Double-arm robot cooperative vibration reduction method for grinding large thin-walled workpiece

Abstract

The invention provides a double-arm robot cooperative vibration reduction method for grinding a large thin-walled workpiece in the technical field of machining. The method comprises the following steps that (1) a steady-state response model of forced vibration of the thin-walled workpiece is analyzed and established; (2) modal testing is carried out on the thin-walled workpiece with two fixed sides and two free sides; (3) an initial value of i is set, and i is equal to 1; (4) the position of a grinding end is input, whether the position of the grinding end is the end point of the grinding track or not is judged, if yes, grinding is finished, and if not, operation turns to the step (5); (5) a target modal is selected, and a vibration absorber is controlled to move to the maximum amplitude position {xi, yi} under the selected target modal; and (6) the position of the next grinding end is input, the maximum modal amplitude position under the target modal at the next grinding position is predicted, if the maximum modal amplitude position of this time is the same as the last maximum amplitude position, a transfer robot does not move, and if the maximum modal amplitude position of this time is different from the last maximum amplitude position, a transfer task is established, and the transfer robot acts. By means of the method, vibration generated when the thin-walled workpiece is ground is reduced.

Description

technical field [0001] The invention relates to the technical field of mechanical processing, in particular to a dual-arm robot cooperative vibration reduction method for grinding large thin-walled parts. Background technique [0002] Grinding technology is the use of abrasive tools to remove excess material or burrs on the workpiece, so as to obtain parts with smooth shape, dimensional accuracy and surface quality that meet the design requirements. It is an indispensable and important processing method in modern manufacturing. [0003] In the prior art, an invention patent titled "An Ultrasonic Vibration Grinding Machine" with the announcement number CN 108500744B and the announcement date of 2019.06. The workpiece clamping mechanism and the ultrasonic vibration grinding mechanism arranged on one side of the workbench and adapted to the workpiece clamping mechanism. The ultrasonic vibration grinding mechanism includes a resonant grinding assembly that moves and is arranged ...

AI Technical Summary

Problems solved by technology

[0004] In view of the defects in the prior art, the purpose of the present invention is to solve the technical problem of large vibration amplitude during grinding in the prior art, and provide a dual-arm robot cooperative vibration reduction method for grinding large thin-walled parts. Vibration when wall parts

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