机器人打磨铸钢件的效率与打磨力研究

对于给定材料与工况环境,磨削效率和砂轮磨削力只与磨削深度、砂轮线速度和工具进给速度3个因素存在直接关系,而磨削效率可由单位时间磨除材料的体积表达。基于自主设计的一套工业机器人打磨系统,针对铸钢材料通过四因素多水平正交试验法,找出了最高磨削效率下各因素的参数值,并分析了磨削参数对磨削力影响的敏感性。通过实时采集机器人关节电机和磨削工具电机的工作扭矩值,计算出砂轮在不同磨削参数下的磨削力值,并利用多元线性回归分析方法,得出针对铸钢材料的磨削力经验公式。研究内容对机器人在铸钢件磨削过程中的控制参数设定,以及磨削工具结构的进一步优化设计,提供了有益的参考。

Research on efficiency and force of grinding steel castings with industrial robot

For a given material and working environment,grinding efficiency and grinding force of wheel are only directly related to grinding depth,linear speed of grinding wheel and feed speed of grinding tool,and grinding efficiency can be expressed by the volume of material removed per unit time.Based on a self-designed industrial robot grinding system,the parameters of each factor under the highest grinding efficiency were found out by four factors and multi-level orthogonal test method for cast steel materials,and the sensitivity of grinding parameters to the grinding force was analyzed.Through real-time collection of the working torque values of the robot joint motor and the grinding tool motor,the grinding force values of the grinding wheel under different grinding parameters were calculated,and the grinding force experimental formula for the cast steel material was obtained by using the multiple linear regression analysis method.The research content provides a useful reference for the control parameter setting of the robot in the process of steel casting grinding and the further optimization design of the grinding tool structure.