【摘要】 轨道交通车辆车体人工打磨方式存在诸多弊端,通过研究机器人打磨等核心技术,设计并开发了一种集成恒力控制装置的机器人末端打磨执行器。从打磨执行器功能需求出发设计了基本结构;具体阐述了打磨执行器接触力恒力控制组件的工作原理以及吸尘组件的设计过程;对打磨执行器框架进行静动态特性分析,验证了结构的合理性;最后通过打磨执行器可行性验证实验对该打磨执行器恒力控制和吸尘效果进行了评估,实验结果表明接触力恒力控制组件可以保证打磨过程中打磨执行器与工件接触面的法向力基本恒定,补偿作用明显。打磨执行器吸尘效果良好,保证了车间清洁,能够满足轨道交通车辆车体表面打磨制造要求。更多还原

【Abstract】 There are many disadvantages in the manual grinding method of rail vehicle body. By studying the core technology such as robot grinding,a robot end grinding actuator integrating constant force control device is designed. The basic structure was designed from the functional requirements of the grinding actuator. The technical principle of the constant force control component of the grinding actuator and the design process of the vacuum assembly were elaborated. The static and dynamic characteristics of the grinding actuator frame were analyzed to verify the rationality of the structure. Finally,through the grinding actuator feasibility verification experiment,the constant force control and vacuuming effect of the grinding actuator are evaluated. The experimental results show that the contact force conformably control component can ensure that the normal force of the grinding actuator and the workpiece contact surface is basically constant during the grinding process. The compensation effect is obvious. The grinding actuator has a good vacuum effect,which ensures the cleanness of the workshop and can meet the requirements for the surface grinding of the rail vehicle.更多还原