Design And Implementation Of A Robot Synchronous 3D Laser Cutting System

At present, there are still some problems in the domestic automobile mould industry, such as low intelligence, low standardization level and longer production cycle. The use of three-dimensional laser cutting technology for the processing of sheet metal parts, can greatly shorten the development cycle, improve production efficiency. The combination of laser processing technology and industrial robot technology is one of the inevitable trends in the development of modern advanced manufacturing technology. At the same time, with the increasing demand of complex shape and large size work piece, it also drives the development and application of external axis technology. The external axis can increase the degree of freedom of the system, expand the effective working space and improve the competitiveness of products. Therefore, the research direction and the main content of this paper are mainly focused on the design and implementation of the robot synchronous 3D laser cutting system.(1) In this paper, the robot laser cutting and its key technology points are studied and analyzed, then the scheme design of the robot synchronous 3D laser cutting system is proposed, with the kinematics analysis and the simulation test of the working space for the robot.; make a research and discussion on the influencing factor of robot motion mode, speed parameter and cutting quality, then database management mode of process parameters is given, which lay a theoretical foundation for the realization of this system.(2) The functional requirements and technical points of synchronous motion control between robot and external axis is analyzed, the frame structure and the design of the frame of the system are completed. The design and programming of the control program of the external axis synchronous motion control program using the VAL3 programming language, mainly include the synchronization between the robot and the external axis control, human-computer interaction, product data management, automatic production and other functions.(3) The general problem of the tool collision and the functional requirements of the TCP’s small amplitude correction are discussed, introduce Reference Flange Frame, based on the world frame, this paper propose a TCP fast correction compensation algorithm, then use VAL3 programming language to complete the design and preparation of TCP fast correction program, with the program operation sample. At the same time, an external axis calibration algorithm based on robot is proposed, the general calibration algorithm for the three point calibration of the linear axis and the four point calibration rotation axis is derived, then use the VAL3 language to design and program external axis calibration program of the robot.(4) Build the system platform, debug communication vulnerabilities, and complete the test experiment. Test results show that the use of the TCP correction compensation program not only makes the TCP rotation error is less than 0.5mm, but also makes the roundness error of the φ10mm circle is less than 0.3mm. The use of the external axis calibration program of the robot makes the linear error of the synchronous line is less than 0.2mm. In view of the initial deviation of the synchronous path, the design of orthogonal experiment is based on velocity and acceleration, the experimental results show that when the acceleration and the velocity of the initial stage are decreased, the initial error of the fitting path decreases, and the effect of acceleration is greater than the speed.