Research On Burr Prediction Method Of Robot Hole Making Under Drilling Force Disturbance

The ground air defense chariots of launch system and frame,rely mainly on bolt connection between traditional machine tool equipment will not be finished within the scope of the large span chariot frame hole,and on the basis of multi-joint robot system of automatic hole system because of its high spatial accessibility,flexible good characteristics,suitable for vehicle frame mounting hole hole,but as a result of vehicle frame connecting plate materials belong to difficult processing materials,And the multijoint robot hole making system has low stiffness.When drilling large diameter holes on the connectors,the system is prone to deformation and chatter due to large cutting force,resulting in serious hole making burrs.To explore the system vibration influence on system holes burr height,hole drilling system of stainless steel plate with robot system as the research object,from the perspective of the burr formation mechanism,through the research of dynamic cutting force in the process of drilling system caused by flutter influence on system holes burr height,mechanism and prediction of data fusion methods accounting hole burr height accurately forecast,It lays an important technical foundation for the closed-loop control of the robot hole making system.The main research achievements of this paper include:(1)The mechanism model of burr height at the outlet of drilling by the robot holemaking system is established.Firstly,the joint stiffness matrix of the robot was obtained by identification of the joint stiffness of the robot,and then the operational stiffness matrix of the robot was solved jointly with the kinematic model to realize the system stiffness modeling.Secondly,the drilling force is modeled,and the total drilling force model is finally obtained by modeling the different parts of the drilling force.The flutter model and forced vibration model were solved by stiffness and drilling force model,and the total vibration model of the system was obtained.Finally,the burr height mechanism model was established based on the above model and the inherent physical characteristics of the material itself.(2)based on data fusion driven mechanism and system of hole machining burr height classification prediction model and system parameters optimization model for forecasting model based on the mechanism of the model prediction results,driven by data dynamic updating model to compensate mechanism of the model prediction results,and finally predicted results for both the prediction results,the sum of The overall prediction accuracy is improved while preserving the interpretability of the model.The optimization model finds the process parameters that have the greatest influence on burr generation and then optimizes and adjusts them to reduce burr.(3)The robot drilling experiment platform was built,and the prototype system of the robot drilling control software was developed.Based on the system,the robot drilling experiment was carried out,and relevant experimental data were collected to verify the established model.Empirical results show that the prediction accuracy of fusion model reaches 94.7%,which is higher than that of traditional mechanism model and purely data-based model.After using the optimization algorithm of process parameters,it is found that the exit burr height of the validation group was reduced by27% on average,which proves the feasibility of the optimization algorithm.