Vibration Suppression Control for Robot-Machine Tool Processing Systems
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Solution Overview
Problem
In processing systems where a robot is used in conjunction with a machine tool, vibrations from the robot can deteriorate the machining accuracy of the processing machine, leading to extended cycle times and reduced working ratios if the robot is operated at low speeds or stopped to mitigate this issue.
Innovation Solution
A system comprising a processing machine, a robot, vibration sensors, and a vibration suppression control section that measures and corrects the relative position between the workpiece holding part and the processing tool, allowing the system to execute vibration-suppressing motions based on calculated motion corrections, thereby maintaining machining accuracy without reducing the robot's operational speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot operates at normal speed, then productivity is improved, but machining accuracy deteriorates due to vibration
Solution Approach 1:
The vibration sensor detects vibrations generated by the robot's operation, and this detection information is fed back to the vibration suppression control section. The control section calculates motion correction amounts based on the detected vibration and applies them to the processing machine, forming a closed-loop feedback system that suppresses vibration while maintaining high-speed robot operation.
Solution Approach 2:
The system dynamically changes the motion parameters of the processing machine by applying motion correction amounts calculated from vibration detection. These parameter changes compensate for vibration-induced deviations, allowing the robot to operate at high speed without compromising machining accuracy.
2Manufacturing precision
If the robot is stopped or operated at low speed to suppress vibration, then machining accuracy is improved, but productivity deteriorates due to extended cycle time
Solution Approach 1:
Instead of reducing robot speed to improve accuracy, the system uses real-time vibration detection and feedback control to maintain both high robot speed and high machining accuracy simultaneously, eliminating the need to compromise productivity for accuracy.
Solution Approach 2:
The system replaces the traditional mechanical approach of slowing down the robot with a control-based vibration suppression mechanism, using sensors and computational correction to achieve vibration reduction without mechanical speed reduction.
3Productivity
If the robot operates at high speed, then productivity is improved, but vibration increases causing machining accuracy to deteriorate
Solution Approach 1:
The vibration sensor continuously monitors harmful vibrations generated by high-speed robot operation, and the feedback control system dynamically adjusts the processing machine's motion to counteract these vibrations, allowing high-speed operation without the harmful effects of uncontrolled vibration.
Solution Approach 2:
The system converts the harmful vibration information detected by the sensor into useful control signals. By using the vibration detection data to calculate motion corrections, the system transforms the harmful effect into a basis for active compensation, maintaining productivity while eliminating the negative impact of vibration.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system effectively suppresses vibrations, maintaining high machining accuracy and preventing cycle time extensions, thus improving the overall working ratio of the processing system.
Implementation Method 1
a vibration sensor configured to measure a change in a relative position between the workpiece holding part and the processing tool
Data Source
AI summary
A processing system and a method for controlling a processing machine of the system, by which the processing accuracy of the processing machine due to the motion of the robot can be prevented from being deteriorated, without reducing the working ratio of the processing system. A processing machine controller has: a vibration suppression controlling section configured to operate at least one of a table and a processing tool, and calculate an amount of motion correction for reducing the change in a relative position between the table and the processing tool measured by vibration sensors respectively arranged on the table and a tool driving part; a storing section configured to store the calculated amount motion correction; and a program executing section configured to, during the robot performs the predetermined motion, execute the processing program while executing vibration suppressing motion based on the stored amount of motion correction.