面向连杆模具的混联机器人柔性抛光系统开发  被引量:1

Development of a Alexible Hybrid Robot Polishing System for Connecting Rod Molds

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作  者:王超 肖聚亮[1] 郑乾健 刘海涛[1] 黄田[1] WANG Chao;XIAO Juliang;ZHENG Qianjian;LIU Haitao;HUANG Tian(School of Mechanical Engineering,Tianjin University,Tianjin 300354,China;Craftsman Research Institute,Weichai Power Co.,Ltd.,Weifang 261061,Shandong,China)

机构地区:[1]天津大学机械工程学院,天津300354 [2]潍柴动力股份有限公司工艺工匠研究院,山东潍坊261061

出  处:《机械科学与技术》2023年第12期2030-2039,共10页Mechanical Science and Technology for Aerospace Engineering

基  金:国家重点研发计划变革性项目(2019YFA0709004)。

摘  要:为了解决连杆模具抛光过程中人工抛光时间长、劳动强度大等问题,建立了一套混联机器人柔性抛光系统。在该系统上对材料去除模型进行了研究,建立了考虑抛光工具磨损的材料去除模型,能够良好预测一定抛光参数下的材料去除量;在此基础上,对模具型腔表面自动分片,并使用UG和示教相结合的方法生成加工轨迹;根据模具抛光力的控制需要,建立了一套气动控制系统,使用自主设计的浮动恒力抛光主轴结合PID控制算法实现了恒力抛光。最后在该柔性抛光系统上进行了汽车连杆模具抛光实验,实验结果表明了该柔性抛光系统能够较好地完成连杆模具抛光任务,得到较好的抛光效果。In order to solve the problems of long manual polishing time and high labor intensity in the polishing process of connecting rod mold,a set of hybrid robot flexible polishing system was established.The material removal model considering the wear of polishing tools is established on this system,which can well predict the material removal amount under certain polishing parameters.Using the combination of UG and teaching methods to generate the processing trajectory.According to the control needs of the mold polishing force,a pneumatic control system is established,and the self-designed floating constant force polishing spindle combined with the PID control algorithm realizes the constant force polishing.Finally,the polishing experiment of automobile connecting rod mold is carried out on the flexible polishing system.The experimental results show that the flexible polishing system can better complete the polishing task of connecting rod mold and obtain better polishing effect.

关 键 词:连杆模具 混联机器人 抛光 材料去除模型 轨迹生成 

分 类 号:TP242.2[自动化与计算机技术—检测技术与自动化装置]

 

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