Research And Path Planning Of Sleeper Mould Cleaning Robot System Based On STEP-NC

In this paper,the manufacturing process of concrete sleeper is taken as the research background.Taking the establishment of the sleeper mold cleaning robot workstation as an example,the research on the cleaning robot production system and its path planning are taken as the main research contents of this paper.The selection of industrial robots,man-machine interface and other equipment in the workstation,and the hardware structure of the control system are designed.The progressive accessibility simulation and optimization of sleeper mold cleaning path.The specific research contents are as follows :The production process of sleeper was investigated,the layout and expected function of cleaning workstation were determined,and the required equipment was selected.The force between the sleeper mold and the concrete was determined through the concrete adsorption force experiment,and the mechanical analysis of the brush was carried out to determine the parameters such as pressure,inclination angle and rotational speed of the robot end-effector at work.The uniformity hypothesis method is used to establish the kinematic model of the brush,and the material suitable for the brush beam is selected through the simulation of the mechanical properties of different materials.The equal arc length control method is used to plan the cleaning path,so that the normal pressure generated by the brush during the path cleaning is more stable.In this paper,the dichotomy principle is used to limit the unit search step size in the above method,which improves the efficiency of path planning.In addition,in order to improve the accuracy of the whole cleaning path,the bottom ball center of the brush is selected as the object of the cleaning brush radius compensation method for path planning.Finally,a sleeper mold cleaning path with stable cleaning effect,high path operation precision,reasonable operation time and slow consumption of consumables was obtained.The effective space of robot mold cleaning is determined by random variable selection of connecting rod,key fixed pose selection of end actuator and boundary fitting method,and the accessibility simulation of robot cleaning path is carried out.The influence of workstation layout and end-effector structure on cleaning path accessibility is determined and optimized.Finally,the sleeper mold cleaning workstation which meets the sleeper production process and has strong versatility is designed.