CN107043932B - Double-laser strengthening coating device - Google Patents
Double-laser strengthening coating device Download PDFInfo
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- CN107043932B CN107043932B CN201611046114.5A CN201611046114A CN107043932B CN 107043932 B CN107043932 B CN 107043932B CN 201611046114 A CN201611046114 A CN 201611046114A CN 107043932 B CN107043932 B CN 107043932B
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- 239000011248 coating agent Substances 0.000 title claims abstract description 32
- 238000000576 coating method Methods 0.000 title claims abstract description 32
- 238000005728 strengthening Methods 0.000 title claims description 11
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 230000009977 dual effect Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000004005 microsphere Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000005542 laser surface treatment Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C24/00—Coating starting from inorganic powder
- C23C24/08—Coating starting from inorganic powder by application of heat or pressure and heat
- C23C24/10—Coating starting from inorganic powder by application of heat or pressure and heat with intermediate formation of a liquid phase in the layer
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D10/00—Modifying the physical properties by methods other than heat treatment or deformation
- C21D10/005—Modifying the physical properties by methods other than heat treatment or deformation by laser shock processing
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Abstract
The invention discloses a double-laser-enhanced coating device which comprises a fixed platform, a laser platform, a first laser head, a first laser support, a second laser head, a second laser support, a first branched chain and a second branched chain, wherein the fixed ends of the first branched chain and the second branched chain are connected to the fixed platform, and the output ends of the first branched chain and the second branched chain are connected with the laser platform; and a vertical mounting hole and an inclined mounting hole which are respectively used for mounting the first laser head and the second laser head are formed on the end faces, which are mutually attached, of the first laser support and the second laser support. The invention adopts a symmetrical structure design, and has the advantages of flexible movement, strong bearing capacity and high coating efficiency; adopt the structure of two laser heads, because first laser head and second laser head are certain contained angle, the irradiation range of first laser head and second laser head is different, compares the irradiation range of single laser head, and two laser heads have bigger irradiation range, and two laser heads move work simultaneously, have improved the efficiency that the coating was reinforceed to the laser greatly.
Description
Technical Field
The invention relates to the technical field of laser strengthening coating, in particular to a double-laser strengthening coating device.
Background
Laser coating is an important technology of laser surface treatment, low-cost materials are used as base materials, materials with high surface performance are made, rare metal materials can be utilized to the maximum degree, and manufacturing cost is reduced. With the wide range of laser coating technology, laser coating equipment is also continuously developed.
The invention discloses a device for coating microspheres in an omnidirectional motion, which is disclosed in the Chinese patent with the application number of 201510138715.8, and utilizes two motors to drive a workpiece to move along a certain horizontal direction and rotate around a shaft center, so that the microspheres are uniformly coated and strengthened. The invention patent of China with application number 201410421936.1 discloses a method and a device for strengthening hole walls by impact of annular laser belts, wherein the hole walls of hole workpieces are strengthened by laser beams output by a laser, the laser is fixed, and a workbench drives the workpieces to move along the axial direction of the holes. The chinese patent application No. 201180033905.3 discloses a method and apparatus for applying a solid coating, in which a sample is coated by emitting a light beam from a fixed radiation source, and a single driving device drives the workpiece to move in the X/Y axis direction. However, in all of the three inventions, the workpiece is strengthened by using a single laser beam, the laser source is static, and the workpiece has only 2 degrees of freedom in movement. Meanwhile, the laser strengthening coated workpiece is a workpiece with a simple appearance. It is difficult to achieve enhanced coating of some workpieces with complex curved surface features.
In view of the above disadvantages, it is important to design and develop a dual laser-enhanced coating apparatus to complement the above disadvantages.
Disclosure of Invention
The present invention is directed to solve the above problems and to provide a dual laser enhanced coating apparatus, which can perform enhanced coating on some workpieces with complex curved surface features, and has a wide enhanced coating range and high enhanced coating efficiency.
The invention realizes the purpose through the following technical scheme: a double-laser strengthening coating device comprises a fixed platform, a laser platform, a first laser head, a first laser support, a second laser head, a second laser support, a first branched chain and a second branched chain, wherein the fixed ends of the first branched chain and the second branched chain are connected to the fixed platform, and the output ends of the first branched chain and the second branched chain are connected with the laser platform; two first branch chains are arranged, and one second branch chain is arranged; first laser support and second laser support all fix on laser platform, first laser support and second laser support fixed connection constitute perpendicular mounting hole and the slope mounting hole that is used for installing first laser head and second laser head respectively on the terminal surface that first laser support and second laser support laminated each other, and first laser head is installed in the perpendicular mounting hole that first laser support and second laser support constitute, and the second laser head is installed in the slope mounting hole that first laser support and second laser support constitute.
The first supporting chain comprises a first motor, a first coupler, a first lead screw, a first supporting bearing, a first lead screw nut, a first fixed support, a first movable support and a first connecting rod; the first motor is fixedly connected to the fixed platform through a bolt, and the output end of the first motor is connected with a first lead screw through a first coupler; the top of the first fixing support is fixedly connected to the fixing platform through a bolt; one end of the first lead screw is connected with the first coupler, the other end of the first lead screw is connected with the first support bearing, and the first support bearing is embedded in the lower end groove of the first fixed support; the upper end of the first movable support is fixedly connected with a first lead screw nut through a bolt, and the lower end of the first movable support is fixedly provided with a connecting frame; the connecting frame is connected to the first movable support through a first connecting rod, and the lower end of the connecting frame is connected with the upper end of the first connecting rod through a movable end connecting piece; the moving end connecting piece comprises a moving end upper connecting piece, a moving end middle piece and a moving end lower connecting piece; one end of the moving end upper connecting piece is fixedly connected with the lower end of the connecting frame, and the other end of the moving end upper connecting piece is hinged with the moving end intermediate piece; one end of the moving end lower connecting piece is hinged with the moving end intermediate piece, the other end of the moving end lower connecting piece is fixedly connected with the upper end of the first connecting rod through a fastening screw, and the directions of hinge shafts between the moving end upper connecting piece and the moving end lower connecting piece as well as between the moving end lower connecting piece and the moving end intermediate piece are mutually vertical; the lower end of the first connecting rod is connected with the laser platform through a platform connecting piece; the platform connecting piece comprises a platform upper connecting piece, a platform middle piece and a platform lower connecting piece; one end of the platform upper connecting piece is connected with the lower end of the first connecting rod through a fastening screw, and the other end of the platform upper connecting piece is hinged with the platform middle piece; one end of the platform lower connecting piece is hinged with the platform intermediate piece, the other end of the platform lower connecting piece is connected with a shaft fixed on the laser platform through a fastening screw, and the directions of hinge shafts between the platform upper connecting piece and the platform lower connecting piece are mutually vertical.
The second branched chain comprises a second motor, a second coupler, a second lead screw, a second support bearing, a second lead screw nut, a second fixed support, a second movable support, a rotating motor, a third coupler and a second connecting rod; the second motor is fixedly connected to the fixed platform through a bolt, and the output end of the second motor is connected with a second lead screw through a second coupling; the top of the second fixing support is fixedly connected to the fixing platform through a bolt; one end of the second lead screw is connected with the second coupling, and the other end of the second lead screw is connected with the second supporting bearing; the second supporting bearing is embedded in a bottom groove of the second fixing support; the second movable support is fixedly connected with a second lead screw nut through a bolt, and the rotating motor support is fixedly connected to the second movable support through a bolt; the rotating motor is fixed on the inner side of the rotating motor support, and the output end of the rotating motor is connected with the second connecting rod through a third coupler; one end of the second connecting rod is connected with the third coupler, and the other end of the second connecting rod is connected with the laser platform through the platform connecting piece.
Furthermore, the vertical mounting hole is perpendicular to the fixed platform, and the plane included angle between the vertical mounting hole and the inclined mounting hole is 15 degrees or 165 degrees.
Furthermore, the middle part of the laser platform is provided with a through hole, the first laser support and the second laser support penetrate through the through hole in the middle part of the laser platform, and the first laser head and the second laser head penetrate through the through hole in the laser platform and emit laser towards the lower part of the laser platform.
Further, the second motor and the output shaft of the rotating motor are coaxial, and the first motor and the second motor are the same motor.
Furthermore, the two first branched chains and the second branched chain are connected with the fixed platform and the laser platform, and the upper ends and the lower ends of the two first branched chains and the second branched chain are distributed in an equilateral triangle with the connection points of the fixed platform and the laser platform.
Furthermore, two first guide rails are arranged on two sides of the inside of the first fixing support, and the first sliding blocks sleeved on the first guide rails are fixedly connected to two sides of the first lead screw nut through bolts.
Furthermore, two second guide rails are arranged on two sides of the inside of the second fixing support, and the second sliding blocks sleeved on the second guide rails are fixedly connected to two sides of the second lead screw nut through bolts.
Furthermore, the output ends of the two first motors are respectively provided with a first encoder and a second encoder, the output end of the second motor is provided with a third encoder, and the output end of the rotating motor is provided with a fourth encoder.
The working process of the invention is as follows: the first motor of the two first branched chains and the second motor of the second branched chain are not fixed, the rotating motors move, and the laser platform rotates by taking the second branched chain as an axis; the rotating motors are not moved, the first motors of the two first branched chains and the second motors of the second branched chains synchronously move, and linear movement and spatial two-degree-of-freedom rotation of the laser platform are achieved. Through the coordinated motion of the first motor, the second motor and the rotating motor, the laser head on the laser platform can move at any angle. Simultaneously, the laser platform is provided with a first laser head and a second laser head, the first laser head can move within a certain range along with the spatial movement of the laser platform, and meanwhile, the second laser head can move within other ranges because the second laser head and the first laser head are at certain included angles. The first laser head and the second laser head operate simultaneously, and can perform laser strengthening coating on a workpiece with complex curved surface characteristics.
The control system comprises a PLC (programmable logic controller), four servo drivers, three servo motors and four encoders; the four servo drivers are respectively a first servo driver, a second servo driver, a third servo driver and a fourth servo driver; the three servo motors are respectively a first motor, a second motor and a rotating motor; the four encoders are respectively a first encoder, a second encoder, a third encoder and a fourth encoder; the output end of the PLC is respectively connected with the input ends of the first servo driver, the second servo driver, the third servo driver and the fourth servo driver in parallel; the output end of the first servo driver is connected with the input end of the first motor; one end of the first encoder is connected with the first motor, and the other end of the first encoder is connected with the first servo driver; the output end of the second servo driver is connected with the input end of the other first motor; one end of the second encoder is connected with the first motor, and the other end of the second encoder is connected with the second servo driver; the output end of the third servo driver is connected with the input end of the second motor; one end of the third encoder is connected with the second motor, and the other end of the third encoder is connected with the third servo driver. The output end of the fourth servo driver is connected with the input end of the rotating motor; one end of the fourth encoder is connected with the rotating motor, and the other end of the fourth encoder is connected with the fourth servo driver.
The PLC can calculate the corresponding rotation angles of the first motor, the second motor and the rotating motor through an algorithm according to the three-dimensional coordinate value of the input workpiece, and then calculate the corresponding pulse number and pulse frequency according to the rotation angle of the motor; the first servo driver, the second servo driver, the third servo driver and the fourth servo driver receive pulse signals sent by the PLC controller and respectively control the first motor, the second motor and the rotating motor to operate; the encoder collects the rotation angle and rotation speed information of the motor and transmits the collected information to the servo driver, and the servo driver adjusts the rotation speed and rotation angle of the corresponding motor by comparing the initial information with the feedback information, so that the motor is ensured to reach the set rotation speed and rotation angle.
The invention has the beneficial effects that: the invention adopts a symmetrical structure design, and has the advantages of flexible movement, strong bearing capacity and high coating efficiency; due to the fact that the first laser head and the second laser head form a certain included angle and the irradiation ranges of the first laser head and the second laser head are different, compared with the irradiation range of a single laser head, the double laser heads have a larger irradiation range, and the two laser heads operate simultaneously, so that the laser strengthening coating efficiency is greatly improved; in addition, four motors are used as power sources, so that the laser head on the laser platform can realize space multi-degree-of-freedom motion, and surface laser strengthening coating can be performed on a workpiece with space complex curved surface characteristics.
Drawings
Fig. 1 is an overall configuration diagram of a dual laser reinforcement coating apparatus of the present invention.
FIG. 2 is a schematic diagram of the structure of a first branch chain according to the present invention.
FIG. 3 is a schematic diagram of the structure of a second branch chain according to the present invention.
FIG. 4 is a structural diagram of a laser platform with a 15 degree vertical mounting hole and an oblique mounting hole according to the present invention.
Fig. 5 is a structural diagram of a laser platform when the vertical mounting hole and the inclined mounting hole form an angle of 165 degrees according to the present invention.
Figure 6 is a partial cross-sectional view of a laser platform of the present invention.
In the figure, 1-workpiece, 2-laser platform, 3-platform lower connecting piece, 4-platform intermediate piece, 5-platform upper connecting piece, 6-first connecting rod, 7-moving end lower connecting piece, 8-connecting frame, 9-first supporting bearing, 10-first moving support, 11-first fixed support, 12-first motor, 13-fixed platform, 14-second motor, 15-second coupler, 16-second guide rail, 17-second lead screw nut, 18-second fixed support, 19-second moving support, 20-rotating motor support, 21-rotating motor, 22-third coupler, 23-second connecting rod, 24-second laser head, 25-first laser head, 26-first laser head, 27-a first guide rail, 28-a first slide block, 29-a first coupler, 30-a first lead screw, 31-a first lead screw nut, 32-a moving end upper connecting piece, 33-a moving end intermediate piece, 34-a second slide block, 35-a second lead screw, 36-a second laser bracket and 37-a second support bearing.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1 to 6, a double-laser-enhanced coating device includes a fixed platform 13, a laser platform 2, a first laser head 26, a first laser support 25, a second laser head 24, a second laser support 36, a first branched chain and a second branched chain, wherein fixed ends of the first branched chain and the second branched chain are connected to the fixed platform 13, and output ends of the first branched chain and the second branched chain are connected to the laser platform 2; two first branch chains are arranged, and one second branch chain is arranged; first laser bracket 25 and second laser bracket 36 are all fixed on laser platform 2, first laser bracket 25 and second laser bracket 36 fixed connection, constitute perpendicular mounting hole and the slope mounting hole that is used for installing first laser head 26 and second laser head 24 respectively on the terminal surface that first laser bracket 25 and second laser bracket 36 laminated each other, first laser head 26 is installed in the perpendicular mounting hole that first laser bracket 25 and second laser bracket 36 constitute, second laser head 24 is installed in the slope mounting hole that first laser bracket 25 and second laser bracket 36 constitute. The workpiece 1 is arranged right below the laser platform 2, and the laser emitted by the first laser head 26 and the laser emitted by the second laser head 24 are both directly irradiated on the workpiece 1.
The first supporting chain comprises a first motor 12, a first coupler 29, a first lead screw 30, a first supporting bearing 9, a first lead screw nut 31, a first fixed bracket 11, a first movable bracket 10 and a first connecting rod 6; the first motor 12 is fixedly connected to the fixed platform 13 through a bolt, and the output end of the first motor 12 is connected with a first lead screw 30 through a first coupler 29; the top of the first fixing bracket 11 is fixedly connected to the fixing platform 13 through bolts; one end of the first lead screw 30 is connected with the first coupler 29, the other end of the first lead screw 30 is connected with the first support bearing 9, and the first support bearing 9 is embedded in the lower end groove of the first fixed support 11; the upper end of the first movable support 10 is fixedly connected with a first lead screw nut 31 through a bolt, and the lower end of the first movable support 10 is fixedly provided with a connecting frame 8; the connecting frame 8 is connected to the first movable support 10 through the first connecting rod 6, and the lower end of the connecting frame 8 is connected with the upper end of the first connecting rod 6 through a movable end connecting piece; the moving end connecting piece comprises a moving end upper connecting piece 32, a moving end middle piece 33 and a moving end lower connecting piece 7; one end of the moving end upper connecting piece 32 is fixedly connected with the lower end of the connecting frame 8, and the other end of the moving end upper connecting piece 32 is hinged with the moving end middle piece 33; one end of the moving end lower connecting piece 7 is hinged with the moving end intermediate piece 33, the other end of the moving end lower connecting piece 7 is fixedly connected with the upper end of the first connecting rod 6 through a fastening screw, and the hinge shaft directions of the moving end upper connecting piece 32 and the moving end lower connecting piece 7 and the moving end intermediate piece 33 are mutually vertical; the lower end of the first connecting rod 6 is connected with the laser platform 2 through a platform connecting piece; the platform connecting piece comprises a platform upper connecting piece 5, a platform middle piece 4 and a platform lower connecting piece 3; one end of the platform upper connecting piece 5 is connected with the lower end of the first connecting rod 6 through a fastening screw, and the other end of the platform upper connecting piece 5 is hinged with the platform middle piece 4; one end of the platform lower connecting piece 3 is hinged to the platform intermediate piece 4, the other end of the platform lower connecting piece 3 is connected with a shaft fixed on the laser platform 2 through a fastening screw, and the hinge shaft directions between the platform upper connecting piece 5 and the platform lower connecting piece 3 are perpendicular to the hinge shaft direction between the platform intermediate piece 4.
The second branched chain comprises a second motor 14, a second coupling 15, a second lead screw 35, a second support bearing 37, a second lead screw nut 17, a second fixed bracket 18, a second movable bracket 19, a rotating motor 21, a third coupling 22 and a second connecting rod 23; the second motor 14 is fixedly connected to the fixed platform 13 through a bolt, and the output end of the second motor 14 is connected with a second lead screw 35 through a second coupling 15; the top of the second fixing bracket 18 is fixedly connected to the fixing platform 13 through bolts; one end of the second lead screw 35 is connected with the second coupling 15, and the other end of the second lead screw 35 is connected with the second support bearing 37; the second support bearing 37 is embedded in the bottom groove of the second fixing bracket 18; the second movable bracket 19 is fixedly connected with the second lead screw nut 17 through a bolt, and the rotating motor bracket 20 is fixedly connected to the second movable bracket 19 through a bolt; the rotating motor 21 is fixed on the inner side of the rotating motor bracket 20, and the output end of the rotating motor 21 is connected with a second connecting rod 23 through a third coupler 22; one end of the second connecting rod 23 is connected with the third coupling 22, and the other end of the second connecting rod 23 is connected with the laser platform 2 through a platform connecting piece.
The vertical mounting holes are perpendicular to the fixed platform 13, and the plane included angle between the vertical mounting holes and the inclined mounting holes is 15 degrees or 165 degrees.
The middle part of laser platform 2 is equipped with the through-hole, and first laser support 25 and second laser support 36 all pass the through-hole at laser platform 2 middle part, first laser head 26 and second laser head 24 all pass the through-hole on the laser platform 2 and send out laser towards laser platform 2 below.
The second motor 14 and the output shaft of the rotating electric machine 21 are coaxial, and the first motor 12 and the second motor 14 are the same motor.
The two first branched chains and the second branched chain are connected with the fixed platform 13 and the laser platform 2, and the upper ends and the lower ends of the two first branched chains and the second branched chain are distributed in an equilateral triangle with the connection points of the fixed platform 13 and the laser platform 2.
Two first guide rails 27 are arranged on two sides of the inside of the first fixing support 11, and the first sliding blocks 28 sleeved on the first guide rails 27 are fixedly connected to two sides of the first lead screw nut 31 through bolts.
Two second guide rails 16 are arranged on two sides of the inside of the second fixing support 18, and second sliding blocks 34 sleeved on the second guide rails 16 are fixedly connected to two sides of the second lead screw nut 17 through bolts.
The output ends of the two first motors 12 are respectively provided with a first encoder and a second encoder, the output end of the second motor 14 is provided with a third encoder, and the output end of the rotating motor 21 is provided with a fourth encoder.
The working process of the invention is as follows: the first motor 12 of the two first branched chains and the second motor 14 of the second branched chain are not moved, the rotating motor 21 moves, and the laser platform 2 rotates by taking the second branched chain as an axis; the rotating motor 21 is not moved, and the first motor 12 of the two first branched chains and the second motor 14 of the second branched chain synchronously move, so that the linear movement and the rotation with two spatial degrees of freedom of the laser platform 2 are realized. Through the coordinated motion of the first motor 12, the second motor 14 and the rotating motor 21, the laser head on the laser platform 2 can move at any angle. Simultaneously laser platform 2 is last to be provided with first laser head 26 and second laser head 24, and along with laser platform 2's spatial motion, first laser head 26 can be at a certain within range motion, simultaneously because second laser head 24 is certain contained angle with first laser head 26, second laser head 24 can be at other within ranges motion. The first laser head 26 and the second laser head 24 operate simultaneously to perform laser-enhanced coating on workpieces with complex curved surface features.
The control system comprises a PLC (programmable logic controller), four servo drivers, three servo motors and four encoders; the four servo drivers are respectively a first servo driver, a second servo driver, a third servo driver and a fourth servo driver; the three servo motors are respectively a first motor 12, a second motor 14 and a rotating motor 21; the four encoders are respectively a first encoder, a second encoder, a third encoder and a fourth encoder; the output end of the PLC is respectively connected with the input ends of the first servo driver, the second servo driver, the third servo driver and the fourth servo driver in parallel; the output end of the first servo driver is connected with the input end of the first motor 12; one end of the first encoder is connected with the first motor 12, and the other end of the first encoder is connected with the first servo driver; the output end of the second servo driver is connected with the input end of another first motor 12; one end of the second encoder is connected with the first motor 12, and the other end of the second encoder is connected with the second servo driver; the output end of the third servo driver is connected with the input end of the second motor 14; one end of the third encoder is connected with the second motor 14, and the other end of the third encoder is connected with the third servo driver. The output end of the fourth servo driver is connected with the input end of the rotating motor 21; one end of the fourth encoder is connected with the rotating motor 21, and the other end of the fourth encoder is connected with the fourth servo driver.
The PLC can calculate the corresponding rotation angles of the first motor 12, the second motor 14 and the rotating motor 21 through algorithm operation according to the three-dimensional coordinate value of the input workpiece, and then calculate the corresponding pulse number and pulse frequency according to the rotation angle of the motor; the first servo driver, the second servo driver, the third servo driver and the fourth servo driver receive pulse signals sent by the PLC controller and respectively control the first motor 12, the second motor 14 and the rotating motor 21 to operate; the encoder collects the rotation angle and rotation speed information of the motor and transmits the collected information to the servo driver, and the servo driver adjusts the rotation speed and rotation angle of the corresponding motor by comparing the initial information with the feedback information, so that the motor is ensured to reach the set rotation speed and rotation angle.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the technical solutions of the present invention, so long as the technical solutions can be realized on the basis of the above embodiments without creative efforts, which should be considered to fall within the protection scope of the patent of the present invention.
Claims (6)
1. A double laser strengthening coating device is characterized in that: the laser device comprises a fixed platform (13), a laser platform (2), a first laser head (26), a first laser support (25), a second laser head (24), a second laser support (36), a first branched chain and a second branched chain, wherein the fixed ends of the first branched chain and the second branched chain are connected to the fixed platform (13), and the output ends of the first branched chain and the second branched chain are connected with the laser platform (2); two first branch chains are arranged, and one second branch chain is arranged; the laser platform comprises a laser platform (2), a first laser support (25), a second laser support (36), a vertical mounting hole and an inclined mounting hole, wherein the vertical mounting hole and the inclined mounting hole are respectively used for mounting a first laser head (26) and a second laser head (24) on the end faces of the first laser support (25) and the second laser support (36), the first laser head (26) is mounted in the vertical mounting hole formed by the first laser support (25) and the second laser support (36), and the second laser head (24) is mounted in the inclined mounting hole formed by the first laser support (25) and the second laser support (36);
the first branch chain comprises a first motor (12), a first coupler (29), a first lead screw (30), a first supporting bearing (9), a first lead screw nut (31), a first fixed support (11), a first movable support (10) and a first connecting rod (6); the first motor (12) is fixedly connected to the fixed platform (13) through a bolt, and the output end of the first motor (12) is connected with a first lead screw (30) through a first coupler (29); the top of the first fixing support (11) is fixedly connected to the fixing platform (13) through bolts; one end of the first lead screw (30) is connected with the first coupler (29), the other end of the first lead screw (30) is connected with the first supporting bearing (9), and the first supporting bearing (9) is embedded in the lower end groove of the first fixing support (11); the upper end of the first movable support (10) is fixedly connected with a first lead screw nut (31) through a bolt, and the lower end of the first movable support (10) is fixedly provided with a connecting frame (8); the connecting frame (8) is connected to the first movable support (10) through the first connecting rod (6), and the lower end of the connecting frame (8) is connected with the upper end of the first connecting rod (6) through the movable end connecting piece; the moving end connecting piece comprises a moving end upper connecting piece (32), a moving end middle piece (33) and a moving end lower connecting piece (7); one end of the moving end upper connecting piece (32) is fixedly connected with the lower end of the connecting frame (8), and the other end of the moving end upper connecting piece (32) is hinged with the moving end middle piece (33); one end of the moving end lower connecting piece (7) is hinged with the moving end intermediate piece (33), the other end of the moving end lower connecting piece (7) is fixedly connected with the upper end of the first connecting rod (6) through a fastening screw, and the hinge shaft directions of the moving end upper connecting piece (32), the moving end lower connecting piece (7) and the moving end intermediate piece (33) are mutually vertical; the lower end of the first connecting rod (6) is connected with the laser platform (2) through a platform connecting piece; the platform connecting piece comprises a platform upper connecting piece (5), a platform middle piece (4) and a platform lower connecting piece (3); one end of the platform upper connecting piece (5) is connected with the lower end of the first connecting rod (6) through a fastening screw, and the other end of the platform upper connecting piece (5) is hinged with the platform middle piece (4); one end of the platform lower connecting piece (3) is hinged with the platform intermediate piece (4), the other end of the platform lower connecting piece (3) is connected with a shaft fixed on the laser platform (2) through a fastening screw, and the directions of hinge shafts between the platform upper connecting piece (5) and the platform lower connecting piece (3) are mutually vertical;
the second branched chain comprises a second motor (14), a second coupler (15), a second lead screw (35), a second supporting bearing (37), a second lead screw nut (17), a second fixed support (18), a second movable support (19), a rotating motor (21), a third coupler (22) and a second connecting rod (23); the second motor (14) is fixedly connected to the fixed platform (13) through a bolt, and the output end of the second motor (14) is connected with a second lead screw (35) through a second coupling (15); the top of the second fixing bracket (18) is fixedly connected to the fixing platform (13) through a bolt; one end of the second lead screw (35) is connected with the second coupling (15), and the other end of the second lead screw (35) is connected with the second supporting bearing (37); the second supporting bearing (37) is embedded in a bottom groove of the second fixing bracket (18); the second movable support (19) is fixedly connected with the second lead screw nut (17) through a bolt, and the rotating motor support (20) is fixedly connected to the second movable support (19) through a bolt; the rotating motor (21) is fixed on the inner side of the rotating motor support (20), and the output end of the rotating motor (21) is connected with the second connecting rod (23) through the third coupler (22); one end of the second connecting rod (23) is connected with the third coupler (22), and the other end of the second connecting rod (23) is connected with the laser platform (2) through the platform connecting piece;
a through hole is formed in the middle of the laser platform (2), the first laser support (25) and the second laser support (36) penetrate through the through hole in the middle of the laser platform (2), and the first laser head (26) and the second laser head (24) penetrate through the through hole in the laser platform (2) and emit laser towards the lower side of the laser platform (2);
the two first branched chains and the second branched chain are connected with the fixed platform (13) and the laser platform (2), and the upper ends and the lower ends of the two first branched chains and the second branched chain are distributed in an equilateral triangle with the connection points of the fixed platform (13) and the laser platform (2).
2. The dual laser enhanced coating apparatus of claim 1, wherein: the vertical mounting hole is perpendicular to the fixed platform (13), and the plane included angle between the vertical mounting hole and the inclined mounting hole is 15 degrees or 165 degrees.
3. The dual laser enhanced coating apparatus of claim 1, wherein: the second motor (14) and the output shaft of the rotating motor (21) are coaxial, and the first motor (12) and the second motor (14) are the same motor.
4. The dual laser enhanced coating apparatus of claim 1, wherein: two first guide rails (27) are arranged on two sides of the interior of the first fixing support (11), and first sliding blocks (28) sleeved on the first guide rails (27) are fixedly connected to two sides of a first lead screw nut (31) through bolts.
5. The dual laser enhanced coating apparatus of claim 1, wherein: two second guide rails (16) are arranged on two sides of the interior of the second fixing support (18), and second sliding blocks (34) sleeved on the second guide rails (16) are fixedly connected to two sides of a second lead screw nut (17) through bolts.
6. The dual laser enhanced coating apparatus of claim 1, wherein: the output ends of the two first motors (12) are respectively provided with a first encoder and a second encoder, the output end of the second motor (14) is provided with a third encoder, and the output end of the rotating motor (21) is provided with a fourth encoder.
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| CN201611046114.5A CN107043932B (en) | 2016-11-22 | 2016-11-22 | Double-laser strengthening coating device |
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| CN201611046114.5A CN107043932B (en) | 2016-11-22 | 2016-11-22 | Double-laser strengthening coating device |
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| CN206368197U (en) * | 2016-11-22 | 2017-08-01 | 浙江工业大学 | A kind of double excitation strengthens coating unit |
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| CN1562579A (en) * | 2004-03-17 | 2005-01-12 | 哈尔滨工业大学 | High precision flexible parallel robot with six degreed of freedom and large travel |
| CN201720607U (en) * | 2010-07-09 | 2011-01-26 | 天津工业大学 | Laser remanufacturing robot system |
| CN204329962U (en) * | 2014-11-28 | 2015-05-13 | 西安交通大学 | A kind of high precision Novel bionic eye device |
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