CN101214582A - Mobile laser repairing equipment and repairing method thereof - Google Patents
Mobile laser repairing equipment and repairing method thereof Download PDFInfo
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- CN101214582A CN101214582A CN 200810000660 CN200810000660A CN101214582A CN 101214582 A CN101214582 A CN 101214582A CN 200810000660 CN200810000660 CN 200810000660 CN 200810000660 A CN200810000660 A CN 200810000660A CN 101214582 A CN101214582 A CN 101214582A
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Abstract
The invention relates to a movable laser repairing device and a repairing method for the device. A movable loading body is assembled with a multi-shaft control arm. The top end of the arm is provided with a laser processing nozzle and a 3D scanning device. The movable loading body is also provided with an industrial control computer and a powder feeder. The repairing method includes defining a benchmark shaft according to the torn part of a part to be repaired; utilizing the 3D scanning device to scan and build a 3D model, define the benchmark shaft and carry through slicing on the model on the direction vertical to the benchmark shaft; planning the process approaches of each layer of slice from the bottom layer of the slices and coding a planning code according to the processing approaches; a laser device carries through repairing according to the processing code of each slice under the control of the industrial control computer. The invention applies the 3D scanning device to a laser repairing process to build the 3D model and unifies a coordinate system of the model and an actually repaired coordinate system through the arm, thus improving the precision of laser repairing, simplifying the repairing process and realizing accurate control by computer during the repairing process. The invention can be broadly applied to the repairing of large devices and parts with various high precision and high added value.
Description
Technical field
The invention belongs to the recovery technique field of high added value, precision or large parts, be specifically related to a kind ofly adopt computer-controlled mobile laser repairing equipment and adopt this equipment to carry out the method that parts are repaired.
Background technology
The restorative procedure of traditional large parts, the important spare part of high added value mainly contains argon arc weld deposit and two kinds of methods of conventional laser built-up welding.It is simple that the argon arc weld deposit method has processing, and flexibly, cost is lower.But its heat input is bigger, and is darker to the part base solid heat affected area; Built-up welding machining accuracy in addition is poor, and following process is numerous and diverse; The scope of application is little, is difficult to repair the material of infusibility or high rigidity.The major advantage of laser repairing embodies and is that power density is big, and is little to the part base solid heat affecting; Can repair the material that argon arc weld deposit can not be repaired.But its shortcoming is also very remarkable, is mainly reflected in: the mapping difficulty is big before the Laser Processing, and workload is many; What form neither digital model, is difficult to use; The programing work amount is very big, and main cause is the threedimensional model complexity, and every layer all needs to carry out code and writes; The program change is loaded down with trivial details, and out of joint being difficult to verified; Be difficult to carry out three-dimensional localization when processing after model is built up; For large-scale parts to be repaired,, can't carry out field repair because laser repairing equipment is difficult to transportation more greatly.
Summary of the invention
The object of the present invention is to provide a kind of reparation movement locus flexibly, scan model and repair process are set up under the same coordinate system, portable prosthetic appliance with higher reparation precision, it can guarantee high-precision scanning and reparation, and the mechanical arm that can move freely is provided, realize quick, easy reparation.
Another object of the present invention is to provide a kind of and need not carry out Coordinate Conversion, can generate automatically scanning and repairing model, and the laser repair method that can proofread and correct scanning.The many defectives that exist in the existing laser repairing mode have been solved.
For achieving the above object, the technical solution used in the present invention is as follows:
A kind of mobile laser repairing equipment, comprise movably supporting body, it is characterized in that being equipped with laser instrument on the described movably supporting body, be equipped with multiaxis control mechanical arm on the described movably supporting body, the top of mechanical arm is provided with laser machining nozzle and 3-D scanning equipment, also be equipped with industrial computer and powder feeder on the described movably supporting body, described laser instrument is connected with laser machining nozzle, described industrial computer is connected with 3-D scanning equipment with laser instrument, and described powder feeder is connected with laser machining nozzle.
Described multiaxis control mechanical arm is six control mechanical arms, and the bottom of six control mechanical arms is assemblied in movably on the supporting body by slide rail.
Described laser machining nozzle is assemblied in the top of multiaxis control mechanical arm, and the laser that laser instrument produces to laser machining nozzle, also is equipped with water-cooling system on the described movably supporting body by fiber optic conduction.
The restorative procedure of above-mentioned mobile laser repairing equipment is characterized in that described restorative procedure comprises: utilize the damaged position of 3-D scanning device scan, the data of being gathered are handled through industrial computer and are formed threedimensional model; According to the damaged position of waiting to repair part, definition datum axle; Utilize the section software of industrial computer threedimensional model to be cut into slices, three-dimensional stereo model is converted into the two dimensional surface model in direction perpendicular to reference axis; Plan the machining path of every layer of section from the bottom of section; Laser instrument carries out repair according to the machining path of every layer of section under the control of industrial computer.
Every layer heap height when the spacing of described every layer of section is the laser instrument reparation.
The planning of described machining path comprises and is netted or is concentric circles radial that industrial computer is every layer of section path planning successively automatically.
Before described laser instrument descended one deck section to repair, every layer of heap the when height of raising is the laser instrument reparation was high, repeats every layer of reparation that heap is high according to this.
The restorative procedure of above-mentioned mobile laser repairing equipment is characterized in that described restorative procedure is specific as follows:
(1) industrial computer is carried out each function initialization, start multiaxis control mechanical arm, the top of mobile multiaxis control mechanical arm is to the appropriate location of waiting to repair part;
(2) according to the damaged position of waiting to repair part, definition datum axle and damaged portion scanning limitation point;
(3) utilize industrial computer control mechanical arm to drive spatial digitizer damaged position is scanned, set up threedimensional model, make section, three-dimensional stereo model is converted into the two dimensional surface model in direction perpendicular to reference axis;
(4) industrial computer is handled the section of scanning, begins to plan the machining path of every layer of section from the section of lowermost layer; Machining path according to every layer is write machining code;
(5) under the control of industrial computer, simulate reparation according to machining code;
(6) if simulation reparation result is qualified, then industrial computer carries out initialization to laser instrument, and laser instrument is repaired in real time according to machining code and machining path, if simulation reparation result is defective, then returns from above-mentioned steps (2) and operates again.
This mobile laser repairing equipment can mainly be made up of mechanical arm, laser instrument, laser machining nozzle, spatial digitizer, industrial computer, powder feeder and auxiliary equipment.Mechanical arm is a multiaxis control mechanical arm, and best mode is to adopt six control mechanical arms, and six axles by mechanical arm drive that laser instrument and spatial digitizer are finished scanning and the flexible adjustment of the movement locus repaired.That laser instrument can adopt is light, environmental protection, volume is little, noise is little optical fiber laser, and its light path is flexible big, can be crooked arbitrarily, and laser machining nozzle is installed in six ends of controlling mechanical arms, is connected with laser instrument by optical fiber.The spatial digitizer camera lens also is positioned at the end of six shaft mechanical arms, controls its parameter storage data by industrial computer, and function mainly is to treat the damaged position of rebuild part to carry out 3-D scanning under the drive of mechanical arm, sets up threedimensional model.The laser machining nozzle that adds man-hour equally also is to process under the drive of mechanical arm, and the coordinate system when coordinate system that adopts when repairing like this and modeling is same coordinate system, need not to carry out as conventional the reparation conversion of coordinate system, also need not the location that is installed.The function of industrial computer mainly is to scan or repair by the control mechanical arm; By the section of built-in scanning software analyzing and processing scanning, be converted into the machining code of manipulator motion track; Simulate processing according to machining code and avoid mechanical conflicts and processing dimension mistake.Plan as a whole control mechanical arm, laser instrument, powder feeder and auxiliary coolant system and gas system collaborative work.Powder feeder is for laser repairing provides necessary various reparation powder, and can satisfy with different speed provides two kinds of different powder to carry out the condition of laser repairing, and the transfer rate of powder can carry out real-time control.Auxiliary equipment can comprise water-cooling system, air supply system and electric power system and other auxiliary equipment.These above-mentioned each parts all are fixed on movably on the mobile object such as supporting body such as automobile, go-cart.
When adopting this mobile laser repairing equipment to repair parts, movably supporting body moves near the appropriate location of parts to be repaired earlier, open industrial computer and carry out initialization, carry out limit scanning element according to the needs of repairing the position and confirm correct scan; According to limit scanning element planning scanning pattern, industrial computer control mechanical arm scans, and generates threedimensional model then; Industrial computer can generate machining code according to threedimensional model, simulates reparation, and is no problem if simulation is repaired, just can the actual repair operation.
This mobile laser repairing equipment and restorative procedure are applied to spatial digitizer to carry out in the laser repair process foundation of threedimensional model, and the coordinate system of model and the coordinate system of actual repair are unified by mechanical arm, improved the precision of laser repairing, simplified repair process, realized that the computer of repair process is accurately controlled.This prosthetic appliance and restorative procedure can be widely used in various high precision, the equipment of high added value and the reparation of parts.
Description of drawings
Fig. 1 is the composition structural representation of mechanical arm in the specific embodiment of the invention;
Fig. 2 is the flow diagram of restorative procedure in the specific embodiment of the invention;
Fig. 3 is the overall structure schematic diagram of mobile laser repairing equipment in the specific embodiment of the invention.
The specific embodiment
As shown in Figure 3; this mobile laser repairing equipment, is mounted with six control mechanical arms 8, powder feeder 9, optical fiber laser 10, water-cooled and gas shield accessory systems 11, industrial computer 12 and scanning controllers and forms as supporting body 1 movably by automobile on the automobile.
As shown in Figure 1; movably be equipped with six control mechanical arms on the supporting body 1; six arm axles 2 of controlling mechanical arm by six link joints; 3; 4; 5; 6 and 7 form; bottom arm axle 2 is arranged on movably on the supporting body 1 by slide rail; the top arm axle 7 of mechanical arm is provided with laser machining nozzle and 3-D scanning equipment; the Laser Processing terminal is assemblied in the top of mechanical arm; movably also be equipped with industrial computer on the supporting body; powder feeder; gas protection system and water-cooling system; industrial computer is connected with 3-D scanning equipment with laser instrument, and powder feeder is connected with the laser instrument working nozzle.
When adopting this mobile laser repairing equipment to treat to repair the damaged position of part to repair, earlier equipment is moved to the appropriate location of waiting to repair part, start is carried out each function initialization to industrial computer, start multiaxis control mechanical arm, the top of movable type mechanical arm is to the appropriate location of waiting to repair part;
According to the damaged position of waiting to repair part, definition datum axle and damaged portion scanning limitation point;
Utilizing industrial computer control mechanical arm to drive spatial digitizer scans damaged position, set up threedimensional model, make section in direction, three-dimensional stereo model is converted into the two dimensional surface model, every layer heap height when the spacing of every layer of section is the laser instrument reparation perpendicular to reference axis.
Industrial computer is handled the section of scanning, begins to plan the machining path of every layer of section from the section of lowermost layer, and industrial computer is the every layer of section in position path planning automatically successively; Machining path according to every layer is write machining code.
Under the control of industrial computer, simulate reparation according to machining code, if the result is qualified in the simulation reparation, then industrial computer carries out initialization to laser instrument, laser instrument is repaired in real time according to machining code, if it is defective that the result is repaired in simulation, then return from above-mentioned definition damaged portion scanning limitation point step and operate again.When carrying out actual repair, before laser instrument descended one deck section to repair, the height of raising was that every layer of heap of laser instrument is high, repeats every layer of reparation that heap is high according to this.
Claims (8)
1. mobile laser repairing equipment, comprise movably supporting body, it is characterized in that being equipped with laser instrument on the described movably supporting body, be equipped with multiaxis control mechanical arm on the described movably supporting body, the top of mechanical arm is provided with laser machining nozzle and 3-D scanning equipment, also be equipped with industrial computer and powder feeder on the described movably supporting body, described laser instrument is connected with laser machining nozzle, described industrial computer is connected with 3-D scanning equipment with laser instrument, and described powder feeder is connected with laser machining nozzle.
2. mobile laser repairing equipment according to claim 1 is characterized in that described multiaxis control mechanical arm is six control mechanical arms, and the bottom of six control mechanical arms is assemblied in movably on the supporting body by slide rail.
3. mobile laser repairing equipment according to claim 1, it is characterized in that described laser machining nozzle is assemblied in the top of multiaxis control mechanical arm, the laser that laser instrument produces and by fiber optic conduction to laser machining nozzle, also be equipped with water-cooling system on the described movably supporting body.
4. the restorative procedure of the described mobile laser repairing equipment of claim 1 is characterized in that described restorative procedure comprises: utilize the damaged position of 3-D scanning device scan, the data of being gathered process industrial computer processing formation threedimensional model; According to the damaged position of waiting to repair part, definition datum axle; Utilize the section software of industrial computer threedimensional model to be cut into slices, three-dimensional stereo model is converted into the two dimensional surface model in direction perpendicular to reference axis; Plan the machining path of every layer of section from the bottom of section; Laser instrument carries out repair according to the machining path of every layer of section under the control of industrial computer.
5. according to the restorative procedure of the described mobile laser repairing equipment of claim 4, the spacing that it is characterized in that described every layer of section is laser instrument heap height of every layer when repairing.
6. according to the restorative procedure of the described mobile laser repairing equipment of claim 4, the planning that it is characterized in that described machining path comprises and is netted or is concentric circles radial that industrial computer is every layer of section path planning successively automatically.
7. according to the restorative procedure of the described mobile laser repairing equipment of claim 4, it is characterized in that described laser instrument descends one deck section to repair before, the height of raising is that the every layer heap of laser instrument when repairing is high, repeats every layer of reparation that heap is high according to this.
8. the restorative procedure of the described mobile laser repairing equipment of claim 1 is characterized in that described restorative procedure is specific as follows:
(1) industrial computer is carried out each function initialization, start multiaxis control mechanical arm, the top of mobile multiaxis control mechanical arm is to the appropriate location of waiting to repair part;
(2) according to the damaged position of waiting to repair part, definition datum axle and damaged portion scanning limitation point;
(3) utilize industrial computer control mechanical arm to drive spatial digitizer damaged position is scanned, set up threedimensional model, make section, three-dimensional stereo model is converted into the two dimensional surface model in direction perpendicular to reference axis;
(4) industrial computer is handled the section of scanning, begins to plan the machining path of every layer of section from the section of lowermost layer; Machining path according to every layer is write machining code;
(5) under the control of industrial computer, simulate reparation according to machining code;
(6) if simulation reparation result is qualified, then industrial computer carries out initialization to laser instrument, and laser instrument is repaired in real time according to machining code and machining path, if simulation reparation result is defective, then returns from above-mentioned steps (2) and operates again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200810000660 CN101214582A (en) | 2008-01-14 | 2008-01-14 | Mobile laser repairing equipment and repairing method thereof |
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| CN 200810000660 CN101214582A (en) | 2008-01-14 | 2008-01-14 | Mobile laser repairing equipment and repairing method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101927391A (en) * | 2010-08-27 | 2010-12-29 | 大连海事大学 | Method for performing automatic surfacing repair on damaged metal part |
| CN102658429A (en) * | 2012-04-09 | 2012-09-12 | 北京拓博尔机器人科技有限公司 | Three-dimensional digital laser deposition system and laser repair method thereof based on robot |
| CN103074625A (en) * | 2013-01-16 | 2013-05-01 | 上海交通大学 | Movable laser cladding and repairing system |
| CN104050314A (en) * | 2013-03-15 | 2014-09-17 | 西科尔斯基飞机公司 | Additive topology optimized manufacturing for multi-functional components |
| CN104190927A (en) * | 2014-08-11 | 2014-12-10 | 苏州大学 | Synchronous powder feeding space laser machining and three-dimensional forming method and device |
| CN104625059A (en) * | 2015-01-21 | 2015-05-20 | 大连理工大学 | Laser engineered net shaping method of supporting-free inclined structure |
| CN105057969A (en) * | 2015-05-29 | 2015-11-18 | 西安交通大学 | Blisk repairing method based on micro-ray plasma arc welding and electric spark finishing |
| CN105154869A (en) * | 2015-08-24 | 2015-12-16 | 苏州大学 | Method for obtaining laser cladding scanning path for surface repairing of uniform-section solid |
| CN105571324A (en) * | 2015-12-07 | 2016-05-11 | 贵阳铝镁设计研究院有限公司 | Building method of metallurgical furnace and3D printing robot adopted forbuildingmetallurgical furnace |
| CN105618930A (en) * | 2016-03-18 | 2016-06-01 | 南京越辰智能科技有限公司 | Movable field pipeline laser repairing device |
| CN106011726A (en) * | 2016-08-03 | 2016-10-12 | 苏州热工研究院有限公司 | Movable material increasing remanufacturing system for hydraulic turbine set flow passage component and restoration method based thereon |
| CN106077901A (en) * | 2016-07-01 | 2016-11-09 | 南京航空航天大学 | Electric arc based on hot-work die failure site increases material manufacture method |
| CN106216678A (en) * | 2016-09-29 | 2016-12-14 | 苏州大学 | Laser forming uniformly uprises the method for part |
| CN107972557A (en) * | 2017-11-29 | 2018-05-01 | 南京辉锐光电科技有限公司 | A kind of live mobile laser based on vehicle transport increases material prosthetic appliance |
| CN109055930A (en) * | 2018-07-28 | 2018-12-21 | 国营芜湖机械厂 | A kind of quick-restoring device and its restorative procedure of workpiece surface damage |
| CN109487267A (en) * | 2018-12-18 | 2019-03-19 | 华侨大学 | A kind of Intelligent Laser reproducing method and system |
| CN109937387A (en) * | 2012-11-08 | 2019-06-25 | Ddm系统有限责任公司 | The increasing material manufacturing and maintenance of metal parts |
| CN110670063A (en) * | 2019-09-29 | 2020-01-10 | 东南大学 | Cladding equipment and method for carrying out online repair on surface of steel rail |
| CN112482113A (en) * | 2020-12-07 | 2021-03-12 | 大秦铁路股份有限公司 | Method for repairing insulating end plate at glued joint insulating joint |
| CN112536526A (en) * | 2020-11-13 | 2021-03-23 | 南京航空航天大学 | Laser rapid repairing device for damaged shell of war combat vehicle |
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2008
- 2008-01-14 CN CN 200810000660 patent/CN101214582A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101927391A (en) * | 2010-08-27 | 2010-12-29 | 大连海事大学 | Method for performing automatic surfacing repair on damaged metal part |
| CN102658429A (en) * | 2012-04-09 | 2012-09-12 | 北京拓博尔机器人科技有限公司 | Three-dimensional digital laser deposition system and laser repair method thereof based on robot |
| CN109937387B (en) * | 2012-11-08 | 2022-08-23 | Ddm系统有限责任公司 | Additive manufacturing and repair of metal components |
| CN109937387A (en) * | 2012-11-08 | 2019-06-25 | Ddm系统有限责任公司 | The increasing material manufacturing and maintenance of metal parts |
| CN103074625A (en) * | 2013-01-16 | 2013-05-01 | 上海交通大学 | Movable laser cladding and repairing system |
| CN104050314A (en) * | 2013-03-15 | 2014-09-17 | 西科尔斯基飞机公司 | Additive topology optimized manufacturing for multi-functional components |
| CN104050314B (en) * | 2013-03-15 | 2020-03-31 | 西科尔斯基飞机公司 | Additive topology optimized manufacturing for multi-functional components |
| CN104190927A (en) * | 2014-08-11 | 2014-12-10 | 苏州大学 | Synchronous powder feeding space laser machining and three-dimensional forming method and device |
| WO2016023255A1 (en) * | 2014-08-11 | 2016-02-18 | 苏州大学张家港工业技术研究院 | Synchronous powder-feeding space laser machining and three-dimensional forming method and device |
| CN104190927B (en) * | 2014-08-11 | 2016-05-18 | 苏州大学 | A kind of synchronous powder feeding system space laser processing and three-dimensional method and device |
| US20170232518A1 (en) * | 2014-08-11 | 2017-08-17 | Soochow University | Synchronous powder-feeding space laser machining and three-dimensional forming method and device |
| CN104625059A (en) * | 2015-01-21 | 2015-05-20 | 大连理工大学 | Laser engineered net shaping method of supporting-free inclined structure |
| CN105057969A (en) * | 2015-05-29 | 2015-11-18 | 西安交通大学 | Blisk repairing method based on micro-ray plasma arc welding and electric spark finishing |
| CN105057969B (en) * | 2015-05-29 | 2017-12-08 | 西安交通大学 | Repairing method of solid impeller disc based on MICROBEAM PLASMA WELDING and electric spark finishing |
| CN105154869A (en) * | 2015-08-24 | 2015-12-16 | 苏州大学 | Method for obtaining laser cladding scanning path for surface repairing of uniform-section solid |
| CN105154869B (en) * | 2015-08-24 | 2017-08-11 | 苏州大学 | A kind of laser melting coating scanning pattern acquisition methods repaired for uiform section solid object surface |
| CN105571324A (en) * | 2015-12-07 | 2016-05-11 | 贵阳铝镁设计研究院有限公司 | Building method of metallurgical furnace and3D printing robot adopted forbuildingmetallurgical furnace |
| CN105618930B (en) * | 2016-03-18 | 2017-12-22 | 南京越辰智能科技有限公司 | A kind of field pipeline laser repair device of packaged type |
| CN105618930A (en) * | 2016-03-18 | 2016-06-01 | 南京越辰智能科技有限公司 | Movable field pipeline laser repairing device |
| CN106077901A (en) * | 2016-07-01 | 2016-11-09 | 南京航空航天大学 | Electric arc based on hot-work die failure site increases material manufacture method |
| CN106011726A (en) * | 2016-08-03 | 2016-10-12 | 苏州热工研究院有限公司 | Movable material increasing remanufacturing system for hydraulic turbine set flow passage component and restoration method based thereon |
| CN106011726B (en) * | 2016-08-03 | 2019-03-26 | 苏州热工研究院有限公司 | Water turbine set flow passage components increase material remanufacturing system and the restorative procedure based on it with mobile |
| CN106216678B (en) * | 2016-09-29 | 2018-06-29 | 苏州大学 | The method that laser forming uniformly increases part |
| CN106216678A (en) * | 2016-09-29 | 2016-12-14 | 苏州大学 | Laser forming uniformly uprises the method for part |
| CN107972557A (en) * | 2017-11-29 | 2018-05-01 | 南京辉锐光电科技有限公司 | A kind of live mobile laser based on vehicle transport increases material prosthetic appliance |
| CN109055930A (en) * | 2018-07-28 | 2018-12-21 | 国营芜湖机械厂 | A kind of quick-restoring device and its restorative procedure of workpiece surface damage |
| CN109487267A (en) * | 2018-12-18 | 2019-03-19 | 华侨大学 | A kind of Intelligent Laser reproducing method and system |
| CN110670063A (en) * | 2019-09-29 | 2020-01-10 | 东南大学 | Cladding equipment and method for carrying out online repair on surface of steel rail |
| CN113385887A (en) * | 2020-06-10 | 2021-09-14 | 南京英尼格玛工业自动化技术有限公司 | Automatic welding method for high-speed rail sleeper beam process hole based on 3D vision |
| CN112536526A (en) * | 2020-11-13 | 2021-03-23 | 南京航空航天大学 | Laser rapid repairing device for damaged shell of war combat vehicle |
| CN112482113A (en) * | 2020-12-07 | 2021-03-12 | 大秦铁路股份有限公司 | Method for repairing insulating end plate at glued joint insulating joint |
| CN112482113B (en) * | 2020-12-07 | 2021-07-23 | 大秦铁路股份有限公司 | Method for repairing insulating end plate at glued joint insulating joint |
| CN112899675A (en) * | 2021-01-18 | 2021-06-04 | 泉州市威互科技有限公司 | Small-sized mobile laser cladding robot and repairing method |
| CN114043151A (en) * | 2021-11-29 | 2022-02-15 | 国网四川省电力公司映秀湾水力发电总厂 | Automatic and rapid generation system and method for welding track and welding robot |
| CN115807189A (en) * | 2022-11-25 | 2023-03-17 | 无锡市江南橡塑机械有限公司 | High-temperature wear-resistant coating of internal mixer rotor, preparation method thereof and rotor repair method |
| CN115807189B (en) * | 2022-11-25 | 2024-01-26 | 无锡市江南橡塑机械有限公司 | High-temperature wear-resistant coating for internal mixer rotor, preparation method thereof and rotor repairing method |
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