Research On Anchor Grinding System Based On Industrial Robot

Anchor is an iron appliance for ship parking.It usually connected to an anchor chain,on a shore or underwater,for the ship to stabilize.As the anchor has been in a humid environment,it is prone to corrosion,so in the production of anchor,it needs to spray asphalt paint.After the completion of casting,the anchor's surface is rough and stick with sand,direct spray quality is poor.So before spraying,the surface of the anchor needs grinding.The current grinding procedure of the anchor surface is still hand-polished to complete,not only the operation efficiency is low,and the working environment is bad,and the physical harm to the operator is very large.To this end,the use of industrial robot system for the anchor grinding is an effective means to solve the surface of the anchor grinding and get a higher processing quality and improve production efficiency.Aiming at the present situation of the anchor grinding,this paper designs a set of anchor grinding system based on industrial robots,mainly from the hardware of the grinding system,the off-line programming technology and the three-dimensional laser scanning technology,a comprehensive and systematic study of the anchor grinding system is carried out.The paper mainly completed the following aspects:1.According to the characteristics of the anchor workpiece and the processing requirements,the requirements of the anchor grinding system are analyzed.On this basis,the hardware part of the grinding system is designed.The selection of the robot,the selection of the grinding tool and the 3D Laser scanner applications,and the rotary table were designed in detail,including the servo motor,slewing ring and RV reducer selection calculation,as well as rotary table base and work surface static stress analysis.2.Based on ABB's off-line simulation software RobotStudio,the processing path generation algorithm of anchor workpiece is studied,and the calculation method of processing path number,processing path curve and processing path point is analyzed,and the anchor workpiece is analyzed accordingly.This paper analyzes the meaning of the instruction in the processing of the RAPID program language of the robot,and generates the robot processing job file offline,and verifies the result of the offline result.3.Based on the 3D laser scanner technology,in view of the possible deviation of the position of the anchor workpiece,and considering the long grinding time of the workpiece,based on the analysis of the standard ICP algorithm and its improvement,a new ICP algorithm is used to calibrate the workpiece coordinate system and experiment with the existing experimental conditions.Experiments show that the proposed ICP algorithm shortens the algorithm execution time while ensuring the registration accuracy.