Advanced sensing method for deformation error of milling tail end of robot
A technology of deformation error and milling processing, which is applied in the field of advanced perception of deformation error at the end of robot milling processing, can solve the problems of not considering the motion state of the robot and relying on the stiffness model, and achieve accurate deformation error and accurate prediction of milling force
Active Publication Date: 2022-03-15
HUAZHONG UNIV OF SCI & TECH
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[0004]Aiming at the above defects or improvement needs of the prior art, the present invention provides a method for advanced perception of deformation error at the end of robot milling to solve the deformation error of robot end during milling The problem of relying on the stiffness model and not considering the real-time motion state of the robot in the prediction process
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[0040] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.
[0041] The invention provides a method for advanced sensing of deformation errors at the end of robot milling, which divides the reachable space of the robot into four subspaces, and selects subregions in the subspaces. Plan the tool path for the robot to mill the standard strip parts in each sub-area; use the laser displacement sensor and the ATI six-dimensional force sensor to collect the thre...
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The invention belongs to the related technical field of milling, and discloses a robot milling tail end deformation error advanced sensing method. The method comprises the following steps: S1, planning a plurality of standard part tool paths as well as a milling depth, a feeding speed, a tool rotating speed and a robot posture corresponding to each tool path in a reachable space of a robot; s2, a workpiece is placed in the sub-area, actual milling machining is conducted according to the standard part tool path, and therefore the tail end tool deformation error corresponding to each standard part tool path is calculated; s3, the milling force, the feeding speed, the tool rotating speed and the robot posture serve as input, the tail end tool deformation error serves as output, and a prediction model of the tail end tool deformation error is established; and S4, predicting the deformation error of the tail end cutter by adopting the prediction model so as to realize advanced sensing of the deformation error. By means of the method, the problems that in the milling process, the deformation error prediction process depends on a rigidity model, and the real-time motion state of the robot is not considered are solved.
Description
technical field [0001] The invention belongs to the technical field related to milling, and more specifically relates to a method for advanced sensing of deformation errors at the end of robot milling. Background technique [0002] In the field of milling processing, for the processing of large and complex special-shaped parts, robot milling has the advantages of low cost, good flexibility, intelligence, and large operating space compared with multi-axis CNC machine tools. However, the robot also exhibits the characteristics of periodic changes in milling force, large joint movement space, multiple configuration combinations, and frequent speed changes. At the same time, due to the low structural rigidity and low trajectory accuracy of industrial robots, especially the end of the industrial robot will be deformed under the action of milling force. This makes the machining accuracy unable to meet the finishing requirements. In order to reduce the impact of the deformation of...
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IPC IPC(8): B23C9/00B23Q17/22B25J9/16B25J11/00
CPCB25J11/0055B23C9/00B25J9/1664B25J9/1661B25J9/1653B23Q17/22Y02P90/02
Inventor 唐小卫彭芳瑜胡华洲闫蓉朱泽润孙朝阳
Owner HUAZHONG UNIV OF SCI & TECH