• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2017, Vol. 53 ›› Issue (5): 86-92.doi: 10.3901/JME.2017.05.086

• 机构学及机器人 • 上一篇    下一篇

接触轮变形对机器人砂带磨削深度的影响*

刘斐, 王伟, 王雷, 王刚, 贠超   

  1. 北京航空航天大学机械工程及自动化学院 北京 100191
  • 出版日期:2017-03-05 发布日期:2017-03-05
  • 作者简介:

    刘斐,女,1992年出生。主要研究方向为机械设计及理论。

    E-mail:feiliulf@buaa.edu.cn

    王伟(通信作者),男,1982年出生,博士,讲师。主要研究方向为机器人加工。

    E-mail:jwwx@163.com

  • 基金资助:
    * 国家自然科学基金(51305008)和教育部博士点基金(20121102120020)资助项目; 20160417收到初稿,20161125收到修改稿;

Effect of Contact Wheel’s Deformation on Cutting Depth for Robotic Belt Grinding

LIU Fei, WANG Wei, WANG Lei, WANG Gang, YUN Chao   

  1. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191
  • Online:2017-03-05 Published:2017-03-05

摘要:

机器人磨削系统能够替代低效和高污染的手工曲面打磨作业,降低生产准备时间和设备成本,特别适用于小批量曲面零件的磨削加工。接触轮为橡胶等柔性材质,工件与工具之间存在弹性接触,有利于提高工件表面质量,但接触轮易变形,导致实际磨削量不易控制。研究砂带张紧对接触轮变形和磨削深度的影响,采用弹性力学平面问题的复变函数解法,建立模型并求解得到了接触轮的变形分布规律,与商用有限元软件的结果进行对比,验证了解析模型的正确性。建立改进的磨削深度预测模型,得到了接触区域内的磨削深度分布,试验验证了模型预测误差小于3.1%。该方法可以更为准确快速地预测机器人砂带磨削深度,为提高复杂曲面磨削精度提供了理论指导。

关键词: 变形, 机器人加工, 接触轮, 磨削深度, 砂带磨削

Abstract:

Robot grinding system can replace the inefficient and polluting manual polishing operation, reducing the preparing time for production and equipment cost, especially suitable for the grinding of small batch of curved-surface parts. As a result of contact wheel with elastic material, there is a flexible contact between work piece and tool, favoring the work piece’s surface quality. However, grinding depth is hard to control because the contact wheel is easily to deform. The impact of belt tension about the contact wheel’s deformation and cutting depth is analyzed. The elastic mechanics of complex variable function method is introduced to establish and solve the contact model, so the displacement and pressure distribution of the contact wheel can be obtained. Compared with the results of commercial finite element software, the validity of the model is verified. A new model based on the modified grinding model is developed, and the distribution of the grinding depth is established. The experiments show that modeling error is less than 3.1%. It can be more accurately and faster to predict grinding depth, providing a theoretical guidance for improving the grinding accuracy.

Key words: contact wheel, cutting depth, deformation, robotic machining, belt grinding