Cutting Robot Equipment Research Of Large Complex Steel Structure Parts

With the rapid development of large-scale industry,cutting technology and equipment research of large complex steel structures parts is extremely important.The existing tandem multi-axis cutting robots of bevel cutting of the non-planar parts has constraints,since we can get multiple solutions of each joint's pose according to the complex cutting path.Complex control strategies,which are difficult to achieve,has to be taken in order to ensure continuity of the motion path.In this context,this paper designs a five-axis hybrid type cutting robot system to achieve the bevel cutting with large angle of complex steel structure parts.Its 3-DOF translation mechanism can independently achieve the cutting spatial position,and the 2-DOF rotation mechanism can complete the cutting angular pose by itself.Each mechanism needn't make compensation displacement when the other one move,which simplify the control strategies.With the structure design,make the central axes of rotation,both the horizontal rotation mechanism and the vertical deflection Mechanism,pass through the torch point to ensure it fixed.The rotation mechanism of torch point fixed has axes of oblique type and axes of orthogonal type.Through kinematic analysis,select and design the rotation mechanism of torch point fixed which is axes of orthogonal type.This paper use SOLIDWORKS 3D software to design the five-axis hybrid type cutting robot and optimize the model with finite element analysis.Finally,make the prototype model.Test it according to bevel cutting of the shell cover.The result shows that the cutting robot system achieves a good cutting quality,has high efficiency.The cutting robot system provides one way in designing cutting equipment for large complex steel structures parts.