机器人攻丝加工及仿真  

Robot Tapping Processing and Simulation

作　　者：杨韶勇 刁燕[1] 罗华 樊庆怡 YANG Shaoyong;DIAO Yan;LUO Hua;FAN Qingyi(School of Mechanical Engineering,Sichuan University,Chengdu 610065,China)

机构地区：[1]四川大学机械工程学院,四川成都610065

出　　处：《机械》2021年第4期62-67,共6页Machinery

基　　金：(四川大学泸州市人民政府战略合作项目)大跨度复杂分布孔工件的自动攻丝机器人系统关键技术研究(2018CDLZ-22-SCU)。

摘　　要：针对传统的手动攻丝和自动攻丝存在螺纹孔分布跨度大且无规则分布时难加工的弊端,本文提出一种以工业中常用的六自由度KUKA工业机器人为基础,结合配套末端执行工具、夹具等外设的机器人自动攻丝系统。在对待加工零件攻丝孔的结构以及制造信息分析的基础上,制定了其攻丝工艺及工序流程,确定了加工的工艺参数;在对攻丝轨迹初步规划的基础上,利用贪心算法获得加工时间最短的攻丝路径轨迹,并基于SprutCAM软件平台进行攻丝过程仿真,验证了加工工艺和加工轨迹的可行性以及攻丝速度至少达到600个/h的实际生产要求。In view of the shortcomings that the traditional manual tapping and automatic tapping are difficult to process when the threaded hole distribution span is large and irregular,this paper proposes a robot-driven automatic tapping system which is based on the six-degree-of-freedom KUKA industrial robot commonly used in industry and equipped with end-effectors,fixtures and other peripherals.On the basis of analysis on the structure of the tapping hole of the parts to be processed and the manufacturing information,the tapping process and process flow are established,and the processing parameters are determined;on the basis of the preliminary planning of the tapping trajectory,the greedy algorithm is used to obtain the tapping trajectory with the shortest processing time,and the tapping process is simulated based on the SprutCAM software platform,which verifies the feasibility of the processing technology and the processing trajectory and that the tapping speed meets the actual production requirements of at least 600/h.

关 键 词：工业机器人 自动化 加工仿真 路径规划 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]