Method for evaluating machining performance of hybrid robot under different poses based on spiral hole milling

A technology of helical milling and processing performance, which is applied in the direction of instruments, manipulators, manufacturing tools, etc., can solve the problems of weak rigidity, hole making precision and multiple drilling processes, etc.

Active Publication Date: 2021-04-30
TIANJIN UNIV
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  • Abstract
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Problems solved by technology

However, due to its own structural reasons, compared with traditional machine tools, there is still a problem of weaker rigidity, especially in the application of processing difficult-to-machine materials such as titanium alloys, which has been greatly restricted.
The helical milling technology also uses such series industrial robots as the carrier to process titanium alloy / CFRP laminated components. However, due to the special movement form of the tool in the helical milling process, there are more factors affecting the hole making accuracy than the drilling process. More complex

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  • Method for evaluating machining performance of hybrid robot under different poses based on spiral hole milling
  • Method for evaluating machining performance of hybrid robot under different poses based on spiral hole milling
  • Method for evaluating machining performance of hybrid robot under different poses based on spiral hole milling

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Embodiment Construction

[0035] In order to better understand the content, features and effects of the present invention, the technology of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0036] as attached figure 1 As shown, the processing performance evaluation method of the hybrid robot based on the helical milling hole in different poses of the present invention comprises the following steps:

[0037] Step 1. Obtain the cutting force coefficient, the process is:

[0038] In the first step, the kinematics of the helical milling hole can be decomposed into rotation along the tool axis, revolution around the centerline of the hole, and axial feed of the tool. During the entire cutting process, both the side edge and the bottom edge of the tool participate in cutting, and the side edge of the tool The dynamic cutting thickness is the main source of dynamic cutting force, and the dynamic cutting force is the cause of robot chatter....

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Abstract

The invention discloses a method for evaluating the machining performance of a series-parallel robot in different poses based on spiral hole milling. The method comprises the steps of obtaining a cutting force coefficient; obtaining modal parameters of the hybrid robot under different poses through modal experiments; predicting a spiral hole milling track error; predicting the cutting stability of the spiral milling hole; taking the rotating speed of the main shaft of the hybrid robot and the axial cutting depth of each revolution of the cutter as a parameter combination near the stability critical state of each stability lobe graph, taking the combined parameter as a cutting parameter to process a workpiece when the hybrid robot performs a spiral hole milling experiment, and then detecting the processing precision and the surface quality of the workpiece; and evaluating the processing performance of the hybrid robot under different poses according to the evaluation result. By adopting the method, the evaluation efficiency and the evaluation precision can be improved.

Description

technical field [0001] The invention relates to the processing performance evaluation of a hybrid concept robot in actual production applications, in particular to a method for evaluating the processing performance of a hybrid robot based on helical milling holes in different poses. Background technique [0002] The hybrid robot is composed of serial modules and parallel modules, which have the advantages of large working space for serial robots and high rigidity and strong carrying capacity of parallel robots. However, due to its own structural reasons, compared with traditional machine tools, it still has the problem of weaker rigidity, especially in the application of processing difficult-to-machine materials such as titanium alloys, which is greatly restricted. The helical milling technology also uses such series industrial robots as the carrier to process titanium alloy / CFRP laminated components. However, due to the special movement form of the tool in the helical milli...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/17G06F30/23B25J19/00G06F119/14
CPCG06F30/17G06F30/23B25J19/0095G06F2119/14
Inventor 侯卓杰秦旭达万淑敏李皓李士鹏赵庆
Owner TIANJIN UNIV
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