摘要
为了实现机器人自动打磨焊缝且余高0.2 mm的加工要求,进行了机器人自动打磨焊缝试验平台的搭建和实验研究。分析了可控焊缝余高的打磨理论,采用力控去除和定尺结构相结合的方法,完成了试验平台的搭建和焊缝打磨头的设计,选取多组工艺参数进行实验验证和结果测量。实验结果表明,采用力控去除和定尺结构相结合的机器人自动打磨平台可以良好地实现余高可控的焊缝自动打磨加工要求,焊缝打磨后余高一致性良好,表面粗糙度均匀稳定,能够代替人工打磨作业要求,为焊缝自动打磨提供了参考依据。
In order to realize the processing requirements of automatic welding seam grinding with a robot and the processing requirement of 0.2 mm residual height, the construction and experimental research of a test platform for automatic welding seam grinding with a robot were carried out.Analyzed the grinding theory of controllable weld reinforcement, using the method of combining force control removal and fixed-length structure, completed the construction of the test platform and the design of the weld grinding head, and selected multiple sets of process parameters for experimental verification and result measurement.The experimental results show that the robot automatic grinding platform with the combination of force control removal and fixed-length structure can well meet the requirements of automatic welding seam grinding processing with controllable reinforcement.After the welding seam is polished, the consistency of the reinforcement is good, and the surface roughness is uniform and stable.Which can replace manual grinding operation requirements and provide a reference for automatic welding seam grinding.
作者
田凤杰
韩晓
李论
TIAN Feng-jie;HAN Xiao;LI Lun(School of Mechanical Engineering,Shenyang Institute of Technology,Shenyang 110159,China;Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China)
出处
《组合机床与自动化加工技术》
北大核心
2022年第4期139-142,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金资助项目(51775542)。
关键词
机器人自动打磨
焊缝
力控去除
定尺余高
robot automatic grinding
welding seam
force control removal
fixed-length excess height