Design And Research Of Grinding Device Suitable For Industrial Robot Grasping

Aiming at the problem of machining a large-scale brittle material complex curved surface part,this paper comprehensively analyzes the current research status of complex curved surface processing technology at home and abroad,proposes a belt grinding processing method,and designs a belt grinding device suitable for robotic grasp.And carried out research on the processing of silicon carbide materials with a homemade grinding prototype.(1)Exploring the belt grinding mechanism,establishing a single abrasive particle cutting model,and summarizing that controlling the normal pressure and contact area abrasive particle density can improve the belt grinding efficiency,and determined the contact wheel type belt grinding Way of cutting.(2)The design of key components such as contact wheels,tension wheels,drive wheels and front panels and motor selection are completed,and the cylinder tensioning scheme is determined.The constant force control mechanism is designed,and the constant force grinding is ensured by using the main force position actuator to ensure constant contact with the workpiece.The floating cylinder swing mechanism is used to cooperate with the main force position actuator to focus on solving the sudden change in curvature.“Stairs” poses difficult posture adjustment problems to avoid rigid collisions.Completed digital prototype design.(3)The workbench software was used to analyze the static and vibration characteristics of the belt grinding device,and it was verified that the maximum stress and strain of the grinding device can meet the design requirements without resonance damage.The assembly and debugging of the grinding prototype was completed.(4)Using silicon carbide brittle materials as test specimens,orthogonal experiments with grinding depth as the monitoring index were performed,and the law of the influence of the grinding parameters on the grinding depth was analyzed and summarized by the range analysis method.Grinding parameter combinations.(5)Using a 3D laser scanning microscope and a white light interferometer to inspect the surface of the silicon carbide after grinding,analyze the surface morphology,three-dimensional surface roughness Sa,and subsurface defects and cracks of the test piece.Abrasive belt grinding can meet the requirements of silicon carbide processing.The device has been applied to the processing of large curved parts of silicon carbide,which solves the problems of prone to rigid damage and crack damage during processing,and the machining accuracy meets the requirements of semi-finished machining of parts.It provides an effective way to realize the processing of large brittle materials and expands the application of intelligent manufacturing in the field of abrasive belt grinding technology.