Research On Robot Polishing Technology For Large Castings

With the release of "Made in China 2025" policy,and in order to cope with the arrival of industry 4.0 era,invisibly promote the development of domestic production to intelligent manufacturing gradually.In the field of large castings polishing,many enterprises and factories still use manual polishing phenomenon,this mode of operation has many problems,on the one hand,it will produce a lot of dust,not only harm the physical and mental health of workers,but also pollute the environment.On the other hand,due to the particularity of large castings,manual grinding will reduce production efficiency,and product quality cannot be guaranteed.Therefore,the research of using robot to polish large castings is in a booming stage,which is also an inevitable trend of the development of The Times.The main contents of this paper are as follows:Firstly,the robot polishing process was analyzed,the difficulties encountered in the polishing process of large castings were summarized,the technical requirements of polishing were determined,and a set of special polishing process was developed.According to the objects faced,the robot is selected,and the most critical part of the robot system is designed,namely the design of the end device,the device can reduce the vibration in the polishing process,so as to ensure the quality of processing.Secondly,the kinematics model of the robot was established to realize the solution and calculation of the forward and inverse kinematics of the robot,and the scope of the robot working space was obtained in the software.By comparing the size of the large casting and the parts to be polished,the correctness of the robot selection was verified.The robot and casting model drawings were imported into ADAMS software to conduct kinematics simulation.The simulation results show that the preliminary work is feasible in theory.Finally,experiments will be done to prove the scientific rationality in practice.Then,the grinding and polishing path was planned.By comparing the Cartesian space trajectory planning,spline trajectory planning and joint space trajectory planning,it was found that there was a great improvement space for the stability and efficiency of the robot.Therefore,the improved sparrow algorithm was used to optimize the polishing trajectory of the robot,and the simulation results showed that the optimization algorithm was feasible.Finally,the axle housing parts are selected as the representative of the grinding and polishing experiment.This paper is equipped with a complete experimental platform,and the comparison experiment is done.By comparing the grinding and polishing effect,the correct rationality of the research done in this paper can be obtained.