WO2020024600A1 - Procédé de réglage d'attitude de vecteur normal et de compensation de décalage pour dispositif de perforation et de rivetage ayant une double tige parallèle - Google Patents

Procédé de réglage d'attitude de vecteur normal et de compensation de décalage pour dispositif de perforation et de rivetage ayant une double tige parallèle Download PDF

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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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axis
normal vector
offset compensation
adjustment
displacement sensor
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PCT/CN2019/080028
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Chinese (zh)
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刘杰
王飞
何华兵
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成都飞机工业（集团）有限责任公司
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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
    • 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

L'invention concerne un procédé de réglage d'attitude de vecteur normal et de compensation de décalage pour un dispositif de perforation et de rivetage ayant une double tige parallèle, consistant : étape S100 : en ce qu'une pièce à usiner est montée sur un dispositif de perforation et de rivetage ayant une double tige parallèle ; étape S200 : en ce qu'un paramètre d'attribut d'une structure à double tige parallèle et sa valeur de coordonnées de machine sont étalonnés ; étape S300 : en ce que la quantité de réglage d'un vecteur normal est calculée ; étape S400 : en ce qu'un module de calcul calcule la quantité de compensation de décalage correspondante de chaque axe au moyen d'un algorithme de compensation de décalage en combinant la valeur de position réelle d'axes de commande numérique dans système de coordonnées de machine-outil obtenue lors de l'étape S200, et la quantité de réglage du vecteur normal obtenue lors de l'étape S300 ; étape S500 : en ce qu'un système de commande programmable entraîne un dispositif d'entraînement au moyen d'un système de commande d'entraînement asservi pour effectuer une liaison multiaxiale pour réaliser le réglage d'attitude de vecteur normal et sa compensation de décalage durant la perforation et le rivetage. Le procédé résout efficacement le problème d'impossibilité de calcul théorique du paramètre d'attribut de la structure à double tige parallèle, et le réglage d'attitude de vecteur normal et la compensation de décalage d'un point central d'usinage d'une pièce à usiner à double courbe, et garantit la précision de données de référence, et le réglage d'attitude de vecteur normal est rapide et précis.
PCT/CN2019/080028 2018-07-30 2019-03-28 Procédé de réglage d'attitude de vecteur normal et de compensation de décalage pour dispositif de perforation et de rivetage ayant une double tige parallèle WO2020024600A1 (fr)

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