Research On Repair Trajectory Planning Of Robotic Arc Surfacing For Automotive Hot Forging Die

In the process of automobile manufacturing,a large number of key parts need to be formed by hot forging.The working condition of hot forging is very bad,which makes the forging die vulnerable to damage and failure.In order to speed up the production cycle and save the material of forging die,the hot forging die after failure should be repaired and put into use again,in which arc surfacing is an effective repair process.In view of the shortcomings of the current manual welding repair process,a repair trajectory planning of robotic arc surfacing is proposed for failure dies in this paper.The specific research contents are as follows:Based on the robotic arc surfacing repair system,the arc surfacing forming characteristics of special welding materials is studied for die repair,and the dimension models are established under different forming conditions.The effects of welding parameters,center distance between two beads and rising strategy of welding torch on forming are revealed through experiments.It provides a theoretical basis for model slicing and repair trajectory planning in arc surfacing repair of hot forging die.A software architecture is established for layered slicing of the model,and an algorithm for reading model files is developed based on the data of the repair model.With the help of abundant data processing functions in OpenGL,a three-dimensional graphics library,the display function of the software is developed,and the visualization of the repair model is realized by its powerful rendering ability.An adaptive adjustment algorithm for layered thickness is proposed according to the forming characteristics of arc surfacing and the geometric characteristics of the repair model.From this,the information of layered section can be obtained to provide data support for repair trajectory planning.The scanning path of the cross-section is optimized by analyzing the features of the cross-section obtained by the adaptive layering of the model,and a path generation algorithm is proposed based on the feature partition of the offset contour.According to the constraints of the repair space,the method of finding the direction vector of the path points is determined,and the complete repair path information is obtained.The position and pose of the path point information to the end effector of the robot is realized by combining the motion characteristics of the robot.At the same time,the interpolation calculation of the robot’s terminal position and posture is completed to achieve the goal of smoothing the repair trajectory in Cartesian space,and the rationality of the repair trajectory is verified in the simulation software.Surfacing forming experiments are carried out based on different scanning strategies,and the results show that the optimized surfacing trajectory can be formed better in relatively less time;and this method is applied to the robot arc surfacing repair of axle die,the whole repair process progresses smoothly,and the repaired die can be put into production again through finishing treatment.The service life of hot forging die has been improved,which proves the feasibility of the repair trajectory planning method proposed in this paper.Theoretical basis and experimental support are provided for the application of robotic arc surfacing repair process in practical production by relevant research work and results,which has certain academic research value and engineering reference significance.