Research On Mould Repair Technology Based On Robot Additive Manufacturing

In order to solve the problems of local crack and wear in the use of moulds,research shows that the traditional mould repair methods greatly influenced by the level of the operators and difficult to guarantee repair precision and not easily realized the data consolidation of in the process of mould repair.According to the above information and based on the characteristics of additive manufacturing and robot technology,the new idea of using the technology of robot combined with additive manufacturing technology to repair the mould was put forward in this paper,and a set of intelligent station for mould repair were development.The mould workstation has the advantages of high intelligence,high precision and less human intervention.This paper mainly studies the following problems.(1)Extract the mould lose efficacy parts,extract the failure region three-dimensional model before to repair mould,extract point cloud image of failure die through digital measuring equipment of three coordinate measuring machine,and the digital model of the failure die was reconstructed.With the help of 3D model processing software and Boolean calculation obtain the model to be repaired.(2)Robot path planning,the model to be repaired through additive manufacturing generated.By analyzing the characteristics of the layering and contour line generate in different file formats of additive manufacturing process,it was determined that the STL format of to be repaired model was treated with the equal layer thickness layer,and extracted the contour lines from each layer.In the scanning line filling mode of each layer,focus on path planning based on line contour and path planning based on surface contour and surface contour containing grooves and protruding plate.According to the contour and scanning line planning the robot running trajectory and making feasibility analysis by the robot off-line programming software RobotStudio.(3)The kinematics model of the robot was established,and the positive and inverse solutions of the robot's running trajectory were theoretical studied,and the motion trajectory was simulated and analyzed under the MATLAB software.By analyzing the mathematical model of robot kinematics,we will establish a theoretical foundation for further development of robot's motion path.(4)Under the environment of Visual C++ software and develop the software parts needed in the process of repairing the die.According to the task requirements of the mould repair,the main function of the software was divided into three parts: the model extraction module,the motion control module and the fusion welding module,operators can observe the quality and effect in real time and man-machine coordination control interface enables operators to dynamically adjust the deposition parameters.(5)Finally,the feasibility of the whole mould repair system was analyzed.The spatial layout of the mould repair system was set up in the ABB off-line simulation software RobotStudio.The line contour was picked up through the RobotStudio path pickup function,and the Robot running program was generated.During the running,the key points in the trajectory of the welding gun was adjusted to ensure that there was no interference with the other equipments,finally,the reliability and track accuracy of the whole die repair system are verified.