| In the traditional manufacturing industry, deburring is mainly done by manual operation, which is time-consuming and laborious, thus leading to low production efficiency and instable parts quality. Compared with manual operation, the use of industrial robots in deburring can effectively improve production efficiency, reduce costs and guarantees parts quality. However, due to the robot positioning error, the tools and parts are easy to be damaged when rigid tools are used. Floating deburring actuator can solve this problem effectively, for it can adjust the tools to follow and process the burr, thereby avoiding damage to the tools and parts. This paper presents a kind of floating deburring actuator. The main contents are as follows:Firstly, the requirements and characteristics of the robot deburring are analyzed, and the structure of floating deburring actuator is designed. The floating deburring structure design is completed by selecting turbine pneumatic motor and using gas dynamic radial compliance floating ring structure. The composition of actuator internal structure, the realization of compliant floating and the installation method are introduced.Secondly, the dynamic characteristics of the actuator are studied, and the natural frequencies and modes of the actuator are obtained. The finite element modal analysis theory is introduced, and ANSYS Workbench software is used to establish the 3D model of the floating deburring actuator. The assembly relationship of structure assembly and the material properties are presented. The free modal analysis of the floating deburring actuator is made by using ANSYS Workbench software and its natural frequency and modal shapes are obtained. Thereby the working rotation speed requirement of the pneumatic motor is obtained.Thirdly, the pressure field characteristics of the floating deburring actuator are studied, and the optimal scheme of the floating ring structure is proposed. The theory of the computational fluid dynamics is introduced. The FLUENT numerical analysis software is used to simulate the flow field, and establish two-dimensional simplified pressure field simulation model of the floating ring structure. The pressure fields of the floating ring with different numbers of pistons and air inlets are simulated, and then the floating ring structure is optimized.Finally, the robot’s deburring experimental platform is established. The compliance characteristics of the deburring actuator and the pressure speed characteristics are studied. The force sensor is used to test the radial compliance characteristics of deburring device. The rotating speed of the pneumatic spindle is measured by the photoelectric rotating instrument, and the relationship between air pressure and the speed of the pneumatic spindle is tested. |
