Robot milling feeding direction optimization method based on energy optimization

Abstract

The invention belongs to the related technical field of milling, and discloses a robot milling feeding direction optimization method based on energy optimization. The method comprises the following steps: S1, for a to-be-milled workpiece, a processing track of the to-be-milled workpiece in a Cartesian space is planned; S2, the machining process of the workpiece to be milled is divided into a tool falling stage, a milling stage and a tool lifting stage, a dynamic model of a milling robot and a milling force model under a robot coordinate system are constructed, and robot joint torque and joint speed corresponding to each stage are solved and obtained accordingly; and S3, an energy consumption relational expression of each stage is constructed, a total energy consumption optimization model of the whole machining process is constructed according to the energy consumption relational expression, the corresponding feeding direction under the condition of the minimum energy consumption is solved, the optimal feeding direction is obtained accordingly, and then optimization of the feeding direction under the condition of the optimal energy is achieved. According to the method, the energy consumption is reduced, the processing cost is reduced, the joint impact can be reduced, the milling quality is improved, and the service life of the robot is prolonged.

Description

technical field [0001] The invention belongs to the technical field related to milling, and more specifically, relates to a method for optimizing the feed direction of milling based on an energy-optimized robot. Background technique [0002] With the improvement of industrial automation level, the manufacturing industry is becoming more and more automated and intelligent. Industrial robots play an important role in the process of manufacturing automation and intelligence. Robots have been widely used in the processing of various products, especially for large and complex product processing. Robot milling has begun to be used in manufacturing, including robot milling and robot grinding. Due to the low stiffness of the joints of the robot, the machining trajectory has a greater impact on the quality of the robot than on the machine tool. [0003] With the wide application of industrial robots and the expansion of the market, industrial robots consume most of the energy in th...

AI Technical Summary

Problems solved by technology

In the Chinese patent publication, application number: CN 111037069 A, a robot energy optimization method based on the welding torch rotation angle is proposed. This patent obtains the combination of welding start and end welding torch rotation angles with the least power consumption through a small amount of experiments, mainly for welding The energy optimization of the trajectory of the robot does not involve the energy optimization of the milling trajectory of the milling robot

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