170 results about "Robot machining" patented technology

The invention belongs to the related technical field of robot machining deformation optimization, and discloses a redundant angle and process parameter joint optimization method and device for complex curved surface robot machining, and the method comprises the steps: (1) forming a multi-domain composite constraint by a joint movement limit constraint, a pose singularity constraint and a machining deformation error constraint corresponding to a robot machining system; carrying out fusion modeling in the redundant angular space based on multi-domain composite constraints so as to map constraints of different dimensions in different spaces into a unified fusion potential field; (2) establishing a kinetic equation taking a virtual torque generated by the fusion potential field as driving input, sequentially solving based on the obtained kinetic equation and a numerical solution method to obtain a redundant angle of each cutter location point, and then obtaining a continuous and smooth redundant angle track; and (3) based on the obtained redundant angular trajectory, performing iterative solution on the optimization model by using an optimization algorithm to obtain an optimal processing parameter combination. According to the method, collaborative optimization of the process parameters and the redundant corners is realized.

The invention relates to the technical field of cooking robot processing, and discloses a polishing device for cooking robot processing, which comprises a base and a cooking pot main body, the cooking pot main body comprises a pot body and a connector, and the top of the base is provided with a polishing module for polishing the inner surface and the outer surface of the pot body. A station conversion module which is arranged on the top of the base and drives the polishing module to move horizontally and adjust stations is arranged below the polishing module, and an inner and outer polishing conversion module used for driving a pot body to turn over is arranged on one side of the station conversion module. Frequent tool replacement or manual adjustment of the orientation of the pot body is not needed, so that the process conversion time and the manual intervention cost are greatly reduced; and meanwhile, all the modules are in cooperative linkage through a preset program, and the whole process from pot body feeding positioning, horizontal rotating to inner and outer surface polishing is automatically controlled.

The invention provides a hybrid robot path switching fairing method based on curvature and time optimization. The hybrid robot path switching fairing method comprises the following steps that a machining path is divided into a plurality of element paths; parameterization is carried out on a switching section, a remaining section and a transition section in each primitive path section; a quantum particle swarm optimization algorithm is combined with a greedy algorithm to optimize the curvature of the switching section; the quantum particle swarm optimization is combined with a moving window planning method to optimize the machining time of each section; and interpolation is conducted on the geometric path to generate a motion program, then a servo motor driving instruction of a driving joint is obtained through inverse solution of the robot, and a machining task is completed. The method has the advantages that the corner curvature and the fairing deviation of the machining path can be optimized, the machining time can be optimized, the machining path is optimized in a segmented mode by combining the greedy algorithm and the moving window planning method, complex solution of a high-dimensional problem is avoided, and the machining efficiency is improved. And the machining quality and execution efficiency of the robot are improved.

The invention relates to a self-adaptive flexible positioning and posture adjusting tool and method, and belongs to the technical field of tool jigs, and the self-adaptive flexible positioning and posture adjusting tool comprises a positioning and posture adjusting unit which is used for sequentially carrying out fitting positioning on the middle part and the end part of a workpiece or the end part and the middle part of the workpiece; and the adjusting unit is used for adjusting the heights of the positioning and posture adjusting unit and the workpieces on the positioning and posture adjusting unit. The positioning and posture adjusting unit comprises a suction cup assembly base, and a plurality of flexible suction cup assemblies are independently installed on the suction cup assembly base and used for positioning and posture adjusting of workpieces. The adjusting unit comprises a plurality of electric cylinders, and floating connectors are arranged between the electric cylinders and the positioning and posture adjusting unit and used for absorbing eccentric deflection angles between piston rods of the electric cylinders and the positioning and posture adjusting unit. High-precision and high-stability positioning and posture adjusting functions of the large-size curved surface workpiece can be achieved, numerical control machine tool or robot machining equipment is perfected, and the machining automation level of the numerical control machine tool or robot and the overall machining precision of the equipment are improved.

The invention belongs to the technical field of robot machining vibration suppression, and particularly relates to a two-way electromagnetic type variable-stiffness damper for suppressing robot machining vibration and a kinetic parameter optimization method of the two-way electromagnetic type variable-stiffness damper. The damper comprises an electromagnetic variable-rigidity elastic element and a connecting shaft, the electromagnetic variable-rigidity elastic element comprises a permanent magnet fixedly arranged on the connecting shaft in a sleeving mode and a solenoid coil arranged in the circumferential direction of the permanent magnet, and the solenoid coil is in sliding connection with the connecting shaft; when the solenoid coil is electrified, the generated magnetic field direction is the same as the magnetic field direction of the permanent magnet. The magnetic field intensity in the coil is changed by adjusting the input current in the coil, so that the rigidity of the damper is quickly adjusted in a large range; on the basis, a tool nose frequency response prediction model considering the influence of the additional damper is established, and according to a tool nose frequency response test result of the robot milling system under the multi-pose condition, fixed kinetic parameters of the damper are optimized.

The invention belongs to the technical field related to robot machining dynamics, and discloses a robot milling system tail end nonlinear frequency response modeling method and device and application, and the method comprises the steps: S1, building a robot tail end nonlinear frequency response model through experimental analysis; s2, linear kinetic parameters and nonlinear kinetic parameters of the nonlinear frequency response model are identified through a harmonic detection method, and nonlinear response of the robot milling system is analyzed based on Volterra series; and S3, identifying parameters of a joint part of the main shaft and the cutter handle based on the obtained kinetic parameters, and predicting a force / displacement frequency response function of the cutter point of the robot milling system in combination with an RCSA theory so as to realize modeling of nonlinear frequency response of the cutter point of the robot milling system. The machining time cost and the economic cost are reduced.

The invention belongs to the technical field related to robot machining, and discloses a machining deformation prediction method and device for a large complex curved surface part, and the method comprises the steps: (1) extracting time domain features, frequency domain features and time-frequency domain features from a cutting force signal, a vibration signal and an acoustic emission signal collected in the machining process of the large complex curved surface part; (2) carrying out linear dimensionality reduction on the extracted features by adopting a PCA (Principal Component Analysis) algorithm; (3) inputting the features obtained by dimensionality reduction through the PCA algorithm into a double-layer LSTM neural network model, wherein the double-layer LSTM neural network model outputs a preliminary prediction value of processing deformation; and (4) inputting the features obtained through dimensionality reduction by the PCA algorithm into an XGBoost prediction model, outputting a prediction residual error by the XGBoost prediction model, and adding the initial prediction value of the machining deformation and the prediction residual error to obtain a machining deformation prediction value. According to the invention, adaptability and prediction accuracy are improved.

The invention belongs to the technical field of robots, and discloses a milling force simulation and feed rate optimization method considering a robot pose dependence dynamics effect, and the method comprises the steps: firstly carrying out modal testing under different poses of a robot milling area; then, a kinetic model is established in a robot cutting area; and meanwhile, the surface of the workpiece is dynamically updated based on the dynamic sweeping track of the blade and the workpiece model, so that the calculation precision of the instantaneous cutting thickness and the cutting force is guaranteed. And finally, based on the simulated accurate cutting force, feed rate segmented self-adaptive planning under the cutting force peak value constraint is carried out, and robot curved surface part milling and machining error measurement experiments are carried out. The milling efficiency and precision of the curved surface part robot are effectively improved, and the cutting force in the machining process is more stable. And the method is of great significance to improvement of the stability and the machining performance in the robot machining process.

The invention discloses a digital twinning construction method and device for robot processing equipment, and the method comprises the following steps: building a three-dimensional digital model of the robot processing equipment under a Unity framework, and the three-dimensional digital model comprises virtual processing equipment and a virtual workpiece to be processed; a data layer server is established and used for collecting state information of actual machining equipment and actual to-be-machined workpieces; configuring an IP (Internet Protocol) and a port of the data layer server in the S21 in Unity for receiving state information acquired by the data layer server; the Unity obtains the state information of the actual processing equipment from the data layer server in real time through TCP communication, drives the virtual processing equipment to move synchronously, predicts the state of the workpiece to be processed based on an octree data structure, and achieves the real-time simulation of the processing process. The real-time mapping of the robot body is realized by utilizing digital modeling and a kinematic model; and through the support of a material removal algorithm and a data management platform, the dynamic monitoring of the workpiece machining process is realized.

The invention discloses a robot welding posture optimization method based on a genetic algorithm. Firstly, an initial welding path of a robot is input, and robot joint motion acceleration corresponding to each welding spot on the initial welding path is calculated; a robot joint motion acceleration threshold value is preset according to the actual situation, the welding point with the robot joint motion acceleration exceeding the threshold value serves as a key point, and a to-be-optimized key area in the welding path is selected accordingly; and the working angle and the walking angle of the welding posture of each welding spot in the key area range are optimized based on a genetic algorithm, and stable welding of the robot is achieved. The welding posture is optimized by flexibly adjusting the working angle and the walking angle of the welding gun, sufficient space is provided for optimization of the machining performance of the robot, the optimal welding posture combination is found through the genetic algorithm, the joint movement acceleration in the welding process of the robot is reduced, shaking of an end effector of the robot is reduced, the welding effect is guaranteed, and the welding quality is improved. The processing efficiency is improved.

A method for determining at least one operation to be performed by at least one robot for machining at least one component is provided. An electronic computing device determines product data which characterizes the at least one component. The electronic computing device determines system data which characterizes a system including the robot for performing the at least one operation. The electronic computing device generates a simulation model that simulates the system and the at least one component based on the product data and the system data. The electronic computing device performs a simulation by way of the simulation model, as a result of which the electronic computing device determines process data describing multiple step groups, each of the step groups comprising multiple sub-steps of the at least one operation which differ from one another.

The invention discloses a robot machining cutting device, and particularly relates to the technical field of robot machining, the robot machining cutting device comprises a shell, supporting legs are fixedly connected to the four corners of the lower end of the shell, two box doors are slidably connected to the inner surface of the shell, and a control box is fixedly mounted at the front end of the shell; a cutting mechanism is fixedly installed on the upper portion of the inner surface of the shell, and a lifting rotating assembly and a collecting assembly are arranged on the inner surface of the shell. According to the robot machining and cutting device, the lifting and rotating assembly is arranged, so that the tubular component is lifted upwards in the cutting process and moves in the direction opposite to the cutting direction, the tubular component can rotate in the reverse movement process, cutting force can be effectively dispersed, and the cutting efficiency is improved. Saw blade deviation, material vibration and uniformity of relative movement caused by single-side stress are avoided, stable output of the cutting speed is kept, constant contact pressure is kept between a cutting edge and the surface of the material, and the cutting precision and the finished product quality are improved.

The application discloses a compressor blade phosphate aluminum coating precision grinding and polishing path generation method and system based on point cloud data processing, which comprises the following steps: obtaining point cloud data of the coating surface of the compressor blade by using a three-dimensional scanning device, filtering and denoising the point cloud data, and pre-processing the data, and aligning the pre-processed point cloud data with a robot machining reference coordinate system; based on the local curvature of the point cloud, the point cloud model is divided into multiple layers of contour slices by using a curvature adaptive slicing algorithm, wherein the slicing interval is negatively correlated with the local curvature radius; the contour points of each layer of slices are B-spline fitted to generate a continuous grinding and polishing path curve; the robot executes the grinding and polishing path curve, and integrates a real-time thickness detection device; when the thickness measurement value deviates from a preset threshold value, closed-loop feedback control is performed, and the grinding and polishing path and / or grinding and polishing parameters are dynamically compensated. The application has the advantages of high machining precision, high efficiency, high consistency and the like.

The application discloses a hand-eye relationship and tool center calibration method for three-dimensional vision guided robot machining, and adopts a spherical ball as a calibration tool to realize calibration of a tool center. When calibration is performed, one ball is fixed in a camera field of view, and the other ball is installed at the end of a cylindrical simulation tool. The end posture of the robot is changed, the balls collide with each other for multiple times, and the ball center is fitted through acquisition of a spherical point cloud of the camera at the same time. Based on the robot posture parameters and the ball center distance parameters, the current tool tip, i.e. the ball center of the end of the cylindrical simulation tool, and the hand-eye matrix of the three-dimensional vision camera and the robot base coordinate system are calibrated at the same time. The method can avoid high calibration cost caused by easy wear of a needle tip in a traditional method, reduce tool tip calibration error caused by non-real alignment of the needle tip, and further efficiently calibrate a high-precision hand-eye relationship. In addition, considering the difference between the length of the cylindrical simulation tool and the length of the track test needle tip and the length of an actual machining tool, the tool axis calibration and tool center compensation method can be used to quickly calculate the current tool tip point.

The application discloses a biological implant robot machining posture planning and error compensation method based on a global stiffness model, belongs to the technical field of biological manufacturing and surgical robot auxiliary machining, and comprises the following steps: a biomechanical stiffness atlas covering the whole posture space of the implant is constructed by sparse modal sampling combined with an inverse distance weighting algorithm. The application effectively solves the problem that the cell responses are inconsistent due to the machining quality differences of different regions of the complex curved surface implant through the global surface biological activity consistency, and significantly improves the long-term success rate of implant surgery. The application is easy to deploy on the existing medical robot through hardware pollution. Through micron-level functional molding, the micron-level biological texture depth is accurately controlled, and the manufacturing level of the personalized implant is improved from simple geometric shape customization to a new height of surface biological function customization.

The utility model belongs to the technical field of large storage tank production and machining, and particularly relates to a positioning and clamping device for large storage tank robot machining. The problem that in the prior art, the requirements for accurate positioning and rotary displacement cannot be met when a robot machines a storage tank is solved. The device comprises a bottom frame, the two storage tank supporting frames slide in the front-back direction of the bottom frame, and each storage tank supporting frame is provided with two sets of rolling wheel assemblies, an adjusting assembly used for adjusting the distance between the two sets of rolling wheel assemblies and a locking assembly used for locking the storage tank supporting frames; a rotatable roller is arranged on each group of roller assembly; the clamping frame slides in the front-back direction of the bottom frame, a tail shaft assembly and a lifting assembly used for driving the tail shaft assembly to ascend and descend vertically are arranged on the clamping frame, and the tail shaft assembly comprises a positioning disc assembly rotationally arranged on the clamping frame and used for being connected with a storage tank support on the storage tank and a braking assembly used for braking the positioning disc assembly. According to the utility model, the positioning, clamping and rotary displacement of the storage tank can be realized.

The invention belongs to the technical field related to robot machining, and discloses an optimal design method and equipment for a three-dimensional complete continuous functional gradient lattice extension rod, and the method comprises the steps: constructing a mapping relation between geometric and physical properties of a lattice structure; by combining the continuous, smooth and locally controllable characteristics of the NURBS body, the completely continuous characterization and regulation of the property distribution of the functionally gradient lattice structure are carried out, the completely continuous smooth transition of the lattice structure in a three-dimensional space is realized, and compared with an incomplete continuous functionally gradient lattice structure, the preparation method has the advantages that the preparation cost is reduced; the completely continuous functional gradient lattice structure has higher structural strength and optimization potential; a high-order shear beam theory and an isogeometric analysis method are combined to construct a dynamic model of a three-dimensional complete continuous functional gradient lattice structure, and a theoretical basis is provided for subsequent robot system dynamic modeling of an additional lattice extension rod; on the basis of the method, distribution characterization-regulation and control design-performance analysis of the three-dimensional completely continuous functional gradient lattice structure can be realized.

Road inspection robot machining equipment comprises a main supporting frame, an ion cutting mechanism and a to-be-machined steel plate, a steel plate supporting mechanism is arranged in the main supporting frame and comprises a steel plate bearing device and a linkage self-cleaning device, and the steel plate bearing device is located in the main supporting frame and provides supporting and feeding operation for the to-be-machined steel plate; the linkage self-cleaning device is located at the bottom of the steel plate bearing device, the linkage self-cleaning device and the steel plate bearing device are matched to complete automatic cleaning operation on the interior of the steel plate bearing device, and a plasma cutting mechanism is arranged at the top of the main supporting frame and conducts plasma cutting operation on a to-be-machined steel plate. An auxiliary feeding mechanism is arranged at the bottom of the plasma cutting mechanism. And a gas film is formed on the outer surface of the anti-pollution protective cover in the cutting process, so that gas generated in the cutting process is prevented from being attached to the surface of the anti-pollution protective cover to affect the cutting effect.

The application provides a point cloud registration method, a gradual forming mirror surface compensation method and system, acquires two point cloud data to be registered; after extracting edge points of the point cloud by using a PCA method, edge planes of reference point cloud and registered point cloud are fitted by using the edge points; a rotation matrix between normal vectors of the two edge planes is calculated, so that the normal vector of the edge plane of the registered point cloud is aligned to the normal vector of the edge plane of the reference point cloud; the convex hull directions of the reference point cloud and the registered point cloud are aligned; fine alignment is performed, so that the Euclidean distance between the edge points of the two point clouds is minimized. Based on the mirror principle, robot machining error compensation is carried out, the point cloud of the actual machining surface is measured by using a scanner, the target surface is regarded as a mirror surface, and the actual machining surface is mirrored to the other side through the target surface, so that the compensation surface is obtained, and the geometric precision of the formed part is improved.

The utility model discloses a polishing device for intelligent robot machining, which comprises a mechanical arm, a rotary table, a base frame, a mounting sleeve and a polishing component, the bottom of the mechanical arm is fixedly mounted at the top of the rotary table, the bottom of the rotary table is fixedly mounted at the top of the base frame, and the mounting sleeve is fixedly mounted at the bottom of the base frame. And one end of the mounting sleeve is fixedly mounted at the execution end of the mechanical arm, and the polishing assembly is fixedly inserted into the other end of the mounting sleeve. One or more swing plates are controlled to swing downwards by controlling rotation of the swing motor, when one swing plate is arranged, the polishing brush is located on the same axis of the rotary table, and the polishing area of the polishing brush is small at the moment; the multiple swing plates swing downwards, the polishing brush surrounds the outer side of the axis of the rotary disc to form a ring shape, and the polishing area of the polishing brush is large at the moment; and the polishing area can be adjusted through the downward swinging angle of the swinging motor, so that different types of workpieces are dealt with, and the applicability is good.

The invention discloses a curved surface normal measurement method and system based on monocular vision and multiple laser planes. The method comprises the following steps: calibrating laser planes generated by a monocular camera and at least two laser plane projection units; collecting an image of a laser strip formed by the laser plane on the surface of the workpiece through a monocular camera; processing the image, and extracting a central pixel position of each laser strip to obtain a pixel point sequence; back-projecting the pixel point sequence into a three-dimensional ray in a camera coordinate system based on camera model parameters; and performing intersection operation on the three-dimensional rays and the equations of the corresponding laser planes to obtain a plurality of space intersection point sets, establishing a local curved surface model of the workpiece surface, calculating and outputting the normal direction of the workpiece surface according to the local curved surface model, and converting the normal direction into a reference coordinate system for unified representation. According to the method, the stability and universality of normal estimation are improved, the structure of a measurement system is simplified, and the adaptive capacity in the fields of robot machining, automatic detection and industrial measurement is improved.

The present invention relates to the field of automated production, and in particular to a method for automatically solving the positioning angle of a rotary tool, comprising the following steps: S1: reading processing trajectory information; S2: calculating each trajectory point p i The cumulative arc length c of the machining trajectory i ; S3: Calculate the feasible solution interval of the rotary tooling at all processing trajectory points; S4: Determine the feasible solution interval of all processing trajectory points [s i,min ,s i,max ] is empty: If it is empty, it means that there is no feasible solution for the processing trajectory point, and the solution ends; if it is not empty, go to step S5; S5: In the feasible solution interval [s i,min ,s i,max ] solves the rotary tooling positioning angle within the range. The present invention automatically solves the rotary tooling positioning angle without presetting conditional parameters such as the rotary tooling initial angle and feasible solution range, thus being versatile and easy to use. The solved positioning angle is guaranteed to fall within the feasible solution range, and the angle curve is smooth, which is beneficial to improving the stability and processing quality of the robot machining process.

The application provides a robot process debugging system and method based on three-dimensional visualization, and relates to the technical field of robot processing debugging, and comprises the following steps: a data processing module is used for acquiring saved workstation data and robot data in a robot workstation, and extracting robot trajectory point data and process parameters from the robot data; a three-dimensional display module is used for establishing a virtual workstation model containing a virtual robot model according to the workstation data and the robot data, and establishing a virtual processing trajectory of the virtual robot model according to the trajectory point data and the process parameters; and a debugging module is used for debugging process parameters to obtain process debugging parameters according to externally input debugging instructions, and the three-dimensional display module synchronously displays the adjustment of the virtual processing trajectory according to the process debugging parameters. The beneficial effect is to provide a three-dimensional visual interactive interface, reduce the operation complexity, improve the process debugging efficiency, improve the interactive experience, and make the process debugging more convenient.

The application discloses a kind of infinite die workpiece robot machining program automatic generation method in the field of intelligent manufacturing, comprising the following steps: step 1, obtain blank point cloud;Step 2, point cloud normal vector and Gaussian curvature calculation;Step 3, all point clouds are classified, generate construction point 1, obtain sub-region boundary line and sub-region clustering center point, then second clustering is carried out, and the boundary line clustering center point is obtained again;Step 4, generate construction point 3, generate surface construction key point using key point generation algorithm;Step 5, establish auxiliary plane point cloud, generate auxiliary plane based on sub-region clustering center point, boundary line clustering center point and surface construction key point;Step 6, generate initial path point, find the intersection of original point cloud and auxiliary plane point cloud, generate initial path point;Step 7, post-processing;Realize the generation of polishing and cleaning program not dependent on numerical model.

The application discloses a kind of sand belt abrasion prediction method and system of fusion acoustic signal and acoustic emission signal.Method includes: installing acoustic signal sensor and acoustic emission sensor and collecting corresponding signal, time domain analysis and frequency domain analysis are carried out to two kinds of signals, and the time domain characteristics and frequency domain characteristics of signal are respectively extracted;Using LSTM neural network fusion the time-frequency domain characteristics of the two kinds of signals, establish the nonlinear model of sand belt abrasion in the process of complex blade robot grinding;Using state estimation technique in probability statistics method, predict the probability of sand belt stable abrasion and severe abrasion occurring at next time;According to the abrasion probability, feedback adjustment and control the process parameters in grinding process, prevent tool excessive abrasion from causing blade to appear burn and other quality decline phenomenon.The abrasion state of sand belt in the process of processing is monitored in real time and accurately, timely feedback regulation, prevent complex blade from being damaged due to severe abrasion of sand belt in the process of robot processing.

The invention relates to the field of robot machining, and provides an autonomous machining method and system for an intelligent robot with a body, and the method comprises the steps: scanning the contour of a workpiece to form point cloud data, carrying out the noise filtering and geometric feature analysis of the point cloud data, and obtaining the contour of the workpiece; comparing the processed point cloud data with an input three-dimensional model, and generating a machining program by combining offline programming based on workpiece pose registration; and identifying the machining features of the workpiece model, applying the machining program, and calling the machining process library to generate a machining track. Through the method, the intelligent robot with the body can achieve autonomous machining and improve the machining precision and efficiency, noise points are effectively removed through a dual filtering mechanism in the point cloud data processing link, edge features are reserved, and the method can adapt to complex curved surfaces.

The invention provides a workpiece pose determination method and device based on a self-motion manifold and a storage medium, and the method comprises the steps: determining a discrete point pose array of a to-be-processed region, determining a placement space of a to-be-placed workpiece in a work space of a robot according to a kinematic model of the robot, and determining the placement space of the to-be-placed workpiece in the work space of the robot; and according to the placement space and the discrete point pose array, multiple optional placement poses of the to-be-placed workpiece and self-motion manifold information of the optional placement poses are determined, and according to the optional placement poses and the self-motion manifold information of the optional placement poses, a target placement pose of the to-be-placed workpiece is determined. According to the automatic workpiece placing device, automatic workpiece placing can be achieved, the workpiece placing efficiency is improved, and the operability and adaptability of the subsequent robot machining process are improved.

A robot machining parameter optimization method and system based on global stability analysis solves the problem of how to improve the efficiency of global stability analysis of robot milling. The invention belongs to the technical field related to robot milling. The invention includes: extracting the tool position related to the cutting process, selecting the reference tool position, calculating the stability limit reference data set under the robot reference tool position based on the frequency response function and the robot dynamics model; when analyzing the stability, obtaining the axial cutting depth a of the jth tool position p,j , and find the stability axial cutting depth limit a with the same or closest feed direction and radial cutting width as the j-th tool position in the stability limit reference data set p,lim,0 , according to a p,lim,0 Calculate the stability axial cutting depth limit a of the jth tool position p,lim,j , according to a p,j and a p,lim,j The ratio of is used to determine whether there is chatter at any tool position, and all tool positions can meet the stable machining requirements by adjusting the parameters.

The invention provides a robot machining error joint prediction method, medium, equipment and product, and relates to the technical field of robot machining error prediction.The method comprises the steps that a coupling action mechanism of robot geometric errors and flexible errors is analyzed, and a mathematical model of robot machining errors is established; based on an error decomposition strategy of empirical mode decomposition, the machining error is decomposed into a low-frequency system component and a high-frequency working condition related component; using a Gaussian process regression model to predict based on the error of the system component, and using a time convolutional neural network to construct a prediction model based on the error of the working condition related component; and superposing the prediction results of the two parts to obtain the combined prediction of the machining error. According to the method, the machining errors are decomposed, the respective advantages of the two models are fully utilized to process the errors with different characteristics, and the overall prediction precision is remarkably improved.

To stably support a workpiece.SOLUTION: A pallet 60 comprises a main body 600 that holds a workpiece W on which a working robot 32 works, and connectors 611 and 612 that are integrated with the main body and to which tool changers 15 and 31a of robots 11 and 31 that support the main body are detachably connected.SELECTED DRAWING: Figure 5