A Manual Linkage Posture Adjustment and Positioning Method for a Three-Coordinate Positioner Group in Parallel with the Position

Abstract

The present invention discloses a manual joint control posture positioning method for a position-following parallel three-coordinate locator group. The three-coordinate locator group includes N position-following parallel three-coordinate locators, an integrated console, and a remote controller, where N is not less than 3. The handheld remote controller sends instructions to the integrated console, and after calculation, the integrated console sends instructions to each three-coordinate locator to drive the respective motion mechanisms to perform corresponding motions. The steps of this manual joint control posture positioning method include the establishment and calibration of the coordinate system, the construction of the manual joint control posture positioning control algorithm, and the construction of the manual joint control motion control method under general working conditions and the construction of the manual joint control motion control method under special working conditions, etc. Using this method can significantly improve the positioning accuracy of the three-coordinate locator and greatly expand the application scenarios of the three-coordinate locator.

Description

Technical Field

[0001] The present application relates to the technical field of automated equipment design, and particularly to a manual joint control posture positioning method for a position-dependent parallel three-coordinate locator group. Background Art

[0002] The position-dependent parallel three-coordinate locator group is a key technical equipment for aircraft digital assembly. At present, the posture positioning of the position-dependent parallel three-coordinate locator group is all based on digital measurement-guided control, and generally a console with a liquid crystal display is configured. The initial pose data of the workpiece before posture positioning is obtained through digital measurement, and then the target pose data of the workpiece after posture positioning is obtained based on design or process drawings, etc. The operator sits in front of the console, inputs the initial pose data and the target pose data into the console, and controls the three-coordinate locator group to perform an automatically jointly controlled posture positioning movement.

[0003] This kind of automated jointly controlled posture positioning technology requires the configuration of digital measurement equipment, and the field of view of digital measurement must be open, otherwise it cannot be used. Whether the digital measurement equipment is non-contact optical measurement or contact mechanical measurement, there are requirements for the measurement field of view. For posture positioning with limited space, compact structure, and a large number of components, the automated jointly controlled posture positioning technology and its equipment are generally difficult to be used. Because the digital measurement equipment is the "eyes" of the automated jointly controlled posture positioning. When there is no "eye" or the line of sight of the "eye" is blocked in the actual working condition, it is impossible to know where one is and where the target is, and the automated jointly controlled posture positioning equipment based on digital measurement and control cannot operate.

[0004] In addition, the digital measurement equipment used for automated jointly controlled posture positioning is very expensive. Taking the most commonly used laser tracker as an example, the basic version of the laser tracker is also more than one million yuan. Therefore, from an economic perspective, the promotion space of the automated jointly controlled posture positioning technology and its equipment is relatively limited, and it is difficult to be popularized, especially difficult to be promoted to small and medium-sized manufacturing enterprises.

[0005] Therefore, in order to expand the applicability and application scenarios of the jointly controlled posture positioning technology and its equipment, a manual joint control posture positioning method for a position-dependent parallel three-coordinate locator group is invented. Using this method, digital measurement equipment is not required, but the manual joint control posture positioning of the position-dependent parallel three-coordinate locator group is realized through human-machine cooperation. Summary of the Invention

[0006] In order to solve the above problems, the present invention provides a manual joint control posture positioning method for a position-dependent parallel three-coordinate locator group. By applying this technology, the application scenarios of the three-coordinate locator group are expanded, the application cost is reduced, and the application threshold is lowered.

[0007] A manual joint control and posture adjustment positioning method for a position - following parallel three - coordinate locator group, characterized in that the three - coordinate locator group includes N position - following parallel three - coordinate locators, an integrated console, and a remote controller, where N is not less than 3. The three - coordinate locator includes a base, a three - coordinate motion mechanism, a ball - socket mechanism, and a sub - console. The base is located at the bottom layer of the three - coordinate locator. The three - coordinate motion mechanism contains an X - direction motion mechanism, a Y - direction motion mechanism, and a Z - direction motion mechanism stacked in any order. Each motion mechanism is respectively provided with an X - direction displacement sensor, a Y - direction displacement sensor, and a Z - direction displacement sensor parallel to the corresponding motion mechanism. The motion mechanism stacked at the bottom layer is fixedly connected to the base, and the motion mechanism at the top layer is fixedly connected to the ball - socket mechanism. The ball - socket mechanism supports the workpiece to be adjusted in posture and positioned, and the ball - socket mechanism includes a smooth ball - socket and a ball - socket seat connected to the top - layer motion mechanism. The geometric center of the smooth ball - socket is the ball - socket center point QW, and the ball - socket center point QW is used as the positioning control point of the three - coordinate locator. The workpiece to be adjusted in posture and positioned is placed in the smooth ball - socket. The sub - console is fixed on the base or the three - coordinate motion mechanism.

[0008] The remote controller includes a panel and a body. The panel is provided with a power switch, a start - stop switch, an emergency stop switch, a display, an editor, a working condition selection module, a function selection module, a stroke selection module, a specific axis selection module, a direction selection module, and a speed selection module. The remote controller communicates with the integrated console via radio for data communication. The working condition selection module includes a working condition selection knob and a working condition identification disc. The working condition identification disc includes two identifications: general and special. The function selection module includes a function selection knob and a function identification disc. The function identification disc includes two identifications: posture adjustment and positioning. The stroke selection module includes a stroke selection knob and a stroke identification disc. The stroke identification disc includes two identifications: radian and length. The specific axis selection module includes a specific axis selection knob and a specific axis identification disc. The specific axis identification disc includes six identifications: X - rotation, Y - rotation, Z - rotation, X - translation, Y - translation, and Z - translation. The direction selection module includes a direction selection knob and a direction identification disc. The direction identification disc includes two identifications: forward and reverse. The speed selection module includes a speed selection knob and a speed identification disc. The speed identification disc includes three identifications: slow, medium, and fast.

[0009] The remote controller issues commands to the integrated console under manual operation, which are used as the input data of the integrated console. The integrated console and the sub - consoles of each three - coordinate locator are connected via an external network cable for data communication. The output data of the integrated console and the feedback data of each displacement sensor are used as the input data of the sub - console. After internal calculation, the sub - console drives each motion mechanism to make corresponding movements. The manual joint control and posture adjustment positioning method includes the following steps:

[0010] Step 1: Establish the earth coordinate system RCS and the coordinate system PCS of each three - coordinate locator required for posture adjustment and positioning iand the workpiece coordinate system WCS, including the following steps:

[0011] (1-1) Establish the earth coordinate system RCS: Set measurement points on the ground near the placement of the coordinate locator group, and establish the earth coordinate system based on the measurement points, denoted as RCS. The set earth coordinate system RCS is a Cartesian rectangular coordinate system;

[0012] (1-2) Establish the coordinate system PCS of each coordinate locator i (1 ≤ i ≤ N): The coordinate system PCS of the coordinate locator i The origin is set at the center point QW of the spherical socket when the i-th coordinate locator is in the zero position i At this point, the three coordinate axes of the coordinate system PCS of the coordinate locator i Are respectively parallel to the directions of the three-coordinate motion mechanism corresponding to the i-th coordinate locator. The set coordinate system PCS of the coordinate locator i The relative position with the base of the i-th coordinate locator remains fixed. The set coordinate system PCS of the coordinate locator i Can be an oblique coordinate system or a Cartesian rectangular coordinate system;

[0013] (1-3) Establish the workpiece coordinate system WCS: The origin of the workpiece coordinate system WCS is set at the centroid of the workpiece. Before pose adjustment and positioning, the three coordinate axes of the workpiece coordinate system WCS are respectively parallel to the three coordinate axes of the earth coordinate system RCS. The set workpiece coordinate system WCS has a fixed relative position with the workpiece, and the set workpiece coordinate system WCS is a Cartesian rectangular coordinate system.

[0014] Step 2 Calibrate the pose transformation relationships among the workpiece coordinate system WCS, the earth coordinate system RCS, and the coordinate system PCS of each coordinate locator i Including the following steps:

[0015] (2-1) Calibrate the pose of the workpiece coordinate system WCS relative to the earth coordinate system RCS before pose adjustment and positioning Let the pose Be:

[0016]

[0017] (2-2) Calibrate the pose of the earth coordinate system RCS relative to the coordinate system PCS of each coordinate locator i Of the pose Let the pose Be:

[0018]

[0019] Step 3 Solve the positions of all spherical socket center points QW relative to the coordinate system PCS of each coordinate locator before pose adjustment and positioning i, the coordinates of the geodetic coordinate system RCS and the workpiece coordinate system WCS, including the following steps:

[0020] (3-1) Obtain the ball socket center point QW of the three-coordinate locator by adjusting the X-direction displacement sensor, Y-direction displacement sensor, and Z-direction displacement sensor of the three-coordinate locator before pose adjustment and positioning i Relative to the coordinate system PCS of the i-th three-coordinate locator i Homogeneous coordinates

[0021]

[0022] (3-2) Calculate the homogeneous coordinates of all ball socket center points QW relative to the geodetic coordinate system RCS before pose adjustment and positioning

[0023]

[0024] (3-3) Calculate the homogeneous coordinates QW of all ball socket center points QW relative to the workpiece coordinate system WCS WCS :

[0025]

[0026] Step 4 Construct a manual joint control pose adjustment and positioning algorithm for the in-position parallel three-coordinate locator group, including the following steps:

[0027] (4-1) Set the pose adjustment rotation vector Q and the positioning translation vector P:

[0028] Q = [α β γ] T Equation 6

[0029] P = [A B C] T Equation 7

[0030] α, β, and γ respectively represent the coordinate components of the pose adjustment rotation vector Q on the X-axis, Y-axis, and Z-axis in the geodetic coordinate system RCS, and A, B, and C respectively represent the coordinate components of the positioning translation vector P on the X-axis, Y-axis, and Z-axis in the geodetic coordinate system RCS;

[0031] (4-2) Construct an algorithm for solving the intermediate pose adjustment parameters [μ ν] T :

[0032]

[0033] μ represents the rotation radian of the pose adjustment rotation vector Q around the X-axis in the geodetic coordinate system RCS, and ν represents the rotation radian of the pose adjustment rotation vector Q around the Y-axis in the geodetic coordinate system RCS.

[0034] (4-3) Set the total pose adjustment rotation radian Θ and the total positioning translation length L;

[0035] (4 - 4) Set the total attitude adjustment and positioning time T;

[0036] (4 - 5) Construct the solution algorithms for the attitude adjustment jerk ρ and the positioning jerk λ:

[0037]

[0038]

[0039] (4 - 6) Construct the function θ(t) of the attitude adjustment rotation radian θ (0 ≤ θ ≤ Θ) with respect to time t (0 ≤ t ≤ T), and the function l(t) of the positioning translation length l (0 ≤ l ≤ L) with respect to time t:

[0040]

[0041]

[0042] (4 - 7) Construct the coupled attitude adjustment rotation matrix R 3×3 as a function of time t, R 3×3 (t), and its sub - matrix functions R X (μ), R Y (ν), and R Z [θ(t)]:

[0043]

[0044] R X (μ) represents the sub - matrix function of the attitude adjustment rotation vector Q rotating μ radians around the X - axis in the earth coordinate system RCS, R Y (ν) represents the sub - matrix function of the attitude adjustment rotation vector Q rotating ν radians around the Y - axis in the earth coordinate system RCS, R Z [θ(t)] represents the sub - matrix function of the attitude adjustment rotation vector Q rotating θ(t) radians around the Z - axis in the earth coordinate system RCS;

[0045] (4 - 8) Construct the coupled positioning translation vector M 3×1 as a function of time t, M 3×1 (t)

[0046]

[0047] (4 - 9) Construct the coupled attitude adjustment and positioning coupling matrix T 4×4 as a function of the coupled attitude adjustment rotation matrix R 3×3 (t) and the coupled positioning translation vector M 3×1 (t), T 4×4 (t):

[0048]

[0049] (4 - 10) Construct the center point QW of the ball socket for joint control of attitude adjustment and positioning i Coordinates relative to the earth coordinate system RCS Function of time t

[0050]

[0051] (4 - 11) Construct the center point QW of the ball socket for joint control of attitude adjustment and positioning i Coordinates relative to the coordinate system PCS of the three - coordinate locator i of Function of time t

[0052]

[0053] Step 5: Construct a general working condition motion control method and perform manual joint control of attitude adjustment and positioning for general working conditions, including the following steps:

[0054] (5 - 1) Press the power switch of the remote control to start the remote control;

[0055] (5 - 2) Point the working condition selection knob of the working condition selection module in the remote control to the general identifier;

[0056] (5 - 3) Point the function selection knob of the function selection module in the remote control to the attitude adjustment identifier, and assign values to the three parameters [α β γ] in the attitude adjustment rotation vector Q through the editor T for assignment;

[0057] (5 - 4) Point the function selection knob of the function selection module in the remote control to the positioning identifier, and assign values to the three parameters [A B C] in the positioning translation vector P through the editor T for assignment;

[0058] (5 - 5) Point the travel selection knob of the travel selection module in the remote control to the radian identifier, and assign a value to the total attitude adjustment radian Θ through the editor;

[0059] (5 - 6) Point the travel selection knob of the travel selection module in the remote control to the length identifier, and assign a value to the total positioning translation length L through the editor;

[0060] (5 - 7) Assign a value to the total attitude adjustment and positioning time T through the editor in the remote control;

[0061] (5 - 8) Point the speed selection knob of the speed selection module in the remote control to one of the slow, medium, and fast identifiers;

[0062] (5-9) When the start / stop switch is pressed, the posture adjustment and positioning start. When the start / stop switch is released, the posture adjustment and positioning stop;

[0063] (5-10) When the emergency stop switch is pressed, the integrated console and the sub-consoles are powered off, and the posture adjustment and positioning are forced to stop;

[0064] (5-11) After the posture adjustment and positioning are in place, press the remote control power switch again to turn off the remote control, and the manual joint control of the posture adjustment and positioning in the general working condition ends.

[0065] Step 6 Construct a motion control method for special working conditions to perform manual joint control of posture adjustment and positioning in special working conditions, including the following steps:

[0066] (6-1) Press the remote control power switch to start the remote control;

[0067] (6-2) Point the working condition selection knob of the working condition selection module in the remote control to the special identifier;

[0068] (6-3) Point the stroke selection knob of the stroke selection module in the remote control to the radian identifier, and assign a value to the total rotation radian Θ of the posture adjustment through the editor;

[0069] (6-4) Point the stroke selection knob of the stroke selection module in the remote control to the length identifier, and assign a value to the total translation length L of the positioning through the editor;

[0070] (6-5) Assign a value to the total time T of the posture adjustment and positioning through the editor in the remote control;

[0071] (6-6) Point the specific axis selection knob of the specific axis selection module in the remote control to one of the X rotation, Y rotation, Z rotation, X translation, Y translation, and Z translation identifiers;

[0072] (6-7) Point the direction selection knob of the direction selection module in the remote control to one of the forward and reverse identifiers;

[0073] (6-8) Point the speed selection knob of the speed selection module in the remote control to one of the slow, medium, and fast identifiers;

[0074] (6-9) When the start / stop switch is pressed, the posture adjustment and positioning start. When the start / stop switch is released, the posture adjustment and positioning stop;

[0075] (6-10) When the emergency stop switch is pressed, the integrated console and the sub-consoles are powered off, and the posture adjustment and positioning are forced to stop;

[0076] (6-11) After the posture adjustment and positioning are in place, press the remote control power switch again to turn off the remote control, and the manual joint control of the posture adjustment and positioning in the special working condition ends.

[0077] Compared with the existing automated joint control attitude positioning technology of the three-coordinate locator group, the present invention has the following advantages and remarkable benefits:

[0078] (1) It expands the application scenarios of the three-coordinate locator group. For some attitude positioning occasions with narrow space and complex structures, due to the blocked field of view, the three-coordinate locator group based on digital measurement control often cannot operate, while this application can well solve this problem.

[0079] (2) It reduces the application cost of the three-coordinate locator group. Compared with the three-coordinate locator group based on digital measurement control that requires the configuration of measurement equipment worth millions, this application reduces the procurement cost by millions.

[0080] (3) It lowers the operation threshold of the three-coordinate locator group. Compared with the three-coordinate locator group based on digital measurement control that requires operators with digital knowledge and relevant qualification certificates, this application does not require special operation qualification certificates.

[0081] The following further describes this application in detail with reference to the accompanying drawings of the embodiments: Description of the Drawings

[0082] Figure 1 It is a schematic diagram of a three-coordinate locator

[0083] Figure 2 It is a schematic diagram of an integrated console

[0084] Figure 3 It is a schematic diagram of a remote control

[0085] Figure 4 It is the PCS of the three-coordinate locator coordinate system i and the setting and calibration schematic diagram of the earth coordinate system RCS

[0086] Figure 5 It is the establishment and calibration schematic diagram of the workpiece coordinate system WCS

[0087] Figure 6 It is the result schematic diagram of the manual joint control attitude positioning of the in-position parallel three-coordinate locator group for general working conditions

[0088] Figure 7 It is the result schematic diagram of the manual joint control attitude positioning of the in-position parallel three-coordinate locator group for the special working condition of rotating around the X-axis in the earth coordinate system RCS

[0089] Figure 8 It is the result schematic diagram of the manual joint control attitude positioning of the in-position parallel three-coordinate locator group for the special working condition of rotating around the Y-axis in the earth coordinate system RCS

[0090] Figure 9Schematic diagram of the manual joint control and posture positioning result of the in-position parallel three-coordinate locator group for the special working condition of rotating around the Z-axis in the geodetic coordinate system RCS

[0091] Explanation of the numbers in the figure: 1. Base; 2. Three-coordinate motion mechanism; 3. Ball socket mechanism; 4. Sub-control console; 5. X-direction motion mechanism; 6. X-direction displacement sensor; 7. Y-direction motion mechanism; 8. Y-direction displacement sensor; 9. Z-direction motion mechanism; 10. Z-direction displacement sensor; 11. Integrated control console; 12. Remote control; 13. Workpiece Specific implementation manner

[0092] The in-position parallel three-coordinate locator group in the specific implementation contains 4 in-position parallel three-coordinate locators, 1 integrated control console and 1 remote control.

[0093] As Figure 1 shown, the three-coordinate locator is composed of a base 1, a three-coordinate motion mechanism 2, a ball socket mechanism 3 and a sub-control console 4. The three-coordinate motion mechanism 2 contains an X-direction motion mechanism 5, a Y-direction motion mechanism 7, and a Z-direction motion mechanism 9 stacked in any order. An X-direction displacement sensor 6, a Y-direction displacement sensor 8, and a Z-direction displacement sensor 10 parallel to the corresponding motion mechanism are respectively provided on each motion mechanism. The motion mechanism stacked at the bottom layer is fixedly connected to the base 1, and the motion mechanism at the top layer is fixedly connected to the ball socket mechanism 3. The X-direction transmission mechanism 5, the Y-direction transmission mechanism 7, and the Z-direction transmission mechanism 9 respectively contain corresponding finished parts such as servo motors, reducers, couplings, lead screws, and nuts. The X-direction displacement sensor 6, the Y-direction displacement sensor 8, and the Z-direction displacement sensor 10 can be grating scales or magnetic grating scales. In this embodiment, grating scales are selected. The ball socket mechanism 3 supports the workpiece 13 to be adjusted in posture and positioned. The ball socket mechanism 3 includes a smooth ball socket and a ball socket seat connected to the top-layer motion mechanism. The geometric center of the smooth ball socket is the ball socket center point QW. The ball socket center point QW is used as the positioning control point of the three-coordinate locator. The workpiece 13 to be adjusted in posture and positioned is placed in the smooth ball socket. The sub-control console 4 is fixed on the base 1 or a certain motion mechanism. In this embodiment, the sub-control console 4 is fixed on the Z-direction motion mechanism 9. The sub-control console 4 includes a control power supply, a servo driver, a sensor controller, control terminals, etc. As Figure 2 shown is the integrated control console 11. The integrated control console 11 includes a power supply device, a CPU controller, an I / O module, etc.

[0094] As Figure 3As shown in the figure, the remote controller 12 includes a panel and a body. The panel is provided with a power switch, a start / stop switch, an emergency stop switch, a display, an editor, a working condition selection module, a function selection module, a travel selection module, a specific axis selection module, a direction selection module, and a speed selection module. Among them: The working condition selection module includes a working condition selection knob and a working condition identification plate, and the working condition identification plate includes two identifications: general and special; the function selection module includes a function selection knob and a function identification plate, and the function identification plate includes two identifications: posture adjustment and positioning; the travel selection module includes a travel selection knob and a travel identification plate, and the travel identification plate includes two identifications: radian and length; the specific axis selection module includes a specific axis selection knob and a specific axis identification plate, and the specific axis identification plate includes six identifications: X rotation, Y rotation, Z rotation, X translation, Y translation, and Z translation; the direction selection module includes a direction selection knob and a direction identification plate, and the direction identification plate includes two identifications: forward and reverse; the speed selection module includes a speed selection knob and a speed identification plate, and the speed identification plate includes three identifications: slow, medium, and fast.

[0095] The remote controller 12 issues commands to the integrated console 11 under manual operation as the input data of the integrated console 11. Data communication is carried out between the integrated console 11 and the sub-consoles of each three-coordinate positioner through an external network cable. The output data of the integrated console 11 and the feedback data of each displacement sensor are used as the input data of the sub-console. After internal calculation, the sub-console drives each motion mechanism to perform corresponding motions. The manual joint control posture adjustment and positioning method includes the following steps:

[0096] Step 1: Establish the earth coordinate system RCS, the coordinate system PCS of each three-coordinate positioner i and the workpiece coordinate system WCS, which includes the following steps:

[0097] (1-1) Establish the earth coordinate system RCS: Set measurement points on the ground near the three-coordinate positioner group, and establish the earth coordinate system according to the measurement points, denoted as RCS. The set earth coordinate system RCS is a Cartesian rectangular coordinate system, as Figure 4 shown;

[0098] (1-2) Establish the coordinate system PCS of each three-coordinate positioner i (1≤i≤N): The origin of the three-coordinate positioner coordinate system PCS i is set at the center point QW of the ball socket when the i-th three-coordinate positioner is in the zero position i The three coordinate axes of the three-coordinate positioner coordinate system PCS i are respectively parallel to the directions of the three-coordinate motion mechanisms corresponding to the i-th three-coordinate positioner. The relative position between the set three-coordinate positioner coordinate system PCS i and the base of the i-th three-coordinate positioner remains fixed. The set three-coordinate positioner coordinate system PCSi It can be an oblique coordinate system or a Cartesian rectangular coordinate system, such as Figure 4 shown;

[0099] (1 - 3) Establish the workpiece coordinate system WCS: The origin of the workpiece coordinate system WCS is set at the centroid of the workpiece. Before pose adjustment and positioning, the three coordinate axes of the workpiece coordinate system WCS are parallel to the three coordinate axes of the earth coordinate system RCS respectively. The relative position between the set workpiece coordinate system WCS and the workpiece remains fixed. The set workpiece coordinate system WCS is a Cartesian rectangular coordinate system, such as Figure 5 shown.

[0100] Step 2 Calibrate the pose transformation relationships among the workpiece coordinate system WCS, the earth coordinate system RCS, and the coordinate system PCS of each three - coordinate positioner, including the following steps: i between them, including the following steps:

[0101] (2 - 1) Calibrate the pose of the workpiece coordinate system WCS relative to the earth coordinate system RCS before pose adjustment and positioning Let the pose be:

[0102]

[0103] (2 - 2) Calibrate the pose of the earth coordinate system RCS relative to the coordinate system PCS of each three - coordinate positioner i of the pose Let the pose be:

[0104]

[0105] Step 3 Solve the coordinates of all ball - socket center points QW relative to the coordinate system PCS of each three - coordinate positioner i , the earth coordinate system RCS, and the workpiece coordinate system WCS before pose adjustment and positioning, including the following steps:

[0106] (3 - 1) Obtain the ball - socket center point QW of the three - coordinate positioner through the X - direction displacement sensor, Y - direction displacement sensor, and Z - direction displacement sensor of the three - coordinate positioner before pose adjustment and positioning i relative to the coordinate system PCS of the i - th three - coordinate positioner i of the homogeneous coordinates

[0107]

[0108] (3 - 2) Obtain the homogeneous coordinates of all ball - socket center points QW relative to the earth coordinate system RCS before pose adjustment and positioning

[0109]

[0110] (3 - 3) Calculate the homogeneous coordinates QW of all ball - socket center points QW with respect to the workpiece coordinate system WCS WCS :

[0111]

[0112] Step 4: Construct a manual - control joint - pose positioning algorithm for the in - position parallel three - coordinate locator group, including the following steps:

[0113] (4 - 1) Set the pose - adjustment rotation vector Q and the positioning translation vector P, and set them in the editor in the remote controller shown in Figure 3 :

[0114] Q = [α β γ] T Equation 6

[0115] P = [A B C] T Equation 7

[0116] α, β, and γ respectively represent the coordinate components of the pose - adjustment rotation vector Q on the X - axis, Y - axis, and Z - axis in the earth coordinate system RCS. A, B, and C respectively represent the coordinate components of the positioning translation vector P on the X - axis, Y - axis, and Z - axis in the earth coordinate system RCS;

[0117] (4 - 2) Construct an algorithm for solving the intermediate pose - adjustment parameters [μ ν] T :

[0118]

[0119] μ represents the rotation radian of the pose - adjustment rotation vector Q around the X - axis in the earth coordinate system RCS, and ν represents the rotation radian of the pose - adjustment rotation vector Q around the Y - axis in the earth coordinate system RCS.

[0120] (4 - 3) Set the total pose - adjustment rotation radian Θ and the total positioning translation length L, and set them in the editor in the remote controller shown in Figure 3 ;

[0121] (4 - 4) Set the total pose - adjustment and positioning time T, and set it in the editor in the remote controller shown in Figure 3 ;

[0122] (4 - 5) Construct algorithms for solving the pose - adjustment jerk ρ and the positioning jerk λ:

[0123]

[0124]

[0125] Construct a function θ(t) of the posture adjustment rotation radian θ (0 ≤ θ ≤ Θ) with respect to time t (0 ≤ t ≤ T), and a function l(t) of the positioning translation length l (0 ≤ l ≤ L) with respect to time t:

[0126]

[0127]

[0128] (4-7) Construct a coupled posture adjustment rotation matrix R 3×3 as a function of time t, R 3×3 (t), and its sub-matrix functions R X (μ), R Y (ν), and R Z [θ(t)]:

[0129]

[0130] R X (μ) represents the sub-matrix function of the posture adjustment rotation vector Q rotating by μ radians around the X-axis in the geodetic coordinate system RCS, R Y (ν) represents the sub-matrix function of the posture adjustment rotation vector Q rotating by ν radians around the Y-axis in the geodetic coordinate system RCS, R Z [θ(t)] represents the sub-matrix function of the posture adjustment rotation vector Q rotating by θ(t) radians around the Z-axis in the geodetic coordinate system RCS;

[0131] (4-8) Construct a coupled positioning translation vector M 3×1 as a function of time t, M 3×1 (t)

[0132]

[0133] (4-9) Construct a coupled posture adjustment and positioning matrix T 4×4 as a function of the coupled posture adjustment rotation matrix R 3×3 (t) and the coupled positioning translation vector M 3×1 (t), T 4×4 (t):

[0134]

[0135] (4-10) Construct the ball socket center point QW of the coupled posture adjustment and positioning i coordinates relative to the geodetic coordinate system RCS as a function of time t

[0136]

[0137] (4-11) Construct the ball socket center point QW of the coupled posture adjustment and positioningi With respect to the coordinate system PCS of the three - coordinate locator i coordinates as a function of time t

[0138]

[0139] Step 5 constructs a general operating condition motion control method to perform manual joint control for posture positioning under general operating conditions, including the following steps:

[0140] (5 - 1) Press the power switch of the remote control to start the remote control;

[0141] (5 - 2) Point the operating condition selection knob of the operating condition selection module in the remote control to the general identifier;

[0142] (5 - 3) Point the function selection knob of the function selection module in the remote control to the posture adjustment identifier, and assign values to the three parameters [α β γ] in the posture adjustment rotation vector Q through the editor. T Taking Figure 6 as an example, the three parameters [α β γ] in this embodiment T are assigned as [1 1 1] T , that is, the set posture adjustment rotation vector Q is a ray with equal angles to the three coordinate axes of the earth coordinate system;

[0143] (5 - 4) Point the function selection knob of the function selection module in the remote control to the positioning identifier, and assign values to the three parameters [A B C] in the positioning translation vector P through the editor. T Taking Figure 6 as an example, the three parameters [A B C] in this embodiment T are assigned as [1 0 0] T , that is, the set positioning translation vector P is a ray parallel to the X - axis of the earth coordinate system;

[0144] (5 - 5) Point the stroke selection knob of the stroke selection module in the remote control to the radian identifier, and assign a value to the total posture adjustment rotation radian Θ through the editor. Taking Figure 6 as an example, the total posture adjustment rotation radian Θ in this embodiment is assigned as 0.78, which is equivalent to a maximum posture adjustment angle of 45°;

[0145] (5 - 6) Point the stroke selection knob of the stroke selection module in the remote control to the length identifier, and assign a value to the total positioning translation length L through the editor. Taking Figure 6 as an example, the total positioning translation length L in this embodiment is assigned as 500, that is, the maximum translation length during positioning is 500 mm;

[0146] (5-7) Assign the total pose adjustment and positioning time T through the editor in the remote controller. Taking Figure 6 as an example, the total pose adjustment and positioning time T in this embodiment is assigned as 200, that is, the total pose adjustment and positioning time is 200 s;

[0147] (5-8) Point the speed selection knob of the speed selection module in the remote controller to one of the slow, medium, and fast speed identifiers. Taking Figure 6 as an example, medium speed is selected in this embodiment;

[0148] (5-9) When the start / stop switch is pressed, the pose adjustment and positioning starts. When the start / stop switch is released, the pose adjustment and positioning stops. Figure 6 Shown is the result of the workpiece pose adjustment and positioning when the start / stop switch is released after being pressed for 60 s;

[0149] (5-10) When the emergency stop switch is pressed, the integrated console and the sub-consoles are powered off, and the pose adjustment and positioning are forced to stop;

[0150] (5-11) After the pose adjustment and positioning is in place, press the power switch of the remote controller again to turn off the remote controller, and the manual joint control of the pose adjustment and positioning in the general working condition ends.

[0151] Step 6 Construct a special working condition motion control method to perform manual joint control of pose adjustment and positioning under special working conditions, including the following steps:

[0152] (6-1) Press the power switch of the remote controller to start the remote controller;

[0153] (6-2) Point the working condition selection knob of the working condition selection module in the remote controller to the special identifier;

[0154] (6-3) Point the stroke selection knob of the stroke selection module in the remote controller to the radian identifier, and assign the total pose adjustment rotation radian Θ through the editor. Taking Figures 7 - 9 as an example, the total pose adjustment rotation radian Θ in this embodiment is assigned as 1.05, which is equivalent to the maximum angle of pose adjustment rotation being 60°;

[0155] (6-4) Point the stroke selection knob of the stroke selection module in the remote controller to the length identifier, and assign the total positioning translation length L through the editor. Taking Figures 7 - 9 as an example, the total positioning translation length L in this embodiment is assigned as 500, that is, the maximum translation length during positioning is 500 mm;

[0156] (6-5) Assign the total pose adjustment and positioning time T through the editor in the remote controller. Taking Figures 7 - 9 as an example, the total pose adjustment and positioning time T in this embodiment is assigned as 200, that is, the total pose adjustment and positioning time is 200 s;

[0157] (6-6) Point the specific axis selection knob of the specific axis selection module in the remote controller at one of the X rotation, Y rotation, Z rotation, X translation, Y translation, and Z translation identifications. In this embodiment, Figure 7 The shown is the posture adjustment result of selecting X rotation, Figure 8 The shown is the posture adjustment result of selecting Y rotation, Figure 9 The shown is the posture adjustment result of selecting Y rotation;

[0158] (6-7) Point the direction selection knob of the direction selection module in the remote controller at one of the forward and reverse identifications. In this embodiment, Figures 7 - 9 The shown are all the results of selecting forward;

[0159] (6-8) Point the speed selection knob of the speed selection module in the remote controller at one of the slow, medium, and fast identifications. Taking Figures 7 - 9 as an example, fast is selected in this embodiment;

[0160] (6-9) When pressing the start / stop switch, the posture adjustment and positioning start, and when releasing the start / stop switch, the posture adjustment and positioning stop. In this embodiment, Figures 7 - 9 The shown are all the results of the workpiece posture adjustment and positioning when releasing after pressing the start / stop switch for 70 s;

[0161] (6-10) When pressing the emergency stop switch, the integrated console and the sub-console are powered off, and the posture adjustment and positioning are forced to stop;

[0162] (6-11) After the posture adjustment and positioning are in place, press the power switch of the remote controller again to turn off the remote controller, and the manual joint control posture adjustment and positioning work under special working conditions ends.

[0163] Compared with the existing automatic joint control posture adjustment and positioning technology of the three-coordinate positioner group, the present invention has the following advantages and remarkable benefits:

[0164] (1) The application scenarios of the three-coordinate positioner group are expanded. For some posture adjustment and positioning occasions with narrow space and complex structures, due to the blocked field of view, the three-coordinate positioner group based on digital measurement control often cannot operate, while this application can well solve this problem.

[0165] (2) The application cost of the three-coordinate positioner group is reduced. Compared with the three-coordinate positioner group based on digital measurement control that needs to be equipped with measurement equipment worth millions, this application reduces the procurement cost by millions.

[0166] (3) The operation threshold of the three-coordinate positioner group is reduced. Compared with the three-coordinate positioner group based on digital measurement control that needs to be equipped with operators with digital knowledge and relevant qualification certificates, this application does not require special operation qualification certificates.

Claims

1. A manual joint control and posture positioning method for a parallel three - coordinate locator group in - place, characterized in that The three-coordinate locator group includes N three-coordinate locators in parallel with the position, an integrated console and a remote controller, where N is not less than 3. The three-coordinate locator includes a base, a three-coordinate motion mechanism, a ball socket mechanism and a sub-console. The base is located at the bottom layer of the three-coordinate locator. The three-coordinate motion mechanism contains an X-direction motion mechanism, a Y-direction motion mechanism, and a Z-direction motion mechanism stacked in any order. An X-direction displacement sensor, a Y-direction displacement sensor, and a Z-direction displacement sensor parallel to the corresponding motion mechanism are respectively provided on each motion mechanism. The motion mechanism stacked at the bottom layer is fixedly connected to the base, and the motion mechanism at the top layer is fixedly connected to the ball socket mechanism. The ball socket mechanism supports the workpiece to be adjusted in position and posture. The ball socket mechanism includes a smooth ball socket and a ball socket seat connected to the top-layer motion mechanism. The geometric center of the smooth ball socket is the ball socket center point QW. The ball socket center point QW is used as the positioning control point of the three-coordinate locator. The workpiece to be adjusted in position and posture is placed in the smooth ball socket. The sub-console is fixed on the base or the three-coordinate motion mechanism. The remote controller issues commands to the integrated console under manual operation as the input data of the integrated console. Data communication is carried out between the integrated console and the sub-console of each three-coordinate locator through an external network cable. The output data of the integrated console and the feedback data of each displacement sensor are used as the input data of the sub-console. After internal calculation, the sub-console drives each motion mechanism to make corresponding motions. The manual joint control method for adjusting position and posture includes the following steps: 1-1 Establish the geodetic coordinate system RCS, the coordinate system PCS of each three-coordinate locator, i and the workpiece coordinate system WCS, where i is greater than or equal to 1 and less than or equal to N; Calibrate the pose transformation relationship between the workpiece coordinate system WCS, the earth coordinate system RCS, and the coordinate system PCS of each CMM, including the following steps: i The pose transformation relationship between them includes the following steps: a) Pose of the workpiece coordinate system WCS relative to the earth coordinate system RCS before calibration, alignment, and positioning Set the pose as follows: b) Calibrate the pose of the geodetic coordinate system RCS relative to the coordinate system PCS of each CMM i of the pose Let the pose be: 1 - 3 Solve for the coordinates of all ball socket center points QW relative to the coordinate system PCS of each CMM, i the earth coordinate system RCS, and the workpiece coordinate system WCS before attitude adjustment and positioning; 1-4 Construct a manual joint control algorithm for adjusting position and posture of the three-coordinate locator group in parallel with the position, including the following steps: a) Set the posture adjustment rotation vector Q and the positioning translation vector P: Q = [α β γ] T Equation 6 P = [A B C] T Equation 7 α, β, and γ respectively represent the coordinate components of the posture adjustment rotation vector Q on the X-axis, Y-axis, and Z-axis in the earth coordinate system RCS. A, B, and C respectively represent the coordinate components of the positioning translation vector P on the X-axis, Y-axis, and Z-axis in the earth coordinate system RCS; b) Construction of the intermediate attitude adjustment parameter [μν] T Solution algorithm: μ represents the rotation radian of the posture adjustment rotation vector Q around the X-axis in the earth coordinate system RCS, and ν represents the rotation radian of the posture adjustment rotation vector Q around the Y-axis in the earth coordinate system RCS; c) Set the total posture adjustment rotation radian Θ and the total positioning translation length L; d) Set the total time T for posture adjustment and positioning; e) Construct an algorithm for solving the posture adjustment jerk ρ and the positioning jerk λ: f) Construct a function θ(t) of the posture adjustment rotation radian θ (0 ≤ θ ≤ Θ) with respect to time t (0 ≤ t ≤ T), and a function l(t) of the positioning translation length l (0 ≤ l ≤ L) with respect to time t: g) Construct the joint control attitude rotation matrix R 3×3 R as a function of time t 3×3 (t), and its sub-matrix functions R X (μ), R Y (ν) and R Z [θ(t)]: R X (μ) represents the sub - matrix function of the attitude - adjustment rotation vector Q rotating by μ radians around the X - axis in the earth - fixed coordinate system RCS, R Y (ν) represents the sub - matrix function of the attitude - adjustment rotation vector Q rotating by ν radians around the Y - axis in the earth - fixed coordinate system RCS, R Z [θ(t)] represents the sub - matrix function of the attitude - adjustment rotation vector Q rotating by θ(t) radians around the Z - axis in the earth - fixed coordinate system RCS; h) Construct the joint control positioning translation vector M 3×1 M as a function of time t 3×1 (t) i) Construct the coupled control and attitude adjustment positioning matrix T 4×4 The rotation matrix R for coupled control and attitude adjustment 3×3 (t) and the translation vector M for coupled control and positioning 3×1 The function T 4×4 (t): j) Construct the center point QW of the ball socket for joint control and posture positioning i Coordinates with respect to the earth coordinate system RCS Function of time t k) Construct the center point QW of the ball socket for joint control and posture positioning i Relative to the coordinate system PCS of the three-coordinate locator i Coordinates As a function of time t 1-5 Construct a general working condition motion control method for manual joint control of position and posture adjustment under general working conditions; 1-6 Construct a special working condition motion control method for manual joint control of position and posture adjustment under special working conditions.

2. The manual joint control posture positioning method of a position-following parallel three-coordinate locator group according to claim 1, wherein The remote controller described above includes a panel and a body. The panel is provided with a power switch, a start / stop switch, an emergency stop switch, a display, an editor, a working condition selection module, a function selection module, a travel selection module, a specific axis selection module, a direction selection module, and a speed selection module. The remote controller communicates with the integrated console via radio for data transmission. The working condition selection module includes a working condition selection knob and a working condition identification plate. The working condition identification plate includes two types of identifications: general and special. The function selection module includes a function selection knob and a function identification plate. The function identification plate includes two types of identifications: posture adjustment and positioning. The travel selection module includes a travel selection knob and a travel identification plate. The travel identification plate includes two types of identifications: radian and length. The specific axis selection module includes a specific axis selection knob and a specific axis identification plate. The specific axis identification plate includes six identifications: X rotation, Y rotation, Z rotation, X translation, Y translation, and Z translation. The direction selection module includes a direction selection knob and a direction identification plate. The direction identification plate includes two types of identifications: forward and reverse. The speed selection module includes a speed selection knob and a speed identification plate. The speed identification plate includes three types of identifications: slow, medium, and fast.

3. The manual joint control posture positioning method of a position-following parallel three-coordinate locator group according to claim 1, wherein The step 1-1 of establishing the earth coordinate system RCS and the coordinate system PCS of each three-coordinate locator required for attitude adjustment and positioning, and the workpiece coordinate system WCS, includes the following steps: i 、, including the following steps: 3-1 Establish the earth coordinate system RCS: Set measurement points on the ground near the placement of the coordinate measuring locator group. Establish the earth coordinate system based on the measurement points, denoted as RCS. The set earth coordinate system RCS is a Cartesian rectangular coordinate system. 3-2 Establish the coordinate system PCS of each three-coordinate locator i : The coordinate system PCS of the three-coordinate locator i The origin is set at the center point QW of the ball socket when the i-th three-coordinate locator is in the zero position i At this point, the coordinate system PCS of the three-coordinate locator i The three coordinate axes are respectively parallel to the directions of the three-coordinate motion mechanism corresponding to the i-th three-coordinate locator. The set coordinate system PCS of the three-coordinate locator i The relative position with the base of the i-th three-coordinate locator is fixed and unchanged. The set coordinate system PCS of the three-coordinate locator i Can be an oblique coordinate system or a Cartesian rectangular coordinate system, where i is greater than or equal to 1 and less than or equal to N; 3-3 Establish the workpiece coordinate system WCS: The origin of the workpiece coordinate system WCS is set at the centroid of the workpiece. Before posture adjustment and positioning, the three coordinate axes of the workpiece coordinate system WCS are respectively parallel to the three coordinate axes of the earth coordinate system RCS. The relative position between the set workpiece coordinate system WCS and the workpiece remains fixed. The set workpiece coordinate system WCS is a Cartesian rectangular coordinate system.

4. The manual joint control posture positioning method of a position-following parallel three-coordinate locator group according to claim 1, wherein The steps 1-3 described above solve for the coordinates of all ball socket center points QW relative to the coordinate system PCS of each three-coordinate locator, i the earth coordinate system RCS, and the workpiece coordinate system WCS before attitude adjustment and positioning, including the following steps: 4-1 Obtain the center point QW of the ball socket of the three-coordinate locator by adjusting the posture and positioning the X-direction displacement sensor, Y-direction displacement sensor, and Z-direction displacement sensor of the three-coordinate locator i Relative to the coordinate system PCS of the i-th three-coordinate locator i Homogeneous coordinates 4-2 Calculate the homogeneous coordinates of all ball socket center points QW relative to the earth coordinate system RCS before attitude adjustment and positioning 4-3 Obtain the homogeneous coordinates QW of all ball socket center points QW with respect to the workpiece coordinate system WCS WCS :

5. The manual joint control posture positioning method of a position-following parallel three-coordinate locator group according to claim 1, wherein The step 1-5 constructs a general working condition motion control method to perform manual joint control of posture adjustment and positioning for general working conditions, including the following steps: 5-1 Press the power switch of the remote controller to start the remote controller. 5-2 Point the working condition selection knob of the working condition selection module in the remote controller to the general identification. 5-3 Point the function selection knob in the remote controller at the posture adjustment identifier, and assign values to the three parameters [α β γ] in the posture adjustment rotation vector Q through the editor T for assignment; Point the function selection knob in the remote control at the positioning identifier, and assign values to the three parameters [A B C] in the positioning translation vector P through the editor T for assignment; 5-5 Point the travel selection knob of the travel selection module in the remote controller to the radian identification, and assign a value to the total rotation radian Θ of the posture adjustment through the editor. 5-6 Point the travel selection knob of the travel selection module in the remote controller to the length identification, and assign a value to the total translation length L of the positioning through the editor. 5-7 Assign a value to the total time T of the posture adjustment and positioning through the editor in the remote controller. 5-8 Point the speed selection knob of the speed selection module in the remote controller to one of the slow, medium, and fast identifications. 5-9 When pressing the start / stop switch, the posture adjustment and positioning start. When releasing the start / stop switch, the posture adjustment and positioning stop. 5-10 When pressing the emergency stop switch, the integrated console and the sub-consoles are powered off, and the posture adjustment and positioning are forced to stop. 5-11 After the posture adjustment and positioning are in place, press the power switch of the remote controller again to turn off the remote controller, and the manual joint control of posture adjustment and positioning for general working conditions ends.

6. The manual joint control posture positioning method of a position-following parallel three-coordinate locator group according to claim 1, wherein The step 1-6 constructs a special working condition motion control method to perform manual joint control of posture adjustment and positioning for special working conditions, including the following steps: 6-1 Press the power switch of the remote controller to start the remote controller. 6-2 Point the working condition selection knob in the remote controller at the special identifier; 6-3 Point the stroke selection knob in the remote controller at the radian identifier, and assign a value to the total rotation radian Θ of the pose adjustment through the editor; 6-4 Point the stroke selection knob in the remote controller at the length identifier, and assign a value to the total positioning translation length L through the editor; 6-5 Assign a value to the total pose adjustment and positioning time T through the editor in the remote controller; 6-6 Point the specific axis selection knob in the remote controller at one of the X rotation, Y rotation, Z rotation, X translation, Y translation, and Z translation identifiers; 6-7 Point the direction selection knob in the remote controller at one of the forward and reverse identifiers; 6-8 Point the speed selection knob in the remote controller at one of the slow, medium, and fast identifiers; 6-9 When pressing the start / stop switch, the pose adjustment and positioning start, and when releasing the start / stop switch, the pose adjustment and positioning stop; 6-10 When pressing the emergency stop switch, the integrated console and the sub-consoles are powered off, and the pose adjustment and positioning are forced to stop; 6-11 After the pose adjustment and positioning are in place, press the power switch of the remote controller again to turn off the remote controller, and the manual joint control of the special working condition for pose adjustment and positioning ends.

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