【作者】 李瑞；

【导师】 马书根； 杨水山；

【作者基本信息】 北京化工大学 ， 电子信息（专业学位）， 2023， 硕士

【摘要】 在钢厂钢坯初轧过程中,钢坯表面往往会出现一些裂缝如果不及时修复,就会导致钢材的强度和韧性下降,甚至可能引发事故,因此及时修复钢坯表面的裂缝对于保证钢材质量和安全性至关重要。论文主要研究一种针对钢坯表面裂缝处理问题的工业机器人系统设计,旨在利用多传感器融合与机器人控制技术,实现对钢坯表面裂缝问题的精确和自动化处理,从而拓宽机器人技术的应用范围,推动机器人技术的发展。首先,针对钢坯裂缝处理工艺分析和打磨工艺要求,本文进行了钢坯裂缝修磨机器人系统的总体设计,搭建了一个完善的修磨机器人硬件系统,采用六自由度工业机器人来取代人工打磨,以此来提升精度、提升效率,并降低劳动强度。为了更好的掌握机器人的运动特征,本文使用D-H法来为机械臂进行建模,通过计算和研究分析它的正逆运动学及其轨迹规划,并使用matlab软件进行仿真验证运动学分析的正确性,以便更好地研究它的空间特征。通过这些研究,为机械臂的运动控制提供理论依据。然后,本文对钢坯裂缝修磨机器人系统实现的工艺流程进行了设计,并根据流程梳理控制逻辑,完成系统软件框架设计和搭建,实现了上位机和下位机软件控制系统的逻辑梳理,介绍了软件系统的代码实现。最后,本文对钢坯裂缝修磨机器人进行了调试,完成了修磨参数确定试验、棱边磨削试验以及磨削稳定性实验。通过对修磨机器人、控制系统、机械臂、正逆运动学、轨迹规划等方面的研究,实现了钢坯裂缝修磨机器人系统的有效应用,验证了本系统的可行性。更多还原

【Abstract】 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.更多还原