Development Of The Four Station Abrasive Belt Grinding System Combined With 6-DOF Robot

The four position belt machine grinding system combined with 6-DOF robot which introduced by this dissertation is mainly used in the advanced faucet parts grinding processing industry with high industry automation application level at present. Moreover in the light of a high degree of freedom in this system’s robot devices and the belt machine system’s strong adaptability and adjustability for different parts, the system also can be used in the processing industry with many kinds of complex shape metal parts, and has a wide range of application and a good market popularizing prospect.I have been lucky to be able to participate in the actual research and development process of the enterprise and mastered a lot of technical knowledge. Under the guidance of the tutor and the enterprise engineer, a series of work contents are completed:(1)Significance of the work items’ development was be understand correctly, development situation at home and abroad of the related grinding system including robot and abrasive belt machine was known; related technical requirements of robot automation polishing was mastered, which including not only the necessity, features and functions of surface finishing technology, but also abrasive belt grinding mechanism and application etc;(2)Combined actual need of production and processing, the technological process of the robotic belt grinding system was studied; Design of the machining trajectory for the model L taps is designed; According to the enterprise plan and specific faucet parts’complex surface processing needs, the robotic belt grinding system overall scheme was designed, and a more perfect system design consciousness was formed;(3) The characteristics and application scope of fan-shaped and I-shaped abrasive belt machines’layout was analyzed; Vertical and layered type belt machines’working principle and theoretical derivation of motor type selection was studied; Key parts of belt machine structure such as:tensioning wheel、adjustment wheel、auxiliary wheel was designed, pneumatic circuit was designed, the design principle analysis and improvement measure of linear fixture positioning function was made;(4) In view of the fact that it is difficult to get the standard parameters of the faucet parts model in the actual production process, processed taps usually used for scanning reverse, however, because of the accuracy of the processing, the error of the scan reverse model’s dimension will exist, and for the accuracy reappearance requirements of model in the off-line simulation software, independently research and application of the new 3D modeling software for the two time parametric reconstruction was designed; Based on T-spline direct modeling function of the Autodesk Fusion360 3D modeling software, local symmetry modification of the T type faucet model was made;(5) The on-line teaching method for robot automatic polishing was designed, through the self-designed measurement method, the relative error of belt machine, fixture actual space’s installation position was calculated, the valid data can be applied to the model’s reappearance position accurate establish process of the off-line programming simulation software, the relative position of the equipment in the real environment and the virtual reproduction environment can be guaranteed, and the grinding programming trajectory can be reusable and portability; Use related 3D modeling software such as:solidworks for the setup of the belt machine system’s model, Autodesk Fusion360’s direct modeling function for the chamfering processing of the L type tap model’s local side, UG NX9.0 for the parametric processing of the L type faucet parts surface before introduced to the off-line programming software, and combined with ABB Robotstudio’s powerful off-line programming simulation function, accurate grinding programming trajectory is compiled, the effect of the taps’surface is well polished.In this project, a series of experience summary of processing problems is gained, and make a better adjustment of the belt machine system’s equipment structure, size, location etc. the function and applicability of the system is improving.