Research On Key Technology Of Cast Iron Pipe Grinding Based On Robot Workstation

With the rapid development of industrial level,enterprises put forward higher requirements for the working performance and life of mechanical products.In the actual production process,not only the parts are required to have high dimensional accuracy,but also the surface of the parts is required to have better flatness and aesthetics.There are a large number of drainage cast iron pipe fittings manufacturers in China.In order to meet the needs of pipe grinding market and promote the development of automatic grinding technology,this paper takes the observation port pipe fittings of drain iron as the research object,and designs and develops a fully automatic pipe polishing robot workstation.This paper integrates mechanical drive,air pressure drive,PLC control,etc.to design the structure of the automatic pipe grinding robot workstation.According to the actual production demand,the cast iron observation pipe fittings with the top ten output of the enterprise are selected for the test,and the dynamic grinding effect of the designed workstation is tested and the optimal grinding parameters are analyzed.The robot program is programmed by setting the optimal grinding parameters,which verifies the practicability of the workstation in the production of the enterprise.The research contents of this paper are as follows(1)The main mechanical structure of the automatic pipe grinding robot workstation is designed.Based on the whole structure of the grinding robot workstation,the selection of robot body and the design of supporting mechanical structure are completed.Based on the grinding demand of cast iron pipe,the internal support pneumatic clamp is designed;The main mechanism of the grinding machine for the end milling head of the workstation is designed;The design of special positioning and pressing mechanism is carried out,and the static simulation analysis is carried out based on ANSYS software to verify the rationality of the structure;The electric hybrid control system of grinding robot platform and port milling head grinding machine is studied,and a reasonable control system is configured.(2)The basic theory of belt grinding is studied.According to the theory and actual grinding demand,the types of belt and the materials of contact wheel are selected.Through orthogonal test,the influence of belt size,robot feed speed and belt wheel speed on grinding quantity is studied.Based on the analysis of the extreme difference and variance,the working parameters suitable for the robot workstation are selected.The influence of grinding time on the burr removal of pipe joint line was studied by single factor experiment,realize parameter optimization,and the optimal grinding parameters were determined.(3)Robot workstation of automatic pipe polishing is simulated by robot robot robot.According to the three-dimensional layout of the workstation built on the production site,the simulation environment is built by importing the model,configuring the workstation system and establishing tools and workpiece coordinates.The grinding curve is established,the path of automatic grinding is generated,the robot grinding program is written by using the combination of the optimal grinding parameters,the off-line programming of grinding demand of robot workstation is completed,and the field debugging is completed.