Research And Implementation Of Communication And Monitorin System For Parts Cast Iron Cleaning Robot

With the development of intelligent manufacturing, the application of industrial robots become more widely. In the field of casting cleaning, industrial robot has a great advantage with continuous operation in harsh environments,which can select the corresponding tools in different characteristics of castings, Clearance and requirements.Thus, industrial robot can replace manual clean-up operations on the casting.Communication and monitorin system of the robot is designed for cleaning cast iron which includes the design of PLC data acquisiton and control, the calibration algorithm of the hand-eye displament sensor and the development of software.Numerous methods have been proposed to address the problem of anomalies in the grinding operation process for casting cleaning robot system. Adopting sensors and intelligent control technology, Modbus-RTU communication protocol are included to communicate a programmable logic controller (PLC) and the inverter.It is necessary to be calibrated before using the laser displacement sensor. This paper presents two standard calibration method which include based on standard plane calibration method and based on standard spherical calibration method to calibration hands and eyes of robot.Through experiments, the use of matlab software fit plane and spherical, respectively, to calculate the laser displacement sensor with respect to six-axis robot flange center pose both fitting results are able to achieve the required precision.Finally, the three modules of communication and monitoring software, man-machine interface and adaptive algorithm of the robot are completed by MFC. The control of industrial robot and laser displacement sensor is realized.