大型工程机械驾驶室机器人自适应打磨抛光系统的设计

Design of Robot Adaptive Grinding and Polishing System for Large Construction Machinery Cab

为适应当前制造业大型设备零部件生产需要,提高对大型工程机械驾驶室焊缝打磨抛光处理效率,设计一种机器人自适应自动打磨系统。此系统采用六自由度机器人配置自适应性力控系统,实现对复杂曲面及焊缝的贴合;采用外接轴实现对工件所有焊缝全方位覆盖,并实时切换姿态完成自动打磨。通过自动更换打磨工具的方式,实现单个机器人生产效率最大化;运用模块分层化理念,使不同工位满足不同工艺需求,凸显此系统良好的兼容性;其中加装的自适应性力控装置,实现了工业参数数据化,其可调可控,从而保证打磨抛光的效果。挖掘机驾驶室焊缝打磨抛光试验结果表明:此系统可实现对大型工程机械驾驶室焊缝打磨抛光全自动化处理,且保证了打磨效果,可以满足生产要求。

In order to meet the current production needs of large-scale equipment parts in the manufacturing industry, and to improve the efficiency of grinding and polishing welding seam of large-scale engineering machinery cabs, a robot self-adaptive automatic grinding system was designed.In this system, a six degree-of-freedom robot with an adaptive force control system was used to achieve fit to complex curved surfaces and welds;an external axis was used to achieve full coverage of all welds of the workpiece, and the posture could be switched real-time to complete automatic polishing.Through the automatic replacement of grinding tools, the production efficiency of a single robot was maximized;the concept of module layering was used to enable different stations to meet the needs of different processes to highlight the good compatibility of the system;the adaptive power control device realized the digitization of industrial parameters, which were adjustable and controllable, so as to ensure the effect of grinding and polishing.The grinding and polishing test results of the welding seam of the excavator cab show that this system can be used to realize the fully automatic processing of the welding seam grinding and polishing of the large construction machinery cab, and the grinding effect is guaranteed.It can meet the production requirements.