五自由度磨料水射流空间加工机械手的设计

Design of the Five Degrees Abrasive Water Jet Spatially Processing Robot

通过设计一套五自由度龙门式磨料水射流空间加工机械手,可以实现传动末端喷头装置在空间范围内的任意运动,以满足对形状复杂零件,特别是曲面零件的加工需要。本装置主要由龙门架,腕部、臂部、腰部、底座等部分组成,可以实现龙门架的X、Y、Z三向平移、腰部回转和臂部回转等主要运动,提高了零件加工的灵活性。通过将磨料水射流加工设备与机器人控制技术相结合可满足磨料水射流加工的便捷和柔性操作要求,提高其加工生产效率和加工质量。

The five degrees abrasive water jet （AWJ） spatially processing robot with type of gantry is designed with the aim to make AWJ nozzle move freely within the scope of space, and to meet the processing demand of the complex shape parts, such as the curved surfaces. The device is composed of portal frame, wrist, arm, waist and pedestal, etc., and its functions include of the gantry＇s the X, Y, Z three direction translation, the waist and arms turning and other major operations. By help of the device, the flexibility of the parts processing will be realized. Combining abrasive water jet machining equipment and robot controlling technology, the convenient and flexibility of abrasive water jet machining will be obtained, and the machining effwiency and quality will be greatly improved.