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

A large-scale thin-walled part and robot technology, which is applied to machine tools suitable for grinding workpiece planes, grinding workpiece supports, grinding machine parts, etc., can solve the problems of reducing grinding thin-walled parts and large vibration amplitude.

Active Publication Date: 2021-01-26
BEIHANG UNIV
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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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  • Double-arm robot cooperative vibration reduction method for grinding large thin-walled workpiece
  • Double-arm robot cooperative vibration reduction method for grinding large thin-walled workpiece
  • Double-arm robot cooperative vibration reduction method for grinding large thin-walled workpiece

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Embodiment Construction

[0034] The present invention will be further described below in conjunction with the accompanying drawings.

[0035] Such as Figure 1-8 Shown is a dual-arm robot cooperative vibration reduction method for grinding large thin-walled parts. The grinding and vibration reduction device used for vibration reduction includes a handling robot 1 and a grinding robot 5. The handling end of the handling robot 1 is connected with a vibration-absorbing 2, the grinding end of the grinding robot 5 is connected with a powerful control end effector 4, and the force control end effector 4 grinds one end of the thin-walled part 3 in the left-right direction, and the vibration absorber 2 acts on the other end of the thin-walled part 3 in the left-right direction. one end, including the following steps,

[0036] (1) Analyze and establish the steady-state response model of the forced vibration of the thin-walled part 3;

[0037] (2) Carry out a modal test on the thin-walled part 3 with two side...

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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 ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B24B7/00B24B41/00B24B41/06
CPCB24B7/00B24B41/007B24B41/06
Inventor 王伟王琦珑张子童王春铮
Owner BEIHANG UNIV
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