重庆理工大学学报(自然科学版)
重慶理工大學學報(自然科學版)
중경리공대학학보(자연과학판)
JOURNAL OF CHONGQING INSTITUTE OF TECHNOLOGY
2014年
11期
32-36
,共5页
铝合金抛光%机器人%机构设计%运动仿真
鋁閤金拋光%機器人%機構設計%運動倣真
려합금포광%궤기인%궤구설계%운동방진
aluminum polishing%robot%mechanism design%motion simulation
以铝合金制件的砂带抛光成型为目标,研究了铝合金机器人砂带抛光的工作原理和工艺流程,对铝合金抛光系统的张紧气缸推力、调偏电机扭矩和主动轮规格进行了计算,绘制了铝合金砂带恒定抛光机三维图纸。抛光机系统由机器人及夹具、砂带抛光机、电气控制系统、双向上下料装置等组成。在此基础上设计了恒定抛光力的机器人抛光控制系统,采用变频器电流反馈和气缸推力自调整的双闭环系统实现抛光力恒定控制,并对所设计的机器人抛光的运动轨迹进行了模拟仿真,验证了所设计的铝合金抛光机的合理性和可靠性。
以鋁閤金製件的砂帶拋光成型為目標,研究瞭鋁閤金機器人砂帶拋光的工作原理和工藝流程,對鋁閤金拋光繫統的張緊氣缸推力、調偏電機扭矩和主動輪規格進行瞭計算,繪製瞭鋁閤金砂帶恆定拋光機三維圖紙。拋光機繫統由機器人及夾具、砂帶拋光機、電氣控製繫統、雙嚮上下料裝置等組成。在此基礎上設計瞭恆定拋光力的機器人拋光控製繫統,採用變頻器電流反饋和氣缸推力自調整的雙閉環繫統實現拋光力恆定控製,併對所設計的機器人拋光的運動軌跡進行瞭模擬倣真,驗證瞭所設計的鋁閤金拋光機的閤理性和可靠性。
이려합금제건적사대포광성형위목표,연구료려합금궤기인사대포광적공작원리화공예류정,대려합금포광계통적장긴기항추력、조편전궤뉴구화주동륜규격진행료계산,회제료려합금사대항정포광궤삼유도지。포광궤계통유궤기인급협구、사대포광궤、전기공제계통、쌍향상하료장치등조성。재차기출상설계료항정포광력적궤기인포광공제계통,채용변빈기전류반궤화기항추력자조정적쌍폐배계통실현포광력항정공제,병대소설계적궤기인포광적운동궤적진행료모의방진,험증료소설계적려합금포광궤적합이성화가고성。
In order to complete the belt polishing of aluminum parts,we studied the working principle and the process on robot belt polishing of aluminum,and calculated the specifications of tension cylin-der thrust,motor torque deviation adjusting and the drive sprocket of aluminum polishing system,and drew the three-dimensional drawings of aluminum belt constant force polishing machine. Polishing ma-chine system consists of robot and fixtures,belt sander,electric control system,two-way loading and unloading devices and other components. Based on the above analysis,the robot polishing constant polishing force control system was designed,which used double-loop control system that including the current feedback of converter and self-adjustment of cylinder thrust to achieve the constant control of polishing force,and had analog simulation of designed robot’s polishing trajectories to verify the ra-tionality and reliability of aluminum polishing machines.