Smooth path generation method of laser cladding bit repair robot based on 3D automatic measurement of wear surface point cloud

摘要

Abstract In the work of repairing worn drill bits by laser cladding robots, the worn surface often presents irregular curved surfaces, which brings difficulties to cladding. Aiming at the generation of cladding path on irregular curved surfaces of worn drill bits, this paper proposes a method of searching interpolation points by equal defocusing. Firstly, perform point cloud slice processing on the 3D model of the worn drill bit. Then the point cloud model is fitted by the cubic B-spline curve. Finally, the proposed method is used to screen out the actual operating processing points of the robotic arm. By comparing the coincidence degree between the actual cladding path and the curved surface, the feasibility of using the method of searching interpolation points by equal defocusing on the fitted path to obtain a smooth path is verified.