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Adaptive shape-following laser cladding is an effective way to solve the above problem, which mainly includes the following three basic steps:
1. online inspection with sensors: the sensors can be contact, machine vision, laser displacement, etc., and it is necessary to establish a correspondence between the sensor measurement coordinate system and the coordinate system of the robotic laser cladding tool.
2. automatic data processing: including data filtering, reconstruction, modelling, etc. Some applications also need to implement intelligent algorithms such as automatic model matching and defect recognition;
3. automatic path generation and process parameter configuration: on the basis of the model established by automatic data processing, layered slicing, filling trajectory generation, and according to the type of defects, automatic selection of optimised process parameters.
There are three typical application scenarios for the adaptive shape-following laser cladding function:
1. drastically reduce manual teaching work, shorten programming time and improve calibration accuracy;
2. automatically establish the workpiece coordinate system or user coordinate system, so that the robot path generated by offline programming can be quickly and accurately applied to the workpiece to improve the production beat; can replace the conventional method of finding the feature point positioning, but also to solve the problem of positioning some manually undetectable scenes;
3. has a simple three-dimensional scanning function, combined with automatic identification algorithms and slice path generation algorithms, can achieve rapid defect location and on-site adaptive repair; although the general measurement accuracy is lower than the conventional three-dimensional measurement system, but for the laser repair has been sufficient, and high efficiency and low cost.
