本文選題：壓腳 + 工業(yè)機器人��； 參考：《浙江大學》2015年碩士論文

【摘要】：采用工業(yè)機器人與專用的末端執(zhí)行器組合在裝配現(xiàn)場解決大型飛機主起落架交點孔鏜孔精加工問題是一種新的技術思路。然而,由于六自由度工業(yè)機器人結構剛度低引起的加工顫振現(xiàn)象限制了主軸轉速和鏜削深度等加工工藝參數(shù)的設定范圍,降低了機器人鏜孔系統(tǒng)的加工質量與效率。在加工對象與末端執(zhí)行器之間引入壓腳裝置是抑制加工顫振的重要手段。本文以此為背景研究機器人鏜孔加工系統(tǒng)的穩(wěn)定性,重點針對壓腳機構對提高機器人鏜孔系統(tǒng)穩(wěn)定性的影響規(guī)律進行理論分析和實驗研究。本文主要內容如下：第一章綜述機器人制孔系統(tǒng)的國內外研究應用和切削加工顫振問題的研究現(xiàn)狀。第二章針對裝配現(xiàn)場主起落架交點孔加工要求,構建一套工業(yè)機器人鏜孔加工系統(tǒng)。在描述系統(tǒng)總體結構和控制系統(tǒng)結構基礎上闡述各個組成部分的機械結構和功能特點,并根據(jù)加工對象特點建立機器人鏜孔加工工藝流程。第三章通過對加工系統(tǒng)合理簡化分別建立工業(yè)機器人和氣動壓腳系統(tǒng)的數(shù)學模型,進而建立整體系統(tǒng)動力學模型,分析壓腳作用對系統(tǒng)動力學特性的影響。第四章建立機器人鏜孔系統(tǒng)的穩(wěn)定性分析模型。通過對鏜削過程鏜削厚度、動態(tài)鏜削力的建模,結合機器人鏜孔系統(tǒng)動力學模型,根據(jù)再生顫振原理得到加工系統(tǒng)穩(wěn)定性的解析條件,繪制穩(wěn)定性葉瓣圖研究加工參數(shù)的穩(wěn)定區(qū)間。第五章設計機器人鏜孔實驗系統(tǒng),通過實際鏜孔加工實驗驗證機器人鏜孔系統(tǒng)在不同壓腳壓力下的加工穩(wěn)定性,表明合理的壓腳壓力可提高穩(wěn)定切深,拓展機器人鏜孔加工穩(wěn)定區(qū)域,有效避免加工顫振。第六章總結,并對有待進一步研究的內容進行展望。
[Abstract]:It is a new technical idea to use industrial robot and special end actuators to solve the problem of boring holes at the intersection point of the main landing gear of large aircraft in the assembly site.However, the machining flutter caused by low structural stiffness of six-DOF industrial robot limits the setting range of machining parameters such as spindle speed and boring depth, and reduces the machining quality and efficiency of the robot boring system.It is an important method to suppress machining chatter by introducing pin pressing device between the machining object and the end actuator.In this paper, the stability of the robot boring system is studied, and the influence of the pin pressing mechanism on the stability of the robot boring system is analyzed theoretically and experimentally.The main contents of this paper are as follows: the first chapter summarizes the research and application of robot hole making system at home and abroad and the research status of cutting chatter problem.In the second chapter, a boring machining system of industrial robot is built according to the requirements of the intersecting hole machining of the main landing gear on the assembly site.On the basis of describing the overall structure of the system and the structure of the control system, the mechanical structure and functional characteristics of each component are described, and the machining process of the robot boring is established according to the characteristics of the machining objects.In the third chapter, the mathematical models of industrial robot and pneumatic pin system are established by reasonably simplifying the machining system, and then the dynamic model of the whole system is established, and the influence of the pin pressing action on the dynamic characteristics of the system is analyzed.In chapter 4, the stability analysis model of robot boring system is established.By modeling the boring thickness and the dynamic boring force in the boring process and combining with the dynamic model of the robot boring system, the analytical conditions of the stability of the machining system are obtained according to the principle of regenerative chatter.The stable leaflet map was drawn to study the stable interval of machining parameters.In the fifth chapter, the robot boring experiment system is designed. The stability of the robot boring system under different pressure is verified by the actual boring experiment. It shows that the reasonable pressure can increase the stable cutting depth.Expand the stable area of robot boring machining, effectively avoid machining chatter.The sixth chapter summarizes and looks forward to the content to be further studied.
【學位授予單位】：浙江大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：V262.4

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本文編號：1773922