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Method for optimizing workpiece clamping positions during milling machining by robot

A milling processing and workpiece clamping technology, applied in the field of robot milling process optimization, can solve the problems of reduced tool life, reduced workpiece surface quality, reduced system reliability, etc., to reduce the degree of chatter, reduce the risk of chatter, ensure The effect of quality and dimensional accuracy

Active Publication Date: 2017-01-04
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, in actual processing and production, due to the poor rigidity of industrial robots, relative vibration will occur between the tool and the surface to be cut during the cutting process. Lowering and other issues

Method used

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  • Method for optimizing workpiece clamping positions during milling machining by robot
  • Method for optimizing workpiece clamping positions during milling machining by robot
  • Method for optimizing workpiece clamping positions during milling machining by robot

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Experimental program
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Embodiment Construction

[0036] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0037] Such as figure 1 As shown, the robot milling chatter analysis platform is composed of a robot 1, an electric spindle 2, an acceleration sensor 3, a force hammer 4, a vibration acquisition instrument 5, a computer 6, a workpiece to be processed 7, a fixture 8, and a workbench 9. The electric spindle 2 is installed on the end effector of the robot 1, the acceleration sensor 3 is installed at the end of the electric spindle 2, and the acceleration sensor 3, the force hammer 4 and the computer 6 are respectively connected with the vibration collector 5.

[0038] Such as figure 2 As shown, a method for optimal planning of the workpiece clamping position in robot milling, based on the chatter stability domain analysis method, includes the following steps:

[0039] The first step: if image 3 As shown, when the relative positions of the workbench 9...

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Abstract

The invention belongs to the technical field of optimization of robot milling processes and particularly relates to a method for optimizing workpiece clamping positions during milling machining by a robot. On the basis of a six-axis industrial robot provided with an electric spindle at the tail end and a fixed working platform, the working platform is properly divided into multiple rectangular areas with equal areas to serve as alternative clamping positions according to the sizes of to-be-machined workpieces and clamps for the workpieces, and the clamps are placed in the centers of the alternative areas respectively; in each area, a robot milling system is subjected to a modal experiment, corresponding modal parameters are acquired, a regenerated and coupling crossed flutter stability analysis model is used for analysis, and a flutter stability lobe graph is obtained through calculation. The position corresponding to a curve having the highest vertical coordinate in the stability lobe graph is selected as the best mounting position for the workpieces on the working platform. By means of the method, the flutter degree in the robot milling process is effectively reduced, the machining stability is improved, and the quality of machining parts and the size accuracy are guaranteed.

Description

technical field [0001] The invention belongs to the technical field of robot milling process optimization, and in particular relates to a method for optimizing the clamping position of workpieces in robot milling. Background technique [0002] In recent years, more and more industrial robot milling systems have been used in the processing and production of plastic and aluminum parts in the fields of automobile and aviation manufacturing. Compared with traditional CNC machine tools, the use of industrial robots for machining has the advantages of low cost, high degree of automation, good flexibility, and easy integration of peripheral devices such as sensors and external drives. Especially in the processing of large and complex irregular parts, compared with CNC machine tools, the industrial robot cutting system occupies a significantly smaller area compared with the size of the workpiece that can be processed; pose to avoid interference between the tool and the complex stru...

Claims

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Application Information

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IPC IPC(8): G06F17/50
CPCG06F30/20
Inventor 李静李彪沈南燕郭子蒙钱晖童粱
Owner SHANGHAI UNIV
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