Design Of Workstation For FRP Pipe Intersections Milling Based On Robot

FRP pipe products have the advantages of light weight,corrosion resistance and good design.They are widely used in petroleum,chemical industry,shipbuilding,municipal water supply and drainage,etc.The intersecting structure formed by pipe inserting is common in large and complex pipeline system.Therefore,it is necessary to cut the intersecting line of glass fiber reinforced plastic pipeline after winding.While the glass steel pipe intersecting line generally adopt the traditional manual way of cutting,manual cutting quality and precision are big error and low working efficiency of defects,and on-site working environment,labor intensity is high,the body produces cutting dust on workers' cause great harm.Therefore,it is urgent to research and develop full-automatic glass fiber reinforced plastic pipeline intersecting line milling workstation,instead of manual milling,reduce damage to workers' health and improve the quality and efficiency of glass fiber reinforced plastic pipeline intersecting line milling.As the industrial robot has the advantages of high flexibility,low cost and high intelligence compared with the CNC cutting equipment,so we choose the robot to develop the automatic glass fiber reinforced plastic pipeline intersecting line milling workstation.In this article,a workstation based on KR 210 robot.has been designed for intersecting line milling on glass steel pipe.In order to determine the milling thickness of each milling point on the intersecting line of the glass fiber reinforced plastic pipe and avoid the problems of pipeline cutting and cutting,the curve equation of the intersecting line of the glass fiber reinforced plastic pipe head has been derived.According to the relationship between the slope vector and the space geometry of the outer wall,the curve equation of the milling trajectory of the outer wall has been derived,and the model of the intersecting line has been established.According to the spatial geometry relationship between groove model and milling cutter diameter,the milling thickness of each intersection point and the position and posture of the end of robot milling cutter have been determined.The hardware structure and software system of the control system of the robot workstation have been designed according to the characteristics of the FRP pipe and the requirements of the cutting process.The human-computer interaction interface of the host computer has been developed with Visua1 Studio 2010,and the execution program of the S7 1200 PLC in the lower computer has written with TIA Portal V13.Finally,the function of improving the milling and quality of the robot workstation has been verified experimentally.The surface of the glass fiber on the groove of the intersecting line has been scanned by a three-dimensional surface profile optical measuring instrument.The surface roughness is measured,and the experimental data are compared and analyzed.The conclusion has been drawn that the robot workstation can improve the milling quality and efficiency of the intersecting line of the glass steel pipe.According to the specific process requirements,the robot workstation developed in this paper can calculate the milling thickness of each locus point of pipeline intersecting line by calculating the machining parameters such as the inner diameter of the head,the thickness of the main wall,the diameter of the branch pipe,the deflection angle,the deviation distance and the groove angle.The appropriate length of the milling cutter can be selecter based on the milling thickness.In the process of milling,the problems of not cutting and crossing the milling cutter are avoided,and the milling quality and efficiency of the intersecting line of the glass steel pipe are improved.