A Method of Cleaning and Grinding Large Castings Based on Human-Machine Collaboration

Abstract

The invention discloses a heavy casting cleaning and polishing method based on man-machine collaboration. The heavy casting cleaning and polishing method is characterized in that a heavy casting is divided into a plurality of units to be polished; the size of each unit is less than a working range of an adopted robot; two adjacent units are overlapped slightly; and after the robot polishes one unit, the heavy casting is moved or the robot polishes the adjacent unit, and so on, till the polishing of the entire heavy casting is completed. The heavy casting cleaning and polishing method overcomesdilemma confronted by manual operation and avoids limitation from a programming mode adopted by an industrial robot. By establishing a robot demonstration platform for trajectory emulation and on-site operation testing, the results show that a demonstration system is stable in performance and accurate in trajectory tracking and has a favorable demonstration function, and a novel solution is provided for heavy casting cleaning and polishing.

Description

technical field [0001] The invention belongs to the technical field of machining, relates to the field of cleaning and grinding of castings, in particular to a method for cleaning and grinding of large castings based on human-machine cooperation. Background technique [0002] Casting grinding and cleaning is a very heavy work, with poor working conditions (high temperature, dust, dirty environment) and high labor intensity. At present, the cleaning and grinding of castings in the foundry industry still uses a lot of labor, and the rising labor costs have increased the burden on foundry companies. At the same time, the dusty grinding environment has caused great harm to the health of workers. Occupational disease prevention and work injury compensation have further increased In addition to labor costs, the poor working environment and high labor intensity have also made enterprises fall into the dilemma of difficulty in recruiting workers. In addition, manual grinding of lar...

AI Technical Summary

Problems solved by technology

However, the above two conditions are difficult to achieve for large-scale casting cleaning and grinding, especially the second condition is difficult to meet in actual work

Because industrial robots have high repeat positioning accuracy, but due to factors such as the manufacturing and assembly of robot parts and the on-site installation error of the whole machine, their absolute positioning accuracy is poor, which is not suitable for small batch production; secondly, the installation and positioning of large castings is also difficult. Difficult, there will be a large error, therefore, the off-line programming method is difficult to be practically applied in large-scale casting grinding operations

In addition, large-scale castings are generally produced in single pieces and in small batches. If the programming operation is re-programmed for each casting, not only the programming workload is large, but also the requirements for programming and robot operators are high, the efficiency is low, and it takes a long time. In the actual production process It is also difficult to achieve

It can be seen that for the grinding of large castings, the existing robot grinding solutions are not competent

Furthermore, for the grinding of large castings, if the above principle is used, a large robot is required to ensure that its working range covers the entire casting, which is not feasible under the current technical conditions

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