Research On Flexible Remanufacturing System Based On Welding Robot For Typical Component

Remanufacture engineering is the general designation of all techniques and activities for repairing and reusing worn machine parts, which can provide guidance to product design and management based on Product Whole Life Period. With the development of computer and robotics, remanufacture engineering is heading for automation and intelligence. It is necessary for the remanufacturing system to improve the adaptability to the workpiece of different damage type and degree. Thus, in this dissertation, the key technologies of flexible remanufacture based on arc weld robot are studied.The line structured light 3-D visual sensor is used to achieve the measurement and locating of remanufacturing workpiece. The sensor is mounted on the end effector of the robot, and can be oriented by the robot for data collection. The sensor calibration is the essential part of the process. The mathematic model of the line structured light visual sensor is established. The model is simple and the physical meaning is clear. A separated-parameter method is proposed to calibrate the structure parameter. A Vanishing Line method is proposed to calibrate the normal vector of light plane and invariability of cross-ratio is proposed to calibrate the baseline length. Also a calibration drone is designed. In the calibrating process, complicated measurement is avoided and the calibration is fast and easy to carry out, which simplifies the calibrating procedure. The experiment results show that the space measurement accuracy is better than 0.15mm. This method is high efficient and practical in vision sensors calibration. Tsai's two step method is used to calibrate the camera and the improved three-points method is used to calibrate the robot's hand-eye relation.Key technologies based on the point cloud data obtained by the structured light sensor are studied, including the preprocessing of data points and the method surface fitting. The study for preprocessing of data points is mainly concentrated on the noise error reduction of cloud point data, data compression, and data segmentation. Corresponding algorithm of data preprocessing are...