Design Of Combined Structural And Motion Planning Of 3D Vision And Laser Cladding Of Drill Repair Robot

With the rapid development of industrial automation,automation equipment gradually replaces people to perform complicated and repetitive work.As one of the representatives of advanced processing methods,laser cladding has gradually changed from manual hand-held operation to automatic equipment equipped with laser guns for operation.The visual laser cladding system based on industrial robots is an automatic parts repair equipment that integrates point cloud processing technology and path planning.This paper studies the use of robotic vision laser cladding to repair worn PDC bits.First,the structure design of the connection and combination of the 3D vision scanner and the laser was carried out,and the follow-up research was carried out through a robot equipped with a combined vision and laser structure platform.On this basis,the hand-eye calibration experiment of the combined structure of laser and vision is carried out,and finally the machining path is planned for the wear area of the drill.The main research contents of this paper are as follows:(1)For the 3D vision scanning equipment and laser applied to the drill repair robot,a connection structure is designed to integrate the two equipments,and they are installed on the flange of the robotic arm to work.The design of the combined connection structure is carried out through the measurement of the size of the equipment,the consideration of weight and safety,the setting of the working angle and the wiring planning.Among them,the finite element static stress analysis is carried out for the parts with large load,and its feasibility is analyzed.(2)The research on the hand-eye calibration accuracy of 3D vision scanner and laser is carried out on the new combined structure.The transformation relationship is solved by setting a certain number of reference points,in which the singular value decomposition method is mainly used to solve the rotation translation matrix.In this paper,three reference points and six reference points are respectively set for calibration experiment comparison,and the rules and methods of precision optimization are obtained.(3)Based on the point cloud model of the worn PDC bit collected by the 3D vision scanner,the Boolean operation was used to compare and extract the worn surface to be repaired,and then the influence of the cladding track width on the use of point cloud slices was analyzed.Inpainting Fitting of Point Cloud Holes and Sparse Point Clouds by Using Cubic B-Spline Interpolation.A method of searching for interpolation points using iso-focus amount is proposed to screen the actual repair path points.(4)Convert the overall 3D model of the visual cladding robot to the format of the description file,import it into the Rviz simulation environment in the ROS system,and use Moveit! kinematics component performs the motion planning simulation of the robot to verify the feasibility of the repair path.By testing the feasibility of the robot vision laser cladding system under the combination of equipment,the results meet the measurement and repair requirements of PDC bits,and provide new research ideas for the field of automatic repair.