A kind of arc fuse curved surface additive pose modeling method and control method

Abstract

The invention discloses an arc fuse curved surface additive posture modeling method and a control method. The electric arc fuse curved surface additive posture modeling method is for describing and geometrically modeling a welding bead position, a welding bead posture and a welding gun position on a space curved surface, the welding bead posture control method adopts curved surface geodesic distance reference line offset, and a welding gun self-adaptive posture control method based on collision detection and smoothness optimization is adopted; a workpiece coordinate system, a welding bead coordinate system and a welding gun coordinate system are established to describe welding beads and welding gun postures on the spatial curved surface; the welding bead posture is modeled and described bya welding bead inclination angle and a welding bead corner under a welding bead coordinate system; the posture of a welding gun is determined by a welding gun slip angle and a welding gun walking angle; the workpiece coordinate system, the welding bead coordinate system and the welding gun coordinate system can be mutually transformed through homogeneous coordinate transformation. The method is advantaged in that accurate control over the positions and postures of the welding bead and the welding gun is achieved, and self-adaptive track planning and posture control over robot space curved surface additive manufacturing are achieved conveniently.

Description

technical field [0001] The invention relates to the technical field of additive manufacturing, in particular to a modeling method and a control method for an arc fuse curved surface additive pose modeling method. Background technique [0002] As one of the metal additive manufacturing methods, arc fuse additive manufacturing has the characteristics of high forming efficiency, unlimited forming size for large components, and low cost of raw materials and equipment compared with laser and electron beam additive manufacturing. Its main application goal is the low-cost, high-efficiency and rapid near-net shape of large-scale and complex components. It has been widely used in the additive manufacturing of integrated aerospace structures and the additive repair and remanufacturing of various large molds. [0003] The traditional arc additive manufacturing is usually based on the layer-by-layer accumulation principle of the plane layering method. This method will produce an obvious...

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Problems solved by technology

[0005] Surface conformal additive manufacturing is a new additive manufacturing method, and there are few researches at present, especially for the pose modeling and control of arc fuse surface additives. There is no relevant patent intellectual property rights or academic research.

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