CN-122007480-A - Robot partition machining method and system for machining large-size features of ball housing component

CN122007480ACN 122007480 ACN122007480 ACN 122007480ACN-122007480-A

Abstract

A robot partition processing method and a system for processing large-size features of a ball shell component solve the problem that the size of an oversized square hole exceeds the manual working space of a robot and cannot be processed, and belong to the field of robot application. The method is realized based on in-situ robot machining equipment, a large-size square hole to be machined is divided into a plurality of machining subareas, the plurality of machining subareas with the same height are divided into the same layer, shared robot installation position parameters are set for the plurality of machining subareas with the same layer, the method comprises the steps of setting the installation polar diameter and the installation polar angle of a robot on the side wall of an arch mechanism, taking a robot stiffness performance index and a base counter-force index as objective functions and taking the robot installation position parameters and the rotation angle of the arch mechanism as decision variables, establishing a multi-station optimization model, solving the multi-station optimization model to obtain optimal robot station parameters of each layer, installing the robot according to the optimal robot station parameters, and finishing square hole machining according to partition machining programs of each layer.

Inventors

DENG KENAN
WANG ZHIQI
LI ZHIYI
GAO DONG
LU YONG

Assignees

哈尔滨工业大学

Dates

Publication Date: 20260512
Application Date: 20260320

Claims (10)

1. Robot zoning processing method for processing large-size characteristics of ball shell components, which is characterized by being realized based on in-situ robot processing equipment, wherein the equipment comprises an arch mechanism (4), an industrial robot (5) and a mounting bracket (6), the arch mechanism (4) is mounted on a foundation (2), a rotation central axis of the arch mechanism (4) is overlapped with the foundation axis and can rotate around the axis, the industrial robot (5) is fixed on the side wall of the arch mechanism (4) through the mounting bracket (6), and the mounting position on the arch mechanism (4) is adjustable, and the processing method comprises the following steps: s1, dividing a large-size square hole to be processed into a plurality of processing subareas, and setting splicing areas among the subareas; S2, dividing a plurality of processing subareas with the same height into the same layer, and setting shared robot installation position parameters for the plurality of processing subareas of the same layer, wherein the installation position parameters comprise the installation polar diameter and the installation polar angle of the robot on the side wall of the arch mechanism; s3, taking a robot stiffness performance index and a base counter-force index as objective functions, and taking a robot installation position parameter and an arch mechanism rotation angle as decision variables to establish a multi-station optimization model; s4, solving the multi-station optimization model to obtain optimal robot station parameters of each layer; and S5, installing the robot according to the optimal robot station parameters, and finishing square hole machining according to the partition machining programs of each layer.
2. The method for processing the robot partition according to claim 1, wherein in the step S4, a multi-target mantis search algorithm is adopted to solve the multi-station optimization model, a Powerball gradient method is introduced into the multi-target mantis search algorithm to accelerate convergence, the Powerball gradient method acts on a exploring stage and a developing stage of the multi-target mantis search algorithm, and in the exploring stage, a volt strategy or a chase strategy is adopted, and the position update in the volt strategy is as follows: Wherein, the 、 Respectively the first Mantis is at the first Generation and number The location in the generation is such that, Is interval of The random value within the range of the random value, For the maximum number of algebra, In order to be the best solution at the present time, For a randomly selected solution in the current population, As a function of Poweraball gradient method; hadamard product representing two vectors; the location update in the pursuit strategy is: Wherein, the Generated by the levy flight, To obey the values of the standard normal distribution, In the form of a binary vector, And Representing randomly generated values ranging from 0 to 1 and being closely spaced; Is interval of The random value within the range of the random value, And A randomly selected solution in the current population; in the development phase, the location update is: Wherein, the For the overall best solution of the current phase, Is the mantis striking speed.
3. The method of claim 1, wherein the multi-station optimization model search space satisfies robot installation position constraints and arch mechanism rotation constraints; establishing a mounting surface reference coordinate system by taking a mounting surface design center as an origin, wherein the robot mounting position constraint is that the parameters of the robot mounting position in the mounting surface reference coordinate system satisfy the following conditions: Wherein, the Is the mounting polar diameter corresponding to the mounting position of the robot under polar coordinates, Is the installation polar angle corresponding to the installation position of the robot under the polar coordinate, Is that the robot installation position in the installation surface reference coordinate system is The coordinates of the direction are used to determine, Is that the robot installation position in the installation surface reference coordinate system is The coordinates of the direction are used to determine, And The inner circle radius and the outer circle radius of the mounting surface are respectively, And Respectively representing the minimum value and the maximum value of the angle constraint of the station design; the rotation constraint of the arch mechanism is that the rotation angle of the arch mechanism in the robot base coordinate system meets the following conditions: Wherein, the Is the rotation angle of the arch-shaped mechanism, To describe the auxiliary included angle of the station posture change, For the chord length of the material to be measured, For standing in the robot base coordinate system The amount of change in the direction is determined, For standing in the robot base coordinate system The amount of change in the direction of the change, For the rotation of the station in the robot base coordinate system around the direction, Is the radius of the rotation center of the arch mechanism, The amount of offset between the center of rotation and the center of the mounting surface is designed, Is a robot base coordinate system An included angle between the direction and the rotation center connecting line of the arch mechanism, , As an arctangent function.
4. The method of claim 1, wherein the multi-site optimization model search space satisfies kinematic constraints and collision constraints; the kinematic constraint is expressed as: Wherein, the For the purpose of the kinematic constraint of the robot, , , The degree of freedom of the robot is indicated, As a trace of the matrix, Is a jacobian matrix; is the first robot The angle of each joint is set to be equal to the angle of each joint, , 、 Respectively is Minimum and maximum values of (2); The collision constraint is: 。
5. The method according to claim 1, wherein in S3, the robot installation position parameter and the arch mechanism rotation angle are obtained by coordinate transformation Homogeneous transformation matrix from robot base coordinate system to robot flange coordinate system : Wherein, the Is a homogeneous transformation matrix from a robot base coordinate system to a workpiece coordinate system, A homogeneous transformation matrix of the coordinate system of the workpiece to the processing task is programmed, Is a homogeneous transformation matrix from a robot flange coordinate system to a tool coordinate system, The matrix is a homogeneous transformation matrix from a tool coordinate system to a workpiece coordinate system; For standing in the robot base coordinate system The amount of change in the direction is determined, For standing in the robot base coordinate system The amount of change in the direction of the change, Is that the robot installation position in the installation surface reference coordinate system is The coordinates of the direction are used to determine, Is that the robot installation position in the installation surface reference coordinate system is The coordinates of the direction are used to determine, The rotation angle of the arch mechanism is set; Alignment matrix And carrying out inverse kinematics solution to obtain the robot joint angles corresponding to each station, and calculating the rigidity performance index and the base reaction index of the robot based on the robot joint angles.
6. The method for processing the robot partition according to claim 1, wherein the stiffness performance index of the robot is: Wherein, the , Represents the corresponding rigidity of a single gesture of the robot in the execution of a processing path, , The force-displacement matrix is represented by a graph, The weight relationship between mathematical expectations and the standard deviation of the robot stiffness is expressed.
7. The robot cell processing method of claim 1, wherein the base reaction force index is: Wherein, the Representing the base reaction force in a single pose of the robot, , And Are all the weight coefficients of the two-dimensional space model, Representing the two norms of the vector, Represented as a restraining reaction force provided by the base to the first link of the robot, Represented as the constrained counter moment provided by the base to the first link of the robot.
8. The method according to claim 1, wherein during machining, a reverse feed mode is adopted for the first machining zone, the reverse feed mode being opposite to the milling path direction; for other processing areas, a forward feed mode is adopted by utilizing the space conditions formed by the preamble processing.
9. The method for processing the robot in each area according to claim 8, wherein a processing mode of combining long and short knives is adopted: the rough machining task uses a short overhanging cutter and a long overhanging cutter to cooperatively perform milling groove machining, and the finish machining task uses a long overhanging cutter to perform edge milling machining.
10. A robot zoning processing system for large-scale feature processing of a ball housing member, comprising the in-situ robot processing apparatus, a storage device, a processor, and a computer program stored in the storage device and executable on the processor, characterized in that the processor executes the computer program to perform the steps of the robot zoning processing method according to any one of claims 1 to 9.

Description

Robot partition machining method and system for machining large-size features of ball housing component Technical Field The invention relates to a robot partition processing method and a robot partition processing system for processing large-size features of spherical shell components, and belongs to the field of robot application. Background Oversized processing capability is a critical issue in current manufacturing industries. The traditional main method for processing the oversized workpiece adopts a large-size customized machine tool to process or adjust the clamping position of the workpiece to process, and has the problems of higher processing cost, complex process, lower processing yield and the like. The industrial robot has large working space and high flexibility, is very suitable for processing the structural members, and can ensure the processing quality while considering the efficiency through reasonably arranging the perforating process. Many innovative methods are provided for the problem of perforating oversized spherical components, for example, a field measurement, positioning and processing method for machining oversized spherical shell components is provided by publication No. CN120619438A, a rotary type arched field processing system is adopted, a three-dimensional space coordinate system of a spherical shell is established, a laser tracker is used for measurement to establish a connection of the three-dimensional space coordinate system and guide robot machining, for example, an oversized component precise in-situ machining device and a method thereof are provided by publication No. CN120619438A, a set of arched rotary type machining device is designed for oversized spherical shell components, the components are always arranged on an installation position, and transportation cost is reduced. The scheme is used for carrying out perforating processing on the large spherical shell, but the size of the hole does not exceed the processing space of the robot, and the influence of the station of the robot on the processing quality is not considered. Disclosure of Invention Aiming at the problem that the oversized square hole size exceeds the robot working space and cannot be machined, the invention provides a robot partition machining method and system for machining large-size features of a ball shell component. The invention discloses a robot partition processing method for processing large-size characteristics of a ball shell component, which is realized based on in-situ robot processing equipment, wherein the equipment comprises an arch mechanism (4), an industrial robot (5) and a mounting bracket (6), the arch mechanism (4) is mounted on a foundation (2), a rotation central axis of the arch mechanism (4) is overlapped with the foundation axis and can rotate around the axis, the industrial robot (5) is fixed on the side wall of the arch mechanism (4) through the mounting bracket (6), and the mounting position on the arch mechanism (4) is adjustable, and the processing method comprises the following steps: s1, dividing a large-size square hole to be processed into a plurality of processing subareas, and setting splicing areas among the subareas; S2, dividing a plurality of processing subareas with the same height into the same layer, and setting shared robot installation position parameters for the plurality of processing subareas of the same layer, wherein the installation position parameters comprise the installation polar diameter and the installation polar angle of the robot on the side wall of the arch mechanism; s3, taking a robot stiffness performance index and a base counter-force index as objective functions, and taking a robot installation position parameter and an arch mechanism rotation angle as decision variables to establish a multi-station optimization model; S4, solving a multi-station optimization model to obtain optimal robot station parameters of each layer; s5, installing the robot according to the optimal robot station parameters, and finishing square hole machining according to the partition machining programs of each layer. In the S4, a multi-target mantis search algorithm is adopted to solve a multi-station optimization model, a Powerball gradient method is introduced into the multi-target mantis search algorithm to accelerate convergence, the Powerball gradient method acts on the exploration phase and the development phase of the multi-target mantis search algorithm, and in the exploration phase, a volt strategy or a chase strategy is adopted, and the position update in the volt strategy is as follows: Wherein, the 、Respectively the firstMantis is at the firstGeneration and numberThe location in the generation is such that,Is interval ofThe random value within the range of the random value,For the maximum number of algebra,In order to be the best solution at the present time,For a randomly selected solution in the current population,As a function of Poweraball gra