Research On The Path Planing Of Wire And Arc Additive Remanufacturing Based On Robot

With the rapid development of equipment manufacturing in China,modern manufacturing technology has put forward higher requirements for the service life of mechanical equipment.Large castings in mechanical equipment inevitably have various types of local defects during the process of casting production or equipment use,which leads to the decline of the equipment performance or even the invalidation of the whole equipment.Therefore,in order to prolong the service life of mechanical equipment and achieve sustainable development,it is necessary to remanufacture defective parts by welding.With the aim to realize the automation of the remanufacturing process,this thesis systematically studies the welding path planning in the arc additive remanufacturing technology,develops a path planning tool and realizes the automatic planning of the generation in the welding gun trajectory and position.Firstly,the welding technological parameter and path planning algorithm in remanufacturing process are studied in this thesis.Through the theoretical analysis and experimental research on the forming process,formula for calculating the optimal weld spacing and the relationship between the height of accumulation layer and reinforcement are obtained.The advantages and disadvantages of each algorithm are analyzed through the experiment of the section,thus providing the basis for the selection of appropriate algorithm in the welding path planning.According to the geometrical characteristics of arcing point and arc quenching point of welding seam,the strategies on algorithm of welding layer path planning is discussed in this thesis.Secondly,this thesis studies the acquisition of point cloud data in the defective parts remanufacturing area.The acquisition and processing procedures of point cloud data in defective parts is introduced.The extraction method based on the boundary curvature and Boolean operation is obtained.Thirdly,this thesis adopts NX secondary development tools to develop the path planning tool.By using the secondary development function,point cloud layering and autonomous path planning are realized,and the welding gun trajectory and position in the remanufacturing process are generated.In order to verify the applicability and accuracy of the path planning tool to the remanufacturing area with different types and shapes,the trajectory simulation of the welding gun is carried out in the remanufacturing area with typical geometric shapes.At last,the arc additive remanufacturing experiment is carried out.The remanufacturing experiment platform was built.The post-processing program was used to transform the coordinates of the path planning results,and the robot motion program was generated.According to the motion program,the remanufacturing experiment of the defect mold was conducted to verify the validity of the welding gun trajectory and position generated by the path planning tool.