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Method for expanding milling stability range of robot

A robot and stability domain technology, applied in manipulators, program-controlled manipulators, metal processing mechanical parts, etc., can solve the problems of inability to predict the stability domain by rotating ultrasonic milling, and it is not applicable, so as to achieve a good effect of suppressing chatter and improving the stability domain. Effect

Active Publication Date: 2019-06-21
NANJING UNIV OF SCI & TECH
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Problems solved by technology

However, this model is only suitable for the study of the stability of the separated ultrasonic vibration, and cannot be used for the prediction of the stable region of the rotary ultrasonic milling
Rotary ultrasonic milling is a non-separable ultrasonic vibration-assisted machining method, but there is no prediction method applicable to its stable domain

Method used

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  • Method for expanding milling stability range of robot
  • Method for expanding milling stability range of robot
  • Method for expanding milling stability range of robot

Examples

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Embodiment 1

[0111] This example takes the KUKA KR210—R2700EXTRA industrial robot as an example to study the influence of rotary ultrasonic machining technology on the stable domain of robot milling. Its structure diagram is as follows Figure 7 shown. In addition to the robot body, the robot milling system also includes an end effector, and the motor in the end effector drives the main shaft to move to realize cutting feed. The milling force coefficient is calculated from the experiment of robot rotary ultrasonic milling aluminum alloy groove milling, and the results are shown in Table 1. The dynamic modal parameters of the robot rotary ultrasonic milling system obtained through the modal hammer test are shown in Table 2, Table 3 and Table 4. Existing literature shows that due to the weak rigidity of industrial robots, in addition to the first-order mode, the influence of other order modes should also be considered when analyzing the stability domain of industrial robots. Therefore, the...

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Abstract

The invention discloses a method for expanding a milling stability range of a robot. The method for expanding the milling stability range of the robot comprises the following steps: step 1, establishing a dynamic chip thickness model of rotary ultrasonic milling of the robot; step 2, establishing a dynamic cutting force model of the rotary ultrasonic milling of the robot; step 3, establishing a milling stability range analytical model of the rotary ultrasonic milling of the robot; step 4, solving the rotary ultrasonic milling stability range of the robot; and step 5, drawing a flutter stability curve of the rotary ultrasonic milling of the robot and realizing stability range predication. According to the method for expanding the milling stability range of the robot, a rotary ultrasonic technology is combined with robot milling, so that the stability range of the milling machining of the robot is greatly expanded, and a great flutter suppression effect is achieved; and meanwhile, underthe condition of rotary ultrasonic milling machining of the robot, a three-dimensional stability analysis method for a common end mill is disclosed, and stability analysis is enabled to be much meet the actual working condition of milling.

Description

technical field [0001] The invention belongs to the technical field of robot milling, and in particular relates to a method for improving the stability domain of robot milling. Background technique [0002] Due to the advantages of high flexibility, small footprint and low cost, industrial robots are widely used in aerospace, mold, automobile manufacturing and other industries. However, due to the shortcomings of its own weak stiffness, it has a strong chatter phenomenon in the process of metal cutting. In addition to the damage caused by chatter and vibration marks on the surface of the workpiece, severe chatter will reduce the dimensional accuracy of the workpiece, reduce the life of the tool, and damage the machine. Usually, in order to ensure that there is no chatter phenomenon in robot processing, a lot of time must be spent on experiments to obtain a better processing condition and conservative cutting parameters, and this cutting parameter is far lower than the possi...

Claims

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Application Information

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IPC IPC(8): B23Q17/12B23Q17/09B25J9/16
Inventor 廖文和孙连军郑侃董松顾磊
Owner NANJING UNIV OF SCI & TECH
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