WO2020024600A1 - Normal vector attitude adjustment and offset compensation method for drilling and riveting device having double parallel rod - Google Patents
Normal vector attitude adjustment and offset compensation method for drilling and riveting device having double parallel rod Download PDFInfo
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- WO2020024600A1 WO2020024600A1 PCT/CN2019/080028 CN2019080028W WO2020024600A1 WO 2020024600 A1 WO2020024600 A1 WO 2020024600A1 CN 2019080028 W CN2019080028 W CN 2019080028W WO 2020024600 A1 WO2020024600 A1 WO 2020024600A1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35408—Calculate new position data from actual data to compensate for contour error
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- the invention relates to the field of aeronautical manufacturing, and is applicable to dual parallel rod drilling and riveting equipment. Specifically, the invention relates to a normal vector attitude adjustment and offset compensation method of the dual parallel rod drilling and riveting equipment.
- the main processing object of the double parallel rod drilling and riveting equipment is a double-curvature aeronautical workpiece.
- the actual model of this type of workpiece is far from the theoretical data.
- the process required to complete the normal vector drilling and riveting is adaptive processing, that is, the actual workpiece shape. Sensors are used for normal vector detection, normal vector attitude adjustment, and offset compensation.
- the traditional normal vector adjustment solution is: After its installation is completed, it is necessary to calibrate the relevant mechanical positions, including the positions of the Z and W axes in the machine tool coordinate system and the machining center point.
- the position in the machine tool coordinate system, etc., due to the maximum length of the device's attitude adjustment component is about 13 meters, plus the assembly error, only actual measurement can be made; and in order to achieve normal vector detection and offset compensation at the same time, the electrical control uses programmable
- the controller PLC reads the measured value of the sensor, and after the calculation process, it uses data exchange with the numerical control unit (NCU) to read and write parameters.
- NCU numerical control unit
- This method has the following disadvantages: 1), using a tape measure will produce a large error, The accuracy of the data is not high. At last, the attitude error after adjustment is large, and manual intervention is needed; 2) The operator needs to make constant corrections during the adjustment process, which takes a lot of time and is inefficient; 3) Frequently read system variables , Slow response, easy to cause the system to "hang", the entire system can only be restarted after power off; 4), while increasing the intensity of the operator's work, reducing production efficiency.
- the purpose of the present invention is to provide a normal vector attitude adjustment and offset compensation method of a double parallel rod drilling and riveting device.
- Normal vector processing requirements solve the problem of intelligent adjustment of the center vector normal position and offset of the drilling and riveting machining center, improve its working accuracy, improve production efficiency, and reduce manual labor intensity.
- the invention is realized through the following technical solutions: a normal vector attitude adjustment and offset compensation method of a double parallel rod drilling and riveting equipment, a normal vector attitude adjustment and offset compensation used in a drilling and riveting processing numerical control system, and manually adjusting each
- the programmable controller obtains the data of each numerical control axis during the artificial adjustment process, and the structural parameter parameters of the double parallel rods are calculated backward to obtain the characteristic parameters of each numerical control axis. Adjustment amount, offset compensation amount, multi-axis linkage to complete normal vector attitude adjustment and offset compensation.
- the numerical control system is provided with a displacement sensor corresponding to a workpiece machining center point; the normal vector attitude adjustment and its offset compensation method are to record data of each numerically controlled axis manually adjusted, Reverse calculations are performed to calibrate the mechanical coordinates of the characteristic parameters and obtain the actual position values of each CNC axis. Then use the programmable controller to obtain the displacement sensor value to obtain the normal vector deflection angle of the workpiece at the machining center point, and calculate the normal vector adjustment. According to the structural parameters of the parallel and parallel rods, and calculate the offset compensation of the corresponding NC axes. The actual position value, normal vector adjustment and offset compensation of each NC axis are summarized into the CNC system at the same time.
- the multi-axis linkage completion method Sagittal attitude and its offset compensation.
- the manual recording of the data of each numerically controlled axis specifically refers to the process of first finding the machining center point and manually rotating the A rotation axis and the Z axis and W axis differentials multiple times manually.
- Virtual B angle manually move each linear coordinate axis in different states to re-align the machining center point, and record the corresponding mechanical coordinate value.
- the inverse calculation refers to calculation using a mathematical formula derived from a geometric matrix relationship.
- the numerical control system includes a numerical control unit and four area displacement sensors installed on the end effector of the drilling and riveting equipment connected to the numerical control unit, and a target for positioning the machining center point.
- Displacement sensor, numerical control unit includes sequentially connected analog input module, programmable controller with built-in calculation module, servo drive controller, and drive device; the test lines emitted by the four area displacement sensors form four test points on the workpiece surface And the four test points form a quadrangle; the target displacement sensor is a laser displacement sensor, and the emitted laser points are located in the quadrangle;
- the normal vector attitude adjustment and its offset compensation method specifically include the following steps:
- Step S100 Install the workpiece on the double parallel rod drilling and riveting equipment, that is, first confirm the position of the parallel mechanism of the double parallel rod drilling and riveting equipment in the machine tool coordinate system, and then place the workpiece and place the machining center point on the workpiece to be drilled and riveted. Corresponds to the processing spindle;
- Step S200 After completing step S100, perform calibration of the mechanical coordinate values of the structural parameters of the double parallel rod, that is, through artificial simulation adjustment, the data of each numerical control axis is recorded by the analog input module and calculated backward by the calculation module to obtain the double parallel rod.
- Step S300 Calculate the normal vector adjustment amount at the same time as step S200, that is, use the programmable controller to read the area displacement sensor value and the target displacement sensor value respectively to obtain the distance between the end of the machining spindle and the machining center point, and use the normal vector deviation angle algorithm Obtain the normal vector deflection angle of the machining center point of the workpiece, and calculate the normal vector adjustment amount by the calculation module;
- Step S400 Combine the actual position value of each NC axis in the machine tool coordinate system obtained in step S200 with the normal vector adjustment amount calculated in step S300, and the calculation module calculates the corresponding offset compensation of each NC axis through the offset compensation algorithm. the amount;
- Step S500 The programmable controller calculates and compiles the actual position value of each CNC axis in the machine tool coordinate system, the normal vector adjustment amount, and the corresponding offset compensation amount of each CNC axis into a CNC machining subroutine, and generates program instructions at one time. Value, the multi-axis linkage is realized by the servo drive controller driving the driving device to complete the normal vector adjustment and offset compensation during drilling and riveting.
- the step S100 specifically refers to setting the processing spindle of the dual parallel rod drilling and riveting equipment along the Z axis direction, and first confirming that one end of the parallel mechanism is on the W axis in the machine tool coordinate system. Position and the other end of the parallel mechanism is in the Z axis position, and then confirm that the machining center point falls on the center of the quadrangle formed by the test points emitted by the four area displacement sensors, and mark the test points on the skin surface clearly;
- the values S 1 , S 2 , S 3 , and S 4 of the four area displacement sensors namely the first area displacement sensor, the second area displacement sensor, the third area displacement sensor, and the fourth area displacement sensor, are read, respectively.
- a mathematical model is established to obtain the skin surface machining center point and the drill. The distance h between the riveting spindles.
- step S200 specifically includes the following steps:
- Step S210 Keeping the rotation axis of A unchanged at 0 °, and calibrating the characteristic parameters X Z (B) , X W (B) , and Z D (B) of the virtual rotation axis of B ;
- Step S220 Calibrate the characteristic parameters X A (A) , X W (A) , Y D (A) , Z D (A) of the rotation axis of A ;
- Step S230 According to the characteristic parameters of the virtual rotation axis B calibrated in step S210 and the characteristic parameters of the rotary axis A calibrated in step S220, calculate the positions X Z , X W , Y D of the center points of the rotary axes of the double parallel rods in the machine tool coordinate system. , Z D ;
- the step S300 specifically includes the following steps:
- Step S310 Calculate the normal vector deviation angle ⁇ of the machining center point along the X-axis direction, and the machining center according to the values S 1 , S 2 , S 3 , and S 4 of the four area displacement sensors and the diagonal center distances L 12 and L 34 .
- Step S320 Calculate the increment ⁇ a of the rotation axis of the bracket A and the increment ⁇ b of the virtual rotation axis of the bracket B according to the normal vector deviation angles ⁇ and ⁇ ;
- the step S400 specifically includes the following steps:
- Step S410 Taking the machining center point as the circle center, the bracket is rotated independently by the normal sagittal deflection angle ⁇ , and the positions X 22 , y 22 , z 22 , and w 22 of the linear axes X, Y, Z, and W to be adjusted are calculated to obtain A
- the rotation axis normal vector adjusts the compensation amounts ⁇ X A , ⁇ Y A , ⁇ Z A , ⁇ W A , ⁇ a of the corresponding axes;
- Step S420 Taking the machining center point as the circle center, the bracket is rotated independently by the normal sagittal angle ⁇ , and the positions X 33 , z 33 , and w 33 of the linear axes X, Y, Z, and W that need to be adjusted are calculated to obtain the B virtual rotation axis method
- Step S430 comprehensive adjustment of the normal vector deflection angles ⁇ and ⁇ is required, and each numerical control axis needs to move and increase the positioning value, that is, the corresponding offset compensation amounts ⁇ X, ⁇ Y, ⁇ Z, ⁇ W, and ⁇ a of each numerical control axis.
- the calibration of the characteristic parameters X Z (B) , X W (B) , and Z D (B) of the virtual rotation axis of B in the step S210 includes the following steps:
- Step S211 artificially adjust each numerically controlled axis so that the laser point emitted by the target displacement sensor and the machining center point are combined as a mark point, and the mechanical coordinate values of each axis at this time are recorded: x 1 , y 1 , z 1 , w 1 , u 1 , A 1 , h 1 ;
- Step S213 Repeat steps S211 to S212 to obtain at least 5 sets of data and record them in the form;
- Step S214 Calculate the characteristic parameters X Z (B) , X W (B) , and Z D (B) of the virtual rotation axis of B in combination with the two sets of data in step S213.
- the specific algorithm is as follows:
- the calibration of the characteristic parameters X Z (A) , X W (A) , Y D (A) , and Z D (A) of the rotation axis of A in step S220 includes the following steps:
- Step S221 Move the Z and W axes so that the B angle corresponding to the B virtual rotation axis is not at 0 °, align the laser point with the marked point, and record the current mechanical coordinate values of each axis x 1 ', y 1 ', z 1 ' , W 1 ', u 1 ', a 1 ', h 1 ';
- Step S226 Calculate the characteristic parameters Y DZ , Z DZ , Y DW , Z DW in two sets of data in optional step S225; where Y DZ indicates the characteristic parameter Y D calculated using the Z-axis coordinate change, and Z DZ indicates the use of Z Feature parameter Z D calculated from the change of the axis coordinate; Y DW means the characteristic parameter Y D calculated from the change of the W axis coordinate; Z DW means the characteristic parameter Z D calculated from the change of the W axis coordinate; Y DZ , Z DZ , Y DW , Z DW ;
- Step S227 Calculate the characteristic parameters X Z (A) , X W (A) , Y D (A) , and Z D (A) of the A rotation axis according to Y DZ , Z DZ , Y DW , and Z DW in step S226.
- the normal vector deflection angles ⁇ and ⁇ in step S310 are determined by the values S 1 , S 2 , S 3 , and S 4 of the area displacement sensors in step S100 and between the two area displacement sensors.
- the center distances L 12 and L 34 are calculated;
- step S320 the increment ⁇ a of the rotation axis of the bracket A and the increment ⁇ b of the virtual rotation axis of the bracket B are obtained from the normal vector deviation angles ⁇ and ⁇ in step S310.
- the adjustment method is as follows:
- the movement distance of the linear axis Z axis and the linear axis W axis does not affect the rotation angle of the B virtual rotation axis. At this time, it is determined whether the B virtual rotation axis is at a positive or negative angle according to the height positions of the S 3 and S 4 sensors. .
- a separate carrier rotation angle [Phi] normal vector, linear axes X, Y, Z, W need to adjust the position of x 22, y 22 , z 22 , w 22 , because corresponding to the W axis, the coordinates of the intersection of the A and B rotation axes can be expressed as (X W -u, y, w), and the initial coordinates are (X W -u 1 , y 1 , w 1 ),
- Step S430 the corresponding offset compensation amounts ⁇ X, ⁇ Y, ⁇ Z, ⁇ W, ⁇ a of each numerically controlled axis are calculated as follows:
- ⁇ X ⁇ X A + ⁇ X B
- ⁇ Y ⁇ Y A + ⁇ Y B
- ⁇ Z ⁇ Z A + ⁇ Z B
- ⁇ W ⁇ W A + ⁇ W B
- the operations of the normal vector attitude adjustment and its offset compensation in step S500 specifically refer to the method of using the servo drive controller and the drive device to make the XY plane at the machining center point.
- the sagittal angles ⁇ and ⁇ are equal to 0 °, that is, control the rotation axis A to adjust the angle ⁇ , control the CNC axis Z and W axes to adjust the angle ⁇ and the height in the Z direction, and each axis according to the offset compensation amount ⁇ X, ⁇ Y, ⁇ Z, ⁇ W, ⁇ a multi-axis linkage, complete normal vector attitude adjustment and offset compensation.
- the structural characteristic parameters are calibrated by manually recording the data of each axis and calculating backward; a programmable controller is used to read the corresponding displacement sensor value to obtain the normal vector deflection angle of the center point of the processing of the hyperboloid skin and calculate the method.
- the subroutine makes use of the characteristics of fast and accurate positioning of the CNC system to generate program command values at one time. Multi-axis linkage completes normal vector attitude adjustment and machining point offset compensation.
- the invention is suitable for dual parallel rod drilling and riveting equipment, and is particularly suitable for the normal vector attitude adjustment and offset compensation of a complex double-curvature workpiece that is easy to deform without a theoretical model and whose structure cannot be theoretically calculated.
- the present invention has the following advantages and beneficial effects:
- the characteristic parameters of the structure of the dual parallel rod drilling and riveting equipment are manually adjusted to record the mechanical coordinate values of each axis, and the area displacement sensor value and the target displacement sensor value are collected to calculate the normal vector deflection angle and reversely map Normal vector adjustment amount.
- the offset compensation amount corresponding to each axis is calculated according to the characteristic parameters of the calibrated equipment structure and normal vector adjustment amount.
- the characteristic parameter calibration, normal vector detection, normal vector adjustment amount calculation, and offset are simultaneously performed by the CNC unit. Calculate the amount of shift compensation and compile it into a CNC machining subroutine. Using the characteristics of fast response and accurate positioning of the CNC system, complete program command values are generated at one time, so that multi-axis linkage can quickly complete normal vector attitude adjustment and machining point offset compensation;
- the present invention can effectively solve the problems that the structural parameters of the double parallel rod cannot be theoretically calculated and the center vector normal attitude adjustment and offset compensation of the double-curved workpiece machining center point are guaranteed, the accuracy of the reference data is improved, and the normal vector adjustment is improved.
- the rapidity and accuracy of the posture reduce the manual participation, reduce the adjustment time, increase the degree of automation of the equipment, reduce the introduction of human error, and at the same time use the control method of the CNC system to give full play to the advantages of fast system response and reduce workpiece adjustment Jitter during posture;
- the present invention can realize one-time normal vector attitude adjustment and offset compensation without multiple corrections
- the algorithm in the present invention is simple, the numerical control unit has a small amount of calculation, does not need to call system variables frequently, and is correspondingly fast;
- the invention can effectively improve the working efficiency of workers and reduce their working intensity.
- FIG. 1 is a structural diagram of a machine tool of a dual-parallel rod drilling and riveting equipment according to the present invention
- 3-end of parallel mechanism A 5-processing center point, 6-third area displacement sensor, 7-second area displacement sensor, 8-processing spindle, 9-first area displacement sensor, 10-fourth area displacement Sensor, 12-hyperboloid skin, 14-parallel mechanism B-end.
- the normal vector declination algorithm in the present invention is based on an authorized invention patent: a method for correcting the normal direction of an automatic drilling and riveting robot; authorization bulletin number: CN102284956.
- the hyperboloid skin 12 is used as a workpiece to be drilled and riveted, and a riveting machine with a double parallel rod structure is used for drilling and riveting. If the normal vector attitude of the machining center point 5 is adjusted by the prior art, the mechanical position of the structural parameters of the double parallel rod drilling and riveting equipment cannot be theoretically obtained, which seriously affects the accuracy of the normal vector attitude adjustment.
- This embodiment specifically describes the normal vector attitude adjustment and offset compensation method:
- FIG. 1 a machine structure diagram of a dual-parallel rod drilling and riveting device.
- the dual-parallel rod drilling and riveting device is equipped with four area displacement sensors installed on the end effector of the drilling and riveting device, and one for positioning the machining center point.
- 5 target displacement sensors the test lines emitted by the four area displacement sensors form four test points on the surface of the hyperboloid skin 12 and the four test points form a quadrangle;
- the target displacement sensor is a laser displacement sensor, and the emitted laser points Located at the intersection of the diagonals of the quadrangle. Mark each laser point clearly for easy realignment.
- the area displacement sensor and the target displacement sensor are respectively connected with a numerical control unit, and the numerical control unit includes an analog input module, a programmable controller with a built-in calculation module, a servo drive controller, and a driving device, which are sequentially connected.
- the four area displacement sensors are installed on the end effector of the drilling and riveting equipment, usually
- the third area displacement sensor 6 and the fourth area displacement sensor 10 are installed on a cylindrical surface with the tool work spindle as the central axis, and the first area displacement sensor 9 and the second area displacement sensor 7 are along the Y axis. Orientation.
- the four area displacement sensors are fixedly installed at an angle of 45 ° with the tool's machining spindle, which can make the test lines of the area displacement sensor hit the workpiece surface close enough without crossing, that is, four beam test lines.
- Processing center point 5 residing inside a quadrangle, a first region 9 displacement sensor, displacement sensor 7 a second region, the third region 6 the displacement sensor, the displacement sensor 10 of the fourth region respectively correspond shift value S 1, S 2, S 3 , S 4 , and S 1 , S 2 , S 3 , and S 4 are collected by the connected analog input module and sent to the programmable controller.
- the target displacement sensor obtains a Z-direction height value of the machining center point.
- the normal vector attitude adjustment and its offset compensation method include the following steps:
- Step S100 Install the workpiece on the dual parallel rod drilling and riveting equipment, set the processing spindle of the dual parallel rod drilling and riveting equipment along the Z axis direction, and first confirm that the end of the parallel mechanism is in the W axis position and parallel in the machine tool coordinate system. The other end of the mechanism is in the Z axis position.
- the machining center point on the hyperboloid skin 12 is adjusted to correspond to the drilling and riveting spindle.
- the programmable controller is used to read the area displacement sensor value and the target displacement sensor value (S 1 , S 2 , S 3 , S 4 and L 12 , L 34 ) to obtain the distance h between the end of the machining spindle and the machining center point;
- Step S200 After completing step S100, perform the structural coordinate parameters of the double parallel rod and its mechanical coordinate values (B virtual rotation axis characteristic parameters X Z (B) , X W (B) , Z D (B) , A rotation axis characteristic parameter X Z (A) , X W (A) , Y D (A) , Z D (A) ) calibration, that is, through artificial simulation adjustment, the data of each CNC axis is recorded by the analog input module and calculated backward by the calculation module. Obtain the actual position values (X Z , X W , Y D , Z D ) of each CNC axis in the double parallel rod structure in the machine tool coordinate system;
- Step S300 step S200 while the normal vector calculating the adjustment amount, i.e., the region in accordance with the displacement sensor value, the target value of the displacement sensor (S 1, S 2, S 3, S 4 and L 12, L 34), by a normal vector angle
- the normal vector deviation angle ( ⁇ , ⁇ ) of the machining center point of the workpiece is obtained by the algorithm, and the normal vector adjustment amount ( ⁇ a, ⁇ b) is calculated by the calculation module;
- Step S400 Each CNC axes binding step S200 to obtain the actual position in the machine coordinate system (X Z, X W, Y D, Z D) to adjust the amount of the normal vector calculated in step S300, ( ⁇ a, ⁇ b) ,
- the calculation module calculates the corresponding offset compensation amount ( ⁇ X, ⁇ Y, ⁇ Z, ⁇ W, ⁇ a) of each CNC axis through the offset compensation algorithm;
- Step S500 The programmable controller calculates and compiles the actual position value of each CNC axis in the machine tool coordinate system, the normal vector adjustment amount, and the corresponding offset compensation amount of each CNC axis into a CNC machining subroutine, and generates program instructions at one time. Value, the multi-axis linkage is realized by the servo drive controller driving the driving device to complete the normal vector adjustment and offset compensation during drilling and riveting.
- the calibration of the structural parameters of the double parallel rods described in step S100 may be a one-time calibration or a periodic review.
- the laser point of the laser displacement sensor on the surface of the workpiece should be as clear and accurate as possible.
- the laser point can be coincident with the machining center point 5 or a point on the workpiece surface can be selected.
- the laser point and the machining center point 5 are generally combined as a mark point to facilitate subsequent operations to reposition the mark point.
- the invention is a normal vector attitude adjustment and offset compensation method of a double parallel rod drilling and riveting equipment, which solves how to manually adjust, record data of each axis, and reversely calibrate the actual mechanical position value of the structural characteristic parameters of the drilling and riveting equipment. ;
- the programmable controller in the numerical control unit Through the programmable controller in the numerical control unit, the position of the area displacement sensor is obtained, and the error angle ⁇ of the hyperboloid skin 12 in the X-axis direction (that is, the component of the normal vector in the X-axis direction) and the error angle in the Y-axis direction ⁇ (Ie, the component of the normal vector in the Y-axis direction), and use the target displacement sensor to obtain the height value of the machining center point 5 in the Z-axis direction.
- the machining spindle 8 of the end effector of the drilling and riveting equipment is set in the Z axis direction, in order to adjust the normal vector attitude of the machining center point 5 of the workpiece with double curvature skin, that is, the plane parallel to the XY plane at the machining center point 5
- the corresponding normal vector components ⁇ and ⁇ should be close to 0 °.
- X, Y, Z, W, A axis corresponding offsets, and multi-axis linkage to complete normal vector attitude adjustment and processing point offset compensation.
- Embodiment 1 This embodiment is further optimized on the basis of Embodiment 1, as follows:
- Step S100 reading S 1, S 2, S 3 , S 4 and L 12, L 34, obtained h.
- Step S200 Manually adjust each CNC axis and record the following data:
- step S211 the mechanical coordinate values corresponding to the numerical control axes x 1 , y 1 , z 1 , w 1 , u 1 , a 1 , h 1 when corresponding to the machining center point are found for the first time;
- step S212 after adjusting the angle B, the mechanical coordinate values x 2 , y 2 , z 2 , w 2 , u 2 , a 2 , h 2 of each numerical control axis are corresponding;
- step S221 when the B angle is not 0 °, the corresponding mechanical coordinate values of the CNC axes x 1 ′, y 1 ′, z 1 ′, w 1 ′, u 1 ′, a 1 ′, h 1 ′;
- step S222 the A axis is rotated, and each linear coordinate axis is moved for the second time, corresponding to the mechanical coordinate values x 2 ′, y 2 ′, z 2 ′, w 2 ′, u 2 ′, a 2 ′, h 2 ';
- step S223 rotate the A axis and move each linear coordinate axis for the third time, corresponding to the mechanical coordinate values of the numerical control axes x 3 ′, y 3 ′, z 3 ′, w 3 ′, u 3 ′, a 3 ′, h 3 ';
- step S224 the A axis is rotated, and the linear coordinate axes are moved for the fourth time, corresponding to the mechanical coordinate values of the numerical control axes x 4 ′, y 4 ′, z 4 ′, w 4 ′, u 4 ′, a 4 ′, h 4 ';
- Step S300 the transfer of S 1, S 2, S 3 , S 4 and L 12, L 34, in conjunction with the following calculation formula:
- the normal vector deviation angles ⁇ and ⁇ are obtained, and the normal vector adjustment amounts ⁇ a and ⁇ b are obtained.
- Step S400 Combine the following calculation formulas:
- x 33 X Z + (x 1 -X Z ) ⁇ cos ⁇ + [z 1- (Z D -h)] ⁇ sin ⁇ (045)
- ⁇ X B -(x 1 -X Z ) ⁇ (1-cos ⁇ ) + [z 1- (Z D -h)] ⁇ sin ⁇ (Z5)
- ⁇ Z B -[z 1- (Z D -h)] ⁇ (1-cos ⁇ )-(x 1 -X Z ) ⁇ sin ⁇ (Z7)
- ⁇ W B -[w 1- (Z D -h)] ⁇ (1-cos ⁇ )-[x 1- (X W -u 1 )] ⁇ sin ⁇ (Z8)
- ⁇ X - ⁇ (x 1 -X Z ) ⁇ sin b 1
- ⁇ Z - ⁇ (x 1 -X Z ) ⁇ sin b 1
- ⁇ W - ⁇ (x 1 -X Z ) ⁇ sin b 1
- steps S100, S200, and S300 are brought into calculation formulas (B1) to (B5) to obtain offset compensation amounts ⁇ X, ⁇ Y, ⁇ Z, ⁇ W, and ⁇ a.
- Step S500 The multi-axis linkage is performed to complete the normal vector posture adjustment and offset compensation during drilling and riveting.
- ⁇ X - ⁇ (x 1 -X Z ) ⁇ sin b 1
- ⁇ Z - ⁇ (x 1 -X Z ) ⁇ sin b 1
- ⁇ W - ⁇ (x 1 -X Z ) ⁇ sin b 1
- x 1 , y 1 , z 1 , w 1 , u 1 , h 1 are corresponding mechanical coordinate values of each axis normal vector before posture adjustment in step S200;
- ⁇ is the normal sagittal angle of the machining center point in the X-axis direction, which is obtained from step S300;
- ⁇ is the normal sagittal angle of the machining center point in the Y-axis direction, which is obtained from step S300;
- ⁇ a is the increment of the rotation axis of the bracket A, ⁇ corresponds to ⁇ a, and ⁇ can be used as the corresponding rotation angle in the rotation instruction of the rotation axis of the bracket A;
- ⁇ b is the increment of the virtual rotation axis of the bracket B, ⁇ corresponds to ⁇ b, and ⁇ can be used as the corresponding rotation angle in the rotation instruction of the virtual rotation axis of the bracket B;
- S 1 , S 2 , S 3 , and S 4 are the four area displacement sensor values collected by the analog input module, and are obtained from step S100;
- (10) L 12 is the center distance between the first area displacement sensor 9 and the second area displacement sensor 7, which is obtained from step S100;
- L 34 is the center distance between the third area displacement sensor 6 and the fourth area displacement sensor 10, which is obtained from step S100.
- the four area displacement sensors are the first area displacement sensor 9, the second area displacement sensor 7, the third area displacement sensor 6, and the fourth area displacement sensor. 10 may be an ultrasonic sensor or a laser sensor.
- the other parts of this embodiment are the same as those of the above embodiment, so they will not be described again.
- the step S500 specifically refers to establishing a cyclic fixed numerical control subroutine, acquiring the coordinate values of each axis in steps S200, S300, and S400, and acquiring the detection values of the target displacement sensor.
- Obtaining the displacement value of the area displacement sensor, the normal vector declination algorithm and the offset compensation algorithm are written into the variables ⁇ X, ⁇ Y, ⁇ Z, ⁇ W, ⁇ A of the NC subroutine, and the variables are converted into the system Recognizable instruction value; meanwhile, it is improved according to the structure of the CNC subroutine, including the beginning and end, protection of various error prevention measures, and complete logical judgment.
- PLC programmable logic
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Abstract
A normal vector attitude adjustment and offset compensation method for a drilling and riveting device having a double parallel rod, comprising: step S100: mount a workpiece on a drilling and riveting device having a double parallel rod; step S200: calibrate a feature parameter of a double parallel rod structure and a machine coordinate value thereof; step S300: calculate the adjustment amount of a normal vector; step S400: a calculation module calculates the corresponding offset compensation amount of each axis by means of an offset compensation algorithm by combining the actual location value of numerical control axes in a machine tool coordinate system obtained in step S200, and the adjustment amount of the normal vector obtained in step S300; step S500: a programmable controller drives a drive device by means of a servo drive controller to achieve multi-axis linkage to complete normal vector attitude adjustment and offset compensation thereof during drilling and riveting. The method efficiently solves the problems of incapability of theoretically calculating the feature parameter of the double parallel rod structure, and the normal vector attitude adjustment and offset compensation of a machining center point of a double-curved workpiece, and guarantees the accuracy of reference data, and normal vector attitude adjustment is rapid and accurate.
Description
本发明涉及航空制造领域，适用于双并联杆钻铆设备，具体的说，是一种双并联杆钻铆设备的法矢调姿及其偏移补偿方法。The invention relates to the field of aeronautical manufacturing, and is applicable to dual parallel rod drilling and riveting equipment. Specifically, the invention relates to a normal vector attitude adjustment and offset compensation method of the dual parallel rod drilling and riveting equipment.
双并联杆钻铆设备主要加工对象为双曲度航空工件，该类工件的实际模型与理论数据相差较远，为了完成法矢钻铆要求采用的工艺为适应性加工，即针对实际工件形状，现场采用传感器进行法矢检测、法矢调姿、偏移补偿等手段。The main processing object of the double parallel rod drilling and riveting equipment is a double-curvature aeronautical workpiece. The actual model of this type of workpiece is far from the theoretical data. The process required to complete the normal vector drilling and riveting is adaptive processing, that is, the actual workpiece shape. Sensors are used for normal vector detection, normal vector attitude adjustment, and offset compensation.
针对双并联杆钻铆设备，传统的法矢调整解决办法是：在其安装完成后，需要对其相关的机械位置进行位置标定，包括Z，W轴在机床坐标系中的位置以及加工中心点在机床坐标系中的位置等，由于该设备调姿部件尺寸最长有13米左右，加上装配误差，只得实际测量；而为了实现法矢检测与偏移补偿同时进行，电气控制采用可编程控制器(PLC)读取传感器的测量值，运算处理后，与数控单元(NCU)采用数据交换，参数读写，这种方式具有以下缺点：1)、使用卷尺测量会产生较大的误差，数据准确度不高，最后调整出来姿态误差较大，还需人工干预；2)、调整过程操作工需要不断地进行修正，花费了大量的时间，效率较低；3)、频繁读取系统变量，响应较慢，容易造成系统“死机”，整个系统只能断电重启；4)、增加操作工工作强度的同时，降低了生产效率。For the double parallel rod drilling and riveting equipment, the traditional normal vector adjustment solution is: After its installation is completed, it is necessary to calibrate the relevant mechanical positions, including the positions of the Z and W axes in the machine tool coordinate system and the machining center point. The position in the machine tool coordinate system, etc., due to the maximum length of the device's attitude adjustment component is about 13 meters, plus the assembly error, only actual measurement can be made; and in order to achieve normal vector detection and offset compensation at the same time, the electrical control uses programmable The controller (PLC) reads the measured value of the sensor, and after the calculation process, it uses data exchange with the numerical control unit (NCU) to read and write parameters. This method has the following disadvantages: 1), using a tape measure will produce a large error, The accuracy of the data is not high. At last, the attitude error after adjustment is large, and manual intervention is needed; 2) The operator needs to make constant corrections during the adjustment process, which takes a lot of time and is inefficient; 3) Frequently read system variables , Slow response, easy to cause the system to "hang", the entire system can only be restarted after power off; 4), while increasing the intensity of the operator's work, reducing production efficiency.
发明内容Summary of the invention
本发明的目的在于提供一种双并联杆钻铆设备的法矢调姿及其偏移补偿方法，在使用双并联杆钻铆设备对复杂双曲度工件进行加工时，针对复杂双曲度工件法矢加工要求，解决钻铆加工中心点法矢调姿及偏移智能补偿的问题，提升其工作精度，提高生产效率，降低人工劳动强度。The purpose of the present invention is to provide a normal vector attitude adjustment and offset compensation method of a double parallel rod drilling and riveting device. When using a double parallel rod drilling and riveting device to process a complex double curvature workpiece, Normal vector processing requirements, solve the problem of intelligent adjustment of the center vector normal position and offset of the drilling and riveting machining center, improve its working accuracy, improve production efficiency, and reduce manual labor intensity.
本发明通过下述技术方案实现：一种双并联杆钻铆设备的法矢调姿及其偏移补偿方法，用于钻铆加工数控系统的法矢调姿及其偏移补偿，人为调整各数控轴，由可编程控制器获取人为调整过程中各数控轴数据、双并联杆结构特征参数反向计算得到各数控轴的特征参数，结合位移传感器值计算得到的法矢偏角计算得到法矢调整量、偏移补偿量，多轴联动完成法矢调姿及其偏移补偿。The invention is realized through the following technical solutions: a normal vector attitude adjustment and offset compensation method of a double parallel rod drilling and riveting equipment, a normal vector attitude adjustment and offset compensation used in a drilling and riveting processing numerical control system, and manually adjusting each For numerical control axes, the programmable controller obtains the data of each numerical control axis during the artificial adjustment process, and the structural parameter parameters of the double parallel rods are calculated backward to obtain the characteristic parameters of each numerical control axis. Adjustment amount, offset compensation amount, multi-axis linkage to complete normal vector attitude adjustment and offset compensation.
进一步地，为了更好的实现本发明，所述数控系统设置有与工件加工中心点对应设置的位移传感器；所述法矢调姿及其偏移补偿方法为记录人为调整的各数控轴数据，反向计算进行特征参数其机械坐标值的标定并获得各数控轴的实际位置值，然后利用可编程控制器获取位移传感器值，得到工件在加工中心点的法矢偏角，计算得到法矢调整量，再根据 双并联杆结构特征参数计算相应各数控轴的偏移补偿量，将各数控轴的实际位置值、法矢调整量、偏移补偿量同时汇总到数控系统，多轴联动完成法矢调姿及其偏移补偿。Further, in order to better implement the present invention, the numerical control system is provided with a displacement sensor corresponding to a workpiece machining center point; the normal vector attitude adjustment and its offset compensation method are to record data of each numerically controlled axis manually adjusted, Reverse calculations are performed to calibrate the mechanical coordinates of the characteristic parameters and obtain the actual position values of each CNC axis. Then use the programmable controller to obtain the displacement sensor value to obtain the normal vector deflection angle of the workpiece at the machining center point, and calculate the normal vector adjustment. According to the structural parameters of the parallel and parallel rods, and calculate the offset compensation of the corresponding NC axes. The actual position value, normal vector adjustment and offset compensation of each NC axis are summarized into the CNC system at the same time. The multi-axis linkage completion method Sagittal attitude and its offset compensation.
进一步地，为了更好的实现本发明，所述记录人为调整的各数控轴数据，具体是指先找准加工中心点，通过人工分别多次旋转A旋转轴以及Z轴、W轴差动形成的虚拟B角，在不同状态下手动移动各直线坐标轴重新对准加工中心点，记下相应的机械坐标值。Further, in order to better implement the present invention, the manual recording of the data of each numerically controlled axis specifically refers to the process of first finding the machining center point and manually rotating the A rotation axis and the Z axis and W axis differentials multiple times manually. Virtual B angle, manually move each linear coordinate axis in different states to re-align the machining center point, and record the corresponding mechanical coordinate value.
进一步地，为了更好的实现本发明，所述反向计算是指利用几何矩阵关系推导得出的数学公式进行计算。Further, in order to better implement the present invention, the inverse calculation refers to calculation using a mathematical formula derived from a geometric matrix relationship.
进一步地，为了更好的实现本发明，所述数控系统包括数控单元和分别与数控单元连接的四个安装在钻铆设备末端执行器上的区域位移传感器、一个用于定位加工中心点的目标位移传感器，数控单元包括依次连接的模拟量输入模块、内置计算模块的可编程控制器、伺服驱动控制器、驱动装置；所述四个区域位移传感器射出的测试线在工件表面形成四个测试点且四个测试点形成一个四边形；所述目标位移传感器为激光位移传感器，射出的激光点位于四边形内；Further, in order to better implement the present invention, the numerical control system includes a numerical control unit and four area displacement sensors installed on the end effector of the drilling and riveting equipment connected to the numerical control unit, and a target for positioning the machining center point. Displacement sensor, numerical control unit includes sequentially connected analog input module, programmable controller with built-in calculation module, servo drive controller, and drive device; the test lines emitted by the four area displacement sensors form four test points on the workpiece surface And the four test points form a quadrangle; the target displacement sensor is a laser displacement sensor, and the emitted laser points are located in the quadrangle;
所述法矢调姿及其偏移补偿方法具体包括以下步骤：The normal vector attitude adjustment and its offset compensation method specifically include the following steps:
步骤S100：进行工件在双并联杆钻铆设备上的安装，即先确认双并联杆钻铆设备的并联机构在机床坐标系中的位置，然后安放工件并使工件上待钻铆的加工中心点与加工主轴对应；Step S100: Install the workpiece on the double parallel rod drilling and riveting equipment, that is, first confirm the position of the parallel mechanism of the double parallel rod drilling and riveting equipment in the machine tool coordinate system, and then place the workpiece and place the machining center point on the workpiece to be drilled and riveted. Corresponds to the processing spindle;
步骤S200：完成步骤S100后，进行双并联杆结构特征参数其机械坐标值的标定，即通过人为模拟调整，由模拟量输入模块记录各数控轴数据并通过计算模块反向计算以获得双并联杆结构各数控轴在机床坐标系中的实际位置值；Step S200: After completing step S100, perform calibration of the mechanical coordinate values of the structural parameters of the double parallel rod, that is, through artificial simulation adjustment, the data of each numerical control axis is recorded by the analog input module and calculated backward by the calculation module to obtain the double parallel rod. The actual position value of each CNC axis of the structure in the machine tool coordinate system;
步骤S300：与步骤S200同时计算出法矢调整量，即利用可编程控制器分别读取区域位移传感器值、目标位移传感器值，获得加工主轴末端与加工中心点的距离，通过法矢偏角算法得到工件其加工中心点的法矢偏角，并由计算模块计算出法矢调整量；Step S300: Calculate the normal vector adjustment amount at the same time as step S200, that is, use the programmable controller to read the area displacement sensor value and the target displacement sensor value respectively to obtain the distance between the end of the machining spindle and the machining center point, and use the normal vector deviation angle algorithm Obtain the normal vector deflection angle of the machining center point of the workpiece, and calculate the normal vector adjustment amount by the calculation module;
步骤S400：结合步骤S200中获得的各数控轴在机床坐标系中的实际位置值和步骤S300中计算出的法矢调整量，由计算模块通过偏移补偿算法计算各数控轴相应的偏移补偿量；Step S400: Combine the actual position value of each NC axis in the machine tool coordinate system obtained in step S200 with the normal vector adjustment amount calculated in step S300, and the calculation module calculates the corresponding offset compensation of each NC axis through the offset compensation algorithm. the amount;
步骤S500：可编程控制器将各数控轴在机床坐标系中的实际位置值、法矢调整量、各数控轴相应的偏移补偿量同时计算并编制成数控加工子程序，一次性生成程序指令值，通过伺服驱动控制器驱动驱动装置实现多轴联动以完成钻铆时的法矢调姿及其偏移补偿。Step S500: The programmable controller calculates and compiles the actual position value of each CNC axis in the machine tool coordinate system, the normal vector adjustment amount, and the corresponding offset compensation amount of each CNC axis into a CNC machining subroutine, and generates program instructions at one time. Value, the multi-axis linkage is realized by the servo drive controller driving the driving device to complete the normal vector adjustment and offset compensation during drilling and riveting.
进一步地，为了更好的实现本发明，所述步骤S100具体是指，将双并联杆钻铆设备的加工主轴沿Z轴方向设置，先在机床坐标系中确认并联机构的一端在W轴的位置且并联机构的另一端在Z轴的位置，再确认加工中心点落在由四个区域位移传感器射出的测试点形 成的四边形的中心，对蒙皮表面的测试点进行清晰的标记；标记后分别读取第一区域位移传感器、第二区域位移传感器、第三区域位移传感器、第四区域位移传感器这四个区域位移传感器的值S
1、S
2、S
3、S
4，并调取第一区域位移传感器与第二区域位移传感器之间的中心距L
12、第三区域位移传感器与第四区域位移传感器之间的中心距L
34，建立数学模型，得到蒙皮表面加工中心点与钻铆主轴间距离h。
Further, in order to better implement the present invention, the step S100 specifically refers to setting the processing spindle of the dual parallel rod drilling and riveting equipment along the Z axis direction, and first confirming that one end of the parallel mechanism is on the W axis in the machine tool coordinate system. Position and the other end of the parallel mechanism is in the Z axis position, and then confirm that the machining center point falls on the center of the quadrangle formed by the test points emitted by the four area displacement sensors, and mark the test points on the skin surface clearly; The values S 1 , S 2 , S 3 , and S 4 of the four area displacement sensors, namely the first area displacement sensor, the second area displacement sensor, the third area displacement sensor, and the fourth area displacement sensor, are read, respectively. The center distance L 12 between one area displacement sensor and the second area displacement sensor, and the center distance L 34 between the third area displacement sensor and the fourth area displacement sensor. A mathematical model is established to obtain the skin surface machining center point and the drill. The distance h between the riveting spindles.
进一步地，为了更好的实现本发明，所述步骤S200具体包括以下步骤：Further, in order to better implement the present invention, the step S200 specifically includes the following steps:
步骤S210：保持A旋转轴处于0°不变，标定B虚拟旋转轴特征参数X
Z(B)、X
W(B)、Z
D(B)；
Step S210: Keeping the rotation axis of A unchanged at 0 °, and calibrating the characteristic parameters X Z (B) , X W (B) , and Z D (B) of the virtual rotation axis of B ;
步骤S220：标定A旋转轴特征参数X
Z(A)、X
W(A)、Y
D(A)、Z
D(A)；
Step S220: Calibrate the characteristic parameters X A (A) , X W (A) , Y D (A) , Z D (A) of the rotation axis of A ;
步骤S230：根据步骤S210中标定的B虚拟旋转轴特征参数和步骤S220中标定A旋转轴特征参数，计算双并联杆各旋转轴中心点在机床坐标系中的位置X
Z、X
W、Y
D、Z
D；
Step S230: According to the characteristic parameters of the virtual rotation axis B calibrated in step S210 and the characteristic parameters of the rotary axis A calibrated in step S220, calculate the positions X Z , X W , Y D of the center points of the rotary axes of the double parallel rods in the machine tool coordinate system. , Z D ;
所述步骤S300具体包括以下步骤：The step S300 specifically includes the following steps:
步骤S310：根据四个区域位移传感器的值S
1、S
2、S
3、S
4及对角中心距L
12、L
34，计算加工中心点沿X轴方向的法矢偏角θ、加工中心点沿Y轴方向的法矢偏角Φ；
Step S310: Calculate the normal vector deviation angle θ of the machining center point along the X-axis direction, and the machining center according to the values S 1 , S 2 , S 3 , and S 4 of the four area displacement sensors and the diagonal center distances L 12 and L 34 . The normal vector deflection angle Φ of the point along the Y-axis direction;
步骤S320：根据法矢偏角θ、Φ计算出托架A旋转轴的增量Δa、托架B虚拟旋转轴的增量Δb；Step S320: Calculate the increment Δa of the rotation axis of the bracket A and the increment Δb of the virtual rotation axis of the bracket B according to the normal vector deviation angles θ and Φ;
所述步骤S400具体包括以下步骤：The step S400 specifically includes the following steps:
步骤S410：以加工中心点为圆心，托架单独旋转法矢偏角Φ，计算得到直线轴X、Y、Z、W需适当调整的位置x
22、y
22、z
22、w
22，得到A旋转轴法矢调节对应的各轴的补偿量ΔX
A、ΔY
A、ΔZ
A、ΔW
A、Δa；
Step S410: Taking the machining center point as the circle center, the bracket is rotated independently by the normal sagittal deflection angle Φ, and the positions X 22 , y 22 , z 22 , and w 22 of the linear axes X, Y, Z, and W to be adjusted are calculated to obtain A The rotation axis normal vector adjusts the compensation amounts ΔX A , ΔY A , ΔZ A , ΔW A , Δa of the corresponding axes;
步骤S420：以加工中心点为圆心，托架单独旋转法矢角度θ，计算得到直线轴X、Y、Z、W需适当调整的位置x
33、z
33、w
33，得到B虚拟旋转轴法矢调节对应的各轴的补偿量ΔX
B、ΔY
B、ΔZ
B、ΔW
B；
Step S420: Taking the machining center point as the circle center, the bracket is rotated independently by the normal sagittal angle θ, and the positions X 33 , z 33 , and w 33 of the linear axes X, Y, Z, and W that need to be adjusted are calculated to obtain the B virtual rotation axis method The compensation amounts ΔX B , ΔY B , ΔZ B , and ΔW B of each axis corresponding to the vector adjustment;
步骤S430：综合法矢偏角Φ和θ调整需要，各数控轴需要移动定位增量值，即各数控轴相应的偏移补偿量ΔX、ΔY、ΔZ、ΔW、Δa。Step S430: comprehensive adjustment of the normal vector deflection angles Φ and θ is required, and each numerical control axis needs to move and increase the positioning value, that is, the corresponding offset compensation amounts ΔX, ΔY, ΔZ, ΔW, and Δa of each numerical control axis.
进一步地，为了更好的实现本发明，所述步骤S210中标定B虚拟旋转轴特征参数X
Z(B)、X
W(B)、Z
D(B)，具体包括以下步骤：
Further, in order to better implement the present invention, the calibration of the characteristic parameters X Z (B) , X W (B) , and Z D (B) of the virtual rotation axis of B in the step S210 includes the following steps:
步骤S211：人为调整各数控轴，使目标位移传感器射出的激光点与加工中心点重合并作为标记点，记录此时各轴机械坐标值：x
1、y
1、z
1、w
1、u
1、a
1、h
1；
Step S211: artificially adjust each numerically controlled axis so that the laser point emitted by the target displacement sensor and the machining center point are combined as a mark point, and the mechanical coordinate values of each axis at this time are recorded: x 1 , y 1 , z 1 , w 1 , u 1 , A 1 , h 1 ;
步骤S212：调整Z轴、W轴实现虚拟B轴的旋转，再移动各直线坐标轴，使激光点与 标记点重新重合，并使h
2＝h
1，记录此时各轴机械坐标值：
Step S212: Adjust the Z-axis and W-axis to realize the virtual B-axis rotation, and then move each linear coordinate axis to make the laser point and the marker point coincide again, and make h 2 = h 1 , and record the mechanical coordinate value of each axis at this time:
x
2、y
2、z
2、w
2、u
2、a
2、h
2，其中h
2＝h
1＝h、y
2＝y
1、a
2＝a
1；
x 2 , y 2 , z 2 , w 2 , u 2 , a 2 , h 2 , where h 2 = h 1 = h, y 2 = y 1 , a 2 = a 1 ;
步骤S213：重复步骤S211至步骤S212，得到至少5组数据并分别记录在表格中；Step S213: Repeat steps S211 to S212 to obtain at least 5 sets of data and record them in the form;
步骤S214：任选步骤S213中2组数据，结合克莱姆法则，计算B虚拟旋转轴的特征参数X
Z(B)、X
W(B)、Z
D(B)，具体算法如下：
Step S214: Calculate the characteristic parameters X Z (B) , X W (B) , and Z D (B) of the virtual rotation axis of B in combination with the two sets of data in step S213. The specific algorithm is as follows:
其中：among them:
A
1＝2(x
1-x
2) (001)
A 1 = 2 (x 1 -x 2 ) (001)
B
1＝0 (002)
B 1 = 0 (002)
C
1＝2(z
1-z
2) (003)
C 1 = 2 (z 1 -z 2 ) (003)
D
1＝(x
1+x
2)(x
1-x
2)+(z
1+z
2+2h)(z
1-z
2) (004)
D 1 = (x 1 + x 2 ) (x 1 -x 2 ) + (z 1 + z 2 + 2h) (z 1 -z 2 ) (004)
A
2＝0 (005)
A 2 = 0 (005)
B
2＝2(x
1-x
2+u
1-u
2) (006)
B 2 = 2 (x 1 -x 2 + u 1 -u 2 ) (006)
C
2＝2(w
1-w
2) (007)
C 2 = 2 (w 1 -w 2 ) (007)
D
2＝(x
1+x
2+u
1+u
2)(x
1-x
2+u
1-u
2)+(w
1+w
2+2h)(w
1-w
2) (008)
D 2 = (x 1 + x 2 + u 1 + u 2 ) (x 1 -x 2 + u 1 -u 2 ) + (w 1 + w 2 + 2h) (w 1 -w 2 ) (008)
A
3＝2(u
1-u
2) (009)
A 3 = 2 (u 1 -u 2 ) (009)
B
3＝-2(u
1-u
2) (010)
B 3 = -2 (u 1 -u 2 ) (010)
C
3＝0 (011)
C 3 = 0 (011)
D
3＝(z
1+z
2-w
1-w
2)(z
2-z
1-w
2+w
1)-(u
1+u
2)(u
1-u
2) (012)
D 3 = (z 1 + z 2 -w 1 -w 2 ) (z 2 -z 1 -w 2 + w 1 )-(u 1 + u 2 ) (u 1 -u 2 ) (012)
将计算式(001)、(002)、(003)、(004)、(005)、(006)、(007)、(008)、(009)、(010)、(011)、(012)代入(G1)、(G2)、(G3)中，即可计算得到B虚拟旋转轴的特征参数X
Z(B)、X
W(B)、Z
D(B)；
The calculation formulas (001), (002), (003), (004), (005), (006), (007), (008), (009), (010), (011), (012) Substituting into (G1), (G2), (G3), the characteristic parameters X Z (B) , X W (B) , Z D (B) of the virtual rotation axis of B can be calculated;
所述步骤S220所述标定A旋转轴特征参数X
Z(A)、X
W(A)、Y
D(A)、Z
D(A)，具体包括以下步骤：
The calibration of the characteristic parameters X Z (A) , X W (A) , Y D (A) , and Z D (A) of the rotation axis of A in step S220 includes the following steps:
步骤S221：移动Z轴、W轴使B虚拟旋转轴对应的B角不处于0°位置，使激光点对准标记点，记录当前各轴机械坐标值x
1'、y
1'、z
1'、w
1'、u
1'、a
1'、h
1'；
Step S221: Move the Z and W axes so that the B angle corresponding to the B virtual rotation axis is not at 0 °, align the laser point with the marked point, and record the current mechanical coordinate values of each axis x 1 ', y 1 ', z 1 ' , W 1 ', u 1 ', a 1 ', h 1 ';
步骤S222：旋转A轴，第二次移动各直线坐标轴，使激光点与标记点重新重合，并使标记点处于同一高度即h
2'＝h
1'，记录各轴机械坐标值：x
2'、y
2'、z
2'、w
2'、u
2'、a
2'、h
2'；
Step S222: Rotate the A axis, move the linear coordinate axes for the second time, make the laser point coincide with the marked point, and make the marked points at the same height, that is, h 2 '= h 1 ', and record the mechanical coordinate value of each axis: x 2 ', Y 2 ', z 2 ', w 2 ', u 2 ', a 2 ', h 2 ';
步骤S223：旋转A轴，第三次移动各直线坐标轴，使激光点与标记点重新重合，并使标记点处于同一高度即h
3'＝h
1'，记录各轴机械坐标值：x
3'、y
3'、z
3'、w
3'、u
3'、a
3'、h
3'；
Step S223: Rotate the A axis, move the linear coordinate axes for the third time, make the laser point coincide with the marked point, and make the marked points at the same height, that is, h 3 '= h 1 ', and record the mechanical coordinate value of each axis: x 3 ', Y 3 ', z 3 ', w 3 ', u 3 ', a 3 ', h 3 ';
步骤S224：旋转A轴，第四次移动各直线坐标轴，使激光点与标记点重新重合，并使标记点处于同一高度即h
4'＝h
1'，记录各轴机械坐标值：x
4'、y
4'、z
4'、w
4'、u
4'、a
4'、h
4'；
Step S224: Rotate the A axis, move the linear coordinate axes for the fourth time, make the laser point coincide with the marked point, and make the marked points at the same height, that is, h 4 '= h 1 ', and record the mechanical coordinate value of each axis: x 4 ', Y 4 ', z 4 ', w 4 ', u 4 ', a 4 ', h 4 ';
步骤S225：重复步骤S221至步骤S224，得到至少5组数据并分别记录在表格中，其中h
4'＝h
3'＝h
2'＝h
1'＝h；
Step S225: Repeat steps S221 to S224 to obtain at least 5 sets of data and record them in a table, where h 4 ′ = h 3 ′ = h 2 ′ = h 1 ′ = h;
步骤S226：任选步骤S225中2组数据计算出特征参数Y
DZ、Z
DZ、Y
DW、Z
DW；其中，Y
DZ表示利用Z轴坐标变化计算得到的特征参数Y
D，Z
DZ表示利用Z轴坐标变化计算得到的特征参数Z
D；Y
DW表示利用W轴坐标变化计算得到的特征参数Y
D，Z
DW表示利用W轴坐标变化计算得到的特征参数Z
D；Y
DZ、Z
DZ、Y
DW、Z
DW；
Step S226: Calculate the characteristic parameters Y DZ , Z DZ , Y DW , Z DW in two sets of data in optional step S225; where Y DZ indicates the characteristic parameter Y D calculated using the Z-axis coordinate change, and Z DZ indicates the use of Z Feature parameter Z D calculated from the change of the axis coordinate; Y DW means the characteristic parameter Y D calculated from the change of the W axis coordinate; Z DW means the characteristic parameter Z D calculated from the change of the W axis coordinate; Y DZ , Z DZ , Y DW , Z DW ;
步骤S227：根据步骤S226中Y
DZ、Z
DZ、Y
DW、Z
DW计算出A旋转轴的特征参数X
Z(A)、X
W(A)、Y
D(A)、Z
D(A)。
Step S227: Calculate the characteristic parameters X Z (A) , X W (A) , Y D (A) , and Z D (A) of the A rotation axis according to Y DZ , Z DZ , Y DW , and Z DW in step S226.
所述步骤S230中各旋转轴中心点在机床坐标系中的位置X
Z、X
W、Y
D、Z
D。
The positions X Z , X W , Y D , and Z D of the center point of each rotation axis in the machine tool coordinate system in step S230.
进一步地，为了更好的实现本发明，所述步骤S310中法矢偏角θ、Φ由步骤S100中的区域位移传感器的值S
1、S
2、S
3、S
4和两区域位移传感器间中心距L
12、L
34计算得到；
Further, in order to better implement the present invention, the normal vector deflection angles θ and Φ in step S310 are determined by the values S 1 , S 2 , S 3 , and S 4 of the area displacement sensors in step S100 and between the two area displacement sensors. The center distances L 12 and L 34 are calculated;
所述步骤S320中托架A旋转轴的增量Δa、托架B虚拟旋转轴的增量Δb由步骤S310中法矢偏角θ、Φ得到，调整方法如下：In step S320, the increment Δa of the rotation axis of the bracket A and the increment Δb of the virtual rotation axis of the bracket B are obtained from the normal vector deviation angles θ and Φ in step S310. The adjustment method is as follows:
若S
1＞S
2，A旋转轴负向旋转且旋转角度|Φ|；
If S 1 ＞ S 2 , the A rotation axis rotates in the negative direction and the rotation angle | Φ |;
若S
1＝S
2，A旋转轴处于0°位置；
If S 1 = S 2 , the A rotation axis is at 0 °;
若S
1＜S
2，A旋转轴正向旋转且旋转角度|Φ|；
If S 1 ＜ S 2 , the A rotation axis rotates forward and the rotation angle | Φ |;
若Δb＞0，S
3＞S
4，则Z轴负向运动，W轴正向运动；
If Δb> 0 and S 3 > S 4 , the Z axis moves in the negative direction and the W axis moves in the positive direction;
若S
3＝S
4，B虚拟旋转轴处于0°位置；
If S 3 = S 4 , the virtual rotation axis of B is at 0 °;
若S
3＜S
4，Z轴正向运动，W轴负向运动。
If S 3 <S 4 , the Z axis moves in the positive direction and the W axis moves in the negative direction.
所述直线轴Z轴和直线轴W轴的运动距离不影响B虚拟旋转轴的旋转角度，此时根据 S
3、S
4传感器高低位置来判断B虚拟旋转轴是处于正向角度还是负向角度。
The movement distance of the linear axis Z axis and the linear axis W axis does not affect the rotation angle of the B virtual rotation axis. At this time, it is determined whether the B virtual rotation axis is at a positive or negative angle according to the height positions of the S 3 and S 4 sensors. .
进一步地，为了更好的实现本发明，所述步骤S410以加工中心点为圆心，托架单独旋转法矢偏角Φ，直线轴X、Y、Z、W需适当调整的位置x
22、y
22、z
22、w
22，由于对应W轴，其A、B旋转轴交点坐标可以表示为(X
W-u，y，w)，初始坐标为(X
W-u
1，y
1，w
1)，旋转偏移补偿后的坐标为(X
W-u
2，y
2，w
2)，满足W
2-W
1＝Z
2-Z
1，其中u
2为无需调节控制的自适应值，b
1为旋转前的角度，所以根据x
22、y
22、z
22、w
22得到A旋转轴法矢调节对应的各轴的补偿量ΔX
A、ΔY
A、ΔZ
A、ΔW
A、Δa；
Further, in order to better implement the present invention, the step S410 to the processing center point of a circle, a separate carrier rotation angle [Phi] normal vector, linear axes X, Y, Z, W need to adjust the position of x 22, y 22 , z 22 , w 22 , because corresponding to the W axis, the coordinates of the intersection of the A and B rotation axes can be expressed as (X W -u, y, w), and the initial coordinates are (X W -u 1 , y 1 , w 1 ), The coordinates after rotation offset compensation are (X W -u 2 , y 2 , w 2 ), satisfying W 2 -W 1 = Z 2 -Z 1 , where u 2 is an adaptive value without adjustment control, b 1 is the angle before rotation, so the compensation amounts ΔX A , ΔY A , ΔZ A , ΔW A , Δa of each axis corresponding to the A-axis normal vector adjustment are obtained according to x 22 , y 22 , z 22 , and w 22 ;
步骤S420：以加工中心点为圆心，托架单独旋转法矢角度θ，计算得到直线轴X、Y、Z、W需适当调整的位置x
33、z
33、w
33，其中Y轴方向无偏移量，即ΔY
B＝0；
Step S420: The machining center point is taken as the center of the circle, and the bracket is independently rotated by the normal sagittal angle θ, and the positions x 33 , z 33 , and w 33 of the linear axes X, Y, Z, and W to be adjusted are calculated, and the Y-axis direction is not biased. Shift amount, that is, ΔY B = 0;
步骤S430：所述各数控轴相应的偏移补偿量ΔX、ΔY、ΔZ、ΔW、Δa计算式如下：Step S430: the corresponding offset compensation amounts ΔX, ΔY, ΔZ, ΔW, Δa of each numerically controlled axis are calculated as follows:
ΔX＝ΔX
A+ΔX
B
ΔX = ΔX A + ΔX B
ΔY＝ΔY
A+ΔY
B
ΔY = ΔY A + ΔY B
ΔZ＝ΔZ
A+ΔZ
B
ΔZ = ΔZ A + ΔZ B
ΔW＝ΔW
A+ΔW
B
ΔW = ΔW A + ΔW B
Δa＝-Φ。Δa = -Φ.
进一步地，为了更好的实现本发明，所述步骤S500中法矢调姿及其偏移补偿的操作具体是指：通过伺服驱动控制器，驱动驱动装置，使加工中心点处XY平面的法矢偏角θ、Φ均等于0°，即控制旋转轴A调整角度θ、控制数控轴Z轴与W轴调整角度Φ及Z向高度、同时各轴根据偏移补偿量ΔX、ΔY、ΔZ、ΔW、Δa多轴联动，完成法矢调姿及其偏移补偿。Further, in order to better implement the present invention, the operations of the normal vector attitude adjustment and its offset compensation in step S500 specifically refer to the method of using the servo drive controller and the drive device to make the XY plane at the machining center point. The sagittal angles θ and Φ are equal to 0 °, that is, control the rotation axis A to adjust the angle θ, control the CNC axis Z and W axes to adjust the angle Φ and the height in the Z direction, and each axis according to the offset compensation amount ΔX, ΔY, ΔZ, ΔW, Δa multi-axis linkage, complete normal vector attitude adjustment and offset compensation.
本发明通过人为调整记录各轴数据并反向计算进行结构特征参数的标定；利用可编程控制器读取相应位移传感器值，获得双曲面蒙皮加工中心点的法矢偏角，计算得出法矢调整量；再根据双并联杆结构特征参数计算相应各数控轴的偏移补偿量；同时，将各轴坐标值获取、法矢调整量计算、偏移补偿量计算等全过程编制成数控加工子程序，利用数控系统响应快速、准确定位的特点，一次性生成程序指令值，多轴联动完成法矢调姿及加工点偏移补偿。In the invention, the structural characteristic parameters are calibrated by manually recording the data of each axis and calculating backward; a programmable controller is used to read the corresponding displacement sensor value to obtain the normal vector deflection angle of the center point of the processing of the hyperboloid skin and calculate the method. Vector adjustment amount; and then calculate the offset compensation amount of each NC axis according to the structural parameters of the double parallel rod; at the same time, the entire process of obtaining the coordinate values of each axis, the calculation of the normal vector adjustment amount, and the offset compensation amount is compiled into CNC processing. The subroutine makes use of the characteristics of fast and accurate positioning of the CNC system to generate program command values at one time. Multi-axis linkage completes normal vector attitude adjustment and machining point offset compensation.
本发明适用于双并联杆钻铆设备，特别适合设备本身结构无法理论计算，且其产品是没有理论模型、易变形的复杂双曲度工件的法矢调姿及偏移补偿。The invention is suitable for dual parallel rod drilling and riveting equipment, and is particularly suitable for the normal vector attitude adjustment and offset compensation of a complex double-curvature workpiece that is easy to deform without a theoretical model and whose structure cannot be theoretically calculated.
本发明与现有技术相比，具有以下优点及有益效果：Compared with the prior art, the present invention has the following advantages and beneficial effects:
(1)本发明通过人为调整以记录各轴机械坐标值进行双并联杆钻铆设备结构的特征参数标定，并采集区域位移传感器值和目标位移传感器值以计算出法矢偏角并反向映射法矢调节量，同时根据标定的设备结构的特征参数和法矢调节量计算出各轴对应的偏移补偿量，通过数控单元同时进行特征参数标定、法矢检测、法矢调节量计算、偏移补偿量计算，并编制成数控加工子程序，利用数控系统响应快速、定位准确的特点，一次性生成完整的程序指令值，使得多轴联动快速完成法矢调姿及加工点偏移补偿；(1) In the present invention, the characteristic parameters of the structure of the dual parallel rod drilling and riveting equipment are manually adjusted to record the mechanical coordinate values of each axis, and the area displacement sensor value and the target displacement sensor value are collected to calculate the normal vector deflection angle and reversely map Normal vector adjustment amount. At the same time, the offset compensation amount corresponding to each axis is calculated according to the characteristic parameters of the calibrated equipment structure and normal vector adjustment amount. The characteristic parameter calibration, normal vector detection, normal vector adjustment amount calculation, and offset are simultaneously performed by the CNC unit. Calculate the amount of shift compensation and compile it into a CNC machining subroutine. Using the characteristics of fast response and accurate positioning of the CNC system, complete program command values are generated at one time, so that multi-axis linkage can quickly complete normal vector attitude adjustment and machining point offset compensation;
(2)本发明能够有效地解决双并联杆结构特征参数无法理论计算和双曲度工件加工中心点法矢调姿及偏移补偿的问题，保证了基准数据的准确性，提高了法矢调姿的快速性和准确性，减少了人工参与度，降低了调节时间，提高设备的自动化程度，减小人为误差的引入，同时采用数控系统控制的方式充分发挥系统响应快速的优点，降低工件调姿过程中的抖动；(2) The present invention can effectively solve the problems that the structural parameters of the double parallel rod cannot be theoretically calculated and the center vector normal attitude adjustment and offset compensation of the double-curved workpiece machining center point are guaranteed, the accuracy of the reference data is improved, and the normal vector adjustment is improved. The rapidity and accuracy of the posture reduce the manual participation, reduce the adjustment time, increase the degree of automation of the equipment, reduce the introduction of human error, and at the same time use the control method of the CNC system to give full play to the advantages of fast system response and reduce workpiece adjustment Jitter during posture;
(3)本发明摒弃实用卷尺测量会产生较大误差的缺陷；(3) The present invention abandons the defect that a practical tape measure will cause large errors;
(4)本发明可实现一次性法矢调姿和偏移补偿，无需多次修正；(4) The present invention can realize one-time normal vector attitude adjustment and offset compensation without multiple corrections;
(5)本发明中的算法简单、数控单元运算量较小、不用频繁调用系统变量、相应迅速；(5) The algorithm in the present invention is simple, the numerical control unit has a small amount of calculation, does not need to call system variables frequently, and is correspondingly fast;
(6)本发明可以有效提高工人的工作效率、降低其工作强度。(6) The invention can effectively improve the working efficiency of workers and reduce their working intensity.
图1为本发明涉及的双并联杆钻铆设备的机床结构图；FIG. 1 is a structural diagram of a machine tool of a dual-parallel rod drilling and riveting equipment according to the present invention;
其中：3-并联机构A端，5-加工中心点，6-第三区域位移传感器，7-第二区域位移传感器，8-加工主轴，9-第一区域位移传感器，10-第四区域位移传感器，12-双曲面蒙皮，14-并联机构B端。Among them: 3-end of parallel mechanism A, 5-processing center point, 6-third area displacement sensor, 7-second area displacement sensor, 8-processing spindle, 9-first area displacement sensor, 10-fourth area displacement Sensor, 12-hyperboloid skin, 14-parallel mechanism B-end.
下面结合实施例对本发明作进一步地详细说明，但本发明的实施方式不限于此。The present invention is further described in detail with reference to the following examples, but the embodiments of the present invention are not limited thereto.
本发明中法矢偏角算法，基于已授权发明专利：一种自动钻铆机器人的法向找正方法；授权公告号：CN 102284956 B。The normal vector declination algorithm in the present invention is based on an authorized invention patent: a method for correcting the normal direction of an automatic drilling and riveting robot; authorization bulletin number: CN102284956.
实施例1：Example 1:
本实施例中以双曲面蒙皮12作为待进行钻铆加工的工件，用带双并联杆结构的钻铆机床对其进行钻铆加工。若采用现有技术对加工中心点5的法矢调姿，由于双并联杆钻铆设备结构特征参数的机械位置无法理论获取，严重影响法矢调姿的精度。本实施例具体说明法矢调姿及偏移补偿方法：In this embodiment, the hyperboloid skin 12 is used as a workpiece to be drilled and riveted, and a riveting machine with a double parallel rod structure is used for drilling and riveting. If the normal vector attitude of the machining center point 5 is adjusted by the prior art, the mechanical position of the structural parameters of the double parallel rod drilling and riveting equipment cannot be theoretically obtained, which seriously affects the accuracy of the normal vector attitude adjustment. This embodiment specifically describes the normal vector attitude adjustment and offset compensation method:
如图1所示，一种双并联杆钻铆设备的机床结构图，双并联杆钻铆设备上配置四个安装在钻铆设备末端执行器上的区域位移传感器、一个用于定位加工中心点5的目标位移传 感器，四个区域位移传感器射出的测试线在双曲面蒙皮12表面形成四个测试点且四个测试点形成一个四边形；所述目标位移传感器为激光位移传感器，射出的激光点位于四边形其对角线交点。清晰标记各激光点，便于重新对准。所述区域位移传感器、目标位移传感器分别与数控单元连接，数控单元包括依次连接的模拟量输入模块、内置计算模块的可编程控制器、伺服驱动控制器、驱动装置。As shown in Figure 1, a machine structure diagram of a dual-parallel rod drilling and riveting device. The dual-parallel rod drilling and riveting device is equipped with four area displacement sensors installed on the end effector of the drilling and riveting device, and one for positioning the machining center point. 5 target displacement sensors, the test lines emitted by the four area displacement sensors form four test points on the surface of the hyperboloid skin 12 and the four test points form a quadrangle; the target displacement sensor is a laser displacement sensor, and the emitted laser points Located at the intersection of the diagonals of the quadrangle. Mark each laser point clearly for easy realignment. The area displacement sensor and the target displacement sensor are respectively connected with a numerical control unit, and the numerical control unit includes an analog input module, a programmable controller with a built-in calculation module, a servo drive controller, and a driving device, which are sequentially connected.
如图1所示，第一区域位移传感器9、第二区域位移传感器7、第三区域位移传感器6、第四区域位移传感器10，四个区域位移传感器安装在钻铆设备末端执行器上，通常安装在以刀具工作主轴为中心轴的圆柱面上且第三区域位移传感器6、第四区域位移传感器10沿X轴方向安装，同时第一区域位移传感器9、第二区域位移传感器7沿Y轴方向安装。通常情况，四个区域位移传感器与刀具其加工主轴8成45°夹角进行固定安装，可以使得区域位移传感器打到工件表面的测试线在不交叉的前提下又足够靠拢，即四束测试线落在工件表面形成四边形的面积尽可能小，以提高法矢偏角的精度。加工中心点5位于四边形内，第一区域位移传感器9、第二区域位移传感器7、第三区域位移传感器6、第四区域位移传感器10分别一一对应位移值S
1、S
2、S
3、S
4，且S
1、S
2、S
3、S
4由连接的模拟量输入模块采集并输送至可编程控制器。所述目标位移传感器获得加工中心点Z向高度值。
As shown in Fig. 1, the first area displacement sensor 9, the second area displacement sensor 7, the third area displacement sensor 6, and the fourth area displacement sensor 10, the four area displacement sensors are installed on the end effector of the drilling and riveting equipment, usually The third area displacement sensor 6 and the fourth area displacement sensor 10 are installed on a cylindrical surface with the tool work spindle as the central axis, and the first area displacement sensor 9 and the second area displacement sensor 7 are along the Y axis. Orientation. Normally, the four area displacement sensors are fixedly installed at an angle of 45 ° with the tool's machining spindle, which can make the test lines of the area displacement sensor hit the workpiece surface close enough without crossing, that is, four beam test lines. The area of the quadrangle falling on the surface of the workpiece is as small as possible to improve the accuracy of the normal vector deflection angle. Processing center point 5 residing inside a quadrangle, a first region 9 displacement sensor, displacement sensor 7 a second region, the third region 6 the displacement sensor, the displacement sensor 10 of the fourth region respectively correspond shift value S 1, S 2, S 3 , S 4 , and S 1 , S 2 , S 3 , and S 4 are collected by the connected analog input module and sent to the programmable controller. The target displacement sensor obtains a Z-direction height value of the machining center point.
所述法矢调姿及其偏移补偿方法包括以下步骤：The normal vector attitude adjustment and its offset compensation method include the following steps:
步骤S100：进行工件在双并联杆钻铆设备上的安装，将双并联杆钻铆设备的加工主轴沿Z轴方向设置，先在机床坐标系中确认并联机构的一端在W轴的位置且并联机构的另一端在Z轴的位置，调整双曲面蒙皮12上加工中心点与钻铆主轴对应，利用可编程控制器分别读取区域位移传感器值、目标位移传感器值(S
1、S
2、S
3、S
4及L
12、L
34)，获得加工主轴末端与加工中心点的距离h；
Step S100: Install the workpiece on the dual parallel rod drilling and riveting equipment, set the processing spindle of the dual parallel rod drilling and riveting equipment along the Z axis direction, and first confirm that the end of the parallel mechanism is in the W axis position and parallel in the machine tool coordinate system. The other end of the mechanism is in the Z axis position. The machining center point on the hyperboloid skin 12 is adjusted to correspond to the drilling and riveting spindle. The programmable controller is used to read the area displacement sensor value and the target displacement sensor value (S 1 , S 2 , S 3 , S 4 and L 12 , L 34 ) to obtain the distance h between the end of the machining spindle and the machining center point;
步骤S200：完成步骤S100后，进行双并联杆结构特征参数其机械坐标值(B虚拟旋转轴特征参数X
Z(B)、X
W(B)、Z
D(B)，A旋转轴特征参数X
Z(A)、X
W(A)、Y
D(A)、Z
D(A))的标定，即通过人为模拟调整，由模拟量输入模块记录各数控轴数据并通过计算模块反向计算以获得双并联杆结构各数控轴在机床坐标系中的实际位置值(X
Z、X
W、Y
D、Z
D)；
Step S200: After completing step S100, perform the structural coordinate parameters of the double parallel rod and its mechanical coordinate values (B virtual rotation axis characteristic parameters X Z (B) , X W (B) , Z D (B) , A rotation axis characteristic parameter X Z (A) , X W (A) , Y D (A) , Z D (A) ) calibration, that is, through artificial simulation adjustment, the data of each CNC axis is recorded by the analog input module and calculated backward by the calculation module. Obtain the actual position values (X Z , X W , Y D , Z D ) of each CNC axis in the double parallel rod structure in the machine tool coordinate system;
步骤S300：与步骤S200同时计算出法矢调整量，即根据区域位移传感器值、目标位移传感器值(S
1、S
2、S
3、S
4及L
12、L
34)，通过法矢偏角算法得到工件其加工中心点的法矢偏角(θ、Φ)，并由计算模块计算出法矢调整量(Δa、Δb)；
Step S300: step S200 while the normal vector calculating the adjustment amount, i.e., the region in accordance with the displacement sensor value, the target value of the displacement sensor (S 1, S 2, S 3, S 4 and L 12, L 34), by a normal vector angle The normal vector deviation angle (θ, Φ) of the machining center point of the workpiece is obtained by the algorithm, and the normal vector adjustment amount (Δa, Δb) is calculated by the calculation module;
步骤S400：结合步骤S200中获得的各数控轴在机床坐标系中的实际位置值(X
Z、X
W、Y
D、Z
D)和步骤S300中计算出的法矢调整量(Δa、Δb)，由计算模块 通过偏移补偿算法计算各数控轴相应的偏移补偿量(ΔX、ΔY、ΔZ、ΔW、Δa)；
Step S400: Each CNC axes binding step S200 to obtain the actual position in the machine coordinate system (X Z, X W, Y D, Z D) to adjust the amount of the normal vector calculated in step S300, (Δa, Δb) , The calculation module calculates the corresponding offset compensation amount (ΔX, ΔY, ΔZ, ΔW, Δa) of each CNC axis through the offset compensation algorithm;
步骤S500：可编程控制器将各数控轴在机床坐标系中的实际位置值、法矢调整量、各数控轴相应的偏移补偿量同时计算并编制成数控加工子程序，一次性生成程序指令值，通过伺服驱动控制器驱动驱动装置实现多轴联动以完成钻铆时的法矢调姿及其偏移补偿。Step S500: The programmable controller calculates and compiles the actual position value of each CNC axis in the machine tool coordinate system, the normal vector adjustment amount, and the corresponding offset compensation amount of each CNC axis into a CNC machining subroutine, and generates program instructions at one time. Value, the multi-axis linkage is realized by the servo drive controller driving the driving device to complete the normal vector adjustment and offset compensation during drilling and riveting.
所述步骤S100所述的双并联杆结构特征参数的标定可以是一次性标定，也可以是定期复查。激光位移传感器打在工件表面的激光点要尽量清晰、准确，激光点可以与加工中心点5重合也可以任选工件表面一点。为了精准计算待钻铆处的法矢偏角，一般将激光点与加工中心点5重合并作为标记点，方便后续操作重新定位标记点。The calibration of the structural parameters of the double parallel rods described in step S100 may be a one-time calibration or a periodic review. The laser point of the laser displacement sensor on the surface of the workpiece should be as clear and accurate as possible. The laser point can be coincident with the machining center point 5 or a point on the workpiece surface can be selected. In order to accurately calculate the normal vector deflection angle at the place to be drilled, the laser point and the machining center point 5 are generally combined as a mark point to facilitate subsequent operations to reposition the mark point.
本发明是一种双并联杆钻铆设备的法矢调姿及偏移补偿方法，解决了如何通过人为模拟调整、记录各轴数据并反向标定出钻铆设备结构特征参数的实际机械位置值；通过数控单元中可编程控制器得到区域位移传感器的位置，得到双曲面蒙皮12在X轴方向的误差角度θ(即法矢的在X轴方向的分量)、Y轴方向的误差角度Φ(即法矢的在Y轴方向的分量)，并利用目标位移传感器获得加工中心点5其Z轴方向的高度值。The invention is a normal vector attitude adjustment and offset compensation method of a double parallel rod drilling and riveting equipment, which solves how to manually adjust, record data of each axis, and reversely calibrate the actual mechanical position value of the structural characteristic parameters of the drilling and riveting equipment. ; Through the programmable controller in the numerical control unit, the position of the area displacement sensor is obtained, and the error angle θ of the hyperboloid skin 12 in the X-axis direction (that is, the component of the normal vector in the X-axis direction) and the error angle in the Y-axis direction Φ (Ie, the component of the normal vector in the Y-axis direction), and use the target displacement sensor to obtain the height value of the machining center point 5 in the Z-axis direction.
由于钻铆设备末端执行器的加工主轴8为Z轴方向设置，为了调整双曲度蒙皮这一工件的加工中心点5的法矢姿态，即在加工中心点5处与XY平面平行的平面内对应的法矢分量θ、Φ应当接近0°，需要控制托架的A旋转轴调整角度θ、控制Z轴、W轴调整角度Φ及Z向高度，同时根据双并联杆结构特征参数计算相应的X、Y、Z、W、A轴对应的偏移量，同时多轴联动完成法矢调姿及加工点偏移补偿。Because the machining spindle 8 of the end effector of the drilling and riveting equipment is set in the Z axis direction, in order to adjust the normal vector attitude of the machining center point 5 of the workpiece with double curvature skin, that is, the plane parallel to the XY plane at the machining center point 5 The corresponding normal vector components θ and Φ should be close to 0 °. You need to control the bracket's A rotation axis adjustment angle θ, control the Z axis, W axis adjustment angle Φ, and the height in the Z direction, and calculate the corresponding values based on the structural parameters of the double parallel rod. X, Y, Z, W, A axis corresponding offsets, and multi-axis linkage to complete normal vector attitude adjustment and processing point offset compensation.
实施例2：Example 2:
本实施例在实施例1的基础上做进一步优化，具体如下：This embodiment is further optimized on the basis of Embodiment 1, as follows:
步骤S100：读取S
1、S
2、S
3、S
4及L
12、L
34，获得h。
Step S100: reading S 1, S 2, S 3 , S 4 and L 12, L 34, obtained h.
步骤S200：手动调整各数控轴并记录以下数据：Step S200: Manually adjust each CNC axis and record the following data:
1、步骤S211中，首次找准加工中心点时对应各数控轴机械坐标值x
1、y
1、z
1、w
1、u
1、a
1、h
1；
1. In step S211, the mechanical coordinate values corresponding to the numerical control axes x 1 , y 1 , z 1 , w 1 , u 1 , a 1 , h 1 when corresponding to the machining center point are found for the first time;
2、步骤S212中，调整B角后对应各数控轴机械坐标值x
2、y
2、z
2、w
2、u
2、a
2、h
2；
2. In step S212, after adjusting the angle B, the mechanical coordinate values x 2 , y 2 , z 2 , w 2 , u 2 , a 2 , h 2 of each numerical control axis are corresponding;
3、步骤S221中，B角非0°时，对应各数控轴机械坐标值x
1'、y
1'、z
1'、w
1'、u
1'、a
1'、h
1'；
3. In step S221, when the B angle is not 0 °, the corresponding mechanical coordinate values of the CNC axes x 1 ′, y 1 ′, z 1 ′, w 1 ′, u 1 ′, a 1 ′, h 1 ′;
4、步骤S222中，旋转A轴，第二次移动各直线坐标轴，对应各数控轴机械坐标值x
2'、y
2'、z
2'、w
2'、u
2'、a
2'、h
2'；
4. In step S222, the A axis is rotated, and each linear coordinate axis is moved for the second time, corresponding to the mechanical coordinate values x 2 ′, y 2 ′, z 2 ′, w 2 ′, u 2 ′, a 2 ′, h 2 ';
5、步骤S223中，旋转A轴，第三次移动各直线坐标轴，对应各数控轴机械坐标值x
3'、y
3'、z
3'、w
3'、u
3'、a
3'、h
3'；
5. In step S223, rotate the A axis and move each linear coordinate axis for the third time, corresponding to the mechanical coordinate values of the numerical control axes x 3 ′, y 3 ′, z 3 ′, w 3 ′, u 3 ′, a 3 ′, h 3 ';
6、步骤S224中，旋转A轴，第四次移动各直线坐标轴，对应各数控轴机械坐标值x
4'、y
4'、z
4'、w
4'、u
4'、a
4'、h
4'；
6. In step S224, the A axis is rotated, and the linear coordinate axes are moved for the fourth time, corresponding to the mechanical coordinate values of the numerical control axes x 4 ′, y 4 ′, z 4 ′, w 4 ′, u 4 ′, a 4 ′, h 4 ';
其中h
2＝h
1＝h、h
4'＝h
3'＝h
2'＝h
1'＝h、y
2＝y
1、a
2＝a
1；
Where h 2 = h 1 = h, h 4 '= h 3 ' = h 2 '= h 1 ' = h, y 2 = y 1 , a 2 = a 1 ;
根据下列计算式：According to the following formula:
Y
D＝Y
D(A) (G14)
Y D = Y D (A) (G14)
其中：among them:
A
1＝2(x
1-x
2) (001)
A 1 = 2 (x 1 -x 2 ) (001)
B
1＝0 (002)
B 1 = 0 (002)
C
1＝2(z
1-z
2) (003)
C 1 = 2 (z 1 -z 2 ) (003)
D
1＝(x
1+x
2)(x
1-x
2)+(z
1+z
2+2h)(z
1-z
2) (004)
D 1 = (x 1 + x 2 ) (x 1 -x 2 ) + (z 1 + z 2 + 2h) (z 1 -z 2 ) (004)
A
2＝0 (005)
A 2 = 0 (005)
B
2＝2(x
1-x
2+u
1-u
2) (006)
B 2 = 2 (x 1 -x 2 + u 1 -u 2 ) (006)
C
2＝2(w
1-w
2) (007)
C 2 = 2 (w 1 -w 2 ) (007)
D
2＝(x
1+x
2+u
1+u
2)(x
1-x
2+u
1-u
2)+(w
1+w
2+2h)(w
1-w
2) (008)
D 2 = (x 1 + x 2 + u 1 + u 2 ) (x 1 -x 2 + u 1 -u 2 ) + (w 1 + w 2 + 2h) (w 1 -w 2 ) (008)
A
3＝2(u
1-u
2) (009)
A 3 = 2 (u 1 -u 2 ) (009)
B
3＝-2(u
1-u
2) (010)
B 3 = -2 (u 1 -u 2 ) (010)
C
3＝0 (011)
C 3 = 0 (011)
D
3＝(z
1+z
2-w
1-w
2)(z
2-z
1-w
2+w
1)-(u
1+u
2)(u
1-u
2) (012)
D 3 = (z 1 + z 2 -w 1 -w 2 ) (z 2 -z 1 -w 2 + w 1 )-(u 1 + u 2 ) (u 1 -u 2 ) (012)
A
1＝2(x
1'-x
2') (013)
A 1 = 2 (x 1 '-x 2 ') (013)
B
1＝2(y
1'-y
2') (014)
B 1 = 2 (y 1 '-y 2 ') (014)
C
1＝2(z
1'-z
2') (015)
C 1 = 2 (z 1 '-z 2 ') (015)
D
1＝[x
1'
2+y
1'
2+(z
1'+h)
2]-[x
2'
2+y
2'
2+(z
2'+h)
2] (016)
D 1 = [x 1 ' 2 + y 1 ' 2 + (z 1 '+ h) 2 ]-[x 2 ' 2 + y 2 ' 2 + (z 2 ' + h) 2 ] (016)
A
2＝2(x
1'-x
3') (017)
A 2 = 2 (x 1 '-x 3 ') (017)
B
2＝2(y
1'-y
3') (018)
B 2 = 2 (y 1 '-y 3 ') (018)
C
2＝2(z
1'-z
3') (019)
C 2 = 2 (z 1 '-z 3 ') (019)
D
2＝[x
1'
2+y
1'
2+(z
1'+h)
2]-[x
3'
2+y
3'
2+(z
3'+h)
2] (020)
D 2 = [x 1 ' 2 + y 1 ' 2 + (z 1 '+ h) 2 ]-[x 3 ' 2 + y 3 ' 2 + (z 3 ' + h) 2 ] (020)
A
3＝2(x
1'-x
4') (021)
A 3 = 2 (x 1 '-x 4 ') (021)
B
3＝2(y
1'-y
4') (022)
B 3 = 2 (y 1 '-y 4 ') (022)
C
3＝2(z
1'-z
4') (023)
C 3 = 2 (z 1 '-z 4 ') (023)
D
3＝[x
1'
2+y
1'
2+(z
1'+h)
2]-[x
4'
2+y
4'
2+(z
4'+h)
2] (024)
D 3 = [x 1 ' 2 + y 1 ' 2 + (z 1 '+ h) 2 ]-[x 4 ' 2 + y 4 ' 2 + (z 4 ' + h) 2 ] (024)
E
1＝2(w
1'-w
2') (025)
E 1 = 2 (w 1 '-w 2 ') (025)
F
1＝[(x
1'+u
1')
2+y
1'
2+(w
1'+h)
2]-[(x
2'+u
2')
2+y
2'
2+(w
2'+h)
2] (026)
F 1 = [(x 1 '+ u 1 ') 2 + y 1 ' 2 + (w 1 ' + h) 2 ]-[(x 2 '+ u 2 ') 2 + y 2 ' 2 + (w 2 '+ h) 2 ] (026)
E
2＝2(w
1'-w
3') (027)
E 2 = 2 (w 1 '-w 3 ') (027)
F
2＝[(x
1'+u
1')
2+y
1'
2+(w
1'+h)
2]-[(x
3'+u
3')
2+y
3'
2+(w
3'+h)
2] (028)
F 2 = [(x 1 '+ u 1 ') 2 + y 1 ' 2 + (w 1 ' + h) 2 ]-[(x 3 '+ u 3 ') 2 + y 3 ' 2 + (w 3 '+ h) 2 ] (028)
E
3＝2(w
1'-w
4') (029)
E 3 = 2 (w 1 '-w 4 ') (029)
F
3＝[(x
1'+u
1')
2+y
1'
2+(w
1'+h)
2]-[(x
4'+u
4')
2+y
4'
2+(w
4'+h)
2] (030)
F 3 = [(x 1 '+ u 1 ') 2 + y 1 ' 2 + (w 1 ' + h) 2 ]-[(x 4 '+ u 4 ') 2 + y 4 ' 2 + (w 4 '+ h) 2 ] (030)
将计算式(001)至(030)带入(G1)至(G15)，由(G12)至(G15)得双并联杆各旋转轴中心点在机床坐标系中的位置X
Z、X
W、Y
D、Z
D。
Bring calculation formulas (001) to (030) into (G1) to (G15), and from (G12) to (G15), the positions of the center points of the rotation axes of the double parallel rods in the machine coordinate system X Z , X W , Y D , Z D.
步骤S300：调取S
1、S
2、S
3、S
4及L
12、L
34，结合下列计算式：
Step S300: the transfer of S 1, S 2, S 3 , S 4 and L 12, L 34, in conjunction with the following calculation formula:
即得法矢偏角θ、Φ，法矢调整量Δa、Δb。The normal vector deviation angles θ and Φ are obtained, and the normal vector adjustment amounts Δa and Δb are obtained.
步骤S400：结合下列计算式：Step S400: Combine the following calculation formulas:
w
22＝z
22 (034)
w 22 = z 22 (034)
Z
d＝Z
D-h (037)
Z d = Z D -h (037)
ΔX
A＝x
22-x
1 (038)
ΔX A = x 22- x 1 (038)
ΔY
A＝y
22-y
1 (039)
ΔY A = y 22 -y 1 (039)
ΔZ
A＝z
22-z
1 (040)
ΔZ A = z 22 -z 1 (040)
ΔW
A＝w
22-w
1 (041)
ΔW A = w 22 -w 1 (041)
ΔX
B＝x
33-x
1 (042)
ΔX B = x 33- x 1 (042)
ΔZ
B＝z
33-z
1 (043)
ΔZ B = z 33 -z 1 (043)
ΔW
B＝w
33-w
1 (044)
ΔW B = w 33 -w 1 (044)
x
33＝X
Z+(x
1-X
Z)·cosθ+[z
1-(Z
D-h)]·sinθ (045)
x 33 = X Z + (x 1 -X Z ) · cosθ + [z 1- (Z D -h)] · sinθ (045)
z
33＝Z
D-h+[z
1-(Z
D-h)]·cosθ-(x
1-X
Z)·sinθ (046)
z 33 = Z D -h + [z 1- (Z D -h)] · cosθ- (x 1 -X Z ) · sinθ (046)
w
33＝Z
D-h+[w
1-(Z
D-h)]·cosθ-[x
1-(X
W-u
1)]·sinθ (047)
w 33 = Z D -h + [w 1- (Z D -h)] · cosθ- [x 1- (X W -u 1 )] · sinθ (047)
以及：as well as:
ΔX
B＝-(x
1-X
Z)·(1-cosθ)+[z
1-(Z
D-h)]·sinθ (Z5)
ΔX B =-(x 1 -X Z ) · (1-cosθ) + [z 1- (Z D -h)] · sinθ (Z5)
ΔY
B＝0 (Z6)
ΔY B = 0 (Z6)
ΔZ
B＝-[z
1-(Z
D-h)]·(1-cosθ)-(x
1-X
Z)·sinθ (Z7)
ΔZ B =-[z 1- (Z D -h)] · (1-cosθ)-(x 1 -X Z ) · sinθ (Z7)
ΔW
B＝-[w
1-(Z
D-h)]·(1-cosθ)-[x
1-(X
W-u
1)]·sinθ (Z8)
ΔW B =-[w 1- (Z D -h)] · (1-cosθ)-[x 1- (X W -u 1 )] · sinθ (Z8)
ΔX＝ΔX
A+ΔX
B (Z9)
ΔX = ΔX A + ΔX B (Z9)
ΔY＝ΔY
A+ΔY
B (Z10)
ΔY = ΔY A + ΔY B (Z10)
ΔZ＝ΔZ
A+ΔZ
B (Z11)
ΔZ = ΔZ A + ΔZ B (Z11)
ΔW＝ΔW
A+ΔW
B (Z12)
ΔW = ΔW A + ΔW B (Z12)
得到：get:
ΔX＝-{(x
1-X
Z)·sin b
1
ΔX =-{(x 1 -X Z ) · sin b 1
+[z
1-(Z
D-h
1)]·cos b
1}·(1-cosΦ)·sin b
1
+ [z 1- (Z D -h 1 )] · cos b 1 } · (1-cosΦ) · sin b 1
+(y
1-Y
D)·sinΦ·sin b
1
+ (y 1 -Y D ) · sinΦ · sin b 1
-(x
1-X
Z)·(1-cosθ)
-(x 1 -X Z ) · (1-cosθ)
+[z
1-(Z
D-h
1)]·sinθ (B1)
+ [z 1- (Z D -h 1 )] · sinθ (B1)
ΔY＝-{(x
1-X
Z)·sin b
1
ΔY =-{(x 1 -X Z ) · sin b 1
+[z
1-(Z
D-h
1)]·cos b
1}·sinΦ
+ [z 1- (Z D -h 1 )] · cos b 1 } · sinΦ
-(y
1-Y
D)·(1-cosΦ) (B2)
-(y 1 -Y D ) · (1-cosΦ) (B2)
ΔZ＝-{(x
1-X
Z)·sin b
1
ΔZ =-{(x 1 -X Z ) · sin b 1
+[z
1-(Z
D-h
1)]·cos b
1}·(1-cosΦ)·cos b
1
+ [z 1- (Z D -h 1 )] · cos b 1 } · (1-cosΦ) · cos b 1
+(y
1-Y
D)·sinΦ·cos b
1
+ (y 1 -Y D ) · sinΦ · cos b 1
-[z
1-(Z
D-h
1)]·(1-cosθ)-(x
1-X
Z)·sinθ (B3)
-[z 1- (Z D -h 1 )] · (1-cosθ)-(x 1 -X Z ) · sinθ (B3)
ΔW＝-{(x
1-X
Z)·sin b
1
ΔW =-{(x 1 -X Z ) · sin b 1
+[z
1-(Z
D-h
1)]·cos b
1}·(1-cosΦ)·cos b
1
+ [z 1- (Z D -h 1 )] · cos b 1 } · (1-cosΦ) · cos b 1
+(y
1-Y
D)·sinΦ·cos b
1
+ (y 1 -Y D ) · sinΦ · cos b 1
-[w
1-(Z
D-h
1)]·(1-cosθ)-[x
1-(X
W-u
1)]·sinθ (B4)
-[w 1- (Z D -h 1 )] · (1-cosθ)-[x 1- (X W -u 1 )] · sinθ (B4)
Δa＝-Φ (B5)Δa = -Φ (B5)
将步骤S100、步骤S200、步骤S300中数据带入计算式(B1)至(B5)，即得偏移补偿量ΔX、ΔY、ΔZ、ΔW、Δa。The data in steps S100, S200, and S300 are brought into calculation formulas (B1) to (B5) to obtain offset compensation amounts ΔX, ΔY, ΔZ, ΔW, and Δa.
步骤S500：多轴联动以完成钻铆时的法矢调姿及其偏移补偿的动作。Step S500: The multi-axis linkage is performed to complete the normal vector posture adjustment and offset compensation during drilling and riveting.
若S
1＞S
2，A旋转轴负向旋转且旋转角度|Φ|；
If S 1 ＞ S 2 , the A rotation axis rotates in the negative direction and the rotation angle | Φ |;
若S
1＝S
2，A旋转轴处于0°位置；
If S 1 = S 2 , the A rotation axis is at 0 °;
若S
1＜S
2，A旋转轴正向旋转且旋转角度|Φ|；
If S 1 ＜ S 2 , the A rotation axis rotates forward and the rotation angle | Φ |;
若Δb＞0，S
3＞S
4，则Z轴负向运动，W轴正向运动；
If Δb> 0 and S 3 > S 4 , the Z axis moves in the negative direction and the W axis moves in the positive direction;
若S
3＝S
4，B虚拟旋转轴处于0°位置；
If S 3 = S 4 , the virtual rotation axis of B is at 0 °;
若S
3＜S
4，Z轴正向运动，W轴负向运动。
If S 3 <S 4 , the Z axis moves in the positive direction and the W axis moves in the negative direction.
实施例3：Example 3:
本实施例重点说明法矢调整量及偏移补偿量的算法：This embodiment focuses on the algorithm of the normal vector adjustment amount and the offset compensation amount:
ΔX＝-{(x
1-X
Z)·sin b
1
ΔX =-{(x 1 -X Z ) · sin b 1
+[z
1-(Z
D-h
1)]·cos b
1}·(1-cosΦ)·sin b
1
+ [z 1- (Z D -h 1 )] · cos b 1 } · (1-cosΦ) · sin b 1
+(y
1-Y
D)·sinΦ·sin b
1
+ (y 1 -Y D ) · sinΦ · sin b 1
-(x
1-X
Z)·(1-cosθ)
-(x 1 -X Z ) · (1-cosθ)
+[z
1-(Z
D-h
1)]·sinθ (B1)
+ [z 1- (Z D -h 1 )] · sinθ (B1)
ΔY＝-{(x
1-X
Z)·sin b
1
ΔY =-{(x 1 -X Z ) · sin b 1
+[z
1-(Z
D-h
1)]·cos b
1}·sinΦ
+ [z 1- (Z D -h 1 )] · cos b 1 } · sinΦ
-(y
1-Y
D)·(1-cosΦ) (B2)
-(y 1 -Y D ) · (1-cosΦ) (B2)
ΔZ＝-{(x
1-X
Z)·sin b
1
ΔZ =-{(x 1 -X Z ) · sin b 1
+[z
1-(Z
D-h
1)]·cos b
1}·(1-cosΦ)·cos b
1
+ [z 1- (Z D -h 1 )] · cos b 1 } · (1-cosΦ) · cos b 1
+(y
1-Y
D)·sinΦ·cos b
1
+ (y 1 -Y D ) · sinΦ · cos b 1
-[z
1-(Z
D-h
1)]·(1-cosθ)-(x
1-X
Z)·sinθ (B3)
-[z 1- (Z D -h 1 )] · (1-cosθ)-(x 1 -X Z ) · sinθ (B3)
ΔW＝-{(x
1-X
Z)·sin b
1
ΔW =-{(x 1 -X Z ) · sin b 1
+[z
1-(Z
D-h
1)]·cos b
1}·(1-cosΦ)·cos b
1
+ [z 1- (Z D -h 1 )] · cos b 1 } · (1-cosΦ) · cos b 1
+(y
1-Y
D)·sinΦ·cos b
1
+ (y 1 -Y D ) · sinΦ · cos b 1
-[w
1-(Z
D-h
1)]·(1-cosθ)-[x
1-(X
W-u
1)]·sinθ (B4)
-[w 1- (Z D -h 1 )] · (1-cosθ)-[x 1- (X W -u 1 )] · sinθ (B4)
Δa＝-Φ (B5)Δa = -Φ (B5)
其中：among them:
(1)x
1、y
1、z
1、w
1、u
1、h
1为步骤S200中各轴法矢调姿前对应的机械坐标值；
(1) x 1 , y 1 , z 1 , w 1 , u 1 , h 1 are corresponding mechanical coordinate values of each axis normal vector before posture adjustment in step S200;
(2)X
Z、X
W、Y
D、Z
D为从步骤S200中获得的4个定值；
(2) X Z , X W , Y D , and Z D are the four fixed values obtained from step S200;
(3)θ为加工中心点在X轴方向上法矢偏角，从步骤S300中获得；(3) θ is the normal sagittal angle of the machining center point in the X-axis direction, which is obtained from step S300;
(4)Φ为加工中心点在Y轴方向上法矢偏角，从步骤S300中获得；(4) Φ is the normal sagittal angle of the machining center point in the Y-axis direction, which is obtained from step S300;
(5)sin b
1、cos b
1从步骤S300中获得：
(5) sin b 1 and cos b 1 are obtained from step S300:
(6)Z
d为工件表面钻铆点的高度位置值，即：Z
d＝Z
D-h；
(6) Z d is the height position value of the drilling and riveting point on the workpiece surface, that is: Z d = Z D -h;
(7)Δa为托架A旋转轴的增量，Φ与Δa对应，且Φ可作为托架A旋转轴其旋转指令中对应的旋转角度；(7) Δa is the increment of the rotation axis of the bracket A, Φ corresponds to Δa, and Φ can be used as the corresponding rotation angle in the rotation instruction of the rotation axis of the bracket A;
(8)Δb为为托架B虚拟旋转轴的增量，θ与Δb对应，且θ可作为托架B虚拟旋转轴其旋转指令中对应的旋转角度；(8) Δb is the increment of the virtual rotation axis of the bracket B, θ corresponds to Δb, and θ can be used as the corresponding rotation angle in the rotation instruction of the virtual rotation axis of the bracket B;
(9)S
1、S
2、S
3、S
4为模拟量输入模块采集的四个区域位移传感器值，从步骤S100中获得；
(9) S 1 , S 2 , S 3 , and S 4 are the four area displacement sensor values collected by the analog input module, and are obtained from step S100;
(10)L
12为第一区域位移传感器9、第二区域位移传感器7之间的中心距，从步骤S100中获得；
(10) L 12 is the center distance between the first area displacement sensor 9 and the second area displacement sensor 7, which is obtained from step S100;
(11)L
34为第三区域位移传感器6、第四区域位移传感器10之间的中心距，从步骤S100中获得。
(11) L 34 is the center distance between the third area displacement sensor 6 and the fourth area displacement sensor 10, which is obtained from step S100.
本实施例的其他部分与上述实施例相同，故不再赘述。The other parts of this embodiment are the same as those of the above embodiment, so they will not be described again.
实施例4：Example 4:
本实施例在上述实施例基础上做进一步优化，本实施例中四个区域位移传感器，即第一区域位移传感器9、第二区域位移传感器7、第三区域位移传感器6、第四区域位移传感器10可以是超声波传感器也可以是激光传感器。本实施例的其他部分与上述实施例相同，故不再赘述。This embodiment is further optimized on the basis of the above embodiment. In this embodiment, the four area displacement sensors are the first area displacement sensor 9, the second area displacement sensor 7, the third area displacement sensor 6, and the fourth area displacement sensor. 10 may be an ultrasonic sensor or a laser sensor. The other parts of this embodiment are the same as those of the above embodiment, so they will not be described again.
实施例5：Example 5:
本实施例在上述实施例基础上做进一步优化，所述步骤S500具体是指，建立循环固定数控子程序，将步骤S200、步骤S300、步骤S400中获取各轴坐标值、获取目标位移传感器检测值、获取区域位移传感器位移值、法矢偏角算法及偏移补偿量算法等都写入到NC子程序的变量△X，△Y、△Z、△W、△A中，将变量转换为系统能够识别的指令值；同时依照数控子程序的结构进行完善，包括开头及结尾、各种防错措施的保护、完整的逻辑判断等。编写法矢调姿及偏移补偿的可编程逻辑(PLC)程序，建立一定的启动条件关系，利用NC程序自动编程执行各轴的运动，达到了位置、速度全闭环控制，速度快、精度高，减少了法矢调节时间，降低了劳动强度，提高了生产效率。This embodiment is further optimized on the basis of the foregoing embodiment. The step S500 specifically refers to establishing a cyclic fixed numerical control subroutine, acquiring the coordinate values of each axis in steps S200, S300, and S400, and acquiring the detection values of the target displacement sensor. , Obtaining the displacement value of the area displacement sensor, the normal vector declination algorithm and the offset compensation algorithm are written into the variables △ X, △ Y, △ Z, △ W, △ A of the NC subroutine, and the variables are converted into the system Recognizable instruction value; meanwhile, it is improved according to the structure of the CNC subroutine, including the beginning and end, protection of various error prevention measures, and complete logical judgment. Program the programmable logic (PLC) program for normal vector attitude adjustment and offset compensation, establish a certain relationship of starting conditions, use NC program to automatically program the movement of each axis, and achieve full closed-loop control of position and speed with high speed and high accuracy , Reduce the vector adjustment time, reduce labor intensity, and improve production efficiency.
本实施例的其他部分与上述实施例相同，故不再赘述。The other parts of this embodiment are the same as those of the above embodiment, so they will not be described again.
以上所述，仅是本发明的较佳实施例，并非对本发明做任何形式上的限制，凡是依据 本发明的技术实质对以上实施例所作的任何简单修改、等同变化，均落入本发明的保护范围之内。The above are only the preferred embodiments of the present invention, and do not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiments in accordance with the technical essence of the present invention falls into the present invention. Within the scope of protection.
Claims (10)
- 一种双并联杆钻铆设备的法矢调姿及其偏移补偿方法，用于钻铆加工数控系统的法矢调姿及其偏移补偿，其特征在于：人为调整各数控轴，由可编程控制器获取人为调整过程中各数控轴数据、双并联杆结构特征参数反向计算得到各数控轴的特征参数，结合位移传感器值计算得到的法矢偏角计算得到法矢调整量、偏移补偿量，多轴联动完成法矢调姿及其偏移补偿。A normal vector attitude adjustment and offset compensation method of a double-parallel rod drilling and riveting equipment is used for normal vector attitude adjustment and offset compensation of a drilling and riveting processing numerical control system, which is characterized in that each numerical control axis is adjusted manually by The programming controller obtains the data of each NC axis during the artificial adjustment process, and calculates the characteristic parameters of each NC axis inversely. The characteristic parameters of each NC axis are calculated in combination with the normal vector offset angle calculated by the displacement sensor value to obtain the normal vector adjustment amount and offset. Compensation amount, multi-axis linkage to complete normal vector attitude adjustment and offset compensation.
- 根据权利要求1所述的一种双并联杆钻铆设备的法矢调姿及其偏移补偿方法，其特征在于：所述数控系统设置有与工件加工中心点对应设置的位移传感器；所述法矢调姿及其偏移补偿方法具体是指，所述法矢调姿及其偏移补偿方法为记录人为调整的各数控轴数据，反向计算进行特征参数其机械坐标值的标定并获得各数控轴的实际位置值，然后利用可编程控制器获取位移传感器值，得到工件在加工中心点的法矢偏角，计算得到法矢调整量，再根据双并联杆结构特征参数计算相应各数控轴的偏移补偿量，将各数控轴的实际位置值、法矢调整量、偏移补偿量同时汇总到数控系统，多轴联动完成法矢调姿及其偏移补偿。The normal vector attitude adjustment and offset compensation method of a dual-parallel rod drilling and riveting device according to claim 1, wherein the numerical control system is provided with a displacement sensor corresponding to a workpiece machining center point; The normal vector attitude adjustment and its offset compensation method specifically refers to the normal vector attitude adjustment and its offset compensation method, which records the data of each numerically controlled axis manually adjusted, calculates the mechanical coordinate values of the characteristic parameters and calculates them in reverse. The actual position value of each CNC axis, then use the programmable controller to obtain the displacement sensor value, get the normal vector deflection angle of the workpiece at the machining center point, calculate the normal vector adjustment amount, and then calculate the corresponding numerical control according to the structural parameters of the double parallel rod Axis offset compensation amount, the actual position value of each CNC axis, normal vector adjustment amount, offset compensation amount are summed up to the CNC system at the same time, multi-axis linkage completes normal vector attitude adjustment and offset compensation.
- 根据权利要求1所述的一种双并联杆钻铆设备的法矢调姿及其偏移补偿方法，其特征在于：所述记录人为调整的各数控轴数据，具体是指先找准加工中心点，通过人工分别多次旋转A旋转轴以及Z轴、W轴差动形成的虚拟B角，在不同状态下手动移动各直线坐标轴重新对准加工中心点，记下相应的机械坐标值。The normal vector attitude adjustment and offset compensation method of a dual-parallel rod drilling and riveting device according to claim 1, wherein the recording of manually adjusted data of each numerically controlled axis specifically refers to first finding the machining center point By manually rotating the A-axis and the virtual B-angle formed by the Z-axis and W-axis differential multiple times, manually moving each linear coordinate axis to realign the machining center point in different states, and record the corresponding mechanical coordinate value.
- 根据权利要求1-3任一项所述的一种双并联杆钻铆设备的法矢调姿及其偏移补偿方法，其特征在于：所述数控系统包括数控单元和分别与数控单元连接的四个安装在钻铆设备末端执行器上的区域位移传感器、一个用于定位加工中心点的目标位移传感器，数控单元包括依次连接的模拟量输入模块、内置计算模块的可编程控制器、伺服驱动控制器、驱动装置；所述四个区域位移传感器射出的测试线在工件表面形成四个测试点且四个测试点形成一个四边形；所述目标位移传感器为激光位移传感器，射出的激光点位于四边形内；The normal vector attitude adjustment and offset compensation method of a dual-parallel rod drilling and riveting device according to any one of claims 1-3, characterized in that the numerical control system includes a numerical control unit and a separately connected numerical control unit. Four area displacement sensors installed on the end effector of the drilling and riveting equipment, one target displacement sensor for positioning the machining center point, the numerical control unit includes an analog input module connected in sequence, a programmable controller with a built-in calculation module, and a servo drive Controller, driving device; the test lines emitted by the four area displacement sensors form four test points on the surface of the workpiece and the four test points form a quadrangle; the target displacement sensor is a laser displacement sensor, and the emitted laser points are located in the quadrangle Inside;所述法矢调姿及其偏移补偿方法具体包括以下步骤：The normal vector attitude adjustment and its offset compensation method specifically include the following steps:步骤S100：进行工件在双并联杆钻铆设备上的安装，即先确认双并联杆钻铆设备的并联机构在机床坐标系中的位置，然后安放工件并使工件上待钻铆的加工中心点与加工主轴对应；Step S100: Install the workpiece on the double parallel rod drilling and riveting equipment, that is, first confirm the position of the parallel mechanism of the double parallel rod drilling and riveting equipment in the machine tool coordinate system, and then place the workpiece and place the machining center point on the workpiece to be drilled and riveted. Corresponds to the processing spindle;步骤S200：完成步骤S100后，进行双并联杆结构特征参数其机械坐标值的标定，即通过人为模拟调整，由模拟量输入模块记录各数控轴数据并通过计算模块反向计算以获得双并联杆结构各数控轴在机床坐标系中的实际位置值；Step S200: After completing step S100, perform calibration of the mechanical coordinate values of the structural parameters of the double parallel rod, that is, through artificial simulation adjustment, the data of each numerical control axis is recorded by the analog input module and calculated backward by the calculation module to obtain the double parallel rod. The actual position value of each CNC axis of the structure in the machine tool coordinate system;步骤S300：与步骤S200同时计算出法矢调整量，即利用可编程控制器分别读取区域位 移传感器值、目标位移传感器值，获得加工主轴末端与加工中心点的距离，通过法矢偏角算法得到工件其加工中心点的法矢偏角，并由计算模块计算出法矢调整量；Step S300: Calculate the normal vector adjustment amount at the same time as step S200, that is, use the programmable controller to read the area displacement sensor value and the target displacement sensor value respectively to obtain the distance between the end of the machining spindle and the machining center point, and use the normal vector deviation angle algorithm Obtain the normal vector deflection angle of the machining center point of the workpiece, and calculate the normal vector adjustment amount by the calculation module;步骤S400：结合步骤S200中获得的各数控轴在机床坐标系中的实际位置值和步骤S300中计算出的法矢调整量，由计算模块通过偏移补偿算法计算各数控轴相应的偏移补偿量；Step S400: Combine the actual position value of each NC axis in the machine tool coordinate system obtained in step S200 with the normal vector adjustment amount calculated in step S300, and the calculation module calculates the corresponding offset compensation of each NC axis through the offset compensation algorithm. the amount;步骤S500：可编程控制器将各数控轴在机床坐标系中的实际位置值、法矢调整量、各数控轴相应的偏移补偿量同时计算并编制成数控加工子程序，一次性生成程序指令值，通过伺服驱动控制器驱动驱动装置实现多轴联动以完成钻铆时的法矢调姿及其偏移补偿。Step S500: The programmable controller calculates and compiles the actual position value of each CNC axis in the machine tool coordinate system, the normal vector adjustment amount, and the corresponding offset compensation amount of each CNC axis into a CNC machining subroutine, and generates program instructions at one time. Value, the multi-axis linkage is realized by the servo drive controller driving the driving device to complete the normal vector adjustment and offset compensation during drilling and riveting.
- 根据权利要求4所述的一种双并联杆钻铆设备的法矢调姿及其偏移补偿方法，其特征在于：所述步骤S100具体是指，将双并联杆钻铆设备的加工主轴沿Z轴方向设置，先在机床坐标系中确认并联机构的一端在W轴的位置且并联机构的另一端在Z轴的位置，再确认加工中心点落在由四个区域位移传感器射出的测试点形成的四边形的中心，对蒙皮表面的测试点进行清晰的标记；标记后分别读取第一区域位移传感器、第二区域位移传感器、第三区域位移传感器、第四区域位移传感器这四个区域位移传感器的值S 1、S 2、S 3、S 4，并调取第一区域位移传感器与第二区域位移传感器之间的中心距L 12、第三区域位移传感器与第四区域位移传感器之间的中心距L 34，建立数学模型，得到蒙皮表面加工中心点与钻铆主轴间距离h。 The normal vector attitude adjustment and offset compensation method of a dual-parallel rod drilling and riveting device according to claim 4, wherein the step S100 specifically refers to a step along the processing spindle of the dual-parallel rod drilling and riveting device. Set in the Z axis direction. First confirm that the parallel mechanism has one end in the W axis position and the other end in the Z axis position in the machine tool coordinate system, and then confirm that the machining center point falls on the test point emitted by the four area displacement sensors. The center of the formed quadrangle clearly marks the test points on the skin surface; the four areas of the first area displacement sensor, the second area displacement sensor, the third area displacement sensor, and the fourth area displacement sensor are read after the marking. The values S 1 , S 2 , S 3 , and S 4 of the displacement sensor, and call the center distance L 12 between the first area displacement sensor and the second area displacement sensor, and the third area displacement sensor and the fourth area displacement sensor. The center distance L 34 between the two is established. A mathematical model is established to obtain the distance h between the machining center point of the skin surface and the drilling and riveting spindle.
- 根据权利要求5所述的一种双并联杆钻铆设备的法矢调姿及其偏移补偿方法，其特征在于：所述步骤S200具体包括以下步骤：The normal vector attitude adjustment and offset compensation method of a dual-parallel rod drilling and riveting device according to claim 5, wherein the step S200 comprises the following steps:步骤S210：保持A旋转轴处于0°不变，标定B虚拟旋转轴特征参数X Z(B)、X W(B)、Z D(B)； Step S210: Keeping the rotation axis of A unchanged at 0 °, and calibrating the characteristic parameters X Z (B) , X W (B) , and Z D (B) of the virtual rotation axis of B ;步骤S220：标定A旋转轴特征参数X Z(A)、X W(A)、Y D(A)、Z D(A)； Step S220: Calibrate the characteristic parameters X A (A) , X W (A) , Y D (A) , Z D (A) of the rotation axis of A ;步骤S230：根据步骤S210中标定的B虚拟旋转轴特征参数和步骤S220中标定A旋转轴特征参数，计算双并联杆各旋转轴中心点在机床坐标系中的位置X Z、X W、Y D、Z D； Step S230: According to the characteristic parameters of the virtual rotation axis B calibrated in step S210 and the characteristic parameters of the rotary axis A calibrated in step S220, calculate the positions X Z , X W , Y D of the center points of the rotary axes of the double parallel rods in the machine tool coordinate system. , Z D ;所述步骤S300具体包括以下步骤：The step S300 specifically includes the following steps:步骤S310：根据四个区域位移传感器的值S 1、S 2、S 3、S 4及对角中心距L 12、L 34，计算加工中心点沿X轴方向的法矢偏角θ、加工中心点沿Y轴方向的法矢偏角Φ； Step S310: Calculate the normal vector deviation angle θ of the machining center point along the X-axis direction, and the machining center according to the values S 1 , S 2 , S 3 , and S 4 of the four area displacement sensors and the diagonal center distances L 12 and L 34 . The normal vector deflection angle Φ of the point along the Y-axis direction;步骤S320：根据法矢偏角θ、Φ计算出托架A旋转轴的增量Δa、托架B虚拟旋转轴的增量Δb；Step S320: Calculate the increment Δa of the rotation axis of the bracket A and the increment Δb of the virtual rotation axis of the bracket B according to the normal vector deviation angles θ and Φ;所述步骤S400具体包括以下步骤：The step S400 specifically includes the following steps:步骤S410：以加工中心点为圆心，托架单独旋转法矢偏角Φ，计算得到直线轴 X、Y、Z、W需适当调整的位置x 22、y 22、z 22、w 22，得到A旋转轴法矢调节对应的各轴的补偿量ΔX A、ΔY A、ΔZ A、ΔW A、Δa； Step S410: Taking the machining center point as the circle center, the bracket is rotated independently by the normal sagittal deflection angle Φ, and the positions X 22 , y 22 , z 22 , and w 22 of the linear axes X, Y, Z, and W to be adjusted are calculated to obtain A The rotation axis normal vector adjusts the compensation amounts ΔX A , ΔY A , ΔZ A , ΔW A , Δa of the corresponding axes;步骤S420：以加工中心点为圆心，托架单独旋转法矢角度θ，计算得到直线轴X、Y、Z、W需适当调整的位置x 33、z 33、w 33，得到B虚拟旋转轴法矢调节对应的各轴的补偿量ΔX B、ΔY B、ΔZ B、ΔW B； Step S420: Taking the machining center point as the circle center, the bracket is rotated independently by the normal sagittal angle θ, and the positions X 33 , z 33 , and w 33 of the linear axes X, Y, Z, and W that need to be adjusted are calculated to obtain the B virtual rotation axis method The compensation amounts ΔX B , ΔY B , ΔZ B , and ΔW B of each axis corresponding to the vector adjustment;步骤S430：综合法矢偏角Φ、θ和各数控轴补偿分量ΔX A、ΔY A、ΔZ A、ΔW A、Δa、ΔX B、ΔY B、ΔZ B、ΔW B，得到各数控轴相应的偏移补偿量ΔX、ΔY、ΔZ、ΔW、Δa。 Step S430: Integrating the normal vector deflection angles Φ, θ and the compensation components ΔX A , ΔY A , ΔZ A , ΔW A , Δa, ΔX B , ΔY B , ΔZ B , ΔW B of each NC axis to obtain the corresponding offset of each NC axis Shift compensation amounts ΔX, ΔY, ΔZ, ΔW, Δa.
- 根据权利要求6所述的一种双并联杆钻铆设备的法矢调姿及其偏移补偿方法，其特征在于：所述步骤S210中标定B虚拟旋转轴特征参数X Z(B)、X W(B)、Z D(B)，具体包括以下步骤： The normal vector attitude adjustment and offset compensation method of a dual-parallel rod drilling and riveting device according to claim 6, characterized in that in step S210, the characteristic parameters X Z (B) , X of the virtual virtual rotation axis are calibrated W (B) , Z D (B) , including the following steps:步骤S211：人为调整各数控轴，使目标位移传感器射出的激光点与加工中心点重合并作为标记点，记录此时各轴机械坐标值：x 1、y 1、z 1、w 1、u 1、a 1、h 1； Step S211: artificially adjust each numerically controlled axis so that the laser point emitted by the target displacement sensor and the machining center point are combined as a mark point, and the mechanical coordinate values of each axis at this time are recorded: x 1 , y 1 , z 1 , w 1 , u 1 , A 1 , h 1 ;步骤S212：调整Z轴、W轴实现虚拟B轴的旋转，再移动各直线坐标轴，使激光点与标记点重新重合，并使h 2＝h 1，记录此时各轴机械坐标值： Step S212: Adjust the Z-axis and W-axis to realize the virtual B-axis rotation, and then move each linear coordinate axis to make the laser point and the marker point coincide again, and make h 2 = h 1 , and record the mechanical coordinate value of each axis at this time:x 2、y 2、z 2、w 2、u 2、a 2、h 2，其中h 2＝h 1＝h、y 2＝y 1、a 2＝a 1； x 2 , y 2 , z 2 , w 2 , u 2 , a 2 , h 2 , where h 2 = h 1 = h, y 2 = y 1 , a 2 = a 1 ;步骤S213：重复步骤S211至步骤S212，得到至少5组数据并分别记录在表格中；Step S213: Repeat steps S211 to S212 to obtain at least 5 sets of data and record them in the form;步骤S214：任选步骤S213中2组数据，结合克莱姆法则，计算B虚拟旋转轴的特征参数X Z(B)、X W(B)、Z D(B)； Step S214: Calculate the characteristic parameters X Z (B) , X W (B) , and Z D (B) of the virtual rotation axis of B in combination with the two sets of data in step S213.所述步骤S220所述标定A旋转轴特征参数X Z(A)、X W(A)、Y D(A)、Z D(A)，具体包括以下步骤： The calibration of the characteristic parameters X Z (A) , X W (A) , Y D (A) , and Z D (A) of the rotation axis of A in step S220 includes the following steps:步骤S221：移动Z轴、W轴使B虚拟旋转轴对应的B角不处于0°位置，使激光点对准标记点，记录当前各轴机械坐标值x 1'、y 1'、z 1'、w 1'、u 1'、a 1'、h 1'； Step S221: Move the Z and W axes so that the B angle corresponding to the B virtual rotation axis is not at 0 °, align the laser point with the marked point, and record the current mechanical coordinate values of each axis x 1 ', y 1 ', z 1 ' , W 1 ', u 1 ', a 1 ', h 1 ';步骤S222：旋转A轴，第二次移动各直线坐标轴，使激光点与标记点重新重合，并使标记点处于同一高度即h 2'＝h 1'，记录各轴机械坐标值：x 2'、y 2'、z 2'、w 2'、u 2'、a 2'、h 2'； Step S222: Rotate the A axis, move the linear coordinate axes for the second time, make the laser point coincide with the marked point, and make the marked points at the same height, that is, h 2 '= h 1 ', and record the mechanical coordinate value of each axis: x 2 ', Y 2 ', z 2 ', w 2 ', u 2 ', a 2 ', h 2 ';步骤S223：旋转A轴，第三次移动各直线坐标轴，使激光点与标记点重新重合，并使标记点处于同一高度即h 3'＝h 1'，记录各轴机械坐标值：x 3'、y 3'、z 3'、w 3'、u 3'、a 3'、h 3'； Step S223: Rotate the A axis, move the linear coordinate axes for the third time, make the laser point coincide with the marked point, and make the marked points at the same height, that is, h 3 '= h 1 ', and record the mechanical coordinate value of each axis: x 3 ', Y 3 ', z 3 ', w 3 ', u 3 ', a 3 ', h 3 ';步骤S224：旋转A轴，第四次移动各直线坐标轴，使激光点与标记点重新重合，并使标记点处于同一高度即h 4'＝h 1'，记录各轴机械坐标值：x 4'、y 4'、z 4'、w 4'、u 4'、a 4'、h 4'； Step S224: Rotate the A axis, move the linear coordinate axes for the fourth time, make the laser point coincide with the marked point, and make the marked points at the same height, that is, h 4 '= h 1 ', and record the mechanical coordinate value of each axis: x 4 ', Y 4 ', z 4 ', w 4 ', u 4 ', a 4 ', h 4 ';步骤S225：重复步骤S221至步骤S224，得到至少5组数据并分别记录在表格中，其中h 4'＝h 3'＝h 2'＝h 1'＝h； Step S225: Repeat steps S221 to S224 to obtain at least 5 sets of data and record them in a table, where h 4 ′ = h 3 ′ = h 2 ′ = h 1 ′ = h;步骤S226：任选步骤S225中2组数据计算出特征参数Y DZ、Z DZ、Y DW、Z DW；其中，Y DZ表示利用Z轴坐标变化计算得到的特征参数Y D，Z DZ表示利用Z轴坐标变化计算得到的特征参数Z D；Y DW表示利用W轴坐标变化计算得到的特征参数Y D，Z DW表示利用W轴坐标变化计算得到的特征参数Z D； Step S226: Calculate the characteristic parameters Y DZ , Z DZ , Y DW , Z DW in two sets of data in optional step S225; where Y DZ indicates the characteristic parameter Y D calculated using the Z-axis coordinate change, and Z DZ indicates the use of Z The characteristic parameter Z D calculated from the change of the axis coordinate; Y DW means the characteristic parameter Y D calculated from the change of the W axis coordinate; Z DW means the characteristic parameter Z D calculated from the change of the W axis coordinate;步骤S227：根据步骤S226中Y DZ、Z DZ、Y DW、Z DW计算出A旋转轴的特征参数X Z(A)、X W(A)、Y D(A)、Z D(A)。 Step S227: Calculate the characteristic parameters X Z (A) , X W (A) , Y D (A) , and Z D (A) of the A rotation axis according to Y DZ , Z DZ , Y DW , and Z DW in step S226.将步骤S210中B虚拟旋转轴的特征参数X Z(B)、X W(B)、Z D(B)、步骤S220中A旋转轴的特征参数X Z( A)、X W( A)、Y D( A)、Z D( A)各值综合，得到步骤S230中各旋转轴中心点在机床坐标系中的位置X Z、X W、Y D、Z D；即步骤S200可获得双并联杆结构各数控轴在机床坐标系中的实际位置值。 The characteristic parameters X Z (B) , X W (B) , Z D (B) of the virtual rotation axis of B in step S210, the characteristic parameters X Z ( A ), X W ( A ) of the rotary axis of A in step S220, The values of Y D ( A ) and Z D ( A ) are integrated to obtain the positions X Z , X W , Y D , and Z D of the center point of each rotation axis in the machine coordinate system in step S230; that is, double parallel can be obtained in step S200 Actual position value of each NC axis of the rod structure in the machine tool coordinate system.
- 根据权利要求7所述的一种双并联杆钻铆设备的法矢调姿及其偏移补偿方法，其特征在于：所述步骤S310中法矢偏角θ、Φ由步骤S100中的区域位移传感器的值S 1、S 2、S 3、S 4和两区域位移传感器间中心距L 12、L 34计算得到； The normal vector attitude adjustment and offset compensation method of a dual-parallel rod drilling and riveting device according to claim 7, wherein the normal vector deviation angles θ and Φ in step S310 are shifted by the area in step S100. The values of the sensors S 1 , S 2 , S 3 , and S 4 and the center distances L 12 and L 34 between the two area displacement sensors are calculated;所述步骤S320中托架A旋转轴的增量Δa、托架B虚拟旋转轴的增量Δb由步骤S310中法矢偏角θ、Φ得到，调整方法如下：In step S320, the increment Δa of the rotation axis of the bracket A and the increment Δb of the virtual rotation axis of the bracket B are obtained from the normal vector deviation angles θ and Φ in step S310. The adjustment method is as follows:若S 1＞S 2，A旋转轴负向旋转且旋转角度|Φ|； If S 1 ＞ S 2 , the A rotation axis rotates in the negative direction and the rotation angle | Φ |;若S 1＝S 2，A旋转轴处于0°位置； If S 1 = S 2 , the A rotation axis is at 0 °;若S 1＜S 2，A旋转轴正向旋转且旋转角度|Φ|； If S 1 ＜ S 2 , the A rotation axis rotates forward and the rotation angle | Φ |;若Δb＞0，S 3＞S 4，则Z轴负向运动，W轴正向运动； If Δb> 0 and S 3 > S 4 , the Z axis moves in the negative direction and the W axis moves in the positive direction;若S 3＝S 4，B虚拟旋转轴处于0°位置； If S 3 = S 4 , the virtual rotation axis of B is at 0 °;若S 3＜S 4，Z轴正向运动，W轴负向运动。 If S 3 <S 4 , the Z axis moves in the positive direction and the W axis moves in the negative direction.
- 根据权利要求8所述的一种双并联杆钻铆设备的法矢调姿及其偏移补偿方法，其特征在于：所述步骤S410以加工中心点为圆心，托架单独旋转法矢偏角Φ，直线轴X、Y、Z、W需适当调整的位置x 22、y 22、z 22、w 22，由于对应W轴，其A、B旋转轴交点坐标可以表示为(X W-u，y，w)，初始坐标为(X W-u 1，y 1，w 1)，旋转偏移补偿后的坐标为(X W-u 2，y 2，w 2)，满足W 2-W 1＝Z 2-Z 1，其中u 2为无需调节控制的自适应值，b 1为旋转前 的角度，所以根据x 22、y 22、z 22、w 22得到A旋转轴法矢调节对应的各轴的补偿量ΔX A、ΔY A、ΔZ A、ΔW A、Δa； The normal vector attitude adjustment and offset compensation method of a dual-parallel rod drilling and riveting device according to claim 8, characterized in that: in step S410, the machining center point is used as the center of the circle, and the bracket is rotated by the normal vector deviation angle Φ, the positions of the linear axes X, Y, Z, and W that need to be adjusted x 22 , y 22 , z 22 , and w 22. Because of the corresponding W axis, the coordinates of the intersection points of the A and B rotation axes can be expressed as (X W -u, y, w), the initial coordinates are (X W -u 1 , y 1 , w 1 ), and the coordinates after rotation offset compensation are (X W -u 2 , y 2 , w 2 ), satisfying W 2 -W 1 = Z 2 -Z 1 , where u 2 is an adaptive value without adjustment control, and b 1 is the angle before rotation, so the corresponding values of A rotation axis normal vector adjustment are obtained according to x 22 , y 22 , z 22 , and w 22 Compensation amounts of the axes ΔX A , ΔY A , ΔZ A , ΔW A , Δa;步骤S420：以加工中心点为圆心，托架单独旋转法矢角度θ，计算得到直线轴X、Y、Z、W需适当调整的位置x 33、z 33、w 33，得到B虚拟旋转轴法矢调节对应的各轴的补偿量ΔX B、ΔY B、ΔZ B、ΔW B，其中Y轴方向无偏移量，即ΔY B＝0； Step S420: Taking the machining center point as the circle center, the bracket is rotated independently by the normal sagittal angle θ, and the positions X 33 , z 33 , and w 33 of the linear axes X, Y, Z, and W that need to be adjusted are calculated to obtain the B virtual rotation axis method The compensation amounts ΔX B , ΔY B , ΔZ B , and ΔW B of each axis corresponding to the vector adjustment, wherein there is no offset in the Y-axis direction, that is, ΔY B = 0;步骤S430：所述各数控轴相应的偏移补偿量ΔX、ΔY、ΔZ、ΔW、Δa计算式如下：Step S430: the corresponding offset compensation amounts ΔX, ΔY, ΔZ, ΔW, Δa of each numerically controlled axis are calculated as follows:ΔX＝ΔX A+ΔX B ΔX = ΔX A + ΔX BΔY＝ΔY A+ΔY B ΔY = ΔY A + ΔY BΔZ＝ΔZ A+ΔZ B ΔZ = ΔZ A + ΔZ BΔW＝ΔW A+ΔW B ΔW = ΔW A + ΔW BΔa＝-Φ。Δa = -Φ.
- 根据权利要求9所述的一种双并联杆钻铆设备的法矢调姿及其偏移补偿方法，其特征在于：所述步骤S500中法矢调姿及其偏移补偿的操作具体是指：通过伺服驱动控制器，驱动驱动装置，使加工中心点处XY平面的法矢偏角θ、Φ均等于0°，即控制旋转轴A调整角度θ、控制数控轴Z轴与W轴调整角度Φ及Z向高度、同时各轴根据偏移补偿量ΔX、ΔY、ΔZ、ΔW、Δa多轴联动，完成法矢调姿及其偏移补偿。The normal vector attitude adjustment and offset compensation method of the dual parallel rod drilling and riveting equipment according to claim 9, wherein the operations of the normal vector attitude adjustment and offset compensation in step S500 specifically refer to : The servo drive controller and the drive device are used to make the normal vector deviation angles θ and Φ of the XY plane at the machining center point equal to 0 °, that is, control the rotation axis A to adjust the angle θ, and control the numerical control axis Z and W to adjust the angle The heights of Φ and Z, and the simultaneous compensation of each axis according to the offset compensation amounts ΔX, ΔY, ΔZ, ΔW, Δa, complete the normal vector attitude adjustment and its offset compensation.
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