Key Research Of Technology On Industrial Robot Assited Abrasive Belt Grinding And Polishing For Special-shaped Pipe

With the rapid development of intelligent manufacturing technology,people have more and more stringent requirements for the grinding and polishing quality of complex curved surfaces.In order to make the surface of bicycle pipe fittings meet the requirements of painting treatment,rust prevention and aesthetics,the surface needs to be polished,mainly including rough grinding,fine grinding,rough polishing,electro-plating and fine polishing.In grinding and polishing,most of the processing methods for grinding and polishing irregularly shaped workpieces are manual grinding and polishing by workers.Although this method can achieve the required surface grinding and polishing quality of the workpiece,the stability and uniformity of the grinding and polishing quality can't be guaranteed,and there is noise and metal dust in the artificial grinding and polishing environment.Therefore,in view of the problem of grinding and polishing of special-shaped pipe fittings such as bicycle frames,this article proposes that industrial robots replace workers for grinding and polishing.The specific research contents are as follows:(1)Building a special-shaped pipe grinding and polishing process platform,mainly including industrial robot body(HSR-JR620L),"coarse and fine integrated double-station belt machine",Hua Shu industrial robot electrical control cabinet,belt machine electrical control cabinet,PLC master control cabinet,Workpiece placement and conv-ersion workbench,etc.Designed for clamping special-shaped pipe fittings,which is installed at the end of the industrial robot(the sixth axis of the robot)to replace the human hand to grip the special-shaped pipe.(2)Using the offline programming software Inte Robot of Hua Shu industrial robot to simulate the grinding and polishing path trajectory of special-shaped pipe fitt-ings^[1],and the motion control code is generated and loaded into the HSpad teaching implement to debug the grinding and polishing track points.According to the forward and inverse solution of robot kinematics,the grinding and polishing trajectory points are optimized so that it can be smoothly transitioned.After debugging,the robot and the belt sander work together to grind and polish the special-shaped pipe fittings.(3)Through experiments to study the influence of grinding and polishing process parameters on surface quality,and two special-shaped pipe fittings were polished under this process parameter.The polishing results were compared with manual grinding and polishing.It can be seen from the grinding and polishing results:The average surface roughness after manual polishing is Ra0.697?m,and the average surface roughness of different surfaces is in the range of Ra0.628-0.754?m.The average surface roughness of industrial robots after grinding and polishing are Ra0.423?m and Ra0.399?m,and the average surface roughness of different surfaces are in the range of Ra0.417-0.428?m and Ra0.395-0.404?m.The comparison shows that the surface quality of the robot grinding and polishing has high accuracy,stability and uniformity.