Profiles Cutting System Based On 3D-models Robot Off-line Automatic Programing

Profile is popularly used in the building of large-sized frame structures. With the characters of profiles cutting system and the development direction of robot programming, we design a new kind of cutting system with standard industrial ABB robot and graphical off-line programming technology as the foundation. The key to the system is studied, and the main contributions of this dissertation are listed as follow:1. With the purpose of cutting path extraction, we make constraint rules for 3-D design of components. Moreover, the extraction process of line, and transition matrix, and circular arc is researched based on the analysis of IGES file format. According to the extracted entrity and features of compontent 3-D model and cutting process, cutting path is generated and planned.2. We carry on entire design of cutting system, including mechanical structure and control system. The system functions and element, and control software development process are explicitly stated, and the HMI is designed. Moreover, the structured light testing and errors compensating is introduced.3. The structure of automatic programming is designed, and data type and functions of robot RAPID language are brifely introduced. With the analysis of characters of robot program structure and loading as foundation, the style of cutting path program is presented. The transformation between design coordinate system and robot workpiece coordinate system, and calculation of robot target point parameter, and determination of motion instructions parameter is researched.4. We creat simulation environment in RobotStudio in order to load and test the program automatically generated. Through the planning and adjusting, the cutting path program can be used in the practial section-bar cutting, and the effectiveness of program automatically generated is verified.