严楠 陈罡 金超超 齐越

摘要：针对工业机器人对四通件打磨抛光的特点和工作过程，提出了一种利用工业机器人对五金产品进行打磨抛光方案，研究了机器人力控原理及打磨抛光相关工艺。采用Solidworks建立虚拟样机，设计机器人夹手和定位工装，构建机器人的五金四通件测试平台，研究其打磨测试参数及打磨效果。结果表明，采用240#的砂带进行打磨，砂带转速变化范围1000～1250 r/min ，发泡轮硬度为30，砂带机的发泡轮的硬度为40，能够较好地实现本产品的打磨抛光，该方法为相关产品的打磨抛光实际应用提供了理论指导和数据参考，有助于提高生产效率，提高企业经济效益。

关键词：机器人;五金产品;打磨抛光工艺

中图分类号：TP242文献标志码：A文章编号：1009-9492（2021）11-0063-03

Study on Design and Technology of Robot Polishing for Four-way Parts

Yan Nan1，Chen Gang1，Jin Chaochao2，Qi Yue3

（1. Ningbo Polytechnic Mechanical & Electrical Engineering College， Ningbo， Zhejiang 315800， China;2. Ningbo Welllih Robot Technology Limited Company， Ningbo 315480， China;3. Beijing Aerospace Intelligent Manufacturing Technology Development Co.， Ltd.， Beijing 100039， China）

Abstract： According to the characteristics of industrial robot to cross a fine polishing and working process， the solution of the hardware product to make use of industrial robot grinding and polishing was proposed， and the principle of machine manpower control and related process of grinding and polishing were studied. Solidworks was used to establish virtual prototype， design robot clamping and positioning tooling， and the robot hardware four-way parts test platformis built， and its grinding test parameters and grinding effect were studied. The results show that the 240# abrasive belt is used well for grinding， as the range of abrasive belt speed is 1000～1250 r/min， and the hardness of the foaming wheel is 30， and the hardness of the foaming wheel is 40. The method provides theoretical guidance and data reference for the practical application of grinding and polishing of related products， and helps to improve production efficiency and economic benefits of enterprises.

Key words： robot; hardware products; grinding and polishing process

0 引言

我國是世界五金生产大国之一，已经成为世界上主要的五金制造和出口大国，具备广阔的市场和消费潜力。在五金生产过程中，五金产品在产品生产的过程中会有刮伤或是接缝，打磨抛光主要就是把生产或是运输中工件的损伤层去掉，把这些损伤和接缝打磨光滑，使产品光洁明亮。多数五金类产品零件对尺寸、形位精度要求并不严格，但对表面粗糙度要求甚高，因而，打磨抛光是影响其产品质量优劣的重要加工环节。五金产品打磨抛光是一个重复和繁琐的工作，而我国此类打磨工艺多数仍处于人工或半自动化阶段[1-3]。此种作业模式存在诸多不利因素：打磨产生的火花、粉尘及噪声严重……