机器人在三缸曲轴打磨工艺中的应用研究

为了对三缸曲轴进行自动、快速、精确的打磨，设计了一套采用多台机器人协作的打磨单元。对三缸曲轴铸件及其披缝的外形特征进行分析，在此基础上，设计了磨具形式、机器人应用方式和曲轴装夹方式，并进行了详细介绍。在打磨过程控制方面，提出了利用磨削电主轴的电流实时控制机器人的打磨进给速度的方法，提高了系统的安全性。此系统已投入使用，实现了对三缸曲轴安全、可靠、精确、高效的自动打磨

Research on Application of Robots in the Grinding Process of Three-cylinder Crankshaft

In order to realize automatic, fast and accurate grinding of the three-cylinder crankshaft, a set of grinding unit with cooperation of multiple robots was developed. Based on the analysis of the shape characteristic of the three-cylinder crankshaft casting and its burrs, the form of grinding tools,the application mode of robots and the clamping mode of the crankshaft were designed and introduced in detail.In the aspect of grinding process control,a method of real time controlling the grinding feed speed of robot by using the current value of grinding electric spindle was proposed,which improved the safety of the system.The system has been put into use, safe,reliable, accurate and efficient automatic grinding of the three cylinder crankshaft is realized