Robot multi-axis milling stability model and construction method thereof

Abstract

The invention belongs to the related technical field of industrial robot milling systems, and particularly discloses a robot multi-axis milling stability model and a construction method thereof. The method specifically comprises the steps: establishing a local tool coordinate system in a robot multi-axis milling process, and determining a cutting contact area of an annular cutter through characteristic lines, intersecting lines and projection lines; deducing a dynamic milling force of multi-axis milling of the annular cutter, and establishing a multi-axis milling stability model under a local cutter coordinate system according to the dynamic milling force; and transforming the multi-axis milling stability model under the local tool coordinate system into the multi-axis milling stability model under the robot main shaft coordinate system through coordinate transformation. According to the method, the problem that the tool nose frequency response and the multi-axis milling force coordinate of a robot milling system are not unified is considered, the transformation relation between a tool coordinate system and a main shaft coordinate system is researched, and a multi-axis milling stability model under a local tool coordinate system is transformed into a robot main shaft coordinate system; and thus, a multi-axis milling stability model considering the redundant angle and the feeding direction of the robot is obtained.

Description

Technical field[0001]The present invention belongs to the technical field of industrial robot milling system, and more particularly to a mechanical multi-axis milling stability model and its construction method thereof.Background technique[0002]With the improvement of industrial automation, robots gradually replace humans to engage in many high-risk, repetitive, high labor intensity, and have become more and more widely used in industrial manufacturing. Under the profound change of manufacturing automation and industrial transformation, industrial robots have developed from the fields of initial measurement, cutting, spraying, welding, handling, etc. to today's grinding, milling, boring and other machine processing areas.[0003]In milling processing, the industrial robot has the advantages of high cost performance, high processing range, strong flexibility, strong configuration. In particular, the processing of industrial robots to large complex surface parts is not only conducive to...

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Problems solved by technology

The former studies the calculation model of the contact area of ​​the flat bottom knife, and does not involve the calculation model of the more complex ring knife contact area; the latter CN108638076A calculates the stiffness value of robot milling and the natural frequency and mode shape identified by the modal identification experiment to define The main stiffness direction, and then predict the milling stability from the cutting direction but does not consider the influence of the redundant angle, which has certain limitations on the milling stability prediction

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