Methods, equipment, storage media, and procedures for determining the accessibility of hole-making equipment.

Abstract

This invention discloses a method, device, storage medium, and program for determining the accessibility of a drilling equipment. The method includes: acquiring dimensional correlation parameters of the target drilling equipment and spatial posture feature point data of the workpiece to be drilled; calculating drilling correlation angle data based on the dimensional correlation parameters of the target drilling equipment and the spatial posture feature point data of the workpiece to be drilled; wherein the drilling correlation angle data includes the rotation angle data of the driven rod of the target drilling equipment and the rotation angle data of the A / C rotary head; determining the target control length of the driving rod of the target drilling equipment based on the dimensional correlation parameters of the target drilling equipment and the rotation angle data of the driven rod; and determining the processing accessibility determination result of the target drilling equipment based on the rotation angle data of the A / C rotary head and the target control length of the driving rod. The technical solution of this invention can ensure the feasibility of the drilling process, thereby improving the processing accuracy and operating efficiency of the drilling equipment.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of equipment processing technology, and in particular to a method, equipment, storage medium and program for determining the processing accessibility of a hole-making device. Background Technology

[0002] In many fields such as machining, aerospace component manufacturing, and automotive component assembly, hole making is an indispensable core process. Its machining accuracy and efficiency directly determine the subsequent assembly quality and overall product performance.

[0003] Hole-making equipment, as a key component for hole-making operations, typically incorporates industrial robots or specialized actuators. It drives an end effector to perform hole-making actions at designated locations on the workpiece, achieving precise hole machining at specific positions. In the actual operation of hole-making equipment, the spatial accessibility of the robot's end effector tip needs to be determined from multiple dimensions, including the accessibility of the hole-making location, the accessibility of the starting position of the hole-making action, and the accessibility of the ending position of the hole-making action.

[0004] However, in existing technical solutions, the accessibility determination of the hole-making process relies solely on the analysis data output by the offline programming software of the hole-making equipment. Process engineers must manually intervene to check, analyze, and adjust the hole-making path planning scheme item by item based on the aforementioned accessibility determination data. This manually-led path adjustment mode not only consumes a lot of time and significantly reduces the overall efficiency of hole-making path planning, but is also prone to defects such as insufficient optimization space and poor equipment motion adaptability due to differences in the experience level of different process engineers. It is difficult to meet the large-scale application requirements of high-precision and high-efficiency hole-making operations. Summary of the Invention

[0005] This invention provides a method, apparatus, equipment, storage medium, and program for determining the accessibility of a hole-making device, which can ensure the feasibility of hole-making processes and thereby improve the processing accuracy and operating efficiency of the hole-making device.

[0006] According to one aspect of the present invention, a method for determining the machinability of a hole-making device is provided, comprising:

[0007] Acquire the dimensional correlation parameters of the target hole-making equipment and the spatial orientation feature point data of the workpiece to be holed;

[0008] Based on the size association parameters of the target hole-making equipment and the spatial posture feature point data of the workpiece to be holed, the hole-making association angle data is calculated; wherein, the hole-making association angle data includes the driven rod rotation angle data of the target hole-making equipment and the rotation angle data of the A / C rotary head;

[0009] The target control length of the driving rod of the target drilling equipment is determined based on the size association parameters of the target drilling equipment and the rotation angle data of the driven rod.

[0010] The processing accessibility judgment result of the target hole-making equipment is determined based on the rotation angle data of the A / C rotary head and the target control length of the active rod.

[0011] According to another aspect of the present invention, a device for determining the accessibility of a hole-making apparatus is provided, comprising:

[0012] The data acquisition module is used to acquire the size-related parameters of the target hole-making equipment and the spatial posture feature point data of the workpiece to be holed;

[0013] The hole-making associated angle data calculation module is used to calculate hole-making associated angle data based on the size associated parameters of the target hole-making equipment and the spatial posture feature point data of the workpiece to be holed; wherein, the hole-making associated angle data includes the driven rod rotation angle data of the target hole-making equipment and the rotation angle data of the A / C rotary head;

[0014] The active rod target control length determination module is used to determine the target control length of the active rod of the target drilling equipment based on the size association parameters of the target drilling equipment and the rotation angle data of the driven rod.

[0015] The processing accessibility determination module is used to determine the processing accessibility determination result of the target drilling equipment based on the rotation angle data of the A / C rotary head and the target control length of the active rod.

[0016] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0017] At least one processor; and

[0018] A memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the method for determining the accessibility of the hole-making equipment according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions, the computer instructions being configured to cause a processor to execute and implement the method for determining the accessibility of a hole-making device as described in any embodiment of the present invention.

[0021] According to another aspect of the present invention, a computer program product is also provided, comprising a computer program that, when executed by a processor, implements the method for determining the accessibility of a hole-making device as described in any embodiment of the present invention.

[0022] This invention acquires the dimensional correlation parameters of the target drilling equipment and the spatial posture feature point data of the workpiece to be drilled. Based on these parameters, it calculates drilling-related angle data, including the rotation angle data of the driven rod of the target drilling equipment and the rotation angle data of the A / C rotary head. Furthermore, it determines the target control length of the driving rod of the target drilling equipment based on the dimensional correlation parameters and the rotation angle data of the driven rod, thereby determining the machining accessibility judgment result of the target drilling equipment based on the rotation angle data of the A / C rotary head and the target control length of the driving rod. This method overcomes the dependence of existing drilling analysis schemes on offline programming software for drilling equipment and manual review, ensuring the feasibility of the drilling process and thus improving the machining accuracy and operating efficiency of the drilling equipment.

[0023] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a flowchart of a method for determining the processability of a hole-making device according to Embodiment 1 of the present invention;

[0026] Figure 2 This is a flowchart of a method for determining the processability of a hole-making device according to Embodiment 2 of the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of a Tricept hybrid robot provided in Embodiment 2 of the present invention;

[0028] Figure 4 This is a schematic diagram of the structure of a Tricept hybrid robot serial mechanism provided in Embodiment 2 of the present invention;

[0029] Figure 5This is a schematic diagram of the structure of a Tricept hybrid robot serial mechanism in a special position according to Embodiment 2 of the present invention;

[0030] Figure 6 This is a schematic diagram of the structure of a Tricept hybrid robot for determining the minimum length of line segment ON1 according to Embodiment 2 of the present invention;

[0031] Figure 7 This is a schematic diagram of the structure of a parallel mechanism for a Tricept hybrid robot provided in Embodiment 2 of the present invention;

[0032] Figure 8 This is a schematic diagram of a three-dimensional model of the Tricept robot provided in Embodiment 2 of the present invention;

[0033] Figure 9 This is a schematic diagram of a device for determining the accessibility of a hole-making equipment according to Embodiment 3 of the present invention;

[0034] Figure 10 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. Detailed Implementation

[0035] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0036] It should be noted that the terms "first," "second," and "target," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0037] Example 1

[0038] Figure 1This is a flowchart of a method for determining the accessibility of a drilling equipment according to Embodiment 1 of the present invention. This embodiment is applicable to situations where the accessibility of drilling is determined based on the dimensional correlation parameters of the drilling equipment and the spatial posture feature point data of the workpiece to be drilled. This method can be executed by a device for determining the accessibility of the drilling equipment. This device can be implemented in software and / or hardware and is generally integrated into an electronic device. This electronic device can be a terminal device or a server device, as long as it can execute the method for determining the accessibility of the drilling equipment. The present invention does not limit the specific type of electronic device. Accordingly, as... Figure 1 As shown, the method includes the following operations:

[0039] S110. Obtain the dimensional correlation parameters of the target hole-making equipment and the spatial posture feature point data of the workpiece to be holed.

[0040] The target hole-making equipment can be a general term for industrial processing equipment used to process hole structures on various solid materials. For example, the target hole-making equipment may include, but is not limited to, hybrid robots with an A / C rotary head at the end of the analysis and a tool spindle offset, such as the Tricept hybrid robot. This embodiment of the invention does not limit the specific type of target hole-making equipment. The dimensional correlation parameter can be a dimensional parameter characterizing the structural properties of the target hole-making equipment itself. The workpiece to be hole-made can be a processing object that needs to have a hole structure of a specific size, shape, and precision processed on its surface or inside by the target hole-making equipment. The spatial attitude feature point data can be feature data related to the position of the hole to be made on the workpiece. For example, the spatial attitude feature point data may include, but is not limited to, the coordinate data of the hole position and the coordinate data of the hole axis direction. This embodiment of the invention does not limit the data types included in the spatial attitude feature point data.

[0041] In this embodiment of the invention, in order to accurately determine the accessibility of the hole-making equipment, the size-related parameters of the target hole-making equipment, as well as the coordinate data of the position of the hole to be made and the coordinate data of the hole axis on the workpiece to be made, and other spatial posture feature point data, can be obtained. The aforementioned parameters and information are used as the core basis for determining the accessibility of the target hole-making equipment.

[0042] S120. Calculate the hole-making associated angle data based on the size association parameters of the target hole-making equipment and the spatial posture feature point data of the workpiece to be holed; wherein, the hole-making associated angle data includes the driven rod rotation angle data of the target hole-making equipment and the rotation angle data of the A / C rotating head.

[0043] The hole-making related angle data can be angle parameters in the target hole-making equipment that are directly related to the determination of the workpiece's machinability. For example, the hole-making related angle data may include, but is not limited to, the driven rod rotation angle data and the A / C rotary head rotation angle data of the target hole-making equipment. This embodiment of the invention does not limit the specific data types included in the hole-making related angle data. The driven rod rotation angle data may include, but is not limited to, the rotation angle of the driven rod around the X-axis and the rotation angle of the driven rod around the Y-axis of the target hole-making equipment. This embodiment of the invention does not limit the specific data types included in the driven rod rotation angle data. The A / C rotary head rotation angle data may include, but is not limited to, the horizontal axis rotation angle and the vertical axis rotation angle of the A / C rotary head. This embodiment of the invention does not limit the specific data types included in the A / C rotary head rotation angle data.

[0044] Accordingly, after obtaining the dimensional correlation parameters of the target hole-making equipment and the spatial posture feature point data of the workpiece to be holed, kinematic analysis can be carried out on the series part of the target hole-making equipment based on the dimensional correlation parameters of the target hole-making equipment and the spatial posture feature point data of the workpiece to be holed under the preset working conditions for hole-making. By solving the analytical solution of the inverse kinematic equation of the series mechanism of the target hole-making equipment, hole-making related angle data, including the rotation angle data of the driven rod of the target hole-making equipment and the rotation angle data of the A / C rotating head, can be obtained.

[0045] S130. Determine the target control length of the driving rod of the target drilling equipment based on the size association parameters of the target drilling equipment and the rotation angle data of the driven rod.

[0046] The target control length of the active rod can be the calibrated length that the active rod of the target hole-making equipment should maintain under the preset working conditions that the hole-making process can reach.

[0047] Accordingly, after obtaining the dimensional correlation parameters of the target hole-making equipment and the rotation angle data of the driven rod, kinematic analysis can be carried out on the parallel part of the target hole-making equipment under the preset working conditions that the hole-making process can reach. By solving the analytical solution of the inverse kinematic equation of the parallel mechanism of the target hole-making equipment, the target control length of the driving rod of the target hole-making equipment can be obtained.

[0048] S140. Determine the processing accessibility judgment result of the target hole-making equipment based on the rotation angle data of the A / C rotary head and the target control length of the active rod.

[0049] Accordingly, after obtaining the rotation angle data of the A / C rotary head and the target control length of the drive rod, the rotation angle data of the A / C rotary head and the target control length of the drive rod under the preset hole-making operation conditions can be matched with the preset adjustment range of each key parameter of the target hole-making equipment. Based on the matching result, the machining accessibility judgment result of the target hole-making equipment can be determined. Further, the target hole-making equipment is controlled to perform hole-making operations based on the machining accessibility judgment result. Specifically, if the machining accessibility judgment result of the target hole-making equipment indicates that hole-making is possible, the target hole-making equipment can be driven to perform hole-making operations based on the preset spatial posture feature point data of the workpiece to be holed; if the machining accessibility judgment result of the target hole-making equipment indicates that hole-making is not possible, the hole-making operation command for the current hole position can be immediately terminated, the specific reason for the inaccessibility can be output and recorded, and a prompt message can be sent to the control system or operator, thereby avoiding risks such as collisions, tool damage, workpiece scrapping, or positioning accuracy failure caused by forced operation of the equipment.

[0050] Therefore, the method for determining the accessibility of drilling equipment provided in this invention determines the accessibility of the target drilling equipment by solving the analytical solutions of the inverse kinematic equations of the series and parallel mechanisms of the target drilling equipment. Compared with the traditional mode of manual intervention by process personnel to check, analyze, and adjust the drilling path planning scheme item by item, this method can significantly improve the accuracy, consistency, and reliability of the accessibility determination, thereby effectively avoiding the risk of misjudgment by human experience. Furthermore, compared with traditional numerical methods, the method of solving the path using analytical solutions of inverse kinematic equations can significantly shorten the calculation time, thus adapting to the real-time requirements of drilling operations. In addition, relying on accessibility prediction can ensure the feasibility of the drilling process, thereby improving the processing accuracy and operational efficiency of the drilling equipment.

[0051] This invention acquires the dimensional correlation parameters of the target drilling equipment and the spatial posture feature point data of the workpiece to be drilled. Based on these parameters, it calculates drilling-related angle data, including the rotation angle data of the driven rod of the target drilling equipment and the rotation angle data of the A / C rotary head. Furthermore, it determines the target control length of the driving rod of the target drilling equipment based on the dimensional correlation parameters and the rotation angle data of the driven rod, thereby determining the machining accessibility judgment result of the target drilling equipment based on the rotation angle data of the A / C rotary head and the target control length of the driving rod. This method overcomes the dependence of existing drilling analysis schemes on offline programming software for drilling equipment and manual review, ensuring the feasibility of the drilling process and thus improving the machining accuracy and operating efficiency of the drilling equipment.

[0052] Example 2

[0053] Figure 2 This is a flowchart of a method for determining the accessibility of a drilling device according to Embodiment 2 of the present invention. This embodiment is a specific embodiment based on the above embodiment. In this embodiment, specific optional implementation methods are given for calculating drilling-related angle data based on the size association parameters of the target drilling device and the spatial posture feature point data of the workpiece to be drilled, and for determining the target control length of the driving rod of the target drilling device based on the size association parameters of the target drilling device and the rotation angle data of the driven rod. Correspondingly, as Figure 2 As shown, the method in this embodiment may include:

[0054] S210. Obtain the dimensional correlation parameters of the target hole-making equipment and the spatial posture feature point data of the workpiece to be holed.

[0055] S220. Determine the tool tip coordinate data and the unit vector of the tool axis direction of the target hole-making device according to the size association parameters.

[0056] The tool tip coordinate data can be the coordinates of the tool tip of the target drilling equipment after establishing a coordinate system with the center point of the stationary platform of the target drilling equipment as the origin. The unit vector of the tool axis direction can be a vector with a modulus of 1 that represents the spatial direction of the tool axis of the target drilling equipment.

[0057] Figure 3 This is a structural schematic diagram of a Tricept hybrid robot provided in Embodiment 2 of the present invention. Specifically, as shown... Figure 3 As shown, the Tricept hybrid robot consists of an A / C rotating head, two platforms (one stationary and one moving), and branches connecting the two platforms. The moving platform moves relative to the stationary platform under the drive of the branches. Three of the branches are identical in structure. Each branch, from the stationary platform to the moving platform, consists of a Hooke joint, a translational joint, and a ball joint. The relative positions of the Hooke joints are fixed and they are symmetrically arranged around the center of the stationary platform. The translational joint is the kinematic pair where the drive is located; the structure containing the translational joint is called the driving link. The movement of the translational joint causes the movement of the moving platform. The relative positions of the ball joints are fixed and they are symmetrically arranged around the center of the moving platform. The fourth branch, from the center of the stationary platform to the moving platform, consists of a Hooke joint and a translational joint. The axis of the translational joint is perpendicular to the moving platform and passes through the center of the moving platform; the structure of this translational joint is called the driven link, and its length is stretched and compressed as the moving platform moves. Both the vertical axis rotary joint and the horizontal axis rotary joint of the A / C rotary head can drive the corresponding kinematic joints. Its vertical axis coincides with the axis of the driven rod's prismatic joint, and the vertical axis intersects the horizontal axis at point M. The tool mounting point P on the A / C rotary head is offset from its vertical axis, and point N1 is located at the end tool tip, satisfying the following conditions: .

[0058] In a specific example, to avoid interference between components of a hybrid robot, the horizontal axis rotation angle of the A / C swivel head is... The range of values ​​can be The preset length threshold of the active lever can be The distance from the center point A' of the moving platform to point M can be The radius of the moving platform The radius of the static platform .

[0059] In this embodiment of the invention, after obtaining the dimensional correlation parameters of the target drilling equipment, a coordinate system can be established with the center point O of the static platform of the target drilling equipment as the origin, and the cutting tip point of the target drilling equipment can be determined in this coordinate system. Tool tip coordinate data And a reference point located a unit length away from the tool tip along the tool axis direction. coordinate data Furthermore, the unit vector along the tool axis can be calculated based on the coordinates of the tool tip and the reference point. for .

[0060] Figure 4 This is a schematic diagram of the structure of a Tricept hybrid robot serial mechanism provided in Embodiment 2 of the present invention. In a specific example, such as... Figure 4 As shown, we can assume the tip of the knife. The distance to the tool mounting point P is , The distance between the tool mounting point P and the intersection point M of the A / C rotary head axis is... , The coordinate transformation matrix T from the center point of the target drilling equipment's static platform through the driven rod, A / C rotating head, to the tool tip is:

[0061] ;

[0062] ;

[0063] ;

[0064] ;

[0065] ;

[0066] ;

[0067] ;

[0068] Furthermore, the tool tip point can be calculated based on the coordinate transformation matrix T. Tool tip coordinate data :

[0069] ;

[0070] ;

[0071] ;

[0072] in, This is the coordinate transformation matrix from the center point of the target drilling equipment's static platform through the driven rod, the A / C rotating head, to the tool tip. This represents the unknown coordinates of the blade tip. Let X be the rotation angle of the driven rod of the target drilling device about the X-axis. Let be the rotation angle of the driven rod of the target drilling device about the Y-axis. This represents the rotation angle along the vertical axis of the A / C swivel head. This refers to the horizontal axis rotation angle of the A / C rotary head. The distance between the tool mounting point P of the target drilling equipment and the intersection point M of the A / C rotary head axis. For the cutting tip of the target hole-making equipment The distance to the tool mounting point P, The distance is the distance from the center point of the stationary platform of the target drilling equipment to the intersection of the axes of the A / C rotary head.

[0073] S230. Determine the hole axis pose feature vector of the workpiece to be drilled based on the spatial posture feature point data.

[0074] Among them, the hole shaft pose feature vector can be a vector determined based on the coordinate data of the position of the hole to be made on the workpiece and the coordinate data of the hole shaft direction.

[0075] Specifically, after acquiring the spatial orientation feature point data of the workpiece to be drilled, the coordinate data of the position point K1 of the hole to be drilled on the workpiece can be determined according to the above coordinate system. And the coordinate data of the hole axis pointing at any point K2 indicating the direction of the hole axis. Based on this, the hole axis pose feature vector of the workpiece to be drilled can be determined using the aforementioned coordinate data. .

[0076] S240. Calculate the hole-making associated angle data based on the tool tip coordinate data, the unit vector of the tool axis direction, the spatial posture feature point data, and the hole axis pose feature vector.

[0077] Accordingly, after obtaining the tool tip coordinate data, the unit vector of the tool axis direction, the spatial posture feature point data, and the hole axis pose feature vector, the hole-making related angle data can be calculated based on the above data under the preset hole-making achievable working conditions.

[0078] In an optional embodiment of the present invention, the step of calculating the hole-making associated angle data based on the tool tip coordinate data, the unit vector of the tool axis direction, the spatial posture feature point data, and the hole axis pose feature vector may include: calculating a unit hole axis pose feature vector based on the hole axis pose feature vector; constructing a first objective function with the goal of making the coordinate data of the hole to be made in the tool tip coordinate data and the spatial posture feature point data equal; constructing a second objective function with the goal of making the unit vector of the tool axis direction coincide with the unit hole axis pose feature vector; and solving the first objective function and the second objective function to obtain the hole-making associated angle data.

[0079] The unit hole axis pose feature vector can be a vector with a modulus of 1 obtained by standardizing the hole axis pose feature vector. The first objective function can be a function constructed with the goal of making the coordinates of the hole position points in the tool tip coordinate data and the spatial attitude feature point data equal. The second objective function can be a function constructed with the goal of making the unit vector in the tool axis direction coincide with the unit hole axis pose feature vector.

[0080] Specifically, when calculating the hole-making associated angle data based on the tool tip coordinates, the unit vector along the tool axis, spatial posture feature points, and the hole axis pose feature vector, the hole axis pose feature vector can first be standardized to obtain a unit hole axis pose feature vector. Further, to determine whether the tool tip can reach the hole to be made, a first objective function can be constructed with the goal of the tool tip coinciding with the hole to be made, and a second objective function can be constructed with the goal of the unit vector along the tool axis coinciding with the unit hole axis pose feature vector. Based on this, the first and second objective functions can be solved to obtain the hole-making associated angle data.

[0081] In an optional embodiment of the present invention, solving the first objective function and the second objective function to obtain the hole-making related angle data may include: solving the hole-making related angle data based on the following formula:

[0082] ;

[0083] ;

[0084] in, The coordinate data of the tool tip point, The coordinate data of the hole to be manufactured position point in the spatial attitude feature point data. The unit hole shaft pose feature vector. Let be the unit vector along the tool axis direction. Let X be the rotation angle of the driven rod of the target drilling device about the X-axis. Let be the rotation angle of the driven rod of the target drilling device about the Y-axis. The vertical axis rotation angle of the A / C swivel head. The horizontal axis rotation angle of the A / C swivel head. , , and Together they constitute the hole-making related angle data. and The rotation angle data of the A / C rotary head of the target drilling equipment together constitute the rotation angle data of the target drilling equipment. , Together they constitute the rotation angle data of the driven rod. The distance is the distance from the center point of the stationary platform of the target drilling equipment to the intersection of the axes of the A / C rotary head. The distance between the tool mounting point of the target hole-making equipment and the intersection of the axes of the A / C rotary heads. The distance is the distance from the tip of the target drilling device to the tool mounting point.

[0085] In a specific example, when solving the above equation, we can assume that... , , , , , , , , , , , , , , Then the above equation can be simplified to:

[0086] ;

[0087] Furthermore, the simplified equation can be further simplified using the elimination method, resulting in:

[0088] ;

[0089] Solving the above equation, we can obtain:

[0090] ;

[0091] in, , , , , , , , , , , , , , , , , , , , , and These are all intermediate parameters used in the process of simplifying the equations and have no actual physical meaning.

[0092] In a specific example, the solution obtained using computer equipment is as follows:

[0093] ;

[0094] ;

[0095] ;

[0096] ;

[0097] ;

[0098] ;

[0099] .

[0100] It should be noted that all the above parameters can be calculated by computer equipment, and the specific values ​​of each parameter are not described in detail in the embodiments of the present invention.

[0101] Furthermore, it can be done through and Determine the vertical axis rotation angle of the A / C swivel head ,pass and Determine the horizontal axis rotation angle of the A / C turner .

[0102] In a specific example, if a denominator of zero occurs during the solution of the above equation, the solution can be avoided by adding constraints.

[0103] In a specific example, it can be eliminated by equations (4), (5), (6), and (7). ,get:

[0104] ;

[0105] ;

[0106] It can be eliminated by equations (1) and (2). ,get:

[0107] ;

[0108] It can be eliminated by equations (2) and (3). ,get:

[0109] ;

[0110] We can obtain the answer from equation (13). :

[0111] ;

[0112] We can obtain the answer from equation (14). :

[0113] ;

[0114] We can obtain the answer from equation (11). :

[0115] ;

[0116] We can obtain the answer from equation (12). :

[0117] ;

[0118] It can be eliminated by equations (15) and (17). ,get:

[0119] ;

[0120] It can be eliminated by equations (16) and (18). ,get:

[0121] ;

[0122] Multiply both sides of equation (19) by We can obtain:

[0123] ;

[0124] Multiply both sides of equation (20) by We can obtain:

[0125] ;

[0126] It can be eliminated by equations (17) and (18). ,get:

[0127] ;

[0128] Subtracting both sides of equations (21) and (22), we get:

[0129] ;

[0130] Substituting equation (24) into (23), we get:

[0131] ;

[0132] Substituting equations (24) and (25) into (19), we get:

[0133] ;

[0134] Substituting equations (24) and (25) into (17), we get:

[0135] ;

[0136] From equation (2), we can obtain:

[0137] ;

[0138] From equation (6), we can obtain:

[0139] ;

[0140] Substituting equations (24) and (25) into (9), we get:

[0141] ;

[0142] By combining equations (7), (8), (26), and (30), we can obtain the following system of equations:

[0143] (31);

[0144] Solving the above system of equations yields:

[0145] ;

[0146] Solving equation (32) yields:

[0147] ;

[0148] when At that time, we can obtain:

[0149] ;

[0150] Solving equation (33) yields:

[0151] when hour, ,otherwise, There are no real solutions. This is because machine tools must avoid interference between their parts. The angle is limited, for example It can be known that If the value is positive, then we know that:

[0152] ;

[0153] when When, it can be obtained using equation (34). At this point, it is necessary to determine... Does the value of have any meaning, if Then it is believed There are no real solutions. According to... The polynomial of, obviously when hour, Therefore, the solution cannot be obtained using method (34) at this time. .

[0154] Will , Substituting the first equation into the system of equations (31) and solving equations (8) simultaneously, we can obtain:

[0155] ;

[0156] Solving the above system of equations (39) yields:

[0157] ;

[0158] However, when When this happens, equation (40) cannot be used to solve the problem. At this time there is and Substituting this into equation (26) yields:

[0159] ;

[0160] Further judgment is needed. Is it 0? At this time:

[0161] ;

[0162] Figure 5This is a schematic diagram of the serial connection mechanism of the Tricept hybrid robot provided in Embodiment 2 of the present invention at a specific location. Specifically, if the above is 0, the serial connection mechanism of the Tricept hybrid robot will present as follows: Figure 5 In the configuration shown, points O, P, N1, and N2 are on the same straight line. Further, it is necessary to determine... Figure 5 Horizontal axis rotation angle of the A / C swivel head Is it limited to a preset horizontal axis rotation angle threshold range, for example? . Figure 5 Horizontal axis rotation angle of the A / C swivel head The following formula can be used for calculation:

[0163] ;

[0164] when When taking the maximum value, we can obtain... Figure 5 Horizontal axis rotation angle of the A / C swivel head Maximum value:

[0165] ;

[0166] when When taking the minimum value, we can obtain Figure 5 Horizontal axis rotation angle of the A / C swivel head Minimum value:

[0167] ;

[0168] in, The distance is the distance from the center point of the stationary platform of the target drilling equipment to the intersection of the axes of the A / C rotary head. The distance from the center point A' of the moving platform to point M, The target control length of the first active rod of the target drilling device. Let be the radius of the static platform. Let be the radius of the moving platform.

[0169] Based on the above formula, it can be determined that... Figure 5 Horizontal axis rotation angle of the A / C swivel head The range of values ​​is This range clearly exceeds the horizontal axis rotation angle of the A / C swivel head. Limitations Therefore, given the current robot size, .

[0170] From equation (41), we can obtain:

[0171] when hour, Substituting into equation (7) yields .

[0172] Depend on We can obtain:

[0173] ;

[0174] because From the above formula, we can obtain .because Together with Substitute It can be obtained .

[0175] Will , Substituting into equation (24), we get:

[0176] when hour, Substituting into equation (9) yields .

[0177] Will , , Substituting into equation (25), we get:

[0178] when hour, ;

[0179] when hour, ;

[0180] By combining equations (42) and (8) into a system of equations, we can obtain the result when... , , hour:

[0181] ;

[0182] Furthermore, it is necessary to analyze whether the denominator of the above equation is 0. If Then we have a system of equations Substitute it into , , , The system of equations can be obtained as follows:

[0183] ;

[0184] because , ,have Substituting this into the above system of equations, we can obtain:

[0185] ;

[0186] when , , At that time, the driven links OM, MP, and PN1 of the hybrid robot are all in the plane XZ, and have .

[0187] Figure 6 This is a schematic diagram of the structure of a Tricept hybrid robot used to determine the minimum length of line segment ON1, as provided in Embodiment 2 of the present invention. Specifically, as shown... Figure 6 As shown, when N1 is within line segment OM and the length of line segment OM is minimum, The value is at its minimum. At this time:

[0188] ;

[0189] in, , Let this be the target control length of the first active link. Furthermore, substituting the dimensions of the Tricept hybrid robot, we can obtain... ,Right now This contradicts equation (45), therefore it can be determined that... .

[0190] By combining equations (43) and (8) into a system of equations, we can obtain the appropriate solution. , , hour,

[0191] ;

[0192] Furthermore, it is necessary to analyze whether the denominator of the above equation is 0. If Then we have the system of equations: Substitute it into , , , The system of equations can be obtained as follows:

[0193] ;

[0194] because , ,have Substituting this into the above system of equations, we can obtain:

[0195] ;

[0196] Based on the aforementioned analysis, when , hour, This contradicts equation (47), therefore it can be determined that .

[0197] when When the time comes, equation (35) can be used to solve the problem. Further judgment is needed. The positive and negative, when When, it can be obtained using equation (8). ;when hour, Obviously Angle values ​​that exceed limits must be rejected.

[0198] according to and The polynomial of, obviously when hour, At this point, equation (35) cannot be used to solve the problem. .

[0199] when When, we can use equation (40) to obtain Substituting it into equation (8) yields:

[0200] ;

[0201] when Then, the results obtained using equations (44) and (46) will be... Substituting into equation (8), we can obtain Thus, the unknowns in the system of equations (31) can be obtained. , , and All analytical solutions.

[0202] Furthermore, it can be , , and Substituting the analytical solution into equation (27), we can obtain .

[0203] when Then, equations (24) and (25) can be used to solve the problem. and .

[0204] because ,when At that time, , , and Substituting into equation (28) yields ;when At that time, , , , , and Substituting into equation (1) yields .when hour, However, considering the horizontal axis rotation angle of the A / C turner... The range of values ​​is It can be known that Substituting it into equation (2) yields ,Will , , , , , and Substituting into equation (1) yields .

[0205] because , ,Will , , , , , , and Substituting into equation (6) yields Thus, the unknowns of the system of equations (1) to (10) can be obtained. , , , , , , , and All analytical solutions.

[0206] Furthermore, it can be derived from and Calculate the vertical axis rotation angle of the A / C swivel head. , can be and Calculate the horizontal axis rotation angle of the A / C swivel head. .

[0207] S250. Construct a first coordinate transformation matrix and a second coordinate transformation matrix based on the rod topology connection relationship of the target hole-making equipment.

[0208] The topological connection relationship of the rods can refer to the connection method, spatial arrangement, and topological association of mutual constraints between the rods in the target drilling equipment. The first coordinate transformation matrix and the second coordinate transformation matrix can be used to map the coordinate data of the center point of the static platform of the target drilling equipment to the coordinate data of the center of the ball joint connecting the active rod and the moving platform.

[0209] Figure 7 This is a structural schematic diagram of a parallel mechanism for a Tricept hybrid robot provided in Embodiment 2 of the present invention. Specifically, as shown... Figure 7 As shown, let point A i (i=1, 2, 3) represents the coordinates of the center of the ball joint connecting the active rod i to the moving platform, i.e., the intersection of the active rod and the moving platform. Point A' is the center point of the moving platform, point O is the center point of the stationary platform, and point B... i Let B be the center point of the Hooke's hinge connecting the stationary platform and the driving link i. The driving link i revolves around B. i The angle of rotation of the point along the X-axis is , around B i The angle of rotation of the point along the Y-axis is Using the active rod connected to line segment OB1 on the stationary platform as the reference active rod, line segment OB1 on the stationary platform rotates around the Z-axis by an angle. It coincides with line segment OB2, and the rotation angle is... It coincides with line segment OB3. Similarly, line segment A'A1 on the platform rotates around the Z-axis by an angle. It coincides with line segment A'A2, and the rotation angle is... It coincides with line segment A'A3.

[0210] like Figure 7 As shown, point A is found using the vector method. i The coordinate data can have two paths:

[0211] The first path could be from the center point O of the static platform of the target drilling equipment through point B. i Active lever L i To point A i The first coordinate transformation matrix obtained from the first path can be:

[0212] ;

[0213] ;

[0214] ;

[0215] ;

[0216] ;

[0217] .

[0218] The second path could be from the center point O of the static platform of the target drilling equipment, through the moving rod to the center point A' of the moving platform, and then to point A. i The second coordinate transformation matrix obtained from the second path can be:

[0219] ;

[0220] ;

[0221] ;

[0222] ;

[0223] ;

[0224] ;

[0225] in, This is the first coordinate transformation matrix. This is the second coordinate transformation matrix.

[0226] It is understandable that the intersection point A between the active rod and the moving platform, obtained from the first coordinate transformation matrix and the second coordinate transformation matrix, is... i The coordinate data are consistent:

[0227] .

[0228] S260. Determine the control length constraint condition of the active rod of the target hole-making device according to the first coordinate transformation matrix.

[0229] Among them, the control length constraint of the active link can be a function used to characterize the control length of the active link.

[0230] Accordingly, after constructing the first coordinate transformation matrix and the second coordinate transformation matrix based on the rod topology connection relationship of the target hole-making equipment, the first target transformation matrix can be used to solve for the control length constraint condition of the active rod of the target hole-making equipment.

[0231] In a specific example, continuing with the above example, the intersection point A of the aforementioned active lever and moving platform... i The expression for the coordinate data can be used to determine the intersection point A between the active rod and the moving platform. i The coordinate data are as follows:

[0232] ;

[0233] ;

[0234] ;

[0235] Multiply both sides of equation (49) by We can obtain:

[0236] ;

[0237] Multiply both sides of equation (50) by We can obtain:

[0238] ;

[0239] Subtracting both sides of equations (52) and (53), we can obtain:

[0240] ;

[0241] Multiply both sides of equation (49) by We can obtain:

[0242] ;

[0243] Multiply both sides of equation (50) by We can obtain:

[0244] ;

[0245] Adding both sides of equations (55) and (56) together, we get:

[0246] ;

[0247] From equations (54) and (57), we can obtain:

[0248] ;

[0249] Furthermore, from the above equation (58), we can derive:

[0250] ;

[0251] S270. Determine the coordinate data of the intersection point of the active rod and the moving platform according to the second coordinate transformation matrix.

[0252] Accordingly, after constructing the first coordinate transformation matrix and the second coordinate transformation matrix based on the rod topology connection relationship of the target hole-making equipment, the coordinate data of the intersection point of the active rod and the moving platform can be derived and determined based on the second coordinate transformation matrix.

[0253] In a specific example, let's continue with the above example. In equation (59) , and It can be determined by the second coordinate transformation matrix. Specifically:

[0254] Depend on It can be determined that:

[0255] ;

[0256] ;

[0257] ;

[0258] in, Let X be the rotation angle of the driven rod about the X-axis. Let be the rotation angle of the driven rod about the Y-axis. The distance is the distance from the center point of the static platform to the center point of the moving platform. Let A'A1 on the moving platform be the angle of rotation about the Z-axis. This is also the angle by which line segment OB1 on the static platform rotates around the Z-axis. For the active rod i around B i The angle of rotation of the point along the Y-axis For the active rod i around B i The angle of rotation of the point along the X-axis.

[0259] S280. Determine the target control length of the active rod of the target hole-making device based on the constraint condition of the control length of the active rod of the target hole-making device and the coordinate data of the intersection point of the active rod and the moving platform.

[0260] Accordingly, after obtaining the control length constraint of the active rod of the target hole-making equipment and the coordinate data of the intersection of the active rod and the moving platform, the coordinate data of the intersection of the active rod and the moving platform can be substituted into the control length constraint of the active rod of the target hole-making equipment, thereby determining the target control length of the active rod of the target hole-making equipment.

[0261] In an optional embodiment of the present invention, determining the target control length of the active rod of the target hole-making device based on the control length constraint condition of the active rod of the target hole-making device and the coordinate data of the intersection point of the active rod and the moving platform may include:

[0262] The target control length of the active rod of the target drilling equipment is determined based on the following formula:

[0263] ;

[0264] ;

[0265] ;

[0266] ;

[0267] in, The target control length of each of the active rods of the target drilling device. The coordinate data of the intersection points of each of the aforementioned active rods and moving platforms. Let be the radius of the static platform. Let be the radius of the moving platform. Let Z be the rotation angle of the line connecting the center point of the static platform, the intersection point of the reference drive rod and the static platform, about the Z-axis. Let X be the rotation angle of the driven rod of the target drilling device about the X-axis. Let be the rotation angle of the driven rod of the target drilling device about the Y-axis. The distance between the center point of the static platform and the center point of the moving platform is given.

[0268] S290. Determine the processing accessibility judgment result of the target hole-making equipment based on the rotation angle data of the A / C rotary head and the target control length of the active rod.

[0269] In an optional embodiment of the present invention, determining the processing accessibility judgment result of the target hole-making equipment based on the rotation angle data of the A / C rotary head and the target control length of the drive rod may include: determining the rotation angle matching relationship between the rotation angle data of the A / C rotary head and a preset rotation angle threshold; determining the drive rod length matching relationship between the target control length of the drive rod and a preset length threshold; and determining that the processing accessibility judgment result of the target hole-making equipment is hole-making accessible when both the rotation angle matching relationship and the drive rod length matching relationship are determined to be matched.

[0270] The preset angle threshold can be a pre-set range of angle data for the A / C rotary head of the target drilling equipment. The angle matching relationship can be a matching determination result indicating whether the angle data of the A / C rotary head is within the preset angle threshold range. The preset length threshold can be a pre-set range of the extension length of the active rod of the target drilling equipment. The active rod length matching relationship can be a matching determination result indicating whether the target control length of the active rod is within the preset length threshold range.

[0271] Table 1. Comparison of Experimental Results for the Accessibility Determination of Hole-Making Equipment

[0272]

[0273] In this embodiment of the invention, when determining the processing accessibility judgment result of the target hole-making equipment based on the rotation angle data of the A / C rotary head and the target control length of the drive rod, the rotation angle matching relationship can first be determined based on the inclusion relationship between the rotation angle data of the A / C rotary head and a preset rotation angle threshold. For example, if the rotation angle data of the A / C rotary head is within the range of the preset rotation angle threshold, the rotation angle matching relationship is matched; if the rotation angle data of the A / C rotary head exceeds the range of the preset rotation angle threshold, the rotation angle matching relationship is not matched. Simultaneously, the drive rod length matching relationship can be determined based on the inclusion relationship between the target control length of the drive rod and a preset length threshold. If the target control length of the drive rod is within the range of the preset length threshold, the drive rod length matching relationship is matched; if the target control length of the drive rod exceeds the range of the preset length threshold, the drive rod length matching relationship is not matched. Furthermore, if both the angle matching relationship and the active rod length matching relationship are matched, the processing accessibility judgment result of the target hole-making equipment can be determined as hole-making accessible; if at least one of the angle matching relationship and the active rod length matching relationship is mismatched, the processing accessibility judgment result of the target hole-making equipment can be determined as hole-making inaccessible.

[0274] Figure 8 This is a schematic diagram of a three-dimensional model of the Tricept robot provided in Embodiment 2 of the present invention. In a specific example, a model can be created in simulation software as follows: Figure 8 The 3D model of the Tricept robot is shown, and motion simulation verification is performed based on the model. Specifically, a preset length threshold for the active rod can be set, and the coordinate data of the tool tip of the target hole-making device and the coordinate data of a reference point a unit length away from the tool tip along the tool axis can be measured and recorded. It is assumed that the coordinate data of the hole location point K1 on the workpiece to be holed is the same as the coordinate data of the tool tip of the target hole-making device, and the coordinate data of the hole axis pointing at any point K2 in the hole axis direction is the same as the coordinate data of the reference point a unit length away from the tool tip along the tool axis direction. Further, the machining features of K1 and K2 can be generated.

[0275] Furthermore, in the simulation environment, the coordinate values ​​of the two points can be obtained by selecting the aforementioned processing features with the mouse. Based on this, the calculated value of the active shaft variable can be calculated using the method for determining the accessibility of the drilling equipment provided in Embodiment 2 of this invention, and the model can be driven to move. The consistency between the calculated value of the active shaft variable and the set value of the active shaft can be compared and analyzed, i.e., the consistency between the target control length of the active rod and the preset length threshold. Table 1 is a comparison table of experimental results for determining the accessibility of drilling equipment provided in Embodiment 2 of this invention. As shown in Table 1, the error between the variable value of the target control length of the active rod obtained from the experiment and the calculated value of the preset length threshold does not exceed... mm.

[0276] This invention acquires the dimensional correlation parameters of the target drilling equipment and the spatial posture feature point data of the workpiece to be drilled. Based on the dimensional correlation parameters, it determines the tool tip coordinate data and the unit vector of the tool axis direction of the target drilling equipment. Based on the spatial posture feature point data, it determines the hole axis pose feature vector of the workpiece to be drilled. Further, it calculates drilling-related angle data based on the tool tip coordinate data, the unit vector of the tool axis direction, the spatial posture feature point data, and the hole axis pose feature vector. Further, it constructs a first coordinate transformation matrix and a second coordinate transformation matrix based on the topological connection relationship of the rods of the target drilling equipment. After obtaining the first and second coordinate transformation matrices, it determines the control length constraint condition of the active rod of the target drilling equipment based on the first coordinate transformation matrix, and determines the coordinate data of the intersection point of the active rod and the moving platform based on the second coordinate transformation matrix. Further, it determines the target control length of the active rod of the target drilling equipment based on the control length constraint condition of the active rod and the coordinate data of the intersection point of the active rod and the moving platform. Finally, it determines the machining accessibility judgment result of the target drilling equipment based on the rotation angle data of the A / C rotary head and the target control length of the active rod. The above method overcomes the dependence of existing hole-making analysis schemes on offline programming software for hole-making equipment and manual review, which can ensure the feasibility of hole-making processing procedures and thus improve the processing accuracy and operating efficiency of hole-making equipment.

[0277] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information in this technical solution comply with relevant laws and regulations and do not violate public order and good morals.

[0278] It should be noted that all information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display, data used for analysis, etc.) involved in this disclosure are information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data comply with the relevant laws, regulations and standards of the relevant regions.

[0279] It should be noted that any arrangement or combination of the technical features in the above embodiments also falls within the protection scope of this invention.

[0280] Example 3

[0281] Figure 9 This is a schematic diagram of a device for determining the accessibility of a hole-making device according to Embodiment 3 of the present invention. Figure 9 As shown, the device includes: a data acquisition module 310, a hole-making related angle data calculation module 320, an active rod target control length determination module 330, and a processing accessibility judgment result determination module 340, wherein:

[0282] The data acquisition module 310 is used to acquire the size-related parameters of the target hole-making equipment and the spatial posture feature point data of the workpiece to be holed.

[0283] The hole-making associated angle data calculation module 320 is used to calculate hole-making associated angle data based on the size associated parameters of the target hole-making equipment and the spatial posture feature point data of the workpiece to be holed; wherein, the hole-making associated angle data includes the driven rod rotation angle data of the target hole-making equipment and the rotation angle data of the A / C rotating head.

[0284] The active rod target control length determination module 330 is used to determine the active rod target control length of the target drilling equipment based on the size association parameters of the target drilling equipment and the rotation angle data of the driven rod.

[0285] The processing accessibility determination module 340 is used to determine the processing accessibility determination result of the target hole-making equipment based on the rotation angle data of the A / C rotary head and the target control length of the active rod.

[0286] This invention acquires the dimensional correlation parameters of the target drilling equipment and the spatial posture feature point data of the workpiece to be drilled. Based on these parameters, it calculates drilling-related angle data, including the rotation angle data of the driven rod of the target drilling equipment and the rotation angle data of the A / C rotary head. Furthermore, it determines the target control length of the driving rod of the target drilling equipment based on the dimensional correlation parameters and the rotation angle data of the driven rod, thereby determining the machining accessibility judgment result of the target drilling equipment based on the rotation angle data of the A / C rotary head and the target control length of the driving rod. This method overcomes the dependence of existing drilling analysis schemes on offline programming software for drilling equipment and manual review, ensuring the feasibility of the drilling process and thus improving the machining accuracy and operating efficiency of the drilling equipment.

[0287] Optionally, the hole-making associated angle data calculation module 320 is specifically used to: determine the tool tip coordinate data and the unit vector of the tool axis direction of the target hole-making equipment according to the size association parameters; determine the hole axis pose feature vector of the workpiece to be holed according to the spatial posture feature point data; and calculate the hole-making associated angle data according to the tool tip coordinate data, the unit vector of the tool axis direction, the spatial posture feature point data, and the hole axis pose feature vector.

[0288] Optionally, the hole-making associated angle data calculation module 320 is further configured to: calculate a unit hole axis pose feature vector based on the hole axis pose feature vector; construct a first objective function with the goal of making the coordinate data of the tool tip coordinate data and the coordinate data of the hole to be made position point in the spatial posture feature point data equal; construct a second objective function with the goal of making the unit vector of the tool axis direction coincide with the hole axis pose feature vector; and solve the first objective function and the second objective function to obtain the hole-making associated angle data.

[0289] Optionally, the hole-making related angle data calculation module 320 is also used to: solve the hole-making related angle data based on the following formula:

[0290] ;

[0291] ;

[0292] in, The coordinate data of the tool tip point, The coordinate data of the hole to be manufactured position point in the spatial attitude feature point data. The unit hole shaft pose feature vector. Let be the unit vector along the tool axis direction. Let X be the rotation angle of the driven rod of the target drilling device about the X-axis. Let be the rotation angle of the driven rod of the target drilling device about the Y-axis. The vertical axis rotation angle of the A / C swivel head. The horizontal axis rotation angle of the A / C swivel head. , , and Together they constitute the hole-making related angle data. and The rotation angle data of the A / C rotary head of the target drilling equipment together constitute the rotation angle data of the target drilling equipment. , Together they constitute the rotation angle data of the driven rod. The distance is the distance from the center point of the stationary platform of the target drilling equipment to the intersection of the axes of the A / C rotary head. The distance between the tool mounting point of the target hole-making equipment and the intersection of the axes of the A / C rotary heads. The distance is the distance from the tip of the target drilling device to the tool mounting point.

[0293] Optionally, the active rod target control length determination module 330 is specifically used to: construct a first coordinate transformation matrix and a second coordinate transformation matrix based on the rod topology connection relationship of the target drilling device; wherein, the first coordinate transformation matrix and the second coordinate transformation matrix are used to map the coordinate data of the center point of the static platform of the target drilling device to the coordinate data of the intersection point of the active rod and the moving platform; determine the active rod control length constraint condition of the target drilling device based on the first coordinate transformation matrix; determine the coordinate data of the intersection point of the active rod and the moving platform based on the second coordinate transformation matrix; and determine the active rod target control length of the target drilling device based on the active rod control length constraint condition and the coordinate data of the intersection point of the active rod and the moving platform.

[0294] Optionally, the active rod target control length determination module 330 is further configured to: determine the active rod target control length of the target drilling device based on the following formula:

[0295] ;

[0296] ;

[0297] ;

[0298] ;

[0299] in, The target control length of each of the active rods of the target drilling device. The coordinate data of the intersection points of each of the aforementioned active rods and moving platforms. Let be the radius of the static platform. Let be the radius of the moving platform. Let Z be the rotation angle of the line connecting the center point of the static platform, the intersection point of the reference drive rod and the static platform, about the Z-axis. Let X be the rotation angle of the driven rod of the target drilling device about the X-axis. Let be the rotation angle of the driven rod of the target drilling device about the Y-axis. The distance between the center point of the static platform and the center point of the moving platform is given.

[0300] Optionally, the processing accessibility determination module 340 is specifically used to: determine the angle matching relationship between the angle data of the A / C rotary head and the preset angle threshold; determine the active rod length matching relationship between the target control length of the active rod and the preset length threshold; and determine the processing accessibility determination result of the target hole-making equipment as hole-making accessible when both the angle matching relationship and the active rod length matching relationship are determined to be matched.

[0301] The aforementioned device for determining the accessibility of drilling equipment can execute the method for determining the accessibility of drilling equipment provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in this embodiment can be found in the method for determining the accessibility of drilling equipment provided in any embodiment of the present invention.

[0302] Since the aforementioned device for determining the accessibility of drilling equipment can execute the method for determining the accessibility of drilling equipment in the embodiments of the present invention, those skilled in the art can understand the specific implementation and various variations of the device for determining the accessibility of drilling equipment in this embodiment based on the method for determining the accessibility of drilling equipment described in the embodiments of the present invention. Therefore, how the device for determining the accessibility of drilling equipment implements the method for determining the accessibility of drilling equipment in the embodiments of the present invention will not be described in detail here. Any device used by those skilled in the art to implement the method for determining the accessibility of drilling equipment in the embodiments of the present invention falls within the scope of protection of this application.

[0303] Example 4

[0304] Figure 10 A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0305] like Figure 10 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0306] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0307] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the method for determining the accessibility of drilling equipment.

[0308] In some embodiments, the method for determining the accessibility of the drilling equipment can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for determining the accessibility of the drilling equipment described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the method for determining the accessibility of the drilling equipment by any other suitable means (e.g., by means of firmware).

[0309] Optionally, the method for determining the accessibility of a drilling device may include: acquiring the dimensional correlation parameters of the target drilling device and the spatial posture feature point data of the workpiece to be drilled; calculating drilling-related angle data based on the dimensional correlation parameters of the target drilling device and the spatial posture feature point data of the workpiece to be drilled; wherein the drilling-related angle data includes the driven rod rotation angle data and the rotation angle data of the A / C rotator of the target drilling device; determining the target control length of the driving rod of the target drilling device based on the dimensional correlation parameters of the target drilling device and the driven rod rotation angle data; and determining the processing accessibility determination result of the target drilling device based on the rotation angle data of the A / C rotator and the target control length of the driving rod.

[0310] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0311] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0312] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0313] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0314] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0315] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0316] This application also discloses a computer program product, which includes a computer program that, when executed by a processor, implements the method for determining the accessibility of drilling equipment provided in any embodiment of this application. This program product and the method for determining the accessibility of drilling equipment disclosed in the embodiments of this application belong to the same inventive concept, and therefore will not be described in detail here.

[0317] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0318] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for determining the processability of a hole-making device, characterized in that, include: Acquire the dimensional correlation parameters of the target hole-making equipment and the spatial orientation feature point data of the workpiece to be holed; Based on the size association parameters of the target hole-making equipment and the spatial posture feature point data of the workpiece to be holed, the hole-making association angle data is calculated; wherein, the hole-making association angle data includes the driven rod rotation angle data of the target hole-making equipment and the rotation angle data of the A / C rotary head; The target control length of the driving rod of the target drilling equipment is determined based on the size association parameters of the target drilling equipment and the rotation angle data of the driven rod. The processing accessibility judgment result of the target hole-making equipment is determined based on the rotation angle data of the A / C rotary head and the target control length of the active rod; The step of calculating the hole-making related angle data based on the size association parameters of the target hole-making equipment and the spatial posture feature point data of the workpiece to be holed includes: Calculate the unit hole shaft pose feature vector based on the hole shaft pose feature vector; A first objective function is constructed with the goal of making the coordinate data of the tool tip point equal to the coordinate data of the position point of the hole to be drilled in the spatial attitude feature point data. A second objective function is constructed with the goal of aligning the unit vector along the tool axis with the pose feature vector of the unit hole axis. Solving the first objective function and the second objective function yields the hole-making related angle data; The step of determining the target control length of the driving rod of the target drilling equipment based on the size association parameters of the target drilling equipment and the rotation angle data of the driven rod includes: A first coordinate transformation matrix and a second coordinate transformation matrix are constructed based on the rod topology connection relationship of the target hole-making device; wherein, the first coordinate transformation matrix and the second coordinate transformation matrix are used to map the coordinate data of the center point of the static platform of the target hole-making device to the coordinate data of the intersection point of the active rod and the moving platform; The control length constraint of the active rod of the target hole-making device is determined based on the first coordinate transformation matrix. The coordinate data of the intersection point of the active rod and the moving platform are determined according to the second coordinate transformation matrix; The target control length of the active rod of the target hole-making device is determined based on the control length constraint of the active rod and the coordinate data of the intersection point of the active rod and the moving platform.

2. The method according to claim 1, characterized in that, The step of calculating the hole-making related angle data based on the size association parameters of the target hole-making equipment and the spatial posture feature point data of the workpiece to be holed includes: The tool tip coordinates and the unit vector of the tool axis direction of the target hole-making device are determined based on the size correlation parameters. The hole axis pose feature vector of the workpiece to be drilled is determined based on the spatial posture feature point data. The hole-making associated angle data is calculated based on the tool tip coordinate data, the unit vector of the tool axis direction, the spatial posture feature point data, and the hole axis pose feature vector.

3. The method according to claim 1, characterized in that, The process of solving the first objective function and the second objective function to obtain the hole-making related angle data includes: The hole-making related angle data is calculated based on the following formula: ； ； in, The coordinate data of the tool tip point, The coordinate data of the hole to be manufactured position point in the spatial attitude feature point data. The unit hole shaft pose feature vector is... Let be the unit vector along the tool axis direction. Let X be the rotation angle of the driven rod of the target drilling device about the X-axis. Let be the rotation angle of the driven rod of the target drilling device about the Y-axis. The vertical axis rotation angle of the A / C swivel head. The horizontal axis rotation angle of the A / C swivel head. , , and Together they constitute the hole-making related angle data. and The rotation angle data of the A / C rotary head of the target drilling equipment together constitute the rotation angle data of the target drilling equipment. , Together they constitute the rotation angle data of the driven rod. The distance is the distance from the center point of the stationary platform of the target drilling equipment to the intersection of the axes of the A / C rotary head. The distance between the tool mounting point of the target hole-making equipment and the intersection of the axes of the A / C rotary heads. The distance is the distance from the tip of the target drilling device to the tool mounting point.

4. The method according to claim 1, characterized in that, The step of determining the target control length of the active rod of the target drilling equipment based on the control length constraint of the active rod of the target drilling equipment and the coordinate data of the intersection point of the active rod and the moving platform includes: The target control length of the active rod of the target drilling equipment is determined based on the following formula: ； ； ； ； in, The target control length of each of the active rods of the target drilling device. The coordinate data of the intersection points of each of the aforementioned active rods and moving platforms. Let be the radius of the static platform. Let be the radius of the moving platform. Let Z be the rotation angle of the line connecting the center point of the static platform, the intersection point of the reference drive rod and the static platform, about the Z-axis. Let X be the rotation angle of the driven rod of the target drilling device about the X-axis. Let be the rotation angle of the driven rod of the target drilling device about the Y-axis. The distance between the center point of the static platform and the center point of the moving platform is given.

5. The method according to claim 1, characterized in that, The determination of the machining accessibility judgment result of the target drilling equipment based on the rotation angle data of the A / C rotary head and the target control length of the drive rod includes: Determine the angle matching relationship between the angle data of the A / C rotating head and the preset angle threshold; Determine the matching relationship between the target control length of the active lever and the preset length threshold; If both the angle matching relationship and the active rod length matching relationship are determined to be matched, the processing accessibility judgment result of the target hole-making equipment is determined to be hole-making accessible.

6. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that is executed by the at least one processor, which enables the at least one processor to perform the method for determining the accessibility of the hole-making equipment as described in any one of claims 1-5.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method for determining the accessibility of the hole-making equipment as described in any one of claims 1-5.

8. A computer program product, characterized in that, It includes a computer program / instruction, wherein when the computer program / instruction is executed by a processor, it implements the method for determining the accessibility of the hole-making equipment as described in any one of claims 1-5.

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