Numerical control posture adjusting positioner with omni-directional wheels and posture adjusting method thereof

Abstract

The application discloses a numerical control attitude adjusting positioner applying omni-directional wheels and an attitude adjusting method thereof, and belongs to the technical field of attitude adjusting and matching of airplane large components. Three groups of numerical control attitude adjusting positioners which are not collinear are adopted to support an attitude adjusting component. A laser tracker is used to measure the position difference between the actual attitude of the attitude adjusting component and the theoretical attitude. Based on the position difference, the Z-axis lifting mechanism in each group of the numerical control attitude adjusting positioners is controlled to be synchronously or asynchronously lifted, and the omni-directional wheels are controlled to be rotated, so that the rotating angle of the attitude adjusting component around the X-axis, the Y-axis and the Z-axis and the moving distance of the attitude adjusting component along the X-axis, the Y-axis and the Z-axis are adjusted. Finally, the six-degree-of-freedom attitude adjustment of the attitude adjusting component is realized, so that the attitude adjusting component reaches the theoretical attitude. The omni-directional wheel attitude adjusting system which can be lifted is used to quickly, accurately and conveniently adjust the attitude of the attitude adjusting component, so that the fast and accurate assembly operation of the attitude adjusting component is realized.

Description

Technical Field

[0001] This invention belongs to the technical field of attitude adjustment and alignment of large aircraft components, specifically relating to a CNC attitude adjustment positioner using omnidirectional wheels and its attitude adjustment method. Background Technology

[0002] In the field of aircraft manufacturing, to achieve digitalization, automation, and flexibility in the assembly process of large aircraft components, a large aircraft component attitude adjustment and alignment system has been developed. This system analyzes the attitude adjustment motion of the coordinate measuring machine (CMM) through attitude measurement, attitude fitting, and attitude adjustment control processes, and sets constraints for the coordinated motion of the CMM's axes. This drives multiple axes to coordinate motion to their respective target positions, achieving attitude adjustment of the large components. The CMMs typically employ a PPPS series-parallel mechanism, with each individual CMM possessing translational degrees of freedom in the X, Y, and Z directions.

[0003] Typically, aircraft components use four sets of coordinate measuring machines arranged in a quadrilateral to form an attitude adjustment and alignment system. This system has 4 × 3 = 12 axes. However, aircraft components only have 6 degrees of freedom in space (3 translations and 3 rotations). Therefore, when the four sets of coordinate measuring machines participate in attitude adjustment and alignment, their motion coordination must be considered to ensure the spatial distance between them. Otherwise, it will cause tension on the support of the aircraft components and affect the alignment accuracy of the aircraft.

[0004] Therefore, in view of the above-mentioned shortcomings in the assembly process of the attitude adjustment components in the prior art, the present invention discloses a CNC attitude adjustment positioner using an omnidirectional wheel and its attitude adjustment method. Summary of the Invention

[0005] This invention discloses a CNC attitude adjustment and positioning device and its attitude adjustment method using omnidirectional wheels. The attitude adjustment system with omnidirectional wheels that can be raised and lowered can quickly, accurately and conveniently adjust the attitude of the attitude adjustment components, so as to realize the rapid and accurate assembly operation of the attitude adjustment components.

[0006] This invention is achieved through the following technical solution:

[0007] A CNC attitude adjustment and positioning device using omnidirectional wheels includes a Z-axis lifting mechanism. An omnidirectional wheel rotation mechanism is provided on the lifting end of the Z-axis lifting mechanism. Several sets of omnidirectional wheels are provided on the rotating end of the omnidirectional wheel rotation mechanism. A transmission mechanism for driving the omnidirectional wheel to rotate is provided on one side of the omnidirectional wheel.

[0008] To better realize the present invention, the omnidirectional wheel rotation mechanism further includes a helical positioner and a rotating seat. The first end of the helical positioner is connected to the lifting end of the Z-axis lifting mechanism, and the rotating seat is rotatably hinged to the second end of the helical positioner. Several sets of omnidirectional wheels are rotatably arranged on the rotating seat.

[0009] A numerically controlled attitude adjustment method using omnidirectional wheels is proposed. An assembly coordinate system O-XYZ is established, and three sets of non-collinear numerically controlled attitude adjustment positioners support the attitude adjustment component. A laser tracker measures the positional difference between the actual and theoretical poses of the attitude adjustment component. Based on this positional difference, the Z-axis lifting mechanism in each set of numerically controlled attitude adjustment positioners is controlled to synchronously or asynchronously lift and lower, thereby adjusting the rotation angle of the attitude adjustment component around the X-axis, the rotation angle around the Y-axis, and the translation distance along the Z-axis. Based on the positional difference, the omnidirectional wheels in each set of numerically controlled attitude adjustment positioners are rotated, thereby adjusting the movement distance of the attitude adjustment component along the X-axis, the movement distance along the Y-axis, and the rotation angle around the Z-axis. Ultimately, six-degree-of-freedom attitude adjustment of the attitude adjustment component is achieved, enabling the component to reach its theoretical pose.

[0010] To better realize the present invention, the following steps are further included:

[0011] Step 1: Arrange three sets of CNC attitude adjustment positioners on the positioning surface of the attitude adjustment component to form an attitude adjustment system. The three sets of CNC attitude adjustment positioners are not collinear, so that the rim of the omnidirectional wheel in the CNC attitude adjustment positioner contacts the positioning surface of the attitude adjustment component.

[0012] Step 2: In the assembly coordinate system, use a laser tracker to calibrate the linear equation of the center of the omnidirectional wheel moving along the current Z-axis lifting direction of the lifting mechanism, establish the attitude adjustment coordinate system O-X'Y'Z', adjust the lifting height of the three sets of omnidirectional wheels so that the XOY plane in the global coordinate system is parallel to the X'OY' plane in the attitude adjustment coordinate system, and establish the plane equation of the X'OY' plane.

[0013] Step 3: Measure the first actual position of no less than three measurement points on the attitude adjustment component using a laser tracker. Based on the position difference between the first actual position and the theoretical position of the measurement points, use an attitude fitting algorithm to calculate the attitude adjustment parameters of the attitude adjustment component from the actual position to the theoretical position in the assembly coordinate system.

[0014] Step 4: Rotate the attitude adjustment component by a first angle around the Z' axis in the attitude adjustment coordinate system, and then use a laser tracker to measure the second actual position of no less than three measurement points on the attitude adjustment component. Based on the first actual position and the second actual position, the rotation center of the attitude adjustment component in the assembly coordinate system is obtained.

[0015] Step 5: Use a laser tracker to calibrate the motion direction of the attitude adjustment system on the three axes under the attitude adjustment coordinate system, establish the coordinate system position relationship between the attitude adjustment coordinate system and the assembly coordinate system, and based on the coordinate system position relationship, convert the attitude adjustment parameters in Step 3 into the lifting height of the Z-axis lifting mechanism and the rotation angle of the omnidirectional wheel in the three sets of CNC attitude adjustment positioners.

[0016] Step 6: Based on the lifting height of the Z-axis lifting mechanism and the rotation angle of the omnidirectional wheel, adjust the rotation angle of the attitude adjustment component around the X-axis, Y-axis, and Z-axis, and adjust the distance the attitude adjustment component moves along the X-axis, Y-axis, and Z-axis, respectively.

[0017] To better realize the present invention, step 6 further includes:

[0018] Step 6.1: Based on the rotation of the omnidirectional wheel, complete the rotation angle adjustment of the attitude adjustment component around the Z-axis;

[0019] Step 6.2: Based on the rotation of the omnidirectional wheel and the synchronous lifting of the Z-axis lifting mechanism, the movement distance of the attitude adjustment component along the X-axis, Y-axis and Z-axis is adjusted respectively.

[0020] Step 6.3: Based on the asynchronous lifting of the Z-axis lifting mechanism, the rotation angle of the attitude adjustment component around the X-axis and Y-axis is adjusted respectively.

[0021] To better realize the present invention, further, in step 3, the positional difference between the first actual position and the theoretical position of the measurement point is specifically as follows:

[0022] K=[R X ][R Y ][T][R Z ]K';

[0023] Where: K represents the theoretical position coordinates; K' represents the actual position coordinates; [R X [R] represents the transformation matrix for the attitude adjustment component's rotation around the X-axis; Y [R] represents the transformation matrix for the attitude adjustment component's rotation around the Y-axis; Z [] represents the transformation matrix of the attitude adjustment component rotating around the Z-axis; [T] represents the translation matrix.

[0024] To better realize the present invention, further, in step 4, after rotating the attitude adjustment component by a first angle in the attitude adjustment coordinate system, it is necessary to compensate the attitude adjustment component with a compensation translation matrix in the assembly coordinate system. The compensation translation matrix is ​​as follows:

[0025] [T S ]=[R Z ]PP;

[0026] Among them: [T] S [R] represents the compensation translation matrix; Z ] represents the transformation matrix of the attitude adjustment component rotating around the Z-axis; P represents the coordinates of the rotation center of the attitude adjustment component.

[0027] To better realize the present invention, further, in step 6.3, the asynchronous lifting of the Z-axis lifting mechanism specifically includes the following steps:

[0028] Step A1: Use a laser tracker to calibrate the motion direction of the three axes of the CNC attitude adjustment and positioning device in the attitude adjustment coordinate system, and establish the position mapping relationship of the motion direction in the assembly coordinate system;

[0029] Step A2: Based on the position mapping relationship established in Step A1, and based on the translation matrix [T] and the compensation translation matrix [T]... S The rotation angles of the CNC attitude adjuster and positioner around the X-axis and Y-axis are converted and calculated.

[0030] Establish the plane equation of the X'OY' plane in the assembly coordinate system, and rotate the plane equation of the X'OY plane in the assembly coordinate system by corresponding angles around the X-axis and the Y-axis to obtain the rotation plane equation;

[0031] Step A3: Based on the straight line equation calibrated in Step 2, establish the intersection point between the straight line equation and the rotation plane equation;

[0032] Step A4: Calculate the asynchronous movement distance of the Z-axis lifting mechanism in the three CNC attitude adjustment and positioning devices based on the obtained intersection coordinates, and control the Z-axis lifting mechanism to perform asynchronous lifting according to the asynchronous movement distance.

[0033] To better realize the present invention, after the attitude adjustment component completes the six-degree-of-freedom attitude adjustment, the final position of several measurement points on the attitude adjustment component is measured by a laser tracker, and the position difference between the final position of the measurement point and the theoretical position of the measurement point is calculated. If the position difference meets the error requirement, the attitude adjustment ends; if the position difference does not meet the error requirement, steps 4-6 are repeated until the position difference meets the error requirement.

[0034] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0035] Compared to traditional attitude adjustment systems composed of coordinate measuring machines (CMMs), this invention firstly avoids the mutual pulling caused by motion trajectory errors between multiple sets of CMMs; secondly, this invention does not require a motion trajectory planning algorithm at the center of the CMM sphere, similar to that in traditional attitude adjustment systems, thus reducing the difficulty of development and control; finally, this invention only requires three sets of CMMs, each with only two degrees of freedom, while traditional attitude adjustment systems require at least three sets of CMMs, each with three degrees of freedom, greatly saving system construction costs. Attached Figure Description

[0036] Figure 1 A schematic diagram of a CNC attitude adjustment and positioning device;

[0037] Figure 2 This is a schematic diagram of the omnidirectional wheel installation.

[0038] Figure 3 This is a sectional view of the omnidirectional wheel installation.

[0039] Figure 4 This is a schematic diagram of the Z-axis lifting mechanism;

[0040] Figure 5 This is a schematic diagram showing how the attitude adjustment component is supported by three sets of CNC attitude adjustment and positioning devices.

[0041] Figure 6 A top view of the attitude adjustment components supporting three sets of CNC attitude adjustment and positioning devices;

[0042] Figure 7 This is a schematic diagram of the omnidirectional wheel drive.

[0043] Among them: 1-Omnidirectional wheel rotation mechanism; 2-Z-axis lifting mechanism; 3-Omnidirectional wheel; 11-Screw positioner; 12-Rotating seat; 13-Motor reducer assembly; 14-Wheel fork arm; 15-Rotating shaft; 16-Pin shaft; 17-First bushing; 18-Needle roller bearing; 19-Planar thrust ball bearing; 20-Axial locking assembly; 21-Second bushing; 22-Third bushing; 23-Fixed seat; 24-Three-dimensional force sensor. Detailed Implementation

[0044] Example 1:

[0045] This embodiment describes a CNC attitude adjustment and positioning device that uses omnidirectional wheels, such as... Figure 1 , Figure 2 As shown, it includes a Z-axis lifting mechanism 2, an omnidirectional wheel rotation mechanism 1 is provided on the lifting end of the Z-axis lifting mechanism 2, a plurality of omnidirectional wheels 3 are provided on the rotating end of the omnidirectional wheel rotation mechanism 1, and a transmission mechanism for driving the omnidirectional wheel 3 to rotate is provided on one side of the omnidirectional wheel 3.

[0046] Furthermore, the omnidirectional wheel rotation mechanism 1 includes a helical positioner 11 and a rotating seat 12. The first end of the helical positioner 11 is connected to the lifting end of the Z-axis lifting mechanism 2, and the rotating seat 12 is rotatably hinged to the second end of the helical positioner 11. Several sets of omnidirectional wheels 3 are rotatably arranged on the rotating seat 12.

[0047] like Figure 3 and Figure 7 As shown, the omnidirectional wheel rotation mechanism 1 also includes: a motor reducer assembly 13, a wheel fork arm 14, a rotating shaft 15, a pin shaft 16, a first bushing 17, a needle roller bearing 18, a planar thrust ball bearing 19, an axial locking assembly 20, a second bushing 21, and a third bushing 22.

[0048] The first bushing 17 is used to ensure the distance between the motor reducer assembly 13 and the wheel fork arm 14, the second bushing 21 is used to ensure the distance between the omnidirectional wheels 3, and the third bushing 22 is used to ensure the distance between the wheel fork arm 14 and the omnidirectional wheels 3. The motor reducer assembly 13 is fixed on the wheel fork arm 14, and the rotating shaft 15 is fixedly connected to the output end of the motor reducer assembly 13. The rotating shaft 15 and the omnidirectional wheels 3 are connected by a flat key, ultimately realizing the transmission of power to the omnidirectional wheels 3. The axial locking assembly 20 generates axial tension force to ensure the axial position of the omnidirectional wheels 3 and prevent the omnidirectional wheels 3 from shaking and generating axial clearance. The needle roller bearing 18 is sleeved on the outside of the rotating shaft 15 to support the wheel fork arm 14, and the flat thrust ball bearing 19 is used for flat thrust protection after the axial locking assembly 20 is tightened.

[0049] like Figure 4 As shown, the Z-axis lifting mechanism 2 includes a fixed base 23, a three-dimensional force sensor 24, and a screw lifting mechanism. The lifting end of the screw lifting mechanism is connected to the fixed base 23, and the screw lifting mechanism drives the omnidirectional wheel 3 to move up and down. At the same time, the three-dimensional force sensor 24 measures the force on the CNC attitude adjustment positioner in real time during the attitude adjustment process. The rotating base 12 is hinged to the connecting hole on the fixed base 23 through the pin 16, so that there is a swing degree of freedom between the rotating base 12 and the lifting end of the Z-axis lifting mechanism 2. This swing degree of freedom is used to adjust the deflection angle of the omnidirectional wheel 3, so that the rim of the omnidirectional wheel 3 can be closely attached to the positioning surface of the attitude adjustment component.

[0050] A numerically controlled attitude adjustment method using omnidirectional wheels is proposed. An assembly coordinate system O-XYZ is established, and three sets of non-collinear numerically controlled attitude adjustment positioners support the attitude adjustment component. A laser tracker measures the positional difference between the actual and theoretical poses of the attitude adjustment component. Based on this positional difference, the Z-axis lifting mechanism 2 in each set of numerically controlled attitude adjustment positioners is controlled to synchronously or asynchronously lift and lower, thereby adjusting the rotation angle of the attitude adjustment component around the X-axis, the rotation angle around the Y-axis, and the translation distance along the Z-axis. Based on the positional difference, the omnidirectional wheels 3 in each set of numerically controlled attitude adjustment positioners are also controlled to rotate, thereby adjusting the movement distance of the attitude adjustment component along the X-axis, the movement distance along the Y-axis, and the rotation angle around the Z-axis. Ultimately, six-degree-of-freedom attitude adjustment of the attitude adjustment component is achieved, enabling the component to reach its theoretical pose.

[0051] Specifically, the following steps are included:

[0052] Step 1: Arrange three sets of CNC attitude adjustment positioners on the positioning surface of the attitude adjustment component to form an attitude adjustment system. The three sets of CNC attitude adjustment positioners are not collinear, so that the rim of the omnidirectional wheel 3 in the CNC attitude adjustment positioner contacts the positioning surface of the attitude adjustment component.

[0053] Step 2: Using a laser tracker in the assembly coordinate system, calibrate the linear equation of the center of the omnidirectional wheel 3 moving along the current Z-axis lifting mechanism 2. Establish the attitude adjustment coordinate system O-X'Y'Z'. Adjust the lifting height of the three sets of omnidirectional wheels 3 so that the XOY plane in the global coordinate system is parallel to the X'OY' plane in the attitude adjustment coordinate system, and establish the plane equation of the X'OY' plane. The arrangement of the three sets of CNC attitude adjustment positioners is determined according to the shape and center of gravity of the attitude adjustment component. It is necessary to ensure that the rotation axes of the omnidirectional wheels 3 in the three sets of CNC attitude adjustment positioners can intersect at point P, and the distance between point P and the center of gravity of the attitude adjustment component is less than or equal to the calibration threshold. It is also necessary to ensure that the rotation axis of one set of omnidirectional wheels 3 coincides with the Y' axis.

[0054] Step 3: Measure the first actual position of no less than three measurement points on the attitude adjustment component using a laser tracker. Based on the position difference between the first actual position and the theoretical position of the measurement points, use an attitude fitting algorithm to calculate the attitude adjustment parameters of the attitude adjustment component from the actual position to the theoretical position in the assembly coordinate system.

[0055] Step 4: Rotate the attitude adjustment component by a first angle around the Z' axis in the attitude adjustment coordinate system, and then use a laser tracker to measure the second actual position of no less than three measurement points on the attitude adjustment component. Based on the first actual position and the second actual position, the rotation center of the attitude adjustment component in the assembly coordinate system is obtained.

[0056] Step 5: Use a laser tracker to calibrate the motion direction of the attitude adjustment system on the three axes under the attitude adjustment coordinate system, establish the coordinate system position relationship between the attitude adjustment coordinate system and the assembly coordinate system, and based on the coordinate system position relationship, convert the attitude adjustment parameters in Step 3 into the lifting height of the Z-axis lifting mechanism 2 and the rotation angle of the omnidirectional wheel 3 in the three sets of CNC attitude adjustment positioners.

[0057] Step 6: Based on the lifting height of the Z-axis lifting mechanism 2 and the rotation angle of the omnidirectional wheel 3, adjust the rotation angle of the attitude adjustment component around the X-axis, Y-axis, and Z-axis, and the distance the attitude adjustment component moves along the X-axis, Y-axis, and Z-axis, respectively.

[0058] The omnidirectional wheel 3 drives the attitude adjustment component to move relative to point P, which needs to satisfy:

[0059] ;

[0060] Where: D1-D3 represent the rim rolling distances of the three sets of omnidirectional wheels; This indicates the distance the attitude adjustment component moves along the X-axis; This indicates the distance the attitude adjustment component moves along the Y-axis; This indicates the rotation angle of the attitude adjustment component around the Z-axis; These represent the angles between the rotation axis of the omnidirectional wheel and the Y' and X' axes, respectively. These represent the distances between the centers of the three omnidirectional wheels and point P.

[0061] The formula for calculating the rolling distance of the rim is as follows:

[0062] , 1≤i≤3; where: D i Q represents the rim rolling distance of the i-th omnidirectional wheel; i d represents the rotation angle of the i-th omnidirectional wheel; d represents the diameter of the omnidirectional wheel.

[0063] Example 2:

[0064] This embodiment discloses a CNC attitude adjustment method using omnidirectional wheels, which is an improvement on Embodiment 1. The specific process for adjusting the attitude of the attitude adjustment component is as follows:

[0065] like Figure 5 and Figure 6 As shown, an assembly coordinate system O-XYZ and an attitude adjustment coordinate system O-X'Y'Z' are established. The laser tracker is placed in the assembly coordinate system to complete the station setup. The laser tracker is used to calibrate the linear equations of the center of the omnidirectional wheel 3 moving along the lifting direction during the lifting of the Z-axis lifting mechanism 2 in the three sets of CNC attitude adjustment positioners, denoted as H1, H2, and H3 respectively. The rotation angles of the three sets of omnidirectional wheels 3 are detected and denoted as Q1, Q2, and Q3 respectively.

[0066] With the help of the laser tracker, adjust H1, H2, and H3 so that the plane determined by the center of the three sets of omnidirectional wheels 3 is parallel to the X'OY' plane. At this time, the X'OY' plane of the attitude adjustment coordinate system is parallel to the XOY plane of the assembly coordinate system.

[0067] The attitude adjustment component is hoisted into position, ensuring that the rim of the omnidirectional wheel 3 in the three sets of CNC attitude adjustment positioners is in close contact with the positioning surface of the attitude adjustment component. The first actual position of no less than three measurement points on the attitude adjustment component is measured using a laser tracker. Based on the theoretical position of the measurement points, the attitude adjustment parameters of the attitude adjustment component from the actual position to the theoretical position are calculated using an attitude fitting algorithm (e.g., SVD algorithm). The attitude adjustment parameters include the rotation matrix [R] and the translation matrix [T].

[0068] The specific positional difference between the first actual position and the theoretical position of the measurement point is as follows:

[0069] K=[R X ][R Y ][T][R Z ]K';

[0070] Where: K represents the theoretical position coordinates; K' represents the actual position coordinates; [R X [R] represents the transformation matrix for the attitude adjustment component's rotation around the X-axis;Y [R] represents the transformation matrix for the attitude adjustment component's rotation around the Y-axis; Z [R] represents the transformation matrix for the attitude adjustment component's rotation around the Z-axis; [T] represents the translation matrix. X ]、[R Y ]、[R Z ] is used to jointly characterize the rotation matrix [R].

[0071] Based on the rotation matrix [R] and the translation matrix [T], the pose transformation parameters of the attitude adjustment component are obtained as follows: △ x , △y, △z, △a, △b, △c, where: △ x △y and △z represent the distances the attitude adjustment component moves along the X-axis, Y-axis, and Z-axis, respectively; △a, △b, and △c represent the rotation angles of the attitude adjustment component around the X-axis, Y-axis, and Z-axis, respectively.

[0072] In conclusion:

[0073]

[0074] First, rotate the device around the Z-axis by an angle Δc, then translate it along the X-axis, Y-axis, and Z-axis by distances Δx, Δy, and Δz respectively, and finally rotate it around the X-axis and Y-axis by angles Δa and Δb respectively, thereby achieving the pose transformation of the attitude adjustment component.

[0075] The attitude adjustment system rotates by an angle △c around the Z' axis in the attitude adjustment coordinate system. Then, a laser tracker is used to measure the second actual position of the measurement point on the attitude adjustment component again. The coordinates of the first actual position and the second actual position can be used to fit the rotation center point P of the attitude adjustment component in the assembly coordinate system and the coordinate value of point P.

[0076] After the attitude adjustment component rotates by an angle Δc around the Z' axis in the attitude adjustment coordinate system, a translation matrix needs to be compensated in the assembly coordinate system.

[0077] ;

[0078] Among them: [T] S [R] represents the compensation translation matrix; Z ] represents the transformation matrix of the attitude adjustment component rotating around the Z-axis; P represents the coordinates of the rotation center of the attitude adjustment component.

[0079] A laser tracker is used to calibrate the motion directions of the three axes of the CNC attitude adjuster in the attitude adjustment coordinate system, and the position mapping relationship of the motion directions in the assembly coordinate system is established. Specifically:

[0080] 1. Record the current position as the initial position;

[0081] 2. Move the attitude adjustment system towards the X' axis and record the positional relationship between the X' axis and the assembly coordinate system; move the attitude adjustment system towards the Y' axis and record the positional relationship between the Y' axis and the assembly coordinate system; move the attitude adjustment system towards the Z' axis and record the positional relationship between the Z' axis and the assembly coordinate system.

[0082] 3. Return to the initial position, and determine the position mapping relationship by combining the rotation matrix [T] and the compensation translation matrix [T]. S The rotation angles of the three omnidirectional wheels and the moving distances of the three Z-axis lifting mechanisms in the attitude adjustment system are converted, and the attitude adjustment system executes the corresponding motion commands.

[0083] The attitude adjustment component has completed a rotation of Δc around the Z-axis and translations of Δx, Δy, and Δz along the X, Y, and Z axes, respectively. This means the translation matrix [T] and rotation matrix [R] have been completed. Z [Position adjustment]

[0084] Then establish the plane equation of the X'OY' plane in the assembly coordinate system. M xy After the attitude adjustment component is rotated by angles △a and △b around the X and Y axes, the equation of the rotation plane is obtained. .

[0085] Plane equations M xy This can be expressed as:

[0086] ;

[0087] but That is:

[0088] ;

[0089] in: k 1. k 2. k 3. k 4 represents the coefficients of the four plane equations;

[0090] Based on the previously obtained equations of lines H1, H2, and H3, establish the equations of lines H1, H2, and H3 and the equations of the plane of rotation. The intersections between them yield three intersection points. Based on the coordinate values ​​of these three intersection points and their corresponding linear equations H1, H2, and H3, the three sets of Z-axis lifting mechanisms 2 can be controlled to perform asynchronous lifting. At this point, the attitude adjustment component completes the rotation matrix [R]. X Rotation matrix [R] Y The pose changes of ].

[0091] After the attitude adjustment component completes the six-degree-of-freedom attitude adjustment, the final position of several measurement points on the attitude adjustment component is measured by a laser tracker, and the position difference between the final position of the measurement point and the theoretical position of the measurement point is calculated. If the position difference meets the error requirement, the attitude adjustment ends; if the position difference does not meet the error requirement, steps 4-6 are repeated until the position difference meets the error requirement.

[0092] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A numerical control attitude adjustment method using omni-directional wheels, based on a numerical control attitude adjustment positioner, the numerical control attitude adjustment positioner comprising a Z-axis lifting mechanism (2), a omni-directional wheel rotating mechanism (1) being arranged on the lifting end of the Z-axis lifting mechanism (2), a plurality of groups of omni-directional wheels (3) being arranged on the rotating end of the omni-directional wheel rotating mechanism (1), one side of the omni-directional wheel (3) being provided with a transmission mechanism for driving the omni-directional wheel (3) to rotate; the omni-directional wheel rotating mechanism (1) comprises a screw positioner (11) and a rotating seat (12), the first end of the screw positioner (11) is connected with the lifting end of the Z-axis lifting mechanism (2), the second end of the screw positioner (11) is rotatably hinged with the rotating seat (12), and a plurality of groups of omni-directional wheels (3) are rotatably arranged on the rotating seat (12); characterized in that: An assembly coordinate system O-XYZ is established, three groups of non-collinear numerical control pose adjusting positioners are used to support the pose adjusting component, the position difference between the actual pose and the theoretical pose of the pose adjusting component is measured by a laser tracker, the Z-axis lifting mechanism (2) in each group of numerical control pose adjusting positioners is controlled to be lifted synchronously or asynchronously based on the position difference, and then the rotation angle of the pose adjusting component around the X-axis, the rotation angle of the pose adjusting component around the Y-axis, and the translation distance of the pose adjusting component along the Z-axis are adjusted; the omni-directional wheel (3) in each group of numerical control pose adjusting positioners is controlled to rotate based on the position difference, and then the movement distance of the pose adjusting component along the X-axis, the movement distance of the pose adjusting component along the Y-axis, and the rotation angle of the pose adjusting component around the Z-axis are adjusted, so that the six-degree-of-freedom pose adjustment of the pose adjusting component is finally realized, and the pose adjusting component reaches the theoretical pose.

2. The numerical control attitude adjusting method using omni-directional wheels according to claim 1, wherein, Specifically, the following steps are included: Step 1, three groups of numerical control pose adjusting positioners are arranged on the positioning surface of the pose adjusting component to form a pose adjusting system, and the three groups of numerical control pose adjusting positioners are arranged non-collinearly, so that the flanges of the omni-directional wheels (3) in the numerical control pose adjusting positioners are in contact with the positioning surface of the pose adjusting component; Step 2, the straight line equation of the center of the omni-directional wheel (3) moving along the lifting direction of the current Z-axis lifting mechanism (2) is calibrated under the assembly coordinate system using the laser tracker, the pose adjusting coordinate system O-X'Y'Z' is established, the lifting heights of the three groups of omni-directional wheels (3) are adjusted, so that the XOY plane in the global coordinate system is parallel to the X'OY' plane in the pose adjusting coordinate system, and the plane equation of the X'OY' plane is established; Step 3, the first actual positions of not less than three measurement points on the pose adjusting component are measured by the laser tracker, the pose adjusting parameters of the pose adjusting component changing from the actual position to the theoretical position under the assembly coordinate system are calculated based on the position difference between the first actual positions and the theoretical positions of the measurement points by using an attitude fitting algorithm; Step 4, the pose adjusting component is rotated by a first angle around the Z' axis in the pose adjusting coordinate system, and then the second actual positions of not less than three measurement points on the pose adjusting component are measured by the laser tracker, and the rotation center of the pose adjusting component under the assembly coordinate system is fitted based on the first actual positions and the second actual positions; Step 5, the movement directions of the three axes of the pose adjusting system under the pose adjusting coordinate system are calibrated by using the laser tracker, the coordinate system position relationship between the pose adjusting coordinate system and the assembly coordinate system is established, and the pose adjusting parameters in step 3 are converted into the lifting heights of the Z-axis lifting mechanisms (2) in the three groups of numerical control pose adjusting positioners and the rotation angles of the omni-directional wheels (3) based on the coordinate system position relationship; Step 6, based on the lifting heights of the Z-axis lifting mechanisms (2) and the rotation angles of the omni-directional wheels (3), the rotation angles of the pose adjusting component around the X-axis, the Y-axis and the Z-axis, and the movement distances of the pose adjusting component along the X-axis, the Y-axis and the Z-axis are adjusted.

3. The numerical control attitude adjusting method using omni-directional wheels according to claim 2, wherein, Step 6 specifically includes: Step 6.1, based on the rotation of the omni-directional wheel (3), the rotation angle adjustment of the pose adjusting component around the Z-axis is completed; Step 6.2, based on the rotation of the omni-directional wheel (3) and the synchronous lifting of the Z-axis lifting mechanism (2), the movement distance adjustment of the pose adjusting component along the X-axis, the Y-axis and the Z-axis is completed. Step 6.3, based on the asynchronous lifting of the Z-axis lifting mechanism (2), the rotation angle adjustment of the attitude adjustment component around the X-axis and the Y-axis is completed respectively.

4. The numerical control attitude adjusting method using omni-directional wheels according to claim 3, wherein, In step 3, the position difference between the first actual position and the theoretical position of the measuring point is specifically: K = [R X ][R Y ][T][R Z ] K'; wherein: K represents a theoretical position coordinate; K' represents an actual position coordinate; [R X ] represents a transformation matrix of the pose adjustment component rotating around the X axis; [R Y ] represents a transformation matrix of the pose adjustment component rotating around the Y axis; [R Z ] represents a transformation matrix of the pose adjustment component rotating around the Z axis; and [T] represents a translation matrix.

5. The numerical control attitude adjusting method using omni-directional wheels according to claim 4, wherein, In step 4, after rotating the attitude adjustment component by the first angle in the attitude adjustment coordinate system, a compensation translation matrix needs to be compensated to the attitude adjustment component in the assembly coordinate system, and the compensation translation matrix is as follows: [T S ]=[R Z ]P-P; wherein: [T S ] represents a compensation translation matrix; [R Z ] represents a transformation matrix of the adjustment component rotating around the Z axis; and P represents the coordinates of the rotation center of the adjustment component.

6. The numerical control attitude adjusting method using omni-directional wheels according to claim 5, wherein, In step 6.3, the asynchronous lifting of the Z-axis lifting mechanism (2) specifically includes the following steps: Step A1, the motion direction of the three-axis of the numerical control attitude adjustment positioner in the attitude adjustment coordinate system is calibrated by using the laser tracker, and the position mapping relationship of the motion direction in the assembly coordinate system is established; Step A2, according to the position mapping relationship established in step A1, the rotation angle of the numerical control posture positioning device around the X axis and the Y axis is converted and calculated according to the translation matrix [T] and the compensation translation matrix [T S ] The plane equation of the X'OY' plane in the assembly coordinate system is established, and the plane equation of the X'OY' plane in the assembly coordinate system is rotated by the corresponding angle around the X-axis and the Y-axis to obtain the rotation plane equation; Step A3, based on the calibrated straight line equation in step 2, the intersection between the straight line equation and the rotation plane equation is established; Step A4, based on the obtained intersection coordinates, the asynchronous movement distance of the Z-axis lifting mechanism (2) in the three numerical control attitude adjustment positioners is calculated, and the Z-axis lifting mechanism (2) is controlled to perform asynchronous lifting according to the asynchronous movement distance.

7. The numerical control attitude adjusting method of claim 6, wherein, After the six-degree-of-freedom attitude adjustment of the attitude adjustment component is completed, the final position of a plurality of measuring points on the attitude adjustment component is measured by the laser tracker, and the position difference between the final position of the measuring point and the theoretical position of the measuring point is calculated. If the position difference meets the error requirement, the attitude adjustment is ended; If the position difference does not meet the error requirement, steps 4-6 are repeated until the position difference meets the error requirement.

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