中国激光, 2017, 44 (5): 0502001, 网络出版: 2017-05-03
激光熔覆曲面零件再制造的机器人路径规划
Robot Path Planning of Laser Cladding and Remanufacturing of Curved Surface Parts
激光技术 曲面零件 路径规划 激光熔覆 NURBS曲面 熔覆层 laser technique curved surface parts path planning laser cladding NURBS curved-surface cladding layer
摘要
根据激光熔覆工艺特性,针对曲面零件提出了一种路径规划方法,采用三维扫描仪获取熔覆曲面点云数据,应用点云切片法得到熔覆路径上的点集。利用等弓高得到稀疏化轨迹点集,运用非均匀有理B样条(NURBS)曲面拟合得到加工点的法矢量,并按该方向偏置一定距离得到枪头运动轨迹点。通过熔覆实验并对实验样件作定量分析,发现曲面上的熔覆层质量良好,从而验证了该方法的可靠性和实用性,该研究为其他曲面零件的熔覆再制造修复提供了一定的参考。
Abstract
A path planning method for curved surface parts based on the process characteristics of laser cladding is proposed. The point cloud data of the cladding curved-surface are obtained by the 3D scanner and the point set on the cladding path is obtained by the point cloud slicing method. The equal bow height is utilized to make the trajectory point set sparse and the non-uniform rational B-splines (NURBS)curved-surface is fitted to obtain the normal vector of the processing point, and the motion trajectory point of the nozzle is obtained by skewing a certain distance along the direction of this vector. Through the cladding experiment and the quantitative analysis of the experimental sample, it is concluded that the quality of the cladding layer on the curved surface is good, which verifies the reliability and practicability of the proposed method and provides certain reference for the cladding and remanufacturing of other curved-surface parts.
陈影, 孙文磊, 黄勇, 黄海博, 王鑫龙. 激光熔覆曲面零件再制造的机器人路径规划[J]. 中国激光, 2017, 44(5): 0502001. Chen Ying, Sun Wenlei, Huang Yong, Huang Haibo, Wang Xinlong. Robot Path Planning of Laser Cladding and Remanufacturing of Curved Surface Parts[J]. Chinese Journal of Lasers, 2017, 44(5): 0502001.