資源描述:
《面向熔射制模的機(jī)器人研磨系統(tǒng)及實(shí)驗(yàn)研究》由會(huì)員上傳分享,免費(fèi)在線閱讀,更多相關(guān)內(nèi)容在學(xué)術(shù)論文-天天文庫(kù)。
1、華中科技大學(xué)碩士學(xué)位論文面向熔射制模的機(jī)器人研磨系統(tǒng)及實(shí)驗(yàn)研究姓名:胡永涼申請(qǐng)學(xué)位級(jí)別:碩士專業(yè):材料加工工程指導(dǎo)教師:張海鷗20050506摘要在金屬模具快速制造技術(shù)中等離子熔射快速制模工藝RSHT具有成本低速度快表面復(fù)制精度高對(duì)模具材料和尺寸規(guī)格限制小等優(yōu)點(diǎn)適用于汽車摩托車家電和建筑裝飾等行業(yè)的覆蓋件模具的快速制造具有廣闊的應(yīng)用前景為了解決熔射制造大中型汽車覆蓋件模具過(guò)程中人工研磨時(shí)間長(zhǎng)勞動(dòng)強(qiáng)度大等問(wèn)題本文系統(tǒng)地概述了機(jī)器人自動(dòng)研磨系統(tǒng)的國(guó)內(nèi)外現(xiàn)狀并開發(fā)了以Motoman-UP20關(guān)節(jié)式機(jī)器人為平臺(tái)的輔助模具自動(dòng)研磨實(shí)驗(yàn)系統(tǒng)首先本文設(shè)計(jì)了能實(shí)現(xiàn)嚴(yán)格轉(zhuǎn)速和轉(zhuǎn)角控制的機(jī)器人數(shù)控
2、轉(zhuǎn)臺(tái)文中進(jìn)行了數(shù)控轉(zhuǎn)臺(tái)中電機(jī)選型傳動(dòng)機(jī)構(gòu)以及裝配圖的設(shè)計(jì)制造并采用PLC為核心控制實(shí)現(xiàn)了數(shù)控轉(zhuǎn)臺(tái)轉(zhuǎn)速和轉(zhuǎn)角精確控制然后開發(fā)了以氣動(dòng)研磨器為核心的機(jī)器人末端執(zhí)行器和以DA-5位移傳感器為檢測(cè)單元的機(jī)器人檢測(cè)系統(tǒng)為保證研磨質(zhì)量和提高研磨工作的效率進(jìn)行了研磨工具的選用分析從而集成了輔助模具自動(dòng)研磨系統(tǒng)實(shí)驗(yàn)平臺(tái)其次論文采用了兩種研磨軌跡規(guī)劃方法生成機(jī)器人研磨路徑其一是以UG為平臺(tái)研磨工藝特點(diǎn)為背景采用UG-CAM進(jìn)行研磨路徑的規(guī)劃并開發(fā)相關(guān)軟件將所生成的G代碼轉(zhuǎn)化為機(jī)器人識(shí)別代碼其二是以VC為平臺(tái)開發(fā)了能直接生成簡(jiǎn)單二維平面研磨軌跡的軟件平臺(tái)并采用ROTSY對(duì)生成的研磨軌跡進(jìn)行機(jī)器人運(yùn)
3、動(dòng)仿真以確保研磨軌跡的無(wú)干涉和機(jī)器人運(yùn)動(dòng)控制的可行性最后在建立的機(jī)器人研磨實(shí)驗(yàn)平臺(tái)上進(jìn)行了機(jī)器人研磨工藝參數(shù)實(shí)驗(yàn)研究得到了研磨角度機(jī)器人行走速度和研磨軌跡對(duì)研磨表面質(zhì)量的影響規(guī)律在此基礎(chǔ)上選擇合適的研磨條件對(duì)簡(jiǎn)單曲面進(jìn)行了研磨實(shí)驗(yàn)驗(yàn)證了本實(shí)驗(yàn)系統(tǒng)可應(yīng)用于一般模具的研磨過(guò)程文中最后對(duì)等離子熔射制造的模具皮膜表面進(jìn)行了干濕對(duì)比性研磨實(shí)驗(yàn)通過(guò)對(duì)熔射皮膜機(jī)理的分析得出了濕式研磨更利于皮膜研磨加工的結(jié)論關(guān)鍵詞等離子熔射制模機(jī)器人研磨系統(tǒng)路徑規(guī)劃CAD/CAM皮膜IIIAbstractAsakindofrapidmetaltoolingmethod,RapidPlasmaSprayHard
4、ToolingRSHThasbeenusedtomanufacturethepanelmoldsofthefieldssuchasautomobile,motorcycle,electricalapplianceandarchitecturedecoration.Ithasgreatapplicationforegroundbecauseofitsadvantagesoflowcost,rapidspeed,highsurfacereproducedaccuracyandnolimitationinthespraymaterialormouldsize.Inordertosol
5、vetheproblemoflonggrindingtimeandhardlaborintensityofmanualgrindingduringgrindingthebigormedium-sizedautobodypanelmoulds,thispapersummarizesthelatestresearchinthefieldofroboticgrindingsystemhomeandabroadandthendevelopedarobot-assistedautomaticgrindingsystemusingtheMotoman-UP206-axisrobot.Fir
6、stly,thispaperdesignedaNCswiveltablefortherobotandrealizedthestrictcontrollingofitsturningspeedandangel.Inthispaper,theprincipleofthecontrolmotor’sselection,thedriveorganandthemechanicaldesignhavebeendetailed.Amongthecontrolcell,thePLChasbeenselectedasthecentertocontroltherotatespeedandrotat
7、eangleoftheNCswiveltable.BasedontheNCswiveltable,theroboticgrindingexperimentplatformhasbeencompletelyconstructedbydevelopingaroboticendexecutorwiththecenterofanairhand-grinderandarobotictestsystemwiththeDA-5displacementsensor.Forensuringthegrindin