Research On Patternmaking Technology And Equipments Of Cast Steel Bars-Converging Valve-type Joints

This dissertation mainly discusses the patternmaking technology of a cast steel known as Bars-Converging Valve-type Joints for Construction steel structure and key technology of its equipments based on hybrid robots named TriVariant A/B. The following is accomplished:1. According to the structure characteristics and the machining demands of Bars Converging Valve-type Joints, considering cost, efficiency and workability, select proper casting method and material of the casting form. Standardize the parameters of joint model and divide the joint into standard cuboids. Based on the divided model, using programming language and 3D model software remodel the joints automatically and propose the method of test.2. Based on process of the joints manufacturing, analyze the demands of casting form cutting and assembly. Use hybrid robots TriVariant A/B as main equipments, specifically as follows: using the TriVariant A type robot equipped with heating wire achieve the task of casting form cutting, using TriVariant B type robot equipped with fixture and an 1-dof rotary table achieve the task of carrying and assembling. Establish the mathematical models of each equipment, and unify the coordinate systems, transforming parameters from one coordinate system to another.3. According to the dividing principle of the casting form and standardization of parameters, analyze the mathematical theory of casting form cutting, transform joint parameters from joint coordinate system to the cutting robot coordinate system, and at the same time the assembly method is also discussed. Propose the layers of control system, fundamental function and design of user interfaces.4. The patternmaking technology and equipments of cast steel Bars-Converging Valve-type Joints above is applied in Sunny Valley at Shanghai World Expo Axis.