Reserch On Control Technology Of Grinding Robot System

With the continuous improvement of labor costs,domestic industrial transformation and upgrading of the demand.In the context of weakening the demographic dividend,the pressure of survival of traditional enterprises is increasing.At the same time,the traditional manufacturing enterprises to increase the demand for robot applications.Grinding robots are a variety of modern industrial robots.Used to replace the traditional manual grinding,mainly for the workpiece surface grinding,deburring,weld grinding and screw holes to glitch and so on.For auto parts,industrial parts,medical equipment,building materials and other industries.At the same time grinding robots for the workpiece grinding is also many companies face technical difficulties.In this paper,based on a large number of relevant literatures at home and abroad,in-depth study and analysis,combined with the current needs of the actual application of the enterprise and the status designed a grinding robot control system.This paper mainly studies the design of the grinding robot control system from the aspects of the overall design of the grinding robot control system,the construction of the hardware platform,the software control and the simulation analysis.The main contents of this paper are as follows:1)the overall design of the grinding robot control system.Design of grinding robot control system,detailing the composition of the grinding robot control system.The process requirements of polished cast iron and the working principle of grinding robot are analyzed.2)the hardware design of the grinding robot control system.Combined with the architecture and performance requirements of the grinding robot control system,the hardware system is designed and realized.Including two ABB and two EFORT six degrees of freedom industrial robots,drives,grinding table,spindle,PLC,pressure sensors and other hardware design and selection and electrical design.3)software design of grinding robot control system.According to the functional requirements of the grinding control system,the software system of the grinding control system is designed and realized.Including the entire system of PLC program flow and part of the sub-process design,as well as Siemens PLC program preparation and related debugging.4)Simulation analysis of grinding robot system.Use the ABB simulation software RobotStudio6.01 to create a sanding workstation.Configure the system parameters,the virtual teaching device input and output signal settings,ABB robot off-line grinding program preparation.Optimize the grinding track.Orthogonal experiment and single factor experiment were carried out.Analyze the grinding effect and analyze the experimental data.