Robot Milling Process Planning Of Complex Surface And Monitoring Software Development

Complex surfaces such as marine propeller blades have large curvature changes,and adjacent blades have overlapping regions,which makes the machining process complicated.The application of industrial robots to the milling of complex curved surfaces is beneficial to improve the manufacturing automation level,reduce the production cost and ensure the processing quality of the workpiece.Before processing,it is necessary to divide the processing area of complex curved surface,select a reasonable processing method,plan the machining path of each area and simulate it,and finally apply it to the actual processing occasion.In the actual machining process of complex curved surfaces,the working conditions are complex.The joint flexibility of the robot causes the end of the robot to deviate from the set trajectory,resulting in machining error.The dynamic cutting thickness during the cutting process causes the vibration of the system and affects the machining quality of the workpiece.In order to reduce these two kinds of effects,it is necessary to develop a platform monitoring software module to monitor the milling force in real time,compensate the machining error,perform flutter identification on the machining state,and develop additional functions to realize the diversification of the software module,and improve the practicality of the software module in project engineering.Aiming at the milling problem of complex curved surfaces,the robot milling process of complex curved surfaces such as propellers is analyzed,the machining process route is developed,the characteristic surfaces of the model are processed in the 3D modeling software,and the complex surfaces are divided into different processing according to their structural characteristics.The machining path of each surface of the curved surface is generated and simulated in the CAM software,and the complex surface is processed by the ABB IRB6660 robot milling platform.The joint flexibility of the robot causes deformation at the end of the robot,and the real path deviates from the planned machining path,which reduces the machining accuracy of the robot.In response to this phenomenon,based on the Visual Studio 2012 platform,the real-time force acquisition and processing software module for of robot milling was developed by using C#.In this paper,the milling force measurement platform is built of Kister 9123 C force sensor and Henrywaltz data acquisition instrument.A reasonable force signal processing method is selected.The accuracy of the software module was verified by the experimental results of milling force measurement.A monitoring software module for the milling platform has been developed.Combined with the real-time acquisition and measurement software module of milling force,the development of the error compensation sub-module is completed based on the milling force information and the robot stiffness model,and the machining accuracy of the robot is improved.Based on the acceleration sensor signal and the probabilistic neural network model to determine whether the current machining state is fluttering,the user can propose the vibration suppression strategy of the robot with the development of the vibration identification sub-module.The robot motion track control sub-module is developed,which realizes the functions of controling the linear motion and joint rotation of the robot,and the function of reading the laser displacement sensor data.The software module has great application value for monitoring the robot milling processing platform.