Design&Realization Of Robot Auto-polishing Production Line For Robot

In order to solve the problems of labor shortage of manual polishing, the unstable quality and low efficiency, auto-polishing is the trend, so research and realize the robot replace the labor polishing has a great significance.This thesis base on Staubli Rx90L robot to research and develop robot polishing line, and make an in-depth research and analysis of normal force control, product transfer, dust collection, system control, route planning etc.This thesis first set up the robot polishing lab platform based on the requirement of polishing technology, and verify the polishing technology, also make an in-depth analysis of polishing mechanism including:The effect of different polishing actuator, polishing pressure, times, route, polishing sheet model etc. on the polishing affect, to get the optimum process parameters based on products.Then research the overall scheme of robot polishing line, also divide and define function models, make a research on the layout of the robot, and make a detailed study on all the function models as well as product output system, with the emphasis on the realization of online monitor of normal force of polishing.Then, we also make a detailed research on the dust collection, to study and calculate the air volume of dust collection, the wind pipe size, spray of water etc.main study and design the waste water sedimentation pool.At last we make a research on the controlling system of polishing line, set up the software and hardware controlling platform, design the controlling program and operation interface, we also emphasize research the route planning by on line teaching model.The achievement of this study is solve the problems of labor shortage, quality instable. also has a model significance and guiding significance for the domestic companies where robot polishing line applied instead of manual polishing.