Research On The Control Of Casting Grinding Process Based On Industrial Robot

Casting parts after the completion of casting,some of the surface needs to be polished to varying degrees.For the rough surface that needs to be machined further,such as the residual body of casting riser,in order to avoid the damage to machine tools and cutting tools,the rough surface should be removed by rough grinding with large volume and high efficiency.For the surface that needs to be implemented flaw detection operation,it is necessary to remove the thinner surface rust layer or surface defect layer,and sometimes the workpiece surface is required to achieve a certain roughness and finish after grinding.These different grinding requirements are reflected in different grinding degrees.When using industrial robots replace artificial implementation burnish,it corresponds to the order of different grinding polishing tools and different control methods,this paper is divided into based on the industrial robot in order to the coarse grinding,fine grinding and fine grinding in three categories,and the robot remote control in the process of grinding and polishing tools end control,has carried on the thorough algorithm and the control method of study,After that,the field test was completed,and the main research contents and conclusions are as follows:At first,this research for grinding object is discrete and non-standard large-size castings,the number and location of each casting polished area is not the same,therefore,this article puts forward the teaching method is a key feature points,simply take a small amount of grinding area position data of feature points by independently created by the algorithm,can quickly determine the boundary of the polished area,The grinding layer and the grinding track lay the foundation for the subsequent grinding process.For rough grinding,large volume of material is required to be removed in unit time,but the accuracy is not high,which is characterized by large grinding force and large vibration.The grinding tool and grinding wheel are expected to have high stiffness and high strength,so the adjustment of grinding strength and grinding trajectory is not placed at the tool end,but completely realized by the robot end.According to the output torque collected from the servo motor driving the grinding wheel,the TCP pose adjustment amount of the robot was calculated by a PI controller designed by itself,and the rough grinding process was controlled.For the medium-fine grinding and fine grinding,the requirements are mainly composed of surface grinding quality,show the smaller the vibration of the grinding force and smaller working characteristics,such as stiffness and strength requirement is lower than the coarse grinding tool of polishing,but the accuracy and sensitivity to adjust grinding strength for higher,we will finish on the tool side,master control and then combined with the robot's basic track movement control,Realize the full control process of medium-fine grinding and fine grinding.In order to achieve more reliable control effect,in this paper,the control process of grinding tool is simulated by SIMULINK,and the servo motor is selected based on this.In the control algorithm,PI controller is still used to adjust the speed of the motor,and current transmitter is used to collect the armature current of the Angle grinder as the feedback signal,which realizes the shape following grinding process under the control of equal force.Finally,through the field test in a steel casting enterprise,it is proved that the robot grinding system and grinding process designed in this paper meet the requirements of the foundry for high efficiency,manufacturability and low cost of casting grinding,and the feasibility and stability of the grinding control algorithm are also verified.