基于激光熔覆再制造PDC钻头的机器人仿真分析

为了降低PDC钻头维修成本以及钻井周期，基于激光熔覆再制造技术，提出用机器人实现对钻头的再制造. 基于逆向工程，对PDC钻头进行数据采集，再对获取的钻头点云数据进行数据处理、三维重构，构造出与实体PDC钻头相同的三维模型. 利用软件Geomagic布尔运算得出工件缺损部位，在软件NX1899中利用等距平面族Γ与钻头修复部位相交，实现对曲面零件的路径规划. 对机器人末端焊枪修复PDC钻头轨迹进行仿真模拟，利用软件PQart模拟工作环境中工件相对于机器人的位置，实现对机器人的轨迹优化. 调整机器人末端焊枪位姿，提高修复后PDC钻头的表面性能. 验证了所述方法的可行性，为激光熔覆再制造技术修复复杂曲面提供了参考.

Robot simulation of PDC bit remanufacturing based on laser cladding

In order to reduce the maintenance cost and drilling cycle of PDC bit, a robot was proposed to realize the bit remanufacturing based on laser cladding remanufacturing technology. Based on reverse engineering, data acquisition was carried out on PDC bit, and then data processing and 3D reconstruction were carried out on the obtained bit point cloud data to construct the same 3D model as the solid PDC bit. The software Geomagic Boolean operation was used to obtain the defect part of the workpiece. In software NX1899, isometric plane family Γ was used to intersect the repair part of the drill bit to realize the path planning of the curved part.The trajectory of PDC bit repaired by robot end welding gun was simulated. The software PQart was used to simulate the position of the workpiece relative to the robot in the working environment to realize the trajectory optimization of the robot. The position of robot end welding gun was adjusted to improve the surface performance of PDC bit after repair. The feasibility of the proposed method is verified, which provides a reference for laser cladding remanufacturing technology to repair complex surfaces.