砂抛柔性加工单元中砂带磨损补偿策略研究  

Wear compensation strategy of sand belt in grinding flexible manufacturing unit

作　　者：成楚楚 傅高升 陈鸿玲[1] 宋莉莉 雷浩浩 CHENG Chu-chu;FU Gao-sheng;CHENG Hong-ling;SONG Li-li;LEI Hao-hao(Department of Mechanical and Electrical Engineering,Ningde Vocational and Technical College,Ningde 355000, China;School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China)

机构地区：[1]宁德职业技术学院机电工程系,福建宁德355000 [2]福州大学机械工程及自动化学院,福建福州350108

出　　处：《机电工程》2019年第1期18-22,共5页Journal of Mechanical & Electrical Engineering

基　　金：国家高技术研究发展计划(863计划)资助项目(2013AA041006);福建省科技重大专项资助项目(2012HZ0006-2);福建省教育厅中青年教师教育科研项目(JAT171133);宁德市科学技术计划项目(2017-137-21)

摘　　要：针对工业机器人砂抛柔性加工单元中,砂带因磨损导致磨削效率降低,加工一致性降低等问题,以铜合金水龙头作为磨抛对象,对其磨抛过程中的砂带磨损补偿策略进行了分析与试验。提出了基于提高砂带速度的补偿策略及其机制,通过公式推导得出了应当提高的砂带速度公式,该策略克服了传统的线性提速补偿策略与砂带非线性磨损之间的矛盾;并通过试验验证了该补偿策略的可行性。研究结果表明:在传统线性提速方法下,当加工到第100个工件时,其工件磨削量为10. 67 g;加工第101个工件时,采用非线性提速补偿策略将砂带速度从15. 99 m/s提高到16. 83 m/s后,第101个工件的磨削量提高到11. 02 g,接近标准磨削量,表明该非线性提速补偿策略是可行的。Aiming at the problem of the reduction of grinding quantity due to abrasive wear and maintaining consistency of grinding workpiece in flexible manufacturing unit of sand belt polishing by industrial robot,the wear compensation strategy of sand belt in the process of polishing was analyzed and tested,taking copper alloy tap workpiece as the grinding objects. The compensation strategy and mechanism based on improving the speed of sand belt were put forward,which overcomed the contradiction between the traditional linearly-increasing-speed-based method and the nonlinear trend of belt wear. The acceleration velocity formula of sand belt was also derived. The results indicated that the grinding quantity of the 100 th workpiece is 10. 67 g,using the linearly-increasing-speed-based compensation method. The grinding quantity of the 101 th workpiece increased to 11. 02 g which is close to the standard grinding quantity,when the belt speed is nonlinearly increased from 15. 99 m/s to 16. 83 m/s,showing that the nonlinear acceleration compensation strategy is feasible.

关 键 词：工业机器人 磨抛 砂带磨损 补偿策略 

分 类 号：TH161[机械工程—机械制造及自动化] TG580.619.2[金属学及工艺—金属切削加工及机床]