| The industrial robot is a kind of robot that most commonly used in industrial automation, and has strong adaptability to adapt the production condition and the production environment. It can carry heavy repetitive work instead of human beings, liberate people from the poor working environment. More and more traditional manufacturing industries began to import industrial robots to automate industrial upgrading, especially the grinding and polishing industry, whose production environment is very dirty, disorderly and poor. At present, how to improve the machining precision and production efficiency is the main problem for the application of the industrial robot in this industry.In this paper, aiming at the problem of high rigidity of the general industrial robot in the process of grinding and polishing, the solution to increase the flexible device at the end of the robot is presented. Pneumatic drive, servo control and mechanical drive design were used to design industrial robotic grinding and polishing force feedback device in this paper. And mixed control model was established by mechanical, electronic and pneumatic model. The control system was designed according to the needs of the system, then calibrated the performance of the device after correcting the error. The dynamic performance of the device was tested according to polishing trajectory experiment. At last, the device was used in aero-engine blade grinding experiments to test its performance results.The main contents of this dissertation are as follows:1) Design of force feedback device for polishing and grinding operation mounted on the end of industrial robot. In order to solve the problem of terminal compliance of industrial robots in grinding and polishing operations, according to the existing theory and performance index of the device, we selected the appropriate components(including air spring / cylinder, electric proportional valve, displacement sensor).On the basis of selected element we designed corresponding structure and made force analysis to complete the strength verification of the device structures.2) Research on modeling and control method of polishing force feedback device mixed control system including mechanical, electric and pneumatic control. We establish the whole model of the force feedback device according to the derived model of electrical proportional valve flow equation,the cylinder mass flow continuity equation and equilibrium of the system. Then according to the whole model we designed the control system of force feedback device and made simulation after confirming the parameters. At last, we designed the operation interface of the control system.3) Experimental method of force feedback device. The force feedback device and the feasibility of the proposed force feedback control model were verified by the quantitative test and the simple grinding and polishing track experiment. Quantitative test experiment was based on the force input and output test bench, the tracking accuracy, reaction time and the minimum resolution of force feedback device were evaluated by the designed model of input force and output force. We tested the dynamic mechanism of force control performance through simple grinding and polishing track experiment using industrial robot. At last, combining with the force feedback device we polished the blade, and compared the quality and efficiency results between with the device having or not, then we verified the feasibility of the device in industrial application. |
PDF Full Text Request