Variable speed machining method for flat tail skin robot considering joint characteristics and workpiece amplitude

Abstract

The application belongs to the technical field of precision machining, and specifically discloses a robot variable-speed processing method for flat tail skin considering joint characteristics and workpiece amplitude, which comprises the following steps: calculating the speed, acceleration and jerk of each joint of the robot corresponding to each path point on the processing path; constructing a forced vibration response model of the flat tail skin, which is used to represent the mapping relationship between the feed speed and the vibration amplitude of the flat tail skin; based on the forced vibration response model of the flat tail skin, a vibration constraint is constructed, which is used to constrain the amplitude of the flat tail skin; based on the speed, acceleration and jerk of each discrete path point of each joint of the robot on the processing path and the vibration constraint, a feed speed scheduling optimization model is constructed, which is used to limit the maximum feed speed of each path point; based on the feed speed scheduling optimization model, a feed speed curve is generated, and processing is performed based on the feed speed curve.

Description

Technical Field

[0001] This application belongs to the field of precision machining technology, and more specifically, relates to a variable speed machining method for a flat-tail skinned robot that takes into account joint characteristics and workpiece amplitude. Background Technology

[0002] Horizontal stabilizer skin components are critical parts in the aerospace industry, and their manufacturing precision affects the aerodynamics and structural integrity of aircraft. Due to the wide range of machining applications for horizontal stabilizer skin components, improving machining efficiency is a core requirement in this field. Industrial robots, with their high flexibility and wide operating space, have become an effective solution for milling large horizontal stabilizer skin components.

[0003] Among these factors, feed rate has a crucial impact on the processing quality and efficiency of industrial robots. First, it directly determines the robot's joint speed, acceleration, and jerk, significantly affecting the robot's motion performance. Second, in the machining of the tailstock skin, the feed rate affects the feed per tooth of the spindle, thereby influencing the amplitude of the tailstock skin by changing the magnitude of the cutting force.

[0004] Traditional machining methods typically focus on how mechanical factors affect machining quality and efficiency. When analyzing feed rates, they often use simplified single-variable analysis methods, which fail to fully reveal the complex interactions between multiple parameters and their impact on machining quality and efficiency. Furthermore, feed rate strategies often employ constant or preset values ​​based on simplified models. Such static feed strategies cannot respond in real time to dynamic changes in working conditions caused by robot pose changes, cutting force fluctuations, and flat-tail skin vibrations during machining, thus adversely affecting machining quality and efficiency, resulting in lower machining quality and efficiency. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this application is to provide a variable speed machining method for a flat-tail skinned robot that considers joint characteristics and workpiece amplitude. This method aims to solve the problems of low machining quality and efficiency caused by the use of single-variable simplified analysis methods when analyzing feed speed and the use of constant or preset values ​​based on simplified models in feed speed strategies.

[0006] To achieve the above objectives, in a first aspect, this application provides a variable speed machining method for a flat-tail skinned robot that considers joint characteristics and workpiece amplitude, comprising:

[0007] Calculate the velocity, acceleration, and jerk of each joint of the robot at each point on the machining path under a preset feed rate;

[0008] A forced vibration response model for the tailstock skin is constructed, which is used to characterize the mapping relationship between the feed rate and the vibration amplitude of the tailstock skin.

[0009] Based on the forced vibration response model of the horizontal tail skin, vibration constraints are constructed, which are used to constrain the amplitude of the horizontal tail skin.

[0010] Based on the speed, acceleration, and jerk of each joint of the robot at each point of the machining path under the preset feed speed, and the vibration constraints, a feed speed scheduling optimization model is constructed. The feed speed scheduling optimization model is used to limit the maximum feed speed of each point of the path.

[0011] Based on the feed rate scheduling optimization model, a feed rate curve is generated, and processing is performed based on the feed rate curve.

[0012] This application constructs a robot joint kinematic constraint model based on the robot's kinematic performance by calculating the velocity, acceleration, and jerk of each joint at each point on the machining path under a preset feed rate. It establishes a mapping relationship between feed rate and tail skin amplitude by constructing a forced vibration response model for the tail skin, and then constructs vibration constraints to constrain the tail skin amplitude. By combining robot joint kinematic constraints and vibration constraints, a feed rate scheduling optimization model is constructed to limit the maximum feed rate at each path point. This approach comprehensively reveals the complex interactions between multiple parameters and their impact on machining quality and efficiency. Furthermore, it enables dynamic optimization scheduling of the feed rate, allowing real-time response to dynamic changes in working conditions caused by robot pose changes, cutting force fluctuations, and tail skin vibration during machining, thereby improving machining quality and efficiency.

[0013] According to the variable speed machining method for a flat-tail skinned robot considering joint characteristics and workpiece amplitude provided in this application, the calculation of the velocity, acceleration, and jerk of each joint of the robot at each path point of the machining path under a preset feed speed includes:

[0014] By solving the robot's inverse kinematics, the joint angles corresponding to each discrete path point of the machining path of the robot's joints are obtained.

[0015] Based on the preset feed rate and joint angle corresponding to each discrete path point on the machining path of each joint of the robot, the velocity, acceleration and jerk of each discrete path point on the machining path of each joint of the robot are calculated.

[0016] According to the variable speed machining method for a flat-tail skinned robot considering joint characteristics and workpiece amplitude provided in this application, the establishment of a forced vibration response model for the flat-tail skin includes:

[0017] The flat-tail skin is simplified into a simplified model of a support beam structure with three ends free and one end fixed.

[0018] Based on the simplified model of the supporting beam structure and the plate and shell vibration theory, a forced vibration response model of the flat tail skin is established.

[0019] According to the variable speed machining method for a flat-tail skinned robot considering joint characteristics and workpiece amplitude provided in this application, the vibration constraint is constructed based on the forced vibration response model of the flat-tail skin, including:

[0020] Obtain the analytical solution of the forced vibration response model of the horizontal tail skin;

[0021] Based on the analytical solution, vibration constraints are constructed to constrain the maximum change in feed rate and the maximum vibration amplitude at each path point.

[0022] According to the variable speed machining method for a flat-tail skinned robot considering joint characteristics and workpiece amplitude provided in this application, the step of generating a feed speed curve based on the feed speed scheduling optimization model includes:

[0023] Based on the feed rate scheduling optimization model, the theoretical feed rate is fitted using a B-spline curve to obtain the feed rate curve.

[0024] According to the variable speed machining method for a flat-tail skinned robot considering joint characteristics and workpiece amplitude provided in this application, after constructing vibration constraints based on the forced vibration response model of the flat-tail skin, the method further includes:

[0025] The vibration constraints are optimized using a particle swarm optimization algorithm to obtain optimized vibration constraints.

[0026] Secondly, this application provides a variable speed machining device for a flat-tail skinned robot that considers joint characteristics and workpiece amplitude, comprising:

[0027] The calculation module is used to calculate the velocity, acceleration, and jerk of each joint of the robot at each point on the machining path under the preset feed speed.

[0028] The first construction module is used to construct a forced vibration response model of the horizontal tail skin, which is used to characterize the mapping relationship between the feed rate and the vibration amplitude of the horizontal tail skin.

[0029] The second construction module is used to construct vibration constraints based on the forced vibration response model of the tailstock skin, and the vibration constraints are used to constrain the amplitude of the tailstock skin.

[0030] The third construction module is used to construct a feed speed scheduling optimization model based on the speed, acceleration and jerk of each joint of the robot at each path point of the processing path under the preset feed speed, as well as the vibration constraints. The feed speed scheduling optimization model is used to limit the maximum feed speed of each path point.

[0031] The machining module is used to generate a feed rate curve based on the feed rate scheduling optimization model, and to perform machining based on the feed rate curve.

[0032] Thirdly, this application provides an electronic device, comprising: at least one memory for storing a program; and at least one processor for executing the program stored in the memory. When the program stored in the memory is executed, the processor is used to execute the variable speed machining method for a flat-tail skinned robot considering joint characteristics and workpiece amplitude as described in the first aspect or any possible implementation of the first aspect.

[0033] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when run on a processor, causes the processor to perform the variable speed machining method for a flat-tail skinned robot, considering joint characteristics and workpiece amplitude, as described in the first aspect or any possible implementation of the first aspect.

[0034] Fifthly, this application provides a computer program product that, when run on a processor, causes the processor to execute the variable speed machining method for a flat-tail skinned robot that takes into account joint characteristics and workpiece amplitude, as described in the first aspect or any possible implementation of the first aspect.

[0035] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here.

[0036] Overall, the technical solutions conceived in this application have the following beneficial effects compared with the prior art:

[0037] This application constructs a robot joint kinematic constraint model based on the robot's kinematic performance by calculating the velocity, acceleration, and jerk of each joint at each point on the machining path under a preset feed rate. It establishes a mapping relationship between feed rate and tail skin amplitude by constructing a forced vibration response model for the tail skin, and then constructs vibration constraints to constrain the tail skin amplitude. By combining robot joint kinematic constraints and vibration constraints, a feed rate scheduling optimization model is constructed to limit the maximum feed rate at each path point. This approach comprehensively reveals the complex interactions between multiple parameters and their impact on machining quality and efficiency. Furthermore, it enables dynamic optimization scheduling of the feed rate, allowing real-time response to dynamic changes in working conditions caused by robot pose changes, cutting force fluctuations, and tail skin vibration during machining, thereby improving machining quality and efficiency. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is one of the flowcharts illustrating the variable speed machining method for a flat-tail skinned robot that considers joint characteristics and workpiece amplitude provided in the embodiments of this application;

[0040] Figure 2 This is a feed rate limitation and optimization feed curve provided in the embodiments of this application;

[0041] Figure 3 This is the second schematic flowchart of the variable speed machining method for a flat-tail skinned robot that takes into account joint characteristics and workpiece amplitude provided in the embodiments of this application.

[0042] Figure 4 This is a motion performance constraint diagram for robot milling provided in the embodiments of this application;

[0043] Figure 5 This is a vibration constraint diagram for robot milling provided in the embodiments of this application;

[0044] Figure 6 This is a schematic diagram of the variable speed machining device for a flat-tail skinned robot, which takes into account joint characteristics and workpiece amplitude, provided in the embodiments of this application.

[0045] Figure 7 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0047] In this article, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The symbol " / " in this article indicates that the related objects are in an "or" relationship; for example, A / B means A or B.

[0048] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0049] In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more, for example, multiple processing units means two or more processing units, multiple elements means two or more elements, etc.

[0050] Next, combined Figures 1-5 This application introduces a variable speed machining method for a flat-tail skinned robot that considers joint characteristics and workpiece amplitude, as provided in the embodiments of this application.

[0051] Figure 1 This is one of the flowcharts illustrating a variable-speed machining method for a flat-tail skinned robot that considers joint characteristics and workpiece amplitude, as provided in the embodiments of this application. Figure 1 As shown, the method includes the following steps:

[0052] Step S1: Calculate the velocity, acceleration, and jerk of each joint of the robot at each point on the machining path under the preset feed speed.

[0053] First, kinematic constraint modeling is performed on the robot. Specifically, the velocity, acceleration, and jerk of each joint of the robot at each point on the machining path are calculated under the preset feed speed.

[0054] Step S2: Construct a forced vibration response model for the horizontal tail skin. The forced vibration response model for the horizontal tail skin is used to characterize the mapping relationship between the feed rate and the vibration amplitude of the horizontal tail skin.

[0055] Step S3: Based on the forced vibration response model of the horizontal tail skin, construct vibration constraints, which are used to constrain the amplitude of the horizontal tail skin.

[0056] Step S4: Based on the speed, acceleration and jerk of each joint of the robot at each path point of the machining path under the preset feed speed, as well as vibration constraints, a feed speed scheduling optimization model is constructed. The feed speed scheduling optimization model is used to limit the maximum feed speed of each path point.

[0057] Step S5: Based on the feed rate scheduling optimization model, generate the feed rate curve and perform machining based on the feed rate curve.

[0058] This application provides a variable-speed machining method for a flat-tail skin robot that considers joint characteristics and workpiece amplitude. By calculating the velocity, acceleration, and jerk of each joint on the machining path, a robot joint kinematic constraint model based on the robot's kinematic performance is constructed. By constructing a forced vibration response model for the flat-tail skin, a mapping relationship between feed rate and flat-tail skin amplitude is established. Furthermore, a vibration constraint is constructed to constrain the amplitude of the flat-tail skin. By combining the robot joint kinematic constraints and vibration constraints, a feed rate scheduling optimization model is constructed to limit the maximum feed rate at each path point. On the one hand, this method can comprehensively reveal the complex interaction between multiple parameters and their impact on machining quality and efficiency. On the other hand, it realizes dynamic optimization scheduling of feed rate, which can respond in real time to dynamic working condition changes caused by robot pose changes, cutting force fluctuations, and flat-tail skin vibration during machining, thereby improving machining quality and efficiency.

[0059] In some embodiments, step S1 specifically includes:

[0060] Step S11: Solve the robot inverse kinematics to obtain the joint angles corresponding to each discrete path point on the machining path for each joint of the robot.

[0061] Step S12: Based on the joint angles corresponding to each discrete path point on the machining path of each joint of the robot, calculate the velocity, acceleration and jerk of each discrete path point on the machining path of each joint of the robot.

[0062] Figure 2 This is the second schematic flowchart of the variable speed machining method for a flat-tail skinned robot considering joint characteristics and workpiece amplitude provided in the embodiments of this application. Figure 2 As shown, in one embodiment of this application, the joint angles corresponding to each discrete path point on the machining path are obtained by solving the robot's inverse kinematics. Subsequently, the velocity, acceleration, and jerk of each joint of the robot at each path point are calculated based on the numerical differentiation method. For each joint, the specific calculation formula is as follows:

[0063] .

[0064] in, path point The speed at that point, path point acceleration at that point path point jerk at the point, path point Corresponding joint angles The distance between adjacent path points. path point The preset feed rate.

[0065] Figure 3 This is a motion performance constraint diagram for robot milling provided in the embodiments of this application, such as... Figure 3 As shown, in one embodiment of this application, a six-degree-of-freedom industrial robot (such as an ABB IRB 6660) is used for implementation. A force-controlled polishing head or milling spindle is mounted at the robot's end effector. , , These are the robot base coordinate system, the end effector coordinate system, and the tool coordinate system, respectively. , These represent the transformations from the end coordinate system to the base coordinate system and from the tool coordinate system to the end coordinate system, respectively. Indicates the first There are path points.

[0066] In some embodiments, step S2 specifically includes:

[0067] Step S21: Simplify the flat-tail skin into a simplified model of a support beam structure with three ends free and one end fixed.

[0068] Step S22: Based on the simplified model of the supporting beam structure and the plate and shell vibration theory, establish the forced vibration response model of the flat tail skin.

[0069] Figure 4 This is a vibration constraint diagram for robot milling provided in the embodiments of this application, such as... Figure 2 and Figure 4 As shown, in one embodiment of this application, considering the clamping factors affecting the flat-tail skin, it can be simplified into a simplified support beam structure model with three ends free and one end fixed for analysis, specifically including the following steps:

[0070] 1a. Due to the excitation of milling force, thin-walled components will generate vertical vibration. Therefore, a forced vibration response model of the flat-tail skin can be established based on the plate and shell vibration theory. Its forced vibration solution under dynamic load should satisfy the following formula:

[0071] .

[0072] in This indicates the bending stiffness of the tailgate skin. Indicates the thickness of the skin part. Indicates the mass density of the skin parts. It is an analytical function related to the vibration amplitude of the skin parts. Represents the x-axis coordinate. Represents the y-axis coordinate. Indicates time, The load represents the dynamic milling force.

[0073] 2a. A complete milling force model parameter is obtained through calibration using a milling force gauge. The tangential, radial, and axial cutting force coefficients are measured and compared to the first... Each milling cutter tooth has an immersion angle The milling force acting on an infinitesimal cutting edge can be written as:

[0074] .

[0075] in, , , This represents the differential of the tangential, radial, and axial cutting forces. , , This represents the tangential, radial, and axial cutting force coefficient components. , , This represents the tangential, radial, and axial cutting force coefficient components. This represents the axial length of an infinitesimal cutting edge. It is the thickness at a given immersion angle and along the axial height.

[0076] 3a. Integrating the force, the result is:

[0077] .

[0078] in, , , These are the feed, lateral, and axial forces, respectively, at a given immersion angle. The immersion angle increases with the robot's preset feed rate and spindle speed. This indicates the number of teeth on the milling cutter. This indicates the length of cutting along the tool axis.

[0079] In some embodiments, step S3 specifically includes:

[0080] Step S31: Obtain the analytical solution of the forced vibration response model of the tailstock skin;

[0081] Step S32: Based on the analytical solution, construct vibration constraints. Vibration constraints are used to constrain the maximum change in feed rate and the maximum vibration amplitude at each path point.

[0082] Alternatively, considering only vibration in the Z direction, the load... It can be approximated as That is, the axial force at a given immersion angle, from which we can obtain the analytical solution of part of the vibration equation for the simplified model of the thin-walled skin:

[0083] .

[0084] in, Represents the modal components of each order. Representing each mode, It is the derived analytical solution of the vibration, representing the skin part at each path time point. The amplitude of vibration, , Let represent the modal order. Optionally, to ensure the validity of the calculation, only the first four modes of the modal equation are considered. Therefore, it can be written as:

[0085] .

[0086] in, , Indicates the mode shapes of free-free-end and fixed-free-end. For length, For the overhang length, ( , () represents the position coordinates. and These represent hyperbolic cosine and hyperbolic sine, respectively.

[0087] at the same time, It can be written as:

[0088] .

[0089] in, This represents the generalized quality of each order of the skin portion. These are the natural frequencies of the skin portion at various orders. It is the Duhamel integral.

[0090] By combining and The expression can be used to obtain the analytical solution to the equation for forced vibration of the tailstock skin:

[0091] .

[0092] in, , For different frequency coefficients, , For different mode shape coefficients.

[0093] The analytical solution to the forced vibration equation of the flat-tail skin derived above shows a direct mapping relationship between the feed rate and the vibration amplitude. In actual machining, a laser displacement sensor (such as the Keyence LK-H008) can be used to measure the vibration displacement of the thin-walled section in real time to compare the theoretically predicted vibration amplitude with the experimentally measured value.

[0094] Alternatively, for robotic machining methods that take vibration into account, the robot's feed rate can be expressed as a vector:

[0095] .

[0096] in This represents the maximum feed rate that meets the constraints. Each element corresponds to a preset feed rate at each path point. To improve machining efficiency, while satisfying the following feed rate and vibration constraints, the maximum value should be found for each element in the vector. The constraints that need to be satisfied are:

[0097] .

[0098] in, Let represent the 1-norm of a vector, which represents the sum of the absolute values ​​of its elements. This indicates the maximum variation of the preset feed rate, which can be set according to actual working conditions and requirements, for example, 50 mm / min. This represents the vibration amplitude at each path point. This indicates the preset constrained vibration amplitude, which can be set according to actual working conditions and requirements, such as 10μm.

[0099] Figure 5 This is a feed rate limitation and optimization feed curve provided in the embodiments of this application, such as... Figure 5 As shown, by setting The arc length of the predetermined curve (by...) (Linearly spliced ​​together), the feed rate limit function can be obtained. It is a feed rate limiting and optimization feed curve, showing the limit on the maximum feed rate. To plan the feed rate.

[0100] Optionally, by setting its vibration constraints and the maximum allowable feed rate, a feed rate scheduling optimization model is constructed as follows. The results of the above derivation can provide initial values ​​for subsequent feed rate scheduling strategies:

[0101] .

[0102] in, Indicates the first Maximum feed rate at each path point Indicates the number of joints of the robot at the 1st... The maximum speed at a preset feed rate for each path point Indicates the number of joints of the robot at the 1st... The maximum acceleration at a preset feed rate for each path point Indicates the number of joints of the robot at the 1st... The maximum jerk value at the preset feed rate for each path point path point Corresponding joint angles The distance between adjacent path points. For the first The preset feed rate for each path point.

[0103] Optionally, to meet the requirements of curve smoothing, it needs to satisfy the following two constraints:

[0104] .

[0105] in, This indicates the maximum change in feed rate.

[0106] In some embodiments, step S5 specifically includes:

[0107] Based on the feed rate scheduling optimization model, B-spline curves are used to fit the theoretical feed rate to obtain the feed rate curve.

[0108] To ensure the continuity and feasibility of the feed rate curve, a B-spline curve can be used to fit the theoretical feed rate. Simultaneously, by optimizing the control points, the overall feed rate can be maximized while satisfying both constraints, thereby improving machining efficiency. The curve generating the theoretical feed rate using a B-spline curve is as follows:

[0109] .

[0110] in It is a control point. It is the order of the fundamental functions of the B-spline. Representing the k-order B-spline basis functions You can set it yourself based on experience, which will affect the peak and trough values ​​of the curve; for example, you can set it to 13.

[0111] Optionally, in the actual fitting process, a fifth-order B-spline curve is generally selected, which can make the curve have good smoothness while also allowing for more precise control over the shape of the curve.

[0112] Alternatively, the de Boor-Cox recursive formula can be used for derivation, and its recursive formula is as follows:

[0113] .

[0114] Among them, the independent variable The arc length of the machining path; Let the order of the basis functions be denoted here. Take 5; This represents the corresponding index of the basis function and the control point.

[0115] Bring it into and will Substituting 5 into the equation and simplifying, we get the final expression:

[0116] .

[0117] in, This is the function for generating the final feed rate curve.

[0118] In some embodiments, after step S3, the method further includes:

[0119] The vibration constraints are optimized using the particle swarm optimization algorithm to obtain the optimized vibration constraints.

[0120] Optionally, for constraints

[0121] ,

[0122] Particle Swarm Optimization (PSO) can be used to optimize the feed rate and ensure that the vibration amplitude meets the limits to guarantee milling quality. The specific steps are as follows:

[0123] Candidate solutions for the feed rate vector and velocity vector are defined for each particle. To simultaneously satisfy feed rate maximization and constraint satisfaction, a penalty function is introduced to construct a fitness function with constraint penalty items, penalizing the "feed rate variation limit," "vibration amplitude limit," and "feed rate non-negativity constraint." Velocity and position are updated separately. After updating the position, to ensure practical engineering feasibility, components violating constraints are corrected. Individual and global optimum updates are performed. The algorithm terminates when the number of iterations reaches the maximum or the global optimum fitness changes less than a preset value over several consecutive iterations. Therefore, by iteratively updating the "position-velocity-fitness" of the feed rate vector using the PSO algorithm, combined with the constraint correction mechanism, the 1-norm of the feed rate can be maximized while satisfying constraints such as vibration amplitude and feed rate variation, ultimately improving machining efficiency.

[0124] The following describes the variable speed machining apparatus for a flat-tail skinned robot that considers joint characteristics and workpiece amplitude provided in this application. The variable speed machining apparatus for a flat-tail skinned robot that considers joint characteristics and workpiece amplitude described below can be referred to in correspondence with the variable speed machining method for a flat-tail skinned robot that considers joint characteristics and workpiece amplitude described above.

[0125] Figure 6 This is a schematic diagram of a variable speed machining device for a flat-tail skinned robot, considering joint characteristics and workpiece amplitude, provided in an embodiment of this application. Figure 6 As shown, the device 600 includes:

[0126] The calculation module 610 is used to calculate the velocity, acceleration and jerk of each joint of the robot at each point on the machining path under the preset feed speed.

[0127] The first construction module 620 is used to construct a forced vibration response model of the horizontal tail skin. The forced vibration response model of the horizontal tail skin is used to characterize the mapping relationship between the feed rate and the vibration amplitude of the horizontal tail skin.

[0128] The second construction module 630 is used to construct vibration constraints based on the forced vibration response model of the horizontal tail skin. The vibration constraints are used to constrain the amplitude of the horizontal tail skin.

[0129] The third construction module 640 is used to construct a feed speed scheduling optimization model based on the speed, acceleration and jerk corresponding to each path point of the machining path at each joint of the robot under the preset feed speed, as well as vibration constraints. The feed speed scheduling optimization model is used to limit the maximum feed speed of each path point.

[0130] The machining module 650 is used to generate a feed rate curve based on the feed rate scheduling optimization model, and to perform machining based on the feed rate curve.

[0131] It should be understood that the above-described device is used to execute the methods in the above embodiments. The implementation principle and technical effect of the corresponding program modules in the device are similar to those described in the above methods. The working process of the device can be referred to the corresponding process in the above methods, and will not be repeated here.

[0132] Based on the methods in the above embodiments, Figure 7 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 7 As shown in the illustration, this application provides an electronic device that may include a processor 710, a communication interface 720, a memory 730, and a communication bus 740. The processor 710, communication interface 720, and memory 730 communicate with each other via the communication bus 740. The processor 710 can call logical instructions from the memory 730 to execute the variable speed machining method for a flat-tail skinned robot considering joint characteristics and workpiece amplitude described in the above embodiment.

[0133] Furthermore, the logical instructions in the aforementioned memory 730 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the variable speed machining method for a flat-tail skinned robot considering joint characteristics and workpiece amplitude described in the various embodiments of this application.

[0134] Based on the methods in the above embodiments, this application provides a computer-readable storage medium storing a computer program. When the computer program is run on a processor, it causes the processor to execute the variable speed machining method for a flat-tail skinned robot that considers joint characteristics and workpiece amplitude in the above embodiments.

[0135] Based on the methods in the above embodiments, this application provides a computer program product that, when running on a processor, causes the processor to execute the variable speed machining method for a flat-tail skinned robot that considers joint characteristics and workpiece amplitude in the above embodiments.

[0136] It is understood that the processor in the embodiments of this application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor can be a microprocessor or any conventional processor.

[0137] The method steps in this application embodiment can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can reside in an ASIC.

[0138] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0139] It is understood that the various numerical designations used in the embodiments of this application are merely for the convenience of description and are not intended to limit the scope of the embodiments of this application.

[0140] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A flat tail skin robot variable speed machining method considering joint characteristics and workpiece amplitude, characterized in that, include: Calculate the velocity, acceleration, and jerk of each joint of the robot at each point on the machining path under a preset feed rate; A forced vibration response model for the tailstock skin is constructed, which is used to characterize the mapping relationship between the feed rate and the vibration amplitude of the tailstock skin. Based on the forced vibration response model of the horizontal tail skin, vibration constraints are constructed, which are used to constrain the amplitude of the horizontal tail skin. Based on the speed, acceleration, and jerk of each joint of the robot at each point of the machining path under the preset feed speed, and the vibration constraints, a feed speed scheduling optimization model is constructed. The feed speed scheduling optimization model is used to limit the maximum feed speed of each point of the path. Based on the feed rate scheduling optimization model, a feed rate curve is generated, and processing is performed based on the feed rate curve. The construction of the forced vibration response model for the horizontal tail skin includes: The flat-tail skin is simplified into a simplified model of a support beam structure with three ends free and one end fixed. Based on the simplified model of the supporting beam structure and the plate and shell vibration theory, a forced vibration response model of the flat tail skin is established.

2. The method of claim 1, wherein the robot variable speed processing of the flat tail skin considering the joint characteristics and the workpiece amplitude is characterized by, The velocity, acceleration, and jerk of each joint of the computational robot at each path point of the machining path at a preset feed speed include: By solving the robot's inverse kinematics, the joint angles corresponding to each discrete path point of the machining path of the robot's joints are obtained. Based on the preset feed rate and joint angle corresponding to each discrete path point on the machining path of each joint of the robot, the velocity, acceleration and jerk of each discrete path point on the machining path of each joint of the robot are calculated.

3. The method of claim 1, wherein the robot variable speed processing of the flat tail skin considering the joint characteristics and the workpiece amplitude is characterized by, The vibration constraints are constructed based on the forced vibration response model of the tailstock skin, including: Obtain the analytical solution of the forced vibration response model of the horizontal tail skin; Based on the analytical solution, vibration constraints are constructed to constrain the maximum change in feed rate and the maximum vibration amplitude at each path point.

4. The method of claim 1, wherein the robot variable speed processing of the flat tail skin considering the joint characteristics and the workpiece amplitude is characterized by, The step of generating a feed rate curve based on the feed rate scheduling optimization model includes: Based on the feed rate scheduling optimization model, the theoretical feed rate is fitted using a B-spline curve to obtain the feed rate curve.

5. The method of claim 1, wherein the robot variable speed processing of the flat tail skin considering the joint characteristics and the workpiece amplitude is characterized by, After constructing vibration constraints based on the forced vibration response model of the tailstock skin, the method further includes: The vibration constraints are optimized using a particle swarm optimization algorithm to obtain optimized vibration constraints.

6. A flat tail skin robot variable speed machining device considering joint characteristics and workpiece amplitude, characterized in that, include: The calculation module is used to calculate the velocity, acceleration, and jerk of each joint of the robot at each point on the machining path under the preset feed speed. The first construction module is used to construct a forced vibration response model of the horizontal tail skin, which is used to characterize the mapping relationship between the feed rate and the vibration amplitude of the horizontal tail skin. The second construction module is used to construct vibration constraints based on the forced vibration response model of the tailstock skin, and the vibration constraints are used to constrain the amplitude of the tailstock skin. The third construction module is used to construct a feed speed scheduling optimization model based on the speed, acceleration and jerk of each joint of the robot at each path point of the processing path under the preset feed speed, as well as the vibration constraints. The feed speed scheduling optimization model is used to limit the maximum feed speed of each path point. The machining module is used to generate a feed rate curve based on the feed rate scheduling optimization model, and to perform machining based on the feed rate curve. The first building module is specifically used for: The flat-tail skin is simplified into a simplified model of a support beam structure with three ends free and one end fixed. Based on the simplified model of the supporting beam structure and the plate and shell vibration theory, a forced vibration response model of the flat tail skin is established.

7. An electronic device, comprising: include: At least one memory for storing computer programs; At least one processor is configured to execute a program stored in the memory, wherein when the program stored in the memory is executed, the processor is configured to perform a variable speed machining method for a flat-tail skinned robot considering joint characteristics and workpiece amplitude as described in any one of claims 1-5.

8. A computer-readable storage medium storing a computer program, the computer-readable storage medium comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 7. When the computer program is run on the processor, the processor performs the variable speed machining method for a flat-tail skinned robot as described in any one of claims 1-5, taking into account joint characteristics and workpiece amplitude.

9. A computer program product, characterised in that, When the computer program product is run on the processor, the processor performs the variable speed machining method for a flat-tail skinned robot as described in any one of claims 1-5, taking into account joint characteristics and workpiece amplitude.

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