Vibration suppression method, device and electronic equipment for parallel processing robot

Abstract

The application relates to a vibration suppression method and device of a parallel machining robot and electronic equipment, wherein the method comprises the following steps: calculating the vibration mode of the parallel machining robot, and identifying the main mode affecting the machining operation of the parallel machining robot based on the vibration mode; monitoring the vibration signal in the machining operation process of the parallel machining robot, and calculating the vibration mode component based on the vibration signal and the main mode; and regulating the machining vibration according to the vibration mode component, so as to suppress the vibration mode of the parallel machining robot or the combination of the vibration modes of multiple parallel machining robots in the machining process. Thus, the problems in the prior art that, due to the complex multi-closed-loop structure of the parallel machining robot, the vibration mode is complex and the machining vibration is coupled by multiple-order vibration modes, so that the one-way single-frequency vibration suppression cannot effectively suppress the machining vibration of the parallel machining robot in the machining process, and the machining quality and machining efficiency are affected are solved.

Description

Technical Field

[0001] This application relates to the field of precision machining technology, and in particular to a vibration suppression method, device and electronic equipment for a parallel machining robot. Background Technology

[0002] Currently, parallel machining robots, as a type of machining equipment with high positioning accuracy, high stiffness-to-mass ratio, and high dynamic response capability, hold promise for achieving efficient and high-quality machining of large and complex components. However, in the pursuit of ultimate cutting efficiency, the alternating cutting force generated by high removal rate cutting can easily cause machining vibration or even chatter in parallel machining robots, leading to a decrease in the surface finish of the workpiece and limiting further improvements in the machining efficiency of parallel machining robots.

[0003] In related technologies, vibration suppression methods are mainly geared towards CNC machine tools. By installing dampers in the machining feed direction or normal direction, unidirectional and single-frequency vibration control can be achieved.

[0004] However, in related technologies, parallel machining robots have complex multi-closed-loop structures, complex vibration modes, and the machining vibration is formed by the coupling of multiple vibration modes. As a result, during the machining process, parallel machining robots exhibit complex machining vibrations with multiple frequencies, multiple directions, and translational-rotation coupling. This leads to the problem that unidirectional single-frequency vibration suppression cannot suppress or even amplifies the machining vibration, making it impossible to effectively suppress the machining vibration of parallel machining robots. Consequently, it affects the machining quality and efficiency, which urgently needs to be improved. Summary of the Invention

[0005] This application provides a vibration suppression method, device, and electronic device for parallel machining robots to solve the problems in related technologies, such as the complex multi-closed-loop structure of parallel machining robots, the complex vibration modes, and the fact that the machining vibration is formed by the coupling of multiple vibration modes, which makes it impossible to effectively suppress the machining vibration of parallel machining robots by unidirectional single-frequency vibration suppression during the machining process, thus affecting the machining quality and machining efficiency.

[0006] The first aspect of this application provides a vibration suppression method for a parallel machining robot, comprising the following steps: calculating the vibration modes of the parallel machining robot, and identifying the main mode affecting the machining operation of the parallel machining robot based on the vibration modes of the parallel machining robot; monitoring the vibration signal during the machining operation of the parallel machining robot, and calculating the vibration mode components of the parallel machining robot based on the vibration signal and the main mode of the machining operation of the parallel machining robot; and regulating the machining vibration according to the vibration mode components to suppress the vibration modes of the parallel machining robot or the combination of vibration modes of multiple parallel machining robots during the machining process.

[0007] Through the above-mentioned technical means, the embodiments of this application can calculate the vibration modes and modal parameters of the parallel processing robot, identify the main modes affecting the processing operation of the parallel processing robot, monitor the vibration signals during the processing operation of the parallel processing robot in real time and calculate the vibration modal components in real time, and adjust the processing vibration in real time according to the calculation results of the vibration modal components. Thus, the design optimization is carried out for the complex multimodal coupled vibration characteristics of the parallel processing robot, and the processing vibration suppression of the parallel processing robot under different working conditions and different combinations of vibration modes of the parallel processing robot is realized. It has the characteristics of good vibration suppression effect and strong robustness, and significantly improves the processing quality and processing efficiency of the parallel processing robot.

[0008] Optionally, in one embodiment of this application, the step of calculating the vibration modes of the parallel machining robot and identifying the main modes affecting the machining operation of the parallel machining robot based on the vibration modes of the parallel machining robot includes: solving the node stiffness matrix and mass matrix of each component of the parallel machining robot; establishing a dynamic model of the parallel machining robot based on the node stiffness matrix and mass matrix of each component; calculating the vibration modes of the parallel machining robot according to the dynamic model of the parallel machining robot; and extracting the vibration amplitude of the tool tip of the parallel machining robot based on the vibration modes of the parallel machining robot to determine the main modes affecting the machining operation of the parallel machining robot.

[0009] Through the above-mentioned technical means, the embodiments of this application can establish a dynamic model of a parallel processing robot by solving the stiffness matrix and mass matrix of each component node, so as to accurately calculate the vibration mode, and further extract the vibration amplitude of the tool tip in each mode as the main mode criterion, thereby achieving accurate identification of the main mode, providing a clear target for subsequent vibration control, and avoiding the problems of low efficiency or suppression failure caused by blind suppression.

[0010] Optionally, in one embodiment of this application, the step of calculating the vibration mode components of the parallel processing robot based on the vibration signal and the main mode of the parallel processing robot's processing operation includes: performing a Fourier transform on the vibration signal to obtain the signal spectrum of the vibration signal; and calculating the signal energy corresponding to the modal frequencies of each order of the parallel processing robot's vibration modes based on the signal spectrum to determine the vibration mode components.

[0011] Through the above-mentioned technical means, the embodiments of this application can perform Fourier transform on the processing vibration signal to obtain the signal spectrum, calculate the signal energy near the modal frequency corresponding to each order of vibration mode, and determine the vibration modal components, thereby realizing the monitoring of processing status and real-time calculation of modal components, providing accurate data support for subsequent targeted control, ensuring that vibration suppression measures can accurately match the vibration characteristics of each order of mode, and improving the effectiveness of suppression.

[0012] Optionally, in one embodiment of this application, the step of regulating the machining vibration according to the vibration mode components to suppress the vibration modes of the parallel machining robot or the combination of vibration modes of multiple parallel machining robots during the machining process includes: suppressing the vibration modes of the parallel machining robot or the combination of vibration modes of multiple parallel machining robots during the machining process based on the tuning frequency generated by the controllable damper device of the preset machining vibration regulation system; and / or, adjusting the spindle speed of the parallel machining robot based on the machining parameter active adjustment device of the preset machining vibration regulation system to suppress the vibration modes of the parallel machining robot or the combination of vibration modes of multiple parallel machining robots during the machining process.

[0013] Through the above-mentioned technical means, the embodiments of this application can adjust the processing parameters based on the tuning frequency of the controllable damper or actively adjust the processing parameters, and control the processing vibration in real time according to the solution results of the vibration mode components, thereby suppressing the processing vibration of different parallel processing robots with different vibration mode combinations, thus adapting to the complex vibration characteristics of parallel processing robots with multiple frequencies, multiple directions, and translational-rotational coupling, and effectively improving the flexibility and reliability of vibration suppression.

[0014] Optionally, in one embodiment of this application, the formula for calculating the tuning frequency is:

[0015] , in, The natural angular frequency of the controllable damper device is given. m Let be the moment of inertia of the mass block of the controllable damper device along the guide axis. k Let be the stiffness of the spring in the controllable damper device. The damping ratio of the controllable damper device is given. f i The modal frequency is the vibration mode of the parallel processing robot.

[0016] Through the above-mentioned technical means, the embodiments of this application can enable the controllable damper device to generate different tuning frequencies. When the natural frequency of the controllable damper device is close to the modal frequency of the vibration mode of the parallel processing robot that dominates the processing vibration, it will have a significant suppression effect on the vibration mode of the parallel processing robot, thereby improving the response speed and robustness of the suppression system.

[0017] Optionally, in one embodiment of this application, the formula for calculating the spindle speed is: , in, The adjusted spindle speed,z This refers to the number of teeth on the cutting tool. The frequency at which machining chatter occurs. p It can be any positive integer.

[0018] Through the above-mentioned technical means, the embodiments of this application can adjust the spindle speed so that the cutting force frequency generated during the machining process avoids the modal frequency that causes machining vibration in the parallel machining robot, suppresses the vibration mode of the parallel machining robot that dominates the machining vibration, ensures the stability of the machining process of the parallel machining robot, and improves the workpiece machining quality and machining efficiency.

[0019] A second aspect of this application provides a vibration suppression device for a parallel machining robot, comprising: an identification module for calculating the vibration modes of the parallel machining robot and identifying the main mode affecting the machining operation of the parallel machining robot based on the vibration modes of the parallel machining robot; a monitoring and calculation module for monitoring vibration signals during the machining operation of the parallel machining robot and calculating the vibration mode components of the parallel machining robot based on the vibration signals and the main mode of the machining operation of the parallel machining robot; and a suppression module for regulating the machining vibration according to the vibration mode components to suppress the vibration modes of the parallel machining robot or the combination of vibration modes of multiple parallel machining robots during the machining process.

[0020] Through the above-mentioned technical means, the embodiments of this application can calculate the vibration modes and modal parameters of the parallel processing robot, identify the main modes affecting the processing operation of the parallel processing robot, monitor the vibration signals during the processing operation of the parallel processing robot in real time and calculate the vibration modal components in real time, and adjust the processing vibration in real time according to the calculation results of the vibration modal components. Thus, the design optimization is carried out for the complex multimodal coupled vibration characteristics of the parallel processing robot, and the processing vibration suppression of the parallel processing robot under different working conditions and different combinations of vibration modes of the parallel processing robot is realized. It has the characteristics of good vibration suppression effect and strong robustness, and significantly improves the processing quality and processing efficiency of the parallel processing robot.

[0021] Optionally, in one embodiment of this application, the identification module includes: an establishment unit, configured to solve for the node stiffness matrix and mass matrix of each component of the parallel processing robot, and establish a dynamic model of the parallel processing robot based on the node stiffness matrix and mass matrix of each component; a first calculation unit, configured to calculate the vibration modes of the parallel processing robot according to the dynamic model of the parallel processing robot; and a determination unit, configured to extract the vibration amplitude of the tool tip of the parallel processing robot based on the vibration modes of the parallel processing robot, so as to determine the main mode affecting the processing operation of the parallel processing robot.

[0022] Through the above-mentioned technical means, the embodiments of this application can establish a dynamic model of a parallel processing robot by solving the stiffness matrix and mass matrix of each component node, so as to accurately calculate the vibration mode, and further extract the vibration amplitude of the tool tip in each mode as the main mode criterion, thereby achieving accurate identification of the main mode, providing a clear target for subsequent vibration control, and avoiding the problems of low efficiency or suppression failure caused by blind suppression.

[0023] Optionally, in one embodiment of this application, the monitoring and calculation module includes: a second calculation unit, used to perform a Fourier transform on the vibration signal to obtain the signal spectrum of the vibration signal; and a third calculation unit, used to calculate the signal energy corresponding to the modal frequencies of each order vibration mode of the parallel processing robot based on the signal spectrum, so as to determine the vibration modal components.

[0024] Through the above-mentioned technical means, the embodiments of this application can perform Fourier transform on the processing vibration signal to obtain the signal spectrum, calculate the signal energy near the modal frequency corresponding to each order of vibration mode, and determine the vibration modal components, thereby realizing the monitoring of processing status and real-time calculation of modal components, providing accurate data support for subsequent targeted control, ensuring that vibration suppression measures can accurately match the vibration characteristics of each order of mode, and improving the effectiveness of suppression.

[0025] Optionally, in one embodiment of this application, the suppression module includes: a first suppression unit, used to suppress vibration of the vibration mode of the parallel processing robot or a combination of vibration modes of multiple parallel processing robots during processing based on the tuning frequency generated by the controllable damper device of the preset processing vibration control system; and / or, a second suppression unit, used to adjust the spindle speed of the parallel processing robot based on the active adjustment device of the processing parameters of the preset processing vibration control system, so as to suppress vibration of the vibration mode of the parallel processing robot or a combination of vibration modes of multiple parallel processing robots during processing.

[0026] Through the above-mentioned technical means, the embodiments of this application can adjust the processing parameters based on the tuning frequency of the controllable damper or actively adjust the processing parameters, and control the processing vibration in real time according to the solution results of the vibration mode components, thereby suppressing the processing vibration of different parallel processing robots with different vibration mode combinations, thus adapting to the complex vibration characteristics of parallel processing robots with multiple frequencies, multiple directions, and translational-rotational coupling, and effectively improving the flexibility and reliability of vibration suppression.

[0027] Optionally, in one embodiment of this application, the formula for calculating the tuning frequency is: , in, The natural angular frequency of the controllable damper device is given.m Let be the moment of inertia of the mass block of the controllable damper device along the guide axis. k Let be the stiffness of the spring in the controllable damper device. The damping ratio of the controllable damper device is given. f i The modal frequency is the vibration mode of the parallel processing robot.

[0028] Through the above-mentioned technical means, the embodiments of this application can enable the controllable damper device to generate different tuning frequencies. When the natural frequency of the controllable damper device is close to the modal frequency of the vibration mode of the parallel processing robot that dominates the processing vibration, it will have a significant suppression effect on the vibration mode of the parallel processing robot, thereby improving the response speed and robustness of the suppression system.

[0029] Optionally, in one embodiment of this application, the formula for calculating the spindle speed is: , in, The adjusted spindle speed, z This refers to the number of teeth on the cutting tool. The frequency at which machining chatter occurs. p It can be any positive integer.

[0030] Through the above-mentioned technical means, the embodiments of this application can adjust the spindle speed so that the cutting force frequency generated during the machining process avoids the modal frequency that causes machining vibration in the parallel machining robot, suppresses the vibration mode of the parallel machining robot that dominates the machining vibration, ensures the stability of the machining process of the parallel machining robot, and improves the workpiece machining quality and machining efficiency.

[0031] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vibration suppression method for a parallel processing robot as described in the above embodiments.

[0032] A fourth aspect of this application provides a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the vibration suppression method for a parallel processing robot as described above.

[0033] A fifth aspect of this application provides a computer program product that stores a computer program that, when executed by a processor, implements the vibration suppression method for a parallel processing robot as described above.

[0034] This application's embodiments can calculate the vibration modes and modal parameters of a parallel machining robot, identify the main modes affecting the robot's machining operations, perform real-time monitoring and real-time calculation of vibration signals and vibration modal components during the machining process, and adjust the machining vibration in real-time based on the calculation results. This optimizes the design to address the complex multimodal coupled vibration characteristics of the parallel machining robot, achieving vibration suppression for different combinations of vibration modes under various working conditions. It features good vibration suppression and strong robustness, significantly improving the machining quality and efficiency. Therefore, it solves the problems in related technologies where, due to the complex multi-closed-loop structure of parallel machining robots, the vibration modes are complex and the machining vibration is composed of multiple coupled vibration modes, leading to the inability of unidirectional, single-frequency vibration suppression to effectively suppress machining vibration, thus affecting machining quality and efficiency.

[0035] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0036] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a flowchart of a vibration suppression method for a parallel processing robot according to an embodiment of this application; Figure 2 This is a schematic diagram of a parallel processing robot structure according to an embodiment of this application; Figure 3 This is a schematic diagram of the vibration modes of a parallel processing robot according to an embodiment of this application; Figure 4 This is a schematic diagram of a parallel processing robot condition monitoring device according to an embodiment of this application; Figure 5 This is a schematic diagram of a controllable damper device according to an embodiment of this application; Figure 6 This is a schematic diagram of a controllable mass-spring-damping system according to an embodiment of this application; Figure 7 This is a schematic diagram of an active adjustment device for processing parameters according to an embodiment of this application; Figure 8 This is a flowchart of a vibration suppression method for a parallel processing robot according to an embodiment of this application; Figure 9This is a schematic diagram of the structure of a vibration suppression device for a parallel processing robot according to an embodiment of this application; Figure 10 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application.

[0037] Figure label: 20 - Parallel machining robot; 201 - Frame, 202 - Motor, 203 - Leadscrew, 204 - Spindle, 205 - Tool tip; 30 - Vibration modes of parallel machining robot; 301 - Vibration deformation of the frame, 302 - Vibration deformation of the motor, 303 - Vibration deformation of the lead screw, 304 - Vibration deformation of the spindle, 305 - Vibration displacement of the tool tip; 40 - Parallel machining robot condition monitoring device; 401 - Sensor, 402 - Digital signal acquisition unit, 403 - Industrial computer; 50 - Controllable damper device; 501 - Power amplifier 502-Controllable mass-spring-damping system; 5021-Base plate; 5022-Mass block; 5023-Spring; 5024-Damping; 5025-Guide pad; 5026-Electromagnetic coil; 5027-Iron core; 5028-Housing; 60-Active adjustment device for machining parameters; 601-Spindle driver; 10-Vibration suppression device for parallel machining robots; 100-Identification module; 200-Monitoring and calculation module; 300-Suppression module; 1001-Memory; 1002-Processor; 1003-Communication interface. Detailed Implementation

[0038] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0039] The vibration suppression method, apparatus, and electronic device for parallel machining robots according to embodiments of this application are described below with reference to the accompanying drawings. In the related technologies mentioned in the background section, due to the complex multi-closed-loop structure of parallel machining robots, the vibration modes are complex and the machining vibration is formed by the coupling of multiple vibration modes. This leads to the problem that unidirectional single-frequency vibration suppression cannot effectively suppress the machining vibration of the parallel machining robot during the machining process, thus affecting the machining quality and efficiency. This application provides a vibration suppression method for parallel machining robots. In this method, the vibration modes and modal parameters of the parallel machining robot can be calculated, the main modes affecting the machining operation of the parallel machining robot can be identified, the vibration signal during the machining operation of the parallel machining robot can be monitored in real time and the vibration modal components can be calculated in real time. Based on the calculation results of the vibration modal components, the machining vibration can be adjusted in real time. This method optimizes the design for the complex multi-modal coupled vibration characteristics of the parallel machining robot, and achieves vibration suppression for different combinations of vibration modes of the parallel machining robot under different working conditions. It has the characteristics of good vibration suppression effect and strong robustness, significantly improving the machining quality and efficiency of the parallel machining robot. This solves the problem in related technologies where parallel machining robots have complex multi-closed-loop structures, complex vibration modes, and machining vibrations are formed by the coupling of multiple vibration modes. As a result, unidirectional single-frequency vibration suppression cannot effectively suppress the machining vibration of parallel machining robots during the machining process, thus affecting machining quality and efficiency.

[0040] Specifically, Figure 1 This is a schematic flowchart of a vibration suppression method for a parallel processing robot provided in an embodiment of this application.

[0041] like Figure 1 As shown, the vibration suppression method of the parallel processing robot includes the following steps: In step S101, the vibration modes of the parallel processing robot are calculated, and based on the vibration modes of the parallel processing robot, the main modes affecting the processing operation of the parallel processing robot are identified.

[0042] It is understood that the vibration modes of the parallel machining robot in the embodiments of this application can be the intrinsic mode shapes determined by the mechanical structure of the parallel machining robot, which can reflect the vibration forms that may occur when the parallel machining robot is subjected to cutting forces. Its machining vibration is a linear combination of a certain order parallel machining robot vibration mode or multiple order parallel machining robot vibration modes. The main mode can be understood as the vibration mode that has the most significant impact on machining accuracy and machining stability and has the largest vibration amplitude during the machining operation of the parallel machining robot.

[0043] In actual implementation, the embodiments of this application can use mechanical structure dynamics modeling method, combined with the structural parameters of the parallel processing robot, to calculate the vibration modes of the parallel processing robot; then, by comparing the influence of each vibration mode on the vibration of the processing point (such as the tool tip), the mode with the largest vibration amplitude and the most obvious interference with the processing quality is selected as the main mode.

[0044] The embodiments of this application can calculate the vibration modes of parallel processing robots and accurately identify the main modes, thereby adapting to the complex vibration characteristics brought about by the multi-closed-loop structure of parallel processing robots, laying the foundation for achieving efficient vibration suppression, and thus mitigating the impact of processing vibration on workpiece quality.

[0045] Optionally, in one embodiment of this application, the vibration modes of the parallel machining robot are calculated, and based on the vibration modes of the parallel machining robot, the main modes affecting the machining operation of the parallel machining robot are identified, including: solving the node stiffness matrix and mass matrix of each component of the parallel machining robot; establishing a dynamic model of the parallel machining robot based on the node stiffness matrix and mass matrix of each component; calculating the vibration modes of the parallel machining robot according to the dynamic model of the parallel machining robot; and extracting the vibration amplitude of the tool tip of the parallel machining robot based on the vibration modes of the parallel machining robot to determine the main modes affecting the machining operation of the parallel machining robot.

[0046] It is understood that the stiffness matrix and nodal mass matrix in the embodiments of this application can be understood as local matrices that describe the deformation resistance and inertial characteristics of a single component at a finite element node, respectively.

[0047] In actual implementation, the embodiments of this application can solve the node stiffness matrix and mass matrix of each component of the parallel machining robot based on the three-dimensional model of the parallel machining robot and the finite element method, and splice the dynamic models of each component into the dynamic model of the parallel machining robot through the virtual hinge method; calculate the vibration modes of the parallel machining robot based on the dynamic model of the parallel machining robot, extract the modes with large vibration amplitude at the tool tip, and identify the main modes of the parallel machining robot that mainly cause machining vibration.

[0048] like Figure 2 As shown, the parallel machining robot 20 consists of a frame 201, a motor 202, a lead screw 203, a spindle 204, and connecting components between these parts. The frame 201 can be combined with various positioning devices to form various types of parallel machining equipment. Supported by the frame 201, the motor 202 drives the movement of the lead screw 203, which in turn controls the movement of the spindle 204. During machining, the spindle 204 rotates at high speed and contacts the workpiece at the tool tip 205, generating cutting force and thus stimulating the machining vibration of the parallel machining robot 20.

[0049] Based on the 3D model of the parallel machining robot 20, the stiffness and mass matrices of the frame 201, motor 202, lead screw 203, spindle 204, and connecting parts are solved using the finite element method. The frame 201 is simplified to a 5-node dynamic model, with each node having 6 degrees of freedom. Therefore, the stiffness and mass matrices of the frame 201 are both 30th-order square matrices, denoted as K0 and M0, respectively. The motor 202 is simplified to a 2-node dynamic model, with each node having 6 degrees of freedom. Therefore, the stiffness and mass matrices of the motor 202 are both 12th-order square matrices. The stiffness matrices of the five motors 202 are denoted as K1~K5, and the mass matrices are denoted as M1~M5, respectively. The lead screw 203 is simplified to a 4-node dynamic model, with each node having 6 degrees of freedom. Therefore, the stiffness and mass matrices of the lead screw 203 are both 24th-order square matrices. The stiffness matrices of the five lead screws 203 are denoted as K6~K7. 10 The mass matrices are denoted as M6~M6. 10 The principal axis 204 is simplified into a 6-node dynamic model, with each node having 6 degrees of freedom. Therefore, the stiffness matrix and mass matrix of the principal axis 204 are both 36th-order square matrices, denoted as K. 11 and M 11 .

[0050] By using the virtual hinge method, the connecting parts between the frame 201, motor 202, lead screw 203, and spindle 204 are considered as equivalent springs. Each spring has its own stiffness matrix and mass matrix, and the corresponding degrees of freedom of the stiffness matrix are compressed according to the degrees of freedom of the connecting parts. Therefore, considering the connecting parts, the frame is connected to 5 motors at each node. After introducing the connecting parts, the stiffness matrix of the frame 201 becomes K. 0,0 The mass matrix becomes M 0,0 The stiffness matrix of the 5 motors 202 becomes K 1,1 ~K 5,5 The mass matrix becomes M 1,1 ~M 5,5 Furthermore, due to the presence of connectors, the spliced ​​assembly has a cross stiffness matrix K. 0,1 ~K 0,5 and K 1,0 ~K 5,0 Similarly, five motors 202 are connected to five lead screws 203, and the five lead screws 203 are connected to five nodes of the spindle 204, with the sixth node of the spindle 204 being the tool tip 205. Therefore, the stiffness matrix K of the parallel machining robot 20 is expressed as: , When the mass matrix is ​​concatenated, there are no overlapping terms. The mass matrix M of the parallel processing robot 20 is represented as follows: .

[0051] The finite element method (FEM) is a method for modeling the dynamics of mechanical structures. It involves setting nodes on the mechanical structure and calculating them in finite element software to obtain the stiffness and mass matrices. The virtual hinge method is a method for modeling the dynamics of multi-body mechanical systems. It treats each mechanical structure in the system as a multi-node hinge and splices the hinge nodes at the connection points according to the boundary conditions of the connections, thereby obtaining the stiffness and mass matrices of the multi-body mechanical system.

[0052] like Figure 3 As shown, the vibration mode 30 of the parallel machining robot comprises the vibration deformation 301 of the frame, the vibration deformation 302 of the motor, the vibration deformation 303 of the leadscrew, and the vibration deformation 304 of the spindle, ultimately resulting in a vibration displacement 305 at the tool tip. During machining, the cutting force at the tool tip 205 excites the parallel machining robot 20, generating a series of parallel machining robot vibration modes 30. Figure 3 This only represents one of the vibration modes 30 of the parallel machining robot. Under the excitation of cutting force, the machining vibration of the parallel machining robot 20 is a combination of a series of vibration modes 30 of the parallel machining robot.

[0053] The vibration modes 30 of the parallel processing robot 20 are calculated based on its dynamic model. The vibration modes 30 are the generalized eigenvectors of the stiffness matrix K and the mass matrix M of the parallel processing robot 20. : , In the parallel processing robot 20, both the stiffness matrix K and the mass matrix M are 246-order square matrices, therefore the generalized eigenvectors... It is a 246-dimensional vector that describes the vibration displacement of each node in the vibration mode 30 of the parallel processing robot. For the generalized eigenvalues ​​of the mass matrix M and stiffness matrix K of the parallel machining robot 20, the modal frequencies corresponding to the vibration modes are: , A set of generalized eigenvectors This corresponds to a vibration mode 30 of a parallel processing robot, and also corresponds to a modal frequency. f Because the stiffness matrix K and mass matrix M of the parallel machining robot 20 are both 246-order square matrices, they have 246 generalized eigenvectors, corresponding to 246 vibration modes 30 of the parallel machining robot. In machining vibration, the main mode of the parallel machining robot plays a major role. Among the 246 generalized eigenvectors, the translational amplitude corresponding to the tool tip (generalized eigenvector) is selected. The larger generalized eigenvector (from element 241 to element 243) is taken as the principal mode of the parallel processing robot, denoted as... ~ The corresponding frequency is denoted as ~ .

[0054] The finite element method (FEM) is a method for modeling the dynamics of mechanical structures. It involves setting nodes on the mechanical structure and calculating them in finite element software to obtain the stiffness and mass matrices. The virtual hinge method is a method for modeling the dynamics of multi-body mechanical systems. It treats each mechanical structure in the system as a multi-node hinge and splices the hinge nodes at the connection points according to the boundary conditions of the connections, thereby obtaining the stiffness and mass matrices of the multi-body mechanical system.

[0055] The embodiments of this application can establish a dynamic model of a parallel machining robot by solving the stiffness matrix and mass matrix of each component node, so as to accurately calculate the vibration mode and further extract the vibration amplitude of the tool tip in each mode as the main mode criterion, thereby achieving accurate identification of the main mode, providing a clear target for subsequent vibration control, and avoiding the problems of low efficiency or suppression failure caused by blind suppression.

[0056] In step S102, the vibration signal during the parallel processing robot's processing operation is monitored, and the vibration mode components of the parallel processing robot are calculated based on the vibration signal and the main mode of the parallel processing robot's processing operation.

[0057] It is understood that the vibration modal components in the embodiments of this application can be understood as the energy magnitude of the processing vibration of the parallel processing robot mapped onto each order of vibration modes during the processing process.

[0058] In actual implementation, the embodiments of this application can build a parallel processing robot status monitoring device to monitor the vibration signal during the parallel processing robot's processing in real time, and calculate the vibration mode components of the parallel processing robot based on the vibration signal and the main mode of the parallel processing robot's processing operation.

[0059] like Figure 4 As shown, the parallel processing robot status monitoring device 40 includes a sensor 401, a digital signal acquisition unit 402, and an industrial control computer 403. The sensor 401 is arranged on the parallel processing robot 20 to measure processing vibration signals. The digital signal acquisition unit 402 is connected to the sensor 401 via a data cable to acquire the digital signals measured by the sensor 401. The industrial control computer 403 is connected to the digital signal acquisition unit 402 via a data cable to transmit the processing vibration signals to the industrial control computer 403. Based on the frequency domain characteristics of the vibration signals and the main mode identification results of the parallel processing robot, the vibration mode components of the parallel processing robot are calculated in real time.

[0060] The embodiments of this application can accurately quantify the contribution of each dominant mode to the overall vibration by real-time monitoring of vibration signals during the processing and calculating vibration modal components in combination with the dominant modes, thereby clarifying the main sources of processing vibration and providing accurate data support for subsequent vibration control.

[0061] Optionally, in one embodiment of this application, the vibration mode components of the parallel processing robot are calculated based on the vibration signal and the main mode of the parallel processing robot's processing operation, including: performing a Fourier transform on the vibration signal to obtain the signal spectrum of the vibration signal; and calculating the signal energy corresponding to the modal frequencies of each order of vibration modes of the parallel processing robot based on the signal spectrum to determine the vibration mode components.

[0062] It is understood that the Fourier transform in the embodiments of this application can be used to convert vibration signals in the time domain into signal spectra in the frequency domain.

[0063] For example, in this embodiment of the application, after the processing vibration signal is transmitted to the industrial control computer 403, the time-domain processing vibration signal can be converted into a Fourier transform. Converted to frequency domain processing vibration signal : , Processing vibration signals in the frequency domain In the process, the vibration modal components of the main modes of the parallel processing robot are calculated respectively. The vibration modal components are the energy magnitudes of the processing vibrations of the parallel processing robot 20 during the processing, mapped onto the vibration modes 30 of the parallel processing robot of each order. , E i For the first i Energy magnitude of the dominant mode of the parallel processing robot It describes the frequency domain processing vibration signal at a frequency of f i ,radius Energy within range, radius The value of is determined by the resolution of the signal in the frequency domain.

[0064] During the machining process, vibration mode 30 of the parallel machining robot, with its abnormally increased vibration modal components, dominated the machining vibration.

[0065] The embodiments of this application can perform Fourier transform on the processing vibration signal to obtain the signal spectrum, calculate the signal energy near the modal frequency corresponding to each order of vibration mode, and determine the vibration modal components. This realizes the monitoring of processing status and real-time calculation of modal components, providing accurate data support for subsequent targeted control, ensuring that vibration suppression measures can accurately match the vibration characteristics of each order of mode, and improving the effectiveness of suppression.

[0066] In step S103, the processing vibration is controlled according to the vibration mode components in order to suppress the vibration modes of parallel processing robots or the combination of vibration modes of multiple parallel processing robots during the processing.

[0067] It is understood that vibration control in the embodiments of this application can be understood as attenuating or offsetting vibration energy during the processing through active intervention.

[0068] In actual implementation, the embodiments of this application can build a machining vibration control system for parallel machining robots, and control the machining vibration in real time according to the solution results of vibration mode components, thereby suppressing the machining vibration of different combinations of vibration modes of parallel machining robots.

[0069] The embodiments of this application can regulate the processing vibration according to the vibration modal components, so as to achieve precise suppression of single-order vibration mode or multi-order vibration mode combination of parallel processing robot, effectively adapt to the complex vibration characteristics brought about by its multi-closed-loop structure, significantly attenuate processing vibration, improve processing quality and processing efficiency, and at the same time improve the flexibility and applicability of vibration suppression.

[0070] Optionally, in one embodiment of this application, the machining vibration is controlled according to the vibration mode components to suppress the vibration modes of the parallel machining robots or the combination of vibration modes of multiple parallel machining robots during the machining process. This includes: suppressing the vibration modes of the parallel machining robots or the combination of vibration modes of multiple parallel machining robots during the machining process based on the tuning frequency generated by the controllable damper device of the preset machining vibration control system; and / or, adjusting the spindle speed of the parallel machining robots based on the machining parameter active adjustment device of the preset machining vibration control system to suppress the vibration modes of the parallel machining robots or the combination of vibration modes of multiple parallel machining robots during the machining process.

[0071] In practical implementation, the embodiments of this application can construct a vibration control system for parallel machining robots. This system may include a controllable damper device 50 and a machining parameter active adjustment device 60, or only one of these devices. Through the adjustment of the parallel machining robot vibration control system, the amplified vibration modes 30 or combinations of multiple parallel machining robot vibration modes 30 during machining can be suppressed. The embodiments of this application can suppress vibrations of the parallel machining robot or combinations of multiple parallel machining robot vibration modes during machining using the controllable damper device 50, the machining parameter active adjustment device 60, or both.

[0072] like Figure 5 and Figure 6 As shown, the controllable damper device 50 includes an industrial control computer 403, a power amplifier 501, and a controllable mass-spring-damping system 502. The control signal from the industrial control computer 403 is converted into a control current after passing through the power amplifier 501. The control current is used to adjust the mass block 5022, spring 5023, and damper 5024 participating in the vibration displacement in the controllable mass-spring-damping system 502, so that the controllable mass-spring-damping system 502 generates different tuning frequencies, thereby suppressing different vibration modes 30 of the parallel processing robot. Alternatively, the combination of multiple controllable mass-spring-damping systems 502 can suppress the combination of multiple vibration modes 30 of the parallel processing robot.

[0073] like Figure 6 As shown, the controllable mass-spring-damping system 502 includes a base plate 5021, a mass block 5022, a spring 5023, a damper 5024, a guide pad 5025, an electromagnetic coil 5026, an iron core 5027, and a housing 5028. The controllable mass-spring-damping system 502 is mounted on the parallel processing robot 20 via the base plate 5021 and encapsulated by the housing 5028 to prevent chips generated during processing from affecting its operation. The mass block 5022 is mounted on the guide pad 5025 and can only slide along its own axial direction under the constraint of the guide pad 5025. Springs 5023 are installed on both sides of the mass block 5022 along its axial direction, and a viscous fluid is filled into the circumferential closed cavity of the mass block 5022, serving as the damper 5024 of the controllable mass-spring-damping system 502. One side of the spring 5023 is connected to the mass block 5022, and the other side is connected to the electromagnetic coil 5026 and the iron core 5027. The regulating current passes through the electromagnetic coil 5026 and generates a control magnetic field in the iron core 5027. The iron core 5027, spring 5023, mass block 5022, and shell 5028 form a closed-loop magnetic circuit, which ensures the strength of the control magnetic field of the controllable mass-spring-damping system 502.

[0074] like Figure 7 As shown, the active adjustment device 60 for machining parameters includes an industrial computer 403, a spindle driver 601, and a spindle 204. The industrial computer 403 generates a spindle speed adjustment signal and transmits it to the spindle driver 601, which controls and adjusts the spindle speed. By adjusting the spindle speed, the cutting force frequency generated during the machining process avoids the modal frequency that causes machining vibration in the parallel machining robot 20, thereby suppressing the vibration mode 30 of the parallel machining robot that dominates the machining vibration.

[0075] The embodiments of this application can adjust the processing parameters based on the tuning frequency of the controllable damper or actively adjust the processing parameters, and control the processing vibration in real time according to the solution results of the vibration mode components, thereby suppressing the processing vibration of different parallel processing robots with different vibration mode combinations, thus adapting to the complex vibration characteristics of parallel processing robots with multiple frequencies, multiple directions, and translational-rotation coupling, and effectively improving the flexibility and reliability of vibration suppression.

[0076] Optionally, in one embodiment of this application, the formula for calculating the tuning frequency is: , in, The natural angular frequency of the controllable damper device. m Let be the moment of inertia of the mass block of the controllable damper device along the guide axis. k The stiffness of the spring in the controllable damper device. The damping ratio of the controllable damper device. f i These are the modal frequencies of the vibration modes of the parallel processing robot.

[0077] For example, in this embodiment of the application, when processing vibration occurs, the mass block 5022 vibrates and displaces along its own axis, thereby generating an inertial force opposite to the vibration direction of the parallel processing robot 20. The spring 5023 generates elastic force due to the compression and deformation of the mass block 5022, and the damper 5024 generates damping force due to the sliding of the mass block 5022. The natural angular frequency of the controllable mass-spring-damping system 502 is: , in, m The moment of inertia of mass block 5031 along guide shaft 5036. k For the stiffness of spring 5032, The damping ratio of the system is: , in, cFor the system damping 5033, when the natural frequency of the controllable mass-spring-damping system 503 is the same as the modal frequency of the parallel machining robot vibration mode 30 that dominates the machining vibration... f i When approaching, it will have a significant suppressive effect on the vibration mode 30 of the parallel processing robot, that is: , A regulating current passes through the electromagnetic coil 5026, generating a control magnetic field. This field adjusts the stiffness of the spring 5023 in the controllable mass-spring-damped system 502, thereby regulating the natural frequency of the system and suppressing the vibration mode 30 of the parallel processing robot. Besides using the electromagnetic coil 5026 to adjust the stiffness of the spring 5023, other methods can be used to control the magnetic or electric field in the controllable mass-spring-damped system 502, thereby adjusting the effective inertia of the mass 5022, the stiffness of the spring 5023, or the damping coefficient of the damper 5024, to achieve natural frequency adjustment of the controllable mass-spring-damped system 502.

[0078] The embodiments of this application allow the controllable damper device to generate different tuning frequencies. When the natural frequency of the controllable damper device is close to the modal frequency of the vibration mode of the parallel processing robot that dominates the processing vibration, it will have a significant suppression effect on the vibration mode of the parallel processing robot, thereby improving the response speed and robustness of the suppression system.

[0079] Optionally, in one embodiment of this application, the formula for calculating the spindle speed is: , in, The adjusted spindle speed, z This refers to the number of teeth on the cutting tool. The frequency at which machining chatter occurs. p It can be any positive integer.

[0080] For example, embodiments of this application can specify a spindle speed. s The generated excitation frequency is: , in, z This refers to the number of teeth on the cutting tool. s Spindle speed, in rev / min. When the excitation frequency... f a The modal frequency of vibration mode 30 of a certain order parallel machining robot is close to that of the other two modes. f i When the vibration mode 30 of the parallel machining robot is excited, it will cause resonance. Therefore, the spindle speed should be actively avoided to avoid the speed that will cause resonance during cutting.

[0081] In special operating conditions such as machining chatter, the spindle speed should be adjusted to: , in, This is the new spindle speed, expressed in rev / min. z This refers to the number of teeth on the cutting tool. The frequency at which machining chatter occurs. p It can be any positive integer. This is achieved by adjusting the excitation frequency. Adjust to flutter frequency Frequency division can reduce the phase difference between adjacent cutting teeth, thereby eliminating machining chatter.

[0082] The embodiments of this application can adjust the spindle speed so that the cutting force frequency generated during the machining process avoids the modal frequency that causes machining vibration in the parallel machining robot, suppresses the vibration mode of the parallel machining robot that dominates the machining vibration, ensures the stability of the machining process of the parallel machining robot, and improves the workpiece machining quality and machining efficiency.

[0083] Specifically, it can be combined with Figure 8 As shown, the working principle of the vibration suppression method of the parallel processing robot in this application is explained in detail with a specific embodiment.

[0084] like Figure 8 As shown, embodiments of this application may include the following steps: Step S801: Parallel machining robot dynamics modeling: Based on the three-dimensional model of the parallel machining robot and the finite element method, solve the node stiffness matrix and mass matrix of each component of the parallel machining robot, and stitch the dynamic models of each component into the dynamic model of the parallel machining robot through the virtual hinge method.

[0085] Step S802: Vibration mode calculation and principal mode identification: Calculate the vibration modes of the parallel machining robot based on the dynamic model of the parallel machining robot, extract the modes with large vibration amplitude at the tool tip, and identify the principal modes of the parallel machining robot that mainly cause machining vibration.

[0086] Step S803: Processing status monitoring and real-time modal component calculation: Build a parallel processing robot status monitoring device to monitor the vibration signal during the parallel processing robot's processing in real time, and calculate the vibration modal components of the parallel processing robot in real time based on the frequency domain characteristics of the vibration signal and the main modal identification results of the parallel processing robot.

[0087] Step S804: Active suppression of machining vibration: Construct a machining vibration control system for parallel machining robots. The parallel machining vibration control system includes both a controllable damper device and a machining parameter active adjustment device, or only one of these devices. Through the adjustment of the parallel machining vibration control system, the amplified vibration modes of the parallel machining robots or the combination of multiple vibration modes of the parallel machining robots during the machining process are suppressed.

[0088] The vibration suppression method for parallel machining robots proposed in this application can calculate the vibration modes and modal parameters of the parallel machining robot, identify the main modes affecting the machining operation of the parallel machining robot, monitor the vibration signals and calculate the vibration modal components in real time during the machining operation, and adjust the machining vibration in real time based on the calculation results of the vibration modal components. This method optimizes the design for the complex multimodal coupled vibration characteristics of the parallel machining robot, achieving vibration suppression for different combinations of vibration modes under different working conditions. It features good vibration suppression effect and strong robustness, significantly improving the machining quality and efficiency of the parallel machining robot. Therefore, it solves the problem in related technologies where, due to the complex multi-closed-loop structure of the parallel machining robot, the vibration modes are complex and the machining vibration is formed by the coupling of multiple vibration modes, leading to the inability of unidirectional, single-frequency vibration suppression to effectively suppress the machining vibration of the parallel machining robot, thus affecting machining quality and efficiency.

[0089] Next, referring to the accompanying drawings, a vibration suppression device for a parallel processing robot according to an embodiment of this application is described.

[0090] Figure 9 This is a schematic diagram of the vibration suppression device for a parallel processing robot according to an embodiment of this application.

[0091] like Figure 9 As shown, the vibration suppression device 10 of the parallel processing robot includes: an identification module 100, a monitoring and calculation module 200, and a suppression module 300.

[0092] The identification module 100 is used to calculate the vibration modes of the parallel processing robot and, based on the vibration modes of the parallel processing robot, identify the main modes that affect the processing operation of the parallel processing robot.

[0093] The monitoring and calculation module 200 is used to monitor the vibration signals during the processing of the parallel processing robot, and to calculate the vibration mode components of the parallel processing robot based on the vibration signals and the main modes of the parallel processing robot's processing operation.

[0094] The suppression module 300 is used to regulate the processing vibration according to the vibration mode components, so as to suppress the vibration mode of the parallel processing robot or the combination of vibration modes of multiple parallel processing robots during the processing.

[0095] Optionally, in one embodiment of this application, the identification module 100 includes: an establishment unit, a first calculation unit, and a determination unit.

[0096] Among them, the establishment unit is used to solve the node stiffness matrix and mass matrix of each component of the parallel processing robot, and the dynamic model of the parallel processing robot is established based on the node stiffness matrix and mass matrix of each component.

[0097] The first calculation unit is used to calculate the vibration modes of the parallel processing robot based on the dynamic model of the parallel processing robot.

[0098] The determination unit is used to extract the vibration amplitude of the tool tip of the parallel machining robot based on the vibration modes of the parallel machining robot, so as to determine the main mode affecting the machining operation of the parallel machining robot.

[0099] Optionally, in one embodiment of this application, the monitoring and calculation module 200 includes a second calculation unit and a third calculation unit.

[0100] The second calculation unit is used to perform Fourier transform on the vibration signal to obtain the signal spectrum of the vibration signal.

[0101] The third calculation unit is used to calculate the signal energy corresponding to the modal frequencies of each order of vibration modes of the parallel processing robot based on the signal spectrum, so as to determine the vibration modal components.

[0102] Optionally, in one embodiment of this application, the suppression module 300 includes: a first suppression unit and / or a second suppression unit.

[0103] The first suppression unit is used to suppress the vibration modes of parallel processing robots or the combination of vibration modes of multiple parallel processing robots during the processing, based on the tuning frequency generated by the controllable damper device of the preset processing vibration control system.

[0104] The second suppression unit is used to adjust the spindle speed of the parallel machining robot based on the preset machining vibration control system's active adjustment device for machining parameters, so as to suppress the vibration modes of the parallel machining robot or the combination of vibration modes of multiple parallel machining robots during the machining process.

[0105] Optionally, in one embodiment of this application, the formula for calculating the tuning frequency is: , in, The natural angular frequency of the controllable damper device. m Let be the moment of inertia of the mass block of the controllable damper device along the guide axis. k The stiffness of the spring in the controllable damper device. The damping ratio of the controllable damper device. f i These are the modal frequencies of the vibration modes of the parallel processing robot.

[0106] Optionally, in one embodiment of this application, the formula for calculating the spindle speed is: , in, The adjusted spindle speed, z This refers to the number of teeth on the cutting tool. The frequency at which machining chatter occurs. p It can be any positive integer.

[0107] It should be noted that the explanation of the vibration suppression method embodiment for parallel processing robots described above also applies to the vibration suppression device for parallel processing robots in this embodiment, and will not be repeated here.

[0108] The vibration suppression device for parallel machining robots proposed in this application can calculate the vibration modes and modal parameters of the parallel machining robot, identify the main modes affecting the machining operation of the parallel machining robot, monitor the vibration signals and calculate the vibration modal components in real time during the machining operation, and adjust the machining vibration in real time based on the calculation results of the vibration modal components. This design optimizes the device for the complex multimodal coupled vibration characteristics of the parallel machining robot, achieving vibration suppression for different combinations of vibration modes under different working conditions. It features good vibration suppression effect and strong robustness, significantly improving the machining quality and efficiency of the parallel machining robot. Therefore, it solves the problem in related technologies where, due to the complex multi-closed-loop structure of the parallel machining robot, the vibration modes are complex and the machining vibration is formed by the coupling of multiple vibration modes, resulting in the inability of unidirectional single-frequency vibration suppression to effectively suppress the machining vibration of the parallel machining robot during the machining process, thus affecting the machining quality and efficiency.

[0109] Figure 10 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include: The memory 1001, the processor 1002, and the computer program stored on the memory 1001 and capable of running on the processor 1002.

[0110] When the processor 1002 executes the program, it implements the vibration suppression method for the parallel processing robot provided in the above embodiments.

[0111] Furthermore, electronic devices also include: Communication interface 1003 is used for communication between memory 1001 and processor 1002.

[0112] The memory 1001 is used to store computer programs that can run on the processor 1002.

[0113] The memory 1001 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0114] If the memory 1001, processor 1002, and communication interface 1003 are implemented independently, then the communication interface 1003, memory 1001, and processor 1002 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized into address buses, data buses, control buses, etc. For ease of representation, Figure 10 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0115] Optionally, in a specific implementation, if the memory 1001, processor 1002, and communication interface 1003 are integrated on a single chip, then the memory 1001, processor 1002, and communication interface 1003 can communicate with each other through an internal interface.

[0116] The processor 1002 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0117] This application also provides a non-volatile computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the vibration suppression method for the parallel processing robot described above.

[0118] This application also provides a computer program product storing a computer program that, when executed by a processor, implements the vibration suppression method for the parallel processing robot described above.

[0119] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0120] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0121] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0122] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0123] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or more of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0124] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0125] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0126] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A vibration suppression method for a parallel processing robot, characterized in that, Includes the following steps: Calculate the vibration modes of the parallel processing robot, and based on the vibration modes of the parallel processing robot, identify the main modes affecting the processing operation of the parallel processing robot; The vibration signal during the processing operation of the parallel processing robot is monitored, and the vibration mode components of the parallel processing robot are calculated based on the vibration signal and the main mode of the processing operation of the parallel processing robot. The processing vibration is controlled according to the vibration mode components to suppress the vibration modes of the parallel processing robots or the combination of vibration modes of multiple parallel processing robots during the processing.

2. The method according to claim 1, characterized in that, The calculation of the vibration modes of the parallel processing robot, and the identification of the main modes affecting the processing operation of the parallel processing robot based on the vibration modes of the parallel processing robot, includes: Solve for the node stiffness matrix and mass matrix of each component of the parallel processing robot, and establish a dynamic model of the parallel processing robot based on the node stiffness matrix and mass matrix of each component. The vibration modes of the parallel processing robot are calculated based on the dynamic model of the parallel processing robot. Based on the vibration modes of the parallel machining robot, the vibration amplitude of the tool tip of the parallel machining robot is extracted to determine the main mode affecting the machining operation of the parallel machining robot.

3. The method according to claim 1, characterized in that, The calculation of the vibration modal components of the parallel processing robot based on the vibration signal and the main mode of the parallel processing robot's processing operation includes: Perform a Fourier transform on the vibration signal to obtain the signal spectrum of the vibration signal; Calculate the signal energy corresponding to the modal frequencies of each order of vibration modes of the parallel processing robot based on the signal spectrum, so as to determine the vibration modal components.

4. The method according to claim 1, characterized in that, The step of regulating the processing vibration based on the vibration mode components to suppress vibration of the parallel processing robot or a combination of vibration modes of multiple parallel processing robots during processing includes: Based on the tuning frequency generated by the controllable damper device of the preset processing vibration control system, vibration suppression is performed on the vibration modes of the parallel processing robots or the combination of vibration modes of multiple parallel processing robots during the processing. And / or, based on the pre-set machining vibration control system, the active adjustment device for machining parameters adjusts the spindle speed of the parallel machining robot to suppress the vibration modes of the parallel machining robot or the combination of vibration modes of multiple parallel machining robots during the machining process.

5. The method according to claim 4, characterized in that, The formula for calculating the tuning frequency is: ， in, The natural angular frequency of the controllable damper device is given. m Let be the moment of inertia of the mass block of the controllable damper device along the guide axis. k Let be the stiffness of the spring in the controllable damper device. The damping ratio of the controllable damper device is given. f i The modal frequency is the vibration mode of the parallel processing robot.

6. The method according to claim 4, characterized in that, The formula for calculating the spindle speed is: ， in, The adjusted spindle speed, z The number of teeth on the cutting tool. The frequency at which machining chatter occurs. p It can be any positive integer.

7. A vibration suppression device for a parallel processing robot, characterized in that, include: The identification module is used to calculate the vibration modes of the parallel processing robot and, based on the vibration modes of the parallel processing robot, identify the main modes that affect the processing operation of the parallel processing robot. The monitoring and calculation module is used to monitor the vibration signals during the processing operation of the parallel processing robot, and calculate the vibration mode components of the parallel processing robot based on the vibration signals and the main modes of the processing operation of the parallel processing robot. The suppression module is used to regulate the processing vibration according to the vibration mode components, so as to suppress the vibration mode of the parallel processing robot or the combination of vibration modes of multiple parallel processing robots during the processing.

8. An electronic device, characterized in that, include: The memory, the processor, and the computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to implement the vibration suppression method for the parallel processing robot as described in any one of claims 1-6.

9. A non-volatile computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the vibration suppression method for the parallel processing robot as described in any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, The computer program is executed to implement the vibration suppression method for the parallel processing robot as described in any one of claims 1-6.

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