Design And Implementation Of Off-line Programming Software Based On Robot Cladding Systems

Industrial robot is widely applied in the field of laser cladding forming, in order to adapt to the complex trajectory in the process of laser cladding forming,it is necessary to apply the off-line programming technology. Designing a reasonable off-line programming software is a key factor of the quality of the formed products.The article develops the off-line programming software based on the process characteristics of laser cladding forming.This paper has set up hardware environment for the laser cladding forming through the study on laser cladding forming technology and respectively researches the influence of laser power, the robot running speed, as well as feeding rate in laser cladding forming to single-channel cladding layer surface morphology, the relationship between the actual height with the height design of thin-walled components.The error resulting from robot moves at sharp corner during the laser cladding process was analyzed in this paper, and an interpolation algorithm with the characteristic of uniform transition at closed angle for laser cladding robot is introduced. The interpolation process was demonstrated by using the methods of add compensation points at the sharp corner and control the laser on/off precisely. To achieve the data visualization, the author proposed the corresponding display.The simulation and experiment results have been verified the feasibility of the robot path, and a thin-walled with a sharp corner of 60° was successfully clad. The study result provides theoretical guidance and experimental basis for laser cladding with angle characteristics of thin-walled.We have analyzed phenomenon of the path in laser cladding forming that is easy to form cross path with contour path, which leads to marginal rise. The filling path of the laser cladding forming is optimized through the method of adding transition curve to filling path, improving the precision on the surface of the forming parts. The experimental results showed that it did not occur the marginal rising in forming parts.Through the detailed study on the feature points extraction of complex pictures in the process of laser cladding forming, based on the weakness of existing method of feature points extraction,this article put forward a new method of feature points extraction which can remove a large amount of data redundancy and it can also guarantee the profile precision at the same time.