针对机器人焊接飞溅缺陷的机器人打磨工艺研究及优化  

Research and optimization of robot polishing process for welding spatter defects

作　　者：谢昊澄 葛为民[1,2] 程德响 XIE Haocheng;GE Weimin;CHENG Dexiang(Tianjin Key Laboratory of Advanced Mechanical System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Teaching Demonstration Center Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384,China;School of Mathematical Science,Nankai University,Tianjin 300071,China)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]天津理工大学机电工程国家级实验教学示范中心,天津300384 [3]南开大学数学科学学院,天津300071

出　　处：《天津理工大学学报》2021年第5期18-22,共5页Journal of Tianjin University of Technology

基　　金：国家重点研发计划项目(2017YFB1303304);天津市智能制造科技重大专项(17ZXZNGX00110);天津市重点研发计划项目(19YFSLQY00050);天津市科技重大专项与工程项目(19ZXZNGX00100)。

摘　　要：焊接过程中会出现飞溅缺陷,需要经由打磨环节使工件合格。人工打磨低效、成品无法达到同一标准和工人易受伤等明显缺点,因此恒力打磨机器人的研究更加重要。由于机器人焊接工艺的参数选择不当、极点压力过大和熔滴过渡不正常等原因产生的飞溅缺陷在实际生产过程中无法完全避免,需要使用打磨机器人对焊接后工件进行打磨处理而使工件达标。基于打磨过程中材料去除模型建立方程,且提出了一种改进的普勒斯顿(Preston)方程,旨在针对碳素结构钢(Q235)工件焊缝研究打磨工艺,分析了因机器人打磨头的进给速度以及打磨力对打磨结果的影响,在验证并使用最优参数的基础上,更换不同打磨头处理飞溅缺陷。实验表明搭载型号为xpush125动态力位执行器的新松打磨机器人针对飞溅缺陷的最佳打磨参数为打磨力35 N,进给速度3 mm/s,打磨头优先选择砂碟。Spatter defects appear in the welding process,and the workpiece needs to be qualified by grinding.Since low efficiency of manual grinding,substandard finished products,easy injury of workers and other obvious shortcomings,the research based on a constant force grinding robot is more important.Due to the improper selection of welding parameters,excessive pole pressure,abnormal droplet transfer and other reasons,spatter defects can not be completely avoided in the actual production process.It is necessary to use grinding robot to grind the welded workpiece and meet the standard.In this paper,based on the material removal model in the grinding process,an improved Preston equation is proposed,aiming at the weld grinding process of Q235 workpiece.In the process of polishing splash,the influence of feed speed and grinding force of robot grinding head on grinding results is analyzed.Based on the verification and use of the optimal parameters,different grinding heads are replaced to deal with splash defects.The experimental results show that the best grinding parameters of the new pine grinding robot equipped with the xpush125 dynamic force position actuator are grinding force35 n,feed rate 3 mm/s,and the grinding head is preferred to choose a sand disc.

关 键 词：打磨机器人 焊接缺陷 材料去除模型 普勒斯顿(Preston)方程 打磨工艺优化 

分 类 号：TG58[金属学及工艺—金属切削加工及机床]