【作者】 崔静静；

【导师】 高洪明；

【作者基本信息】 哈尔滨工业大学 ， 材料加工工程， 2010， 硕士

【摘要】 目前,国内造船行业用的型钢多是手工切割,切割效率低,产品一致性难以保证,工作环境恶劣。机器人柔性程度高,适合于组建型钢自动切割生产线,能够提高生产效率和切割质量,已经成为型钢切割的发展趋势。机器人型钢切割系统的核心是离线编程技术,能够实现CAD/CAM/Robot一体化。本文针对目前型钢机器人切割离线编程中的特征建模复杂,型钢型面之间过棱处切割质量差以及坡口形式单一等问题,对离线编程技术进行研究。首先,从实用化的角度建立了机器人型钢切割离线编程技术的总体框架,重点对切割特征建模、切割特征编程、型钢切割标定等关键技术进行研究。开发了特征建模软件,通过导入DXF文件或绘图的方式获得基本的特征图形。切割特征以系列化的路径存储,开发了参数化绘图算法,提高了特征建模效率。其次,对切割的特征编程进行了研究。采用有向无环图完成了型钢切割的场景设计,建立了可维护的型钢类型库,并且进行了切割的路径规划。根据切割路径在型钢上的坡口特征以及切割路径连续的特点,开发了轮廓偏置求交算法,实现了切割路径变坡口的机器人位置姿态的规划。在偏置求交算法的基础上结合球扁钢和角钢的在过棱处的特点,提出了过棱处理算法,从而保证了在过棱处机器人等离子枪的平稳切割。最后,用MotomanUP20机器人和等离子切割的方式完成了机器人型钢切割离线编程的试验。在扁钢上实现了各种复杂图形的切割,验证了参数化编程算法的可行性,在扁钢上完成了变坡口切割路径的切割,切割坡口角度满足工况条件的切割要求。在角钢上进行了过棱切割试验,过棱处机器人及等离子割枪切运动平稳,转角过渡平滑,型钢断面处没有错位。更多还原

【Abstract】 Currently, the shape-steel is cut mostly by hand in the domestic shipbuilding industry, thus, the efficiency is low, the consistency of product is difficult to be guaranteed and the working environment is bad. The robot with highly flexible, is suitable for forming automatic product line of shape-steel cutting, so that product efficiency and cutting quality is improved, which is the trend of shape-steel cutting. The core of robot shape-steel cutting system is the off-line programming technology that can achieve the integration of CAD/CAM/Robot. The study of this thesis is off-line programming technology, aiming to solve such problems as the complexity of feature modeling, the bad quality when crossing the edge between steel surfaces, the simple bevel style and so on.Firstly, the overall frame of off-line programming technology in robot shape-steel cutting has been established from the utilization point of view. The focus of this study is the key technology of cutting feature modeling, cutting feature programming, and shape-steel cutting calibration. A feature modeling software has been developed, and the basic features are obtained by importing the DXF file or the mode of drawing. The cutting feature is stored by serial paths, and parametric drawing algorithm has been developed, so that the efficiency of feature has been improved.Secondly, the feature programming is studied. The scene design has been finished by directed acyclic graph, the library of shape-steel which can be maintained is established and the path planning of cutting is carried out. Contour offset intersection algorithm has been developed based on the feature of the groove style of the shape-steel and the consecutive trait of cutting path, realizing the planning of the robot position and pose while cutting the shape-steel with changing groove. On the basis of the offset intersection algorithm, combined with the edge characteristic of the bulb steel and the angle steel, crossing the edge algorithm has been put forward, guaranteeing the smooth cutting of the robot plasma gun cross the edge.Finally, the off-line programming experiments for robotic shape-steel cutting using Motoman UP20 by the way of plasma cutting have been finished. The cutting of various complex graphics has been realized in the flat steel, which proved the feasibility of the parametric programming algorithm. The cutting path with changing bevel has been finished and the groove angle meets the cutting requirements in working conditions. The edge cutting experiment in the angle steel has been carried out, and the move of the robot and plasma gun is smooth. The edge transition is flat, and the shape-steel profile has no mismatch.更多还原