Research On The Cooperative Deburring Platform Designing And Path Planning For The Die Casting By Double Robots

With the rapid development of manufacturing industry,aluminum die-casting parts have been widely used in automobile,electromechanical,shipbuilding and other industries,especially in the automotive industry.At present,the deburring work of the auto parts production are mostly done by the hand-held deburring tools,it causes the poor working environment,product consistency and low efficiency.Some companies have adopted automated deburring production methods,such as industrial robots end-effector clamping workpiece deburring method,but this method is only suitable for small and medium-sized die-casting.With the increasing demand of die-casting from all walks of life,the status of the deburring method described above has completely failed to meet the huge market demand.The research on automatic deburring and polishing for die-castings has also become the key to improve the efficiency in the mass production of auto parts.The automobile engine camshaft cover is installed on the cylinder head of the engine and fixes the important parts of the engine camshaft.Based on the deburring of the die-casting parts of this kind,a new type of automatic deburring method of the double robots co-deburring is proposed.The content is as follows:(1)The dissertation summarizes the research status of deburring and deburring technology,compares the advantages and disadvantages of different robot path planning algorithms at home and abroad,and discusses the key problems of multi-robot path planning.(2)After comparing various robotic deburring methods,the dissertation determines the way for double robots to deburr complicated die-castings and completes the design of double robots deburring work platform.For the fixture,combined with the current manual deburring process and die-casting structure to design.For the work platform,the influence of the cutting force generated during the deburring process on the work piece and the designed fixture is analyzed in terms of stress and deformation,as well as the resulting vibration.The analysis results show that the workpiece and the jig assembly do not have a resonance phenomenon under the maximum deburring force,which satisfies the deburring requirements.(3)Under the premise that the designed deburring platform meets the needs of the double robots deburring,the dissertation starts with the research on the path planning of a single robot.The overall task of polishing was confirmed and a mathematical model of Traveling Salesman Problem for a single robot was established.This dissertation analyzes the overall task of polishing and establishes a mathematical model of Travelling Salesman Problem for a single robot.After comparing the advantages and disadvantages of various TSP algorithms,this dissertation proposes a hybrid particle swarm optimization algorithm which combines the idea of particle swarm optimization and genetic algorithm to optimize the path planning.Finally,the path planning algorithm is programmed in the simulation software.(4)Based on the single-robot path planning method,the dissertation clarifies the constraint problem the path planning of double robots is different from that of single-robot path planning.The distribution of double-path is considered as multiple backpacking problems,and established a multi-backpack and avoid interference mathematical model.The cooperative particle swarm optimization algorithm is used to decompose the double robots problem into two single-robot problems.While multiple robots are evolving,they also need to coordinate and communicate with each other to determine whether an interference collision occurs.The algorithm of the program is compiled in simulation software to achieve double robots path planning.(5)Using Matlab program to remotely control V-REP,the path planning algorithm of double robot is implemented in robot simulation software.The experiment is conducted in the field and the path taken by the algorithm is compared with the time taken by the traditional experience path.It is verified that the path planning algorithm in this dissertation can improve the processing efficiency by 34.1% in the path planning,and at the same time,in order to ensure the quality of deburring,through the deburring process parameters tuning experiment,it is analyzed that increasing the spindle speed is an important deburring process factor to reduce the surface roughness.