Development of a Alexible Hybrid Robot Polishing System for Connecting Rod Molds
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摘要: 为了解决连杆模具抛光过程中人工抛光时间长、劳动强度大等问题，建立了一套混联机器人柔性抛光系统。在该系统上对材料去除模型进行了研究，建立了考虑抛光工具磨损的材料去除模型，能够良好预测一定抛光参数下的材料去除量；在此基础上，对模具型腔表面自动分片，并使用UG和示教相结合的方法生成加工轨迹；根据模具抛光力的控制需要，建立了一套气动控制系统，使用自主设计的浮动恒力抛光主轴结合PID控制算法实现了恒力抛光。最后在该柔性抛光系统上进行了汽车连杆模具抛光实验，实验结果表明了该柔性抛光系统能够较好地完成连杆模具抛光任务，得到较好的抛光效果。Abstract: In order to solve the problems of long manual polishing time and high labor intensity in the polishing process of connecting rod mold, a set of hybrid robot flexible polishing system was established. The material removal model considering the wear of polishing tools is established on this system, which can well predict the material removal amount under certain polishing parameters. Using the combination of UG and teaching methods to generate the processing trajectory. According to the control needs of the mold polishing force, a pneumatic control system is established, and the self-designed floating constant force polishing spindle combined with the PID control algorithm realizes the constant force polishing. Finally, the polishing experiment of automobile connecting rod mold is carried out on the flexible polishing system. The experimental results show that the flexible polishing system can better complete the polishing task of connecting rod mold and obtain better polishing effect.
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Key words:
- connecting rod mold /
- hybrid robot /
- polishing /
- material removal model /
- trajectory generation
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图 3 材料去除深度计算原理示意图
Figure 3. Schematic diagram of material removal depth calculation principles
图 5 Preston系数在不同工况下随时间的变化曲线
Figure 5. The variation curve of Preston coefficient over time under different working conditions
图 6 一定工况下的材料去除深度预测图
Figure 6. Prediction of material removal depth under certain working conditions
图 17 某段轨迹采样所得的材料去除深度
Figure 17. Material removal depth obtained from the sampling of a certain trajectory
表 1 PID控制参数值及其仿真动静态指标
Table 1. PID control parameter values and simulated dynamic and static indicators
P I D 上升时间/s 超调量/ % 稳态误差/N 2.7 30 0.3 0.059 0.052 0.021 
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表 2 相关抛光工艺参数设置
Table 2. Related polishing process parameter settings
项目 设置 抛光头类型 20 mm直径抛光盘、10 mm直径圆柱形砂纸棒 抛光头材质 砂纸 砂纸粒度 320目 主轴转速 2500 r$/$min 抛光压力 20 ~ 50 N 进给速度 1 ~ 4 mm$/$s
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