Research On The Structure Design And Control Of Polishing Device For The Robot Of Centrifugal Pump Shell

With the continuous development of industrial robot technology,robots are widely used in automobile,pharmaceutical,food and other industrial production lines,especially for harsh environments such as high temperature,high pressure,inflammable,explosive,dusty,strong magnetic and radiating.At present,the centrifugal pump industry will enter a high speed and long term.The polishing of centrifugal pump shell is the most important part of centrifugal pump manufacturing process.But the environment is very harsh,the grinding accuracy is not high and the error is large under the condition of manual operation so that it is particularly important to use other grinding methods instead of manual operations,such as robot grinding operation.However,most of the control systems for robot grinding are open-loop control,and there is no feedback mechanism in the system.Thus,the robot only needs to work according to the system instructions.As for the result,the system does not give an accurate evaluation.In this paper,a robot polishing device for centrifugal pump shell was designed,which is mainly used for polishing the castings of the centrifugal pump housing.In the polishing process,the robot controls the movement track of the polishing device end,and the polishing device realizes the control of the polishing force through the pneumatic servo system,and realizes the polishing of the centrifugal casting finally.This paper also establishes the mathematical model of the pneumatic servo system for the robot polishing device of the centrifugal pump shell,and studies the control strategy of the pneumatic system.The main content of this thesis is as following:1.By comparing various industrial robots,we finally confirmed the ER20D-C10 robot as the carrying robot for the robot polishing device of the centrifugal pump shell,and established the motion equation of the robot through the use manual of the er20d-c10 robot,and used MATLAB to carry out the simulation verification.2.Through the analysis of the structure and process of the centrifugal pump shell,the mechanical structure of the robot polishing device of the centrifugal pump shell was designed,and schemes of pneumatic proportional control system and pneumatic servo control system were put forward.Finally,the control system of the robot polishing device of the centrifugal pump shell based on the ver servo valve was selected.The size of the cylinder in the pneumatic system was determined by the estimation of the grinding force.The models of various pneumatic components were selected,and the pressure loss was checked3.The research on the control system of the centrifugal pump shell robot polishing device was mainly based on the mathematical modeling of the pneumatic servo control system of the centrifugal pump shell robot polishing device,and the mathematical model of the pneumatic servo control system was deduced so that the state space expression was obtained according to the mathematical model of the valve controlled cylinder,and the dynamic and static characteristics of the pneumatic servo control system of the polishing device were studied.4.The pneumatic servo control system of the centrifugal pump shell robot polishing device was optimized by pole placement.The H? control algorithm was applied to the pneumatic servo control system of robot polishing device.This control algorithm has greatly improved the stability and anti-interference capability of the pneumatic system.The H? control algorithm and pole placement algorithm were applied to the pneumatic proportional control system of the centrifugal pump shell robot polishing device,and the robot polishing device of the centrifugal pump shell was designed so that the robot polishing operation of the centrifugal pump shell was realized.So a large number of labor force will was liberated to achieve the high efficiency and low cost grinding operation mode.1.A robot polishing device for centrifugal pump shell and its pneumatic system were designed.The robot polishing device of centrifugal pump shell was mainly composed of support fixing mechanism and driving mechanism,and pneumatic system was controlled by ver servo valve.2.The mathematical model of the pneumatic control system of the centrifugal pump shell polishing robot was established through the continuity equation of cylinder flow,the mass flow equation of cylinder servo valve and the balance equation of cylinder force.3.The H? control algorithm was applied to the pneumatic servo system of the centrifugal pump shell robot polishing device.After software simulation and analysis,it was found that the overshoot of the pneumatic control system was reduced to zero,the response time of the system was reduced and the performance of the system was improved greatly.