Design And Implementation Of A Steel Billet Defect Grinding Robot System

In the initial rolling process of steel billets in steel mills,cracks often appear on the surface of the billets.If these cracks are not repaired in a timely manner,it can lead to a decrease in the strength and toughness of the steel,and even cause accidents.Therefore,timely repair of surface cracks on the billets is crucial to ensure the quality and safety of the steel.In recent years,due to the rapid development of technology,intelligent manufacturing is gradually replacing traditional manual processing methods.Currently,most of the defect processing in steel billets relies on traditional manual grinding methods,which are slow,and the quality cannot be guaranteed.By introducing advanced industrial robot technology and replacing manual grinding with automation,the processing efficiency can be greatly improved,optimizing the production process,and reducing the burden on laborers.Firstly,based on the analysis of the steel billet crack treatment process this paper conducts an overall design of the steel billet crack grinding robot system and builds a complete grinding robot hardware system.A six-degreeof-freedom industrial robot is used to replace manual grinding,thereby improving precision,efficiency,and reducing labor intensity.To better understand the motion characteristics of the robot,this paper uses the D-H method to model the mechanical arm.By calculating and analyzing its forward and inverse kinematics and trajectory planning and using Matlab software to simulate and verify the correctness of kinematic analysis.Then,this paper designs the process flow of the steel billet crack grinding robot system and based on the flow,the control logic is sorted out,and the software framework design and construction of the system are completed.The logic sorting of the software control system of the upper and lower computers is introduced,and the code implementation of the software system is explained.Finally,this paper debugs the steel billet crack grinding robot,completes the grinding parameter determination experiment,edge grinding experiment,and grinding stability experiment.By researching the grinding robot,control system,mechanical arm and other aspects,the effective application of the steel billet crack grinding robot system is realized,verifying the feasibility of this system.