【作者】 任毅；

【导师】 李仲阳； 王洪；

【作者基本信息】 湖南师范大学 ， 机械工程（专业学位）， 2017， 硕士

【摘要】 中国已成为全球第二大工业机器人应用市场,工业机器人需求量不断扩大,偏心轴是机器人减速机的关键零部件,其质量是减速机工作性能的决定性因素之一。偏心轴的加工精度与生产效率,会影响到机器人产品的质量,从而影响机器人行业的前景。为了保证加工精度和加工表面质量,目前国内外一般采取磨削作为偏心轴的最后一道工序。为了达到偏心轴高效高精磨削目的,文章采用切点跟踪磨削关键理论与技术。本课题主要研究减速机偏心轴数控磨床的控制部分,使机器人零部件加工手段得以提升,同时将给企业和社会带来巨大的社会经济效益。文章的主要工作内容如下:首先,根据偏心轴的加工工艺特殊性,本文建立两轴联动切点跟随磨削的数学模型,并推导出砂轮进给轴X与工件头架C轴的联动方程,并进行matlab仿真,为实现偏心轴磨削轨迹编程控制提供了理论上的支撑。其次,以力士乐Rexroth MTX micro数控系统作为软硬件平台,研究了偏心轴磨削加工工艺。然后将两轴联动数学模型公式用C语言编程,并通过数据后处理将其转化为G代码;本文设计了由滚动轴承、力矩电机、角度光栅形成的闭环控制系统,以此构成工件头尾架系统,保证工件头架的旋转精度在±3sec以内;设计了由伺服电机、滚珠丝杠、静压导轨、光栅尺构成的砂轮精密进给系统,保证定位精度≤0.001mm;采用MARPOSS在线测量系统,实现了加工过程中工件尺寸的一致性,保证同批次工件误差范围≤0.002mm。最后,设计了设计了电气原理图,人机交互界面,进行PLC编程、NC代码编程。最终对安装检测后的机床进行调试,机床稳定运行后,加工出的零件均达到了设计精度要求。更多还原

【Abstract】 China has become the world’s second largest market for industrial robot application.And the demand for industrial robots is constantly expanding.As a key component of robot reducer,the quality of eccentric shaft is one of the important determinant factors to the performance of reducer.The machining precision and production efficiency of eccentric shaft will affect the quality of the robot products and the development of robot industry.In order to ensure high machining precision and surface quality,the grinding is generally adopted as the final machining process of eccentric shaft at home and abroad.The key theory and technology of tangent point tracing grinding is adopted in this paper,which can help to achieve the purpose of high efficiency and high precision grinding.In this paper,the control part of the CNC grinding machine for the eccentric shaft of the reducer is mainly studied.The processing method of robot parts can be improved,which will bring great social and economic benefits to enterprises and society.The main research work of this paper is as follows:First of all,the mathematical model for two-axis coordinated tangent point tracing grinding is established in this paper according to the particular processing technology of eccentric shaft.And we deduce and simulate the motion equations for the Grinding wheel moving(X-axis)and the work-piece rotation(C-axis),which provided theoreticalfoundation for the two-axis motion control and grinding trajectory programming control of the eccentric shaft grinding.Secondly,the eccentric shaft grinding process is studied by using Rexroth MTX micro CNC system as the hardware and software platform.Then the mathematical model of two axis linkage is programmed with C language,and it is converted to G code after data post-processing.Moreover,we design a work-piece head and tail frame system formed by a close-cycle system consists of angle grating,rolling bearing,and torque motor,which ensures that the rotation accuracy of the work-piece is in allowed range ±3sec.We also design a grinding wheel horizontal feed system consists of servo motor,ball screw,hydrostatic guideway and grating ruler,which ensures that the positioning accuracy is less than or equal to 0.001mm;In addition,the MARPOSS online measurement system is used to realize the consistency of work-piece size in the machining process.It will ensure that the machining accuracy of work-piece is less than or equal to 0.002 mm.Finally,electrical schematic diagram and human-computer interaction are designed in this paper.Then we carry out the PLC programming and NC programming.And we debug the machine after testing the installation of it.Then the machined parts meet the design precision after the operation of the machine is stable.更多还原