Design Of Robot Grinding System For Lateral Plate Of High-speed Railway Body

With the rapid growth of my country’s high-speed rail construction mileage,the demand for high-speed rail body production has also increased significantly.In the body production process,in order to meet the requirements of beautiful appearance,smoothness and variety of colors of the high-speed rail,it is usually necessary to carry out multiple coating operations such as primer,putty,and halfway paint on the surface.Traditional putty polishing often uses manual operations,which is not only low in efficiency and high in cost,but also generates a large number of dust pollution problems,which endanger the health of workers.In order to solve the above problems and improve the polishing quality,it is urgent to develop a high-speed rail body-in-white end wall robot polishing system.This article mainly a domestic enterprise production of the lateral plate of the highspeed rail body putty grinding surface as the research object,using the intelligent robot,low cost,flexible good,processing product consistency,and the advantages of high adaptability to the environment,and studies the function of robot’s perception,force a flexible control technology and the corresponding visual measurement technique,Combined with the current production situation of the enterprise,the structure form of the lateral plate of the body and the characteristics of the putty material are analyzed,and a complete set of robot putty grinding system is developed.In order to realize the intelligent grinding operation of the body,a crucial step has been taken.Aiming at the layout design of the robot polishing system for the lateral plate of the high-speed rail body.firstly,the demand analysis of the robot polishing system was carried out,and the multifunctional tooling design of the robot end effector was completed according to the requirements,and then the relative motion relationship between the body and the robot was analyzed.Three schemes were compared and the advantages and disadvantages of the different schemes were compared,and the most practical " body fixing+ robot movement" method was selected to complete the final system scheme layout,and further complete the hardware and software system design based on the overall layout scheme.Subsequently,an improved hand-eye calibration algorithm was proposed,which can significantly improve the accuracy of the machine vision measurement system at a lower cost,and provide reliable detection methods and quality assurance for the analysis of the flatness of the lateral plate of the body in the industrial field.For the robot polishing system test platform,orthogonal test and single factor test are designed.Through the deviation analysis and variance analysis of the test results,the best combination of process parameters is found for the robot putty polishing.The final test results show that the high-speed rail body-in-white robot polishing system designed in this paper can quickly and effectively complete the on-site polishing operation,shorten the production time,improve the polishing efficiency,and the polishing quality meets the process requirements.