Research On Key Technologies Of Industrial Robot For Casting Surface Treatment

In recent years,automobile sales have increased year by year,and people's requirements for automobile parts are becoming more and more stringent.Brake pad bracket is formed by casting.Because of its technological characteristics,surface roughness and burr will appear after casting.These defects affect the performance and appearance quality of the workpiece,and there will also be potential safety hazards when workers move the workpiece.At present,most enterprises still grind the burrs by artificial,but in the grinding process,a large amount of dust and noise will be produced,which will cause serious environmental pollution in the processing workshop.Taking industrial robots as the main body,a set of grinding and deburring scheme for brake pad brake support was designed,which improves the automation of production line and reduces the labor intensity of workers.The main research contents are as follows;The influence of various grinding factors on grinding quality and efficiency is analyzed.The stable control of grinding head pressure is realized in the grinding process,and the grinding power is calculated as the basis for determining the type of grinding tool.A set of grinding system was built.The type of industrial robot was selected.Through the design of workpiece fixture and worktable,the positioning and clamping of workpiece can be realized.The kinematics of the robot is established by D-H parameter method,and the positioning of the end of the robot is realized.The robot model is established by using the robot toolbox in MATLAB,and the kinematics is verified by simulation.Solving the workspace of the robot ensures that all grinding trajectory points are included in the three-dimensional workspace.Finally,the grinding trajectory is planned by RobotArt.The interference checking and grinding simulation are carried out after the grinding trajectory is planned by introducing the model of robot,tool,parts,fixture and worktable.The rationality of the trajectory planning is verified and the off-line grinding program is derived through the post-function.