An automatic joint control attitude adjustment positioning method for a three-coordinate positioner group in parallel

Abstract

The invention discloses an automatic joint control attitude adjustment positioning method for an in-place parallel three-coordinate locator group. The three-coordinate locator group comprises a plurality of in-place parallel three-coordinate locators, an integrated control console and a three-dimensional coordinate measuring device. The integrated control console and a sub-control console of each three-coordinate locator are connected to exchange information via a network cable. The three-dimensional coordinate measuring device and the integrated control console are connected to exchange information via a network cable. The automatic joint control attitude adjustment positioning method for the in-place parallel three-coordinate locator group comprises the following specific operation steps: setting and calibrating a corresponding coordinate system, solving a QW coordinate of a ball socket center point, an automatic joint control attitude adjustment positioning algorithm, and an automatic joint control attitude adjustment positioning operation method.

Description

Technical Field

[0001] The present application relates to the technical field of automated equipment design, and in particular to an automatic joint control attitude adjustment and positioning method for a three-coordinate positioner group in parallel. Background Art

[0002] The three-coordinate locator group is a key technical equipment for digital assembly of aircraft, and the core of it is the linkage control technology of the three-coordinate locator group. The existing three-coordinate locator groups are almost all parallel-parallel types. In terms of the parallel three-coordinate locator group, except for the related technology of the parallel three-coordinate locator group once disclosed by the inventor, there is no disclosure of related technology. Relative to the parallel three-coordinate locator group, the parallel three-coordinate locator group has many advantages such as low manufacturing cost, short cycle, and high reorganization efficiency. It is particularly suitable for manufacturing industries with small product batches but many modifications, such as military product manufacturing industries such as aircraft, rockets, missiles, and ships, as well as civilian product manufacturing industries such as high-speed railways, merchant ships, and pressure vessels. Therefore, it is of great practical significance to break through the automatic linkage control technology of the parallel three-coordinate locator group. Therefore, the present application discloses a method for automatically controlling the posture adjustment and positioning of the parallel three-coordinate locator group. Summary of the invention

[0003] An automatic joint control attitude adjustment and positioning method for a three-coordinate locator group connected in parallel, characterized in that the three-coordinate locator group includes N (N≥3) three-coordinate locators connected in parallel, an integrated control console and a three-dimensional coordinate measuring device. The three-coordinate locator includes a base, a three-coordinate motion mechanism, a ball-and-socket mechanism and a sub-control console. The base is located at the bottom layer of the three-coordinate locator. The three-coordinate motion mechanism includes an X-axis motion mechanism, a Y-axis motion mechanism and a Z-axis motion mechanism stacked in any order, each motion mechanism is respectively provided with an X-axis displacement sensor, a Y-axis displacement sensor and a Z-axis displacement sensor parallel to the corresponding motion mechanism, the motion mechanism stacked in the bottom layer is fixedly connected to the base, and the motion mechanism in the top layer is fixedly connected to the ball-and-socket mechanism. The ball-and-socket mechanism supports a workpiece to be attitude adjusted and positioned, the ball-and-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, and the workpiece to be attitude adjusted and positioned is placed in the smooth ball socket. The sub-control console is fixed on the base or the three-coordinate motion mechanism. The integrated control console includes an operation panel, a display panel and an integrated controller.

[0004] The three-dimensional coordinate measuring device sends data to the integrated console via a network cable as input data of the integrated console. The integrated console and the sub-controllers of each three-coordinate locator are connected via a network cable for data communication. The output data of the integrated console and the feedback data of each displacement sensor are used as input data of the sub-controller. After internal calculation, the sub-controller drives each motion mechanism to make corresponding movements.

[0005] An automatic joint control posture adjustment positioning method for a three-coordinate positioner group in parallel, comprising the following steps:

[0006] Step 1 Establish the earth coordinate system RCS and each three-coordinate locator coordinate system PCS required for attitude adjustment and positioning i , workpiece coordinate system WCS, including the following steps:

[0007] (1-1) Establishing the geodetic coordinate system RCS: Set measurement points on the ground near the three-coordinate locator group, and establish a geodetic coordinate system based on the measurement points, which is recorded as RCS. The set geodetic coordinate system RCS is a Cartesian rectangular coordinate system;

[0008] (1-2) Establish the PCS coordinate system of each three-coordinate locator i (1≤i≤N): three-coordinate locator coordinate system PCS i The origin is set at the center point QW of the ball socket when the i-th three-coordinate locator is at zero position. i At, three-coordinate locator coordinate system PCS i The three coordinate axes of are parallel to the directions of the three-coordinate motion mechanism corresponding to the i-th three-coordinate locator, and the three-coordinate locator coordinate system PCS is set. i The relative position with the base of the i-th three-coordinate locator is fixed, and the three-coordinate locator coordinate system PCS is set. i It can be an oblique coordinate system or a Cartesian rectangular coordinate system;

[0009] (1-3) Establishing the workpiece coordinate system WCS: The origin of the workpiece coordinate system WCS is set at the centroid of the workpiece. The three coordinate axes of the workpiece coordinate system WCS can be set freely. The relative position between the set workpiece coordinate system WCS and the workpiece is fixed and unchanged. The set workpiece coordinate system WCS is a Cartesian rectangular coordinate system.

[0010] Step 2: Calibrate the workpiece coordinate system WCS, the earth coordinate system RCS and each three-coordinate positioner coordinate system PCS i The pose transformation relationship between them includes the following steps:

[0011] (2-1) Use the three-dimensional coordinate measuring device to calibrate the position of the workpiece coordinate system WCS relative to the earth coordinate system RCS before attitude adjustment and positioning. Set a pose for:

[0012]

[0013] (2-2) Use three-dimensional coordinate measuring equipment or design drawings to calibrate the position of the workpiece coordinate system WCS relative to the earth coordinate system RCS after attitude adjustment and positioning. Set a pose for:

[0014]

[0015] (2-3) Calibrate the earth coordinate system RCS relative to the coordinate system PCS of each three-coordinate locator i Posture Set a pose for:

[0016]

[0017] Step 3: Solve the center points QW of all ball sockets before attitude adjustment relative to the coordinate system PCS of each three-coordinate positioner i , the coordinates of the earth coordinate system RCS and the workpiece coordinate system WCS, including the following steps:

[0018] (3-1) The ball and socket center point QW of the three-coordinate locator is obtained by adjusting the X-axis displacement sensor, Y-axis displacement sensor and Z-axis displacement sensor of the three-coordinate locator before positioning. i Relative to the coordinate system PCS of the i-th three-coordinate locator i The homogeneous coordinates of

[0019]

[0020] (3-2) Calculate the homogeneous coordinates of all ball and socket center points QW relative to the geodetic coordinate system RCS before attitude adjustment and positioning

[0021]

[0022] (3-3) Calculate the homogeneous coordinates QW of all socket center points QW relative to the workpiece coordinate system WCS WCS :

[0023]

[0024] Step 4 constructs an automatic joint control and posture adjustment positioning algorithm for the parallel three-coordinate positioner group, including the following steps:

[0025] (4-1) Construct the solution algorithm for the posture adjustment rotation vector Q and the positioning translation vector P:

[0026]

[0027]

[0028] α, β, γ represent the coordinate components of the attitude rotation vector Q in the geodetic coordinate system RCS on the X-axis, Y-axis, and Z-axis, respectively; A, B, C represent the coordinate components of the positioning translation vector P in the geodetic coordinate system RCS on the X-axis, Y-axis, and Z-axis, respectively;

[0029] (4-2) Constructing the intermediate parameters of posture adjustment [μ ν] T The solution algorithm is:

[0030]

[0031] μ represents the rotation radian of the attitude adjustment rotation Q around the X-axis in the geodetic coordinate system RCS, and ν represents the rotation radian of the attitude adjustment rotation Q around the Y-axis in the geodetic coordinate system RCS.

[0032] (4-3) Construct the solution algorithm for the total arc of posture adjustment rotation θ and the total length of positioning translation L:

[0033]

[0034]

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

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

[0037]

[0038]

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

[0040]

[0041]

[0042] (4-7) Construct the joint control attitude adjustment rotation matrix R 3×3 Function R over time t 3×3 (t), and its submatrix function 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 around the X-axis in the earth coordinate system RCS by μ radians, R Y (ν) represents the sub-matrix function of the attitude rotation vector Q rotating around the Y axis in the earth coordinate system RCS by ν radians, R Z [θ(t)] represents the sub-matrix function of the attitude rotation vector Q rotating around the Z axis in the earth coordinate system RCS by θ(t) radians;

[0045] (4-8) Construct joint control positioning translation vector M 3×1 Function M over time t 3×1 (t):

[0046]

[0047] (4-9) Construct the joint control attitude adjustment and positioning coupling matrix T 4×4 The rotation matrix R of the joint control posture adjustment 3×3 (t) and the joint control positioning translation vector M 3×1 (t) function T 4×4 (t):

[0048]

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

[0050]

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

[0052]

[0053] Step 5 constructs an automatic joint control attitude adjustment and positioning control method to perform automatic joint control attitude adjustment and positioning of the parallel three-coordinate positioner group, including the following steps:

[0054] (5-1) Use a three-dimensional coordinate measuring device to measure the workpiece and obtain the position of the workpiece coordinate system WCS relative to the earth coordinate system RCS before attitude adjustment and positioning. Through the network cable The data is transmitted and displayed on the display panel of the integrated control console. After the operator checks that everything is correct, he clicks the confirmation button on the operation panel of the integrated control console.

[0055] (5-2) Use a three-dimensional coordinate measuring device to measure the workpiece, or retrieve the position of the workpiece coordinate system WCS relative to the earth coordinate system RCS after attitude adjustment and positioning from the design drawing. Through the network cable The data is transmitted and displayed on the display panel of the integrated control console. After the operator checks that everything is correct, he clicks the confirmation button on the operation panel of the integrated control console.

[0056] (5-3) The operator enters the total time T for attitude adjustment and positioning on the operation panel of the integrated control console and clicks the confirmation key to perform attitude adjustment and positioning movement, and the attitude adjustment and positioning is automatically completed within the time T.

[0057] Compared with the prior art, the present invention has the following advantages and significant benefits:

[0058] (1) The manufacturing cost of the three-coordinate locator group is reduced. Compared with the parallel three-coordinate locator group, the manufacturing cost of the position-dependent parallel three-coordinate locator group is much lower. The automatic joint control attitude adjustment positioning method provided by the present application for the position-dependent parallel three-coordinate locator group makes the position-dependent parallel three-coordinate locator group with lower manufacturing cost have a competitive advantage.

[0059] (2) Improved the reorganization efficiency of the three-coordinate locator group. Compared with the parallel three-coordinate locator group, the reorganization efficiency of the position-dependent parallel three-coordinate locator group is much higher. The automatic joint control attitude adjustment positioning method provided by the present application for the position-dependent parallel three-coordinate locator group makes the position-dependent parallel three-coordinate locator group with higher reorganization efficiency have a competitive advantage.

[0060] The present application is further described in detail below with reference to the accompanying drawings of the embodiments: BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 This is a schematic diagram of a three-coordinate locator.

[0062] Figure 2 Schematic diagram of the integrated control console

[0063] Figure 3 It is the three-coordinate locator coordinate system PCS i Schematic diagram of setting and calibration of the geodetic coordinate system RCS

[0064] Figure 4 This is a schematic diagram of the setting and calibration of the workpiece coordinate system WCS

[0065] Figure 5 This is a schematic diagram of the automatic joint control and positioning result of the three-coordinate positioner group in parallel

[0066] Explanation of the numbers in the figure: 1. Base; 2. Three-coordinate motion mechanism; 3. Ball-and-socket mechanism; 4. Sub-control console; 5. X-axis motion mechanism; 6. X-axis displacement sensor; 7. Y-axis motion mechanism; 8. Y-axis displacement sensor; 9. Z-axis motion mechanism; 10. Z-axis displacement sensor; 11. Integrated control console; 12. Three-dimensional coordinate measuring device; 13. Workpiece; 14. Operation panel; 15. Display panel; 16. Integrated controller DETAILED DESCRIPTION

[0067] The three-coordinate locator group in the specific implementation includes 4 three-coordinate locators connected in parallel, 1 integrated control console and 1 three-dimensional coordinate measuring device.

[0068] like Figure 1 As shown, the three-coordinate locator is composed of a base 1, a three-coordinate motion mechanism 2, a ball-and-socket mechanism 3, and a sub-control console 4. The base 1 is located at the bottom layer of the three-coordinate locator, and the three-coordinate motion mechanism contains an X-axis motion mechanism 5, a Y-axis motion mechanism 7, and a Z-axis motion mechanism 9 stacked in any order, and each motion mechanism is respectively provided with an X-axis displacement sensor 6, a Y-axis displacement sensor 8, and a Z-axis displacement sensor 10 parallel to the corresponding 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-and-socket mechanism 3.

[0069] The ball-and-socket mechanism 3 supports the workpiece 13 to be positioned and adjusted. The ball-and-socket mechanism 3 includes a smooth ball socket and a ball socket seat connected to the top-level motion mechanism. The geometric center of the smooth ball socket is the ball socket center point QW. The ball socket center point QW serves as the positioning control point of the three-coordinate locator. The workpiece 13 to be positioned and adjusted is placed in the smooth ball socket.

[0070] The sub-control console 4 is fixed on a base or a three-coordinate motion mechanism. In this embodiment, the sub-control console 4 is fixed on a Z-direction motion mechanism 9 of the three-coordinate motion mechanism.

[0071] The integrated control console 11 includes an operation panel 14 , a display panel 15 and an integrated controller 16 .

[0072] The three-dimensional coordinate measuring device 12 sends data to the integrated console 11 via a network cable as input data of the integrated console 11. The integrated console 11 and the sub-consoles of each three-coordinate locator are connected via a network cable for data communication. The output data of the integrated console 11 and the feedback data of each displacement sensor are used as input data of the sub-console. After internal calculation, the sub-console drives each motion mechanism to make corresponding movements.

[0073] An automatic joint control posture adjustment positioning method for a three-coordinate positioner group in parallel, comprising the following steps:

[0074] Step 1 Establish the earth coordinate system RCS and each three-coordinate locator coordinate system PCS required for attitude adjustment and positioning i , workpiece coordinate system WCS, including the following steps:

[0075] (1-1) Establishing the geodetic coordinate system RCS: Set measurement points on the ground near the three-coordinate locator group, and establish a geodetic coordinate system based on the measurement points, recorded as RCS. The geodetic coordinate system RCS is set as a Cartesian rectangular coordinate system, such as Figure 3 As shown;

[0076] (1-2) Establish the PCS coordinate system of each three-coordinate locator i (1≤i≤N): three-coordinate locator coordinate system PCS i The origin is set at the center point QW of the ball socket when the i-th three-coordinate locator is at zero position. i At, three-coordinate locator coordinate system PCS i The three coordinate axes of are parallel to the directions of the three-coordinate motion mechanism corresponding to the i-th three-coordinate locator, and the three-coordinate locator coordinate system PCS is set. i The relative position with the base of the i-th three-coordinate locator is fixed, and the three-coordinate locator coordinate system PCS is set. i It can be an oblique coordinate system or a Cartesian rectangular coordinate system, such as Figure 3 As shown;

[0077] (1-3) Establish the workpiece coordinate system WCS: The origin of the workpiece coordinate system WCS is set at the centroid of the workpiece. The three coordinate axes of the workpiece coordinate system WCS can be set freely. 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 4 shown.

[0078] Step 2: Calibrate the workpiece coordinate system WCS, the earth coordinate system RCS and each three-coordinate positioner coordinate system PCS i The pose transformation relationship between them includes the following steps:

[0079] (2-1) Use the three-dimensional coordinate measuring device to calibrate the position of the workpiece coordinate system WCS relative to the earth coordinate system RCS before attitude adjustment and positioning. Set a pose for:

[0080]

[0081] (2-2) Use three-dimensional coordinate measuring equipment or design drawings to calibrate the position of the workpiece coordinate system WCS relative to the earth coordinate system RCS after attitude adjustment and positioning. Set a pose for:

[0082]

[0083] (2-3) Calibrate the earth coordinate system RCS relative to the coordinate system PCS of each three-coordinate locator i Posture Set a pose for:

[0084]

[0085] Step 3: Solve the center points QW of all ball sockets before attitude adjustment relative to the coordinate system PCS of each three-coordinate positioner i , the coordinates of the earth coordinate system RCS and the workpiece coordinate system WCS, including the following steps:

[0086] (3-1) The ball and socket center point QW of the three-coordinate locator is obtained by adjusting the X-axis displacement sensor, Y-axis displacement sensor and Z-axis displacement sensor of the three-coordinate locator before positioning. i Relative to the coordinate system PCS of the i-th three-coordinate locator i The homogeneous coordinates of

[0087]

[0088] (3-2) Calculate the homogeneous coordinates of all ball and socket center points QW relative to the geodetic coordinate system RCS before attitude adjustment and positioning

[0089]

[0090] (3-3) Calculate the homogeneous coordinates QW of all socket center points QW relative to the workpiece coordinate system WCS WCS :

[0091]

[0092] Step 4 constructs an automatic joint control and posture adjustment positioning algorithm for the parallel three-coordinate positioner group, including the following steps:

[0093] (4-1) Construct the solution algorithm for the posture adjustment rotation vector Q and the positioning translation vector P:

[0094]

[0095]

[0096] α, β, γ represent the coordinate components of the attitude rotation vector Q in the geodetic coordinate system RCS on the X-axis, Y-axis, and Z-axis, respectively; A, B, C represent the coordinate components of the positioning translation vector P in the geodetic coordinate system RCS on the X-axis, Y-axis, and Z-axis, respectively;

[0097] (4-2) Constructing the intermediate parameters of posture adjustment [μ ν] T The solution algorithm is:

[0098]

[0099] μ represents the rotation radian of the attitude adjustment rotation Q around the X-axis in the geodetic coordinate system RCS, and ν represents the rotation radian of the attitude adjustment rotation Q around the Y-axis in the geodetic coordinate system RCS.

[0100] (4-3) Construct the solution algorithm for the total arc of posture adjustment rotation θ and the total length of positioning translation L:

[0101]

[0102]

[0103] (4-4) Setting the total time T for posture adjustment and positioning. In this embodiment, T is set to 100s;

[0104] (4-5) Construct the solution algorithm of attitude adjustment jerk ρ and positioning jerk λ:

[0105]

[0106]

[0107] (4-6) Construct the function θ(t) of the attitude rotation radian θ (0≤θ≤Θ) over time t (0≤t≤T), and the function l(t) of the positioning translation length l (0≤l≤L) over time t:

[0108]

[0109]

[0110] (4-7) Construct the joint control attitude adjustment rotation matrix R 3×3 Function R over time t 3×3 (t), and its submatrix function R X (μ), R Y (ν) and R Z [θ(t)]:

[0111]

[0112] R X (μ) represents the sub-matrix function of the attitude adjustment rotation vector Q rotating around the X-axis in the earth coordinate system RCS by μ radians, R Y (ν) represents the sub-matrix function of the attitude rotation vector Q rotating around the Y axis in the earth coordinate system RCS by ν radians, R Z[θ(t)] represents the sub-matrix function of the attitude rotation vector Q rotating around the Z axis in the earth coordinate system RCS by θ(t) radians;

[0113] (4-8) Construct joint control positioning translation vector M 3×1 Function M over time t 3×1 (t):

[0114]

[0115] (4-9) Construct the joint control attitude adjustment and positioning coupling matrix T 4×4 The rotation matrix R of the joint control posture adjustment 3×3 (t) and the joint control positioning translation vector M 3×1 (t) function T 4×4 (t):

[0116]

[0117] (4-10) Construct the ball and socket center point QW for joint control and posture adjustment i Coordinates relative to the RCS Function of time t

[0118]

[0119] (4-11) Construct the ball and socket center point QW for joint control and posture adjustment i Relative to the three-coordinate locator coordinate system PCS i Coordinates Function of time t

[0120]

[0121] Step 5 constructs an automatic joint control attitude adjustment and positioning control method to perform automatic joint control attitude adjustment and positioning of the parallel three-coordinate positioner group, including the following steps:

[0122] (5-1) Use a three-dimensional coordinate measuring device to measure the workpiece and obtain the position of the workpiece coordinate system WCS relative to the earth coordinate system RCS before attitude adjustment and positioning. Through the network cable The data is transmitted and displayed on the display panel of the integrated control console. After the operator checks that everything is correct, he clicks the confirmation button on the operation panel of the integrated control console.

[0123] (5-2) Use a three-dimensional coordinate measuring device to measure the workpiece, or retrieve the position of the workpiece coordinate system WCS relative to the earth coordinate system RCS after attitude adjustment and positioning from the design drawing. Through the network cable The data is transmitted and displayed on the display panel of the integrated control console. After the operator checks that everything is correct, he clicks the confirmation button on the operation panel of the integrated control console.

[0124] (5-3) The operator enters the total time T for posture adjustment and positioning on the operation panel of the integrated control console and clicks the confirmation button to perform posture adjustment and positioning movement, and the posture adjustment and positioning is automatically completed within the time T. Figure 5 shown.

[0125] Compared with the prior art, the present invention has the following advantages and significant benefits:

[0126] (1) The manufacturing cost of the three-coordinate locator group is reduced. Compared with the parallel three-coordinate locator group, the manufacturing cost of the position-dependent parallel three-coordinate locator group is much lower. The automatic joint control attitude adjustment positioning method provided by the present application for the position-dependent parallel three-coordinate locator group makes the position-dependent parallel three-coordinate locator group with lower manufacturing cost have a competitive advantage.

[0127] (2) Improved the reorganization efficiency of the three-coordinate locator group. Compared with the parallel three-coordinate locator group, the reorganization efficiency of the position-dependent parallel three-coordinate locator group is much higher. The automatic joint control attitude adjustment positioning method provided by the present application for the position-dependent parallel three-coordinate locator group makes the position-dependent parallel three-coordinate locator group with higher reorganization efficiency have a competitive advantage.

Claims

1. An automatic joint control and posture adjustment positioning method for a three-coordinate locator group in parallel, characterized in that The three-coordinate locator group includes N three-coordinate locators connected in parallel, an integrated control console and a three-dimensional coordinate measuring device, wherein N is not less than 3. The three-coordinate locator includes a base, a three-coordinate motion mechanism, a ball-and-socket mechanism and a sub-control console. The base is located at the bottom layer of the three-coordinate locator. The three-coordinate motion mechanism contains an X-axis motion mechanism, a Y-axis motion mechanism and a Z-axis motion mechanism stacked in any order. Each motion mechanism is respectively provided with an X-axis displacement sensor, a Y-axis displacement sensor and a Z-axis 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-and-socket mechanism. The ball-and-socket mechanism supports the workpiece to be adjusted and positioned. The ball-and-socket mechanism includes a smooth ball socket and a ball socket 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 and positioned is placed in the smooth ball socket, the sub-control console is fixed on the base or the three-coordinate motion mechanism, the integrated control console includes an operation panel, a display panel and an integrated controller, the three-dimensional coordinate measuring device sends data to the integrated control console via a network cable as input data of the integrated control console, the integrated control console and the sub-control console of each three-coordinate locator are connected via a network cable for data communication, the output data of the integrated control console and the feedback data of each displacement sensor are used as input data of the sub-control console, the sub-control console drives each motion mechanism to make corresponding movements after internal calculation, and the automatic joint control attitude adjustment positioning method includes the following steps: 1-1 Establish the earth coordinate system RCS and each three-coordinate locator coordinate system PCS required for attitude adjustment and positioning i and workpiece coordinate system WCS, where i is greater than or equal to 1 and less than or equal to N; 1-2 Calibrate the position and posture transformation relationship between the workpiece coordinate system WCS, the earth coordinate system RCS and the coordinate system PCSi of each three-coordinate locator, including the following steps: a) Use the three-dimensional coordinate measuring device to calibrate the position of the workpiece coordinate system WCS relative to the earth coordinate system RCS before attitude adjustment and positioning Set a pose for: b) Use three-dimensional coordinate measuring equipment or design drawings to calibrate the position of the workpiece coordinate system WCS relative to the earth coordinate system RCS after attitude adjustment and positioning Set a pose for: c) Calibrate the earth coordinate system RCS relative to the coordinate system PCS of each three-coordinate locator i Posture Set a pose for: 1-3 Solve the coordinates of all ball and socket center points QW before attitude adjustment and positioning relative to each three-coordinate locator coordinate system PCSi, the earth coordinate system RCS and the workpiece coordinate system WCS, including the following steps: a) Obtain the ball and socket center point QW of the three-coordinate locator by adjusting the X-axis displacement sensor, Y-axis displacement sensor and Z-axis displacement sensor of the three-coordinate locator before posture positioning i Relative to the coordinate system PCS of the i-th three-coordinate locator i The homogeneous coordinates of b) Calculate the homogeneous coordinates of all ball and socket center points QW relative to the earth coordinate system RCS before attitude adjustment and positioning c) Calculate the homogeneous coordinates QW of all socket center points QW relative to the workpiece coordinate system WCS WCS : 1-4 Construct an automatic joint control and posture adjustment positioning algorithm for the parallel three-coordinate locator group; 1-5 Construct an automatic joint control attitude adjustment and positioning control method to perform automatic joint control attitude adjustment and positioning of the in-position parallel three-coordinate locator group.

2. The automatic joint control and posture adjustment positioning method of the in-place parallel three-coordinate locator group according to claim 1 is characterized in that The step 1-1 establishes the earth coordinate system RCS, each three-coordinate locator coordinate system PCSi, and the workpiece coordinate system WCS required for attitude adjustment and positioning, and includes the following steps: 2-1 Establishing the geodetic coordinate system RCS: Set measuring points on the ground near the three-coordinate locator group, and establish the geodetic coordinate system based on the measuring points, recorded as RCS. The set geodetic coordinate system RCS is a Cartesian rectangular coordinate system; 2-2 Establish the PCS coordinate system of each three-coordinate locator i :Three-coordinate locator coordinate system PCS i The origin is set at the center point QW of the ball socket when the i-th three-coordinate locator is at zero position. i At, three-coordinate locator coordinate system PCS i The three coordinate axes of are parallel to the directions of the three-coordinate motion mechanism corresponding to the i-th three-coordinate locator, and the three-coordinate locator coordinate system PCS is set. i The relative position with the base of the i-th three-coordinate locator is fixed, and the three-coordinate locator coordinate system PCS is set. i is 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; 2-3 Establish the workpiece coordinate system WCS: The origin of the workpiece coordinate system WCS is set at the centroid of the workpiece. The three coordinate axes of the workpiece coordinate system WCS are freely set. The relative position between the set workpiece coordinate system WCS and the workpiece is fixed and unchanged. The set workpiece coordinate system WCS is a Cartesian rectangular coordinate system.

3. The automatic joint control and posture adjustment positioning method of the in-place parallel three-coordinate locator group according to claim 1 is characterized in that The steps 1-4 construct an automatic joint control and posture adjustment positioning algorithm for a three-coordinate positioner group in parallel, including the following steps: 3-1 Construct the solution algorithm for the posture adjustment rotation vector Q and the positioning translation vector P: α, β, and γ represent the coordinate components of the attitude rotation vector Q on the X-axis, Y-axis, and Z-axis in the earth coordinate system RCS, respectively; A, B, and C 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, respectively; 3-2 Constructing intermediate parameters of posture adjustment [μν] T The solution algorithm is: μ represents the rotation radian of the attitude adjustment rotation Q around the X-axis in the geodetic coordinate system RCS, and ν represents the rotation radian of the attitude adjustment rotation Q around the Y-axis in the geodetic coordinate system RCS; 3-3 Construct the solution algorithm for the total arc θ of the posture adjustment rotation and the total length L of the positioning translation: 3-4 Set the total time T for posture adjustment and positioning; 3-5 Construct the solution algorithm of attitude adjustment jerk ρ and positioning jerk λ: 3-6 Construct the function θ(t) of the attitude rotation radian θ (0≤θ≤Θ) over time t (0≤t≤T), and the function l(t) of the positioning translation length l (0≤l≤L) over time t: 3-7 Construct joint control attitude adjustment rotation matrix R 3×3 Function R over time t 3×3 (t), and its submatrix function 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 around the X-axis in the earth coordinate system RCS by μ radians, R Y (ν) represents the sub-matrix function of the attitude rotation vector Q rotating around the Y axis in the earth coordinate system RCS by ν radians, R Z [θ(t)] represents the sub-matrix function of the attitude rotation vector Q rotating around the Z axis in the earth coordinate system RCS by θ(t) radians; 3-8 Construct joint control positioning translation vector M 3×1 Function M over time t 3×1 (t): 3-9 Constructing the joint control attitude adjustment and positioning coupling matrix T 4×4 The rotation matrix R of the joint control posture adjustment 3×3 (t) and the joint control positioning translation vector M 3×1 (t) function T 4×4 (t): 3-10 Construct the ball socket center point QW for joint control posture adjustment positioning i Coordinates relative to the RCS Function of time t 3-11 Construct the ball socket center point QW for joint control posture adjustment positioning i Relative to the three-coordinate locator coordinate system PCS i Coordinates Function of time t 4. The method for automatically controlling and adjusting the posture of a three-coordinate positioner group in parallel according to claim 1 is characterized in that The steps 1-5 construct an automatic joint control attitude adjustment and positioning control method, and perform automatic joint control attitude adjustment and positioning of the in-place parallel three-coordinate positioner group, including the following steps: 4-1 Use a three-dimensional coordinate measuring device to measure the workpiece and obtain the position of the workpiece coordinate system WCS relative to the earth coordinate system RCS before attitude adjustment and positioning Through the network cable The data is transmitted and displayed on the display panel of the integrated control console. After the operator checks that everything is correct, he clicks the confirmation button on the operation panel of the integrated control console. 4-2 Use a three-dimensional coordinate measuring device to measure the workpiece, or retrieve the position of the workpiece coordinate system WCS relative to the earth coordinate system RCS after attitude adjustment and positioning from the design drawing Through the network cable The data is transmitted and displayed on the display panel of the integrated control console. After the operator checks that everything is correct, he clicks the confirmation button on the operation panel of the integrated control console. 4-3 The operator enters the total time T for attitude adjustment and positioning on the operation panel of the integrated control console and clicks the confirmation key to perform attitude adjustment and positioning movement, and the attitude adjustment and positioning is automatically completed within the T time.

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