Design And Implementation Of Off-Line Programming System For H-Beam Cutting Robot

In space cutting of section steel,the off-line programming system is applied to process the machining trajectory,which can solve the problem that there are many constraints on the three-dimensional characteristics of section steel.Aiming at the actual needs of domestic section steel cutting industry and following the development goals of simple user interface design and easy to learn software use,a new off-line programming system for cutting trajectory based on two-dimensional expansion diagram of H-section steel was designed and implemented,which integrated a variety of functional algorithms and could support various processing processes of section steel cutting.The application of this cutting off-line programming system solves the problems of low efficiency,low automation level and poor cutting quality in section steel cutting.Based on the H-beam steel cutting robot developed by Wuhan Lanxun Technology Co.,LTD.,this thesis explores the key technologies of the offline programming system of the cutting robot according to the technological requirements in the actual cutting processing,proposes effective solutions,and achieves the following results:1)Aiming at the mathematical modeling of the cutting robot,the kinematics algorithm of the robot and the trajectory planning algorithm of the space line and arc were studied,and the processing requirements were analyzed.A fixed point rotation algorithm was proposed to optimize the attitude conversion of the cutting gun,and the G/M code file meeting the actual cutting requirements was generated,which realized the double improvement of cutting efficiency and code programming efficiency.2)Aiming at the problem that it is difficult for front-line workers to use 3D software to draw H-beam cutting path,a new path drawing scheme based on 2D development map was proposed.The technological characteristics of H-beam cutting are fully studied.The two-dimensional development direction,the center line of the development diagram and the drawing layer of the relevant cutting trajectory of H-beam are designed,and the transformation model between two-dimensional and three-dimensional coordinates is established.At the same time,the system encapsulates the relevant algorithm to normalize the cutting graphics,which meets the requirements of the H-beam 3D cutting process.3)Based on the idea of parametric design,the cutting subsystem of typical gallery of basic graphics and truncated graphics of section steel end is developed.The processing code of cutting graphics is generated by setting relevant parameter information,which improves the function of off-line programming system.4)In order to verify the accuracy of the processing code generated by the off-line programming system,the key technologies of the 3D visualization module were developed,the model loading of the cutting gun,H-beam and cutting trajectory was realized,and the actual cutting process of H-beam was simulated by animation.The test platform was set up in Wuhan Lanxun Company,and all functions of the off-line programming system were fully tested,which verified the reliability of the system.At the same time,a new idea was provided for the subsequent research and development of off-line programming system for various profiles such as square pipe,channel steel and I-beam steel.