Man-machine cooperation hole making method

Abstract

The invention discloses a man-machine cooperation hole making method, which comprises a processing device, a laser scanning sensor, a curved surface workpiece, a visual camera, an operation handle and a controller, the laser scanning sensor and the visual camera are fixedly connected to the processing device, and the controller is in communication connection with the processing device, the laser scanning sensor, the visual camera and the operation handle. The method comprises the specific steps that machining modes are selected according to machining requirements, and the machining modes comprise a small-batch mode and a large-batch mode; when the small-batch processing mode is selected, setting markers at all to-be-processed positions; an operator judges the actual alignment position of the processing equipment by observing the laser emitted by the laser displacement sensor; an operator controls the machining equipment to move through the remote control handle. According to the method, during small-batch machining, a man-machine cooperation mode is adopted, machining is specifically conducted in the mode that manual coarse positioning and machine automatic precise positioning are combined, the tedious operation of small-batch machining is simplified, and the response speed is increased.

Description

Technical Field

[0001] This invention relates to the field of machining technology, and in particular to a human-machine collaborative hole-making method. Background Technology

[0002] In high-precision machining, such as aircraft skin and frame assembly, the workpieces are often curved surfaces, and the machining process is characterized by a wide variety of products and small batches. Fully automated machining requires pre-programming, simulation, and calibration of workpiece and robot coordinates, resulting in a long preparation time. It is suitable for scenarios with large single-processing volumes and demands a high level of operator skill. In some cases, where only a small area of ​​the workpiece needs machining, fully automated machining can suffer from slow response, cumbersome operation, and a shortage of skilled personnel. Summary of the Invention

[0003] To address the above problems, this invention proposes a human-machine collaborative hole-making method, employing the following technical solution: The system includes processing equipment, a laser scanning sensor, a curved workpiece, a vision camera, an operating handle, and a controller. The laser scanning sensor and vision camera are fixedly connected to the processing equipment. The controller is communicatively connected to the processing equipment, the laser scanning sensor, the vision camera, and the operating handle. Specific steps include: Select the processing mode according to the processing requirements. The processing modes include small batch mode and large batch mode; when the small batch processing mode is selected, proceed to step A-1). A-1) Mark all locations to be processed; A-2) The operator determines the actual alignment position of the processing equipment by observing the laser emitted by the laser displacement sensor; A-3) The operator controls the movement of the processing equipment through the remote control handle, so that the processing equipment is roughly aligned with the position to be processed on the curved workpiece for rough positioning; A-4) The operator transfers control authority to the controller, which uses a laser scanning sensor to detect the normal of the position to be processed. Based on the detection results, the controller controls the processing equipment to adjust its posture to complete the normal deviation compensation, thereby achieving precise normal alignment. A-5) The controller uses a vision camera to detect the accurate position of the marker to be processed. After obtaining the accurate position, the controller controls the processing equipment to adjust its posture so that the processing equipment is aligned with the position to be processed for precise positioning. (A-6) After the orientation adjustment is completed, the controller controls the spindle movement of the machining equipment to complete the machining. A-7) The operator regains control of the processing equipment, moves to the next processing position and continues processing, repeating steps A-2) to A-6) until all processing positions are completed.

[0004] Further, when the mass production mode is selected, proceed to step B-1): B-1) The controller acquires spatial coordinate system information of the processing equipment and the curved workpiece; B-2) The controller acquires the digital model information of the curved workpiece, including the coordinates of all positions to be processed, processing dimensions and types, and generates the motion trajectory of the processing equipment; B-3) The controller moves the processing equipment to the initial processing position based on the spatial coordinate system information obtained in B-1 and the digital model information obtained in B-2. B-4) The controller uses a laser scanning sensor to detect the normal direction of the position to be processed. Based on the detection results, the controller controls the processing equipment to adjust its posture to complete the precise normal alignment. B-5) After the orientation adjustment is completed, the controller controls the spindle movement of the machining equipment to complete the machining. B-6) The controller moves the processing equipment to the next processing position according to the motion trajectory, and repeats steps B-4) to B-5) until all processing positions are completed.

[0005] Further, in step A-3), the processing equipment is roughly aligned with the position to be processed for coarse positioning. Specifically, the operator controls the movement of the processing equipment through a remote control handle to ensure that the distance between the processing equipment and the workpiece is within the range of the laser scanning sensor, and the execution end of the processing equipment is roughly aligned with the position to be processed for preliminary positioning. At the same time, the execution end of the processing equipment is roughly perpendicular to the workpiece surface by visual observation and manual control to perform preliminary normal alignment.

[0006] Further, in step A-6), after the orientation adjustment is completed, the accurate position of the workpiece is detected again using a vision camera. The detection result is compared with the theoretical data. If the position error does not fall within the allowable error range, the controller controls the processing equipment to adjust the orientation again and repeats the above inspection process until the position error falls within the allowable error range. Then, the final distance between the processing equipment and the workpiece is fed back to the controller, which calculates the spindle feed of the processing equipment and controls the spindle to perform axial feed.

[0007] Furthermore, in step A-1), the marker can be any one of a pre-hole, a scribing line, or a sticker.

[0008] Furthermore, the controller uses a laser scanning sensor to detect the normal of the position to be processed. Specifically, the controller controls the processing equipment to move the laser scanning sensor to perform a circular scan around the position to be processed, obtain circumferential line data information, and complete the detection of the normal of the position to be processed.

[0009] Compared with the prior art, the beneficial effects of the present invention are as follows: 1) The present invention can select the processing mode according to actual needs and has a wide range of applications; when processing small batches, it adopts a human-machine collaborative mode, specifically using a combination of manual coarse positioning and automatic machine precise positioning to simplify the tedious operation of small batch processing and improve response speed; when processing large batches, it can realize fully automated positioning, normal alignment and processing, and improve processing efficiency.

[0010] 2) This invention uses a processing device and a laser scanning sensor installed on the processing device to obtain the circumferential line data and position information of the part to be processed, thereby achieving accurate normal alignment and precise positioning, and improving processing quality. Attached Figure Description

[0011] Figure 1 This is a flowchart of the small-batch processing of the present invention; Figure 2 This is a flowchart of the mass production process of this invention; Figure 3 This is a schematic diagram of the measurement principle of the laser scanning sensor of the present invention.

[0012] In the figure: 1. Laser scanning sensor, 2. Curved workpiece. Detailed Implementation

[0013] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0014] In the description of this invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0015] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0016] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0017] As shown in the figure, this embodiment of the invention improves a human-machine collaborative hole-making method, specifically including a processing device, a laser scanning sensor 1, a curved workpiece 2, a vision camera, an operating handle, and a controller. The laser scanning sensor 1 and the vision camera are fixedly connected to the processing device, and the controller is communicatively connected to the processing device, the laser scanning sensor, the vision camera, and the operating handle. The method includes the following steps: Select the processing mode, which includes small batch mode and large batch mode. When performing small batch processing, proceed to step A-1. A-1. Mark all locations to be processed. Markers can be pre-drilled holes, scribing lines, stickers, etc. A-2. The operator determines the actual alignment position of the processing equipment by observing the laser emitted by the laser scanning sensor 1. A-3. The operator controls the movement of the processing equipment through the remote control handle to keep the distance between the processing equipment and the workpiece within the range of the laser scanning sensor, and to roughly align the end effector of the processing equipment with the position to be processed for coarse positioning; at the same time, the operator visually observes and manually controls the end effector of the processing equipment to be roughly perpendicular to the surface of the workpiece for preliminary normal alignment. A-4. The operator transfers control authority to the controller, which controls the processing equipment to move the laser scanning sensor to perform a circular scan around the area to be processed, obtains circumferential line data information, completes the normal detection of the area to be processed, and controls the processing equipment to adjust its posture according to the detection results to complete the normal deviation compensation, thereby completing the accurate normal alignment. A-5. The controller uses a vision camera to detect the accurate position of the marker to be processed. After obtaining the accurate position, the controller controls the processing equipment to adjust its posture so that the processing equipment is aligned with the position to be processed for precise positioning. A-6. After the orientation adjustment is completed, the controller controls the spindle movement of the machining equipment to complete the machining. A-7. The operator regains control of the processing equipment, moves to the next processing position and continues processing, repeating steps A-2 to A-6 until all processing positions are completed.

[0018] Furthermore, in step A-6, after the orientation adjustment is completed, the vision camera is used to detect the accurate position of the marker to be processed again, and the detection result is compared with the theoretical data. If the position error does not fall within the allowable error range, the controller controls the processing equipment to adjust the orientation again and repeats the above inspection process until the position error falls within the allowable error range. Then, the final distance between the processing equipment and the workpiece is fed back to the controller, which calculates the spindle feed of the processing equipment and controls the spindle to perform axial feed.

[0019] When performing mass production, proceed to step B-1: B-1. The controller acquires spatial coordinate system information of the processing equipment and the curved workpiece. B-2. The controller acquires the digital model information of the curved workpiece 2, including the coordinates of all positions to be processed, processing dimensions and types, and generates the motion trajectory of the processing equipment. B-3. ​​The controller controls the processing equipment to move to the initial processing position based on the spatial coordinate system information obtained in B-1 and the digital model information obtained in B-2. B-4. The controller controls the processing equipment to drive the laser scanning sensor 1 to perform a circular scan around the position to be processed, obtain the circumferential line data information, and complete the normal detection of the position to be processed. The controller controls the processing equipment to adjust its posture according to the detection results to complete the precise normal alignment. B-5) After the orientation adjustment is completed, the controller controls the spindle movement of the machining equipment to complete the machining. B-6) The controller moves the processing equipment to the next processing position according to the motion trajectory, and repeats steps B-4) to B-5) until all processing positions are completed.

[0020] This invention allows for selection of processing modes according to actual needs, making it widely applicable. For small-batch processing, a human-machine collaborative mode is used, specifically combining manual coarse positioning with automatic machine precise positioning, simplifying the tedious operations of small-batch processing and improving response speed. For large-batch processing, fully automated positioning, normal alignment, and processing can be achieved, improving processing efficiency.

[0021] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0022] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A human-machine collaborative hole-making method, characterized in that, The system includes processing equipment, a laser scanning sensor, a curved workpiece, a vision camera, an operating handle, and a controller. The laser scanning sensor and vision camera are fixedly connected to the processing equipment. The controller is communicatively connected to the processing equipment, the laser scanning sensor, the vision camera, and the operating handle. Specific steps include: Select the processing mode according to the processing requirements. The processing modes include small batch mode and large batch mode; when the small batch processing mode is selected, proceed to step A-1). A-1) Mark all locations to be processed; A-2) The operator determines the actual alignment position of the processing equipment by observing the laser emitted by the laser displacement sensor; A-3) The operator controls the movement of the processing equipment through the remote control handle, so that the processing equipment is roughly aligned with the position to be processed on the curved workpiece for rough positioning; A-4) The operator transfers control authority to the controller, which uses a laser scanning sensor to detect the normal of the position to be processed. Based on the detection results, the controller controls the processing equipment to adjust its posture to complete the normal deviation compensation, thereby achieving precise normal alignment. A-5) The controller uses a vision camera to detect the accurate position of the marker to be processed. After obtaining the accurate position, the controller controls the processing equipment to adjust its posture so that the processing equipment is aligned with the position to be processed for precise positioning. (A-6) After the orientation adjustment is completed, the controller controls the spindle movement of the machining equipment to complete the machining. A-7) The operator regains control of the processing equipment, moves to the next processing position and continues processing, repeating steps A-2) to A-6) until all processing positions are completed.

2. The human-machine collaborative hole-making method according to claim 1, characterized in that, When the mass production mode is selected, proceed to step B-1). B-1) The controller acquires the spatial coordinate system information of the processing equipment and the workpiece to be processed; B-2) The controller acquires the digital model information of the curved workpiece, including the coordinates of all positions to be processed, processing dimensions and types, and generates the motion trajectory of the processing equipment; B-3) The controller moves the processing equipment to the initial processing position based on the spatial coordinate system information obtained in B-1 and the digital model information obtained in B-2. B-4) The controller uses a laser scanning sensor to detect the normal direction of the position to be processed. Based on the detection results, the controller controls the processing equipment to adjust its posture to complete the precise normal alignment. B-5) After the orientation adjustment is completed, the controller controls the spindle movement of the machining equipment to complete the machining. B-6) The controller moves the processing equipment to the next processing position according to the motion trajectory, and repeats steps B-4) to B-5) until all processing positions are completed.

3. The human-machine collaborative hole-making method according to claim 1, characterized in that, In step A-3), the processing equipment is roughly aligned with the position to be processed for coarse positioning. Specifically, the operator controls the movement of the processing equipment through the remote control handle to make the distance between the processing equipment and the workpiece within the range of the laser scanning sensor, and makes the end effector of the processing equipment roughly aligned with the position to be processed for preliminary positioning; at the same time, the end effector of the processing equipment is roughly perpendicular to the surface of the workpiece by visual observation and manual control to perform preliminary normal alignment.

4. The human-machine collaborative hole-making method according to claim 1, characterized in that, In step A-6), after the orientation adjustment is completed, the vision camera is used to detect the accurate position of the marker to be processed again. The detection result is compared with the theoretical data. If the position error does not fall within the allowable error range, the controller controls the processing equipment to adjust the orientation again and repeats the above inspection process until the position error falls within the allowable error range. Then, the final distance between the processing equipment and the workpiece is fed back to the controller. The controller then calculates the spindle feed of the processing equipment and controls the spindle to perform axial feed.

5. The human-machine collaborative hole-making method according to claim 1, characterized in that, In step A-1), the marker can be any one of a pre-hole, a scribing line, or a sticker.

6. A human-machine collaborative hole-making method according to claim 1 or 2, characterized in that, The controller uses a laser scanning sensor to detect the normal of the position to be processed. Specifically, the controller controls the processing equipment to move the laser scanning sensor to perform a circular scan around the position to be processed, obtain circumferential line data information, and complete the detection of the normal of the position to be processed.

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