294 results about "Robot machining" patented technology

The invention belongs to the technical field of robots, and discloses a feature fusion and refining embedding sparse Bayesian learning method and system for robot curved surface milling contour error monitoring, and the method comprises the steps: carrying out the structural fusion of feature vectors composed of technological parameters, robot rigidity, cutting force and tracking errors into a dictionary matrix; and a sparse Bayesian learning method is combined to realize robot processing error monitoring. During model training, the posterior distribution of the weight variables can be obtained, and the expectation and variance of the posterior distribution of the weight coefficients are estimated by maximizing the posterior probability. Wherein the variance and the hyper-parameter influencing the weight sparsity are estimated by maximizing an edge likelihood function, that is, optimization is carried out by the expectation of a joint likelihood function under maximized weight posterior distribution, and the minimum value solution can be solved for the converted loss function to optimize the hyper-parameter. The posterior expectation and variance of the model weight and the hyper-parameter are iteratively updated in the training process, and the iteration process is terminated according to a set change threshold value so as to realize the sparsification of the model weight vector and the construction of the sparse model. According to the method, robot milling error monitoring of curved surface parts with different features under the variable poses is achieved, and the part measurement cost is effectively reduced.

The invention provides a robot machining vibration control method and system, and belongs to the technical field of robot vibration control. The method comprises the steps that tail end six-axis acceleration decoupling is carried out to sense robot tail end vibration; building a robot joint and tail end acceleration model, and obtaining a load side and tail end acceleration relation through a Jacobian matrix; estimating a load side joint speed by using a Kalman filter; designing an active damping controller, analyzing disturbance force influence, establishing a feedback item, and introducing a feedforward item to eliminate steady-state errors; and compensating the correction speed in the active damping controller into the speed ring controller to realize active vibration control. Vibration of the flexible joint robot can be accurately sensed and controlled, a body does not need to be transformed, tail end six-axis acceleration signals are introduced to achieve damping self-adaptive adjustment, and stability is improved.

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 stone machining, in particular to a method and system for machining three-dimensional special-shaped stone through a robot, and the method comprises the following steps: obtaining path segments and extracting particle images, dividing density category identification sections, classifying the path segments, matching load conditions, screening out indexes, and mapping node coordinates to generate an interlaced section table. The method comprises the following steps: extracting a particle image, dividing density categories, identifying particle distribution differences, identifying staggered node areas in combination with spatial distribution grids, defining structural paragraphs, extracting direction vectors and sequence information to identify continuous paragraphs, adjusting attitude angle access tracks, and generating a processing path set. According to the three-dimensional special-shaped stone engraving method, combined inspection of path section direction consistency and sequence coherence is conducted, path interruption and jumping are controlled, difference analysis of the tail end posture and the engraving face direction is matched with angle adjustment, cutting offset and contour misalignment caused by posture mismatching in the machining process are reduced, and path stability and engraving coherence in the three-dimensional special-shaped stone engraving process are enhanced.

The invention discloses a full-closed-loop control method for high-precision drilling of a robot, and the method is based on an industrial robot, a laser tracker pose measurement system, a tail end drilling actuator system, and an integrated cooperative control upper computer. And the theoretical values of the points to be machined are updated and corrected, and the measured value of a laser tracker pose measurement system serves as the real-time pose feedback quantity of a tail end hole forming actuator to achieve closed-loop pose control of the robot. And based on the normal vector measurement function of the tail end hole making system, normal vector correction compensation at the position of a hole to be machined of the tail end hole making system is achieved, and full-closed-loop machining of the hole making technology of the machined part is completed. According to the method, through the position and posture correction and compensation treatment in different stages in the process of hole making process preparation and process execution, the full-closed loop of the hole making process is formed while the hole making precision of robot machining is improved, the machining efficiency is improved, and the hole making precision requirement of industrial robot machining is better met.

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 discloses a robot. The robot comprises a small arm, a large arm, a connecting rod, a balance rod, a first linear driving device and a first driving rod. One end of the big arm is rotatably connected with the small arm; one end of the connecting rod is rotatably connected with one end of the small arm; one end of the balance rod is rotatably connected with one end, far away from the small arm, of the large arm; the first linear driving device comprises a first moving part; one end of the first driving rod is rotatably connected with the first moving part, and the other end of the first driving rod is rotatably connected with the balance rod; and the first linear driving device is configured to drive the first moving part to linearly move so as to drive the small arm to rotate relative to the large arm under the limitation of the connecting rod and the balance rod through the first driving rod. According to the mode that high-rigidity linear motion is converted into rotation, the transmission rigidity between the large arm and the small arm is increased, the stability of the robot in the machining process is improved, and the machining quality and machining efficiency of parts are improved.

The invention discloses a robot machining parameter optimization method and system based on global stability analysis, solves the problem of how to improve the robot milling global stability analysis efficiency, and belongs to the technical field related to robot milling. The method comprises the following steps: extracting a cutter location point related to a cutting process, selecting a reference cutter location point, and calculating a stability limit reference data set under the robot reference cutter location point according to a frequency response function and a robot dynamic model; when the stability is analyzed, the axial cutting depth ap, j of the jth cutter location point is obtained, the stability axial cutting depth limits ap, lim, 0 which are the same as or closest to the feeding direction and the radial cutting width of the jth cutter location point are found in the stability limit reference data set, the stability axial cutting depth limits ap, lim, j of the jth cutter location point are calculated according to ap, lim, 0, and the stability of the jth cutter location point is calculated according to the specific value of ap, j and ap, lim, j. And judging whether the cutter location points are fluttered or not, and adjusting parameters to enable all the cutter location points to meet stable machining requirements.

The invention discloses a robot-oriented processing speed optimization method and electronic equipment. The method comprises the following steps: firstly, acquiring a processing track formed by processing line segments and track points, inputting and calculating the length of the processing line segments, corners between adjacent line segments and the height of a formed triangle, and then performing track point deletion operation on two adjacent processing line segments formed by every three adjacent track points in combination with preset parameters. And then breakpoint identification processing and compression optimization processing are carried out, and finally fitting processing is carried out. The method has the advantages that the set machining speed can be achieved on the premise that the precision is not changed, the machining efficiency is improved, vibration caused by sudden change of the speed of the robot is effectively improved, the mechanical service life is prolonged, the machining precision is improved, the cutting time is shortened, and mechanical vibration of the robot is reduced.

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 discloses an automatic in-situ measurement-shape correction method for a thin-wall revolving body workpiece. The method comprises the following steps: constructing a reference coordinate system in a robot processing space; obtaining a point cloud model of the rotary table under the scanner coordinate system to construct a corresponding rotary table coordinate system; aiming at all the reference coordinate systems and the rotary table coordinate system, constructing a conversion relation among a plurality of coordinate systems; the shape correction range of the shot blasting gun is determined according to the two singular configuration points of the robot; the point deviation of the corresponding points between the point cloud data of the workpiece and the reference point cloud data is used as the to-be-corrected size corresponding to each point on the workpiece; generating a normal vector of each point on a workpiece bus based on the point cloud data of the workpiece; and on the basis of the obtained point cloud data and the corresponding to-be-corrected shape quantity and the normal vector, a machining path of the shot blasting gun is generated to complete a shape correction task. The invention further provides an automatic in-situ measurement-shape correction system. The method provided by the invention can solve the problem that the robot cannot reach the specific position due to the singular configuration.

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 related technical field of robot machining deformation parameter optimization, and discloses a machining parameter global optimization method and device based on machining deformation sparse key points. A spectral clustering method is adopted to obtain milling force sparse key points and rigidity sparse key points in the machining process; (2) optimizing and partitioning a machining area of the workpiece to be machined based on the obtained milling force sparse key point and rigidity sparse key point; and (3) optimizing parameters of the to-be-processed workpiece based on the obtained optimization partition result, the global optimization deformation index, the single-point milling force prediction model, the rigidity model, the milling force sparse key point and the rigidity sparse key point. The calculation cost is reduced.

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.

A workpiece periphery grading heightening support used on a robot welding platform comprises a base (1) and a supporting plate (5). The base (1) is of a rectangular frame structure, a supporting plate (5) covers the top face of the base (1), and a clamping groove (51) is formed in the middle of the base (1). An auxiliary welding tool is designed and additionally mounted through a simple and flexible foundation supporting structure, the periphery of a workpiece is heightened in a limited grading mode, robot machining equipment is assisted in correctly recognizing the workpiece, the machining condition consistency is kept as much as possible, and the welding quality is improved. The cushion blocks are added or subtracted according to the specific structure of a workpiece, or the supporting position is replaced, so that the robot welding machining operation positioning is supported, the cushion blocks with different thicknesses are designed, prepared and replaced easily and easily, the cushion blocks can be selected according to the specific needed machining height, the machining range is widened, and the operation machining efficiency is improved.

The invention provides an automatic machining method for machining a large part through a small machining center, and relates to the technical field of automobile part machining, and the method comprises the steps that a first procedure is carried out, part appearance positioning and clamping are adopted by hand grabbing, a part is firstly grabbed to a middle transition platform, and secondary accurate positioning is carried out on the part; after fine positioning is completed, the part is placed on a first-order machining center through a first-order gripper, fine positioning on the machine tool is achieved, and machining is started; after the first-order machining is completed, the part is grabbed to the other station of the transition platform through the other hand grabber, and overturning and position changing of the part are achieved; and the part is grabbed to the other machining center through the second-order hand grabber, and second-order machining is achieved. According to the invention, by designing the uniquely designed double-gripper working procedure of the robot, robot machining can be applied to a small high-speed machining center, the working space of the machining center can meet the gripper overturning requirement, and large parts can be automatically machined by adopting the small high-speed machining center.