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Coordinated motion synchronous control method for double-robot mirror milling and equal wall thickness machining

A technology of mirror milling and dual robots, which is applied in automatic control devices, metal processing, metal processing equipment, etc., can solve the problems of poor adaptability, high production cost of special fixtures, and large size of five-axis CNC machine tools

Active Publication Date: 2019-04-05
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The special fixture is only suitable for the processing of thin-walled parts with a specific surface shape, which has poor adaptability and the production cost of the special fixture itself is high; the equipment size of the five-axis CNC machine tool is large and the movement is not flexible enough
[0004] At present, there is no report on the dual-machine cooperative pose control strategy in the dual-robot mirror milling process.

Method used

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  • Coordinated motion synchronous control method for double-robot mirror milling and equal wall thickness machining
  • Coordinated motion synchronous control method for double-robot mirror milling and equal wall thickness machining
  • Coordinated motion synchronous control method for double-robot mirror milling and equal wall thickness machining

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Embodiment 1

[0073] Based on a five-degree-of-freedom hybrid robot disclosed in patent CN104985596A, it is assumed that the thin-walled curved surface component is a thin-walled cylinder with a diameter of 3.2m, the original wall thickness is about 4mm, and the target wall thickness is 2mm.

[0074] Establish the following coordinate systems and their transformation relations:

[0075] Base coordinate system B of the robot at the support end 1 -xyz, which is built on the fixed base of the support end robot;

[0076] Tool end robot base coordinate system B 2 - xyz, which is built on the tool end robot fixed base;

[0077] Tool coordinate system C at the end of the robot at the support end 1 -xyz, the origin of its coordinates coincides with the center of the end of the support head under the zero position of the robot at the support end;

[0078] Tool end robot end tool coordinate system C 2 -xyz, its coordinate origin coincides with the center of the tool end under the zero position o...

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Abstract

The invention discloses a coordinated motion synchronization control method for dual-robot mirror image milling iso-wall thickness machining. The method includes the steps: building coordinate systemsand transformation relations of the coordinate systems according to the position and posture requirements of a supporting head and a cutter in the milling machining process; solving active joint parameters of a support end robot; solving active joint parameters of a cutter robot; performing iso-wall thickness closed-loop control. The method provides an effective strategy for cooperative control of a machining robot of a mirror image milling machining system and an end executor for supporting the robot, the cooperative control accuracy of the supporting head and the cutter is improved, and guarantee is provided for vibration elimination and improvement of wall thickness accuracy and surface quality.

Description

technical field [0001] The invention relates to a method for coordinated and synchronous control of a support head and a cutter for mirror milling of a large thin-walled curved surface by two robots and an equal-wall-thickness control method for a thin-walled curved surface member, and in particular to a collaborative process for double-robot mirror milling and equal-wall-thickness processing motion control method. Background technique [0002] Large lightweight aluminum alloy thin-walled curved surface components are widely used in the aerospace field. Due to the weak rigidity of the thin-walled curved surface, it cannot be processed by conventional machining processes. The traditional chemical milling process is cumbersome and pollutes seriously. Mirror milling is gradually replacing chemical milling for the machining of thin-walled surfaces. During the mirror milling process, the tool and the supporting head are respectively on both sides of the thin-walled curved surfa...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23C3/00B23Q15/00B25J9/16
CPCB23C3/00B23Q15/00B25J9/16B25J9/1679
Inventor 肖聚亮赵素雷黄田郭浩徐发达
Owner TIANJIN UNIV
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