Kuti uderedze mutengo wekugadzirisa uye kutenderera kutenderera kwePDC drill bits, zvichibva pa laser cladding tekinoroji yekugadzirazve tekinoroji, inokurudzirwa kushandisa marobhoti kugadzirazve mabhiti ekudhirowa. Zvichienderana nereverse engineering, kuunganidzwa kwedata kwePDC drill bits kunoitwa, uye ipapo iyo yakawanikwa yekudhirowa yegore data inogadziriswa uye mitatu-dimensionally kuvakwazve kuvaka matatu-dimensional modhi yakafanana neiyo yakasimba PDC drill bit. Iyo yakaremara chikamu cheworkpiece chinowanikwa neBoolean mashandiro eGeomagic software, uye iyo isometric ndege mhuri Γ inoshandiswa musoftware NX1899 kupindirana nechikamu chekugadzirisa dhiri kuti uone kuronga kwenzira kwenzvimbo dzakakomberedzwa. Iyo trajectory yePDC drill bit yakagadziridzwa nerobhoti yekupedzisira welding pfuti inofananidzwa, uye chinzvimbo cheworkpiece chinoenderana nerobhoti munzvimbo yekushanda inofananidzwa nesoftware PQart kuti ikwidze marobhoti trajectory. Chimiro chebhobhoti yekupedzisira welding pfuti inogadziriswa kuti ivandudze kushanda kwepamusoro kweiyo yakagadziriswa PDC drill bit. Iko kugona kweiyo nzira kunosimbiswa, iyo inopa chirevo chekugadzirisa kweakaomeswa akakomberedzwa nzvimbo nelaser cladding remanufacturing tekinoroji.

Parizvino, nzvimbo zhinji dzakakosha dzekusimudzira oiri dziri kutarisana nezvinetso zvakadai sekutadza kudhiraivha zvakanaka uye kuoma kwenzvimbo yekuvandudza nzvimbo, izvo zvinowedzera PDC Kupfeka kwezviboorero [1-2]. Nzira dzechinyakare dzekugadzirisa kana kudonhedza zvakananga mabheti akakuvadzwa anozokanganisa kushanda zvakanaka uye kuwedzera mari. Laser cladding additive remanufacturing tekinoroji yakagadziridzwa uye yakawana mimwe mhedzisiro. Iyo tekinoroji inoita reverse modhi yeakasakara maworkpieces, anobvisa uye akatadza zvikamu, uye zvirongwa nzira. Inotonga zvine hungwaru zvitubu zvekupisa senge laser matanda, matanda erekitironi, uye matanda eplasma kupedzisa kuunganidzwa kwezvikamu zvakakuvadzwa zvezvishandiso zvebasa, uye kudzoreredza nekuvandudza saizi nekuita kweakasakara workpieces [3]. Kugadzirisa PDC drill bits uchishandisa laser cladding remanufacturing tekinoroji haingogone kudzikisa magadzirirwo ekugadzirisa uye kuchengetedza mutengo, asi zvakare kuchengetedza zvirinani kuita kweiyo drill bits, zvichiunza mabhenefiti ehupfumi mukusimudzira mafuta. Panyaya yePDC drill bit repair, nyanzvi dzakakodzera dzakaongorora nekuongorora dhigirii rekupfekedzwa kwebhiti, uye vakagadzira seti yekugadzirisa sintering mabhiti ekuchera. Kuitwa kwezviboorero zvakagadziridzwa zvinosvika pa80% ~90% yezvitsva zvezvibooreso, nepo mutengo unongova 30% weiyo[4]. Kana iri laser cladding kugadziriswa kwePDC Pane tsvakiridzo shoma pane zviboorero zvimedu. Kushandisa marobhoti ekusarudza laser cladding kugadzirisa kunogona kuchengetedza zvinhu, uye kuita kwayo kunogona kuita zvirinani zvinodikanwa zvenzvimbo isina kunaka yekushanda. Naizvozvo, zvinodikanwa kuti udzidze irobhoti laser cladding kugadzirisa kwePDC drill bits. Kuenzaniswa neyechinyakare bhuku rekudzidzisa hurongwa, marobhoti asiri pamhepo hurongwa anogona kuvandudza zvakanyanya kugadzirisa kushanda uye kurongeka [5]. Li Jinhua et al. yakagadzirisa marobhoti inofamba nzira kuburikidza nekuona simulation kuve nechokwadi chekuchengetedza uchivandudza kushanda zvakanaka [6]. Usati washandisa robhoti kugadzirisa workpiece, kumira kwemusoro wepfuti kunogona kucherechedzwa kuburikidza nerobhoti nzira simulation, uye optimization yenzira yekugadzirisa inogona kuwana zvirinani kugadzirisa [7].

Zvichienderana nelaser cladding remanufacturing, bepa iri rinodzokorodza rakakuvadzwa PDC drill bit, rinoitazve kuronga nzira, uye kutevedzera marobhoti laser cladding. Yakasanganiswa nemhedzisiro yekuenzanisa, kugona kwekuronga nzira yekugadzira patsva kugadziriswa kwePDC drill bits inosimbiswa, uye yepamusoro yemhando yekuvharisa layer inowanikwa nekugadzirisa panguva yakakodzera iyo welding gun posture panguva yekugadzirisa. Inopa imwe referensi yelaser cladding remanufacturing gadziriso yePDC drill bits uye mamwe akaomarara akakomberedzwa workpieces.

1 Modelling uye kuronga nzira

1.1 PDC Drill bit reverse modelling

Usati watarisa chibooreso, mavara matema edenderedzwa anonamirwa kune workpiece kuti igadziriswe. Mufambo uri pakati pemamaki maviri akatarisana unofanirwa kuve wakakura kupfuura 5 mm. Zvibodzwa zvakanamirwa hazvisi pamutsetse wakafanana. Pane mamakisi makumi matatu pamwe chete, sezvaratidzwa mumufananidzo 30.

Mushure mekunge mamakisi aiswa, iyo HandySCAN 3D scanner inoshandiswa kuwana iyo point cloud data ye drill bit surface features, sezvinoratidzwa mumufananidzo 2. Panguva yekuongorora, apo scanning laser inoongorora workpiece pamusoro kamwe chete, iyo point cloud. data kuunganidzwa kweiyo workpiece pamusoro ichave isina kukwana, uye akawanda scans eiyo workpiece pamusoro achawana yakawandisa isingakoshi yegore data. Naizvozvo, iyo yekutanga point Cloud data yakawanikwa ne scanner inoda kufanogadziriswa isati yaitwa workpiece reverse modeling. Iyo scanner inoshandiswa muchidzidzo inokwanisa kuona iyo otomatiki kupatsanurwa kwemakore akapararira. Kune matatu-dimensional point yegore mepu inogadzirwa neatomatiki splicing, Geomagic Studio inoshandiswa kugadzirisa iyo point Cloud data kuita chigamba data. Pahwaro uhwu, iyo data yechigamba ine yakazara yakazara point Cloud data inosarudzwa, uye yakazara PDC drill bit modhi inogadzirwa nekuwedzera kumusoro, kucheka pamusoro, uye kupatsanura nekukodzera pamusoro, sezvakaratidzwa mumufananidzo 2b. Sezvakaratidzwa.

1.2 Nzira yekuronga yelaser cladding kugadzirwazve kwePDC drill bits

Icho chakaremara chikamu cheworkpiece chinowanikwa nekushandisa Geomagic Boolean oparesheni inoratidzwa muMufananidzo 3a. Iyo yakagadziriswa PDC drill bit 3D modhi inoshandurwa kuita stl fomati uye inopinzwa kunze musoftware NX1899, sezvakaratidzwa muFigure 3b.
Mhuri yendege Γ yehumwe ukobvu inopindirana neyakagadziriswa nzvimbo yemuenzaniso kuti igadziriswe kuti iwane chimedu uye kugadzira laser cladding nzira. Kutungamira kwechimedu kunowanzo kutenderera kune nzira yekupfeka. Mufananidzo 4 unoratidza chinangwa chekugadzirisa chinzvimbo chechidimbu dhizaini. Chinhambwe chiri pakati pendege mbiri dziri pedyo dzemhuri yendege Γ chinhambwe δ pakati pemakwara ekuvharira. δ inonyanya kukanganiswa neiyo cladding overlap rate. Hurefu nehupamhi hwetambo imwe chete yakavharwa zvinoyerwa, uye nhanho yendege δ[8] inoverengerwazve nekudzikiswa, sezvakaratidzwa mufomula (1) mumufananidzo.
Ipo: ε hupamhi hwechikamu chimwe chete, uye h ndihwo hurefu hwechirango.
Iyo point cloud slice inoratidzwa mumufananidzo 4b. Slice point gore inomiririra yezvidimbu zvakasiyana Di = {d1, d2, d3, ··· ,dn｝ (2) Ona fomula (2) pamufananidzo.
Iyi ndiyo machining trajectory yemusoro wepfuti yakavhara, uye iyo machining trajectory inozopedzisira yabuda muNC kodhi fomati.

2 Terminal welding gun posture kugadzirisa

2.1 6-DOF robhoti kinematic modhi

Tsvagiridzo inotora iyo SA1400 modhi 6-axis robhoti, iyo DH coordinate system inoratidzwa muFigure 5. 0 ndiyo yerobhoti yepasi coordinate system, 1 ~ 6 ndiyo 6 inoronga mabviro eiyo robhoti mechanicha ruoko, uye kwakabva kumagumo kwerobhoti. coordinate system ndeye 6. Madhigirii eDH ega rega rega rebhobhoti anoratidzwa muTebhu 1. Apo DH zvigadziro zvejojo ​​rimwe nerimwe rebhobhoti zvinozivikanwa, nzvimbo yekupedzisira yerobhoti yekutaura kwegadziriro yepasi inogona kuwanikwa [11-12] : Ona formula (3) mumufananidzo
Zvinoenderana neTafura 1, iyo shanduko matrix yejoini yega yega robhoti inowanikwa: Ona formula (4) - (9) mumufananidzo.
Mumatrix ari pamusoro, =, =. Sekureva kwepieper Zvinoenderana neiyo marobhoti angle kutaura, iro robhoti inverse kinematics ine inotevera algorithm iri nyore [13]: ona formula (10) mumufananidzo. Zvinoenderana neiyo equation, marobhoti matanhatu akabatanidzwa makona θ1 ∼ θ6 anoverengerwa zvakateerana: ona formula (11) - (16) mumufananidzo. kupi: e = oxD1 +oyB1, f = nx + nyB1. Zvinoenderana neiyo marobhoti angle kutaura, iro robhoti inverse kinematics ine akawanda seti emhinduro. Iyo kona yakasarudzwa inofanirwa kunge iri mukati meiyo robhoti yekufamba siyana, uye diki yejoint angle kukosha inosarudzwa mune imwechete seti yemhinduro kuti iwane inoenderera uye nekukurumidza kushanda uye kuvandudza kugona kwekugadzirisa PDC drill bits.

2.2 Mataurirwo ekuisa pfuti welding
Sezvinoratidzwa muMufananidzo 6, kureba kwechigadziro chekushongedza pfuti yakagadziridzwa, mavambo echigadziro chekugadzirisa hurongwa ndeye 7, uye kona yekutenderera yechishandiso inoenderana neakisi yekubatanidza yerobhoti yekupedzisira manipulator ndeye θ. Iyo shanduko matrix l 6T7 yechishandiso chine hukama nekwakabva kumagumo ekubatanidza system inogona kuratidzwa se: Ona formula (17) mumufananidzo.

2.3 Multi-layer cladding trajectory welding pfuti posture kuronga

Kumira kwepfuti yewelding ine simba rakakosha pahutano hwega rega rega rekugadzirisa trajectory yePDC drill bit target position. Nokudaro, mukugadzirisa chidimbu chePDC drill, zvakakosha kugadzirisa kumira kwepfuti yekuputika munguva maererano nechero imwe neimwe yezvinozivikanwa cladding trajectory, kuitira kuti uwane yakakwirira yekugadzirisa kunaka [15]. Kumira kwepfuti yewelding ye multi-layer trajectory inoratidzwa muMufananidzo 7, uye ndiyo kufamba kwepfuti yekuputika pamwe chete ne y direction uye z kutungamira neO sechirevo.

Iyo yekumisa pfuti yewelding munzira yakachinjika uye yakatwasuka nzira ndeiyi: Ona fomula (18) uye (19) mumufananidzo.

Ipo: , ndiyo yakachinjika yekumisa uye yakatwasuka inobvisa yejth track ye-i-th layer mugwara; n ndiyo nhamba yezvikamu zvetrajectory; ndiyo nhamba yese ye f tracks mu i-th layer; ndiyo nzvimbo yakavharidzirwa ye-i-th layer trajectory; ndiyo groove angle.
φX ndiyo kona yekutenderera yemusoro wepfuti yakavharika yakatenderedza X axis. Iko kubviswa kwepfuti yewelding pamwe negwaro reX kuchava nemhedzisiro yakananga pahupamhi uye hupamhi hweiyo cladding trajectory, saka ichapihwa panzvimbo. Zvinoenderana neformula iri pamusoro, iyo welding gun posture matrix yeimwe neimwe layer ye cladding trajectory inowanikwa sezvizvi: Ona mafomula (20) uye (21) mumufananidzo.

3 Laser cladding kugadzirisa chibooreso bhiti simulation

Nzira yekuenzanisa yePDC drill bit repair robhoti inoratidzwa muMufananidzo 8. Pamberi pekuenzanisa, imwe yemhando yekubatanidza drill bit uye hurongwa hwekugadzirisa kwekugadzirwa kwekugadzirisa nzira yekugadzira drill inotangwa. Nenzira iyi, mushure mekupinza PQart, chinzvimbo cheiyo drill bit workpiece kuti igadziriswe inovimbiswa kuti ienderane neyayo inoenderana trajectory. Iyo drill bit ichagadziriswa inoratidzwa muFigure 9 Sezvakaratidzwa.

3.1 Kugadzirisa trajectory optimization

Panguva yekugadzirisa, chibooreso chebasa chinofanirwa kunge chiri padyo nepfuti yekushongedza welding sezvinobvira kudzivirira nzvimbo dzisingasvikiki panzvimbo yebasa rinogadziriswa, uye kudzivirira axis overrun uye imwe chete mapoinzi erobhoti. Axis overrun zvinoreva kuti pane mapoinzi ari pamusoro peiyo workpiece kuti igadziriswe isingasvikike mukati mekufamba kweiyo robhoti joint axis; singular points zvinoreva kuti kana robhoti magumo ekupedzisira asvika pane imwe nzvimbo pamusoro perobhoti kuti igadziriswe, majoini maviri ebhobhoti ari paaxis imwechete, semuenzaniso, 3rd uye 5th axes iri pane imwechete axis. Zvinoenderana neruzivo rwe inverse mhinduro ye kinematics, zvinogona kuzivikanwa kuti θ3 uye θ5 ichave nemhinduro dzakawanda, uye kutenderera θ3 kana θ5 inogona kusvika pane yakatarwa. Panguva ino, axis yejojo ​​yerobhoti ruoko haizokwanisi kuramba ichishanda, uye iyi poindi inonzi imwe pfungwa. Mukugadzirisa nzvimbo yebasa rekushanda, dzivisa matambudziko aya uye ona kushanda kwakajairika kwerobhoti. Iyo robhoti yekugadzirisa trajectory optimization inoratidzwa muMufananidzo 10, uye robhoti iri mukati mekushanda.

3.2 Kugadzirisa kumira kwepfuti yewelding

Kubva pane fomula (21), zvinogona kugumiswa kuti kumira kwepfuti yewelding inogara iri mumamiriro ekuchinja nguva dzose panguva yekugadziriswa kwePDC drill bit. Kuchengeta musoro wepfuti perpendicular kune yekugadzirisa nzvimbo kunogona kuvandudza kushanda mushure mekugadzirisa. Sezvinoratidzwa muMufananidzo 11, kumira kwepfuti yewelding pane imwe nzvimbo mukugadzirisa kugadzirisa kunotarisana nepamusoro pekugadzirisa. Kugadzirisa kumira kwepfuti yemoto kwakabatana nemusoro wepfuti unoshandiswa panguva ino.

3.3 Simulation

Kuti uone kuti zvikanganiso zvemuchina werobhoti zvadzikiswa, kufamba kwerobhoti kunofanirwa kuve nehunyanzvi iro robhoti risati rashandiswa. Nzira inotengeswa kunze kwenyika inofanira kufananidzwa. Sezvinoratidzwa muMufananidzo 12, hapana dambudziko remapoinzi munzira uye poindi imwe neimwe panzira, uye mubatanidzwa wega wega webhobhoti uri mukati mekufamba.

4 Mhedziso

(1) Zvichienderana nereverse engineering, iyo nzira yekubatanidza laser scanning uye reverse modhi inogamuchirwa kuti ione iyo point Cloud data yekutora uye kuvakwazve kwepamusoro kwezvikamu zvakaoma zvepasi, uye kumisikidza matatu-dimensional modhi yePDC drill bit.

(2) Chikamu chakaremara chePDC drill bit chinowanikwa neBoolean operation, uye iyo isometric plane mhuri Γ inoshandiswa kuwana chikamu chakaremara chePDC drill bit. Kupindirana nechikamu chekugadzirisa chidimbu, kuronga kwePDC drill bit laser cladding remanufacturing nzira kunopera.

(3) A 6-DOF robhoti kinematic modhi inotangwa, uye kumira kwerobhoti cladding welding pfuti inoratidzwa uchishandisa homogeneous shanduko matrix, uye iyo yakawanda-layer trajectory cladding welding gun posture matrix yekugadzirisa iyo PDC drill bit inotemwa.

(4) Kuburikidza nekuenzanisa kwelaser cladding repair drill drill bit, zvinowanikwa kuti robhoti parinogadzirisa zvinoenderana negwara rakatarwa, kumira kwepfuti yewelding iri munzira yekuchinja, uye kumira kwepfuti yewelding yakabatana pane imwe nguva kukwirisa. robhoti yekugadzirisa nzira. Iyo laser cladding gadziriso yeiyo yakaoma curved surface workpiece inoitika.