矿用链轮链窝电弧增材制造路径规划

Path planning of arc additive manufacturing for mine sprocket chain pocket

针对曲率较大的链窝表面的增材制造,提出了曲面分层的方案。对即将增材的区域进行分层设计和施焊路径规划,得到的路径点平滑连续,能够很好地适应链窝曲面。结果表明,施焊时机器人各轴运动平缓,焊枪行走平稳,不存在速度突变。堆敷层表面均匀平整,与链窝曲面吻合度高,边缘焊道与周围轮廓相适应好,未出现缺肉及超出轮廓边缘的情况,表明路径规划算法能较好地适用于链窝曲面增材制造过程。

A curved surface delamination algorithm was proposed for arc additive manufacturing of sprocket chain pocket with large curvature.For the area to be arc additive manufactured,layered design and welding path planning were carried out to obtain smooth and continuous path points,which could well adapt to the curved surface of the chain socket.The results showed that each axis of the robot moved gently and the welding gun run smoothly without speed mutation during welding.The surface of the cladding layer is uniform and smooth,and it is highly consistent with the curved surface of the chain socket.The edges were adapted to the surrounding contours without defects beyond the contour edges.It was confirmed that the obtained path planning algorithm was suitable for the additive manufacturing process of the sprocket chain pocket surface.