Research On Dual-Robot Cooperation Technology For Polishing Of Coupler Casting

As an important part of connecting rolling stock,coupler has a low degree of automation for rough polishing and cleaning,and the working environment is very harsh.In addition,with the rapid development of railway transportation,the requirements for the efficiency and precision of the coupler processing are getting higher and higher,so the manual operation method can no longer meet the current needs.The maturity of industrial robot cooperation technology provides ideas for solving this problem.Therefore,in order to solve the problems of low manual polishing efficiency of coupler castings and harsh working environment in actual production,this paper proposes a dual-robot collaboration system for polishing coupler castings and researches the robot collaboration technology.First,an overall scheme was established according to the structure and cleaning requirements of the coupler.In addition,the mechanical design of related supporting equipment has been carried out,including the transfer device that can assist the positioning of the coupler body,the fixture that can completely position and clamp the coupler body,and the adaptive abrasive tool that can adapt to curved,inclined and rough surfaces.The successful establishment of a three-dimensional model proved the correctness of these designs.Based on the coordinate transformation between the two robots and the derivation results of the kinematics of the single robot,the expressions of the relative forward and inverse kinematics and the relative Jacobian matrix of the two robots are proposed.The obtained expression not only simplifies the motion control of the dual-robot collaboration,but also integrates two independent robots into a unified system.Using Matlab for collaborative simulation,the experimental results are compared with the formula calculation results,which proves the correctness and practicability of the relative kinematics formula in the dual-robot cooperative motion.In addition,the polishing strategy is researched for various defects of the coupler,and the method of trajectory planning and theoretical formulas is combined to achieve the coordinated polishing of the defects.The Lagrange method is used to construct the dynamic equations of the dual-robots,and then the relative Jacobian matrix and the principle of virtual displacement are used to propose the dynamic equations representing the relative forces and moments of the dual-robots.The expression of this equation is intuitive and concise,and the two independent robots are constructed as a unified closed system,which is convenient for the control of the polishing force.Using Adams to simulate the dual-robot model,and co-simulate the coordinated polishing of the coupler body.The problem of force mutation is dealt with,and the correctness of the relative dynamics formula and its integration and simplification of the dual-robot cooperative system are verified.Finally,in order to verify the feasibility of the collaboration scheme,Robotstudio was used to build a virtual simulation platform.Based on the technological process and workstation layout in the plan,the hardware equipment is placed,the intelligent components and signal communication are designed,and the processing path of the robot is planned.The logic operation of the virtual workstation is realized through RAPID code programming,and the simulation of the automation system is completed.The correct operation of the simulation and the drawing of the polishing effect diagram verify the rationality and feasibility of the designed dual-robot collaboration system.