Apparatus and method for three-dimensional scanning and additive repair of manipulator assembly line workpiece

Abstract

The invention proposes a three-dimensional scanning and additive repairing device of manipulator assembly line type workpiece, including: detection and processing circular track, detection manipulator module, supplementary manipulator module, horizontal direct track, unloading area, loading area, omnidirectional wheel loading stage, pattern recognition detector, circular pattern marking line, straight line pattern marking line, pose adjustment module and controller. The working site of the present invention does not require manual intervention, and the equipment in each link operates automatically according to the unified processing flow, realizing the three-dimensional scanning and processing and repairing of high-value workpieces, realizing the continuous and automatic repairing process, and significantly improving work efficiency. The invention provides a method for three-dimensional scanning and additive repairing of a manipulator assembly line workpiece.

Description

technical field [0001] The invention belongs to the field of additive manufacturing, and in particular relates to a device and method for three-dimensional scanning and additive repairing of manipulator assembly line workpieces. Background technique [0002] In the fields of aerospace, marine, railway and complete power generation equipment manufacturing, high-value workpieces are required to carry out precision inspection and necessary defect repair work. The routinely adopted schemes are manual inspection, defect judgment and welding repair, the work process is cumbersome, the cycle is long, and the accuracy of measurement and repair is low. With the development of 3D scanning and additive manufacturing technology, the laser profiler is used to scan high-value workpieces in 3D, and the 3D model of the workpiece is formed after point cloud reconstruction, and the online defect detection of high-value workpieces is realized after data comparison processing And the planning ...

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Problems solved by technology

[0003] However, in the prior art, there are also the following defects in the additive repair work of high-value workpieces: 1) Patent CN108534707A describes a large-scale scanning detection method for workpieces in industrial manufacturing. The trajectory tracking system records and processes the moving trajectory of the scanner to optimize the scanning path of the mechanical arm. The whole method requires manual operation, the scanning and detection process is discontinuous, and the work efficiency is low; 2) CN107932915A discloses an automatic robot additive manufacturing assembly line The control system, designed the forming device, cleaning device, air drying device, curing device, and cooperates with the robotic arm for automatic additive manufacturing, which solves the problems of low labor efficiency and misoperation, but lacks the 3D contour scanning imaging function, and cannot perform online processing of the workpiece. Repair detection; 3) Patent CN107972557A proposes a field mobile laser additive repair equipment based on vehicle transportation. Installing the laser additive repair equipment in the vehicle can improve the demand for on-site additive repair, but when a large number of workpieces need to be repaired , In the case of manufacturing, it is difficult to carry out continuous operation and takes a long time

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