Machine intelligence-based angle steel component hole drilling method and system

Abstract

The application relates to the technical field of machine intelligence, and discloses a machine intelligence-based angle steel component hole drilling method and system. The method obtains design hole drilling parameters and a preset assembly reference state of an angle steel component, obtains a limb edge posture parameter in a hole drilling area, and determines an actual limb surface state. According to the actual limb surface state, a connecting plate fitting surface and a fitting limb surface, a posture transformation relationship is determined, the hole center design position is converted into an assembly state effective hole position by using the posture transformation relationship, the effective hole position deviation is determined according to the assembly state effective hole position and the design assembly hole position, and machine intelligence hole drilling decision is executed accordingly, the hole drilling processing mode is automatically determined, and the hole drilling process is controlled. The application is used for workpiece positioning, clamping, supporting and hole position compensation control of a machine intelligence angle steel hole drilling machine tool, can automatically complete hole position judgment and hole drilling correction of the machine tool according to the actual posture and the assembly state of the angle steel, and reduces the risk that the angle steel is processed according to the theoretical hole position and is qualified but the hole positions are mismatched during assembly.

Description

Technical Field

[0001] This application relates to the field of machine intelligence technology, specifically to a method and system for drilling holes in angle steel components based on machine intelligence. Background Technology

[0002] As steel structure component processing equipment develops towards automation and machine intelligence, hole-making equipment can now utilize sensors to acquire workpiece position, contour, and posture information, and automatically complete workpiece positioning, clamping, support, drilling, punching, and other processing operations based on the collected results. Machine-intelligent angle steel hole-making equipment can reduce manual alignment and repetitive measurement processes, and automatically judge the processing process based on the actual state of the workpiece. Therefore, how to utilize machine sensing data to improve the accuracy of hole-making position determination and processing decisions has become an important technical requirement in the intelligent processing of angle steel components.

[0003] Angle steel members have two intersecting limbs, and the location of the drilled hole is typically influenced by the length direction, the width direction, and the spatial orientation of the two limbs simultaneously. In the manufacturing of steel towers, power transmission steel structures, and prefabricated steel structures, angle steel members, after being drilled, usually need to be assembled with connecting plates through multiple holes. During drilling, the angle steel member is in a drilled state defined by the clamping and supporting mechanisms; during actual assembly, the angle steel member is reassembled according to the mating surface of the connecting plate, and the spatial position corresponding to the same hole may differ between the two states.

[0004] For example, after an angle steel component is positioned in a machine-controlled drilling device, the device processes multiple connecting holes according to the designed hole center positions. The hole spacing and edge distance detected in the current drilling coordinate system are within the allowable range. However, when the angle steel component enters the subsequent assembly process and one limb is fitted with the connecting plate, due to the actual included angle, local warping, or changes in posture along the length direction, the center of some holes may shift relative to the designed hole position on the connecting plate in the assembled state. In this case, judging the processing based solely on the hole center position in the drilling state cannot fully reflect the effective position of the holes in the actual assembly state.

[0005] Existing intelligent machine-controlled drilling equipment can typically adjust clamping positions, support positions, or drilling coordinates based on contour measurement results. However, processing decisions still primarily revolve around the workpiece position and designed hole location within the current machine tool coordinate system. When faced with changes in the posture of the angle steel's two limbs, the intelligent machine system needs to simultaneously process information such as the workpiece's actual posture, assembly fit, hole position deviation, hole distance constraints, edge distance constraints, and the movable range of the drilling mechanism. When different deviations are suitable for adjustment through workpiece posture or drilling position adjustment, relying solely on a single measurement value for motion control makes it difficult to guarantee that the adjusted hole position still meets subsequent assembly requirements.

[0006] Therefore, in the scenario of machine-intelligent angle steel component processing, it is still necessary to solve the problem of how to enable the hole-making equipment to judge the effective position of the hole-making position in the predetermined assembly state based on the actual limb state of the angle steel perceived by the machine, and to autonomously select the hole-making processing method that is adapted to the current deviation based on the judgment result, so that the machine intelligent processing decision can simultaneously take into account the actual posture of the angle steel, the assembly hole position requirements and the machine tool execution range. Summary of the Invention

[0007] The technical problem to be solved by this application is that existing intelligent machine tools for drilling angle steel usually rely on the theoretical hole position under the drilling state as the main basis for automatic positioning and hole-making decisions. This makes it difficult to reflect the actual position change of the hole center under the assembly and fitting state when the actual limb posture of the angle steel changes. As a result, the intelligent machine processing decision, posture adjustment and hole position compensation lack the judgment basis corresponding to the actual assembly state, which easily leads to the problem of hole mismatch during assembly even though the processing inspection is qualified.

[0008] To achieve the above objectives, this application adopts the following technical solution:

[0009] In a first aspect, this application provides a method for drilling holes in angle steel components based on machine intelligence, comprising:

[0010] Obtain the design drilling parameters and preset assembly reference state of the angle steel component. The design drilling parameters include the design position of the hole center in the drilling state, and the preset assembly reference state includes the design assembly hole position, the mating surface of the connecting plate, and the mating limb surface in the angle steel component corresponding to the mating surface of the connecting plate in the assembly state.

[0011] Obtain the limb posture parameters in the drilling area of ​​the angle steel member, and determine the actual limb surface state in the drilling area based on the limb posture parameters;

[0012] Based on the actual limb surface state, the connecting plate mating surface and the mating limb surface, determine the posture transformation relationship of the drilling area from the actual limb surface state to the preset assembly reference state;

[0013] The design position of the hole center is transformed according to the attitude transformation relationship to obtain the effective hole position in the assembly state;

[0014] Determine the effective hole position deviation based on the effective hole positions in the assembly state and the designed assembly hole positions;

[0015] The machine intelligently makes hole-making decisions based on the effective hole position deviation, determines the hole-making processing method, and controls the hole-making process of the angle steel component according to the hole-making processing method.

[0016] Preferably, the limb posture parameters include the contour points of the two limb surfaces of the angle steel member;

[0017] Determine the actual limb and facial condition, including:

[0018] Plane fitting is performed on the contour points of the two limb surfaces to obtain the first and second actual limb surfaces;

[0019] The actual included angle is determined based on the normal vectors of the first and second actual limb surfaces, and the first, second, and included angles are defined as the actual limb surface state.

[0020] Preferably, determining the attitude transformation relationship includes:

[0021] The actual limb surface that corresponds to the limb surface in the first and second actual limb surfaces is defined as the actual limb surface in contact with the limb surface.

[0022] Based on the normal vector of the actual contact surface and the normal vector of the contact surface of the connecting plate, determine the amount of rotation that makes the two normal vectors align and minimizes the rotation angle.

[0023] The translation amount is determined based on the positional difference between the actual mating surface of the fitting limb and the mating surface of the connecting plate after rotation according to the rotation amount;

[0024] The attitude transformation relationship is formed based on the rotation and translation.

[0025] Preferably, obtaining effective hole positions in the assembled state includes:

[0026] The designed position of the hole center is rotated based on the amount of rotation to obtain the position of the hole center after rotation.

[0027] The effective hole position in the assembly state is obtained by translating the center position of the hole after rotation based on the translation amount.

[0028] Preferably, the design hole-making parameters also include the edge distance, and the preset assembly datum state also includes the design position of the limb edge of the limb surface where the assembly hole is located;

[0029] The direction in which the angle steel member extends from one end to the other is defined as the length direction, and the direction perpendicular to the length direction within the limb surface where the designed assembly hole is located under the preset assembly reference state is defined as the limb width direction.

[0030] Determine the length direction coordinate difference and the leg width direction coordinate difference between the effective hole positions in the assembly state and the designed assembly hole positions;

[0031] Determine the distance between the effective hole position in the assembly state and the designed position of the limb edge, and determine the effective edge distance deviation based on the difference between the distance and the edge distance;

[0032] Effective hole position deviation includes length direction coordinate difference, limb width direction coordinate difference, and effective edge distance deviation.

[0033] Preferably, the effective hole position deviation includes at least one deviation value, and the hole making processing method corresponding to the machine intelligent hole making decision includes hole making according to the hole center design position, posture adjustment, hole making position compensation, or stopping hole making.

[0034] Preferably, a first deviation threshold corresponding to each deviation value is obtained;

[0035] When the absolute value of each deviation value is not greater than the corresponding first deviation threshold, the hole-making process is determined to be hole-making according to the hole center design position;

[0036] When the absolute value of at least one deviation value is greater than the corresponding first deviation threshold, the adjustable range of the clamping position of the clamping mechanism for clamping the angle steel member and the adjustable range of the support position of the support mechanism for supporting the angle steel member are obtained.

[0037] When there is an adjustment position within the adjustable range of the clamping position or the adjustable range of the support position that ensures that the absolute value of each deviation value is not greater than the corresponding first deviation threshold, the hole-making process is determined to be attitude adjustment, and the clamping mechanism or support mechanism is controlled to move to the adjustment position.

[0038] When there is no position to adjust, determine the hole-making position compensation or stop hole-making based on the effective hole position deviation.

[0039] Preferably, the hole center design position includes multiple hole center design positions, and the hole design parameters also include the allowable range of hole spacing and the allowable range of edge distance;

[0040] After the posture is adjusted, the limb posture parameters are reacquired and the effective hole position deviation is re-determined. If there is no adjustment position, the current effective hole position deviation is used.

[0041] When at least one deviation value is still greater than the corresponding first deviation threshold, a candidate hole position compensation amount is generated based on the effective hole position deviation and the hole center design position is corrected.

[0042] If the absolute value of each deviation value in the effective hole position deviation corresponding to the candidate hole position is not greater than the corresponding first deviation threshold, the hole distance and the edge distance are within the allowable range of hole distance and edge distance respectively, and the compensation amount of the candidate hole position does not exceed the compensable movement range of the hole making mechanism, the hole position compensation amount is determined; otherwise, hole making is stopped.

[0043] Secondly, this application provides a machine intelligence-based hole-making system for angle steel components, comprising:

[0044] The parameter acquisition module is used to acquire the design hole-making parameters and preset assembly reference state of the angle steel component. The design hole-making parameters include the design position of the hole center in the hole-making state, and the preset assembly reference state includes the design assembly hole position, the mating surface of the connecting plate, and the mating limb surface in the angle steel component corresponding to the mating surface of the connecting plate in the assembly state.

[0045] The machine-sensing limb surface state determination module is used to acquire limb side posture parameters in the drilling area of ​​angle steel components and determine the actual limb surface state in the drilling area based on the limb side posture parameters.

[0046] The posture transformation determination module is used to determine the posture transformation relationship of the drilling area from the actual limb surface state to the preset assembly reference state based on the actual limb surface state, the connecting plate mating surface and the mating limb surface.

[0047] The effective hole position determination module is used to transform the designed position of the hole center according to the attitude transformation relationship to obtain the effective hole position in the assembly state;

[0048] The deviation determination module is used to determine the effective hole position deviation based on the effective hole positions in the assembly state and the designed assembly hole positions.

[0049] The machine intelligent hole-making control module is used to make machine intelligent hole-making decisions based on the effective hole position deviation, determine the hole-making processing method, and control the hole-making process of the angle steel component according to the hole-making processing method.

[0050] Preferably, the machine intelligent hole-making control module is connected to the clamping mechanism for clamping the angle steel component, the support mechanism for supporting the angle steel component, and the hole-making mechanism for making holes in the angle steel component.

[0051] The machine intelligent hole-making control module includes:

[0052] The direct hole-making unit is used to control the hole-making mechanism according to the hole center design position based on the hole-making process;

[0053] The attitude adjustment unit is used to control the clamping mechanism or support mechanism according to the effective hole position deviation;

[0054] The position compensation unit is used to generate a hole-making position compensation amount based on the effective hole position deviation, and to control the hole-making mechanism based on the hole-making position compensation amount.

[0055] The stop control unit is used to control the hole-making mechanism to stop hole-making based on the effective hole position deviation.

[0056] Compared with the prior art, the beneficial effects achieved by this application are as follows:

[0057] This application obtains the actual limb surface state of the angle steel drilling area and establishes the posture transformation relationship between the actual limb surface state and the preset assembly reference state. This allows the designed hole center position in the drilling state to be converted into an effective hole position in the assembly fit state. Then, based on the deviation between the effective hole position and the designed assembly hole position, the drilling processing method is automatically determined. This enables the intelligent angle steel drilling machine tool to coordinate workpiece positioning, clamping, support, drilling processing and hole position compensation control based on the actual double limb posture and assembly state of the angle steel. This reduces the mismatch of assembly hole positions caused by drilling only according to theoretical coordinates, improves the accuracy of machine intelligent drilling positioning judgment and the reliability of the machine tool drilling process. Attached Figure Description

[0058] Figure 1 A schematic flowchart illustrating the method for drilling holes in angle steel components provided in this application embodiment;

[0059] Figure 2 A schematic diagram illustrating the implementation environment of the angle steel member hole-making method provided in the embodiments of this application;

[0060] Figure 3 A schematic diagram illustrating the actual limb surface state, posture transformation relationship, and effective hole position determination process in the assembly state provided in the embodiments of this application;

[0061] Figure 4 This is a schematic diagram illustrating the process of determining the hole-making method provided in the embodiments of this application;

[0062] Figure 5 A schematic diagram illustrating the hole position detection and batch correction process after hole making, provided in an embodiment of this application.

[0063] Figure 6 A schematic diagram of a machine intelligence-based hole-making system for angle steel components provided in an embodiment of this application. Detailed Implementation

[0064] To make the objectives, technical solutions, and technical effects of the embodiments of this application clear, the technical solutions in the embodiments of this application are described below with reference to the accompanying drawings; the embodiments of this application are used to illustrate the method and system for drilling holes in angle steel components based on machine intelligence, and do not limit the scope of protection of this application; without changing the input, processing, and output relationships, the limb posture parameter acquisition method, parameter storage method, and module deployment method can be adjusted according to the structure of the machine intelligence angle steel component drilling equipment.

[0065] The machine intelligence in this application refers to the autonomous perception and decision-making capability of a machine tool that automatically completes the determination of the actual limb surface state, the mapping of the assembly state, the calculation of the effective hole position deviation, and the selection of the hole-making processing method based on the limb posture parameters obtained by the machine sensing device, and outputs control commands to the clamping mechanism, the support mechanism, and the hole-making mechanism. The machine intelligence is implemented by geometric calculation, threshold judgment, and constraint solving as described in this application, and does not require the introduction of neural networks or deep learning algorithms.

[0066] The configuration data used for machine intelligence processing includes machine intelligence decision parameter configuration records, machine perception effectiveness configuration records, machine intelligence attitude processing configuration records, and machine intelligence compensation capability calculation configuration records. Each configuration record is used to store deviation judgment parameters, perception effectiveness parameters, attitude transformation branch parameters, and compensation solution parameters, respectively. The parameter values, units, and calculation rules are determined according to subsequent embodiments.

[0067] In the embodiments of this application, the first and second are used to distinguish different actual limb surfaces, different hole centers, or different processing results; the first and second do not indicate the degree of importance or the quantity; at least one means one or more; multiple means two or more; each means that a single object in the set performs the corresponding processing.

[0068] The design drilling parameters and preset assembly reference states are read from the angle steel component design drawings, drilling process documents, assembly drawings, or parameter configuration records; the limb posture parameters are collected by the machine sensing device in the drilling area; the allowable range of hole spacing and allowable range of edge distance are read from the design drilling parameter records.

[0069] Establish a machine intelligence decision-making parameter configuration record; the machine intelligence decision-making parameter configuration record shall include at least the angle steel component type, hole area identifier, deviation item identifier, deviation type, hole center number, first hole center number, second hole center number, first deviation threshold, default compensation threshold, compensation threshold, detection threshold, batch intelligent correction threshold, threshold unit and applicable conditions; the unit of each threshold shall be millimeters.

[0070] The deviation items corresponding to the length direction coordinate difference, the limb width direction coordinate difference, and the effective edge distance deviation are jointly identified by the deviation type and the hole center number; the deviation items corresponding to the length direction hole group relative position deviation and the limb width direction hole group relative position deviation are jointly identified by the deviation type, the first hole center number, and the second hole center number; each deviation item is configured with a first deviation threshold, a default compensation threshold, a compensation threshold, a detection threshold, and a batch intelligent correction threshold; the default compensation threshold is written during the equipment calibration stage, and the compensation threshold is written after the current attitude transformation relationship is determined.

[0071] The first deviation threshold is determined based on the design assembly allowable deviation, measurement error upper limit, and control allowance for the corresponding deviation item; the measurement error upper limit is obtained by adding the machine sensing repeatability error upper limit, coordinate calibration error upper limit, and hole position calculation resolution; the control allowance is the maximum value among the repeatability positioning error upper limits of the clamping mechanism, support mechanism, and hole-making mechanism.

[0072] The first deviation threshold for the corresponding deviation item is obtained by subtracting the upper limit of measurement error and the control allowance from the allowable deviation of design assembly. When the first deviation threshold is not greater than zero, the first deviation threshold for the corresponding deviation item is not generated, the threshold configuration is output as abnormal, the current hole-making area processing is terminated, and the hole-making mechanism is controlled to stop hole-making. The allowable deviation of design assembly is read from the assembly drawings or assembly process documents.

[0073] The machine intelligence decision-making parameter configuration record saves the default compensation threshold for each deviation item; under multiple calibration postures, the upper limit of positive compensation capability and the upper limit of negative compensation capability for the corresponding deviation item are calculated respectively according to the dynamic compensation capability calculation method described later, and the smaller value of the two compensation capability upper limits under the same calibration posture is determined as the upper limit of calibration posture compensation capability; the minimum value among the multiple calibration posture compensation capability upper limits is determined as the default compensation threshold.

[0074] Once the attitude transformation relationship of the current drilling area is determined, the upper limit of positive compensation capability and the upper limit of negative compensation capability are dynamically calculated for each deviation term. The length direction compensation value and the limb width direction compensation value corresponding to each hole center participating in the compensation are arranged according to the hole center number to form a compensation vector. Each compensation value in the compensation vector is limited to the corresponding compensable movement range of the drilling mechanism.

[0075] For a compensation vector, the design position of the corresponding hole center is corrected, and the effective hole position of the candidate assembly state is determined according to the unified attitude transformation relationship or the hole-by-hole local attitude transformation relationship corresponding to the current hole-making area. The target deviation term, candidate hole distance and candidate edge distance are recalculated according to Example 7 and Example 8. If the candidate hole distance, candidate edge distance or any compensation value does not meet the corresponding restrictions, the corresponding compensation vector is deleted.

[0076] The pre-compensation deviation value of the target deviation term is denoted as... The compensated deviation value of the target deviation term is denoted as ,according to Calculate the change in the target deviation term When calculating the upper limit of positive compensation capability, use Maximum as the target and limit When calculating the upper limit of negative compensation capability, use Maximum as the target and limit .

[0077] When there are no more than two hole centers participating in the compensation, all discrete compensation vectors within the multidimensional compensable movement range are traversed according to the minimum positioning increment of each compensation coordinate, and the result with the largest change value of the target deviation term that satisfies the corresponding directional conditions is selected respectively; when there are more than two hole centers participating in the compensation, constrained nonlinear optimization is performed for the upper limit of positive compensation capability and the upper limit of negative compensation capability respectively.

[0078] Establish a machine intelligence compensation capability calculation configuration record; the machine intelligence compensation capability calculation configuration record should include at least the solution method, the maximum number of iterations, and the capability convergence threshold; the capability convergence threshold is determined based on the minimum executable compensation movement of the hole-making mechanism. During the equipment debugging phase, the compensation vector is changed according to the minimum executable compensation movement in each compensation direction, and the dynamic compensation capability calculation results before and after the change are calculated. The absolute value of the difference between the corresponding dynamic compensation capability calculation results is determined as the capability convergence threshold; during the solution process, when the absolute value of the difference between the dynamic compensation capability calculation results obtained from two adjacent iterations is not greater than the capability convergence threshold, the dynamic compensation capability calculation result is determined to have reached the convergence condition; the solution method adopts sequential quadratic programming or the trust region method; the initial compensation is determined based on the zero compensation vector and the boundary feasible compensation vector of the multidimensional compensable movement range.

[0079] The maximum number of iterations is determined through solution verification during the dynamic compensation capability calculation configuration record establishment stage. The zero compensation vector, the feasible compensation vectors of each boundary of the multidimensional compensable movement range, and the intermediate compensation vector between the zero compensation vector and each boundary feasible compensation vector are used as initial compensation vectors. The corresponding solution method is used to perform dynamic compensation capability calculation, and the number of iterations corresponding to each initial compensation vector reaching the capability convergence threshold is recorded. The maximum value of the recorded iterations is determined as the maximum number of iterations. When the actual solution reaches the maximum number of iterations but still does not meet the capability convergence threshold, the current solution process is stopped, and the current solution result is marked as an unconverged result.

[0080] After each iteration, the change value of the target deviation term, candidate hole distance, and candidate edge distance are recalculated; the iteration stops when the absolute value of the difference between two adjacent target function values ​​is not greater than the capability convergence threshold; if the capability convergence threshold is not met even after reaching the maximum number of iterations, the dynamic compensation capability calculation in the corresponding direction is determined to have failed, and the current hole-making area processing is terminated.

[0081] The smaller of the positive compensation capability upper limit and the negative compensation capability upper limit is determined as the dynamic compensation capability upper limit; the default compensation threshold does not directly replace the dynamic compensation capability upper limit under the current attitude transformation relationship.

[0082] The smaller of the default compensation threshold and the upper limit of dynamic compensation capability is determined as the compensation threshold for the corresponding deviation item in the current hole-making area; when the compensation threshold is not greater than the corresponding first deviation threshold, the compensation threshold configuration is abnormal, the current hole-making area processing is terminated and the hole-making mechanism is controlled to stop hole-making; when the length direction alignment threshold is not greater than zero or is not configured, the length direction alignment threshold configuration is abnormal, the current hole-making area processing is terminated and the hole-making mechanism is controlled to stop hole-making.

[0083] The inspection threshold is determined based on the tolerance corresponding to the deviation item in the acceptance document for the hole position of the finished angle steel component, and the absolute value of the corresponding tolerance is used; if the hole position acceptance document does not record the tolerance of the corresponding deviation item, the inspection threshold for the corresponding deviation item is not generated, the current hole position inspection is stopped, and the hole position inspection result is determined to be unqualified.

[0084] The batch intelligent correction threshold is determined based on the qualified production records of angle steel components of the same model and the upper limit of machine-perceived repeatability error. The absolute value of the difference between adjacent qualified angle steel components for the same deviation item is calculated according to the hole-making sequence. The maximum value of the absolute value of the difference is added to the upper limit of machine-perceived repeatability error to obtain the batch intelligent correction threshold for the corresponding deviation item.

[0085] See Figure 2 The embodiments of this application are applied to a machine-intelligent angle steel hole-making production line. The implementation environment includes a machine-intelligent angle steel component hole-making system, a machine sensing device, a clamping mechanism, a supporting mechanism, a hole-making mechanism, a parameter storage device, and angle steel components. The machine-intelligent angle steel component hole-making system performs machine-intelligent processing judgments based on the sensing data of the machine sensing device, and is communicatively or electrically connected to the machine sensing device, the clamping mechanism, the supporting mechanism, the hole-making mechanism, and the parameter storage device, respectively.

[0086] The hole-making state indicates the spatial state of the angle steel component after it enters the hole-making station and is positioned by the clamping and support mechanisms, and before the hole-making mechanism performs the hole-making. The preset assembly reference state indicates the target spatial state when the angle steel component is aligned with the connecting plate according to the assembly drawings and the mating limb surface is mated with the mating surface of the connecting plate.

[0087] In addition to the hole center design position, the hole design parameters also include the hole center number, the limb surface identification where the hole is located, the hole group number, the hole spacing type, the corresponding hole center number combination, the allowable hole spacing range, the edge distance, the allowable edge distance range, and the allowable actual included angle range; the hole spacing type includes the hole spacing in the length direction, the hole spacing in the limb width direction, and the straight distance between the hole center; the hole center design position includes the coordinates in the length direction and the coordinates in the limb width direction.

[0088] The edge distance corresponds one-to-one with the hole center number and the limb edge design position; the edge distance represents the design distance between the designed assembly hole position and the corresponding limb edge design position; when the same hole center number corresponds to two limb edge design positions, the limb edge design position identifier and the corresponding edge distance are recorded respectively.

[0089] After the first end of the angle steel component abuts against the length positioning block of the hole-making station, the benchmark intersection judgment threshold is read; the unit vector of the actual edge line direction is denoted as... Let the unit normal vector of the length positioning block positioning surface be denoted as ,according to Calculate the benchmark intersection judgment value ; Benchmark intersection judgment value If the value is not greater than the benchmark intersection judgment threshold, the output hole length benchmark establishment is abnormal and hole making in the current hole making area is stopped.

[0090] Benchmark Intersection Judgment Value When the intersection threshold is greater than the reference threshold, the unique intersection point between the actual edge line and the positioning surface of the length positioning block is calculated, and the unique intersection point is determined as the reference point for hole making length; the length direction coordinate corresponding to the reference point for hole making length is zero; the length direction coordinate of the hole center design position represents the distance moved from the reference point for hole making length along the actual length reference direction.

[0091] In addition to designing the assembly holes, the mating surfaces of the connecting plates and the mating limbs, the preset assembly reference state also records the assembly reference point and the assembly length reference direction. The assembly reference point is determined according to the intersection of the design edge line and the corresponding section of the design assembly hole in the assembly drawing. The assembly length reference direction is determined according to the direction from the first end of the angle steel member to the second end of the angle steel member.

[0092] The actual limb surface state is used to represent the first actual limb surface, the second actual limb surface, the actual included angle, and the torsion amount within the drilling area; the first actual limb surface and the second actual limb surface are represented by a plane reference point and a unit normal vector, respectively; the actual included angle is used to check the relative relationship between the two actual limb surfaces; the torsion amount is used to select a uniform attitude transformation relationship, a hole-by-hole local attitude transformation relationship, or to stop drilling.

[0093] The attitude transformation relationship is used to represent the three-dimensional rigid body transformation used when the drilling area changes from the actual limb surface state to the preset assembly reference state. First, the candidate rotation matrix that makes the two unit normal vectors have the same direction and the rotation angle is determined based on the unit normal vector of the actual limb surface and the unit normal vector of the connecting plate limb surface. Then, the candidate rotation matrix is ​​used to rotate the actual length reference direction.

[0094] Calculate the directional angle between the actual length reference direction after rotation and the assembly length reference direction within the range of 0 to 180 degrees; when the directional angle is not greater than the length direction alignment threshold, determine the rotation amount according to the candidate rotation matrix, and determine the translation amount according to the three-dimensional position difference between the actual reference point and the assembly reference point after rotation; when the directional angle is greater than the length direction alignment threshold, perform length direction pre-positioning correction first.

[0095] The length alignment threshold is determined by subtracting the upper limit of the machine-perceived angle error and the upper limit of the angle repeatability error of the clamping mechanism from the allowable angle deviation in the length direction recorded in the assembly process document; the length pre-positioning correction is used to establish the hole-making state before determining the attitude transformation relationship, and is not part of the attitude adjustment in the hole-making process, and is not written into the attitude adjustment processing record and the same batch correction record; if the length alignment threshold is still not met after the length pre-positioning correction, the hole-making in the current hole-making area is stopped.

[0096] When determining the three-dimensional representation of the hole center design position, select the actual limb surface where the hole is located based on the limb surface identifier; move the length direction coordinate of the hole center design position from the hole length reference point along the actual length reference direction to obtain the actual reference point; move the limb width direction coordinate of the hole center design position from the actual reference point along the actual limb width direction of the actual limb surface where the hole is located to obtain the three-dimensional hole center position.

[0097] The effective hole position in the assembly state is used to represent the position of the three-dimensional hole center after transformation according to the attitude transformation relationship in the assembly coordinate system; the effective hole position deviation is used to represent the positional difference between the effective hole position in the assembly state and the designed assembly hole position; the deviation value retains the positive and negative signs to determine the adjustment direction, and the absolute value of the deviation value is used when the deviation value participates in the threshold comparison.

[0098] The hole-making process includes hole-making according to the hole center design position, attitude adjustment, hole-making position compensation, and stopping hole-making; attitude adjustment adopts at least one of the target clamping position and the target support position; hole-making position compensation first determines whether the re-determined deviation values ​​are within the compensation threshold allowable compensation entry range, and then determines the hole-making position compensation amount that can make the compensated deviation values ​​meet the first deviation threshold.

[0099] It should be noted that the acquisition of limb contour points, plane fitting of contour points, and three-dimensional rigid body coordinate transformation involved in this application can all be achieved using existing detection and geometric calculation techniques. For example, limb contour points can be obtained using line laser contour measurement, visual three-dimensional measurement, or contact position measurement methods; plane fitting can be achieved using least squares plane fitting or plane fitting based on interior point selection; and three-dimensional rigid body coordinate transformation can be achieved using a combination of rotation matrix and translation vector or a homogeneous transformation matrix.

[0100] The aforementioned steps take limb surface measurement data, three-dimensional coordinates of contour points, or coordinates of the hole position to be transformed as inputs, and output limb surface geometric parameters or transformed three-dimensional hole positions. The improvement focus of this application is not on the aforementioned single-item acquisition, fitting, or coordinate transformation techniques themselves, but on establishing the transformation relationship from the hole-making state to the assembly reference state using the actual dual-limb posture, and further utilizing the effective hole position deviation in the assembly state to coordinate posture adjustment, hole-making position compensation, and hole-making stop control.

[0101] Example 1:

[0102] See Figure 1 This embodiment provides a method for drilling holes in angle steel components; this embodiment is executed by an angle steel component drilling system based on machine intelligence.

[0103] This embodiment includes the following steps.

[0104] Step S101: Obtain the design hole-making parameters and preset assembly reference state of the angle steel component.

[0105] Read the hole center number, hole center design position, hole position limb surface identifier, hole spacing type, corresponding hole center number combination, hole spacing allowable range, edge distance, edge distance allowable range, and actual included angle allowable range from the hole design parameter record; read the designed assembly hole position, connecting plate mating surface, mating limb surface, limb edge design position, assembly datum point, and assembly length datum direction from the preset assembly datum state record; establish the correspondence between the hole center design position, edge distance, limb edge design position, and designed assembly hole position according to the hole center number.

[0106] The hole center design position and the limb surface marking where the hole is located are used by steps S102 to S104 to determine the actual limb surface and effective hole position in the assembly state. The design assembly hole position and the limb edge design position are used by step S105 to determine the effective hole position deviation. The connecting plate mating surface, mating limb surface, assembly reference point and assembly length reference direction are used by step S103 to determine the posture transformation relationship.

[0107] Step S102: Obtain the limb posture parameters in the hole-making area of ​​the angle steel member, and determine the actual limb surface state of the hole-making area based on the limb posture parameters.

[0108] The control machine sensing device collects the contour points of the two limbs of the angle steel component; the first actual limb and the second actual limb are determined according to the contour points of the two limbs respectively; the actual included angle is determined according to the two unit normal vectors after the direction is unified; the torsion amount is determined according to the changes of the unit normal vectors corresponding to multiple cross-section positions; the first actual limb, the second actual limb, the actual included angle and the torsion amount are written into the actual limb state.

[0109] The actual edge line is determined based on the intersection of the first actual limb surface and the second actual limb surface, and the direction of the actual edge line from the first end of the angle steel member to the second end of the angle steel member is determined as the actual length reference direction; the actual length reference direction is converted into a unit vector and sent to step S103.

[0110] The actual included angle is compared with the allowable range of the actual included angle; when the actual included angle is not within the allowable range of the actual included angle and the hole-making area includes multiple cross-sectional positions, the local actual included angle corresponding to the design position of the center of each hole is determined according to Example 4; when each local actual included angle is within the allowable range of the actual included angle, step S103 is continued using the corresponding local actual limb state.

[0111] If the actual included angle is not within the allowable range of the actual included angle, and the drilling area does not include multiple cross-sectional positions, any local actual included angle is not within the allowable range of the actual included angle, or the local actual limb surface state cannot be determined, the drilling processing method will be determined as stop drilling, and the processing of the current drilling area will be terminated, and the length direction pre-positioning correction will not be performed.

[0112] Step S103: Based on the actual limb surface state, the connecting plate mating surface, and the mating limb surface, determine the posture transformation relationship of the drilling area from the actual limb surface state to the preset assembly reference state.

[0113] When adopting a unified attitude transformation relationship, a candidate rotation matrix is ​​determined based on the unit normal vector of the actual contact limb surface and the unit normal vector of the connecting plate contact surface, which makes the two unit normal vectors have the same direction and the rotation angle is minimized. The candidate rotation matrix is ​​used to rotate the actual length reference direction, and the direction angle between the actual length reference direction and the assembly length reference direction within the range of zero degrees to one hundred and eighty degrees after rotation is calculated.

[0114] When using a hole-by-hole local attitude transformation relationship, candidate rotation matrices are determined based on the local actual contact surface corresponding to the center of each hole, and the directional angles corresponding to each candidate rotation matrix are calculated. The maximum value among all directional angles is determined as the pre-positioning correction judgment value. When using a unified attitude transformation relationship, the corresponding directional angle is determined as the pre-positioning correction judgment value.

[0115] When the pre-positioning correction judgment value is greater than the length direction alignment threshold, the hole-making mechanism is kept in a stopped state, and the length direction pre-positioning correction is performed according to the in-plane angle adjustable axis and candidate clamping angle described in Example 5; after the length direction pre-positioning correction is completed, steps S102 and S103 are re-executed; when there is no candidate clamping angle that meets the length direction alignment threshold, the hole-making process is determined to stop hole-making.

[0116] The length direction pre-positioning correction is used to establish the hole-making state before determining the attitude transformation relationship. It is not part of the attitude adjustment determined in step S106 and is not written into the attitude adjustment processing record and the same batch correction record.

[0117] When a unified attitude transformation relationship is adopted and the pre-positioning correction judgment value is not greater than the length direction alignment threshold, the candidate rotation matrix is... The corresponding rotation is determined as the rotation amount; the drilling length reference point is determined based on the actual edge line and the positioning surface of the length positioning block, and the actual reference point is determined based on the length direction coordinate of the designed position of the hole center. ;according to Determine the translation amount And based on the amount of rotation and translation A unified attitude transformation relationship is formed. Indicates the assembly reference point.

[0118] When using a per-hole local attitude transformation relationship and ensuring the pre-positioning correction judgment value is not greater than the length direction alignment threshold, the first hole... Candidate rotation matrices corresponding to the centers of each hole The corresponding rotation is determined as the local rotation amount; according to the first The local reference point is determined by the actual edge line and length direction coordinates corresponding to the center of each hole. ,according to Determine the local translation amount and form the first The relationship of local attitude transformation for each hole center; Indicates the first The assembly reference point corresponding to the center of each hole.

[0119] Step S104: The design position of the hole center is transformed according to the attitude transformation relationship to obtain the effective hole position in the assembly state.

[0120] Select the first or second actual limb surface according to the marking of the limb surface where the hole is located; determine the three-dimensional hole center position according to the hole length reference point, actual length reference direction, actual limb width direction, length direction coordinates and limb width direction coordinates of the actual limb surface where the hole is located; perform rotation transformation and translation transformation on the three-dimensional hole center position in sequence according to the posture transformation relationship to obtain the effective hole position in the assembly state.

[0121] Step S105: Determine the effective hole position deviation based on the effective hole position in the assembly state and the designed assembly hole position.

[0122] In the assembly coordinate system, the effective hole positions in the assembly state and the designed assembly hole positions are compared according to the hole center number to obtain at least one of the coordinate difference in the length direction, the coordinate difference in the leg width direction, and the effective edge distance deviation; when the hole center design position forms a hole group, the relative position deviation of the hole group in the length direction and the relative position deviation of the hole group in the leg width direction are determined according to the arrangement order of the hole center numbers.

[0123] Step S106: Based on the effective hole position deviation, execute machine intelligent hole-making decision, determine the hole-making processing method, and control the hole-making process of the angle steel component according to the hole-making processing method.

[0124] The absolute value of each deviation value is compared with the corresponding first deviation threshold. When the absolute value of each deviation value is not greater than the corresponding first deviation threshold, the hole is made according to the hole center design position. When the absolute value of at least one deviation value is greater than the corresponding first deviation threshold, the deviation sensitivity matrix is ​​used to determine whether there is at least one of the target clamping position and target support position that meets the first deviation threshold in the candidate position combination.

[0125] When there is a candidate position combination that meets the first deviation threshold, the attitude adjustment is performed and the effective hole position deviation is re-determined; if there is still a deviation value exceeding the first deviation threshold after the attitude adjustment, the compensation threshold is first used to determine whether it is allowed to enter the hole-making position for compensation, and then the hole-making position compensation or hole-making is determined based on the residual deviation after compensation, hole distance, edge distance and the compensable movement range of the hole-making mechanism.

[0126] By following the above steps, first determine the candidate rotation matrix based on the two unit normal vectors, and then check the length direction alignment condition based on the actual length reference direction after the candidate rotation matrix is ​​rotated; after the length direction alignment condition is met, the translation amount is determined by the three-dimensional position difference between the actual reference point and the assembly reference point.

[0127] Example 2:

[0128] This embodiment, based on embodiment 1, further explains the design hole-making parameters and preset assembly reference state in step S101.

[0129] Obtain the identification of the angle steel component entering the hole-making station, and read the corresponding design hole-making parameter record based on the angle steel component identification; the design hole-making parameter record shall include at least the document number, angle steel component identification, hole-making area identification, hole center number, hole group number, hole center design position, hole position limb identification, hole spacing type, corresponding hole center number combination, hole spacing allowable range, edge distance, edge distance allowable range, and actual included angle allowable range.

[0130] The design position of the hole center includes the length direction coordinate and the limb width direction coordinate; the zero point of the length direction coordinate corresponds to the hole length reference point; the zero point of the limb width direction coordinate corresponds to the actual edge line; the limb surface marking of the hole location records whether the hole center is located on the limb surface that fits or does not fit the limb surface.

[0131] Hole spacing types include hole spacing in the length direction, hole spacing in the leg width direction, and straight-line distance between hole centers; the corresponding hole center number combination records the two hole center numbers that need to be checked for hole spacing; a one-to-one correspondence is established between each hole spacing type, the corresponding hole center number combination, and the allowable hole spacing range, and millimeters are used as the hole spacing unit.

[0132] The margin is expressed in millimeters and is associated with the hole center number and the limb design position mark. The allowable margin range is associated with the hole center number and the limb design position mark. When reading the margin, the corresponding hole center number and the limb design position mark are read at the same time.

[0133] Read the design angle of the angle steel component from the design drawings, and read the allowable deviation of the angle from the hole-making process documents; subtract the allowable deviation of the angle from the design angle of the angle steel component to obtain the lower limit of the actual allowable angle range; add the allowable deviation of the angle to the design angle of the angle steel component to obtain the upper limit of the actual allowable angle range.

[0134] Read the intersection threshold between the length positioning block positioning surface and the reference in the hole-making station reference record; after the first end of the angle steel component abuts against the length positioning block, record the unit vector of the actual edge line direction as... Let the unit normal vector of the length positioning block positioning surface be denoted as ,according to Calculate the benchmark intersection judgment value .

[0135] The benchmark intersection judgment threshold is determined by the intersection calibration of the standard straight line and the positioning surface of the length positioning block; the angle between the standard straight line and the positioning surface of the length positioning block is changed, and the intersection point is calculated repeatedly; the minimum benchmark intersection judgment value corresponding to the repeated calculation difference of the intersection point not being greater than the coordinate calculation resolution is written into the benchmark intersection judgment threshold.

[0136] Benchmark Intersection Judgment Value If the value is not greater than the benchmark intersection judgment threshold, the output hole length benchmark establishment is abnormal, the hole making processing method is determined to be stopped, and the processing of the current hole making area is terminated; benchmark intersection judgment value When the intersection threshold is greater than the reference threshold, calculate the unique intersection point between the actual edge line and the positioning surface of the length positioning block, and determine the unique intersection point as the reference point for hole making length.

[0137] Write the length direction coordinate corresponding to the hole-making length reference point into the hole-making reference record of the current angle steel component, and set the length direction coordinate to zero; This represents the unit vector indicating the actual direction of the edge line. This represents the unit normal vector of the positioning surface of the length positioning stop. This indicates the benchmark intersection judgment value.

[0138] Based on the length direction coordinates of the designed hole center position, move the corresponding distance from the hole length reference point along the actual length reference direction to obtain the hole position section passing through the point; establish the hole position section passing through the hole position section passing through the point and perpendicular to the actual length reference direction; the intersection of the actual edge line and the hole position section is the actual reference point corresponding to the hole center number.

[0139] Obtain the preset assembly reference status record corresponding to the angle steel component identification and the hole making area identification; the preset assembly reference status record shall include at least the hole center number, the designed assembly hole position, the connecting plate mating surface, the mating limb surface, the limb edge design position, the assembly reference point, and the assembly length reference direction.

[0140] The mating surface of the connecting plate is represented by the known position and unit normal vector on the mating surface of the connecting plate; the mating limb surface is represented by the limb surface number; the assembly length reference direction is determined according to the direction of the angle steel component from the first end to the second end in the assembly drawing; the assembly reference point is represented by the intersection of the design edge line and the corresponding section of the design assembly hole.

[0141] When there are multiple hole center design locations, multiple hole center design locations with the same hole group number and the same limb surface identifier are written into the same hole group record; hole center design locations located on different limb surfaces are assigned different hole group numbers, and the relative position deviation of hole groups in the limb width direction between different limb hole positions is not calculated.

[0142] When it is necessary to check the relative position between different limb holes, the hole spacing type is configured as length direction hole spacing or hole center straight distance in the design hole parameter record, and the hole spacing check relationship is established by combining the corresponding hole center numbers; a one-to-one correspondence is established between the hole center design position, the limb surface identifier where the hole is located, and the design assembly hole position according to the hole center number.

[0143] Send the hole center design location, hole location limb surface mark, actual allowable angle range, and hole area mark to steps S102 and S104; send the connecting plate mating surface, mating limb surface, assembly datum point, and assembly length datum direction to step S103; send the designed assembly hole location, limb edge design location, and edge distance to step S105.

[0144] Example 3:

[0145] This embodiment further explains the process of determining the actual limb and facial state in step S102, based on embodiment 1; see [link to embodiment 1]. Figure 3 The process of determining the actual limb and facial condition includes the following steps.

[0146] The machine sensing device is controlled to collect the contour points of the two limbs of the angle steel component according to the hole-making area marking, and the contour points are converted to the positioning coordinate system of the hole-making mechanism; contour points with missing coordinates, exceeding the measurement range of the machine sensing device, or with duplicate coordinates are deleted; if less than three contour points are retained on any limb, re-collection is performed.

[0147] Establish a machine perception validity configuration record; the machine perception validity configuration record shall include at least the upper limit of the point-to-plane distance, the lower limit of the proportion of interior points, the upper limit of the difference between repeated acquisitions, the radius of the matching neighborhood, the lower limit of the proportion of matching points, and the maximum number of re-acquisitions.

[0148] The upper limit of the point-to-plane distance is determined based on the upper limit of the repeated measurement error of the machine sensing device; the matching neighborhood radius is the sum of the upper limit of the repeated measurement error of the machine sensing device, the upper limit of the coordinate calibration error between the machine sensing device and the hole-making mechanism, and the upper limit of the scanning position error; the aforementioned three error upper limits are all expressed in millimeters and are read from the calibration record of the machine sensing device.

[0149] The lower limit of the inner point ratio, the upper limit of the repeated acquisition difference, and the lower limit of the matching point ratio are determined by the repeated acquisition records of standard angle steel components; the minimum values ​​of the inner point ratio and the matching point ratio in multiple repeated acquisitions are calculated and written into the lower limit of the inner point ratio and the lower limit of the matching point ratio, respectively; the maximum value of the average spatial distance of the corresponding points is calculated and written into the upper limit of the repeated acquisition difference.

[0150] Three non-collinear contour points are selected from the contour points of the corresponding limb surface using random sampling to form a candidate plane; the vertical distance from the contour points other than the three non-collinear contour points to the candidate plane is calculated, and the contour points whose vertical distance is not greater than the upper limit of the distance from the point to the plane are determined as interior points; the candidate plane with the most interior points is selected, and the proportion of interior points to the number of contour points of the corresponding limb surface is calculated to obtain the interior point ratio.

[0151] The contour points of the two limb surfaces are collected again under the same clamping and supporting positions; the two collection results are kept in the same positioning coordinate system of the hole-making mechanism, and the overall rigid body registration is not performed on the second collection result.

[0152] When using a linear laser profile sensor with fixed scan lines, the acquisition results are matched twice according to the scan line number and the sampling order within the scan line; when using a displacement sensor or a contact probe, the acquisition results are matched twice according to the coordinates of the displacement sensor device or the command coordinates of the contact probe.

[0153] When using a camera or a line laser contour sensor that outputs disordered point clouds, starting from each contour point in the first acquisition result, the second acquisition result searches for the contour point that is within the matching neighborhood radius and has the smallest spatial distance; a matching relationship is established only when the original contour point in the first acquisition result is still taken as the nearest point when the corresponding contour point in the second acquisition result is searched in reverse.

[0154] The same contour point is matched with only one other contour point; contour points that do not find a matching contour point are not included in the calculation of the difference between repeated acquisitions; the proportion of matching contour points is obtained by dividing the number of matching contour points by the minimum number of contour points in the two acquisition results.

[0155] Calculate the spatial distance between all matched contour points and determine the average spatial distance as the repeated acquisition difference; when the proportion of the inner points of both limb surfaces is not less than the lower limit of the inner point proportion, the proportion of the matched points is not less than the lower limit of the matched point proportion, and the repeated acquisition difference is not greater than the upper limit of the repeated acquisition difference, the acquisition of limb side posture parameters is determined to be valid.

[0156] If the limb posture parameter acquisition is invalid, the number of re-acquisitions will be incremented by one and re-acquisition will be performed. If the acquisition is still not valid after the maximum number of re-acquisitions is reached, an abnormal posture acquisition will be output, the hole-making mechanism will be controlled to stop hole-making in the current hole-making area, and the actual limb surface state determination process in the current hole-making area will be terminated.

[0157] When the limb posture parameters are valid, least squares plane fitting is performed using the interior points of the corresponding limb surface to obtain the first actual limb surface and the second actual limb surface. The first actual limb surface and the second actual limb surface are represented by a plane reference point and a unit normal vector, respectively. The plane reference point is determined by the average coordinate of the interior points of the corresponding limb surface.

[0158] Establish a normal direction configuration record; the normal direction configuration record shall include at least the type of angle steel component, clamping direction, preset external normal direction of the first limb surface and preset external normal direction of the second limb surface; after the standard angle steel component is clamped, determine the two preset external normal directions according to the directions of the inner area of ​​the angle steel component pointing to the outer areas of the two limb surfaces respectively, and convert them to the positioning coordinate system of the hole-making mechanism.

[0159] The first actual limb surface and the second actual limb surface are distinguished according to the first limb surface acquisition area and the second limb surface acquisition area in the configuration record of the machine sensing device; the dot product of the unit normal vector of the first actual limb surface and the preset outward normal direction of the first limb surface, and the dot product of the unit normal vector of the second actual limb surface and the preset outward normal direction of the second limb surface are calculated respectively; when any dot product is less than zero, the corresponding unit normal vector is multiplied by negative one.

[0160] The actual included angle is determined based on the two unit normal vectors after unifying their directions; the actual included angle is represented by an angle within the range of 0 degrees to 180 degrees; the intersection line of the first actual limb surface and the second actual limb surface is determined to obtain the actual edge line; the direction of the actual edge line is adjusted to be consistent with the positive direction of the length direction in the design drawing of the angle steel component to obtain the actual length reference direction.

[0161] Calculate the signed distance from each interior point to the corresponding actual limb surface, and use each signed distance as the limb surface shape residual; select the maximum value from the absolute values ​​of each limb surface shape residual to obtain the local warping amount of the corresponding limb surface; the local warping amount is used to represent the limb surface deformation of the angle steel component, and is not used to judge the measurement effectiveness of the machine sensing device.

[0162] Write the first actual limb surface, the second actual limb surface, the actual included angle, the actual edge line, the actual length reference direction, and the local warpage into the actual limb surface state; Step S103 determines the actual reference point based on the length direction coordinates of the hole length reference point and the hole center design position, and determines the actual fitting limb surface or non-fitting actual limb surface based on the limb surface mark where the hole is located.

[0163] Example 4:

[0164] This embodiment, based on embodiment 3, further explains the process of determining the actual surface state of multiple cross-sectional positions within the drilling area.

[0165] The direction in which the angle steel member extends from one end to the other is defined as the length direction; the preset length range, the number of cross-sectional positions, and the sampling range length are read according to the hole-making area configuration record; the preset length range is defined along the length direction with the hole center design position as the center, and no less than two cross-sectional positions are set within the preset length range.

[0166] Within the sampling range corresponding to each cross-section position, the contour points of two limb surfaces are obtained respectively. In accordance with the sampling validity judgment, plane fitting and normal direction unification method in Example 3, the first actual limb surface, the second actual limb surface, the actual included angle, the actual edge line and the local warping amount corresponding to each cross-section position are determined respectively.

[0167] Based on the length direction coordinates corresponding to each cross-section position, move the corresponding distance from the hole length reference point along the actual length reference direction to obtain the cross-section passing point; determine the plane that passes through the cross-section passing point and is perpendicular to the actual length reference direction as the corresponding cross-section plane; determine the intersection point of the actual edge line corresponding to each cross-section position and the corresponding cross-section plane as the cross-section edge point.

[0168] Both the first and second actual limb surfaces are represented by the edge points of the cross section and the corresponding unit normal vectors; the edge points of the cross section and the corresponding unit normal vectors together determine the actual limb surface at the cross section position.

[0169] According to the arrangement order of the cross-section positions, calculate the unit normal vector angle of the first actual limb surface and the unit normal vector angle of the second actual limb surface corresponding to the adjacent cross-section positions respectively; divide the unit normal vector angle by the distance between the adjacent cross-section positions to obtain the normal vector change of the corresponding limb surface; determine the maximum value among all normal vector changes as the torsion amount.

[0170] Establish a machine intelligent posture processing configuration record; the machine intelligent posture processing configuration record shall include at least the unified transformation distortion threshold, the stop hole making distortion threshold, the unified transformation local warp threshold, and the stop hole making local warp threshold; the stop hole making distortion threshold shall be greater than the unified transformation distortion threshold, and the stop hole making local warp threshold shall be greater than the unified transformation local warp threshold.

[0171] The method for setting the unified transformation torsion threshold is as follows: During the equipment debugging phase, select a verification angle steel component of the same type as the angle steel component to be processed, set different torsion amounts, and determine the effective hole position of the assembly state corresponding to the design position of each hole center according to the unified posture transformation relationship of the same hole-making area under each torsion amount, and calculate the deviation of each effective hole position; the maximum torsion amount corresponding to the first deviation threshold when the absolute value of each effective hole position deviation is not greater than the corresponding maximum torsion amount is determined as the unified transformation torsion threshold.

[0172] The method for setting the threshold for stopping hole making twist is as follows: during the equipment debugging phase, the twist of the verification angle steel component is gradually increased. For each twist, the local attitude change, attitude adjustment and hole making position compensation are performed sequentially. The deviation of each effective hole position and the hole distance and edge distance corresponding to the candidate hole making position are checked. The maximum twist that can still meet the compensation threshold, the allowable range of hole distance and the allowable range of edge distance is determined as the threshold for stopping hole making twist.

[0173] The method for setting the unified transformation local warpage threshold is as follows: During the equipment commissioning phase, verification angle steel components with different local warpage are selected. For each local warpage, the effective hole position in each assembly state is determined by the unified attitude transformation relationship of the same hole-making area, and the deviation of each effective hole position is calculated. The maximum local warpage corresponding to the absolute value of each effective hole position deviation is not greater than the corresponding first deviation threshold is determined as the unified transformation local warpage threshold.

[0174] The method for setting the threshold for stopping local warping during hole making is as follows: During the equipment commissioning phase, the local warping of the verification angle steel component is gradually increased. For each local warping, hole-by-hole local posture transformation, posture adjustment, and hole making position compensation are performed sequentially. The deviation of each effective hole position and the hole distance and edge distance corresponding to the candidate hole making positions are checked. The maximum local warping that still meets the compensation threshold, the allowable range of hole distance, and the allowable range of edge distance is determined as the threshold for stopping local warping during hole making.

[0175] After the settings are completed, the unified transformation torsion threshold, the stop hole-making torsion threshold, the unified transformation local warping threshold, and the stop hole-making local warping threshold are written into the local attitude processing configuration record according to the angle steel component type and the hole-making area identifier. In actual processing, the corresponding threshold is read by using the angle steel component type and the hole-making area identifier as query conditions, and is used for the branch judgment of unified attitude transformation, hole-by-hole local attitude transformation, or stop hole-making, respectively.

[0176] When the amount of distortion is not greater than the unified transformation distortion threshold and the amount of warping in each local area is not greater than the unified transformation local warping threshold, a unified attitude transformation relationship is adopted for the design position of the hole center in the same hole-making area; when the amount of distortion is greater than the unified transformation distortion threshold or at least one local warping amount is greater than the unified transformation local warping threshold, the local actual limb surface state and local attitude transformation relationship corresponding to the design position of each hole center are determined respectively.

[0177] If the amount of distortion exceeds the threshold for stopping hole making or at least one local warping exceeds the threshold for stopping hole making local warping, the hole making process will be set to stop hole making; after stopping hole making, no uniform attitude transformation relationship or local attitude transformation relationship will be generated for the current hole making area.

[0178] When the design position of the hole center is located between two adjacent cross-section positions, the interpolation ratio is obtained by dividing the distance between the design position of the hole center and the preceding cross-section position by the distance between the two cross-section positions. Linear interpolation is then performed on the cross-section edge points corresponding to the two cross-section positions according to the interpolation ratio to obtain the cross-section edge points corresponding to the design position of the hole center.

[0179] Linear interpolation is performed on the unit normal vectors of the first actual limb surface corresponding to the two cross-sectional positions according to the interpolation ratio, and the interpolation results are converted into unit normal vectors of length one. The unit normal vector of the second actual limb surface is determined in the same way. The actual included angle is recalculated based on the two interpolated unit normal vectors, and the interpolation is not performed directly on the actual included angles corresponding to the two cross-sectional positions.

[0180] The unit normal vectors of the interpolated section edge points and the first actual limb surface are determined as the first actual limb surface corresponding to the hole center design position. The unit normal vectors of the interpolated section edge points and the second actual limb surface are determined as the second actual limb surface corresponding to the hole center design position. The actual limb surface where the hole is located is selected according to the limb surface identifier.

[0181] The local actual edge line is determined based on the intersection of the first and second actual limb surfaces corresponding to the hole center design position; the direction of the local actual edge line is adjusted to point from the first end to the second end of the angle steel member to obtain the local actual length reference direction; the local actual edge line, the local actual length reference direction, the first actual limb surface, the second actual limb surface, and the local actual included angle are written together into the local actual limb surface state corresponding to the hole center design position.

[0182] Example 5:

[0183] This embodiment further explains the attitude transformation relationship determination process in step S103 based on embodiment 3; see [link to embodiment 3]. Figure 3 The process of determining the attitude transformation relationship includes the following steps.

[0184] Read the first actual limb surface, the second actual limb surface, the actual edge line, and the actual length reference direction from the actual limb surface state; determine the first actual limb surface or the second actual limb surface as the actual limb surface according to the limb surface number corresponding to the limb surface; determine the other actual limb surface as the non-limb surface.

[0185] Read the intersection threshold between the length positioning block positioning surface and the datum in the hole-making station datum record; denote the unit vector of the actual edge line direction as... Let the unit normal vector of the length positioning block positioning surface be denoted as ,according to Calculate the benchmark intersection judgment value .

[0186] Benchmark Intersection Judgment Value If the value is not greater than the reference intersection judgment threshold, the output hole length reference establishment is abnormal, the hole making processing method is determined to stop hole making, and the attitude transformation relationship determination process is terminated; reference intersection judgment value When the intersection threshold is greater than the reference threshold, calculate the unique intersection point between the actual edge line and the positioning surface of the length positioning block, and determine the unique intersection point as the reference point for hole making length.

[0187] The hole length reference point corresponds to the zero point of the length direction coordinate of the hole center design position; move the distance corresponding to the length direction coordinate of the hole center design position from the hole length reference point along the actual length reference direction to obtain the hole position section passing through the point; establish the hole position section passing through the hole position section passing through the point and perpendicular to the actual length reference direction.

[0188] Calculate the intersection of the hole location section and the actual edge line, and determine the intersection as the actual reference point; This represents the unit vector indicating the actual direction of the edge line. This represents the unit normal vector of the positioning surface of the length positioning stop. This indicates the benchmark intersection judgment value.

[0189] Read the unit normal vectors of the assembly datum point, assembly length datum direction, and connecting plate mating surface from the preset assembly datum state; read the unit normal vector of the actual mating surface from the actual mating surface; and denote the unit normal vector of the actual mating surface as... Let the unit normal vector of the mating surface of the connecting plate be denoted as ,according to Calculate the dot product of normal vectors .

[0190] Read the machine sensing angular resolution from the machine sensing device calibration record, and convert the machine sensing angular resolution into radians, denoted as . ;according to Determine the direction judgment error .

[0191] when When the two unit normal vectors are considered to be in the same direction, the rotation angle is set to zero; when At that time, the two unit normal vectors are determined to be opposite, the actual length reference direction is determined as the direction of the rotation axis, and the rotation angle is determined to be 180 degrees.

[0192] when At that time, calculate and The cross product is converted into a vector of length one and its direction is determined as the axis of rotation; Limited to the range of negative one to one, and for Perform inverse cosine processing to obtain the rotation angle.

[0193] Candidate rotation matrices are formed according to the rotation axis direction and rotation angle. Candidate rotation matrix The unit normal vector of the actual contact surface is rotated along the path with the smallest rotation angle to the direction of the unit normal vector of the contact surface of the connecting plate; the actual length reference direction is only used to determine the direction of the rotation axis for a 180-degree rotation when the two unit normal vectors are determined to be in opposite directions.

[0194] Let the directed unit vector of the actual length reference direction be denoted as... The directed unit vector of the assembly length reference direction is denoted as ;according to Determine the directed unit vector of the actual length reference direction after rotation. and in accordance with Determine the directional angle within the range of 0 degrees to 180 degrees. .

[0195] In the formula This indicates that the dot product is restricted to the range of -1 to 1; the direction angle When the length alignment threshold is not greater than the length direction alignment threshold, the candidate rotation matrix is... The corresponding rotation is determined as the amount of rotation; the direction angle is... When the value exceeds the alignment threshold in the length direction, the attitude transformation relationship is not output, and the length direction pre-positioning correction process is initiated.

[0196] When entering the length direction pre-positioning and correction process, the in-plane angle adjustable axis, the upper limit of axis direction error, the in-plane angle adjustable range and the minimum angle increment are read from the equipment parameter record of the clamping mechanism; the in-plane angle adjustable axis includes the point through which the rotating axis passes and the unit direction of the rotating axis in the positioning coordinate system of the hole-making mechanism; the candidate clamping angle represents the angle change of the angle steel member around the in-plane angle adjustable axis relative to the current clamping angle.

[0197] The upper limit of the axis direction error is determined based on the installation and calibration record of the clamping mechanism; the rotation direction of the clamping mechanism is verified using a standard plane, and the maximum angle between the unit direction of the rotation axis and the normal direction of the standard plane is recorded during multiple verifications, and the maximum angle is written into the upper limit of the axis direction error.

[0198] Calculate the angle between the unit direction of the rotation axis of the adjustable axis in the plane and the straight line containing the unit normal vector of the actual contact surface; when the angle is greater than the upper limit of the axis direction error, output that the configuration of the adjustable axis in the plane is abnormal, terminate the current hole-making area processing and control the hole-making mechanism to stop hole making.

[0199] Starting from the current clamping angle, candidate clamping angles are generated in both the positive and negative directions according to the minimum angle increment, until the boundary of the adjustable angle range in the plane is reached; the candidate clamping angles are arranged in ascending order of the absolute value of the difference between the candidate clamping angle and the current clamping angle.

[0200] The clamping mechanism is sequentially controlled to move to the candidate clamping angle along the plane angle-adjustable axis. After each movement, the first end of the angle steel component is controlled to abut against the length positioning block again, and the limb posture parameters are re-acquired. The actual edge line, actual length reference direction, actual contact limb surface and non-contact actual limb surface are re-determined.

[0201] Recalculate the angle between the unit direction of the adjustable axis in the plane and the line containing the unit normal vector of the actual contact surface; when the angle is greater than the upper limit of the axis direction error, terminate the length direction pre-positioning correction and control the hole-making mechanism to stop hole making.

[0202] The unit vector of the redefined actual edge direction is denoted as... and in accordance with Recalculate the benchmark intersection judgment value ; Benchmark intersection judgment value If the value is not greater than the benchmark intersection judgment threshold, the output hole length benchmark establishment is abnormal, the length direction pre-positioning correction is terminated, and the hole making mechanism is controlled to stop hole making.

[0203] Benchmark Intersection Judgment Value When the intersection threshold is greater than the benchmark, calculate the unique intersection point between the actual edge line and the positioning surface of the length positioning block, and redetermine the benchmark point for hole making; move the length direction coordinate of the hole center design position from the redetermined benchmark point for hole making along the actual length benchmark direction, and redetermine the hole position section passing point, hole position section and actual benchmark point.

[0204] First, check whether the actual included angle or the actual included angle of each local area is within the allowable range of the actual included angle, and then redetermine the candidate rotation matrix and direction included angle; when using the hole-by-hole local attitude transformation relationship, calculate the first... Candidate rotation matrices corresponding to the centers of each hole Angle with direction The maximum value among all the included angles is determined as the pre-positioning correction judgment value.

[0205] When the pre-positioning correction judgment value is not greater than the length direction alignment threshold, the corresponding candidate clamping angle is maintained; when using a unified attitude transformation relationship, the direction angle is adjusted. As a pre-positioning correction judgment value; when all candidate clamping angles fail to meet the length direction alignment threshold, the hole-making process is determined to stop hole-making.

[0206] Pre-alignment correction in the length direction is not written into the attitude adjustment processing record and the correction record of the same batch; after the alignment threshold in the length direction is met, only the finally re-determined actual reference point is used to calculate the translation amount, and the actual reference point before the pre-alignment correction in the length direction is not called.

[0207] When using a unified attitude transformation relationship, the final candidate rotation matrix is ​​denoted as... The final actual benchmark point is recorded as ,according to Determine the translation amount ; select candidate rotation matrices Corresponding rotation and translation The combination forms a unified attitude transformation relationship; Indicates the assembly reference point.

[0208] When using the hole-by-hole local attitude transformation relationship, the first hole will be... The final candidate rotation matrix corresponding to the center of each hole is denoted as: , will the The final actual reference point corresponding to the center of each hole is denoted as ,according to Determine the local translation amount ; local rotation and local translation The combination is the first The relationship between the local attitude transformation of each hole center.

[0209] When using a unified attitude transformation relationship, check The dot product between the unit normal vector of the actual contact surface after rotation and the unit normal vector of the contact surface of the connecting plate, the pre-positioning correction judgment value, and the translation amount used. The distance between the converted actual reference point and the assembly reference point; when using the hole-by-hole local attitude transformation relationship, for each hole center corresponding to... Local directional angle and local translation amount Perform the checks separately.

[0210] The dot product of the unit normal vectors should be no less than The pre-positioning correction judgment value should not be greater than the length direction alignment threshold, and the distance between the converted actual reference point and the corresponding assembly reference point should not be greater than the coordinate calculation resolution.

[0211] If any inspection result does not meet the corresponding condition, the attitude transformation relationship will not be output, and the attitude transformation calculation will be abnormal. If all inspection results meet the corresponding condition, the unified attitude transformation relationship or the hole-by-hole local attitude transformation relationship will be established with the angle steel component identifier, hole-making area identifier and hole center number, and sent to step S104.

[0212] Example 6:

[0213] This embodiment further explains the process of determining the effective hole positions in the assembly state in step S104, based on embodiment 5.

[0214] Read the hole center design position, hole location limb surface identifier, and actual allowable angle range based on the hole center number; when the hole location limb surface identifier is the same as the limb surface number of the limb surface that is in contact with the limb surface, select the actual limb surface that is in contact with the limb surface as the actual limb surface where the hole is located; when the hole location limb surface identifier is different from the limb surface number of the limb surface that is in contact with the limb surface, select the non-in contact actual limb surface as the actual limb surface where the hole is located.

[0215] Read the actual included angle judgment result determined in step S102; when the actual included angle is within the allowable range of the actual included angle, call the actual limb state corresponding to the hole making area; when the actual included angle is not within the allowable range of the actual included angle but the local actual included angles corresponding to the design positions of the center of each hole are within the allowable range of the actual included angle, call the local actual limb state and hole-by-hole local posture transformation relationship determined in Example 4.

[0216] Step S102 has determined that the hole-making area does not include multiple cross-sectional positions, any local actual included angle is not within the allowable range of the actual included angle, or the local actual limb surface state cannot be determined as a stop hole-making situation; when the stop hole-making result is received, the hole center design position conversion process of the current hole-making area is terminated.

[0217] Read the unit normal vector, actual edge line, actual length reference direction, hole length reference point, and actual reference point of the actual limb surface where the hole is located; within the actual limb surface where the hole is located, determine the direction perpendicular to the actual length reference direction and pointing from the actual edge line to the corresponding outer limb edge as the actual limb width direction.

[0218] The actual limb width direction is determined by the cross product of the unit normal vector of the actual limb surface where the hole is located and the actual length reference direction. The positive and negative directions of the actual limb width direction are then unified according to the position of the outer edge of the actual limb surface where the hole is located. The actual limb width direction is then converted into a vector with a length of one.

[0219] The actual reference point is obtained by moving the hole center design position at the length direction coordinate corresponding to the actual length reference point along the actual length reference direction. The actual reference point is then moved at the limb width direction coordinate corresponding to the actual limb width direction along the actual limb width direction to obtain the three-dimensional representation of the hole center design position on the actual limb surface where the hole is located.

[0220] When the hole is located on a non-contact limb surface, the actual limb width direction is determined by the unit normal vector of the non-contact actual limb surface; the unit normal vector of the non-contact actual limb surface and the actual included angle together reflect the spatial direction of the non-contact actual limb surface relative to the actual contact limb surface.

[0221] When using a unified attitude transformation relationship, read the rotation and translation quantities from the unified attitude transformation relationship. The three-dimensional representation of the hole center design position is transformed according to the rotation amount, and the translation amount is superimposed. This yields the effective hole positions in the assembly state.

[0222] When using a hole-by-hole local attitude transformation relationship, the corresponding local rotation and local translation are read according to the hole center number. The three-dimensional representation of the corresponding hole center design position is rotated according to the local rotation amount, and the local translation amount is superimposed. This yields the effective hole position in the assembly state corresponding to the hole center.

[0223] When the hole center design location includes multiple hole center design locations, the three-dimensional representation is determined according to the limb surface identifier corresponding to the hole position of each hole center number; when a unified attitude transformation relationship is used for the same hole-making area, the same unified attitude transformation relationship is used for multiple three-dimensional hole center locations; when a hole-by-hole local attitude transformation relationship is used, the hole-by-hole local attitude transformation relationship corresponding to the hole center number is called for each three-dimensional hole center location.

[0224] Example 7:

[0225] Based on Example 6, this embodiment further explains the length direction coordinate difference, limb width direction coordinate difference, and effective edge distance deviation in step S105.

[0226] The direction in which the angle steel member extends from one end to the other is defined as the length direction; the direction perpendicular to the length direction within the limb surface where the designed assembly hole is located under the preset assembly reference state is defined as the limb width direction; according to the coordinate axis direction of the assembly coordinate system in Example 2, the coordinate axis corresponding to the length direction is defined as the length direction coordinate axis, and the coordinate axis corresponding to the limb width direction is defined as the limb width direction coordinate axis.

[0227] The positive direction of the length direction coordinate axis is determined according to the direction from the first end to the second end of the angle steel member; the first end and the second end are determined according to the installation direction of the angle steel member in the assembly drawing and recorded in the preset assembly reference state record; the positive direction of the limb width direction coordinate axis is determined according to the direction from the edge of the angle steel member in the limb surface where the designed assembly hole is located to the outer limb edge.

[0228] Based on the angle steel component identification, hole-making area identification, and hole center number, read the effective hole positions in the assembly state obtained in Example 6 and the designed assembly hole positions obtained in Example 2; check whether the effective hole positions in the assembly state and the designed assembly hole positions correspond to the same angle steel component identification, hole-making area identification, and hole center number; if the correspondence is inconsistent, do not calculate the effective hole position deviation, and output the hole position correspondence check result.

[0229] Read the coordinates of the valid holes in the assembly state on the length axis, and read the coordinates of the designed assembly holes on the length axis; subtract the length axis coordinates of the designed assembly holes from the length axis coordinates of the valid holes in the assembly state to obtain the length axis coordinate difference; the length axis coordinate difference is expressed in millimeters.

[0230] When the length direction coordinate difference is positive, it means that the effective hole position in the assembly state is located on the positive side of the length direction of the designed assembly hole position; when the length direction coordinate difference is negative, it means that the effective hole position in the assembly state is located on the negative side of the length direction of the designed assembly hole position; when the length direction coordinate difference is zero, it means that the length direction coordinates of the two positions are the same.

[0231] Read the coordinates of the effective holes in the assembly state on the limb width direction coordinate axis, and read the coordinates of the designed assembly holes on the limb width direction coordinate axis; subtract the limb width direction coordinates of the designed assembly holes from the limb width direction coordinates of the effective holes in the assembly state to obtain the limb width direction coordinate difference; the limb width direction coordinate difference is expressed in millimeters.

[0232] When the difference in the limb width direction coordinates is positive, it indicates that the effective hole position in the assembly state is located on the positive side of the limb width direction of the designed assembly hole position; when the difference in the limb width direction coordinates is negative, it indicates that the effective hole position in the assembly state is located on the negative side of the limb width direction of the designed assembly hole position; when the difference in the limb width direction coordinates is zero, it indicates that the limb width direction coordinates of the two positions are the same.

[0233] Based on the angle steel component identification, hole-making area identification, and hole center number, the design position of the limb edge of the limb surface where the designed assembly hole is located is read from the preset assembly datum state record; the limb edge design position is represented by a straight line position in the assembly coordinate system and corresponds to the limb edge used to determine the edge distance in the design hole-making parameters; when there are two outer limb edges on the same limb surface, the corresponding limb edge design position is selected according to the edge distance correspondence in the design hole-making parameter record.

[0234] Along the normal direction of the limb surface where the designed assembly hole is located, the effective hole position in the assembly state is projected onto the limb surface where the designed assembly hole is located to obtain the projected hole position; in the limb surface where the designed assembly hole is located, a perpendicular line is drawn from the projected hole position to the designed position of the limb edge, and the length between the projected hole position and the foot of the perpendicular is determined as the effective edge distance corresponding to the effective hole position in the assembly state.

[0235] Read the edge distance corresponding to the hole center number from the hole design parameters; the edge distance represents the design distance between the designed assembly hole position and the corresponding limb edge design position; subtract the edge distance from the effective edge distance to obtain the effective edge distance deviation; both the effective edge distance and the effective edge distance deviation are expressed in millimeters.

[0236] When the effective margin deviation is positive, it means that the effective margin is greater than the margin; when the effective margin deviation is negative, it means that the effective margin is less than the margin; when the effective margin deviation is zero, it means that the effective margin is equal to the margin.

[0237] Write the length direction coordinate difference, leg width direction coordinate difference, and effective edge distance deviation into the effective hole position deviation; record the value, symbol, unit, angle steel component identification, hole making area identification, and hole center number of the length direction coordinate difference, leg width direction coordinate difference, and effective edge distance deviation respectively, so that each deviation value corresponds to the effective hole position of the corresponding assembly state.

[0238] The absolute values ​​of the length direction coordinate difference, the absolute values ​​of the limb width direction coordinate difference, and the absolute values ​​of the effective edge distance deviation are compared with the corresponding first deviation threshold, compensation threshold, or detection threshold. The signs of the length direction coordinate difference, limb width direction coordinate difference, and effective edge distance deviation are retained to determine the attitude adjustment direction, the hole-making position compensation direction, and the parameter correction direction for subsequent angle steel components in the same batch.

[0239] The effective hole position deviation is sent to step S106; step S106 determines the hole making process based on the comparison result between the absolute value of each deviation value and the corresponding threshold, and determines the adjustment direction of the clamping position, support position or hole center design position based on the sign of each deviation value.

[0240] Example 8:

[0241] Based on Example 7, this embodiment further explains the relative position deviation of the hole group corresponding to the design positions of the multiple hole centers that form the hole group.

[0242] Based on the angle steel component identification and the hole-making area identification, read the design positions of multiple holes with the same hole group number and the same limb surface identification from the design hole-making parameter record; based on the hole center number corresponding to each hole center design position, read multiple design assembly hole positions from the preset assembly reference state record, and read multiple valid assembly state hole positions from the processing result of step S104.

[0243] Check whether the design position of the hole center, the design assembly hole position, and the effective hole position in the assembly state have the same angle steel component identification, hole making area identification, hole group number, and hole center number; if all four identifications are the same, establish the correspondence between the design position of the hole center, the design assembly hole position, and the effective hole position in the assembly state; if any identification is different, do not calculate the relative position deviation of the hole group corresponding to the hole center.

[0244] According to the arrangement order of the hole center numbers in the hole group record, select the effective hole positions corresponding to every two hole center numbers from multiple effective hole positions in the assembly state; determine the hole center number that is arranged earlier as the first hole center number, and determine the hole center number that is arranged later as the second hole center number; all subsequent coordinate differences are made by subtracting the coordinate corresponding to the first hole center number from the coordinate corresponding to the second hole center number.

[0245] Read the length direction coordinates and limb width direction coordinates of the effective hole position in the assembly state corresponding to the center number of the first hole, and read the length direction coordinates and limb width direction coordinates of the effective hole position in the assembly state corresponding to the center number of the second hole; subtract the length direction coordinates of the center number of the first hole from the length direction coordinates of the center number of the second hole to obtain the length direction coordinate difference between the two effective hole positions in the assembly state.

[0246] Subtract the limb width direction coordinate corresponding to the center number of the first hole from the limb width direction coordinate corresponding to the center number of the second hole to obtain the limb width direction coordinate difference between the two effective hole positions in the assembly state; the length direction coordinate difference and the limb width direction coordinate difference between the two effective hole positions in the assembly state are both expressed in millimeters, and the sign of the coordinate difference is retained.

[0247] According to the center number of the first hole and the center number of the second hole, read the two corresponding design assembly holes from multiple design assembly holes; subtract the length direction coordinate of the design assembly hole corresponding to the center number of the first hole from the length direction coordinate of the design assembly hole corresponding to the center number of the second hole to obtain the length direction coordinate difference between the two design assembly holes.

[0248] The difference in the width direction coordinates between the two designed assembly holes is obtained by subtracting the width direction coordinates of the designed assembly hole corresponding to the center number of the second hole from the width direction coordinates of the designed assembly hole corresponding to the center number of the second hole. The difference in the length direction coordinates and the difference in the width direction coordinates between the two designed assembly holes are both expressed in millimeters.

[0249] The relative position deviation of the hole group in the length direction is obtained by subtracting the length direction coordinate difference between the two designed assembly holes from the length direction coordinate difference between the two effective holes in the assembly state. When the relative position deviation of the hole group in the length direction is positive, it means that the length direction spacing between the two effective holes in the assembly state increases positively in the length direction relative to the corresponding design spacing.

[0250] When the relative position deviation of the hole group in the length direction is negative, it means that the length direction spacing between two effective hole positions in the assembly state changes negatively in the length direction relative to the corresponding design spacing; when the relative position deviation of the hole group in the length direction is zero, it means that the length direction coordinate difference between two effective hole positions in the assembly state is the same as the corresponding design coordinate difference.

[0251] The relative position deviation of the hole group in the limb width direction is obtained by subtracting the limb width direction coordinate difference between the effective hole positions in the two assembly states from the limb width direction coordinate difference between the two designed assembly hole positions. When the relative position deviation of the hole group in the limb width direction is positive, it means that the limb width direction spacing between the two effective hole positions in the two assembly states increases in the positive direction of the limb width direction relative to the corresponding designed spacing.

[0252] When the relative position deviation of the hole group in the limb width direction is negative, it means that the limb width direction spacing between the two effective hole positions in the assembly state changes negatively in the limb width direction relative to the corresponding design spacing; when the relative position deviation of the hole group in the limb width direction is zero, it means that the limb width direction coordinate difference between the two effective hole positions in the assembly state is the same as the corresponding design coordinate difference.

[0253] When a hole group includes three or more hole center design positions, calculate the relative position deviation of the hole group in the length direction and the relative position deviation of the hole group in the leg width direction for every two hole center numbers in the hole group in the same way; record the first hole center number, the second hole center number, the hole group number, the deviation value, the deviation sign and the deviation unit for each calculation result.

[0254] The relative position deviations of the hole groups in each length direction and the relative position deviations of the hole groups in each limb width direction are written into the effective hole position deviations of the corresponding hole groups; the absolute values ​​of the relative position deviations of each hole group are compared with the corresponding first deviation threshold, compensation threshold or detection threshold, and the sign of the relative position deviations of each hole group is retained to determine the hole position compensation direction.

[0255] The effective hole position deviation, including the length direction coordinate difference, the limb width direction coordinate difference, the effective edge distance deviation, the length direction hole group relative position deviation, and the limb width direction hole group relative position deviation, is sent to step S106; step S106 reads the corresponding threshold according to the deviation item identifier, and determines the hole making processing method based on the comparison result between the absolute value of each deviation value and the corresponding threshold.

[0256] Example 9:

[0257] This embodiment further explains the process of determining the hole-making method in step S106, based on embodiment 1; see [link to embodiment 1]. Figure 4 The process of determining the hole-making method includes the following steps.

[0258] Establish a machine intelligence decision parameter configuration record; the machine intelligence decision parameter configuration record shall include at least the angle steel component type, hole area identifier, deviation item identifier, deviation type, hole center number, first hole center number, second hole center number, first deviation threshold, default compensation threshold, compensation threshold, detection threshold, batch intelligent correction threshold, threshold unit, applicable conditions, and deviation sensitivity matrix number.

[0259] For each deviation item, a first deviation threshold, a default compensation threshold, a detection threshold, and a batch intelligent correction threshold are determined. The first deviation threshold, the default compensation threshold, the detection threshold, and the batch intelligent correction threshold are all expressed in millimeters. The deviation item identifier is used to ensure that each deviation value matches the corresponding threshold one by one.

[0260] The default compensation threshold is written into the machine intelligence decision parameter configuration record; after the attitude transformation relationship of the current drilling area is determined, the upper limit of the dynamic compensation capability is determined, and the smaller value between the default compensation threshold and the upper limit of the dynamic compensation capability is determined as the compensation threshold of the corresponding deviation item of the current drilling area.

[0261] After the clamping and support mechanisms are installed or the type of angle steel component changes, a deviation sensitivity matrix is ​​established. The standard angle steel component is placed at the hole-making station, and the remaining adjustable coordinates except for one adjustable coordinate remain unchanged. The corresponding clamping or support mechanism is controlled to move according to the known positive displacement and the known reverse displacement. After each movement, the limb posture parameters are collected again and all deviation values ​​are calculated.

[0262] Calculate the deviation term value before and after the movement according to the deviation term; subtract the deviation term value before the movement from the deviation term value after the movement to obtain the change value of the deviation term; divide the change value of the deviation term by the known displacement of the corresponding adjustable coordinate to obtain the sensitivity coefficient of the corresponding deviation term relative to the corresponding adjustable coordinate; perform the same calibration on each adjustable coordinate, and use multiple sets of known displacements and deviation term change values ​​to perform linear least squares fitting to form the deviation sensitivity matrix.

[0263] Each row of the deviation sensitivity matrix corresponds to a specific deviation item; the deviation items corresponding to the length direction coordinate difference, the limb width direction coordinate difference, and the effective edge distance deviation are jointly identified by the deviation type and the hole center number; the deviation items corresponding to the relative position deviation of the hole group in the length direction and the relative position deviation of the hole group in the limb width direction are jointly identified by the deviation type, the first hole center number, and the second hole center number.

[0264] Each column of the deviation sensitivity matrix corresponds to an adjustable coordinate of the clamping or support mechanism; the unit of the sensitivity coefficient is the deviation value unit divided by the corresponding adjustable coordinate unit; the deviation sensitivity matrix also records the angle steel component type, hole area identifier, deviation item arrangement order, adjustable coordinate arrangement order, calibration position range, and deviation sensitivity matrix number.

[0265] Using the type of angle steel component, the hole-making area identifier, and the deviation item identifier as query conditions, the first deviation threshold corresponding to each deviation value is read. The deviation value of a single hole is identified by the deviation type and the hole center number, and the deviation value of a group of holes is identified by the deviation type, the first hole center number, and the second hole center number.

[0266] If any deviation item fails to read the first deviation threshold or the first deviation threshold is configured abnormally, the current hole-making area processing is terminated and the hole-making mechanism is controlled to stop hole-making; when all deviation items have read valid first deviation thresholds, the absolute value of each deviation value is compared with the corresponding first deviation threshold.

[0267] When the absolute value of each deviation value is not greater than the corresponding first deviation threshold, the hole-making process is determined to be hole-making according to the hole center design position; when the absolute value of at least one deviation value is greater than the corresponding first deviation threshold, candidate position combinations are generated.

[0268] When the absolute value of at least one deviation value is greater than the corresponding first deviation threshold, the adjustable range of each clamping position is read from the equipment parameter record of the clamping mechanism, and the adjustable range of each support position is read from the equipment parameter record of the support mechanism; candidate clamping positions and candidate support positions are generated according to the minimum movement of each adjustable coordinate.

[0269] The candidate clamping position and the candidate support position are combined into a candidate position combination; when the clamping mechanism does not need to move, the candidate position combination only includes the target support position; when the support mechanism does not need to move, the candidate position combination only includes the target clamping position; the adjustment position includes at least one of the target clamping position and the target support position.

[0270] For each candidate position combination, subtract the current clamping position from the candidate clamping position and subtract the current support position from the candidate support position to form a candidate position change vector; denote the current deviation vector as... The deviation sensitivity matrix is ​​denoted as Let the candidate position change vector be denoted as ,according to Calculate the adjusted deviation vector corresponding to the candidate position combination. .

[0271] In the formula, the current deviation vector is written with the deviation values ​​one by one according to the order of the deviation items recorded in the deviation sensitivity matrix; the candidate position change vector is written with the adjustable coordinate change amount one by one according to the order of the adjustable coordinates recorded in the deviation sensitivity matrix; the number of elements in the current deviation vector is equal to the number of rows in the deviation sensitivity matrix, and the number of elements in the candidate position change vector is equal to the number of columns in the deviation sensitivity matrix.

[0272] Delete candidate position combinations where the target clamping position is not within the adjustable range of the corresponding clamping position, the target support position is not within the adjustable range of the corresponding support position, or the candidate position change vector exceeds the calibration range of the deviation sensitivity matrix; compare the absolute value of each adjusted deviation value corresponding to the retained candidate position combination with the corresponding first deviation threshold.

[0273] When the absolute value of each adjusted deviation value corresponding to the candidate position combination is not greater than the corresponding first deviation threshold, the candidate position combination is retained as a feasible adjustment position; when there are multiple feasible adjustment positions, the normalized adjustment cost corresponding to each feasible adjustment position is calculated separately.

[0274] The first in the candidate position change vector The adjustable coordinate changes are denoted as , will the The allowable adjustment amount corresponding to each adjustable coordinate is denoted as ,according to Calculate the normalization adjustment cost ; This indicates the number of adjustable coordinates involved in attitude adjustment.

[0275] Allowable adjustment amount The adjustable range is determined by subtracting the lower limit from the upper limit of the adjustable range. Device coordinates whose upper limit is equal to the lower limit are not included in the candidate position change vector. The normalization adjustment cost is a dimensionless value and is not directly added to the adjustable coordinate changes of different units.

[0276] The feasible adjustment position with the lowest normalization adjustment cost is selected as the adjustment position; when a feasible adjustment position exists, the hole-making process is determined as attitude adjustment; when the target clamping position exists, the target clamping position is sent to the clamping mechanism; when the target support position exists, the target support position is sent to the support mechanism; when no feasible adjustment position exists, the effective hole position deviation is sent to the hole-making position compensation process.

[0277] After the attitude adjustment is completed, the actual deviation is re-acquired and recalculated according to Example 10, and the adjusted deviation vector is not directly used as the final result.

[0278] Example 10:

[0279] This embodiment, based on embodiment 9, further explains the process of attitude adjustment and redetermining the effective hole position deviation after attitude adjustment.

[0280] When the hole-making process is in attitude adjustment mode, keep the hole-making mechanism in a stopped state; when the target clamping position exists, control the clamping mechanism to move to the target clamping position; when the target support position exists, control the support mechanism to move to the target support position; wait for all clamping mechanisms and support mechanisms with target positions to return the movement completion signal respectively.

[0281] After receiving the signal that all movement is complete, the positions of the clamping mechanism and the support mechanism remain unchanged, and the machine sensing device is triggered to re-collect the limb posture parameters of the same hole-making area as before the posture adjustment; the actual limb surface state, posture transformation relationship, effective hole position and effective hole position deviation of the assembly state are re-determined according to Examples 3 to 8.

[0282] If no feasible adjustment position exists, the clamping position and support position are not changed, and the effective hole position deviation before attitude adjustment is used as the newly determined effective hole position deviation; the newly determined effective hole position deviation and the effective hole position deviation before attitude adjustment are saved separately.

[0283] The absolute values ​​of each newly determined deviation value are compared with the corresponding first deviation threshold. When the absolute value of each deviation value is not greater than the corresponding first deviation threshold, the current clamping position and support position are maintained, and the hole-making mechanism is controlled to perform hole-making according to the hole center design position.

[0284] When the absolute value of at least one deviation value is greater than the corresponding first deviation threshold, the hole is not directly drilled according to the hole center design position, and the re-determined effective hole position deviation, the re-determined attitude transformation relationship after attitude adjustment, the multiple hole center design positions, the allowable range of hole distance and the allowable range of edge distance are sent to the initial hole position compensation amount generation process.

[0285] Example 11:

[0286] This embodiment, based on embodiment 10, further explains the initial hole-making position compensation amount, candidate hole-making position compensation amount, hole-making position compensation, and hole-making stop.

[0287] After the attitude transformation relationship of the current drilling area is determined, the compensation threshold corresponding to each deviation item is determined and the compensation threshold is written into the drilling control parameter record of the current drilling area; if any deviation item does not obtain a compensation threshold or the compensation threshold is configured abnormally, the processing of the current drilling area is terminated and the drilling mechanism is controlled to stop drilling.

[0288] If the absolute value of at least one redefined deviation value is greater than the corresponding compensation threshold, the hole-making process is set to stop hole-making; if the absolute values ​​of all redefined deviation values ​​are not greater than the corresponding compensation threshold, and the absolute value of at least one deviation value is greater than the corresponding first deviation threshold, the process of generating the initial hole-making position compensation amount is initiated.

[0289] The compensation threshold is only used to determine whether the newly determined effective hole position deviation is allowed to enter the initial hole position compensation amount generation process; after entering the initial hole position compensation amount generation process, each deviation value after compensation uses the corresponding first deviation threshold as the residual deviation constraint, and does not use the compensation threshold as the residual deviation constraint.

[0290] A set of holes participating in compensation is formed based on the newly determined effective hole position deviations; when the absolute value of a single hole deviation is greater than the corresponding first deviation threshold, the corresponding hole center number is written into the set of holes participating in compensation; when the absolute value of the relative position deviation of a group of holes is greater than the corresponding first deviation threshold, the corresponding first hole center number and second hole center number are written into the set of holes participating in compensation; based on the hole spacing check relationship, the hole center numbers that form a corresponding hole center number combination with the already written hole center numbers and belong to the same hole group are written into the set of holes participating in compensation; duplicate hole center numbers are deleted, and the set of holes participating in compensation is arranged according to the hole center numbers.

[0291] Read the minimum positioning increment in the length direction, the minimum positioning increment in the limb width direction, the compensable movement range in the length direction, and the compensable movement range in the limb width direction corresponding to each hole center from the equipment parameter record of the hole-making mechanism; arrange the compensation values ​​in the length direction and the compensation values ​​in the limb width direction corresponding to each hole center that participate in the compensation according to the hole center number to form a compensation vector.

[0292] For any set of compensation vectors, the design position of the corresponding hole center is corrected using the length direction compensation value and the leg width direction compensation value corresponding to each hole center, thus obtaining the initial hole position; when using a unified attitude transformation relationship, the rotation matrix in the unified attitude transformation relationship is used. Transform all initial hole positions using translation and displacement.

[0293] When using the hole-by-hole local attitude transformation relationship, for the first hole... The rotation matrix in the corresponding local attitude transformation relationship of each hole center is read. and local translation and using rotation matrix and local translation Transformation of the first The initial hole-making position corresponding to the center of each hole; different hole centers do not share the same rotation matrix. and local translation .

[0294] The conversion result is determined as the effective hole position in the initial assembly state, and all compensated deviations are recalculated according to Examples 7 and 8; the first The compensated deviation value is denoted as , will the The first deviation threshold corresponding to each deviation term is denoted as . , This indicates the number of deviation items involved in the compensation judgment, according to... Calculate the target value of residual deviation .

[0295] When there are one or two hole centers involved in the compensation, for each hole center, the corresponding compensable movement range in the length direction is traversed according to the minimum positioning increment in the length direction to obtain the set of compensation values ​​in the length direction, and the corresponding compensable movement range in the limb width direction is traversed according to the minimum positioning increment in the limb width direction to obtain the set of compensation values ​​in the limb width direction.

[0296] For each hole center, the set of compensation values ​​in the length direction and the set of compensation values ​​in the limb width direction are combined by Cartesian combination to obtain the compensation value combination for the corresponding hole center; when there are two hole centers involved in the compensation, the compensation value combination for each of the two hole centers is combined by Cartesian combination to form multiple sets of initial hole position compensation amounts.

[0297] For each group of initial hole position compensation amounts, recalculate the target values ​​of all compensated deviations and residual deviations according to the aforementioned unified attitude transformation relationship or hole-by-hole local attitude transformation relationship. After all the hole centers involved in the compensation have completed the traversal of their corresponding compensable movement range, the generation of the initial hole position compensation amount is terminated.

[0298] When more than two hole centers are involved in the compensation, a compensation solution configuration record is established. The compensation solution configuration record includes at least the solution method, the maximum number of iterations, and the residual deviation convergence threshold. The solution method adopts sequential quadratic programming or the trust region method, and the length direction compensation value and the limb width direction compensation value of each hole center are used as the quantities to be solved.

[0299] Each desired quantity is restricted within the compensable movement range of the corresponding hole-making mechanism, and the candidate hole spacing and candidate edge spacing are set as constraints. The zero compensation vector is used as the first initial compensation vector, and the residual deviation target values ​​corresponding to the boundary vertices and discrete points of the multidimensional compensable movement range are calculated. ; set the residual deviation target value The smallest feasible boundary compensation vector is used as the second initial compensation vector.

[0300] Constrained nonlinear least squares solutions are performed using the first and second initial compensation vectors, respectively; after each iteration, the residual deviation target value is recalculated in the aforementioned manner. ; Target value of residual deviation between two consecutive intervals The iteration stops when the absolute value of the difference is not greater than the residual bias convergence threshold, and the residual bias target value is retained. Smaller continuous solutions.

[0301] If the residual bias convergence threshold is not met after reaching the maximum number of iterations, the constraint nonlinear least squares solution is deemed to have failed; if the solutions corresponding to both initial compensation vectors fail, the hole-making process is set to stop; if at least one solution succeeds, the residual bias target value continues to be evaluated. Smaller continuous solutions are discretized.

[0302] For each length direction compensation component in the continuous solution, the minimum positioning increment in the adjacent downward and upward integer multiples of the length direction is taken respectively; for each limb width direction compensation component in the continuous solution, the minimum positioning increment in the adjacent downward and upward integer multiples of the limb width direction is taken respectively; the discrete compensation components are combined item by item to form multiple sets of initial hole position compensation amounts.

[0303] Delete any initial hole-making position compensation amount that exceeds the compensable movement range of the corresponding hole-making mechanism; for each group of retained initial hole-making position compensation amounts, recalculate the target values ​​of all compensated deviations and residual deviations according to the aforementioned unified attitude transformation relationship or hole-by-hole local attitude transformation relationship. .

[0304] The initial hole-making position compensation amount is determined as the candidate hole-making position compensation amount when the absolute value of each deviation value after compensation is not greater than the corresponding first deviation threshold; when there is no candidate hole-making position compensation amount, the hole-making process is determined as stopping hole-making; when there is a candidate hole-making position compensation amount, the candidate hole distance and candidate edge distance are checked again.

[0305] Based on the corresponding hole center number combination, read the two candidate assembly state valid hole positions that need to be checked for hole spacing; when the hole spacing type is length direction hole spacing, determine the absolute value of the length direction coordinate difference between the two candidate assembly state valid hole positions as the candidate hole spacing; when the hole spacing type is limb width direction hole spacing, determine the absolute value of the limb width direction coordinate difference between the two candidate assembly state valid hole positions as the candidate hole spacing.

[0306] When the hole spacing type is the straight-line distance between hole centers, the three-dimensional straight-line distance between the effective hole positions of two candidate assembly states is determined as the candidate hole spacing; the candidate hole spacing is expressed in millimeters and is compared with the allowable hole spacing range corresponding to the combination of hole spacing type and corresponding hole center number.

[0307] Along the normal direction of the limb surface where the designed assembly hole is located, project the effective hole position of the candidate assembly state onto the limb surface where the designed assembly hole is located to obtain the candidate projected hole position; within the limb surface where the designed assembly hole is located, calculate the vertical distance from the candidate projected hole position to the designed position of the limb edge, and determine the vertical distance as the candidate edge distance.

[0308] Delete candidate hole position compensation amounts that are not within the corresponding hole spacing allowable range, candidate edge distance not within the edge distance allowable range, or any compensation value exceeds the compensable movement range of the corresponding hole-making mechanism; determine the retained candidate hole position compensation amounts as feasible candidate hole position compensation amounts.

[0309] The first The length direction compensation value of the center of each hole is denoted as , will the The compensation value in the limb width direction at the center of each hole is denoted as ,according to Calculate the target value of the compensation displacement ; This indicates the number of hole centers participating in the compensation.

[0310] Select the target value of compensation displacement from the feasible candidate hole-making position compensation values. The minimum feasible candidate hole location compensation amount, and the target value of the compensation displacement. The smallest feasible candidate hole-making position compensation amount was determined as the hole-making position compensation amount; the target value of the compensation displacement was... When the values ​​are the same, select the target value of the residual deviation. Minimum feasible candidate hole location compensation amount.

[0311] If there is no feasible candidate hole-making position compensation amount, the hole-making process is set to stop hole-making; if there is a feasible candidate hole-making position compensation amount, the hole-making process is set to hole-making position compensation. The corresponding hole center design position is corrected according to the hole-making position compensation amount, and the hole-making mechanism is controlled to perform hole-making according to the corrected hole center design position.

[0312] The initial hole-making position compensation, candidate hole-making position compensation, and hole-making position compensation are recorded respectively, along with the angle steel component identifier, hole-making area identifier, hole center number, length direction compensation value, leg width direction compensation value, and residual deviation target value. The processing status ensures that the three processing levels maintain a corresponding relationship.

[0313] Example 12:

[0314] This embodiment, based on Embodiment 1, further explains the hole position detection process after the hole drilling of the angle steel component is completed; see [link to Embodiment 1]. Figure 5 The hole location detection process includes the following steps.

[0315] After the hole is made, the angle steel component is kept in the hole-making station, and the hole opening profile, drilling axis direction and post-hole-making limb posture parameters are obtained. The drilling axis direction is read from the main axis direction record of the hole-making mechanism, and the hole opening profile and post-hole-making limb posture parameters are converted to the positioning coordinate system of the hole-making mechanism.

[0316] Determine the actual limb surface where the borehole opening is located based on the markings on the limb surface where the borehole is located; denot the unit vector of the borehole axis as... Let the unit normal vector of the actual limb surface where the orifice is located be denoted as ,calculate And limit the calculation results to the range of zero to one; according to Determine the acute angle between the borehole axis and the straight line containing the normal to the borehole surface. .

[0317] Establish a local two-dimensional coordinate system on the actual limb surface where the orifice is located; determine the actual reference point corresponding to the orifice center number as the origin of the local two-dimensional coordinate system, determine the actual length reference direction as the first coordinate axis direction, and determine the actual limb width direction of the actual limb surface where the orifice is located as the second coordinate axis direction; project the orifice edge points onto the actual limb surface where the orifice is located and convert them into local two-dimensional coordinates.

[0318] Read the circular fitting angle threshold from the hole position detection configuration record; when the acute angle is not greater than the circular fitting angle threshold, fit a circular profile in the local two-dimensional coordinate system and determine the center of the circle; when the acute angle is greater than the circular fitting angle threshold, fit an elliptical profile in the local two-dimensional coordinate system and determine the center of the ellipse.

[0319] Based on the origin of the local two-dimensional coordinate system, the direction of the first coordinate axis, the direction of the second coordinate axis, and the two-dimensional coordinates of the center of the circle or the center of the ellipse, the center of the circle or the center of the ellipse is transformed back into the positioning coordinate system of the hole-making mechanism, and the transformation result is determined as the actual hole center position.

[0320] In another implementation, the cylindrical axis of the hole wall is fitted based on the sampling points on the hole wall, and the intersection of the cylindrical axis of the hole wall and the actual limb surface where the hole opening is located is calculated. The intersection point is determined as the actual hole center position. The upper limit of the error used for circular fitting, elliptical fitting, or fitting of the cylindrical axis of the hole wall is read from the hole position detection configuration record.

[0321] If the fitting error of the orifice profile does not meet the corresponding upper limit of error, the orifice profile is re-acquired; if the fitting error requirement is still not met after the number of re-acquisitions reaches the maximum number of re-acquisitions of the orifice profile, the orifice acquisition is output as abnormal and the orifice position detection result is determined as unqualified.

[0322] The actual limb surface state after hole making is determined according to Examples 3 and 4, the posture transformation relationship after hole making is determined according to Example 5, and the actual hole center position is converted into an effective hole position in the assembly state after hole making according to Example 6. When the hole position is located on a non-fitting limb surface, the three-dimensional expression of the actual hole center position is determined by the spatial direction of the non-fitting actual limb surface.

[0323] According to Examples 7 and 8, at least one of the following is determined: the length direction coordinate difference after hole making, the width direction coordinate difference after hole making, the effective edge distance deviation after hole making, the relative position deviation of the hole group in the length direction after hole making, and the relative position deviation of the hole group in the width direction after hole making.

[0324] The detection threshold is read according to the deviation item identifier corresponding to the deviation value after each hole is made; if the detection threshold is not read for any deviation item, the detection of the current hole position is stopped and the hole position detection result is determined to be unqualified.

[0325] When all deviation items are read to the detection threshold, the absolute value of each deviation value after hole making is compared with the corresponding detection threshold. When the absolute value of each deviation value after hole making is not greater than the corresponding detection threshold, the hole position detection result is determined to be qualified. When the absolute value of at least one deviation value after hole making is greater than the corresponding detection threshold, the hole position detection result is determined to be unqualified.

[0326] The hole location inspection record should include at least the angle steel component identification, hole-making area identification, hole center number, hole location limb identification, actual hole center position, valid hole location in the assembly state after hole making, deviation value after each hole making, corresponding inspection threshold, hole opening contour fitting method, and hole location inspection results.

[0327] Example 13:

[0328] This embodiment, based on embodiment 9, further explains the process of correcting the clamping or support parameters of subsequent angle steel components in the same batch.

[0329] Angle steel components in the same batch are classified according to the batch number in the production line control record. The batch number is written by the production task before the angle steel components enter the hole-making station. Angle steel components with the same model, material specifications and design hole-making parameters use the same batch number. The hole-making sequence is recorded for each angle steel component in the same batch according to the order in which the angle steel components enter the hole-making station.

[0330] Obtain the effective hole position deviation, hole making method, clamping parameters and support parameters for multiple angle steel components in the same batch; each record should include at least the batch number, angle steel component identification, hole making sequence, hole making area identification, deviation type, deviation value, hole making method, attitude adjustment object, and the position before attitude adjustment and position after attitude adjustment for each adjustable coordinate.

[0331] The attitude adjustment objects include clamping mechanisms, support mechanisms, and clamping mechanisms and support mechanisms; first, arrange all hole-making records of the same batch according to the hole-making sequence, and then select at least two angle steel components with adjacent hole-making sequence numbers from all hole-making records; the difference between any two adjacent hole-making sequence numbers must be equal to one.

[0332] If the hole-making process corresponding to at least two selected angle steel components is attitude adjustment, and the attitude adjustment objects used to calculate the same clamping parameter correction vector or support parameter correction vector are the same, the batch correction conditions will continue to be judged; when angle steel components with different attitude adjustment objects are inserted between the hole-making sequence numbers, the angle steel components on both sides of the insertion position will not be merged into the same record sequence.

[0333] According to the deviation item identifier and the hole making area identifier, read the same deviation value from the effective hole position deviations corresponding to at least two angle steel components; the single hole deviation item requires the deviation type and hole center number to be the same, and the hole group deviation item requires the deviation type, the first hole center number and the second hole center number to be the same; read the corresponding batch intelligent correction threshold, and compare the absolute value and sign of the same deviation value respectively.

[0334] If the absolute value of the same deviation value is greater than the batch intelligent correction threshold and the signs are the same, continue to determine the consistency of parameter changes; if the absolute value of any deviation value is not greater than the batch intelligent correction threshold or the signs are different, it is determined that the batch correction conditions are not met.

[0335] Establish a parameter change consistency configuration record; for each adjustable coordinate, the parameter change consistency configuration record records the adjustable coordinate identifier, position change consistency threshold, and threshold unit; the position change consistency threshold is obtained by adding the minimum movement of the corresponding adjustable coordinate to the upper limit of the repeat positioning error of the corresponding adjustable coordinate.

[0336] For each adjustable coordinate of the clamping mechanism, the change in clamping position is obtained by subtracting the clamping position before the attitude adjustment from the clamping position after attitude adjustment; for each adjustable coordinate of the support mechanism, the change in support position is obtained by subtracting the support position before the attitude adjustment from the support position after attitude adjustment.

[0337] For the same adjustable coordinate, check whether the direction of position change of at least two angle steel components is the same, and calculate the absolute value of the difference between the maximum and minimum position change values; if the direction is the same and the absolute value of the difference is not greater than the corresponding position change consistency threshold, it is determined that the position change of the corresponding adjustable coordinate meets the consistency condition.

[0338] When all adjustable coordinates of the clamping mechanisms used to correct the clamping parameters meet the consistency condition, calculate the average value of the position change corresponding to the adjustable coordinate of each clamping mechanism, and combine the average values ​​according to the order of the adjustable coordinates of the clamping mechanisms to obtain the clamping parameter correction vector.

[0339] When all adjustable coordinates of the support mechanisms used to correct the support parameters meet the consistency condition, the average value of the position change corresponding to the adjustable coordinate of each support mechanism is calculated, and the average values ​​are combined according to the order of the adjustable coordinates of the support mechanisms to obtain the support parameter correction vector.

[0340] When the attitude adjustment targets are the clamping mechanism and the support mechanism, after all the adjustable coordinates of the clamping mechanism and the support mechanism meet the consistency condition, the clamping parameter correction vector and the support parameter correction vector are formed respectively; if any adjustable coordinate does not meet the consistency condition, the joint batch correction of the corresponding record sequence is not performed.

[0341] Read the adjustable range of each clamping position from the equipment parameter record of the clamping mechanism, and read the adjustable range of each support position from the equipment parameter record of the support mechanism; add the clamping parameter correction vector to the original clamping parameter coordinate by coordinate to obtain the corrected clamping parameter; add the support parameter correction vector to the original support parameter coordinate by coordinate to obtain the corrected support parameter.

[0342] If any of the corrected clamping positions exceeds the adjustable range of the corresponding clamping position, or if any of the corrected support positions exceeds the adjustable range of the corresponding support position, the corresponding parameter correction will not be performed; if all corrected positions are within the corresponding adjustable range, the corrected clamping parameters or support parameters will be written into the production line control record of subsequent angle steel components in the same batch.

[0343] If the correction conditions for the same batch are not met, the original clamping parameters and original support parameters of the subsequent angle steel components in the same batch shall remain unchanged; when the subsequent angle steel components in the same batch enter the hole-making station, the corrected clamping parameters or support parameters shall be read according to the batch number, hole-making area identifier and posture adjustment object, and the hole-making processing method shall be re-determined according to steps S102 to S106.

[0344] Example 14:

[0345] This embodiment provides other implementations of the hole-making method for angle steel components; different implementations all use the limb posture parameters, actual limb surface state, posture transformation relationship, effective hole position in assembly state, effective hole position deviation, and hole-making processing method as a complete terminology chain.

[0346] The machine sensing device configured in the machine intelligence-based angle steel component hole-making system includes a line laser profile sensor, a camera, a displacement sensor, and a contact probe. When performing a single limb posture parameter acquisition, at least one of the line laser profile sensor, camera, displacement sensor, and contact probe can be selected to output the acquisition result, and the different acquisition results are uniformly converted into profile points in the positioning coordinate system of the hole-making mechanism.

[0347] Line laser profile sensors output spatial sampling points in the profile line; cameras output spatial sampling points based on the correspondence of the same limb surface positions in different shooting positions; displacement sensors output spatial sampling points based on installation coordinates, measurement direction, and measurement value; contact probes output spatial sampling points based on the equipment coordinates at the time of contact.

[0348] According to Example 3, the validity of the acquisition is first determined based on the ratio of the inner points and the difference between repeated acquisitions. Then, the first and second actual limb surfaces are fitted based on the effective contour points. The local warping amount is determined by the maximum absolute value of the shape residual of the effective contour points relative to the corresponding actual limb surfaces. The local warping amount is not used as a condition for judging acquisition failure.

[0349] When the local warping amount is not greater than the unified transformation local warping amount threshold and the twist amount is not greater than the unified transformation twist amount threshold, the hole-making area is treated as a whole to determine the unified attitude transformation relationship; when the local warping amount or twist amount is greater than the unified transformation corresponding threshold but not greater than the hole-making stop corresponding threshold, the local hole-making area is divided according to the hole center design position, and the hole-by-hole local attitude transformation relationship is determined separately.

[0350] When the local warping or twisting amount exceeds the threshold corresponding to stopping hole making, the hole making processing method of the current hole making area is determined to stop hole making; when using the hole-by-hole local posture transformation relationship, the three-dimensional expression of the design position of the center of each hole is determined according to the limb surface mark where the hole is located, and the corresponding hole-by-hole local posture transformation relationship is called to obtain the effective hole position in the assembly state.

[0351] The effective hole position deviation and hole making processing method are determined according to Examples 7 to 11 for different acquisition methods and different posture transformation ranges; different implementation methods only change the acquisition method of the limb posture parameters or the applicable range of posture transformation relationship, without changing the calculation caliber of effective hole position and effective hole position deviation in the assembly state.

[0352] Example 15:

[0353] See Figure 6 This embodiment provides a machine intelligence-based hole-making system for angle steel components. The machine intelligence-based hole-making system for angle steel components includes a parameter acquisition module, a machine-sensing limb surface state determination module, a posture transformation determination module, an effective hole position determination module, a deviation determination module, and a machine intelligence hole-making control module.

[0354] The parameter acquisition module is used to acquire the design hole-making parameters and the preset assembly datum state. The design hole-making parameters include the hole center number, hole group number, hole center design position, hole position limb surface identifier, hole spacing type, corresponding hole center number combination, hole spacing allowable range, edge distance, edge distance allowable range, and actual included angle allowable range. The preset assembly datum state includes the design assembly hole position, connecting plate mating surface, mating limb surface, limb edge design position, assembly datum point, and assembly length datum direction.

[0355] The machine-sensing limb surface state determination module is used to determine the first actual limb surface, the second actual limb surface, the actual included angle, the actual edge line, the actual length reference direction, the local warping amount, and the twisting amount based on the contour points of the two limb surfaces, and write the aforementioned contents into the actual limb surface state.

[0356] The attitude transformation determination module is used to determine the candidate rotation matrix based on the unit normal vector of the actual contact surface and the unit normal vector of the contact surface of the connecting plate, and to determine the length direction alignment condition based on the direction angle between the actual length reference direction after the candidate rotation matrix is ​​rotated and the assembly length reference direction; if the length direction alignment condition is not met, the attitude transformation determination module outputs a pre-positioning correction request.

[0357] When the alignment conditions in the length direction are met, the attitude transformation determination module determines the actual reference point based on the length direction coordinates of the hole length reference point and the designed position of the hole center, and determines the translation amount based on the three-dimensional position difference between the actual reference point and the assembly reference point after rotation; the length direction pre-positioning correction is not part of the attitude adjustment in the hole making process.

[0358] The effective hole position determination module is used to determine the three-dimensional representation of the hole center design position based on the limb surface mark where the hole is located, the hole length reference point, the actual length reference direction, and the actual limb width direction. It then performs rotation and translation transformations on the three-dimensional representation according to the attitude transformation relationship to obtain the effective hole position in the assembly state.

[0359] The deviation determination module is used to determine the effective hole position deviation based on the effective hole position in the assembly state and the designed assembly hole position; the relative position deviation of the hole group is determined according to the order of the hole center number to determine the direction of the difference.

[0360] The machine intelligent hole-making control module is used to perform threshold comparison using the absolute value of each deviation value, determine the attitude adjustment based on the deviation sensitivity matrix, candidate position change vector and normalization adjustment cost, and determine hole-making position compensation or stop hole-making according to the processing level of initial hole-making position compensation amount, candidate hole-making position compensation amount and hole-making position compensation amount.

[0361] The parameter acquisition module, machine-sensing limb state determination module, posture transformation determination module, effective hole position determination module, deviation determination module, and machine intelligent hole-making control module transmit data according to the angle steel component identification, hole-making area identification, hole group number, and hole center number; when the identification is inconsistent, the received data is not called and the data matching result is output.

[0362] Example 16:

[0363] This embodiment further explains the machine sensing device and the machine intelligent hole-making control module based on embodiment 15.

[0364] The machine intelligence-based angle steel component hole-making system also includes a machine sensing device; the machine sensing device includes a line laser profile sensor, a camera, a displacement sensor, and a contact probe; the line laser profile sensor, camera, displacement sensor, and contact probe are all connected to the machine sensing limb surface state determination module.

[0365] When collecting limb posture parameters, at least one of the following is selected to output limb posture parameters based on the occlusion state of the hole-making area, the measurement range, and the surface condition of the angle steel component: a line laser profile sensor, a camera, a displacement sensor, and a contact probe. The machine sensing device still includes the aforementioned four types of sensors, and the unselected sensors remain in standby mode.

[0366] The machine intelligent hole-making control module is communicatively or electrically connected to the clamping mechanism, the support mechanism, and the hole-making mechanism, respectively; the machine intelligent hole-making control module includes a pre-positioning correction unit, a direct hole-making unit, an attitude adjustment unit, a position compensation unit, and a stop control unit.

[0367] The pre-positioning correction unit is used to receive the pre-positioning correction request output by the attitude transformation determination module, control the clamping mechanism to perform pre-positioning correction in the length direction according to the adjustable axis in the plane and the candidate clamping angle, and control the first end of the angle steel component to abut against the length positioning block again after each correction; the pre-positioning correction unit does not generate attitude adjustment processing records and batch correction records.

[0368] The direct drilling unit is used to control the drilling mechanism according to the hole center design position when the absolute value of each deviation value is not greater than the corresponding first deviation threshold; the attitude adjustment unit is used to determine at least one of the target clamping position and the target support position from the candidate position combination when the absolute value of at least one deviation value is greater than the corresponding first deviation threshold.

[0369] The position compensation unit is used to dynamically calculate the upper limit of the compensation capability corresponding to each deviation item after the current attitude transformation relationship is determined, and uses the compensation threshold to determine whether the newly determined effective hole position deviation is allowed to enter the hole making position compensation process; when there are no more than two hole centers participating in the compensation, the position compensation unit generates discrete initial hole making position compensation amount within the compensable movement range corresponding to each hole center.

[0370] When there are more than two hole centers involved in the compensation, the position compensation unit performs constrained nonlinear least squares solution according to the compensation solution configuration record, and generates the initial hole position compensation amount with the goal of minimizing the residual deviation target value. The position compensation unit calculates the post-compensation deviation according to the unified attitude transformation relationship or the hole-by-hole local attitude transformation relationship, and determines the initial hole position compensation amount whose absolute value of each post-compensation deviation value is not greater than the corresponding first deviation threshold as the candidate hole position compensation amount.

[0371] The position compensation unit determines the candidate hole-making position compensation amount that meets the allowable range of hole spacing, allowable range of edge distance, and compensable movement range of the hole-making mechanism, and has the smallest target value of compensation displacement.

[0372] The stop control unit is used to control the hole-making mechanism to stop hole-making in the current hole-making area when there is no feasible adjustment position or no feasible candidate hole-making position compensation amount; the stop control unit is also used to control the hole-making to stop when the actual included angle or local actual included angle exceeds the allowable range of the actual included angle, the length direction pre-positioning correction fails, the actual reference point cannot be uniquely determined, the attitude acquisition reaches the maximum number of re-acquisitions and still has no effective results, the torsion amount exceeds the limit, the local warping amount exceeds the limit, or the threshold configuration is abnormal.

[0373] The execution process of the machine sensing device in this embodiment is described in Examples 3, 4 and 14; the execution process of the pre-positioning correction unit is described in Example 5; and the execution processes of the direct drilling unit, posture adjustment unit, position compensation unit and stop control unit are described in Examples 9 to 11.

[0374] The above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit the scope of protection of this application. Without departing from the technical concept of this application, equivalent substitutions or adaptive adjustments can be made to the limb posture parameter acquisition method, parameter configuration method, module division method, communication method and storage method. All the aforementioned equivalent substitutions or adaptive adjustments should fall within the scope of protection of this application.

Claims

1. A method for drilling holes in angle steel components based on machine intelligence, characterized in that, include: Obtain the design drilling parameters and preset assembly reference state of the angle steel component. The design drilling parameters include the design position of the hole center in the drilling state, and the preset assembly reference state includes the design assembly hole position, the mating surface of the connecting plate, and the mating limb surface in the angle steel component corresponding to the mating surface of the connecting plate in the assembly state. Obtain the limb posture parameters in the drilling area of ​​the angle steel member, and determine the actual limb surface state in the drilling area based on the limb posture parameters; Based on the actual limb surface state, the connecting plate mating surface and the mating limb surface, determine the posture transformation relationship of the drilling area from the actual limb surface state to the preset assembly reference state; The design position of the hole center is transformed according to the attitude transformation relationship to obtain the effective hole position in the assembly state; Determine the effective hole position deviation based on the effective hole positions in the assembly state and the designed assembly hole positions; The machine makes intelligent hole-making decisions based on the effective hole position deviation, determines the hole-making processing method, and controls the hole-making process of the angle steel component according to the hole-making processing method.

2. The method for drilling holes in angle steel components based on machine intelligence according to claim 1, characterized in that, The limb posture parameters include the contour points of the two limb surfaces of the angle steel member; Determine the actual limb and facial condition, including: Plane fitting is performed on the contour points of the two limb surfaces to obtain the first and second actual limb surfaces; The actual included angle is determined based on the normal vectors of the first and second actual limb surfaces, and the first, second, and included angles are defined as the actual limb surface state.

3. The method for drilling holes in angle steel components based on machine intelligence according to claim 2, characterized in that, Determine the attitude transformation relationships, including: The actual limb surface that corresponds to the limb surface in the first and second actual limb surfaces is defined as the actual limb surface in contact with the limb surface. Based on the normal vector of the actual contact surface and the normal vector of the contact surface of the connecting plate, determine the amount of rotation that makes the two normal vectors align and minimizes the rotation angle. The translation amount is determined based on the positional difference between the actual mating surface of the fitting limb and the mating surface of the connecting plate after rotation according to the rotation amount; The attitude transformation relationship is formed based on the rotation and translation.

4. The method for drilling holes in angle steel components based on machine intelligence according to claim 3, characterized in that, The effective hole positions in the assembly state are obtained, including: The designed position of the hole center is rotated based on the amount of rotation to obtain the position of the hole center after rotation. The effective hole position in the assembly state is obtained by translating the center position of the hole after rotation based on the translation amount.

5. The method for drilling holes in angle steel components based on machine intelligence according to claim 4, characterized in that, The design parameters for drilling holes also include the edge distance, and the preset assembly reference state also includes the design position of the edge of the limb where the assembly hole is located. The direction in which the angle steel member extends from one end to the other is defined as the length direction, and the direction perpendicular to the length direction within the limb surface where the designed assembly hole is located under the preset assembly reference state is defined as the limb width direction. Determine the length direction coordinate difference and the leg width direction coordinate difference between the effective hole positions in the assembly state and the designed assembly hole positions; Determine the distance between the effective hole position in the assembly state and the designed position of the limb edge, and determine the effective edge distance deviation based on the difference between the distance and the edge distance; Effective hole position deviation includes length direction coordinate difference, limb width direction coordinate difference, and effective edge distance deviation.

6. The method for drilling holes in angle steel components based on machine intelligence according to claim 1, characterized in that, Effective hole position deviation includes at least one deviation value. The hole-making processing methods corresponding to machine intelligent hole-making decision-making include hole-making according to the hole center design position, posture adjustment, hole-making position compensation, or stopping hole-making.

7. The method for drilling holes in angle steel components based on machine intelligence according to claim 6, characterized in that, Obtain the first deviation threshold corresponding to each deviation value; When the absolute value of each deviation value is not greater than the corresponding first deviation threshold, the hole-making process is determined to be hole-making according to the hole center design position; When the absolute value of at least one deviation value is greater than the corresponding first deviation threshold, the adjustable range of the clamping position of the clamping mechanism for clamping the angle steel member and the adjustable range of the support position of the support mechanism for supporting the angle steel member are obtained. When there is an adjustment position within the adjustable range of the clamping position or the adjustable range of the support position that ensures that the absolute value of each deviation value is not greater than the corresponding first deviation threshold, the hole-making process is determined to be attitude adjustment, and the clamping mechanism or support mechanism is controlled to move to the adjustment position. When there is no position to adjust, determine the hole-making position compensation or stop hole-making based on the effective hole position deviation.

8. The method for drilling holes in angle steel components based on machine intelligence according to claim 7, characterized in that, The hole center design position includes multiple hole center design positions, and the hole design parameters also include the allowable range of hole spacing and the allowable range of edge distance; After the posture is adjusted, the limb posture parameters are reacquired and the effective hole position deviation is re-determined. If there is no adjustment position, the current effective hole position deviation is used. When at least one deviation value is still greater than the corresponding first deviation threshold, a candidate hole position compensation amount is generated based on the effective hole position deviation and the hole center design position is corrected. If the absolute value of each deviation value in the effective hole position deviation corresponding to the candidate hole position is not greater than the corresponding first deviation threshold, the hole distance and the edge distance are within the allowable range of hole distance and edge distance respectively, and the compensation amount of the candidate hole position does not exceed the compensable movement range of the hole making mechanism, the hole position compensation amount is determined; otherwise, hole making is stopped.

9. A machine intelligence-based hole-making system for angle steel components, characterized in that, include: The parameter acquisition module is used to acquire the design hole-making parameters and preset assembly reference state of the angle steel component. The design hole-making parameters include the design position of the hole center in the hole-making state, and the preset assembly reference state includes the design assembly hole position, the mating surface of the connecting plate, and the mating limb surface in the angle steel component corresponding to the mating surface of the connecting plate in the assembly state. The machine-sensing limb surface state determination module is used to acquire limb side posture parameters in the drilling area of ​​angle steel components and determine the actual limb surface state in the drilling area based on the limb side posture parameters. The posture transformation determination module is used to determine the posture transformation relationship of the drilling area from the actual limb surface state to the preset assembly reference state based on the actual limb surface state, the connecting plate mating surface and the mating limb surface. The effective hole position determination module is used to transform the designed position of the hole center according to the attitude transformation relationship to obtain the effective hole position in the assembly state; The deviation determination module is used to determine the effective hole position deviation based on the effective hole positions in the assembly state and the designed assembly hole positions. The machine intelligent hole-making control module is used to make machine intelligent hole-making decisions based on the effective hole position deviation, determine the hole-making processing method, and control the hole-making process of the angle steel component according to the hole-making processing method.

10. The machine intelligence-based hole-making system for angle steel components according to claim 9, characterized in that, The machine intelligent hole-making control module is connected to the clamping mechanism for clamping the angle steel component, the support mechanism for supporting the angle steel component, and the hole-making mechanism for making holes in the angle steel component. The machine intelligent hole-making control module includes: The direct drilling unit is used to control the drilling mechanism according to the designed position of the hole center based on the drilling process method. The attitude adjustment unit is used to control the clamping mechanism or support mechanism according to the effective hole position deviation; The position compensation unit is used to generate a hole-making position compensation amount based on the effective hole position deviation, and to control the hole-making mechanism based on the hole-making position compensation amount. The stop control unit is used to control the hole-making mechanism to stop hole-making based on the effective hole position deviation.

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