Boom machining method and boom machining device assembly

Abstract

This invention belongs to the field of machining technology and provides a boom machining method and boom machining device assembly. The boom machining method includes establishing a current posture model of the boom, determining the posture characteristic parameters and actual hole characteristics of the boom based on the current posture model, comparing the posture characteristic parameters with preset reference parameters to obtain the posture correction amount of the boom, comparing the actual hole characteristics with the theoretical hole characteristics to obtain the hole machining correction amount, adjusting the posture of the boom according to the posture correction amount, adjusting the position of the tool machining position according to the hole machining correction amount, and performing finish machining on the posture-corrected boom according to the adjusted tool machining position. The boom machining method of this invention has good compatibility, low dependence on human operators, high positioning efficiency, and is more in line with the development trend of automation.

Description

Technical Field

[0001] This invention belongs to the field of machining technology, specifically relating to a boom machining method and boom machining device assembly. Background Technology

[0002] Automation is an effective means to reduce production costs and increase production efficiency. With the rising cost of labor, the traditional machinery manufacturing industry has gradually transformed towards automation, digitalization, and intelligence.

[0003] For the concrete pump truck industry, the boom, as the core component of a concrete pump truck, generally requires high machining precision. However, due to the diverse models, large size differences, and irregular shapes of the boom, existing automated machining equipment struggles to simultaneously meet the machining needs of multiple boom models. Therefore, the industry still employs the traditional method of manual positioning and correction combined with CNC machining for pump truck boom processing. However, this method has many drawbacks. For example, the large size of the boom requires multiple operators for each positioning and correction operation, resulting in low efficiency, high operational difficulty, and high labor costs. Furthermore, the variety of boom models, each requiring different positioning and machining fixtures, necessitates lengthy equipment adjustments each time a boom model is changed, further reducing production efficiency. With increasingly fierce market competition, the traditional boom machining method is no longer sufficient to meet current market demands. Summary of the Invention

[0004] To address the aforementioned deficiencies or shortcomings, this invention provides a boom processing method and boom processing device assembly, aiming to solve the technical problem that traditional boom processing methods are inefficient and costly, making it difficult to meet current market competition demands.

[0005] To achieve the above objectives, the present invention provides a boom processing method, wherein the boom processing method includes:

[0006] S100: Establish the current attitude model of the boom;

[0007] S200: Determine the attitude characteristic parameters of the boom and the actual hole characteristics based on the current attitude model, and compare the attitude characteristic parameters with the preset reference parameters to obtain the attitude correction amount of the boom, and compare the actual hole characteristics with the theoretical hole characteristics to obtain the hole machining correction amount.

[0008] S300: Adjusts the attitude of the boom according to the attitude correction amount, and adjusts the position of the tool machining position according to the hole machining correction amount;

[0009] S400: Perform finishing on the boom after posture correction according to the adjusted tool machining position.

[0010] In an embodiment of the present invention, establishing the current posture model of the boom specifically includes:

[0011] S101: Perform an outer contour scan on the boom to obtain multiple sets of contour point coordinate data;

[0012] S102: Based on a preset algorithm, perform data processing and data stitching on multiple sets of contour point coordinate data to establish the current posture model of the boom.

[0013] In an embodiment of the present invention, the attitude feature parameters include the position and angle of the first center plane in the current attitude model, wherein the first center plane is the longitudinal center plane of the hinge end in the current attitude model, and determining the attitude feature parameters according to the current attitude model specifically includes:

[0014] S201: Extract the first feature data corresponding to the first mating surface of the hinge end and the second feature data corresponding to the second mating surface of the hinge end in the current attitude model respectively;

[0015] S202: Select at least three points of feature data from the first feature data as the first reference data of the first mating surface, and select at least three points of feature data from the second feature data as the second reference data of the second mating surface;

[0016] S203: Fit the first center plane based on the first reference data and the second reference data, and calculate the position and angle of the first center plane.

[0017] In embodiments of the present invention, the preset reference parameters include the position and angle of a preset longitudinal reference plane. Specifically, comparing the attitude characteristic parameters with the preset reference parameters to obtain the attitude correction amount of the boom includes:

[0018] S204: Compare the position of the first center plane with the position of the longitudinal reference plane to obtain the first offset of the first mating plane and the second mating plane in the lateral direction;

[0019] S205: Compare the angle of the first center plane with the angle of the preset longitudinal reference plane to obtain the second offset of the first mating surface and the height offset of the second mating surface in the horizontal direction and the vertical direction.

[0020] S206: Determine the first attitude correction amount of the first mating surface and the second mating surface in the lateral direction based on the first offset amount and the second offset amount, and determine the second attitude correction amount of the first mating surface and the second mating surface in the vertical direction based on the height offset amount.

[0021] In an embodiment of the present invention, the current attitude model includes a first hinge end and a second hinge end, both of which include a first mating surface and a second mating surface. After obtaining the attitude correction amount of the boom, the model further includes:

[0022] S207: Determine whether the vertical distance between the first center plane of the first hinge end and the second center plane of the second hinge end after attitude adjustment meets the preset requirements.

[0023] In an embodiment of the present invention, before comparing the actual characteristics of the hole with the theoretical characteristics of the hole, the method further includes:

[0024] S211: Establish a theoretical model based on the theoretical dimensions of the boom;

[0025] S212: Extract features from the theoretical model to obtain the features of the pore theory;

[0026] The theoretical characteristics of a hole include the theoretical end face, the theoretical center coordinates, and the theoretical aperture.

[0027] In embodiments of the present invention, the actual features of the hole include the actual end face, actual center coordinates, and actual hole diameter. The hole further includes a reference hole and a comparison hole. Specifically, comparing the actual features of the hole with the theoretical features of the hole to obtain the hole machining correction amount includes:

[0028] S213: Align the reference aperture centers of the theoretical model and the current attitude model through fitting;

[0029] S214: Calculate the center offset of the comparison hole based on the theoretical and actual center coordinates, and determine the machining allowance based on the actual and theoretical hole diameters.

[0030] S215: When the center offset is greater than the preset tolerance but less than the machining allowance, adjust the center position of the reference hole and / or the comparison hole until the center offset of the reference hole and the comparison hole is less than the preset tolerance.

[0031] S216: Output the center position adjustment amount of the reference hole and the comparison hole as the hole machining correction amount.

[0032] To achieve the above objectives, the present invention provides a boom processing device assembly, wherein the boom processing device assembly includes a posture adjustment mechanism, a detection mechanism, a processing mechanism, a data processing unit, and a control unit. The posture adjustment mechanism includes a positioning base for placing the boom and a push-drive unit disposed on the positioning base, the push-drive unit being used to push the boom. The detection mechanism is used to scan the outer contour of the boom and generate contour point coordinate data. The processing mechanism is used to perform finishing machining on the holes of the boom. The data processing unit is communicatively connected to the detection mechanism and configured to calculate the posture correction amount and hole processing correction amount of the boom based on the contour point coordinate data. The control unit is communicatively connected to the data processing unit and configured to control the posture adjustment mechanism to adjust the posture of the boom and the tool processing position of the processing mechanism respectively based on the posture correction amount and the hole processing correction amount.

[0033] In an embodiment of the present invention, the positioning base is provided with transversely extending slide grooves at both ends of its longitudinal direction. The push-drive unit includes a first positioning slider group and a second positioning slider group respectively disposed at both ends of the positioning base and respectively engaged with the slide grooves. The control unit is configured to control the first positioning slider group and the second positioning slider group to push the first hinge end and the second hinge end of the arm respectively according to the attitude correction amount.

[0034] In an embodiment of the present invention, the jacking drive unit further includes two sets of jacking servo cylinders arranged laterally at intervals on the positioning base. The two sets of jacking servo cylinders are used to jack the bottom of the boom. The control unit is configured to control the two sets of jacking servo cylinders to perform vertical lifting and lowering respectively according to the attitude correction amount.

[0035] In an embodiment of the present invention, the detection mechanism includes a moving module capable of multi-axis movement and a laser profilometer mounted on the moving module. The laser profilometer is capable of scanning the outer contour of the boom and generating contour point coordinate data. The control unit is also configured to control the movement of the moving module.

[0036] In an embodiment of the present invention, the bottom of the positioning base is provided with a positioning hole, the processing mechanism includes a processing machine tool and a processing tool, the processing machine tool is provided with a positioning pin that cooperates with the positioning hole and a magnetic suction component for adsorbing and fixing the positioning base, the positioning base can be detachably assembled with the processing machine tool, and the control unit is also configured to adjust the tool processing position of the processing tool according to the hole processing correction amount.

[0037] In an embodiment of the present invention, the attitude adjustment mechanism further includes a clamping unit, which includes a floating support cylinder capable of vertical extension and retraction for supporting the bottom of the boom, a side clamping cylinder for clamping the lateral sides of the boom, and a downward pressing cylinder spaced above the positioning base for pressing the boom downward. The control unit is also configured to control the action of the clamping unit.

[0038] Through the above technical solution, the boom processing method provided by the embodiments of the present invention has the following beneficial effects:

[0039] First, by establishing a model of the boom's current posture, the posture correction and hole machining correction values ​​are obtained. This not only improves positioning efficiency and accuracy but also eliminates the manual scribing process, significantly reducing labor intensity and improving positioning efficiency. Second, regardless of changes in the boom's model and dimensions, the obtained posture correction and hole machining correction values ​​are determined based on the current boom posture and dimensions. Therefore, it can accurately position and process booms of different models and sizes, greatly improving processing compatibility. Third, each step in the method of this invention can be automated, with low reliance on manual labor, thus facilitating automated and intelligent design. In summary, the boom processing method of this invention offers high positioning efficiency, good compatibility, and ease of automation. Using this method to process booms can significantly improve production efficiency and reduce production costs, thereby enabling products to maintain a price competitiveness in the market.

[0040] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0041] The accompanying drawings are provided to illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0042] Figure 1 This is a flowchart of the boom processing method according to an embodiment of the present invention;

[0043] Figure 2 This is a flowchart illustrating the specific steps of step S100 in the boom processing method according to an embodiment of the present invention.

[0044] Figure 3 This is a flowchart of the first specific step of step S200 of the boom processing method according to an embodiment of the present invention;

[0045] Figure 4 This is a flowchart of the second specific step of step S200 of the boom processing method according to an embodiment of the present invention;

[0046] Figure 5 This is a flowchart of the subsequent steps of the second specific step of the boom processing method according to an embodiment of the present invention;

[0047] Figure 6 This is a first schematic diagram showing the comparison of attitude feature parameters with preset reference parameters according to an embodiment of the present invention;

[0048] Figure 7 This is a second schematic diagram comparing the attitude feature parameters with preset reference parameters according to an embodiment of the present invention;

[0049] Figure 8 This is a schematic diagram comparing the actual features of a hole with the theoretical features of a hole according to an embodiment of the present invention;

[0050] Figure 9 This is a schematic diagram of the boom processing device according to an embodiment of the present invention;

[0051] Figure 10 According to the embodiments of the present invention Figure 9 Enlarged structural diagram at point A;

[0052] Figure 11 This is a schematic diagram of the attitude adjustment mechanism according to an embodiment of the present invention;

[0053] Figure 12 According to the embodiments of the present invention Figure 11 Enlarged structural diagram at point B;

[0054] Figure 13 According to the embodiments of the present invention Figure 11 A magnified structural diagram at point C.

[0055] Explanation of reference numerals in the attached figures

[0056] Detailed Implementation

[0057] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0058] The boom processing method of the present invention is described below with reference to the accompanying drawings.

[0059] This invention provides a method for processing a boom, such as... Figure 1 and Figure 9 As shown, the boom processing method includes:

[0060] S100: Establish the current attitude model of boom 2;

[0061] S200: Determine the attitude characteristic parameters and actual hole characteristics of boom 2 based on the current attitude model, and compare the attitude characteristic parameters with the preset reference parameters to obtain the attitude correction amount of boom 2, and compare the actual hole characteristics with the theoretical hole characteristics to obtain the hole machining correction amount.

[0062] S300: Adjust the posture of boom 2 according to the posture correction amount, and adjust the position of tool machining position according to the hole machining correction amount;

[0063] S400: Perform finishing on the boom 2 after posture correction according to the adjusted tool machining position.

[0064] The boom machining method provided by this invention analyzes the posture and machining position of boom 2 by establishing a current posture model to obtain the required posture correction and hole machining correction amounts for boom 2. Then, based on these correction amounts, the posture of boom 2 and the tool machining position are adjusted accordingly, ensuring precise machining of boom 2. During boom positioning, data simulation and calculation ensure accurate results, and the entire positioning process eliminates the need for scribing, significantly reducing labor intensity and increasing positioning efficiency. Furthermore, the posture correction and hole machining correction amounts obtained by this method correspond one-to-one with the current boom 2, making the boom machining method compatible regardless of changes in the size of boom 2. Moreover, in this method, establishing the current posture model of boom 2, calculating the posture and hole machining correction amounts, and adjusting the posture and machining position of boom 2 can all be achieved through automated equipment or programs, reducing reliance on manual labor and labor costs, and aligning better with the current trend of industrial upgrading.

[0065] It should be noted that before establishing the current posture model of boom 2, boom 2 needs to be placed on a positioning device. The positioning device is mainly for the automated positioning and posture adjustment of boom 2. The aforementioned adjustment of the tool machining position refers to offsetting the preset machining position of the tool. The preset machining position is determined based on the boom model and theoretical dimensions. The main purpose of the method of this invention is to find the difference between the actual and theoretical posture and size of boom 2, and to locate the machining position of boom 2 based on this difference.

[0066] like Figure 2 As shown, in an embodiment of the present invention, establishing the current posture model of the boom 2 specifically includes:

[0067] S101: Perform an outer contour scan on boom 2 to obtain multiple sets of contour point coordinate data;

[0068] S102: Based on a preset algorithm, perform data processing and data stitching on multiple sets of contour point coordinate data to establish the current posture model of boom 2.

[0069] Specifically, there are various ways to scan the outer contour of boom 2 to obtain multiple sets of contour point coordinate data, such as using an industrial camera or 3D laser scanning. After obtaining multiple sets of contour point coordinate data, automatic modeling can be performed using a pump truck boom feature recognition algorithm. This algorithm specifically includes: after obtaining the contour point coordinate data, filtering and simplifying the data to remove interfering data and reduce the amount of data calculation; then, stitching the processed data together to fit the outer contour of boom 2 and establish a current posture model. The established current posture model includes not only the contour features of boom 2, but also feature data such as hole features, coordinate features of each processing position, posture features, processing dimension features, and processing allowance features. By comparing some feature data in the current posture model with preset parameter data, the posture correction amount and hole processing correction amount of boom 2 can be calculated. It should be noted that the boom 2 mentioned above refers to the pre-processed boom 2. The boom processing method in this invention mainly involves finishing the pre-processed boom 2. The finishing process can be for holes or for other parts of the boom 2. When finishing is required for other parts, the corresponding machining correction amount can be calculated by obtaining the corresponding feature data based on the current posture model.

[0070] like Figure 3 , Figure 6 and Figure 7 As shown, in an embodiment of the present invention, the attitude feature parameters include the position and angle of the first center plane L3 in the current attitude model. The first center plane L3 is the longitudinal center plane of the hinge end in the current attitude model. Specifically, determining the attitude feature parameters based on the current attitude model includes:

[0071] S201: Extract the first feature data corresponding to the first mating surface L1 and the second feature data corresponding to the second mating surface L2 of the hinge end in the current attitude model respectively;

[0072] S202: Select at least three points of feature data from the first feature data as the first reference data for the first mating surface L1, and select at least three points of feature data from the second feature data as the second reference data for the second mating surface L2.

[0073] S203: Fit the first center plane L3 based on the first reference data and the second reference data, and calculate the position and angle of the first center plane L3.

[0074] The boom 2 includes a first hinge end 21 and a second hinge end 22. Therefore, the aforementioned first mating surface L1 and second mating surface L2 include the first mating surface L1 and second mating surface L2 of the first hinge end 21 and the first mating surface L1 and second mating surface L2 of the second hinge end 22. These mating surfaces refer to the surfaces that abut against the hinge end of the next boom 2 when the boom 2 is hinged. For example, some boom 2s have a single-elbow structure for the first hinge end 21 and a double-ear structure for the second hinge end 22. Therefore, the first mating surface L1 and second mating surface L2 of the first hinge end 21 are the two outer surfaces of the single elbow, and the first mating surface L1 and second mating surface L2 of the second hinge end 22 are the inner surfaces of the double ears. Since the first mating surface L1 and second mating surface L2 are the hinge assembly surfaces, they directly affect the attitude of the boom 2 after hinged. Therefore, determining the attitude characteristic parameters through the characteristic parameters in the first mating surface L1 and second mating surface L2 can more accurately reflect the attitude of the boom 2. In the process of calculating the position and yaw angle of the first center plane L3, only a portion of the feature data is selected as the reference data for calculation. The reason is that since the first mating surface L1 and the second mating surface L2 in the current attitude model are not ideal planes, if all the feature data of the first mating surface L1 and the second mating surface L2 are directly used as the calculation input, not only will the calculation be large, but it will also increase the difficulty of algorithm design. Therefore, selecting a few representative points as the reference data for calculating the first mating surface L1 and the second mating surface L2 can make the calculation more convenient.

[0075] like Figure 3 , Figure 6 and Figure 7 As shown, in an embodiment of the present invention, the preset reference parameters include the position and angle of the preset longitudinal reference plane L4. Specifically, comparing the attitude feature parameters with the preset reference parameters to obtain the attitude correction amount of the boom 2 includes:

[0076] S204: Compare the position of the first center plane L3 with the position of the longitudinal reference plane L4 to obtain the first offset of the first mating plane L1 and the second mating plane L2 in the lateral direction;

[0077] S205: Compare the angle of the first center plane L3 with the angle of the preset longitudinal reference plane L4 to obtain the second offset of the first mating surface L1 and the second mating surface L2 in the horizontal direction and the height offset in the vertical direction.

[0078] S206: Determine the first attitude correction amount D1 of the first mating surface L1 and the second mating surface L2 in the lateral direction based on the first offset amount and the second offset amount, and determine the second attitude correction amount H1 of the first mating surface L1 and the second mating surface L2 in the vertical direction based on the height offset amount.

[0079] Specifically, taking the longitudinal reference plane L4 as the longitudinal center plane of the positioning base 11 as an example, the boom 2 is placed on the positioning base 11. The ultimate goal of adjusting the attitude of the boom 2 is to make the first center plane L3 coincide with the longitudinal center plane of the positioning base 11. Therefore, by comparing the first center plane L3 with the longitudinal center plane of the positioning base 11, the first deviation angle α1 of the first center plane L3 relative to the longitudinal center plane of the positioning base 11 in the vertical direction, the second deviation angle α2 in the horizontal direction, and the first offset in the horizontal direction can be calculated. Based on the first deviation angle α1, the height to be adjusted in the vertical direction of the first mating surface L1 and the second mating surface L2, respectively, is calculated, which is the second attitude correction amount H1. Based on the second deviation angle α2, the second horizontal offset of the first mating surface L1 and the second mating surface L2 in the two hinge ends of the boom 2 can be calculated. Combined with the first offset, the first horizontal attitude correction amount D1 of the two hinge ends can be calculated. It should be noted that since the boom 2 has a first hinge end 21 and a second hinge end 22, the specific values ​​of the first attitude correction amount D1 of the first hinge end 21 and the first attitude correction amount D1 of the second hinge end 22 are not necessarily the same. Therefore, when adjusting the attitude of the boom 2, the two ends are adjusted separately. Similarly, the heights of the first mating surface L1 and the second mating surface L2 are also adjusted separately.

[0080] like Figure 3 and Figure 7 As shown, in an embodiment of the present invention, the current attitude model includes a first hinge end 21 and a second hinge end 22. Both the first hinge end 21 and the second hinge end 22 include a first mating surface L1 and a second mating surface L2. After obtaining the attitude correction amount of the boom 2, the model further includes:

[0081] S207: Determine whether the vertical distance between the first center plane L3 of the first hinge end 21 and the first center plane L3 of the second hinge end (22) after the attitude adjustment meets the preset requirements.

[0082] Since the boom 2 has a first hinge end 21 and a second hinge end 22, the current posture model established based on the boom 2 also has a first hinge end 21 and a second hinge end 22. Since the boom 2 is a Z-shaped boom 2, the two hinge ends of the boom each have a first center surface. Before performing precision machining on the boom 2, it is necessary to determine whether the two first center surfaces meet the requirements.

[0083] like Figure 4 As shown, in an embodiment of the present invention, before comparing the actual features of the hole with the theoretical features of the hole, the method further includes:

[0084] S211: Establish a theoretical model based on the theoretical dimensions of boom 2;

[0085] S212: Extract features from the theoretical model to obtain the features of the pore theory;

[0086] The theoretical characteristics of a hole include the theoretical end face, the theoretical center coordinates, and the theoretical aperture.

[0087] Similarly, the actual features of a hole include its actual end face, actual center coordinates, and actual diameter. By fitting the hole to the current attitude model using a circle fitting method, we can obtain feature data such as the hole's actual center coordinates, diameter, and end face plane. The purpose of obtaining the end face plane is to use it to reflect features such as the hole's center coordinates, diameter, shape, depth, extension direction, and preset tolerances. The theoretical features of the hole can be directly extracted from the theoretical model. The purpose of establishing the theoretical model is to allow for a more intuitive and convenient comparison with the current attitude model.

[0088] like Figure 5 and Figure 8 As shown, in an embodiment of the present invention, the actual features of the hole include the actual end face, actual center coordinates, and actual hole diameter. The hole further includes a reference hole T1 and a comparison hole T2. Specifically, comparing the actual features of the hole with the theoretical features to obtain the hole machining correction amount includes:

[0089] S213: Align the reference hole T1 center of the theoretical model and the current attitude model by fitting;

[0090] S214: Calculate the center offset of the comparison hole T2 based on the theoretical and actual center coordinates, and determine the machining allowance based on the actual and theoretical hole diameters;

[0091] S215: When the center offset is greater than the preset tolerance and less than the machining allowance, adjust the center position of the reference hole T1 and / or the comparison hole T2 until the center offset of the reference hole T1 and the comparison hole T2 is less than the preset tolerance.

[0092] S216: Determine the hole machining correction amount based on the center position adjustment amount and center offset amount of reference hole T1 and comparison hole T2.

[0093] Specifically, the reference hole T1 of the theoretical model and the current attitude model is aligned by fitting. The reference hole T1 can be a hinge hole on the hinge end of the boom 2 or other holes. The hole used for alignment is defined as the reference hole T1, and the remaining holes are defined as comparison holes T2. During the comparison process, the center position and hole diameter of multiple sets of comparison holes T2 of the current attitude model and the theoretical model are compared to calculate the center offset and machining allowance of each comparison hole T2. Then, analysis and judgment are performed. When the center offset is less than the preset tolerance, there is no need to offset the center position of the reference hole T1 and comparison hole T2. When the center offset is greater than the preset tolerance but less than the machining allowance, the center position of the reference hole T1 and / or comparison hole T2 is adjusted. The adjustment method can be to move by a unit offset. After each movement, the center offset is recalculated and analyzed and judged until the center offset of the reference hole T1 and comparison hole T2 is less than the preset tolerance. When the center offset is greater than the machining allowance, it means that the pre-processed position of the hole is unqualified and needs to be reworked. The following section provides a detailed explanation of how to obtain the hole machining correction amount, using specific data as an example. Figure 8 As shown, the theoretical distance between one of the comparison holes T2 and the reference hole T1 is 300±2mm in the longitudinal direction and 50±2mm in the lateral direction (not shown in the figure). The actual hole diameter is 20mm, and the theoretical hole diameter is 30mm, so the machining allowance is 10mm. The actual distance between the center position of the comparison hole T2 and the center position of the reference hole T1 is 306mm in the longitudinal direction and 49mm in the lateral direction. When the center of the reference hole T1 of the theoretical model and the current posture model are aligned, the center offset of the comparison hole T2 is 6mm, which is greater than the preset tolerance of 2mm and less than the machining allowance of 10mm. If the center position of the comparison hole T2 is moved by 6mm, it will exceed the range of the machining allowance of 10mm (which can be converted to a radius of 5mm). Therefore, the center positions of the comparison hole T2 and the reference hole T1 can be translated by 3mm each, so that the center offsets of the reference hole T1 and the comparison hole T2 are both less than the preset tolerance, and the lateral distance is 49mm, which is within the range of 50±2mm. Therefore, no lateral adjustment is needed.

[0094] like Figure 9As shown, to achieve the above objectives, the present invention provides a boom processing device assembly, wherein the boom processing device assembly includes a posture adjustment mechanism 1, a detection mechanism 3, a processing mechanism 4, a data processing unit, and a control unit 5. The posture adjustment mechanism 1 includes a positioning base 11 for placing the boom 2 and a push-drive unit disposed on the positioning base 11. The push-drive unit is used to push the boom 2. The detection mechanism 3 is used to scan the outer contour of the boom 2 and generate contour point coordinate data. The processing mechanism 4 is used to perform finishing on the holes of the boom 2. The data processing unit is communicatively connected to the detection mechanism 3 and configured to calculate the posture correction amount and hole processing correction amount of the boom 2 based on the contour point coordinate data. The control unit 5 is communicatively connected to the data processing unit and configured to control the posture adjustment mechanism 1 to adjust the posture of the boom 2 and the tool processing position of the processing mechanism 4 respectively based on the posture correction amount and the hole processing correction amount.

[0095] Specifically, such as Figure 11 , Figure 12 and Figure 13 As shown, taking one embodiment of the attitude adjustment mechanism 1 as an example, the positioning base 11 has transversely extending slide grooves at both ends of its longitudinal direction. The push-drive unit includes a first positioning slider group 12 and a second positioning slider group 13 respectively located at both ends of the positioning base 11 and respectively engaged with the slide grooves. The control unit 5 is configured to control the first positioning slider group 12 and the second positioning slider group 13 to push the first hinge end 21 and the second hinge end 22 of the arm 2 respectively according to the attitude correction amount. The first positioning slider group 12 and the second positioning slider group 13 can be two sliders or telescopic cylinders arranged laterally. Since the first hinge end 21 of the boom 2 is a single elbow structure and the second hinge end 22 is a double ear structure, the first positioning slider group 12 and the second positioning slider group 13 pushing the first hinge end 21 and the second hinge end 22 respectively means that the two sliders or two telescopic cylinders in the first positioning slider group 12 push the first mating surface L1 and the second mating surface L2 laterally from the two outer sides of the single elbow, and the two sliders or two telescopic cylinders in the second positioning slider group 13 push the first mating surface L1 and the second mating surface L2 laterally from the middle of the double ears. By pushing the two hinge ends of the boom 2, the angle in the longitudinal direction and the position in the lateral direction of the boom 2 can be adjusted.

[0096] like Figure 11 and Figure 13As shown, in an embodiment of the present invention, the jacking drive unit further includes two sets of jacking servo cylinders 14 laterally spaced on the positioning base 11. The two sets of jacking servo cylinders 14 are used to jack the bottom of the boom 2. The control unit 5 is configured to control the two sets of jacking servo cylinders 14 to perform vertical lifting and lowering respectively according to the attitude correction amount. By using the two sets of jacking servo cylinders 14 to jack the boom 2 from the lateral sides of the bottom of the boom 2 respectively, the yaw angle of the boom 2 in the vertical direction can be adjusted. It should be noted that in this invention, electric cylinders, pneumatic cylinders, and hydraulic cylinders can be directly replaced.

[0097] like Figure 9 As shown, in an embodiment of the present invention, the detection mechanism 3 includes a moving module 31 capable of multi-axis movement and a laser profilometer 32 mounted on the moving module 31. The laser profilometer 32 can scan the outer contour of the boom 2 and generate contour point coordinate data. The control unit 5 is also configured to control the movement of the moving module 31. Specifically, the moving module 31 can consist of a column and a crossarm. The column is mounted on a longitudinal guide rail and can move longitudinally. The crossarm is mounted laterally on the column and can move laterally, vertically, and rotate. The laser profilometer 32 is mounted on the crossarm. Through the column and the crossarm, the multi-axis movement of the laser profilometer 32 is realized. Of course, the detection mechanism 3 can also be in other forms, such as a multi-arm articulated robot with a laser profilometer 32, or multiple laser profilometers 32 can be used to scan different positions of the boom 2 respectively.

[0098] like Figure 9 and Figure 10 As shown, in an embodiment of the present invention, the bottom of the positioning base 11 is provided with a positioning hole 111. The processing mechanism 4 includes a processing machine tool 41 and a processing tool. The processing machine tool 41 is provided with a positioning pin 411 that cooperates with the positioning hole 111 and a magnetic suction member 42 for adsorbing and fixing the positioning base 11. The positioning base 11 can be detachably assembled with the processing machine tool 41. The control unit 5 is also configured to correct the tool processing position of the processing tool according to the hole processing correction amount. Specifically, there are multiple positioning bases 11, and each of the multiple positioning bases 11 is provided with a posture adjustment mechanism 1. When multiple booms 2 need to be processed, multiple booms 2 can be positioned simultaneously by multiple positioning bases 11 and posture adjustment mechanisms 1, and then sequentially hoisted onto the processing machine tool 41 for processing. This allows for simultaneous positioning and processing operations, increasing production efficiency. Furthermore, the positioning hole 111 on the positioning base 11 and the positioning pin 411 on the processing machine tool 41 can better determine the processing position of the processing tool on the boom 2.

[0099] like Figure 11 , Figure 12 and Figure 13As shown, in an embodiment of the present invention, the attitude adjustment mechanism 1 further includes a clamping unit 15. The clamping unit 15 includes a floating support cylinder 151 capable of vertical extension and retraction for supporting the bottom of the boom 2, a side clamping cylinder 152 for clamping the lateral sides of the boom 2, and a downward pressing cylinder 153 spaced above the positioning base 11 for pressing the boom 2 downward. The control unit 5 is also configured to control the movement of the clamping unit 15. After the boom 2 is positioned, it needs to be hoisted onto the machine tool 41 together with the positioning base 11. To prevent the boom 2 from loosening and falling off or changing its attitude during hoisting, the floating support cylinder 151, the side clamping cylinder 152, and the downward pressing cylinder are used to fix the boom 2.

[0100] like Figure 11 As shown, in an embodiment of the present invention, the positioning base 11 includes a base body 112 and a tray 113 disposed on the base body 112. The tray 113 can be configured to be movable, detachable, or fixed. The posture adjustment mechanism 1 and the clamping mechanism are disposed on the tray 113. By adjusting the position of the tray 113 or by setting multiple trays 113, it is possible to accommodate booms 2 of different lengths.

[0101] The boom processing method will be explained below in conjunction with the boom processing assembly described above.

[0102] like Figure 9 and Figure 11As shown, firstly, the boom 2 is hoisted onto the positioning base 11 and pre-positioned using the first positioning slider group 12 and the second positioning slider group 13. Then, the detection mechanism 3 scans and checks the shape and machining position of the boom 2, and obtains the contour point coordinate data of the boom 2. This data is then transmitted to the data processing unit. The data processing unit processes this data according to a preset algorithm and establishes the current posture model of the boom 2. At the same time, the data processing unit can also calculate the posture correction amount and hole machining correction amount of the boom 2 using some feature data of the current posture model. After receiving the posture correction amount and hole machining correction amount data from the data processing unit, the control unit 5 adjusts the posture of the boom 2 and the machining position of the tool based on this data. The method for obtaining the posture correction amount and hole machining correction amount has been described in detail above and will not be repeated here. After the boom 2 is adjusted to the correct posture, the control unit 5 controls the clamping unit 15 to clamp and fix the boom 2. The clamped and fixed boom 2 is then hoisted onto the machine tool 41 together with the positioning base 11. The positioning hole 111 on the positioning base 11 is positioned and assembled with the positioning pin 411 of the machine tool 41. At the same time, the machine tool 41 is also equipped with a lifting pusher 412 for finely adjusting the vertical position of the positioning base 11. The positioning base 11 and the machine tool 41 are positioned by the positioning pin 411 and the lifting pusher 412. The boom 2 is then processed by the adjusted tool processing position to meet the processing accuracy requirements of the boom 2.

[0103] It should be noted that the boom processing device assembly provided by the present invention is a specific embodiment of the boom processing method described above. Other forms of boom processing device assemblies formed by conventional prior art under the guidance of the boom processing method are all within the protection scope of the present invention. In the boom processing device assembly described above, the automatic correction of the boom 2 posture, automatic clamping, and automatic control of tool processing can all be achieved through the control unit 5. Therefore, the boom processing device assembly of the present invention can realize the automation of processing. The automated production mode can not only reduce production costs, but also effectively improve processing efficiency and processing accuracy, and increase the qualification rate of finished products.

[0104] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0105] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0106] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0107] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for processing a boom, characterized in that, The boom processing method includes: Establish the current attitude model of boom (2); The attitude characteristic parameters and actual hole characteristics of the boom (2) are determined according to the current attitude model, and the attitude characteristic parameters are compared with the preset reference parameters to obtain the attitude correction amount of the boom (2). The actual hole characteristics are compared with the hole theoretical characteristics to obtain the hole processing correction amount. The attitude of the boom (2) is adjusted according to the attitude correction amount, and the position of the tool machining position is adjusted according to the hole machining correction amount; The boom (2) after posture adjustment is precision machined according to the adjusted tool machining position; The attitude feature parameters include the position and angle of the first center plane (L3) in the current attitude model, where the first center plane (L3) is the longitudinal center plane of the hinge end in the current attitude model. The preset reference parameters include the position and angle of the preset longitudinal reference plane (L4). Specifically, comparing the attitude feature parameters with the preset reference parameters to obtain the attitude correction amount of the boom (2) includes: The position of the first center plane (L3) is compared with the position of the longitudinal reference plane (L4) to obtain the first offset of the first mating surface (L1) and the second mating surface (L2) in the lateral direction; The angle of the first center plane (L3) is compared with the angle of the preset longitudinal reference plane (L4) to obtain the second offset of the first mating surface (L1) and the second mating surface (L2) in the horizontal direction and the height offset in the vertical direction; The first attitude correction amount (D1) of the first mating surface (L1) and the second mating surface (L2) in the lateral direction is determined based on the first offset amount and the second offset amount, and the second attitude correction amount (H1) of the first mating surface (L1) and the second mating surface (L2) in the vertical direction is determined based on the height offset amount.

2. The boom processing method according to claim 1, characterized in that, Establishing the current posture model of the boom (2) specifically includes: The outer contour of the boom (2) is scanned to obtain multiple sets of contour point coordinate data; According to the preset algorithm, multiple sets of contour point coordinate data are processed and combined to establish the current posture model of the boom (2).

3. The boom processing method according to claim 2, characterized in that, Determining the attitude feature parameters based on the current attitude model specifically includes: Extract the first feature data corresponding to the first mating surface (L1) and the second feature data corresponding to the second mating surface (L2) of the hinge end in the current attitude model respectively; In the first feature data, at least three points of feature data are selected as the first reference data of the first mating surface (L1), and in the second feature data, at least three points of data are selected as the second reference data of the second mating surface (L2). The first center plane (L3) is fitted based on the first reference data and the second reference data, and the position and angle of the first center plane (L3) are calculated.

4. The boom processing method according to claim 3, characterized in that, The current attitude model includes a first hinge end (21) and a second hinge end (22). Both the first hinge end (21) and the second hinge end (22) include a first mating surface (L1) and a second mating surface (L2). After obtaining the attitude correction amount of the boom (2), the model further includes: Determine whether the vertical distance between the first center plane (L3) of the first hinge end (21) after posture adjustment and the first center plane (L3) of the second hinge end (22) meets the preset requirements.

5. The boom processing method according to claim 2, characterized in that, Before comparing the actual characteristics of the hole with the theoretical characteristics of the hole, the process also includes: A theoretical model is established based on the theoretical dimensions of the boom (2); Feature extraction is performed on the theoretical model to obtain the hole theory features; The theoretical features of the hole include the theoretical end face, theoretical center coordinates, and theoretical aperture.

6. The boom processing method according to claim 5, characterized in that, The actual characteristics of the hole include the actual end face, actual center coordinates, and actual hole diameter. The hole further includes a reference hole (T1) and a comparison hole (T2). Specifically, comparing the actual characteristics of the hole with the theoretical characteristics of the hole to obtain the hole machining correction amount includes: The reference hole (T1) center of the theoretical model and the current attitude model are aligned by fitting; The center offset of the comparison hole (T2) is calculated based on the theoretical center coordinates and the actual center coordinates of the comparison hole (T2), and the machining allowance is determined based on the actual hole diameter and the theoretical hole diameter. When the center offset is greater than the preset tolerance and less than the machining allowance, the center position of the reference hole (T1) and / or the comparison hole (T2) is adjusted until the center offset of both the reference hole (T1) and the comparison hole (T2) is less than the preset tolerance. The center position adjustment amount of the reference hole (T1) and the comparison hole (T2) is output as the hole machining correction amount.

7. A boom processing device assembly, characterized in that, The boom processing device assembly includes: The attitude adjustment mechanism (1) includes a positioning base (11) for placing the boom (2) and a push drive unit disposed on the positioning base (11), the push drive unit being used to push the boom (2). The detection mechanism (3) is used to scan the outer contour of the boom (2) and generate contour point coordinate data; The machining mechanism (4) is used to perform finishing on the holes of the boom (2); The data processing unit is communicatively connected to the detection mechanism (3) and configured to calculate the attitude correction amount and hole machining correction amount of the boom (2) based on the contour point coordinate data, wherein the data processing unit calculates the attitude correction amount of the boom (2) using the boom machining method according to any one of claims 1 to 6. The control unit (5) is communicatively connected to the data processing unit and configured to control the attitude adjustment mechanism (1) to adjust the attitude of the boom (2) and the tool processing position of the processing mechanism (4) respectively according to the attitude correction amount and the hole processing correction amount.

8. The boom processing device assembly according to claim 7, characterized in that, The positioning base (11) has transversely extending sliding grooves at both longitudinal ends. The push-drive unit includes a first positioning slider group (12) and a second positioning slider group (13) respectively disposed at both longitudinal ends of the positioning base (11) and respectively engaged with the sliding grooves. The control unit (5) is configured to control the first positioning slider group (12) and the second positioning slider group (13) to push the first hinge end (21) and the second hinge end (22) of the boom (2) respectively according to the attitude correction amount.

9. The boom processing device assembly according to claim 8, characterized in that, The jacking drive unit also includes two sets of jacking servo cylinders (14) arranged laterally on the positioning base (11), and the two sets of jacking servo cylinders (14) are used to jack the bottom of the boom (2); The control unit (5) is configured to control the two sets of lifting servo cylinders (14) to perform vertical lifting and lowering according to the attitude correction amount.

10. The boom processing device assembly according to claim 7, characterized in that, The detection mechanism (3) includes a moving module (31) capable of multi-axis movement and a laser profilometer (32) mounted on the moving module (31). The laser profilometer (32) is capable of scanning the outer contour of the boom (2) and generating the contour point coordinate data. The control unit (5) is also configured to control the movement of the moving module (31).

11. The boom processing device assembly according to claim 7, characterized in that, The bottom of the positioning base (11) is provided with a positioning hole (111). The processing mechanism (4) includes a processing machine tool (41) and a processing tool. The processing machine tool (41) is provided with a positioning pin (411) that cooperates with the positioning hole (111) and a magnetic suction component (42) for adsorbing and fixing the positioning base (11). The positioning base (11) can be detachably assembled with the processing machine tool (41). The control unit (5) is also configured to adjust the tool processing position of the processing tool according to the hole processing correction amount.

12. The boom processing device assembly according to claim 7, characterized in that, The attitude adjustment mechanism also includes a clamping unit (15), which includes a floating support cylinder (151) that can extend and retract vertically and is used to support the bottom of the boom (2), a side clamping cylinder (152) for clamping the two sides of the boom (2) laterally, and a downward pressing cylinder (153) that is spaced above the positioning base (11) and is used to press the boom downward. The control unit (5) is also configured to control the action of the clamping unit (15).

Images