| Prefabricated steel structure is a rapidly developing building form in the construction industry in recent years.With this form,complex large buildings can be built easily and quickly,and all raw materials can be recycled.The national "14th Five-Year Plan" vigorously promotes the industrialization of construction industry,and the prefabricated steel structure has a broad development prospect.At present,the domestic demand for construction section steel is huge,but in the section steel cutting link is still mostly by manual cutting,cutting quality is uneven,cutting efficiency is low,the production environment is bad,has a serious threat to the health of workers.In view of the low automation and intelligence of section steel cutting,this paper designed a section steel cutting control system.The main res earch contents are as follows:Firstly,the working principle of section steel cutting control system is studied.Aiming at the mechanical structure of section steel cutt ing production line,the control system is designed according to the cutting requirements.At the same time,the key components of the control system are introduced in detail.The external axis of the robot and the servo system of the following car are selected,and the communication mode between each part of the control syste m is determined by comparison.Secondly,in view of the complex and diverse cutting patterns on the surface of section steel in the process of machining,a scheme of automatic analyt ic generation of cutting track feature points for the secondary development of DXF files is determined in this paper.According to several cutting path process principles that need to be observed in plasma cutting process,greedy genetic algorithm is used to get the optimized cutting path of target cutting path,and the simulation proves that the algorithm can reduce the empty path and i mprove the cutting efficiency.Then,this paper studies the cutting unit robot in detail,establishes the robot kinematics model,analyzes each coordinate system space of the robot system,and calibrates the robot tool coordinate system and workpiece coordinate system.In order to solve the problem of cutting dislocation caused by deformation in section steel transportation,a spatial deformation cutting compensation algorithm is proposed in this paper.A robot collision model is established to determine the limiting collision environment.Finally,faced with various needs to be realized,this paper uses open source framework QT to develop a section steel cutting control system software,including system state reading module,manual operation module,setting module and log module,through the software can achieve human-machine interaction control of the whole cutting production line.The ROBOTSTUDIO offline programming software is used to simulate the target cutting path,and the HN300×150 section steel cutting experiment is carried out,the experimental results prove the feasibility of the design of the cutting control system. |
