With the rapid development of the automotive industry, military industry and heavy industry, the cutting process of three-dimensional sheet metal parts and special profiles in these industries has a trend of small batch, diversification and high precision. The robotic laser cutting system consisting of industrial robots and fiber lasers has the characteristics of industrial robots. It can freely and flexibly realize various complex three-dimensional curve processing trajectories. On the other hand, it adopts flexible and long-distance transmission of laser fiber as transmission. The medium does not limit the movement path of the robot. Compared with the traditional processing method, the robot laser cutting system can improve the flexibility of the whole laser cutting system, occupy less space, and has higher economy and competitiveness while satisfying the accuracy requirements.
First, ABB robot related technology
Different from the motion control such as spot welding and handling, laser cutting is based on motion control under continuous process conditions. In addition to requiring the robot to have higher motion point accuracy and repeat positioning accuracy, the trajectory of the robot motion is the robot. The accuracy of linear and circular path interpolation imposes high requirements. The accuracy and stability of chamfering and small round cutting in laser cutting can be a good measure of the robot's motion control. ABB has developed a range of high-end technologies to meet the needs of the market with its strong R&D capabilities. The developed TrueMove and QuickMove technology can solve the problem of chamfer cutting accuracy at high speed. Advanced Shape Tuning and Wrist Move technology can solve the problem of precision of small circle cutting. At the same time, combined with ABB's offline programming simulation software RobotStudio and a good human-computer interaction interface Flexpendant and human-machine interface, the entire laser cutting system is easy to operate and manage under the premise of meeting customer technical requirements.
TrueMove and QuickMove technology
As shown in Figure 1, the actual path of the traditional robot coincides with the programmed path at low speed, but when the turning motion is made at high speed, the actual path will deviate from the programmed path. TrueMove based on advanced feedforward servo control technology greatly improves the motion control accuracy, solves the problem that the actual motion path of the robot deviates from the programming path at high speed, and truly realizes the code.
As shown in Fig. 2, the acceleration of the conventional robot remains unchanged during the process of increasing and decreasing the speed, and the corresponding time for completing an action tempo is also longer. Based on advanced dynamic model control technology, QuickMove can precisely control the acceleration and deceleration speed and steady speed of the robot, and reduce the action tact time by maximizing the acceleration of the robot at any time.
AdvancedShapeTuning and WristMove technology
The AdvancedShapeTuning software developed by ABB can compensate the robot's shaft friction function and make timely and accurate compensation for the small jitter and resonance of the robot while walking the complex three-dimensional cutting path. These functions are included in the robot's options. When the application only needs to call the corresponding function module, the robot can repeat the programmed path according to the instruction and automatically obtain the friction parameters of each axis.
WristMove is to make the robot move in the 1, 2, and 3 axes when cutting, and only the 4, 5, and 6 axes of the robot move, which avoids the shaft friction caused by the small circular cutting path when the 1, 2, and 3 axes move. Bad effects.
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