阅读说明：本技术 一种基于特征库的复杂曲面零件机械臂加工系统和方法 (Complex curved surface part mechanical arm machining system and method based on feature library ) 是由 方志明 黄政 许泽银 蒋克荣 韦韫 郭渊 张红 于 2019-08-30 设计创作，主要内容包括：本发明适用于曲面零件加工技术领域,提供了一种基于特征库的复杂曲面零件机械臂加工系统,包括：特征数据库,预存有若干复杂曲面和/或复杂曲面单元的特征数据；匹配处理模块,用于获取待加工的零件曲面特征,并与所述特征数据库中的特征数据进行匹配；信息处理模块,用于根据所述匹配到的复杂曲面和/或复杂曲面单元的单元,生成零件的加工数据信息；数据获取模块,用于获取所述复杂曲面零件的加工数据信息；仿真修正模块,用于仿真加工所述零件,并对加工数据信息进行修正；执行模块,用于根据所述信息处理模块提供的加工数据控制所述机械臂加工处理。本发明还相应的提供一种加工方法。借此,本发明基于特征库数据可以高效的对复杂曲面零件进行加工。(The invention is suitable for the technical field of curved surface part machining, and provides a complex curved surface part mechanical arm machining system based on a feature library, which comprises: the characteristic database is prestored with characteristic data of a plurality of complex curved surfaces and/or complex curved surface units; the matching processing module is used for acquiring the curved surface characteristics of the part to be processed and matching the curved surface characteristics with the characteristic data in the characteristic database; the information processing module is used for generating processing data information of the part according to the matched complex curved surface and/or complex curved surface unit; the data acquisition module is used for acquiring the processing data information of the complex curved surface part; the simulation correction module is used for simulating and processing the part and correcting the processing data information; and the execution module is used for controlling the mechanical arm to process according to the processing data provided by the information processing module. The invention also correspondingly provides a processing method. Therefore, the method can efficiently process the complex curved surface part based on the characteristic database data.)

1. A complex curved surface part mechanical arm machining system based on a feature library is characterized by comprising:

the characteristic database is prestored with characteristic data of a plurality of complex curved surfaces and/or complex curved surface units and is used for providing processing reference data of similar curved surfaces;

the matching processing module is used for acquiring the curved surface characteristics of the part to be processed and matching the curved surface characteristics with the characteristic data in the characteristic database, if at least one closest complex curved surface and/or complex curved surface unit is matched, the curved surface characteristics are processed by the information processing module, and if the curved surface characteristics are not matched, the curved surface characteristics are processed by the data acquisition module;

the information processing module is used for generating processing data information of the part according to the matched complex curved surface and/or complex curved surface unit and converting the processing data information into a machine instruction which can be executed by the mechanical arm;

the data acquisition module is used for acquiring the processing data information of the complex curved surface part;

the simulation correction module is used for simulating and processing the part according to the machine instruction provided by the information processing module, adjusting or modifying the processing data information of the part according to the simulation process and the simulation result, and returning the modified processing data information to the information processing module;

and the execution module is used for controlling the mechanical arm to process according to the processing data provided by the information processing module.

2. The system of claim 1, wherein the data in the complex curved surfaces and/or complex curved surface units in the feature database comprises boundary feature information including point features, line features, and surface features.

3. The library-of-features based complex curved part robotic arm machining system of claim 1 or 2, wherein the matching processing module comprises:

the system comprises a first feature extraction unit, a second feature extraction unit and a processing unit, wherein the first feature extraction unit is used for dividing and identifying feature lines of a curved surface area according to an existing area, and the feature lines comprise boundary lines and internal key feature lines;

the region dividing unit is used for dividing the curved surface region into a curvature domain graph according to the curvature characteristics of the curved surface region;

the first characteristic extraction unit is used for acquiring an internal characteristic line in a concave-convex area of the curvature area diagram;

and the identification unit is used for constructing the topological relation between the characteristic line and the curvature domain curved surface and identifying the curved surface characteristics by using an evolutionary algorithm.

4. A method for machining a mechanical arm of a complex curved surface part based on a feature library is characterized by comprising the following steps:

A. pre-storing characteristic data of a plurality of complex curved surfaces and/or complex curved surface units for providing processing reference data of similar curved surfaces;

B. c, acquiring curved surface features of the part to be machined, matching the curved surface features with feature data in the feature database, executing the step C if at least one closest complex curved surface and/or complex curved surface unit is matched, and executing the step D if the at least one closest complex curved surface and/or complex curved surface unit is not matched;

C. generating machining data information of the part according to the matched characteristics of the complex curved surface and/or the complex curved surface unit, converting the machining data information into a machine instruction which can be executed by the mechanical arm, and then executing the step E;

D. acquiring the machining data information of the complex curved surface part, and executing the step C;

E. simulating and processing the part according to the machine instruction provided by the information processing module, adjusting or modifying the processing data information of the part according to the simulation process and the simulation result, and returning the modified processing data information;

F. and C, controlling the mechanical arm to process according to the processing data confirmed and provided in the step C.

5. The method for machining the complex-curved-surface part mechanical arm based on the feature library of claim 4, wherein the data in the complex curved surface and/or the complex curved surface unit in the feature database comprises boundary feature information including point features, line features and surface features.

6. The method for machining the complex-curved-surface part mechanical arm based on the feature library according to claim 4 or 5, wherein the step B further comprises the following steps:

b1, dividing and identifying characteristic lines of the curved surface area according to the existing area, wherein the characteristic lines comprise boundary lines and internal key characteristic lines;

b2, dividing the curved surface region according to the curvature characteristics of the curved surface region to form a curvature domain graph;

b3, acquiring an internal characteristic line in the concave-convex area of the curvature area diagram;

b4, constructing the topological relation between the characteristic line and the curvature domain surface, and identifying the surface characteristics by using an evolutionary algorithm.

Technical Field

The invention relates to the technical field of complex curved surface part machining, in particular to a system and a method for machining a complex curved surface part mechanical arm based on a feature library.

Background

The complex curved surface mechanical part is wide in application field, but the existing complex curved surface part is complex in milling process, low in machining precision and low in machining efficiency, so that urgent needs are provided for complex curved surface machining in a cloud manufacturing mode, the complex curved surface milling efficiency is improved, machining and manufacturing resources are effectively configured, the machining and manufacturing processes are optimized, the machining link control capacity is enhanced, the machining cost and the informatization cost are reduced, and the like. With the research and development of technologies such as intelligent manufacturing, cloud manufacturing and industrial robots, the realization of high-efficiency machining of complex curved surface parts with different body types, complex surface types, high curvature changes and other characteristics through mechanical arm milling is an important means for improving complex curved surface machining, and is a development trend for realizing the high-efficiency machining of complex curved surfaces. But the research that directly carries out milling process to the arm is less now, the arm milling process technology in-process information data chain is incomplete, and the tool path file that generates through the CAM technique among the traditional multiaxis numerical control milling process can't directly be applied to the arm processing environment, among the current arm processing research, can only carry out milling process to the complicated curved surface part of specific model or face type, be difficult to realize the universal milling process to different models and face types, therefore the arm directly carries out complicated curved surface milling process's technical problem urgent need to be solved.

In view of the above, the prior art is obviously inconvenient and disadvantageous in practical use, and needs to be improved.

Disclosure of Invention

In view of the above-mentioned defects, the present invention provides a system and a method for machining a mechanical arm for a complex curved surface part based on a feature library, which can efficiently machine the complex curved surface part based on the data of the feature library.

In order to achieve the above object, the present invention provides a complex curved surface part mechanical arm processing system based on a feature library, the system comprising:

the characteristic database is prestored with characteristic data of a plurality of complex curved surfaces and/or complex curved surface units and is used for providing processing reference data of similar curved surfaces;

the matching processing module is used for acquiring the curved surface characteristics of the part to be processed and matching the curved surface characteristics with the characteristic data in the characteristic database, if at least one closest complex curved surface and/or complex curved surface unit is matched, the curved surface characteristics are processed by the information processing module, and if the curved surface characteristics are not matched, the curved surface characteristics are processed by the data acquisition module;

the information processing module is used for generating processing data information of the part according to the matched complex curved surface and/or complex curved surface unit and converting the processing data information into a machine instruction which can be executed by the mechanical arm;

the data acquisition module is used for acquiring the processing data information of the complex curved surface part;

the simulation correction module is used for simulating and processing the part according to the machine instruction provided by the information processing module, adjusting or modifying the processing data information of the part according to the simulation process and the simulation result, and returning the modified processing data information to the information processing module;

and the execution module is used for controlling the mechanical arm to process according to the processing data provided by the information processing module.

According to the complex curved surface part mechanical arm machining system based on the feature library, data in the complex curved surface and/or complex curved surface units in the feature database comprise boundary feature information containing point features, line features and surface features.

According to the complex curved surface part mechanical arm machining system based on the feature library, the matching processing module comprises:

the system comprises a first feature extraction unit, a second feature extraction unit and a processing unit, wherein the first feature extraction unit is used for dividing and identifying feature lines of a curved surface area according to an existing area, and the feature lines comprise boundary lines and internal key feature lines;

the region dividing unit is used for dividing the curved surface region into a curvature domain graph according to the curvature characteristics of the curved surface region;

the first characteristic extraction unit is used for acquiring an internal characteristic line in a concave-convex area of the curvature area diagram;

and the identification unit is used for constructing the topological relation between the characteristic line and the curvature domain curved surface and identifying the curved surface characteristics by using an evolutionary algorithm.

The invention also provides a complex curved surface part mechanical arm machining method based on the feature library, which comprises the following steps:

A. pre-storing characteristic data of a plurality of complex curved surfaces and/or complex curved surface units for providing processing reference data of similar curved surfaces;

B. c, acquiring curved surface features of the part to be machined, matching the curved surface features with feature data in the feature database, executing the step C if at least one closest complex curved surface and/or complex curved surface unit is matched, and executing the step D if the at least one closest complex curved surface and/or complex curved surface unit is not matched;

C. generating machining data information of the part according to the matched characteristics of the complex curved surface and/or the complex curved surface unit, converting the machining data information into a machine instruction which can be executed by the mechanical arm, and then executing the step E;

D. acquiring the machining data information of the complex curved surface part, and executing the step C;

E. simulating and processing the part according to the machine instruction provided by the information processing module, adjusting or modifying the processing data information of the part according to the simulation process and the simulation result, and returning the modified processing data information;

F. and C, controlling the mechanical arm to process according to the processing data confirmed and provided in the step C.

According to the feature library-based complex curved surface part mechanical arm machining method, data in a complex curved surface and/or a complex curved surface unit in the feature database comprise boundary feature information containing point features, line features and surface features.

According to the method for machining the complex curved surface part mechanical arm based on the feature library, the step B further comprises the following steps:

b1, dividing and identifying characteristic lines of the curved surface area according to the existing area, wherein the characteristic lines comprise boundary lines and internal key characteristic lines;

b2, dividing the curved surface region according to the curvature characteristics of the curved surface region to form a curvature domain graph;

b3, a first feature extraction unit for acquiring an internal feature line in a concave-convex area of the curvature domain diagram;

b4, constructing the topological relation between the characteristic line and the curvature domain surface, and identifying the surface characteristics by using an evolutionary algorithm.

The invention is suitable for the technical field of curved surface part machining, and provides a complex curved surface part mechanical arm machining system based on a feature library, which comprises: the characteristic database is prestored with characteristic data of a plurality of complex curved surfaces and/or complex curved surface units; the matching processing module is used for acquiring the curved surface characteristics of the part to be processed and matching the curved surface characteristics with the characteristic data in the characteristic database; the information processing module is used for generating processing data information of the part according to the matched complex curved surface and/or complex curved surface unit; the data acquisition module is used for acquiring the processing data information of the complex curved surface part; the simulation correction module is used for simulating and processing the part and correcting the processing data information; and the execution module is used for controlling the mechanical arm to process according to the processing data provided by the information processing module. The invention also correspondingly provides a processing method. Therefore, the method can efficiently process the complex curved surface part based on the characteristic database data.

Drawings

FIG. 1 is a schematic diagram of the system architecture of the present invention;

FIG. 2 is a block diagram of a matching processing module according to an embodiment of the present invention;

FIG. 3 is a flow chart of a method of the present invention;

fig. 4 is a flow chart of the matching process steps of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, the present invention provides a feature library-based complex curved surface part mechanical arm machining system, which includes a feature database 10, a matching processing module 20, an information processing module 30, a data acquisition module 40, a simulation correction module 50, and an execution module 60:

the characteristic database 10 is pre-stored with characteristic data of a plurality of complex surfaces and/or complex surface units and is used for providing processing reference data of similar surfaces.

Specifically, the characteristics of the complex surface or the complex surface unit include boundary characteristic information including point characteristics, line characteristics, and surface characteristics.

And the matching processing module 20 is configured to acquire curved surface features of the part to be processed, match the curved surface features with feature data in the feature database, and deliver the curved surface features to the information processing module for processing if at least one closest complex curved surface and/or complex curved surface unit is matched, or deliver the curved surface features to the data acquisition module 40 for processing if the curved surface features are not matched.

The complex surface unit is actually used for segmenting some complex surfaces, so that the characteristics of the subunits are relatively simple, and the acquisition of subsequent data and the conversion of instructions are facilitated. And the method is also more suitable for segmentation matching under the condition that large complex curved surfaces are difficult to match.

And the information processing module 30 is configured to generate processing data information of the part according to the matched complex curved surface and/or complex curved surface unit, and convert the processing data information into a machine instruction executable by the mechanical arm.

And the data acquisition module 40 is used for acquiring the processing data information of the complex curved surface part. The data obtaining module 40 is used for directly obtaining the characteristics of the machined part based on the data obtaining module 40 when no matched complex curved surface part information exists in the characteristic database 10, the calculation and the obtaining are relatively complex, and a plurality of methods are disclosed in the prior art, so that the details are not repeated.

And the simulation correction module 50 is used for simulating and processing the part according to the machine instruction provided by the information processing module, adjusting or modifying the processing data information of the part according to the simulation process and the simulation result, and returning the modified processing data information to the information processing module.

And the execution module 60 is used for controlling the mechanical arm processing according to the processing data provided by the information processing module.

In an embodiment of the present invention, with reference to fig. 2, the matching processing module 20 includes:

a first feature extraction unit 21, configured to divide and identify feature lines of a curved surface region according to an existing region, where the feature lines include a boundary line and an internal key feature line;

a region dividing unit 22 for dividing the curved surface region into a curvature region map according to the curvature characteristics of the curved surface region;

a first feature extraction unit 23 configured to obtain an internal feature line in a concave-convex region of the curvature region map;

and the identification unit 24 is used for constructing a topological relation between the characteristic line and the curvature domain curved surface and identifying the curved surface characteristics by using an evolutionary algorithm.

The invention is based on the extraction and calculation of the characteristic line, thereby carrying out characteristic matching to obtain the most approximate complex curved surface and facilitating the processing of parts.

Referring to fig. 3, the present invention provides a method for machining a complex curved surface part by a robot arm based on a feature library, which can be implemented by a system as shown in fig. 1, including:

step S301, pre-storing characteristic data of a plurality of complex curved surfaces and/or complex curved surface units for providing processing reference data of similar curved surfaces. Specifically, the characteristics of the complex surface or the complex surface unit include boundary characteristic information including point characteristics, line characteristics, and surface characteristics.

Step S302, obtaining the curved surface characteristics of the part to be processed, matching the curved surface characteristics with the characteristic data in the characteristic database, executing step S303 if at least one closest complex curved surface and/or complex curved surface unit is matched, or executing step S304. The complex surface unit is actually used for segmenting some complex surfaces, so that the characteristics of the subunits are relatively simple, and the acquisition of subsequent data and the conversion of instructions are facilitated. And the method is also more suitable for segmentation matching under the condition that large complex curved surfaces are difficult to match.

Step S303, generating processing data information of the part according to the matched characteristics of the complex curved surface and/or the complex curved surface unit, converting the processing data information into a machine instruction which can be executed by the mechanical arm, and then executing step S305;

and step S304, acquiring the machining data information of the complex curved surface part, and returning to execute the step S303. This step is used when there is no matched complex curved surface part information in the feature database 10, the features of the machined part are directly obtained based on the data obtaining module 40, the calculation obtaining is relatively complex, and many methods have been disclosed in the prior art, so the present invention is not described again.

And S305, simulating and processing the part according to the machine instruction provided by the information processing module, adjusting or modifying the processing data information of the part according to the simulation process and the simulation result, and returning the modified processing data information.

And step S306, controlling the mechanical arm to process according to the processing data confirmed and provided in the step C.

Preferably, in an embodiment of the present invention, with reference to fig. 4, step S302 further includes:

step S3021, dividing and identifying characteristic lines of the curved surface area according to the existing area, wherein the characteristic lines comprise boundary lines and internal key characteristic lines;

step S3022, dividing the curved surface region into a curvature domain graph according to the curvature characteristics of the curved surface region;

step S3023, obtaining an internal characteristic line in the concave-convex area of the curvature area diagram;

and S3024, constructing a topological relation between the characteristic line and the curvature domain curved surface, and identifying the characteristics of the curved surface by using an evolutionary algorithm.

In summary, the present invention is applicable to the technical field of curved surface part machining, and provides a complex curved surface part mechanical arm machining system based on a feature library, including: the characteristic database is prestored with characteristic data of a plurality of complex curved surfaces and/or complex curved surface units; the matching processing module is used for acquiring the curved surface characteristics of the part to be processed and matching the curved surface characteristics with the characteristic data in the characteristic database; the information processing module is used for generating processing data information of the part according to the matched complex curved surface and/or complex curved surface unit; the data acquisition module is used for acquiring the processing data information of the complex curved surface part; the simulation correction module is used for simulating and processing the part and correcting the processing data information; and the execution module is used for controlling the mechanical arm to process according to the processing data provided by the information processing module. The invention also correspondingly provides a processing method. Therefore, the method can efficiently process the complex curved surface part based on the characteristic database data.

The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.