Research On Repair Method Of Robot Curved Surface Parts Based On Plasma Surfacing

In this thesis,robot additive technology,plasma surfacing technology and reverse engineering technology are combined to put forward a new idea to repair the failed parts,and a set of intelligent parts repair workstation is developed.The workstation has the advantages of high automation,high repair precision and less human intervention.The main research contents include the following aspects:(1)Before repairing the failed parts,it was necessary to reconstruct the 3D model of the failed parts.The process includes point cloud data acquisition,point cloud preprocessing,point cloud hole repair of the failed parts,and splicing and integrating the processed point cloud data to obtain the three-dimensional entity model of the failure area of the parts.Then,the entity model of the failed part and the standard part model were calculated by Boolean difference,and finally the entity model of the area to be repaired was obtained.(2)Plan the path of surfacing welding in the damaged area.The damaged area of the parts to be repaired was generated,the STL format file of the repaired parts model was processed by layers,and the appropriate filling method was determined according to the obtained layered contour,so as to obtain the running path of the surfacing robot.(3)Optimize the trajectory of robot surfacing.The kinematics model of the robot was established and the inverse kinematics of the surfacing trajectory of the robot was calculated.By referring to the improved cubic B-spline curve,the joint trajectory of the robot in the process of surfacing welding was optimized,and its motion trajectory was simulated and analyzed in MATLAB software and compared with cubic interpolation method.(4)Study the plasma surfacing process,synthesize the characteristics and applicability of alloy metals,and combine the appropriate range of surfacing process parameters to determine the best choice.(5)Finally,the feasibility analysis of the whole plasma surfacing robot surface parts repair system was carried out.In the environment of ABB offline simulation software Robot Studio,the spatial layout of robot system was established.The upper computer establishes communication with ABB-IRB-120 robot,converts the G code into RAPID language recognized by ABB robot,outputs the filling trajectory of one layer of slices,and verifies the feasibility by ABB-IRB-120 robot.Through the above research,the intelligent parts repair workstation can not only ensure the repair accuracy and consistency,but also improve the repair efficiency and reduce the cost,which has a reference for the development of the damaged parts remanufacturing field.