Research On Multi-Degree Of Freedom Grinding Robot For Intersecting Deep Hole

The removal of burrs is very important in the field of mechanical processing,as it poses great harm to the product.The current burr polishing methods mainly include manual polishing,electrochemical,ultrasonic,and other methods,which not only have low polishing efficiency,but also poor product accuracy and uniformity.Especially for the burr polishing of intersecting deep holes,due to structural obstacles,the general polishing method cannot be used.With the continuous development of new robot design,control,vision and other related technologies,the use of robots for burr polishing has also become a research hotspot at home and abroad.This article proposes a robot system for deburring intersecting deep holes,including a detection system and a prebending polishing system.Among them,the detection system is based on pneumatic rigid flexible coupling technology to design a detection robot,with a micro camera at the front end.Through the driving module,after entering the intersecting deep hole,the camera takes photos,analyzes and obtains the burr distribution information,and compares it with the distribution after polishing to obtain the polishing effect;Design a prebending and polishing robot for the polishing system,which carries a polishing tool head at the front end and grinds deep into intersecting deep holes.Firstly,the mechanical structure and driving mode of the detection robot is designed based on the diameter of the corresponding intersecting deep holes,and the installation method of the camera was optimized.The entire process mechanical equation,entire process bending equation,and load capacity of the robot is analyzed,and corresponding experimental schemes is designed for verification.The experimental results is basically consistent with the theoretical analysis.Secondly,The prebending grinding robot is designed according to the diameter of the corresponding intersecting deep hole.The pre-bending robot is composed of two tube sets with different stiffness,and the translation movement is realized by the micro sliding table,and the rotation movement is driven by the steering gear to rotate the whole rotating part.Based on the interaction and geometric parameters between different tubes of the prebending robot,the kinematic model is established,including:1)forward kinematic equation;2)Inverse kinematics equation;3)Get the workspace.The experimental research on the positioning accuracy of the robot is carried out,and the experimental results show that the positioning accuracy of the prebending robot meets the requirements.Aiming at the motion problem of the precurved robot in space,the motion strategy is determined through analysis.Thirdly,based on the actual situation of intersecting deep hole polishing,by comparing different types of impedance control and combining with the actual situation of intersecting deep hole polishing,adaptive impedance control can be used to more accurately control robot polishing.Simulation is conducted using MATLAB,and the position tracking of different axes of the robot are obtained by changing different inputs.Finally,this article established an experimental environment for intersecting deep holes,verified the feasibility of the detection robot,and analyzed the distribution of burrs.The prebending robot completed polishing based on the intersecting line space equation combined with adaptive impedance control.The effectiveness of polishing was verified through analysis.The morphology of the polished intersecting line was observed using a microscope,proving the smoothness of the polished intersecting line.