基于力反馈半封闭舱段内腔打磨过切识别研究  

Research on overcutting recognition in milling of semi enclosed cabin sections based on force feedback

作　　者：陈晓卫 宜亚丽[1] 程阳洋 陈一凡 全芳 金贺荣[1] CHEN Xiaowei;YI Yali;CHENG Yangyang;CHEN Yifan;QUAN Fang;JIN Herong(School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,CHN;Beijing Xinghang Electrical Machinery Co.,Ltd.,Beijing 100071,CHN)

机构地区：[1]燕山大学机械工程学院,河北秦皇岛066004 [2]北京星航机电有限公司,北京100071

出　　处：《制造技术与机床》2024年第11期71-76,共6页Manufacturing Technology & Machine Tool

基　　金：装备预研共用技术项目(50923010403)。

摘　　要：针对半封闭舱段内腔机器人打磨减重易发生型腔边界加强筋过切问题,提出了一种基于力反馈的铣削过切在线识别方法,采用六维力传感器实时监测铣削力变化,通过设定特征阈值识别过切,为解决当前存在的特征阈值难以选定、识别精度较低问题,引入卡尔曼滤波算法对数据进行实时处理,预测铣削力变化趋势。结合半封闭舱段内部结构特征,搭建试验平台进行试验验证。研究结果表明,在相同铣削参数下,卡尔曼滤波算法对过切识别精度提升效果显著,过切量减少了70%~80%,整体控制在0.2 mm以下,满足加工要求,可有效提高工件成品率。为解决半封闭舱段内腔机器人打磨减重过切问题提供技术参考。Aiming at the problem of overcutting of cavity boundary reinforcing ribs,which is easy to occur in semi-closed compartment inner cavity robotic grinding and weight reduction,an online identification method of milling overcutting based on force feedback is proposed,which adopts a six-dimensional force sensor to monitor the change of milling force in real-time,and identifies the overcutting through the setting of feature thresholds.In order to solve the current problems of difficult to select the feature thresholds and low identification accuracy,a Kalman filtering algorithm is introduced for the real-time processing of the data to predict the trend of milling force change.Combined with the internal structural characteristics of the semi-enclosed section,a test platform is built for test verification.The results show that under the same milling parameters,the Kalman filter algorithm has a significant effect on the overcutting recognition accuracy,the overcutting amount is reduced by 70%–80%,and the overall control is below 0.2 mm,which meets the machining requirements and can effectively improve the yield of the workpiece.It provides a technical reference for solving the problem of weight reduction overcutting in semi-enclosed compartment inner cavity robot grinding.

关 键 词：半封闭舱段 力反馈 过切识别 卡尔曼滤波 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]