基于多轴机器人的浮雕加工系统设计

Design of relief processing system based on multi-axis robot

为实现浮雕的自动化加工,设计了一套机器人浮雕加工系统。为解决数控机床(Computer Numerical Control,CNC)自由度低、灵活性差而导致复杂曲面、镂空等加工工艺中存在的缺陷,设计了采用六自由度串联机器人的浮雕加工系统。由于目前大部分CAM软件仅支持数控系统加工文件的生成,因此使用机器人加工浮雕需解决数控代码到机器人加工轨迹的转换。该系统能够通过ARTCAM软件读取灰度图,产生三维模型,在三维建模的基础上生成数控刀位轨迹文件;可自主开发数控G代码刀位提取软件,解决数控刀位文件到机器人加工轨迹的转换,实现串联机器人的浮雕加工。系统的应用表明,多轴机器人浮雕加工系统的加工精度小于0.20 mm,完全能够满足浮雕工艺品的加工精度要求。

In order to realize the automatic processing of relief,this research designs a set of antomatic robot relief processing system.In order to solve the defects of low degree of freedom and poor flexibility of computer numerical control(CNC)equipment in the processing of complex curved surfaces and hollows,the relief machining uses 6-DOF serial robot.At present,most CAM software only supports the generation of machining files in the format of CNC system,so the conversion from CNC code to machining path of robot is needed to be solved when machining with robot.This system uses ARTCAM software to read the gray-scale image to generate the three-dimensional model,based on which the tool path file is generated.The system independently developed the tool position extraction software of CNC G-code,so as to complete the conversion from CNC tool position file to machining path of robot and realize the relief machining of serial robot.The experiment shows that the machining accuracy of the multi axis robot relief machining system is less than 0.20 mm,which fully meets the machining accuracy requirements of relief crafts.