Research On Small Metal Parts Grinding System Based On Six Axis Robots

In recent years,industrial robots have been applied to the polishing of metal parts.Small metal parts still need to be polished by hand because of their complex structure.In recent years,the labor shortage in domestic factories is more and more serious,and the labor cost is increasing constantly.As a new technology that is expected to replace manual operation,robot grinding has attracted more and more attention and research.Therefore,the research and development of robot polishing technology has a broad industrial application prospect and important social significance.In this study,a robot polishing system for small metal parts was established based on six-axis robot.The main conclusions of the study are as follows:(1)taking the meat grinder blade as the polishing object,the robot body,feeding mechanism,fixture,grinding mechanism and trajectory planning system in the polishing system were analyzed,and the overall scheme of the polishing system based on the sixaxis robot was determined,and the polishing process was determined,and the working platform of the robot polishing system was preliminarily built.(2)the principle analysis and design selection of the structure composition of the constant force compliant sand-belt machine include the active control flange,contact wheel,tensioning wheel mechanism and driving motor of the core components.The principle of each part of the feeding mechanism is analyzed,and the structure design of the transfer and turnover devices is carried out.The positioning structure and clamping mechanism of the fixture are designed,and whether the fixture can meet the design is judged by force analysis.(3)the tool path planning technology in the machining field is introduced into the six-axis robot grinding system.The tool walking and tool moving modes are analyzed and the optimal grinding trajectory of the grinding mechanism is determined.Then,based on Mastercam software and its secondary development of Robotmaster offline programming software,the polishing program was generated.The important role of constant force compliance control and off-line programming technology and the feasibility of the whole polishing system are verified.The key parameters affecting the polishing effect are tested and the optimal polishing design parameters are determined.