232382C (en)

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CN101727676B (en) * 2008-10-10 2011-12-14 上海开通数控有限公司 Processing workpiece three-dimensional graph displaying method for numerically controlled lathe

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CN108571939A (en) * 2018-04-24 2018-09-25 宁波江丰电子材料股份有限公司 Positioning device and three-coordinates measuring machine
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