Bracket modeling and calculation (fixed to the ground), members 1, 2, 3, 1', 2' are movable members such as sliding pairs and rotating pairs. Its initial position is: the level of the members 2, 3, 2', the height of the members 1, 1', and 1 m from the ground. A right-handed rectangular coordinate system is fixed on each of the members 0 to 3, which are sequentially labeled as o0-x0y0z0 to o3-x3y3z3 (1m from the ground (so that the initial position of o0 and o1 coincides), and at the same time, z0 and the power head of the riveting machine The machining axes are parallel, and x0 and y0 are parallel to the moving direction of the power head of the riveting machine. d1 is the displacement of o1 with respect to o0 (the direction is positive as z0), and 2 is the rotation angle of the member 2 with respect to the member 1 (the direction thereof) 3 is positive in the right direction around z1), 3 is the angle of rotation of member 3 relative to member 2 (the direction is right-handed in the positive direction of y2). The Cartesian coordinate system of the surface equation of the workpiece wall is used as o4- X4y4z4, its specific pose is determined by the installation parameters of the siding on the bracket.
Application Simulation We applied the algorithm to simulate the experiment on the computer. The experimental steps are as follows: (1) Given a set of bracket structure data models, we obtain a set of surface unit normal vectors of the processed wall panels. (2) Calculate the amount of carrier support displacement for each normal vector. (3) The displacement amount of each group is verified by the calculation formula. The standard is to make the normalized normal vector coincide with the machining axis. The simulation results show that the algorithm has the advantages of high precision and high speed. Combined with genetic algorithm, it optimizes the path of support movement, especially suitable for automatic riveting of various wall workpieces. In summary, the quick leveling algorithm proposed in this paper is a new idea for the automatic leveling of the drill riveting bracket. Combined with the specific CNC system, it can be further developed into NC program automatic generation software. This method can also be used for precise position control in numerical control systems.
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