Research On Design And Control Of Robot Based Crankcase Cleaning And Grinding System

The crankcase part is an important product of the company,which is an aluminum die casting,which inevitably generates a large number of burrs in the molding and casting process.The cleaning of the burr is an indispensable key process in foundry production.However,after the process of die casting,the company is mainly responsible for the traditional artificial hammering and sand gun cleaning.This method not only has a high security risk,but also has a large work intensity and a good or bad quality of product,which seriously affects the health of the workers,and it is difficult to keep up with the beats of molding and pouring.How to better clean the rising and flashing burrs of castings has always been a technical problem that the company urgently needs to solve.This article combines the research and development of a certain company’s "Crankcase Polishing System" and takes crankcase parts as objects,and carries out the design and trajectory planning and simulation of the burr cleaning and grinding system,and carries out experimental verification.First of all,the basic principle of the crankcase grinding process and its force analysis are analyzed,and on this basis,the robot,the end effector,the floating spindle,the replacement workbench,the automatic transmission line,the tooling plate,the dust removal device,and the total control are combined.Systems,off-line programming software,safety fences,and safety gates are used in the overall design of a robot-based crankcase sanding system.The design of the structural part of the sanding system and the design process of the control part are elaborated in detail.The force detection and acquisition unit was briefly introduced,and the force sensor and force acquisition system were designed.Then the key technologies of robot grinding were analyzed,and the trajectory planning method of the robot grinding system was analyzed.Secondly,based on the trajectory planning of the robot grinding system,the mathematical model and kinematics model were established.The robot setup and installation of fixtures,addition of grinding points and production grinding paths were analyzed,and the simulation of the grinding path was performed.Problems such as sex and interference ensure the feasibility of a robot-based crankcase sanding system.Finally,a single factor test of the grinding process parameters was designed to verify the empirical formula of the grinding force,and the function formula of the cutting depth and the grinding force was deduced.The time experiment of the robot response offset was designed to obtain different offsets.The optimal speed of the quantity,and then set the constant force of the grinding system parameters,the force control scheme of the two impedance control strategies are tested,the trajectory estimation force control test is performed on the workpiece with unknown trajectory,the position tracking accuracy is compared with the trial trajectory,The tracking effect is good,and the normal force in the grinding process is kept within a constant interval,which proves that the force control scheme based on trajectory estimation is feasible.