CN202336657U - Robot sectional steel cutting system - Google Patents
Robot sectional steel cutting system Download PDFInfo
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- CN202336657U CN202336657U CN2011204066014U CN201120406601U CN202336657U CN 202336657 U CN202336657 U CN 202336657U CN 2011204066014 U CN2011204066014 U CN 2011204066014U CN 201120406601 U CN201120406601 U CN 201120406601U CN 202336657 U CN202336657 U CN 202336657U
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Abstract
The utility model discloses a robot sectional steel cutting system. A computer of the system for storing off-line programming software obtains input data and instructions of operators through a touch screen, a laser sensor scans the surface data of the sectional steel, then, the data is returned to the computer through RS-185 communication, a robot controller is connected with a robot arm, the computer, a laser sensor, a robot teaching box and a plasma cutting system, the computer downloads off-line generated robot operation to the robot controller through Ethernet, the robot controller executes the robot operation, the robot arm is controlled to move to any posture and any position in space, meanwhile, a power supply is provided for the laser sensor, and the plasma cutting system is controlled through instructions. The sectional steel cutting program can be simply and automatically generated, the robot operation is generated in an off-line way during the cutting, and the production efficiency is improved. Through the laser sensor and an error processing algorithm, the cutting errors can be effectively eliminated, and the cutting precision is improved.
Description
Technical field
The utility model belongs to automation cutting field.It is the system that off-line programming technique, database technology, Robotics etc. combine to realize shaped steel automation cutting.
Background technology
The automation diced system mainly is to utilize digital control system, servo-driver to cooperate jacking software, and metal plate and pipe fitting are cut.According to the number of axis servomotor, can be divided into digital control systems such as 3,4,5.In three dimensions,, utilize the mode of traditional servo-driver combination to be difficult to realize, present main artificial completion of leaning on to the shaped steel cutting.Along with the maturation of industrial robot technology, utilize robot to cooperate servo-driver, off-line programming technique a kind of approach to be provided for shaped steel cutting in the three dimensions.The successful system of research has the TTS robot of Dutch HGG intersection and shaped steel diced system, robot of German ISU company shaped steel diced system, Norway to cut automatic production line etc. abroad.The domestic robot shaped steel diced system that does not still have maturation is in the laboratory research stage.
Robot off-line programming is an achievement of utilizing computer graphics, sets up the geometrical model of robot and working environment thereof, utilizes planning algorithm again, through control and the operation to figure, under the situation of off-line, carries out trajectory planning.
No matter which kind of mode robot adopts programme, finally all will be reflected as the point-to-point motion of end effector of robot, so in the robot manipulating task key point position confirm one of problem that robotic programming mainly will solve.At present; Commercial robot system nearly all adopts teach mode to confirm the position, and its subject matter is that precision is difficult to guarantee in three dimensions range estimation location; Taught point and environment are closely connected and irrelevant with operation, and the minor variations of environment all possibly cause the teaching position to lose efficacy.Confirm the position through teach mode; Can spend the plenty of time and need professional Robotics personnel operation; Large batch of production and processing is to accept for single variety for this, but bigger for specification and change in shape, the production and processing of small lot even single products; At this moment, teach mode can't satisfy the production needs.Some robot systems are carried out positioning key points through composing parameter to location variable, but generally speaking, the parameter of manual calculation key point is very loaded down with trivial details.Intelligent robot system is through the robotic vision system identification positioning, but its practicality is still waiting further raising.
Therefore, the Cutting Automation field demands developing a kind of robot shaped steel diced system of practicality urgently, can accomplish quick, the high-precision split requirement of single-piece or small lot.
Summary of the invention
The main purpose of the utility model is to provide a kind of robot shaped steel diced system, makes it can carry out the cutting of quick high accuracy to the shaped steel of single-piece or small lot.
The utility model is to adopt following technological means to realize:
A kind of robot shaped steel diced system comprises: the computer, six-joint robot arm, robot controller, plasma cutting system of storage off-line programming software, by computer-controlled laser sensor, expansion axis servomotor Y, expansion axis servomotor X; Input data and instruction that the computer of this system stores off-line programming software obtains operating personnel through touch-screen, the surface data of laser sensor scanning shaped steel returns to computer through the RS-485 communication with data then; Robot controller is connected with robot arm, computer, laser sensor, robot teach box, plasma cutting system; The computer off-line generates robot manipulating task, and through Ethernet the robot manipulating task that generates is downloaded to robot controller; Robot controller is carried out robot manipulating task, and the control robot arm moves to the arbitrary position and the attitude in space, simultaneously for laser sensor provides power supply, through the commands for controlling plasma cutting system.
The computer of aforesaid storage off-line programming software comprises: graphical interface of user, operation generation module, job management module, shaped steel module, instruction generation module, DBM, communication module, motion-control module, Error processing module; Graphical interface of user is connected with operation generation module, job management module, shaped steel module, DBM, motion-control module etc.; Communication module is connected with job management module, motion-control module, laser sensor, robot controller, and hardware platform and software platform are coupled together; Communication module comprises the Ethernet connection and is connected with RS485.
Aforesaid motion-control module is connected with Error processing module, communication module; The Error processing module drives the surface that laser sensor scans workpiece through the moving control module for controlling robot arm, triggers laser sensor through communication module then, and reads range data from laser sensor.
Aforesaid laser sensor is used to obtain sensor reference point any distance value to the shaped steel surface.
Aforesaid robot teach box is used for manual teaching robot's arm, and manual online generation robot manipulating task can be applicable to special shaped steel cutting.
The utility model is a kind of robot shaped steel diced system, compared with prior art, has following remarkable advantages and beneficial effect.
Can generate the shaped steel cutting process simply automatically, off-line generates robot manipulating task in cutting, enhances productivity.Through laser sensor and Error processing algorithm, can effectively eliminate cutting error, improve cutting accuracy.Can in bigger three dimensions, cut through the expansion axis servomotor shaped steel.Can be through the safety program algorithm, effectively prevent collision, and have cutting and have no progeny in producing, be automatically retracted back into the function of home.Through simple and reliable robot pose planning algorithm, reduced the amount of calculation of computer.The advantage of .Net is applied to off-line programing, increased the communication reliability and the beautiful interface property of system.
Description of drawings
Fig. 1 is that the hardware of the described robot of the utility model shaped steel diced system is formed sketch map;
Fig. 2 is the block diagram that concerns between the module of the described robot of utility model shaped steel diced system.
Wherein, 1 is that robot arm, 2 is compressed air cylinder for compressed oxygen gas tank, 13 for workbench, 12 for expansion axis servomotor X, 11 for expansion axis servomotor Y, 10 for anchor clamps, 9 for laser sensor, 8 for shaped steel, 7 for plasma cutting system, 6 for teach box, 5 for robot controller, 4 for computer, 3.
The specific embodiment
Further specify below in conjunction with the Figure of description specific embodiments of the invention.
See also shown in Figure 1; Robot shaped steel diced system, include the storage off-line programming software computer 2, six-joint robot arm 1, robot controller 3, plasma cutting system 5, by computer-controlled laser sensor 7, expansion axis servomotor Y be 9, expansion axis servomotor X is 10.The computer 2 of this system stores off-line programming software obtains operating personnel's input data through touch-screen, and the data of laser sensor 7 scanning surface of the works return to computer 2 through RS-485 with data then.Robot controller 3 is connected with robot arm 1, computer 2, laser sensor 7, plasma cutting system 5.Computer 2 downloads to robot controller 3 with the robot manipulating task that off-line generates through Ethernet; Robot controller 3 is carried out robot manipulating task, and control robot arm 1 moves to certain spatial position and attitude; Robot controller 3 provides power supply for laser sensor 7.Robot controller 3 is through instruction triggers plasma cutting system 5.
See also shown in Figure 2, the annexation of expression between the systemic-function.In the robot shaped steel diced system, the computer off-line programming software comprises graphical interface of user, operation generation module, job management module, shaped steel module, instruction generation module, DBM, communication module, motion-control module, Error processing module, automatic rollback module etc.Graphical interface of user is connected with operation generation module, job management module, shaped steel module, DBM, motion-control module etc.Communication module is connected with job management module, motion-control module, laser sensor, robot controller.In the robot shaped steel diced system, the Error processing module is connected with motion-control module, communication module.The Error processing module, triggers laser sensor through communication module then, and reads data from laser sensor to the surperficial certain location of shaped steel through the laser sensor above the motion-control module mobile apparatus human arm anchor clamps.Laser sensor is used to obtain sensor reference point any distance value to the shaped steel surface.
In the described robot of the utility model shaped steel diced system, described robot teach box is used for manual teaching robot's arm, can manual online generation robot manipulating task, be convenient to special shaped steel cutting.
Robot arm is 6 robots of Motoman SSF2000 type, and positioning accuracy is ± 0.1mm that robot controller is Motoman NX100.Computer model is for grinding magnificent touch-screen all-in-one.Laser sensor is the FT50RLA type of SensoPart, range 80mm-250mm, and precision is 0.25mm, links to each other with computer through RS485.Plasma cutting system is the meticulous type of the Ultra200 of Thermal Dynamics.Outside axis servomotor and driver are the product of An Chuan company, and driver can directly be integrated in the robot controller the inside.Off-line programming software in the computer has encapsulated robot communication interface and database interface based on the .Net technology, utilizes the integrated Robotics of communication advantage and the database technology of .Net platform; Off-line programming software in the computer is utilized based on the position of geometric reasoning and the method for attitude assignment by means of the support of robot world's model information and model conversion algorithm, to improve locating accuracy and flexibility.Off-line programming software in the computer is selected dissimilar through graphical interface of user, the shaped steel of different size is selected a certain technology type, imports variable technological parameter and generates robot manipulating task.Through communication module robot manipulating task is downloaded to robot controller then, robot controller is carried out robot manipulating task, controls robot arm and starts plasma and carry out the shaped steel cutting.
Claims (5)
1. robot shaped steel diced system comprises: the computer (2) of storage off-line programming software, six-joint robot arm (1), robot controller (3), plasma cutting system (5), by computer-controlled laser sensor (7), expansion axis servomotor Y (9), expansion axis servomotor X (10); It is characterized in that: the computer of this system stores off-line programming software (2) obtains operating personnel's input data and instruction through touch-screen; The surface data of described laser sensor (7) scanning shaped steel (6) returns to computer (2) through the RS-485 communication with data then; Robot controller (3) is connected with robot arm (1), computer (2), laser sensor (2), robot teach box, plasma cutting system (5); Computer (2) off-line generates robot manipulating task, and through Ethernet the robot manipulating task that generates is downloaded to robot controller; Robot controller (3) is carried out robot manipulating task, and control robot arm (1) moves to the arbitrary position and the attitude in space, for laser sensor (2) power supply is provided simultaneously, through commands for controlling plasma cutting system (5).
2. robot according to claim 1 shaped steel diced system is characterized in that: the computer of described storage off-line programming software (2) comprising: graphical interface of user, operation generation module, job management module, shaped steel module, instruction generation module, DBM, communication module, motion-control module, Error processing module; Graphical interface of user is connected with operation generation module, job management module, shaped steel module, DBM, motion-control module etc.; Communication module is connected with job management module, motion-control module, laser sensor, robot controller, with coupling together of hardware platform and software platform; Communication module comprises the Ethernet connection and is connected with RS485.
3. robot according to claim 1 shaped steel diced system is characterized in that: described motion-control module is connected with Error processing module, communication module; The Error processing module drives the surface that laser sensor scans workpiece through the moving control module for controlling robot arm, triggers laser sensor through communication module then, and reads range data from laser sensor.
4. robot according to claim 1 shaped steel diced system is characterized in that: described laser sensor is used to obtain sensor reference point any distance value to the shaped steel surface.
5. robot according to claim 1 shaped steel diced system is characterized in that: described robot teach box is used for manual teaching robot's arm, and manual online generation robot manipulating task can be applicable to special shaped steel cutting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204066014U CN202336657U (en) | 2011-10-21 | 2011-10-21 | Robot sectional steel cutting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204066014U CN202336657U (en) | 2011-10-21 | 2011-10-21 | Robot sectional steel cutting system |
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| Publication Number | Publication Date |
|---|---|
| CN202336657U true CN202336657U (en) | 2012-07-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011204066014U Expired - Lifetime CN202336657U (en) | 2011-10-21 | 2011-10-21 | Robot sectional steel cutting system |
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| CN (1) | CN202336657U (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103192157A (en) * | 2013-04-10 | 2013-07-10 | 无锡华联精工机械有限公司 | Numerically-controlled spherical surface cutting machine and numerically-controlled spherical surface cutting method |
| CN103192159A (en) * | 2013-04-23 | 2013-07-10 | 中国电子科技集团公司第三十八研究所 | Workstation system with welding robots for radar structural parts |
| CN103862152A (en) * | 2012-12-10 | 2014-06-18 | 烟台新科钢结构有限公司 | Laser scanning and welding or cutting synchronous automatic welding-cutting machine for corrugated web H-shaped steel |
| CN104175031A (en) * | 2014-08-20 | 2014-12-03 | 北京工业大学 | Welding robot with automatic correction function and welding method employing same |
| WO2014190483A1 (en) * | 2013-05-28 | 2014-12-04 | Abb Technology Ltd | Method and apparatus for managing laser process parameters in a robotic laser cell |
| CN105856272A (en) * | 2016-05-24 | 2016-08-17 | 马鞍山市博宇智能装备有限公司 | Manufacturing and assembling system for six-axis robot |
| CN106112235A (en) * | 2016-08-18 | 2016-11-16 | 苏州澳冠智能装备股份有限公司 | A kind of band laser scanning plasma cutting machine people |
| CN106862738A (en) * | 2017-03-24 | 2017-06-20 | 华南理工大学 | A kind of thick strip robot plasma diced system and cutting method based on MFC |
| CN107598392A (en) * | 2017-09-30 | 2018-01-19 | 合肥恒泰工程机械有限公司 | A kind of laser cutting parameter flow |
| CN109202239A (en) * | 2018-11-15 | 2019-01-15 | 上海迅选智能科技有限公司 | A kind of waste and old compressor flexible intelligent cutting method, device and its control method |
| CN109202238A (en) * | 2018-11-15 | 2019-01-15 | 上海迅选智能科技有限公司 | A kind of waste and old compressor flexible intelligent cutter device |
| CN112318752A (en) * | 2020-11-11 | 2021-02-05 | 银川隆基光伏科技有限公司 | Silicon rod cutting system |
| CN112692470A (en) * | 2020-11-27 | 2021-04-23 | 中船海洋动力部件有限公司 | Robot off-line adaptive programming processing system and method based on visual sensing |
| CN113111488A (en) * | 2021-03-10 | 2021-07-13 | 东风柳州汽车有限公司 | Virtual debugging method and device for laser cutting parameters of robot and storage medium |
| CN113523609A (en) * | 2021-08-13 | 2021-10-22 | 彭晓静 | Voice intelligent robot for 3D modeling laser cutting |
-
2011
- 2011-10-21 CN CN2011204066014U patent/CN202336657U/en not_active Expired - Lifetime
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103862152A (en) * | 2012-12-10 | 2014-06-18 | 烟台新科钢结构有限公司 | Laser scanning and welding or cutting synchronous automatic welding-cutting machine for corrugated web H-shaped steel |
| CN103192157A (en) * | 2013-04-10 | 2013-07-10 | 无锡华联精工机械有限公司 | Numerically-controlled spherical surface cutting machine and numerically-controlled spherical surface cutting method |
| CN103192159A (en) * | 2013-04-23 | 2013-07-10 | 中国电子科技集团公司第三十八研究所 | Workstation system with welding robots for radar structural parts |
| CN103192159B (en) * | 2013-04-23 | 2015-12-23 | 中国电子科技集团公司第三十八研究所 | A kind of welding robot workstation system for radar arrangement part |
| WO2014190483A1 (en) * | 2013-05-28 | 2014-12-04 | Abb Technology Ltd | Method and apparatus for managing laser process parameters in a robotic laser cell |
| CN105163913A (en) * | 2013-05-28 | 2015-12-16 | Abb技术有限公司 | Method and apparatus for managing laser process parameters in robotic laser cell |
| CN104175031A (en) * | 2014-08-20 | 2014-12-03 | 北京工业大学 | Welding robot with automatic correction function and welding method employing same |
| CN104175031B (en) * | 2014-08-20 | 2016-02-17 | 北京工业大学 | A kind of welding robot system with autonomous centering capacity carries out the method for welding |
| CN105856272A (en) * | 2016-05-24 | 2016-08-17 | 马鞍山市博宇智能装备有限公司 | Manufacturing and assembling system for six-axis robot |
| CN106112235A (en) * | 2016-08-18 | 2016-11-16 | 苏州澳冠智能装备股份有限公司 | A kind of band laser scanning plasma cutting machine people |
| CN106862738A (en) * | 2017-03-24 | 2017-06-20 | 华南理工大学 | A kind of thick strip robot plasma diced system and cutting method based on MFC |
| CN107598392A (en) * | 2017-09-30 | 2018-01-19 | 合肥恒泰工程机械有限公司 | A kind of laser cutting parameter flow |
| CN109202239A (en) * | 2018-11-15 | 2019-01-15 | 上海迅选智能科技有限公司 | A kind of waste and old compressor flexible intelligent cutting method, device and its control method |
| CN109202238A (en) * | 2018-11-15 | 2019-01-15 | 上海迅选智能科技有限公司 | A kind of waste and old compressor flexible intelligent cutter device |
| CN109202238B (en) * | 2018-11-15 | 2021-09-21 | 上海迅选智能科技有限公司 | Flexible intelligent cutting device for waste compressor |
| CN112318752A (en) * | 2020-11-11 | 2021-02-05 | 银川隆基光伏科技有限公司 | Silicon rod cutting system |
| CN112692470A (en) * | 2020-11-27 | 2021-04-23 | 中船海洋动力部件有限公司 | Robot off-line adaptive programming processing system and method based on visual sensing |
| CN113111488A (en) * | 2021-03-10 | 2021-07-13 | 东风柳州汽车有限公司 | Virtual debugging method and device for laser cutting parameters of robot and storage medium |
| CN113523609A (en) * | 2021-08-13 | 2021-10-22 | 彭晓静 | Voice intelligent robot for 3D modeling laser cutting |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120718 |