CN101853012B

CN101853012B - Two-stage positioning free variable domain mechanical processing machine and two-stage positioning method thereof

Info

Publication number: CN101853012B
Application number: CN2010101815976A
Authority: CN
Inventors: 黄玉美; 杨幸芳; 李艳; 王鹏; 苏丽
Original assignee: Xian University of Technology
Current assignee: Xian University of Technology
Priority date: 2010-05-24
Filing date: 2010-05-24
Publication date: 2011-12-14
Anticipated expiration: 2030-05-24
Also published as: CN101853012A

Abstract

The invention discloses a two-stage positioning free variable range mechanical processing machine, which includes a wheel type walking variable range device, the walking body of the wheel type walking variable range device is provided with a driving wheel assembly and a free wheel assembly, the driving wheel assembly and The device is connected, and the four sides of the walking body are equipped with ultrasonic sensors; the upper surface of the wheeled walking variable range device is equipped with a turntable assembly of a five-axis numerical control manipulator, and the turntable assembly is connected with the mechanical arm assembly, swing assembly and pitch assembly in sequence, and the pitch A positioning vision sensor and an electric spindle assembly are installed on the assembly. The present invention also discloses a two-stage positioning method for the above-mentioned two-stage positioning free variable range machining machine. Corresponding markers are arranged on the processing object, which cooperate with the numerical control device of the free variable range machining machine to complete wheeled walking in sequence. The first-level positioning of the variable domain device and the second-level positioning of the five-axis CNC manipulator. The cantilever of the device and method of the invention has high rigidity, high specific rigidity and high positioning accuracy.

Description

A kind of two-stage positioning free variable domain mechanical processing machine and two-stage localization method thereof

Technical field

The present invention relates to the variable variable domain mechanical processing machine in a kind of operating area, be particularly related to and a kind ofly can change the operating area automatically along free path, in processing operation website two-stage location, two-stage positioning free variable domain mechanical processing machine that manipulator cantilever specific stiffness is high, the invention still further relates to the two-stage localization method of this kind variable domain mechanical processing machine.

Background technology

Machine tool apparatus, be that the numerically-controlled machine of rectangular coordinate form and machinings such as the machining robot equipment of joint coordinates form are referred to as machine tool apparatus, certain position (its support position of coordinate system is relative to the earth fixed) and the maximum range of work (being the operating area) that generally are fixedly mounted on the workshop are certain (size of operating area are determined by the movement travel of each kinematic axis of machine tool apparatus), and this support stationkeeping, the certain machine tool apparatus in operating area can be described as the localization machine tool apparatus.

The support position position of coordinate system relative to the earth is that variable machine tool apparatus can be described as variable domain mechanical processing machine, general variable domain mechanical processing machine is to adopt support to carry out variable domain along the mode that the path movement of the continuous guiding devices of hardware such as guide rail, track, travelling belt changes the operating area, change the path and must reconfigure the continuous guiding device of hardware, this can not be randomly, freely the variable domain mechanical processing machine of alternative routing can be described as non-free path variable domain mechanical processing machine.

Heavy parts is (as the larger hydrocarbon jar, engineering machinery, train, boats and ships, aircraft etc.) processing or assembling often have several positions to mill, bore, expand, hinge, cut or rivetings such as screw thread, weldering processing, process at different working positions and can be described as processing stations, the size that each processing stations need be processed is little, but the distance between each processing stations may be very big, can reach several meters even tens of rice, therefore processing machine is in the required movement travel of each processing stations (can be described as the processing impulse stroke) and little, but the total kilometres that the processing of finishing each processing stations needs very big (can be described as the variable domain stroke from a processing stations to the required stroke of another processing stations, total kilometres comprise processing impulse stroke and variable domain stroke).Particularly the distribution big, station of the distance between the processing stations be again at random (path from a station to another station is a free path) or the inner chamber of large tube-like part need a plurality of positions add man-hour, adopt localization machine tool apparatus and non-free path variable domain mechanical processing machine all to be difficult to realization and maybe can't realize.

Also often need to carry out at the scene some in addition and join and process on assembling line, as join and make threaded hole, join work such as doing dowel hole, the turn of the screw, distance is also bigger between the different processing stations.

The maximum operation field can be described as free path variable domain mechanical processing machine (can be called for short free variable domain mechanical processing machine) along the machine tool apparatus of free path change.Free variable domain mechanical processing machine is made up of guide control device, variable domain device, processing apparatus for work (claiming manipulator again) etc.Guide control device is controlled the variable domain device automatically and is moved to each operation website (promptly finishing the variable domain function) along free path, finishes processing operation (promptly finishing machining functions) by the automatic control operation machine of control device.

Adopt free variable domain mechanical processing machine to finish above-mentioned task and have outstanding advantage: 1) move to a processing stations by the variable domain device earlier, process by manipulator, after the machining an of station, move to another processing stations by the variable domain device again, repeat above-mentioned circulation, finish up to whole processing tasks, because manipulator only is responsible for the processing of processing stations, therefore the impulse stroke of each kinematic axis of manipulator does not need very big, the variable domain device is responsible for finishing the motion between each processing stations, its variable domain stroke can be very big, so total stroke can be very big, the operating area can be very big; 2) because the continuous guiding device of hardware need be set, the variable domain device can move along free path, so free variable domain mechanical processing machine can solve the variable domain problem that a plurality of stochastic distribution stations add man-hour easily; 3) because of the continuous guiding device of no hardware, the convenient surface of internal cavity that solves heavy parts (as the larger hydrocarbon jar) needs a plurality of positions to add the variable domain problem in man-hour.

The variable domain device that moves along free path can adopt running gear system, its variable domain stroke can be very big, and is convenient along the free path variable domain, but running gear system is to rely on wheel walking (just as the relative ground motion of automobile), bearing accuracy is lower, and general bearing accuracy is several millimeters magnitudes.Free variable domain mechanical processing machine is to processing the operation positioning accuracy request than higher, be desirably in below the 10-1 millimeter magnitude, and when carrying out a plurality of position of machining large part, need running gear system to move between different working positions, the bearing accuracy that therefore improves free variable domain mechanical processing machine is crucial.

The existing principle machine tool apparatus of connecting fully, its major advantage are that dirigibility is good, and working space is big; Major defect is that the kinematic error of each adds up, a little less than the specific stiffness of the cantilever design ratio of quality (rigidity with).Existing principle of parallel mechanism, its major advantage is that the movement parts quality is little, the specific stiffness height, each branch's kinematic error does not add up, the precision height; Major defect is that the gyration scope is little.To combine the parallel-series principle mechanism that has the two advantage concurrently be the new principle mechanism that has very much practical value with series connection and principle of parallel, particularly (processing stations that has is very high when the height difference of heavy parts processing stations is big, what have is lower), the size that each processing stations need be processed is little, need the mechanical arm of manipulator very long, it is crucial therefore improving the long-armed cantilever rigidity of manipulator; For free variable domain mechanical processing machine, the manipulator of being responsible for processing tasks rides on the running gear system, and the deadweight of manipulator is the load of running gear system, and the deadweight that therefore reduces manipulator is also most important to improving its specific stiffness.

Summary of the invention

The purpose of this invention is to provide a kind of two-stage positioning free variable domain mechanical processing machine, can carry out free path variable domain processing to a plurality of inside and outside surface working of heavy parts position, have the long-armed cantilever rigidity height of processing operation post spot placement accuracy height, manipulator and the high characteristics of cantilever specific stiffness of manipulator.

Another object of the present invention provides a kind of two-stage localization method of above-mentioned two-stage positioning free variable domain mechanical processing machine.

The technical solution adopted in the present invention is, a kind of two-stage positioning free variable domain mechanical processing machine comprises running on wheels variable domain device, five-shaft numerical control manipulator and control section,

The structure of described running on wheels variable domain device is, comprise the walking main body, be provided with numerical control device in the walking main body, respectively be provided with a drive wheel assemblies about the walking main body, drive wheel assemblies is connected with numerical control device, the front and back of walking main body respectively are provided with a freewheel assembly, and four limits of walking main body respectively are provided with ultrasonic sensor;

The structure of described five-shaft numerical control manipulator is, the panoramic table assembly that comprises the walking main body upper surface that is arranged on running on wheels variable domain device, the mechanical arm assembly of principle of parallel is installed on the panoramic table assembly, the mechanical arm assembly is connected with wobble component, wobble component is connected with the pitching assembly, and location vision sensor and electric spindle assemblies are installed on the pitching assembly;

Control section comprises manipulator control section and running on wheels variable domain apparatus control portion branch,

Manipulator control section wherein comprises the servo driving of manipulator location marker, location vision sensor, numerical control device, five-shaft numerical control manipulator, numerical control device is connected respectively with the servo driving of location vision sensor and five-shaft numerical control manipulator, the manipulator location marker is arranged on the processing object, and the location vision sensor is used for the view data of acquisition operations machine location marker;

Running on wheels variable domain apparatus control portion branch wherein comprises above-mentioned walking location marker, pose correction marker, the servo driving of drive wheel assemblies, numerical control device, ultrasonic sensor, numerical control device is connected respectively with ultrasonic sensor with the servo driving of drive wheel assemblies, walking location marker and pose are proofreaied and correct marker and are arranged on the processing object, and ultrasonic sensor is used to gather the ultrasonic reflections signal of walking location marker and pose correction marker.

Another technical scheme of the present invention is, a kind of two-stage localization method of two-stage positioning free variable domain mechanical processing machine, this method utilizes a kind of two-stage positioning free variable domain mechanical processing machine to carry out pose correction and two-stage location, the structure of this two-stage positioning free variable domain mechanical processing machine is, comprise running on wheels variable domain device, five-shaft numerical control manipulator and control section

The structure of described running on wheels variable domain device is, comprise the walking main body, be provided with numerical control device in the walking main body, respectively be provided with a drive wheel assemblies about the walking main body, drive wheel assemblies is connected with numerical control device, the front and back of walking main body respectively are provided with a freewheel assembly, and four limits of walking main body respectively dispose ultrasonic sensor;

The manipulator location marker corresponding with working position, walking location marker and pose are set on processing object proofread and correct marker;

Control section comprises manipulator control section and running on wheels variable domain apparatus control portion branch, manipulator control section wherein comprises the servo driving of manipulator location marker, location vision sensor, numerical control device, five-shaft numerical control manipulator, numerical control device is connected respectively with the servo driving of location vision sensor and five-shaft numerical control manipulator, and the location vision sensor is used for the view data of acquisition operations machine location marker; Running on wheels variable domain apparatus control portion branch wherein comprises above-mentioned walking location marker, pose correction marker, the servo driving of drive wheel assemblies, numerical control device, ultrasonic sensor, numerical control device is connected respectively with ultrasonic sensor with the servo driving of drive wheel assemblies, and ultrasonic sensor is used to gather the ultrasonic reflections signal of walking location marker and pose correction marker;

According to said apparatus, implement the two-stage location according to following steps:

Step 1), go in the process of processing website at the two-stage positioning free variable domain mechanical processing machine, keeping away barrier by the ultrasonic sensor in the running on wheels variable domain device in the walking way surveys, the ultrasonic reflections information that obtains is in time imported numerical control device to be handled, the action of controlling and driving wheel assembly, avoid and other irrelevant object collisions, before running on wheels variable domain device arrives the processing website, ultrasonic sensor is proofreaied and correct marker with default pose and is cooperated the ultrasonic reflections parameter of gathering each other, in time carry out position calculation and the action of controlling and driving wheel assembly by numerical control device, two degree of freedom of regulating running on wheels variable domain device change, and carry out pose and proofread and correct a Primary Location that obtains running on wheels variable domain device; Then, ultrasonic sensor cooperates with the location marker of presetting again, and running on wheels variable domain device is finally located, and realizes the first order location of two-stage positioning free variable domain mechanical processing machine;

Step 2), pass through the picture position data of the vision localization sensor acquisition location marker of five-shaft numerical control manipulator, numerical control device in time calculates and controls the servo driving action that panoramic table assembly, mechanical arm assembly, wobble component and pitching assembly connect, regulate each component states respective change of five degree of freedom, mechanical arm assembly by principle of parallel is realized Z, the Y two axle movement of facade, realizes gyration θ by the panoramic table assembly _Z, realize oscillating motion θ by wobble component _Y, realize luffing θ by the pitching assembly _X, cooperation realizes operating the location of dynamo-electric spindle assemblies jointly, realizes the location, the second level of two-stage positioning free variable domain mechanical processing machine.

Two-stage positioning free variable domain mechanical processing machine of the present invention and two-stage localization method thereof adopt running on wheels variable domain device, can realize the free path variable domain easily; By adopting pose to proofread and correct and the two-stage locator meams, at first the pose of advanced road wheel formula walking variable domain device is proofreaied and correct before first order location, carries out the first order location of running on wheels variable domain device again, carries out the location, the second level of manipulator at last, the bearing accuracy height; The Z of facade, Y two axle movement assembly adopt principle of parallel mechanical arm mechanism, long-armed cantilever rigidity height, cantilever specific stiffness height.

Description of drawings

Fig. 1 is the two-stage positioning free variable domain mechanical processing machine mobile alignment synoptic diagram of the inventive method, and A wherein, B, C, D place are position to be processed on the processing object;

Fig. 2 is the structural representation of apparatus of the present invention;

Fig. 3 is the structural representation of the running on wheels variable domain device in apparatus of the present invention;

Fig. 4 is the mechanical arm modular construction synoptic diagram in apparatus of the present invention.

Among the figure, 1. running on wheels variable domain device, 2. panoramic table assembly, 3. mechanical arm assembly, 4. wobble component, 5. pitching assembly, 6. location vision sensor, 7. electric spindle assemblies, 8. processing object, 9. working position, 10. walking location marker, 11. poses are proofreaied and correct marker, 12. manipulator location markers, 13. free path, 14. variable domain mechanical processing machines; 1-1. the walking main body, 1-2. drive wheel assemblies, 1-3. numerical control device, 1-4. freewheel assembly, 1-5. ultrasonic sensor; 3-1. column, 3-2. connecting rod a, 3-3. moving sets a, 3-4. rotary pair a, 3-5. rotary pair b, 3-6. rotary pair c, 3-7. moving sets b, 3-8. connecting rod b, 3-9. connecting rod c, 3-10. rotary pair d, 3-11. web joint, 3-12. composite revolving pair.

Embodiment

The present invention is described in detail below in conjunction with the drawings and specific embodiments.

Fig. 1 is the two-stage positioning free variable domain mechanical processing machine mobile alignment synoptic diagram of the inventive method, processing object 8 (heavy parts) has a plurality of working positions (also can be inside and outside surface), A wherein, B, C, D place are position to be processed, two-stage positioning free variable domain mechanical processing machine 14 of the present invention can be realized moving along free path 13, finishes location, the outside and operation at A, B, C, D place successively.Apparatus of the present invention and method thereof also can realize the positioned internal and the operation of large-scale workpiece.

Fig. 2 is the structural representation of two-stage positioning free variable domain mechanical processing machine of the present invention, comprises running on wheels variable domain device 1, and the main frame that the five-shaft numerical control manipulator is installed on the running on wheels variable domain device 1 (comprises θ _Z, Z, Y, θ _Y, θ _XFive degree of freedom, below the main frame of five-shaft numerical control manipulator is called for short manipulator), the panoramic table assembly 2 of this manipulator is installed in running on wheels variable domain device 1 upper surface, the mechanical arm assembly 3 of manipulator is installed on the panoramic table assembly 2, mechanical arm assembly 3 is connected with the wobble component 4 of manipulator, wobble component 4 is connected with the pitching assembly 5 of manipulator, and the location vision sensor 6 of manipulator and the electric spindle assemblies 7 that machining is used are installed on the pitching assembly 5.

Two-stage positioning free variable domain mechanical processing machine of the present invention has 7 degree of freedom, and numerical control running on wheels variable domain device 1 has the walking of terrestrial coordinate and two degree of freedom of turning, can be along the free path variable domain of walking; The panoramic table assembly 2 of five-shaft numerical control manipulator has the degree of freedom θ that horizontally rotates _ZThe mechanical arm assembly 3 of five-shaft numerical control manipulator has the Z of moving horizontally and two degree of freedom of vertical mobile Y, and the wobble component 4 of five-shaft numerical control manipulator has swing θ _YDegree of freedom, the pitching assembly 5 of five-shaft numerical control manipulator has pitching θ _XDegree of freedom amounts to 7 degree of freedom, and 7 degree of freedom is by corresponding driven by servomotor separately.

In addition, processing object 8 is provided with some working positions 9 and corresponding manipulator location marker 12, and the walking location marker 10 and the pose that also are provided with 1 corresponding guiding of running on wheels variable domain device on processing object 8 are proofreaied and correct marker 11.The servo driving of above-mentioned manipulator location marker 12, location vision sensor 6, numerical control device 1-3, five-shaft numerical control manipulator, constitute the digital servo control and the localization part of numerical control operating machine together, numerical control device 1-3 is connected respectively with the servo driving of location vision sensor 6 and five-shaft numerical control manipulator.The servo driving of numerical control device 1-3 and manipulator, location vision sensor 6 and location marker 12 fit into the location of line operate machine, and numerical control device 1-3 control numerical control operating machine servo driving realizes five-axle linkage processing.

Fig. 3 is the structural representation of the running on wheels variable domain device 1 in apparatus of the present invention, comprises walking main body 1-1, and the numerical control device 1-3 of two-stage positioning free variable domain mechanical processing machine is installed in walking main body 1-1; About walking main body 1-1, respectively be provided with a drive wheel assemblies 1-2 (totally 2), drive wheel assemblies 1-2 is controlled by numerical control device 1-3, drive automatic walking of walking main body 1-1 and differential and turn to,, thereby realize the free path variable domain with the guiding and the control of realization free path; Front and back at walking main body 1-1 respectively are provided with a freewheel assembly 1-4 (totally 2), the freewheel that freewheel assembly 1-4 is passive delivery, only play supporting role; Four limits at walking main body 1-1 respectively are provided with two ultrasonic sensor 1-5, (all around each 2, totally 8).Above-mentioned walking location marker 10, pose are proofreaied and correct marker 11, drive wheel assemblies 1-2, numerical control device 1-3, ultrasonic sensor 1-5, constitute running on wheels variable domain apparatus control portion branch together, numerical control device 1-3 is connected respectively with ultrasonic sensor 1-5 with drive wheel assemblies 1-2.

As Fig. 4, the structure of the principle of parallel mechanical arm assembly 3 in apparatus of the present invention is, comprise column 3-1, be vertically installed with moving sets a3-3 and moving sets b3-7 respectively on the both sides of column 3-1, the slide block lower end of moving sets a3-3 is connected with the lower end of connecting rod a3-2 by rotary pair a3-4, the slide block lower end of moving sets b3-7 is by rotary pair b3-5, rotary pair c3-6 is connected with the lower end of connecting rod b3-8 and the lower end of connecting rod c3-9 respectively, the upper end of the upper end of connecting rod a3-2 and connecting rod c3-9 is connected with web joint 3-11 by secondary 3-12 of composite revolving simultaneously, and the upper end of connecting rod b3-8 is connected with web joint 3-11 by rotary pair d3-10.The column 3-1 of principle of parallel mechanical arm assembly 3 is connected with the panoramic table assembly 2 of Fig. 2 manipulator, and web joint 3-11 is connected with the wobble component 4 of manipulator.

With reference to Fig. 1, Fig. 2, the two-stage localization method of two-stage positioning free variable domain mechanical processing machine of the present invention is to implement according to following steps:

Running on wheels variable domain device 1 in step 1), apparatus of the present invention adopts running gear system, adopts driven by servomotor and differential to turn to, and its guiding and walking can realize the free path variable domain easily for digital servo control; Ultrasonic sensor 1-5 in the running on wheels variable domain device 1 keeps away barrier and surveys in the walking way, the information that obtains is in time imported numerical control device 1-3 to be handled, controlling and driving wheel assembly 1-2 action, avoid and other irrelevant object collisions, before running on wheels variable domain device 1 arrives the processing website, ultrasonic sensor 1-5 proofreaies and correct marker 11 with default pose and cooperates the collection position parameter, in time calculate and controlling and driving wheel assembly 1-2 by numerical control device 1-3, two degree of freedom of regulating running on wheels variable domain device 1 change, carry out the pose correction and obtain a Primary Location, to revise the accumulation position and attitude error of running on wheels variable domain device 1 in the walking way, for the bearing accuracy that improves running on wheels variable domain device 1 lays the foundation; Then, ultrasonic sensor 1-5 cooperates with the location marker of presetting 10 again, carries out the final location of running on wheels variable domain device 1, promptly realizes the first order location of two-stage positioning free variable domain mechanical processing machine.

Step 2), the mechanical arm assembly 3 of the five-shaft numerical control manipulator in apparatus of the present invention adopts principle of parallel mechanisms, is used to realize Z, the Y two axle movement of facade, realizes gyration θ by panoramic table assembly 2 _Z, realize oscillating motion θ by wobble component 4 _Y, realize luffing θ by pitching assembly 5 _XBy vision localization sensor 6 collections of manipulator and locus and the attitude data between the location marker 12, by gathering the view data of location marker 12, numerical control device 1-3 in time calculate and each assembly of regulating and controlling five degree of freedom wait upon the clothes drive actions, make corresponding module position state respective change, the location that dynamo-electric spindle assemblies 7 is operated in the common realization that cooperatively interacts, the location, the second level of promptly realizing two-stage positioning free variable domain mechanical processing machine of the present invention.

Two-stage positioning free variable domain mechanical processing machine of the present invention, the variable domain device adopts running gear system, can realize the free path variable domain easily; Adopt pose to proofread and correct and the two-stage locator meams, at first the pose of advanced road wheel formula walking variable domain device is proofreaied and correct before first order location, carries out the first order location of running on wheels variable domain device again, carries out the location, the second level of manipulator at last, the bearing accuracy height; Z, Y two axle movement assembly adopt principle of parallel mechanical arm mechanism, long-armed cantilever rigidity height, specific stiffness height.

Claims

1. A two-stage positioning free variable domain machining machine, characterized in that: it comprises a wheeled walking variable domain device (1), a five-axis numerical control manipulator and a control part,

The structure of the wheeled walking variable domain device (1) is to include a walking main body (1-1), a numerical control device (1-3) is arranged in the walking main body (1-1), and the walking main body (1-1) A driving wheel assembly (1-2) is respectively arranged on the left and right, and the driving wheel assembly (1-2) is connected with the numerical control device (1-3), and a free wheel assembly ( 1-4), the four sides of the walking body (1-1) are respectively provided with ultrasonic sensors (1-5);

The structure of the five-axis numerical control manipulator is that it includes a turntable assembly (2) arranged on the upper surface of the walking body (1-1) of the wheeled walking variable range device (1), and the turntable assembly (2) is equipped with The mechanical arm assembly (3) of the parallel connection principle, the mechanical arm assembly (3) is connected with the swing assembly (4), the swing assembly (4) is connected with the pitch assembly (5), and the positioning vision sensor (6) is installed on the pitch assembly (5) ) and electric spindle assembly (7);

The control part includes the control part of the manipulator and the control part of the wheeled walking variable range device,

Wherein the manipulator control part includes the manipulator positioning marker (12), the aforementioned positioning visual sensor (6), the aforementioned numerical control device (1-3), the servo drive of the five-axis numerical control manipulator, the aforementioned positioning visual sensor ( 6) It is used to collect the image data of the manipulator positioning marker (12), the aforementioned numerical control device (1-3) is connected with the aforementioned positioning vision sensor (6) and the servo drive of the five-axis numerical control manipulator respectively, and the manipulator is positioned The marker (12) is set on the processing object (8);

Wherein the control part of the wheel-type walking variable domain device includes a walking positioning marker (10), a pose correction marker (11), the servo drive of the aforementioned driving wheel assembly (1-2), the aforementioned numerical control device (1-3 ), the ultrasonic sensor (1-5), the aforementioned numerical control device (1-3) is connected with the servo drive of the driving wheel assembly (1-2) and the aforementioned ultrasonic sensor (1-5) respectively, and the walking positioning marker (10 ) and the pose correction marker (11) are arranged on the processing object (8), and the aforementioned ultrasonic sensor (1-5) is used to collect the ultrasonic reflection of the walking positioning marker (10) and the pose correction marker (11) Signal.

2. The two-stage positioning free variable domain machining machine according to claim 1, characterized in that, the structure of the parallel principle manipulator assembly (3) is to include the upper surface of the turntable assembly (2) The column (3-1), on the two sides of the column (3-1), the mobile pair a (3-3) and the mobile pair b (3-7) are vertically installed respectively, and the mobile pair a (3-3) passes through the rotary pair a (3-4) is connected to the lower end of the connecting rod a (3-2), the moving pair b (3-7) is connected to the lower end of the connecting rod c (3-9) through the rotary pair b (3-5), and the moving pair In addition, b(3-7) is respectively connected to the lower end of connecting rod b(3-8) through the rotary pair c(3-6), and the upper end of connecting rod a(3-2) is connected to the connecting rod c(3-9). The upper end is connected to the connecting plate (3-11) through the compound rotary pair (3-12) at the same time, and the upper end of the connecting rod b (3-8) is connected to the connecting plate (3-11) through the rotary pair d (3-10). The connecting plate (3-11) is connected with the swing assembly (4).

3. The two-stage positioning free variable domain machining machine according to claim 1, characterized in that,

The wheeled walking variable domain device (1) has two horizontal degrees of freedom of walking and turning in geodetic coordinates;

The turntable assembly (2) of the five-axis numerical control manipulator has a degree of freedom of horizontal rotation θ _Z ;

The mechanical arm assembly (3) of the five-axis numerical control manipulator has two degrees of freedom of horizontal movement Z and vertical movement Y of the facade;

The swing assembly (4) of the five-axis numerical control manipulator has a swing θ _Y degree of freedom;

The pitch assembly (5) of the five-axis numerical control manipulator has pitch θ _X degrees of freedom.

4. A two-stage positioning method for a two-stage positioning free variable domain machining machine, characterized in that the method uses a two-stage positioning free variable domain mechanical processing machine to perform pose correction and two-stage positioning, the two-stage positioning The structure of the free variable range machining machine is to include a wheel type walking variable range device (1), a five-axis numerical control manipulator and a control part,

Manipulator positioning markers (12), walking positioning markers (10) and pose correction markers (11) corresponding to the processing parts (9) are set on the processing object (8);

Wherein the manipulator control part comprises the manipulator positioning marker (12), the aforementioned positioning visual sensor (6), the aforementioned numerical control device (1-3), the servo drive of the five-axis numerical control manipulator, the positioning visual sensor (6 ) is used to collect the image data of the manipulator positioning marker (12), the numerical control device (1-3) is respectively connected with the positioning vision sensor (6) and the servo drive of the five-axis numerical control manipulator, and the manipulator positioning marker ( 12) set on the processing object (8);

Wherein the control part of the wheel-type walking variable domain device includes a walking positioning marker (10), a pose correction marker (11), the servo drive of the aforementioned driving wheel assembly (1-2), the aforementioned numerical control device (1-3 ), the ultrasonic sensor (1-5), the aforementioned numerical control device (1-3) is connected with the servo drive of the driving wheel assembly (1-2) and the aforementioned ultrasonic sensor (1-5) respectively, and the walking positioning marker (10 ) and the pose correction marker (11) are arranged on the processing object (8), and the aforementioned ultrasonic sensor (1-5) is used to collect the ultrasonic reflection of the walking positioning marker (10) and the pose correction marker (11) Signal;

According to the above device, two-level positioning is implemented according to the following steps:

Step 1), during the process of the two-stage positioning free variable domain machining machine going to the processing site, the ultrasonic sensor (1-5) in the wheeled walking variable domain device (1) performs obstacle avoidance detection on the way, and the obtained The ultrasonic reflection information is input into the numerical control device (1-3) for processing in time, and the action of the driving wheel assembly (1-2) is controlled to avoid collision with other irrelevant objects. The sensors (1-5) cooperate with the preset pose correction markers (11) to collect mutual ultrasonic reflection parameters, and the position calculation is performed in time through the numerical control device (1-3) and the driving wheel assembly (1-2) is controlled Action, adjust the two degrees of freedom of the wheeled walking variable domain device (1), perform pose correction to obtain a preliminary positioning of the wheeled walking variable domain device (1); then, the ultrasonic sensor (1-5) and the preset Cooperate with the set walking positioning markers (10) to carry out the final positioning of the wheeled walking variable range device (1), realizing the first level positioning of the two-level positioning free variable range machining machine;

Step 2), collect the image position data of the positioning marker (12) of the manipulator through the positioning visual sensor (6) of the five-axis numerical control manipulator, and the numerical control device (1-3) performs calculation in time and controls the turntable assembly (2), The servo drive action connected by the mechanical arm component (3), the swing component (4) and the pitch component (5) adjusts the state of each component with five degrees of freedom to change accordingly, and realizes the Z of the facade through the parallel connection principle of the mechanical arm component (3). , Y two-axis movement, the rotary motion θ _Z is realized through the turntable component (2), the swinging motion θ _Y is realized through the swing component (4), and the pitching motion θ _X is realized through the pitch component (5), and the coordination and cooperation realize the operation of the electromechanical spindle The positioning of the component (7) realizes the second-level positioning of the two-level positioning free variable domain machining machine.

5. The two-stage positioning method according to claim 4, characterized in that, the structure of the parallel principle manipulator assembly (3) includes a column (3-1) arranged on the upper surface of the turntable assembly (2) ), the two sides of the column (3-1) are vertically installed with the mobile pair a (3-3) and the mobile pair b (3-7), and the mobile pair a (3-3) passes through the rotary pair a (3-4) It is connected to the lower end of the connecting rod a (3-2), the moving pair b (3-7) is connected to the lower end of the connecting rod c (3-9) through the rotary pair b (3-5), and the moving pair b (3-7) ) is connected to the lower end of the connecting rod b (3-8) respectively through the rotary pair c (3-6), and the upper end of the connecting rod a (3-2) and the upper end of the connecting rod c (3-9) are simultaneously rotated through compound rotation The pair (3-12) is connected with the connection plate (3-11), the upper end of the connecting rod b (3-8) is connected with the connection plate (3-11) through the rotary pair d (3-10), and the connection plate (3- 11) Connect with the swing assembly (4).

6. The two-level positioning method according to claim 4, characterized in that,