Design And Development Of Robot Machining System For Bathtub

With the rapid development of China's economy,the people's disposable income continues to increase,and the consumption structure continues to upgrade.Bathtubs have gradually entered thousands of households and become normal bathroom products.Bathtubs have a broad market prospect.However,the bathtub manufacturing industry in China is still dominated by manual operation,with low processing accuracy,slow processing efficiency,poor product consistency,and the harm of processing environment to workers' health can not be ignored.In the manufacturing industry,industrial robots have gradually replaced workers to become the main force of production.Using industrial robots to engage in high-risk,boring work will also be the future development trend.China's bathtub manufacturing industry is also in the stage of industrial structure upgrading,and it is urgent to introduce advanced robot automation production line.However,there are some problems in the application of industrial robot in bathtub processing,such as difficult positioning,insufficient self-adaptive ability in the processing process and so on.In view of the above problems,a bathtub robot processing system is designed and developed,which integrates the functions of hole milling,edge cutting and hole back grinding.Firstly,the processing technology of bathtub is analyzed,and the overall scheme of the machining system is designed.Aiming at the problem of large processing range,the r2000ic210 L robot of FANUC company is selected.The CD33 laser displacement sensor of Optex and the MIK-DJI-10 A AC transmitter of Meikong technology are selected on the sensor to complete the construction of the processing platform.Aiming at the problem that it is difficult to locate the bathtub as a whole,a bathtub positioning method based on point laser displacement sensor and industrial robot pose is proposed.When teaching,only six fixed positions of robots are needed to realize the bathtub positioning.The algorithm is easy to operate and has a wide range of applications,The experimental results show that the positioning error of the algorithm can meet the requirements of the overall positioning accuracy of the bathtub.Aiming at the deformation problem in the forming process of bathtub,a precise positioning method of bathtub concave hole is proposed.The industrial robot moves at constant speed and the point laser displacement sensor collects the characteristic information of bathtub concave regularly.The robot position and posture are corrected by the inflection point searching method.Finally,the precise positioning of the concave center in the current user coordinate system is realized,The experimental results show that the algorithm can meet the machining accuracy requirements of concave hole.Aiming at the problem that the machining parameters are difficult to adapt to the change of bathtub thickness,based on the current feedback,the detection method of hole back grinding and the control method of variable speed cutting of edge are proposed.By setting the threshold value of current increment,the detection and control of grinding back tool collision are realized;PID control is improved to realize variable speed cutting of edge,and finally improve the efficiency of processing.The reliability and stability of the control method are verified by experiments.Finally,the processing experiment of spa bathtub is carried out,and the experimental results show that the processing accuracy error of the system can meet the requirements of bathtub processing technology.The developed system has been applied to the actual production process of many bathtub manufacturing enterprises,which can achieve highquality and efficient production of bathtubs and meet the established needs of customers...