Forward and inverse solution method of five-shaft numerical control drilling machine tool with feed shaft swinging wit AB shaft

Abstract

The invention discloses a forward and inverse solution method of a five-shaft numerical control drilling machine tool with a feed shaft swinging with an AB shaft. The method comprises the following steps: (1) establishing an equipment base coordinate system, respective motion shaft sub coordinate systems and a cutter coordinate system in a profiled five-shaft numerical control drilling machine tool; drawing a coordinate system definition diagram in order that respective sub coordinate systems and the equipment base coordinate system has a consistent coordinate axis direction. (2) performing kinematics analysis on the profiled five-shaft numerical control drilling machine tool, and establishing a forward kinematic model; (3) according to the target pose and the forward kinematic model of the profiled five-shaft numerical control drilling machine tool, establishing an equation set of joint quantity and deriving an inverse kinematics model. The method realizes the kinematic forward and inverse solution of the five-shaft numerical control drilling machine tool with a feed shaft swinging with an AB shaft, and lays the foundation for the machine tool motion control.

Description

technical field [0001] The invention relates to the field of aircraft assembly technology and equipment, in particular to a positive and negative solution method for a five-axis number-controlled hole machine tool in which a feed axis swings along with an AB axis. Background technique [0002] Aircraft assembly largely determines the final quality, manufacturing cost and delivery cycle of the aircraft, and is the key and core technology in the aircraft manufacturing process. Among them, pre-joining is an important process in aircraft assembly, and it is an important link to ensure the accuracy of subsequent hole making and the quality of aircraft assembly. Achieving automated pre-connection is an integral part of fully automating aircraft assembly. [0003] This special-shaped five-axis number-controlled hole machine tool is an important automatic hole-making and pre-connection equipment in aircraft assembly, which can automatically complete operations such as hole making, ...

AI Technical Summary

Problems solved by technology

The machine tool has five motion axes of X, Y, B, A, and Z in sequence, and adopts a structure in which the translation axis and the rotation axis are intersected, which is different from the structure of the general five-axis machine tool in which the translation axis is first followed by the rotation axis, resulting in The Siemens five-axis linkage package cannot be directly used for this special-shaped five-axis number control hole machine tool

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