Research Of Software For Three-cutting-torch H-beam Robot Cutting Machine

As the special equipment for the H-beam processing, H-beam cutting system is popularly used in the building of large-sized frame structures.Based on the H-beam cutting system researched by the school of mechanical engineering of Tianjin University and Offshore Oil Engineering CO., LTD, we are aimed to study the software structure of it, plan and optimize the trajectory of the cutting robots according to the processing requirement and discuss the theory of creating the nc program. We have got the following creative work done:q The demands for the H-beam cutting system were analyzed. With UML the use case diagram was built. According to the use case diagram the class diagram, sequence diagram and collaboration diagram were built too. Then the COM's advantages and realization were discussed. The component diagram was built at last.q The H-beam grooves'characters were discussed. The inverse and forward kinematic model was analyzed based on the 5-axis robot mathematical model. The process was divided into two parts: cutting process and assist process. The trajectory of the cutting process was planned in cartesian coordinates and the assist process in joint coordinates. Also the elitist-protected GA was used to optimize the trajectories.q The H-beam groove mathematical model was built. Database and SQL were introduced into the software to store the data and to enhance the client experience. With the advantages of double linked list the method of how to create the nc program was researched.q The experiment used to test software was designed, and with which the software structure and the conclusions of the contents were verified.