铝合金机器人砂带恒定力抛光系统设计及仿真

Design and Simulation on Robot Belt Constant Force Polishing System of Aluminum

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。

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＆amp;nbsp;polishing force,and had analog simulation of designed robot’s polishing trajectories to verify the ra-tionality and reliability of aluminum polishing machines.