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Method for performing automatic surfacing repair on damaged metal part

A metal parts, automatic surfacing welding technology, applied in metal processing equipment, welding equipment, welding accessories, etc., can solve the problems of uneven quality of manual repair, difficulty in batching, high surfacing layer, etc. The effect of high efficiency and high degree of automation

Inactive Publication Date: 2010-12-29
DALIAN MARITIME UNIVERSITY
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

The most extensive existing repair method is manual arc surfacing, and its disadvantages are: 1. The operator must be proficient in surfacing technology; 2. The quality of manual repairs is uneven, and the surfacing layer is generally high; 3. It is difficult Realize the workflow of batch and assembly line, with low efficiency

Method used

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  • Method for performing automatic surfacing repair on damaged metal part
  • Method for performing automatic surfacing repair on damaged metal part
  • Method for performing automatic surfacing repair on damaged metal part

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Embodiment Construction

[0014] The system consists of two parts, measuring robot and arc welding robot. Among them, the measurement robot is composed of a line structured light sensor 2 and a 1# six-degree-of-freedom robot arm 4, and the robot arm uses the HP6 robot of motoman company. The arc welding robot consists of a welding torch (1) and a 2# six-degree-of-freedom mechanical arm (3). The integrated product selects MOTOMAN-SSA2000 arc welding robot from motoman company.

[0015] work process:

[0016] The working process of the system includes three parts: scanning and positioning of damaged parts, extraction of damaged areas, and automatic generation of repair paths.

[0017] (1) Surface scanning and positioning of damaged parts:

[0018] The data of the metal part profile obtained by the application of the measuring robot is the 3D point cloud data in the base coordinate system of the measuring robot. The relationship between the base coordinate system of the measuring robot and the base coor...

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Abstract

The invention discloses a method for performing automatic surfacing repair on a damaged metal part, which is a technical scheme used for performing automatic surfacing repair aiming at the missing part on the damaged metal part. In the method, a measuring robot and an arc welding robot are involved, wherein the measuring robot consists of a structured light sensor and a six-freedom-degree mechanical arm; and the arc welding robot consists of a welding gun and a six-freedom-degree robotic arm. The system works according to the following steps of: first, fixing a damaged part to be repaired on a working table, and scanning the damaged part by using the measuring robot to obtain three-dimensional surface point cloud data of the damage of the part; then, performing registration (geometric alignment) on the three-dimensional surface point cloud data and an original CAD model of the metal part, and extracting the point cloud data of a damaged area by calculating the error from the point cloud data to the CAD model; and finally, generating a surfacing repair path according three-dimensional information of the damaged area, and controlling the arc welding robot to finish the automatic repair of the damaged area of the part by using a computer.

Description

technical field [0001] The invention relates to the technical field of repairing metal parts, in particular to a method for automatic surfacing welding repairing of damaged metal parts. Background technique [0002] Since the 1990s, my country has carried out in-depth research on remanufacturing engineering. Relevant experts have defined remanufacturing engineering as: "Guided by product life cycle design and management, with high quality, high efficiency, energy saving, talent saving, Environmental protection is the general term for a series of technical measures and engineering activities that use advanced technology and industrialization as a means to repair and transform waste products. [0003] Remanufacturing includes the repair and modification of products. Among them, the repair of metal parts is one of the main research contents in remanufacturing engineering. Repairing the size of the missing part of the waste (damaged) metal parts is a key link. The existing repa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K9/04B23K9/32B23K9/12B23K9/095
Inventor 马孜王文标胡英
Owner DALIAN MARITIME UNIVERSITY
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