The Research On Industrial Robot And Three Dimension Scanning Applied Technology For 3D Printing

The digital model and 3D printing technology provide the possibility for the manufacture of complex surfaces.The macroscopic geometry of the surface has a great influence on the overall mechanical properties of the mechanism,so it is necessary to detect the macroscopic geometry.At present,three coordinate measuring techniques can be used for detection,but its efficiency is relatively low and cannot match the speed of 3D printing molding.A handheld 3D laser scanner can quickly obtain the point cloud of surface,but the quality of point cloud is greatly affected by the artificial experience and cannot be applied in the field of intelligent manufacturing.Therefore,how to detect the macro geometry of the 3D print and repair the area that does not meet the requirements of the macro geometry is a common problem.The combination of industrial robot and three-dimensional scanning technology provides the possibility for the macroscopic geometric detection of 3D printed parts.At the same time,industrial robot and 3D printing are combined to build a highly flexible multiple forming experimental system.According to the point cloud of macroscopic geometric shape defects,it can be applied to repair the surface defect of parts.The research on industrial robots and three dimension scanning applied technology for 3D printing based on point cloud registration provided a 3D scanning scheme based on industrial robots and a detection scheme for macroscopic geometry defect.At the same time,taking the FDM process as an example,a repair operation was performed on the surface defect portion.Based on the analysis of the characteristics about 3D printed surface point cloud,a point cloud registration scheme based on ICP algorithm is designed.Using the UR5 industrial robot as an actuator,a three-dimensional scanner is equipped for rapid scanning to obtain the surface point cloud.The obtained scanning point cloud is matched with the reference point cloud to extract the missing point cloud.The clustering algorithm is used to cluster the missing point cloud and remove the boundary points.At the same time,the missing point cloud is divided into a certain reasonable number of area blocks to facilitate the planning of the scanning path.The theory of minimum enclosing ball is introduced to estimate the missing area of the area block,which can reduce the repeated scanning area and help to layout the sampling point,viewpoint,scanning direction and scanning path reasonably.Then,it can guide the robot to carry out the three-dimensional scanner to perform the full scanning operation.By setting the threshold of the missing point cloud,the integrity detection and the scanning operation are performed with multiple times to ensure a complete surface point cloud.Based on the three-dimensional space position relationship between the surface scanning point cloud and the reference point cloud,the concept of point cloud tolerance ball and point cloud error ball is proposed,which provide new ideas for the detection of point cloud macro geometry topography.The point cloud tolerance ball is a spherical region with a reference point and a certain radius.Based on the normal search method,the reference point cloud is used as a reference and the corresponding scanning point cloud is searched in the direction of its normal line.The searched scanning point cloud and the reference point cloud are computed through the minimum enclosing ball to obtain the point cloud error ball.Through the spatial relationship between the point cloud error ball and the point cloud tolerance ball,it is determined whether there is a defect in the surface.Taking the FDM process as an example,multi-forming experiment system based on the industrial robot is set up.According to the surface point cloud of 3D printed piece,the defect boundary of macroscopic geometrical topography is extracted and the repair path is generated which guides the experimental system to repaired.The related experiments show that it has better patching effect.Therefore,the related research of this topic is complete,and it also has certain theoretical and practical value in the project.