激光熔覆是阀门密封面强化的理想技术手段, 但三偏心蝶阀在结构上的特殊性使得其激光熔覆工艺路径规划需要三维空间位置的协调编程。采用平面夹具替代传统的斜锥面仿形夹具, 基于六轴机器人与回转台的复合运动编程原理, 提出了一种具有通用性、精确性的三偏心蝶阀蝶板密封面激光熔覆工艺路径规划方案, 详细分析了转台和机器人夹持激光熔覆头的位置-时间曲线和位置调整速度-时间曲线。

Laser cladding is an ideal valve sealing surface strengthening technology, but the particularity of triple eccentric butterfly valve in structure makes the laser cladding process path planning involves the coordination of programming in three-dimensional space. The traditional oblique cone copying fixture is replaced with flat clamps, and a new path programming method with both universality and accuracy of robotic laser cladding disc sealing surface of the tri-eccentric butterfly valve is proposed, based on hybrid motion programming of the six-axis robot and rotary table. The analysis of both position-time curve and position adjustment speed-time curve of turntable and the robot holding the laser head are discussed in detail.