五金件砂带磨削机器人单元设计及程序复用技术研究机械工程专业论文.docxVIP

AbstractAB Abstract AB STRACT With China’S rapid advance manufacture 2025 strategy，the application of industrial robot is spread to all walks of life．Nowadays the poor working conditions and other characteristics of the hardware and bathroom industry,especially the grinding and polishing jobs，the difficulties of recruitment has become increasingly prominent，SO that the stage of industrial robots has also become an inevitable trend． With the development of the application of hardware belt grinding robot application process there several urgent problems exist in hardware factory：1．A single set of robotic polishing systems program are not stability,which would cause mass grindings in poor quality；2．The consistent effect of polishing from multiple sets of robotic polishing systems are poor；3，The program from multi-sets of robotic polishing systems could not be reused，resulting in waste of time and the production in slow progress if the number of units need taught programming； The abrasive belt grinding robot system of hardware products was designed in view of the above problems in this paper,in order to realize the reusing of the program of mult -iple robot grinding unit，analyze and plan the grinding process of hardware abrasive belt robot。Errors existed in the reuse process of different grinding unit machine program wet analyzed．Those errors mainly have some aspects：1．the error of the robot absolute posit —ioning accuracy；2．the elror between the robot ontology；3．the error of processing and as 。sembling of peripheral grinding equipment，the calibration error of coordinate system of the single tool and the error of the program translating and reusing because of existing d —eviation between two tool coordinate systems。Through the following methods to compensates the three kinds of and conducting experimental verification．1．employing the Dynacan calibrate the ER50一C20 of linkage length and zero error ensuring its positioning accuracy；2．Use standard tools proc