Research On The Path And Trajectory Of The Manipulator In Laser Cladding Of The Shearer Blade

The main function of the shearer drum spiral blade is to load coal.Complex coal seam conditions and non-linear shock loads can lead to increased wear or even failure of the tail and outer edge of the spiral blades,which can have an impact on the efficiency and production costs of the coal miner.The use of laser cladding and remanufacturing methods to repair worn blades can increase their service life.By planning and controlling the end trajectory of the robot for cladding experiments,it is possible to achieve arbitrary access to various complex heterogeneous spaces,which can meet the needs of cladding processing of large scale complex shapes such as spiral blades.In the laser cladding experiment,the robot model was built by using Matlab Robotics Toolbox,and the point cloud map of the working space was obtained by Monte Carlo method,and the point cloud was enveloped to solve the volume of the working space of 27.0217m3.It was close to the given value of 27.2m3 in the technical parameters,which verified the correctness of the robot modeling and orthokinematics and could meet the task requirements of laser cladding of the spiral blade of coal miner.Simulation analysis of the end trajectory of the arm involved in the cladding experiment was carried out to prepare for the laser cladding experiment of the blade.Based on the Adams simulation of the robot's spiral curve motion along the outer edge of the blade,the angular displacement,angular velocity,angular acceleration and the torque required to drive the motor of each joint were obtained.Taking full account of the gravity factor and the load of the laser head at the end,the laser head device would undergo an order of magnitude small fluctuation at the moment of trajectory mutation,which can keep the robot arm running smoothly.The joint angle time series was imported into Sim Mechanics as the driving force to control the arm to do the same helical curve motion,which verified the universality of the driving force of the joint angle time series obtained in Adams.The wear condition and surface characteristics of the most heavily worn tail piece were analyzed,and trajectory verification and laser repair experiments were carried out in different regions.A 3D scanner was used to obtain the point cloud data of the outer edge of the tail vane,and Mesh Lab software was used to further process the cloud data and reconstruct the surface to be processed.Using Boolean operation,the shear wear model of the complete blade model can be obtained to obtain the model of the area to be augmented,and imported into the cladding remanufacturing assistant programming software to generate the path program.The robot moved smoothly,the cladding processing time for the tailpiece was 70 min,and the geometric features after cladding were consistent with the original blade,and the molding quality was good.The research method provides a reference for the repairof spiral blades and the remanufacture of other complex curved parts,and has good engineering application value.The paper has 70 figures,6 tables,and 54 references.