CN103074625A - Movable laser cladding and repairing system - Google Patents

Movable laser cladding and repairing system Download PDF

Info

Publication number
CN103074625A
CN103074625A CN2013100166604A CN201310016660A CN103074625A CN 103074625 A CN103074625 A CN 103074625A CN 2013100166604 A CN2013100166604 A CN 2013100166604A CN 201310016660 A CN201310016660 A CN 201310016660A CN 103074625 A CN103074625 A CN 103074625A
Authority
CN
China
Prior art keywords
laser
cladding
robot
system
main control
Prior art date
Application number
CN2013100166604A
Other languages
Chinese (zh)
Other versions
CN103074625B (en
Inventor
张轲
李铸国
张悦
黄坚
Original Assignee
上海交通大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海交通大学 filed Critical 上海交通大学
Priority to CN201310016660.4A priority Critical patent/CN103074625B/en
Publication of CN103074625A publication Critical patent/CN103074625A/en
Application granted granted Critical
Publication of CN103074625B publication Critical patent/CN103074625B/en

Links

Abstract

The invention provides a movable laser cladding and repairing system in the field of laser cladding and repairing. The movable laser cladding and repairing system comprises a movable platform, wherein a laser, a robot, a position changing machine, a powder feeder, an image processing system, a control system (comprises a PLC (programmable logic controller) main control system, a PC (personal computer) computing workstation), a video camera, a three-dimensional laser scanning sensor, a laser processing head and a coaxial powder feeding head are fixedly arranged on the movable platform. The movable laser cladding and repairing system takes the robot as a moving body, controls the clad pool size, the temperature and other information by using an image acquiring and processing system, and scans a workpiece to slice, stratify and automatically clad a three-dimensional workpiece model based on the three-dimensional laser sensor; the movable laser cladding and repairing system is convenient and flexible, simplifies a repairing process, achieves precision and self-adaptive control of a cladding process, effectively improves the cladding quality, and facilitates field application of a large component through the movable platform.

Description

一种可移动式激光熔覆及修复系统 A portable laser cladding and repair system

技术领域 FIELD

[0001] 本发明属于高附加值、精密或大型零部件的表面熔覆及修复技术领域,具体涉及一种采用计算机控制的可移动式激光熔覆及修复系统。 [0001] The present invention is a high value-added, and repair surface cladding BACKGROUND precision or large parts, particularly to removable laser cladding and repair of computer control system.

背景技术 Background technique

[0002] 零部件修复的方法主要有激光熔覆、真空钎焊、真空涂层焊、钨极惰性气体保护焊和等离子体熔覆修复等方法。 [0002] A method for repairing components are primary cladding, vacuum brazing, vacuum coating welding, tungsten inert gas welding and plasma cladding repair method. 激光熔覆是根据工件的工况要求,熔覆各种设计成分的金属或者非金属、制备耐热、耐蚀、耐磨、抗氧化、抗疲劳或具有光、电、磁特性的表面熔覆层。 Laser cladding is required according to the conditions of the workpiece, a metal or non-metal cladding various designs ingredients, preparation of a heat, corrosion, wear, anti-oxidation, anti-fatigue or an optical, electrical and magnetic properties of the surface cladding Floor. 激光熔覆是一种快速冷却的过程、对基材的热输入量少、热影响区小、熔覆层组织细小、易于实现自动化等,因此使用激光熔覆的方法来修复转子等零部件比其他方法具有更大的优势。 Laser cladding is a process of rapid cooling, less heat input to the substrate, heat-affected zone, fine cladding layer of tissue, and the like easy to automate, and therefore methods of using laser cladding and other components of the rotor than to repair other methods have greater advantages. 激光熔覆技术解决了传统电焊、氩弧焊等热加工过程中不可避免的热变形、热疲劳损伤等一些列技术难题,同时也解决了传统电镀、喷涂等覆层与基本结合强度差的矛盾。 Laser cladding technology to solve the thermal deformation during thermal processing inevitable conventional welding, welding, etc., a series of technical problems of thermal fatigue damage, but also solve the conventional electroplating, spray coating, etc. and poor bond strength substantially contradiction . 因此,与其它方法相比较而言,激光熔覆是一种比较理想的表面熔覆或修复加工方法。 Accordingly, comparison to other methods, the laser cladding is an ideal surface cladding or repair processing method.

[0003] 发电机、汽轮机转子轴,飞机汽轮机叶片的表面熔覆,车身模具等体积较大,自身重量达几十吨,甚至几百吨,如果要进行表面熔覆或者修复,则运输成本很高, [0003] the generator, steam turbine rotor shaft, the steam turbine blade of the aircraft surface cladding, and other larger body mold, its own weight of tens of tons or even hundreds of tons, if the surface to be repaired or cladding, the transportation costs are high,

[0004] 发电机、汽轮机转子轴,飞机汽轮机叶片的表面熔覆,车身模具等体积较大,自身重量达几十吨,甚至几百吨。 [0004] The generator, the steam turbine rotor shaft, the steam turbine blade of the aircraft surface cladding, and other larger body mold, its own weight of tens of tons or even hundreds of tons. 例如,20万kW发电机组的轴系总重在100吨左右,30万kW发电机组的轴系总重在150吨左右。 For example, shafting 200,000 kW generator set gross weight of 100 tons, shafting 300,000 kW generator set gross weight of about 150 tons. 每个转子的长度都在7-8m以上。 The length of each rotor are 7-8m above. 这些大型构件需要进行表面熔覆或者修复,如果运到厂家来维修,则运输成本很高,运输也极为不便,同时还存在运输中的安全问题,所以最理想的情况是把激光加工设备运输到现场,直接在现场对大型构件进行表面熔覆或者修复。 These components require large surface cladding or repair, if transported to the factory for repair, the high cost of transportation, transport is also very inconvenient, and also security problems of transportation, so the ideal situation is transported to the laser processing apparatus site, directly on the large surface cladding member or repaired in the field.

[0005] 但一般的激光加工系统包括激光器、激光加工机、控制系统、水冷机组等几个分系统组成,由于组成设备较多,结构复杂,所以一般都是分散固定放置在车间内部,不适合运输到现场作业。 [0005] However, the laser processing system generally includes a laser, a laser processing machine, the control system, as chillers several subsystems, since the composition of the device more complicated structure, are generally placed inside the workshop dispersed and fixed, is not suitable for transportation to the job site.

[0006] 经对现有技术文献检索分析,发现名称为激光熔覆设备、申请号为200920133909.9的中国专利文献提出了一种用大型构件激光熔覆的翻转机构,这种翻转机构可以使零件与地面成任意角度,配合旋转机构可以覆盖到全部熔覆面,从而提高了激光熔覆的效率和质量。 [0006] The analysis of the prior art literature search, find the name of laser cladding apparatus of Chinese Application No. 200920133909.9 proposes patent document reversing mechanism for a laser cladding with a larger member, which may be the part with a turning mechanism ground at any angle, with the rotation mechanism may cover the entire surface of the cladding, thereby improving the efficiency and quality of laser cladding. 并且只需进行一次装夹,降低了生产成本,提高了生产效率。 And only once setup, reduce production costs and improve production efficiency. 申请号为200520090374.3的中国专利文献所公开的“一种以半导体激光器为光源的移动式激光加工系统”设计了一个激光加工机,将激光发生器和激光加工机安装在同一台架上各自的安装座里,台架的支柱备有上下调节机构,使激光发生器和激光加工机保持在同一水平面上。 Of Chinese Application No. 200520090374.3 disclosed in Patent literature to "a semiconductor laser as a light source to a mobile laser processing system" design of a laser processing machine, the laser generator and the laser processing machine is mounted on the same gantry their installation seat, the pillar of the gantry provided with vertical adjusting mechanism, the laser beam generator and a laser processing machine remains in the same horizontal plane. 该发明实际是仅仅提供了一个自行设计的激光加工机,并不涉及运动、控制部分以及系统的其它部分等。 The actual invention is to provide a simply designed laser processing machine, it does not involve the movement control section and other parts of the system and the like. 申请号为20081000060.4的中国专利文献所公开的“移动式激光修复设备及其修复方法”,提出了一种基于三维扫描并进行分层切片的移动式激光修复设备及其修复方法,可以广泛应用于较高精度、高附加值或者大型设备和零部件的修复,但该设备的移动承载体为汽车,使用并不方便,系统也不具有熔池尺寸自适应控制功能,进一步该专利中也不涉及到控制部分。 Application No. of China Patent Document 20,081,000,060.4 disclosed in "Mobile repair apparatus and a laser repair method", proposes a mobile apparatus and a laser repair method of repairing based on three-dimensional scanning and slicing can be widely applied high precision, high value or large-scale equipment and repair parts, but the mobile device is a carrier of the car, it is not convenient to use, nor puddle size adaptive system control, this patent does not involve further to the control section.

发明内容 SUMMARY

[0007] 本发明的目的在于针对现有技术中存在的不足和缺陷,提供一种可灵活移动的激光熔覆及修复系统,该系统运动轨迹灵活,能适应复杂曲面或者空间轨迹的熔覆及修复,可根据待熔覆的工件模型自动切片、轨迹规划然后进行熔覆或者修复,在熔覆过程中也可以对熔覆的尺寸进行自适应控制,有效地提高了熔覆的质量。 [0007] The object of the present invention is present in the prior art shortcomings and deficiencies, there is provided a system for laser cladding and repair may be mobile and flexible, the system trajectory flexible and can adapt to the complex surface or cladding space trajectories and repair, according to the model of the workpiece to be automatically sliced ​​cladding, cladding or trajectory planning and then repair, adaptive control may be performed in the cladding of the size of the cladding process, effectively improves the quality of the cladding. 由于该系统的移动灵活性,特别适合像汽轮机转子、发动机叶片以及车身模具等这些大型构件的现场表面熔覆或者修复。 Since the mobile flexibility of the system, particularly suitable for large image field surfaces turbine rotors, turbine blades and other components of the body mold cladding or repair.

[0008] 根据本发明的一个方面,提供一种可移动式激光熔覆及修复系统,包括可移动平台、6个自由度的机器人、激光器、激光加工头和同轴送粉头、送粉器、熔池温度摄像机以及相应的熔池温度图像处理系统、PC计算工作站、PLC主控系统、变位机、激光三维扫描传感器、辅助装置,所述机器人、激光器、激光加工头和同轴送粉头、送粉器、熔池温度摄像机以及相应的熔池温度图像处理系统、PC计算工作站、PLC主控系统、变位机、激光三维扫描传感器、辅助装置均设置在所述可移动平台上,机器人的第6轴末端设置有激光加工头、激光三维扫描传感器、熔池温度摄像机,激光加工头下端与同轴送粉头相连接,送粉器连通至同轴送粉头,熔池温度图像处理系统连接熔池温度摄像机,同轴送粉头的粉末流汇聚的位置就是激光器的激光焦距的位置,PLC主控系统 [0008] In accordance with one aspect of the invention, there is provided a movable laser cladding and repair system, comprising a movable platform, six degrees of freedom of the robot, a laser, a laser processing head and the head of the coaxial powder, powder feeder , bath temperature bath temperature and corresponding camera image processing system, PC computing workstations, PLC main control system, the displacement machine, three-dimensional laser scanning sensor, auxiliary device, a robot, a laser, a laser processing head and a coaxial powder head, powder feeder, and the bath temperature corresponding to the bath temperature camera image processing system, PC computing workstations, PLC main control system, the displacement machine, three-dimensional laser scanning sensor, the auxiliary means are provided on said movable platform, the first end of the robot shaft 6 is provided with a laser processing head, the three-dimensional laser scanning sensor, the camera bath temperature, and the lower end of the laser processing head is connected to the first coaxial powder, powder feeder head communicated to the coaxial powder, bath temperature image bath temperature processing system connected to the camera, the head of the coaxial powder powder flow converging position is the focal position of the laser of the laser, PLC main control system 通过Profibus总线连接送粉器、机器人、激光器、熔池温度图像处理系统、PC计算工作站,机器人、激光三维扫描传感器通过以太网连接PC计算工作站。 Via Profibus bus connector powder feeder, robots, lasers, image processing system bath temperature, PC computing workstations, robot, calculating three-dimensional laser scanning sensor via Ethernet workstation connecting the PC.

[0009] 优选地,所述熔池温度图像处理系统用于通过控制熔池温度摄像机以获取激光熔覆过程中的熔池图像,然后对熔池图像进行特征提取并向PLC主控系统发送熔池的宽度、面积以及温度信息;PLC主控系统判断熔池的宽度、面积以及温度是否在在期望值区间,如果在期望值区间则不调整,反之则通过实时调整激光器的功率输出和/或机器人的运行速度以实现熔覆尺寸和温度的自适应控制; [0009] Preferably, the temperature of the bath by the image processing system for controlling the temperature of the bath pool image camera for laser cladding process, and then weld pool image feature extraction and sends the main control system PLC melt the width of the pool area, and temperature information; Analyzing main control system PLC puddle width, area, and whether the temperature at a desired value range, if the range is not adjusted at a desired value, and vice versa by adjusting the power output of the laser and / or a robot in real time speeds to achieve adaptive control of the temperature and cladding dimensions;

[0010] 优选地,所述PLC主控系统与PC计算工作站相连以传输机器人、激光器、送粉器、熔池温度图像处理系统的状态以及工艺参数数据信息,以便对可移动式激光熔覆及修复系统的状态进行检查,对工艺参数进行实时采集与分析,其中,所述工艺参数包括焊接速度、激光功率、送粉速率。 [0010] Preferably, the PLC is connected to the main control system calculates the PC workstation transfer robot, a laser, powder feeder, bath temperature state of the image processing system and process data information, in order to be removable and laser cladding repair system checks the status of the process parameters in real-time collection and analysis, wherein said process parameters include weld speed, laser power, feed rate.

[0011] 优选地,所述PC计算工作站包括人机界面单元、工件模型处理单元、以及离线编程和仿真单元,其中: [0011] Preferably, the man-machine interface comprises a PC workstation computing unit, workpiece model processing unit, and off-line programming and simulation unit, wherein:

[0012] 所述人机界面单元与PLC主控系统相连,PLC主控系统将机器人、激光器、送粉器、熔池温度图像处理系统的状态以及工艺参数数据信息传输给PC计算工作站,并显示在人机界面单元上以对工作状态进行实时监测,PLC主控系统实时采集的激光功率、机器人的焊接速度、送粉速率也传输给PC计算工作站并实时显示在人机界面单元上,人机界面单元上设定的机器人的程序编号和焊接速度、以及激光器的程序、激光工艺参数、送粉速率、提前送粉时间、提前送气时间参数通过PLC主控系统分别传输给机器人、激光器以及送粉器; [0012] The human-machine interface connected to the system unit and the master PLC, the master PLC system state of the robot, a laser, powder feeder, the image processing system of the bath temperature and process parameter data information is transmitted to a workstation PC computing and display on the display unit to perform real-time monitoring of the operating state, the laser power of the PLC master time acquisition system, the robot welding speed, feed rate is also transmitted to the PC workstation and displayed in real time calculated on the man-machine interface unit, the display unit the interface unit set program number and welding speed of the robot, and the laser procedure, the laser processing parameters, feed rate, powder feed ahead of time, preflow time parameters to the robot, the laser and powder feeding system by the master PLC, respectively device;

[0013] 所述工件模型处理单元通过激光三维扫描传感器扫描熔覆工件以得到熔覆工件的三维点云数据,工件模型处理单元对熔覆工件的扫描部分建立三维立体模型,并在垂直方向进行切片,将三维立体模型转化为二维平面模型,每层切片的厚度为激光器熔覆时每层的堆高,切片后,工件模型处理单元依次对每层切片进行熔覆轨迹规划,规划每层切片的加工路径; [0013] The workpiece model processing unit three-dimensional scanning sensor scans a laser cladding a workpiece to obtain a cladding of a three-dimensional point cloud data of the workpiece, the workpiece model processing unit establishes a three-dimensional model of the scanned part of the cladding of the workpiece, and in the vertical direction slice, the three-dimensional model into a two-dimensional model, each slice thickness per layer stacker when laser cladding, sliced, workpiece model processing unit sequentially each slice cladding trajectory planning, programming each machining path sections;

[0014] 所述离线编程和仿真单元用于在工件模型处理单元得到每层切片的加工路径后,根据加工路径进行离线编程,并进行模拟熔覆和修复,如果产生的机器人加工程序模拟结果满足要求,则将此加工程序下载到机器人中进行实际熔覆,如果模拟不合格,则工件模型处理单元对三维立体模型重新进行切片和轨迹规划操作。 [0014] The off-line programming and simulation means for the workpiece model processing unit to obtain a machining path after each slice, machining path according to off-line programming and simulation cladding and repair, if the machining program generated by the robot simulation result satisfies requirements, this machining program is downloaded to an actual robot cladding, if the simulated failure, the workpiece model of the three-dimensional model processing unit re-slicing trajectory planning and operations.

[0015] 本发明具有以下特点:激光器、机器人、送粉器以及熔池图像处理系统等都装配在可移动平台上,构成一个完整的、可移动的、独立的整体,这样方便将设备搬运到需要熔覆或者修复的大型零部件现场,机动灵活,又大大节约了时间和运输成本。 [0015] The present invention has the following characteristics: a laser robot, and a powder feeder pool image processing system are all mounted on a movable platform, to form a complete, movable, independent entity, so to facilitate the handling apparatus cladding needs of large parts or repair site, mobile and flexible, but also saves time and transportation costs. 系统采用6个自由度的机器人作为运动本体,可以实现很复杂的空间轨迹运动的熔覆及修复。 The system uses six degrees of freedom of a robot as a moving body, and may be implemented cladding repair complex spatial motion path. 而激光熔覆熔池尺寸的自适应控制则有效地提高了熔覆的质量和尺寸精度,而对三维空间模型的分层切片,轨迹规划功能则可以实现复杂零部件的熔覆成形及修复。 Adaptively controlling the size of the molten pool of laser cladding is effective to improve the quality and dimensional accuracy of the cladding, and slicing a three-dimensional model space, the trajectory planning function can be achieved cladding forming complex parts and repair.

[0016] 该移动激光熔覆及修复系统将移动性、熔覆尺寸的自适应控制、三维模型的自动分层切片和轨迹规划、离线编程和仿真结合起来,方便了大型零部件的激光熔覆,通过计算机的精确控制,有效地提高了熔覆的质量,简化了熔覆及修复过程。 [0016] The movement of the laser cladding and repair system automatically slicing trajectory and adaptive control, three-dimensional model of mobility, size cladding planning, programming and simulation combined offline to facilitate the large parts of the laser cladding , by precise computer control, effectively improve the quality of the cladding, the cladding and simplifying the repair process. 由于该系统的移动灵活性,特别适合像汽轮机转子,发动机叶片以及车身模具等这些大型构件的现场表面熔覆或者修复。 Since the mobile flexibility of the system, particularly suitable for large image field surfaces turbine rotors, turbine blades and other components of the body mold cladding or repair.

[0017] 该激光熔覆及修复系统可以广泛应在各种高精密度、高附加值的设备和零部件的修复过程中。 [0017] The laser cladding and repair system may be in a wide variety of repair processes high-precision, high value-added component of the device and.

附图说明 BRIEF DESCRIPTION

[0018] 通过阅读参照以下附图对非限制性实施例所作的详细描述,本发明的其它特征、目的和优点将会变得更明显: [0018] By reading the following detailed description of non-limiting embodiments given with reference to the following figures, other features of the present invention, objects and advantages will become more apparent:

[0019] 图1所示为可移动式激光熔覆及修复系统的组成。 Laser cladding to be movable and repair system of composition shown in [0019] FIG.

[0020] 图2所示为激光熔覆温度及尺寸自适应控制调节方法流程图。 [0020] FIG. 2 is a flowchart of a control method for adjusting the temperature and size adaptive laser cladding.

[0021] 图3所示为基于模型的激光熔覆及修复方法流程图。 [0021] FIG. 3 shows a flowchart of laser cladding and model-based repair method.

具体实施方式 Detailed ways

[0022] 下面结合具体实施例对本发明进行详细说明。 Specific embodiments of the present invention will be described in detail [0022] below in conjunction. 以下实施例将有助于本领域的技术人员进一步理解本发明,但不以任何形式限制本发明。 The following examples will assist those skilled in the art a further understanding of the invention, but do not limit the present invention in any way. 应当指出的是,对本领域的普通技术人员来说,在不脱离本发明构思的前提下,还可以做出若干变形和改进。 It should be noted that one of ordinary skill in the art, without departing from the spirit of the present invention, further modifications and changes may be made. 这些都属于本发明的保护范围。 All these fall within the scope of the present invention.

[0023] 如图1所示,在本实施例中, 可移动式激光熔覆及修复系统包括:可移动平台12、机器人1、激光器2、激光加工头3和同轴送粉头11、送粉器4、熔池温度摄像机5以及相应的熔池温度图像处理系统6、PC计算工作站7、PLC主控系统8、变位机9、激光三维扫描传感器10、辅助装置13,辅助装置13包括水冷装置、保护气装置以及激光安全装置。 [0023] 1, in the present embodiment, the movable laser cladding and repair system comprising: a movable platform 12, the robot 1, a laser 2, the laser processing head 3 and the head 11 of the coaxial powder, send powder 4, the camera 5 and the bath temperature bath temperature corresponding image processing system 6, PC workstation calculated 7, PLC main control system 8, the displacement unit 9, the three-dimensional scanning of the laser sensor 10, auxiliary device 13, auxiliary device 13 comprises a water-cooling unit, the protective gas laser device and a safety device.

[0024] 所述的机器人1是指通用型的,用于焊接和切割领域的6自由度工业机器人,通过其底座设置在可移动平台12上,其中:机器人I的第6轴末端与激光加工头3相连接,激光加工头3下端与同轴送粉头11相连接,在熔覆过程中,熔覆粉末经送粉器4送入同轴送粉头11,在气流的作用下,粉末流从同轴送粉头11喷射出并汇聚,通常情况下粉末流汇聚的位置就是激光焦距的位置,同时,激光三维扫描传感器10和熔池温度摄像机5也固定设置于机器人I第6轴的末端。 [0024] The robot 1 is a general-purpose means, 6 DOF industrial robot for welding and cutting in the field, by which the base is provided on the movable platform 12, wherein: the robot sixth axis I of the laser processing terminal head 3 is connected to the lower end of the laser processing head 3 and the powder feeding head 11 coaxially connected to the cladding process, the cladding powder 4 is fed by a coaxial feed powder powder feeder head 11 in an air stream, the powder streaming from the coaxial powder ejected head 11 and brought together, usually powder flow converging position is the position of the laser focus, while the three-dimensional laser scanning bath temperature sensor 10 and the camera 5 is also fixed to the robot's sixth axis I end.

[0025] 如图1所示,所述的可移动平台,其中:机器人1、激光器2、送粉器4、熔池温度图像处理系统6、PLC主控系统8、PC计算工作站7、以及包含水冷装置、保护气装置、激光安全装置的辅助装置13都固定放置在上面。 [0025] 1, the movable platform, wherein: the robot 1, laser 2, powder feeder 4, the bath temperature of the image processing system 6, PLC main control system 8, PC computing workstations 7, and comprising water-cooling unit, the protective gas, auxiliary laser means are fixed to the safety device 13 is placed on top. 所以该系统为一独立完整可移动作业系统。 So the system is a complete movable independent operating system. 可移动平台12的结构特征为一平板型钢结构,可移动平台12底部的四个角各安装有具有止动功能的万向脚轮,脚轮上设置有止动杆,当向上旋止动杆脱离地面时,则脚轮可任意方向行走,当止动杆向下旋时,脚轮被制动,则可移动平台12被固定。 Structural features of the movable platform 12 is a flat steel structure, the four corners of the bottom of the movable platform 12 is attached to each of the casters, the casters provided with a stopper rod having a stopper function, when rotating the stop lever upwardly off the ground , then any direction caster may travel, when the stopper rod screwed downwardly, castor braked, the movable platform 12 is fixed. 当需要进行现场作业时,可通过运输车将整个可移动平台12搬运至现场,调整好方位后固定,即可实现大型熔覆工件14熔覆及修复的现场作业,系统灵活方便。 When the need for on-site operations, the transporter may be fixed by the entire movable platform 12 is transported to the site, adjust azimuth, and the cladding 14 can be realized large cladding repair work-site operations, flexible system.

[0026] 所述的熔池温度图像处理系统6包括采集单元、处理单元和控制单元,其中:采集单元通过光纤与熔池温度摄像机5相连以接收激光熔覆过程中的熔池图像,处理单元则主要是对采集的图像进行处理并进行特征提取,通过Profibus总线与PLC主控系统8相连以传输经过处理得到的熔池的宽度、面积以及温度等信息。 [0026] The bath temperature of the image processing system 6 includes a collecting unit, a processing unit and a control unit, wherein: the acquisition unit via the optical fiber 5 is connected to the bath temperature of molten pool camera receiving an image of the laser cladding process, the processing unit is mainly collected image processing and feature extraction, is connected to transmit processed to obtain the width of the bath, and temperature information area Profibus system bus master PLC 8.

[0027] 所述的PLC主控系统8包括:开光量输入接口单兀、开关量输出接口单兀以及Profibus总线接口单元。 [0027] The PLC of the main control system 8 comprising: an optical input interface unit opening Wu, Wu switch output interface unit and bus interface unit Profibus. 其中:开关量输入接口单元与控制系统操作面板相连以传输程序开始、停止、激光打开/关闭、系统复位、故障复位、系统急停等控制信息,开光量输入接口单元也与安全门、安全光幕等相连,以实时检测系统的状态。 Wherein: the control interface unit and the control operator panel is connected to start to transmit the program is stopped, the laser on / off, reset, fault reset, system emergency stop control information, the opening amount of the input interface unit also security doors, security screens and the like are connected, the state of real-time detection system. 开关量输出接口单元则与水冷启动、保护气打开/关闭、系统送粉启动/停止等装置相连以传输控制信息,以使整个系统按照一定的时序工作,、开关量输出接口单元也与系统就绪、运行/停止、系统复位、安全门复位、激光打开、蜂鸣器·报警、三色指示灯等装置相连以反映系统的工作状态。 Switch output interface unit to start the water-cooled protective gas open / close, powder feeding system start / stop means coupled to transmit other control information to make the whole system work according to a certain timing ,, switch output interface unit is also ready the system run / stop, reset, reset security doors, open the laser, · alarm buzzer, and other devices connected to the three-color lights to reflect the status of the system operation. 机器人1、激光器2、熔池温度图像处理系统6则是通过Profibus总线接口单元与PLC主控系统8相连,PLC主控系统8也通过总线接口单元与PC计算工作站7相连,以传输相应的状态和控制信息。 Robot 1, laser 2, bath temperature image processing system 6 is connected via Profibus bus interface unit 8 and the main control system PLC, the master PLC system 8 is also connected to a workstation via a bus interface unit 7 calculates the PC to transmit the corresponding status and control information. 总线接口与机器人I相连以传输机器人I的程序编号、焊接速度、以及一些I/O信号,机器人I的输出I/O信号通过总线接口单元传输到PLC主控系统8,以实时监测机器人I的工作状态,并进行相应的处理,而PLC主控系统8的输出I/O信号则通过总线接口单元传输到机器人I的控制器,以控制机器人I按照一定的时序动作。 I bus interface is connected to the robot transfer robot program number I, welding speed, and a number of I / O signals, the robot I output I / O bus interface unit transmits a signal to the PLC by the main control system 8, the real-time monitoring of the robot I operation state, and the corresponding treatment, the master PLC of the system output I 8 / O signal is transmitted via the bus interface unit I to the robot controller to control the robot I according to a certain sequence operation. PLC主控系统8的总线接口单元与激光器2相连以传输激光器的程序编号、激光功率、激光方式、以及一些I/O信号,激光器2输出I/O信号通过总线接口单元传输至PLC主控系统8,以实时监测激光器2的工作状态,并进行相应处理,比如就绪、激光是否打开等反映系统状态的信息,而PLC主控系统8的输出I/O信号则通过总线接口单元传输到激光器2的控制器,以控制激光器2按照一定的时序动作,实现激光熔覆过程。 Numbering system bus master is connected to PLC interface unit 2 to transmit the laser 8 laser procedures, the laser power, a laser system, and a number of I / O signals, the laser 2 output I / O bus interface unit transmits a signal to the PLC by the main control system 8, in a real-time monitoring the operating state laser 2, and corresponding processing, such as ready, the laser is turned on and other information reflecting the state of the system, the master PLC of the system output I 8 / O signals transmitted to the laser 2 via the bus interface unit a controller to control the laser 2 operation according to a certain timing, to achieve laser cladding. 总线接口单元也与激光熔覆的熔池温度图像处理系统6相连以接收熔覆熔池的宽度、面积以及温度等信息,也通过总线接口单元向熔池温度图像处理系统6发送一些控制信息,比如启动相机拍摄和开始图像处理等。 The bus interface unit also with the bath temperature laser cladding 6 is connected to the image processing system to receive information cladding puddle width, area, and temperature, but also send some information to the bath temperature control image processing system 6 via the bus interface unit, For example, to activate the camera and start shooting image processing. PLC主控系统8通过Profibus总线接口单元接收到熔池的宽度、温度等信息,如果在期望值区间,则不调整,反之则通过一定的控制策略实时调整激光器2的功率输出或者机器人I的运行速度等工艺参数,从而实现熔覆尺寸和温度的自适应控制。 PLC via Profibus main control system 8 receives the bus interface unit to the width of the bath, temperature and other information, if the expected value interval, no adjustment, otherwise controlled by a certain strategy adjusted in real time the power output of the laser 2 or the operating speed of the robot I and other parameters to achieve adaptive control of the cladding size and temperature. 如图2所示为激光熔覆的熔池尺寸及温度控制方法流程图。 2 is a flowchart of the weld pool size and temperature control method for laser cladding. [0028] 所述的PC计算工作站7包括人机界面单元、工件模型处理单元、以及离线编程和仿真单元。 [0028] Calculation of the PC work station 7 comprises a man-machine interface unit, a workpiece model processing unit, and off-line programming and simulation unit. 其中:人机界面单元通过Profibus总线接口单元与PLC主控系统8相连,PLC主控系统8通过总线接口单元将机器人1、激光器2、熔池温度图像处理系统6、送粉器4以及安全门、安全光幕等设备的状态信息传输给PC计算工作站7,并显示在人机界面上以对系统的各个部件的工作状态进行实时监测,PLC主控系统8实时采集的激光功率、机器人的焊接速度、送粉速率等也可以通过总线接口单元传输给PC计算工作站7并实时显示在人机界面上,这些数据也可以导出进行分析和打印。 Wherein: man-machine interface unit connected via Profibus bus interface unit 8 and the main control system PLC, the master PLC system 8 to the robot 1, laser 2, bath temperature image processing system 6, and a powder feeder 4 via bus interface unit security door, status information transmission devices such as safety light curtain to the PC computing station 7, and is displayed in the operating state of the various components of the system are monitored in real time on the display unit, the laser power controlling system PLC 8 collected in real time, the robot welding speed , feed rate, etc. may be transmitted via the bus interface unit to a PC workstation 7 calculated in real time and displayed on the display unit, the data can also be exported for analysis and printing. 人机界面上设定的机器人I的程序编号、焊接速度,激光器2的程序、激光工艺参数、送粉速率、提前送粉时间、提前送气时间等参数则通过总线接口单元与PLC主控系统8相连,PLC主控系统8再通过总线接口单元将这些数据分别传输给机器人1、激光器2以及送粉器4等。 Program number set I of the robot on the display unit, the welding speed, the laser procedure 2, the laser processing parameters, feed rate, powder feed ahead of time, preflow time parameters through the bus interface unit 8 and the main control system PLC connected to, PLC main control system via the bus interface unit 8 and then these data are transmitted to the robot 1, the laser powder feeders 2 and 4 and the like.

[0029] 所述的PC计算工作站7的工件模型处理单元是指:激光三维扫描传感器10通过以太网接口与PC计算工作站7相连以传输扫描工件得到的三维点云数据,工件模型处理单元对扫描部分建立三维模型,并在垂直方向进行切片,将三维立体模型转化为二维平面模型,每层切片的厚度为激光器熔覆时每层的堆高。 [0029] Calculation of the PC workstation workpiece model processing unit 7 refers to: calculate the three-dimensional laser scanning sensor 10 via the Ethernet interface 7 is connected to the PC workstation to transfer three-dimensional point cloud data obtained by scanning a workpiece, the workpiece model to the scan processing unit part 3D model, and sectioned in a vertical direction, the three-dimensional model into a two-dimensional model, the slice thickness of each layer of the stack is high when each laser cladding. 切片后,模型处理单元依次对每层切片进行熔覆轨迹规划,规划每层的加工路径。 After slicing, the model processing unit sequentially each slice cladding trajectory planning, programming each of the machining path.

[0030] 所述的PC计算工作站7的离线编程和仿真单元是指:在处理单元得到每层切片的加工路径后,三维离线编程单元根据加工路径进行离线编程,并进行模拟熔覆和修复,如果产生的机器人加工程序模拟结果满足要求,则将此加工程序下载到机器人I中进行实际熔覆。 The [0030] PC workstation off-line programming and simulation calculation unit 7 means: the post-processing unit to obtain a machining path on each slice, the three-dimensional off-line programming unit for off-line programming the machining path, and simulate cladding and repair, If the robot simulation result of the machining program to meet the requirements, this machining program is downloaded to the robot in the actual I cladding. 如果模拟不合格,则需模型处理单元对模型重新进行切片和轨迹规划操作。 If the simulated failure, the processing unit need to model the model trajectory planning and re-slicing operation. 如图3所示为基于三维模型进行激光熔覆及修复的流程示意图。 3 is a schematic view of laser cladding and repair processes based on three-dimensional model.

[0031] 本实施例实现了方便、高效、移动灵活以及高精度的激光熔覆。 [0031] The present embodiment realizes a convenient, efficient, flexible and high-precision movement of the laser cladding. 基于机器人技术结合三维模型的分层切片、离线编程技术可以实现空间复杂曲面的表面熔覆,以可以很方便地实现三维立体模型的熔覆及修复。 Robot technologies based slicing 3D model off-line programming techniques may be implemented complex spatial curved surface cladding for cladding can be easily implemented and repair of the three-dimensional model. 激光熔覆熔池尺寸及温度的自适应控制则保证了熔覆过程的一致性,提高了产品的质量和稳定性。 Adaptive control of laser cladding the molten pool size and temperature to ensure the consistency of the cladding process, improves the quality and stability of the product. 激光熔覆系统的所有部件全部安装在一个可移动的平台上,无论科研还是大型构件的现场应用都非常方便,大大提高了系统使用的灵活性。 All components of the laser cladding system is fully installed on a movable platform, regardless of field application of scientific research or large components are very convenient, greatly improving the flexibility of the system used. 因此,该熔覆系统及方法无论对提高熔覆质量、精密或者复杂大型构件熔覆的自适应性,还是从经济效益和社会效益的角度,该系统和方法都具有较大的推广应用价值。 Therefore, regardless of the cladding system and method of cladding to improve the quality, precision large components or complex adaptive cladding, or from economic and social point of view, the system and method has greater application value.

[0032] 以上对本发明的具体实施例进行了描述。 [0032] The foregoing specific embodiments of the invention have been described. 需要理解的是,本发明并不局限于上述特定实施方式,本领域技术人员可以在权利要求的范围内做出各种变形或修改,这并不影响本发明的实质内容。 Is to be understood that the present invention is not limited to the particular embodiments, those skilled in the art can make various changes and modifications within the scope of the appended claims, this does not affect the substance of the present invention.

Claims (4)

1.一种可移动式激光熔覆及修复系统,其特征在于,包括可移动平台(12)、6个自由度的机器人(I)、激光器(2)、激光加工头(3)和同轴送粉头(11)、送粉器(4)、熔池温度摄像机(5)以及相应的熔池温度图像处理系统(6)、PC计算工作站(7)、PLC主控系统(8)、变位机(9)、激光三维扫描传感器(10)、辅助装置(13),所述机器人(I)、激光器(2)、激光加工头(3)和同轴送粉头(11)、送粉器(4)、熔池温度摄像机(5)以及相应的熔池温度图像处理系统(6 )、PC计算工作站(7 )、PLC主控系统(8 )、变位机(9 )、激光三维扫描传感器(10 )、辅助装置(13)均设置在所述可移动平台(12)上,机器人(I)的第6轴末端设置有激光加工头(3)、激光三维扫描传感器(10)、熔池温度摄像机(5),激光加工头(3)下端与同轴送粉头(11)相连接,送粉器(4 )连通至同轴送粉头(11),熔池温度图像处理系统(6 )连接熔池 1. A portable laser cladding and repair system, characterized by comprising a movable platform (12), six degrees of freedom of the robot (the I), a laser (2), the laser processing head (3) and a coaxial powder feeding head (11), powder feeder (4), bath temperature camera (5) and the bath temperature corresponding image processing system (6), PC workstation calculates (7), PLC main control system (8), becomes bit (9), three-dimensional laser scanning sensor (10), the auxiliary means (13), the robot (the I), a laser (2), the laser processing head (3) and a coaxial powder feeding head (11), powder feeding (4), bath temperature camera (5) and the bath temperature corresponding image processing system (6), PC workstation calculates (7), PLC main control system (8), the displacement unit (9), laser scanning a sensor (10), the auxiliary means (13) are arranged on the movable platform (12), a first end of the robot shaft 6 (I) is provided with a laser processing head (3), three-dimensional laser scanning sensor (10), melting cell temperature camera (5), the laser processing head (3) coaxial with the lower end of powder feeding head (11) is connected, powder feeder (4) to a coaxial powder communication head (11), the image processing system bath temperature ( 6) connected to the bath 温度摄像机(5),同轴送粉头(11)的粉末流汇聚的位置就是激光器(2)的激光焦距的位置,PLC主控系统(8)通过Profibus总线连接送粉器(4)、机器人(1)、激光器(2)、熔池温度图像处理系统(6 )、PC计算工作站(7 ),机器人(1)、激光三维扫描传感器(10 )通过以太网连接PC计算工作站(7)。 Temperature camera (5), coaxial powder feeding head (11) of the powder flow converging position is the focal position of the laser of the laser (2), PLC main control system (8) connected to powder feeder (4) through the Profibus robot (1), a laser (2), the image processing system bath temperature (. 6), PC computing station (7), the robot (1), three-dimensional laser scanning sensor (10) connected to PC computing station (7) via Ethernet.
2.根据权利要求1所述的可移动式激光熔覆及修复系统,其特征在于,所述熔池温度图像处理系统(6)用于通过控制熔池温度摄像机(5)以获取激光熔覆过程中的熔池图像,然后对熔池图像进行特征提取并向PLC主控系统(8)发送熔池的宽度、面积以及温度信息;PLC主控系统(8)判断熔池的宽度、面积以及温度是否在在期望值区间,如果在期望值区间则不调整,反之则通过实时调整激光器(2)的功率输出和/或机器人(I)的运行速度以实现熔覆尺寸和温度的自适应控制。 The laser cladding may be removable and repair system according to claim 1, wherein the bath temperature of the image processing system (6) for controlling the bath temperature by the camera (5) for laser cladding pool image process, and then weld pool image feature extraction and (8) transmitting the bath width, area, and the main control system PLC temperature information; PLC main control system (8) determines the width of the bath, and the area whether the temperature at a desired value range, if the range is not adjusted at a desired value, and vice versa (2) power output and / or a robot (I) is adjusted in real time by the speed of the laser cladding to achieve adaptive control of the size and temperature.
3.根据权利要求1所述的可移动式激光熔覆及修复系统,其特征在于,所述PLC主控系统(8)与PC计算工作站(7)相连以传输机器人(I)、激光器(2)、送粉器(4)、熔池温度图像处理系统(6)的状态以及工艺参数数据信息,以便对可移动式激光熔覆及修复系统的状态进行检查,对工艺参数进行实时采集与分析,其中,所述工艺参数包括焊接速度、激光功率、送粉速率。 The laser cladding may be removable and repair system according to claim 1, characterized in that the PLC main control system (8) and PC computing station (7) is connected to transfer robot (the I), a laser (2 ), the state of powder feeder (4), the bath temperature of the image processing system (6) and the process data information, in order to check the state of the movable laser cladding and repair system, real-time acquisition of the process parameters and analysis wherein said process parameters include weld speed, laser power, feed rate.
4.根据权利要求1所述的可移动式激光熔覆及修复系统,其特征在于,所述PC计算工作站(7)包括人机界面单元、工件模型处理单元、以及离线编程和仿真单元,其中: 所述人机界面单元与PLC主控系统(8)相连,PLC主控系统(8)将机器人(1)、激光器(2)、送粉器(4)、熔池温度图像处理系统(6)的状态以及工艺参数数据信息传输给PC计算工作站(7),并显示在人机界面单元上以对工作状态进行实时监测,PLC主控系统(8)实时采集的激光功率、机器人(I)的焊接速度、送粉速率也传输给PC计算工作站(7)并实时显示在人机界面单元上,人机界面单元上设定的机器人(1)的程序编号和焊接速度、以及激光器(2)的程序、激光工艺参数、送粉速率、提前送粉时间、提前送气时间参数通过PLC主控系统(8)分别传输给机器人(I)、激光器(2)以及送粉器(4); 所述工件模型处理单元通过激光 The laser cladding may be removable and repair system according to claim 1, wherein said PC computing station (7) comprises a man-machine interface unit, a workpiece model processing unit, and off-line programming and simulation unit, wherein : the HMI unit PLC main control system (8) is connected to, PLC main control system (8) of the robot (1), a laser (2), powder feeder (4), the bath temperature the image processing system (6 ) and the process data status information is transmitted to PC computing station (7), and displayed in real-time monitoring of the operating state of the man-machine interface unit, the laser power PLC main control system (8) collected in real time, the robot (I) welding speed, feed rate is also transmitted to the computing station PC (7) and displayed in real time on the man-machine interface unit, the robot (1) is set on the man-machine interface unit program number and welding speed, and the laser (2) procedures, laser parameters, feed rate, powder feed ahead of time, preflow time parameters to the robot (I) by the PLC main control system (8) respectively, a laser (2) and a powder feeder (4); the workpiece model by a laser processing unit 维扫描传感器(10)扫描熔覆工件(14)以得到熔覆工件(14)的三维点云数据,工件模型处理单元对熔覆工件(14)的扫描部分建立三维立体模型,并在垂直方向进行切片,将三维立体模型转化为二维平面模型,每层切片的厚度为激光器(2)熔覆时每层的堆高,切片后,工件模型处理单元依次对每层切片进行熔覆轨迹规划,规划每层切片的加工路径; 所述离线编程和仿真单元用于在工件模型处理单元得到每层切片的加工路径后,根据加工路径进行离线编程,并进行模拟熔覆和修复,如果产生的机器人加工程序模拟结果满足要求,则将此加工程序下载到机器人(I)中进行实际熔覆,如果模拟不合格,则工件模型处理单元对三维立体模型重新进行切片和轨迹规划操作。 Dimensional scanning sensor (10) scanning the workpiece cladding (14) to obtain a cladding of the workpiece (14) a three-dimensional point cloud data, the processing unit establishes a workpiece model three-dimensional model of the workpiece scanning cladding portion (14), and in the vertical direction slicing the three-dimensional model into a two-dimensional model, the slice thickness of each layer is a laser (2) cladding on each stacker, sliced, workpiece model processing unit for sequentially slicing each trajectory planning cladding , each slice machining path planning; later off-line programming and simulation means for the workpiece model processing unit to give each slice machining path, a machining path according to off-line programming and simulation cladding and repair, if produced robot simulation results meet the requirements of the machining program, this machining program is downloaded to the robot (I), the actual cladding, if the simulated failure, the workpiece model of the three-dimensional model processing unit re-slicing trajectory planning and operations.
CN201310016660.4A 2013-01-16 2013-01-16 Movable laser cladding and repairing system CN103074625B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310016660.4A CN103074625B (en) 2013-01-16 2013-01-16 Movable laser cladding and repairing system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310016660.4A CN103074625B (en) 2013-01-16 2013-01-16 Movable laser cladding and repairing system

Publications (2)

Publication Number Publication Date
CN103074625A true CN103074625A (en) 2013-05-01
CN103074625B CN103074625B (en) 2015-01-21

Family

ID=48151317

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310016660.4A CN103074625B (en) 2013-01-16 2013-01-16 Movable laser cladding and repairing system

Country Status (1)

Country Link
CN (1) CN103074625B (en)

Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103753098A (en) * 2013-12-31 2014-04-30 上海彩石激光科技有限公司 Turbine engine blade automatic repairing device and method
CN104651832A (en) * 2015-03-13 2015-05-27 苏州大学 Surface remediation process for large-size metallic component
CN104674210A (en) * 2013-12-02 2015-06-03 齐欢 Workpiece laser automatic repair method
CN104807410A (en) * 2015-04-14 2015-07-29 西安交通大学 Quick phototyping by laser cladding layer height measuring device and closed-loop control method thereof
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
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
CN105598450A (en) * 2016-02-02 2016-05-25 陕西天元智能再制造股份有限公司 Laser three-dimensional profiling repair method for damaged components and parts
CN105666031A (en) * 2016-04-11 2016-06-15 吉林省光铸光电科技有限公司 Equipment and method for repairing railway vehicle wheel set
CN105695986A (en) * 2016-02-25 2016-06-22 上海交通大学 System and method for repairing nickel-based monocrystal high-temperature alloy turbine blade tip
CN106112207A (en) * 2016-08-17 2016-11-16 广东工业大学 Gas metal-arc welding 3D increases material repair apparatus and method for repairing and mending
CN106119840A (en) * 2016-08-31 2016-11-16 江苏斯普瑞科技有限公司 A kind of laser melting coating integrated control system
CN106141436A (en) * 2016-08-17 2016-11-23 广东工业大学 Wire filling laser welding increases material repair apparatus and method for repairing and mending
CN106141374A (en) * 2016-08-17 2016-11-23 广东工业大学 Non-consumable gas shielded arc welding 3D increases material repair apparatus and method for repairing and mending
CN106166659A (en) * 2015-12-08 2016-11-30 北京印刷学院 The shaping method for maintaining of special-shaped part
CN107059002A (en) * 2017-05-11 2017-08-18 大连华锐重工特种备件制造有限公司 The integrated shelter system of packaged type laser melting coating complete set of equipments
CN107099795A (en) * 2017-03-31 2017-08-29 山东立辉重工有限公司 spider robot with cladding function
CN107099797A (en) * 2017-06-18 2017-08-29 新疆开源重工机械有限责任公司 The quick method for planning track of curved surface laser melting coating based on point cloud model
CN107130239A (en) * 2017-06-28 2017-09-05 苏州大学 Local atmosphere protects metal or alloy laser melting coating and manufacturing process
CN107164759A (en) * 2017-06-06 2017-09-15 杭州大冶激光科技有限公司 A kind of method of axial workpiece field repair
CN107552954A (en) * 2017-09-28 2018-01-09 张家港市旭华激光有限公司 A kind of laser-beam welding machine with thermocouple
CN107662070A (en) * 2017-11-09 2018-02-06 四川工程职业技术学院 A kind of rotary wheel of water turbine automatic welding repair system
CN107904591A (en) * 2017-10-26 2018-04-13 机械科学研究总院先进制造技术研究中心 A kind of metal bull cladding forming method and its device
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
CN108034941A (en) * 2017-11-30 2018-05-15 西安理工大学 Suitable for the anti-cavitation corrosion laser melting coating construction method of pump turbine at power station scene

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205635772U (en) * 2016-04-05 2016-10-12 南京先进激光技术研究院 Laser cladding moving platform

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101214582A (en) * 2008-01-14 2008-07-09 北京紫色光激光技术有限公司 Mobile laser repairing equipment and repairing method thereof
CN201720607U (en) * 2010-07-09 2011-01-26 天津工业大学 Laser remanufacturing robot system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101214582A (en) * 2008-01-14 2008-07-09 北京紫色光激光技术有限公司 Mobile laser repairing equipment and repairing method thereof
CN201720607U (en) * 2010-07-09 2011-01-26 天津工业大学 Laser remanufacturing robot system

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
杨洗陈: "激光机器人技术及工业应用", 《中国激光》, vol. 36, no. 11, 30 November 2009 (2009-11-30) *
黄敬尧等: "基于人机界面的PLC控制焊接自动化系统", 《三峡大学学报(自然科学版)》, vol. 28, no. 5, 31 October 2006 (2006-10-31) *

Cited By (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104674210A (en) * 2013-12-02 2015-06-03 齐欢 Workpiece laser automatic repair method
CN103753098B (en) * 2013-12-31 2016-08-31 成都青石激光科技有限公司 Turbine engine blade automatic prosthetic appliance and restorative procedure thereof
CN103753098A (en) * 2013-12-31 2014-04-30 上海彩石激光科技有限公司 Turbine engine blade automatic repairing device and method
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
CN104651832A (en) * 2015-03-13 2015-05-27 苏州大学 Surface remediation process for large-size metallic component
CN104807410A (en) * 2015-04-14 2015-07-29 西安交通大学 Quick phototyping by laser cladding layer height measuring device and closed-loop control method thereof
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
CN106166659A (en) * 2015-12-08 2016-11-30 北京印刷学院 The shaping method for maintaining of special-shaped part
CN105598450B (en) * 2016-02-02 2017-11-10 陕西天元智能再制造股份有限公司 A kind of laser three-dimensional profiling restorative procedure of parts damage
CN105598450A (en) * 2016-02-02 2016-05-25 陕西天元智能再制造股份有限公司 Laser three-dimensional profiling repair method for damaged components and parts
CN105695986A (en) * 2016-02-25 2016-06-22 上海交通大学 System and method for repairing nickel-based monocrystal high-temperature alloy turbine blade tip
CN105666031A (en) * 2016-04-11 2016-06-15 吉林省光铸光电科技有限公司 Equipment and method for repairing railway vehicle wheel set
CN106112207A (en) * 2016-08-17 2016-11-16 广东工业大学 Gas metal-arc welding 3D increases material repair apparatus and method for repairing and mending
CN106141436A (en) * 2016-08-17 2016-11-23 广东工业大学 Wire filling laser welding increases material repair apparatus and method for repairing and mending
CN106141374A (en) * 2016-08-17 2016-11-23 广东工业大学 Non-consumable gas shielded arc welding 3D increases material repair apparatus and method for repairing and mending
CN106119840A (en) * 2016-08-31 2016-11-16 江苏斯普瑞科技有限公司 A kind of laser melting coating integrated control system
CN107099795A (en) * 2017-03-31 2017-08-29 山东立辉重工有限公司 spider robot with cladding function
CN107059002A (en) * 2017-05-11 2017-08-18 大连华锐重工特种备件制造有限公司 The integrated shelter system of packaged type laser melting coating complete set of equipments
CN107164759B (en) * 2017-06-06 2019-02-19 杭州大冶激光科技有限公司 A kind of method of axial workpiece field repair
CN107164759A (en) * 2017-06-06 2017-09-15 杭州大冶激光科技有限公司 A kind of method of axial workpiece field repair
CN107099797A (en) * 2017-06-18 2017-08-29 新疆开源重工机械有限责任公司 The quick method for planning track of curved surface laser melting coating based on point cloud model
CN107099797B (en) * 2017-06-18 2019-03-05 新疆开源重工机械有限责任公司 The quick method for planning track of curved surface laser melting coating based on point cloud model
CN107130239A (en) * 2017-06-28 2017-09-05 苏州大学 Local atmosphere protects metal or alloy laser melting coating and manufacturing process
CN107552954A (en) * 2017-09-28 2018-01-09 张家港市旭华激光有限公司 A kind of laser-beam welding machine with thermocouple
CN107904591A (en) * 2017-10-26 2018-04-13 机械科学研究总院先进制造技术研究中心 A kind of metal bull cladding forming method and its device
CN107662070A (en) * 2017-11-09 2018-02-06 四川工程职业技术学院 A kind of rotary wheel of water turbine automatic welding repair system
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
CN108034941A (en) * 2017-11-30 2018-05-15 西安理工大学 Suitable for the anti-cavitation corrosion laser melting coating construction method of pump turbine at power station scene

Also Published As

Publication number Publication date
CN103074625B (en) 2015-01-21

Similar Documents

Publication Publication Date Title
Pires et al. Welding robots: technology, system issues and application
Ding et al. Wire-feed additive manufacturing of metal components: technologies, developments and future interests
CN103341625B (en) 3D printing manufacturing device and method of metal parts
US20050173380A1 (en) Directed energy net shape method and apparatus
EP1197289A1 (en) Gas turbine component refurbishment apparatus and repair method
JP6100379B2 (en) Method for automated superalloy laser cladding with three-dimensional imaging weld path control
CN103192159B (en) A kind of welding robot workstation system for radar arrangement part
WO2016023255A1 (en) Synchronous powder-feeding space laser machining and three-dimensional forming method and device
CN104001915B (en) A kind of high energy beam increases material and manufactures equipment and the control method thereof of large scale metallic element
CN101745765A (en) Man-machine collaboration shared control remote welding method
CN101376198B (en) 5-shaft linkage numerical control bonding machine and welding process control method thereof
CN105234538B (en) Gantry type high-power plasma arc 3D printing equipment and method
CN104858748B (en) A kind of blade intake and exhaust limit grinding machine people's automated arm
CN104801712B (en) A kind of laser is combined 3D printing apparatus and method for microplasma
CN103273171B (en) Visual tracking monitoring system and method in automatic corrugated thin plate fillet weld welding
CN104972362B (en) Intelligent Force man-controlled mobile robot grinding system and method
CN103056759A (en) Robot grinding system based on feedback of sensor
CN101185970A (en) Composite fast molding method based on laser deposition molding and reducing type molding
CN101332478B (en) Numerical controlled plate thermal stress surface shaping machine
US9289854B2 (en) Automated superalloy laser cladding with 3D imaging weld path control
CN201720607U (en) Laser remanufacturing robot system
Venturini et al. Optimization of WAAM deposition patterns for T-crossing features
CN104889864B (en) A kind of automatic grinding polishing system
CN102430841A (en) Arc welding robot laser vision seam tracking control method based on offline planning
CN106493463A (en) A kind of machining equipment that can realize arbitrarily angled cutting

Legal Events

Date Code Title Description
C06 Publication
C10 Entry into substantive examination
C14 Grant of patent or utility model