基于六自由度机器人的四工位砂带磨削系统开发

发布时间：2018-05-13 12:15

本文选题：机器人 + 砂带磨削　；参考：《广东工业大学》2015年硕士论文

【摘要】：本论文所介绍设计的基于六自由度机器人的四工位砂带机磨削系统,主要运用于当今工业自动化应用水平较高的高端水龙头零部件打磨加工行业中,同时鉴于该系统中机器人设备的活动自由度较高以及砂带机系统针对不同零部件的可适应性、可调节性较强,其亦可应用于各种复杂型面的金属零部件打磨加工行业中,应用范围十分广泛,具有很好的市场推广前景。本次项目设计有幸能参与到企业实际研发过程中,从中掌握了不少技术知识,在导师、企业工程师的带领下完成了一系列工作内容：(1)首先,正确认知工作项目的发展意义,了解国内外相关磨削系统设备发展情况,包括机器人、砂带机设备等；掌握机器人自动化打磨相关技术条件需求,包括表面光整加工技术的必要性、特点、功能,砂带磨削机理与应用等；(2)结合实际生产加工需要对机器人砂带磨削系统的工艺流程进行研究,针对L型水龙头模型进行加工轨迹的设计,根据企业规划及具体水龙头零件复杂型面加工需求对机器人砂带磨削系统进行整体组成方案设计,并形成较为完善的系统设计意识；(3)详细分析研究扇形与工字型砂带机布局的特点、适用范围,立式与层式砂带机结构的工作原理和电机选型理论推导,同时也包括砂带机结构中关键部件如：张紧轮、调偏轮、辅助轮机构的设计,气动回路的设计,直线型夹具定位功能的设计原理分析及改进措施等；(4)鉴于实际生产加工过程较难得到标准参数化的水龙头零件模型,通常利用加工好的水龙头进行扫描反求得出,但往往由于加工精度会导致扫描反求件的尺寸存在误差,同时为满足离线仿真编程的模型准确再现要求,自主研究应用新型三维建模软件进行模型二次参数化重构设计,基于Autodesk Fusion360三维建模软件的T样条直接建模功能实现对T字型水龙头模型的局部对称化、参数化修改；(5)设计机器人自动化打磨在线示教标定方法,通过自主设计的测量方法对砂带机、夹具实际空间安装位置的相对误差进行计算,得出的有效数据可应用到离线编程仿真软件模型再现的位置准确建立过程当中,保证真实环境与虚拟再现环境中的设备相对位置一致,有利于打磨编译轨迹的可重复利用和移植；利用相关三维建模软件solidworks对砂带机系统的模型进行组建,利用Autodesk Fusion360的直接建模功能对L型水龙头模型的局部边角进行倒角处理,利用UG NX9.0对L型水龙头零件表面进行导入离线编程软件前的等参数化处理,并结合ABB机器人公司开发的Robotstudio离线编程仿真功能,进行了准确的打磨轨迹编译。项目实现了水龙头零件局部表面良好的打磨处理效果；得出一系列加工问题经验总结,并对砂带机系统设备结构、尺寸、布局位置等做出了较好的调整,不断完善、增强系统的功能与适用性。
[Abstract]:This paper introduces the design of a four-position belt grinding system based on a six-degree-of-freedom robot, which is mainly used in the advanced faucet parts grinding and processing industry, which has a high level of industrial automation application. In view of the high degree of freedom of robot equipment in the system and the adaptability of sand belt machine system for different parts and components, it can also be used in various metal parts grinding and processing industry with complex surface. The application scope is very extensive, has the very good market promotion prospect. This project design is fortunate to be able to participate in the actual R & D process of the enterprise, from which we have mastered a lot of technical knowledge. Under the leadership of our mentors and enterprise engineers, we have completed a series of work contents: 1) first of all, we have correctly recognized the significance of the development of the work project. Understand the development of grinding system equipment at home and abroad, including robot, belt machine equipment, master the requirements of robot automatic grinding related technical requirements, including the necessity, characteristics and functions of surface finishing technology, The mechanism and application of belt grinding are studied in combination with the actual production and processing. The working process of the robot belt grinding system is studied, and the machining track of the L-type faucet model is designed. According to the enterprise planning and the requirements of complex surface machining of specific faucet parts, the overall composition scheme of the robot abrasive belt grinding system is designed. And a more perfect system design consciousness is formed. (3) the characteristics, applicable range, working principle and motor selection theory of fan and I-shaped sand belt machine layout are analyzed and studied in detail. At the same time, it also includes the design of key components in the structure of sand belt machine such as tensioning wheel, deflecting wheel, auxiliary wheel mechanism, pneumatic loop design, In view of the fact that it is difficult to obtain the standard parameterized parts model of faucet in the actual production process, it is usually obtained by scanning the finished faucet. However, due to machining accuracy, there are errors in the dimension of scanning reverse parts. In order to meet the requirements of accurate model reproduction in off-line simulation programming, a new 3D modeling software is developed and applied to model quadratic parametric reconstruction design. Based on the T-spline direct modeling function of Autodesk Fusion360 3D modeling software, the local symmetry and parameterized modification of the T-shaped faucet model are realized. The relative error of the actual space installation position of the sand belt machine and fixture is calculated by the self-designed measurement method. The effective data can be applied to the accurate establishment process of the location reconstruction of the off-line programming simulation software model. The relative position of the equipment in the real environment and virtual reproduction environment is the same, which is conducive to reusing and transplanting the track of grinding and compiling, and the model of the sand belt machine system is constructed by using the related 3D modeling software solidworks. This paper makes use of the direct modeling function of Autodesk Fusion360 to deal with the local edge angle of the L-type faucet model, and applies UG NX9.0 to the isoparametric treatment of the surface of the L-type faucet part before it is imported into the off-line programming software. Combined with the Robotstudio off-line programming simulation function developed by ABB Robot Company, the accurate grinding track was compiled. The project has realized the good polishing effect of the local surface of the faucet parts, has obtained a series of experience summary of processing problems, and has made better adjustment to the equipment structure, size, layout position of the sand belt machine system, etc. Enhance the function and applicability of the system.
【学位授予单位】：广东工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TG58;TP242

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