Research On Construction And Technology Of Robot Belt Grinding System For Heterogeneous Parts

In recent years,industrial robot belt grinding has been widely used in the workpiece surface treatment process.However,applying manual teaching method in obtaining the grinding path will result in low processing efficiency and poor applicability of products.In order to improve the efficiency and surface quality of robot belt grinding,the redesign of the robot belt grinding system and the process of belt grinding are necessary.This paper will study about the issue within four aspects and come out with conclusions at the end.The paper first studies the construction of robot belt grinding system.Considering that the industrial robot have problems of joint singularity or interference,etc.in common,the robot sand belt system is designed in the robot simulation environment.According to the motion range of the industrial robot,the position of the sand belt machine,the feeding station,the unloading station and the detection equipment are determined.This paper designs the end-effector fixture of the robot and carries out the finite element analysis.Set up the control system of sand belt machine,including the control of frequency conversion motor,servo motor,cylinder and other electrical components.So that a set of robot sand belt grinding system can run stably.In consideration of abrasive belt grinding process,select abrasive belt mesh,abrasive belt speed,feed rate,cross feed rate as processing parameters,adopt the method of orthogonal experiment,then analyze the result of experiments in terms of range and variance to gain the main factors in the workpiece surface roughness and material removal depth.Use data obtained from orthogonal experiment to establish the mathematical regression model of workpiece surface roughness and material removal depth.The last but not the least part is the analyses of the overall structure of the faucet with heterogeneous parts,and the program of processing strategy and processing path.Divide faucet with heterogeneous parts into four processing areas: cylindrical area,plan-like area,corner area and easily interfered area.Apply the multi-station grinding method to different areas.To improve grinding efficiency,use the finite element analysis software to obtain the contact state of robot feeding pose angle.Establish various machining coordinate system and clarify the conversion relation of machining coordinate system.According to the relevant experiments in the robot belt grinding system built in this project,the following conclusions are: the optimal combination of processing parameters considering the surface roughness and material removal depth is the belt linear speed of 18 m/s,the feed rate of 0.5 mm,the transverse feed speed of 100 mm/s,and the mesh number of the belt of 80 #.The mesh number of sand belt plays a leading role in the influence of workpiece surface roughness,and the workpiece feed plays a leading role in the influence of material removal depth.When the mesh number of sand belt is between 80 # and 240 #,the surface roughness of workpiece will decrease with the increase of mesh number of sand belt,and the influence degree has a tendency to weaken.When the workpiece feed is in the range of 0.2mm ? 0.5mm,the material removal depth will increase with the increase of the workpiece feed,and the influence degree has a tendency to weaken.Contact grinding method was selected for cylindrical area and quasi-planar area,and free grinding method was selected for corner area and easy interference area.When selecting the contact wheel grinding,the rotation step length was 3° and the feed pose Angle was 45°.The final surface roughness of the workpiece can reach 0.134?m.