CN107043932B - Double-laser strengthening coating device - Google Patents

Double-laser strengthening coating device Download PDF

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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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platform
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lead screw
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CN107043932A (en
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李研彪
王林
徐梦茹
罗怡沁
郑航
孙鹏
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Zhejiang University of Technology ZJUT
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    • CCHEMISTRY; METALLURGY
    • C23COATING 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
    • C23CCOATING 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
    • C23C24/00Coating starting from inorganic powder
    • C23C24/08Coating starting from inorganic powder by application of heat or pressure and heat
    • C23C24/10Coating starting from inorganic powder by application of heat or pressure and heat with intermediate formation of a liquid phase in the layer
    • CCHEMISTRY; METALLURGY
    • C21METALLURGY OF IRON
    • C21DMODIFYING 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
    • C21D10/00Modifying the physical properties by methods other than heat treatment or deformation
    • C21D10/005Modifying the physical properties by methods other than heat treatment or deformation by laser shock processing

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Abstract

本发明公开了一种双激光强化涂覆装置,包括固定平台、激光平台、第一激光头、第一激光支架、第二激光头、第二激光支架、第一支链和第二支链,第一支链和第二支链的固定端连接在固定平台上,第一支链和第二支链的输出端连接激光平台;第一激光支架和第二激光支架相互贴合的端面上构成分别用于安装第一激光头和第二激光头的垂直安装孔孔和倾斜安装孔。本发明采用对称结构设计,具有运动灵活,承载能力强,涂覆效率高的优点;采用双激光头的结构,由于第一激光头和第二激光头呈一定的夹角,第一激光头和第二激光头的照射范围不同,相比单激光头的照射范围,双激光头具有更大的照射范围,且两个激光头同时运行工作,大大提高了激光强化涂覆的效率。

Figure 201611046114

The invention discloses a double-laser strengthening coating device, comprising a fixed platform, a laser platform, a first laser head, a first laser bracket, a second laser head, a second laser bracket, a first branch chain and a second branch chain, The fixed ends of the first branch chain and the second branch chain are connected to the fixed platform, and the output ends of the first branch chain and the second branch chain are connected to the laser platform; The vertical mounting holes and the inclined mounting holes are respectively used to install the first laser head and the second laser head. The invention adopts a symmetrical structure design, which has the advantages of flexible movement, strong bearing capacity and high coating efficiency; and adopts the structure of double laser heads, since the first laser head and the second laser head form a certain angle, the first laser head and the second laser head form a certain angle. The irradiation range of the second laser head is different. Compared with the irradiation range of the single laser head, the dual laser head has a larger irradiation range, and the two laser heads operate at the same time, which greatly improves the efficiency of laser enhanced coating.

Figure 201611046114

Description

一种双激光强化涂覆装置A dual-laser strengthening coating device

技术领域technical field

本发明涉及激光强化涂覆技术领域,更具体的说,尤其涉及一种双激光强化涂覆装置。The invention relates to the technical field of laser strengthening coating, and more particularly, to a double laser strengthening coating device.

背景技术Background technique

激光涂覆作为激光表面处理的一种重要技术,以低成本的材料为基材,制成表面高性能的材料,能够最大程度的利用稀有金属材料,降低制造成本。随着激光涂覆技术的广泛,其激光涂覆装备也不断被研发。As an important technology of laser surface treatment, laser coating uses low-cost materials as the base material to make high-performance materials, which can maximize the use of rare metal materials and reduce manufacturing costs. With the wide range of laser coating technology, its laser coating equipment has also been continuously developed.

申请号为201510138715.8中国发明专利公开了微球全向运动涂覆装置,利用两个电机带动工件沿某一水平方向的移动和绕轴心旋转,从而对微球进行均匀涂覆强化。申请号为201410421936.1中国发明专利公开了一种环形激光带冲击强化孔壁的方法和装置,利用激光器输出的激光束强化孔类工件的孔壁,且激光器是固定不动,工作台带动工件沿孔的轴向移动。申请号为201180033905.3中国发明专利公开了一种用于涂覆固体涂层的方法和装置,利用固定的辐射源发射一光束对样品进行涂覆,且单个驱动装置驱动工件在X/Y轴方向移动。但是,上述三个发明都是采用单个激光束对工件进行强化,且激光源静止,工件移动的自由度只有2个。同时,激光强化涂覆的工件都是针对简单外形的工件。难以实现对一些具有复杂曲面特征的工件进行强化涂覆。The Chinese invention patent application number 201510138715.8 discloses a microsphere omnidirectional motion coating device, which uses two motors to drive the workpiece to move along a certain horizontal direction and rotate around the axis, so as to uniformly coat and strengthen the microspheres. The application number is 201410421936.1 Chinese invention patent discloses a method and device for a ring-shaped laser belt to impact the wall of a hole. The laser beam output from the laser is used to strengthen the hole wall of a hole-like workpiece. The laser is fixed and the worktable drives the workpiece along the hole. axial movement. The application number is 201180033905.3 Chinese invention patent discloses a method and device for coating a solid coating. A fixed radiation source is used to emit a beam of light to coat the sample, and a single drive device drives the workpiece to move in the X/Y axis direction . However, in the above three inventions, a single laser beam is used to strengthen the workpiece, and the laser source is stationary, and the workpiece movement has only two degrees of freedom. At the same time, the laser-strengthened coated workpieces are all for workpieces with simple shapes. It is difficult to achieve enhanced coating on some workpieces with complex surface features.

针对上述不足,设计和开发一种双激光强化涂覆装置以补足上述各个缺点显得尤为重要。In view of the above shortcomings, it is particularly important to design and develop a dual-laser strengthening coating device to make up for the above shortcomings.

发明内容SUMMARY OF THE INVENTION

本发明的目的在于解决上述问题而提供一种双激光强化涂覆装置,可以对一些具有复杂曲面特征的工件进行强化涂覆,且强化涂覆范围广,强化涂覆效率高。The purpose of the present invention is to solve the above problems and provide a dual-laser strengthening coating device, which can strengthen coating some workpieces with complex curved surface features, and has a wide strengthening coating range and high strengthening coating efficiency.

本发明通过以下技术方案来实现上述目的:一种双激光强化涂覆装置,包括固定平台、激光平台、第一激光头、第一激光支架、第二激光头、第二激光支架、第一支链和第二支链,所述第一支链和第二支链的固定端连接在固定平台上,第一支链和第二支链的输出端连接激光平台;所述第一支链设置有两条,第二支链设置有一条;所述第一激光支架和第二激光支架均固定在激光平台上,第一激光支架和第二激光支架固定连接,第一激光支架和第二激光支架相互贴合的端面上构成分别用于安装第一激光头和第二激光头的垂直安装孔和倾斜安装孔,第一激光头安装在第一激光支架和第二激光支架构成的垂直安装孔内,第二激光头安装在第一激光支架和第二激光支架构成的倾斜安装孔内。The present invention achieves the above object through the following technical solutions: a double laser enhanced coating device, comprising a fixed platform, a laser platform, a first laser head, a first laser support, a second laser head, a second laser support, a first laser support chain and a second branched chain, 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 to the laser platform; the first branched chain is provided with There are two, the second branch is provided with one; the first laser bracket and the second laser bracket are fixed on the laser platform, the first laser bracket and the second laser bracket are fixedly connected, the first laser bracket and the second laser bracket are fixed The end faces of the brackets that are attached to each other form a vertical installation hole and an inclined installation hole for installing the first laser head and the second laser head respectively, and the first laser head is installed in the vertical installation hole formed by the first laser bracket and the second laser bracket. Inside, the second laser head is installed in the inclined installation hole formed by the first laser bracket and the second laser bracket.

所述第一支链包括第一电机、第一联轴器、第一丝杠、第一支撑轴承、第一丝杠螺母、第一固定支架、第一移动支架和第一连杆;所述第一电机通过螺栓固定连接在固定平台上,第一电机的输出端通过第一联轴器连接第一丝杠;所述第一固定支架的顶部通过螺栓固定连接在固定平台上;所述第一丝杠的一端连接第一联轴器,第一丝杠的另一端连接第一支撑轴承,所述第一支撑轴承内嵌在第一固定支架的下端槽内;所述第一移动支架上端通过螺栓与第一丝杠螺母固定连接,第一移动支架的下端固定有连接架;所述连接架通过第一连杆连接在第一移动支架上,连接架的下端通过移动端连接件连接第一连杆的上端;所述移动端连接件包括移动端上接件、移动端中间件和移动端下接件;所述移动端上接件的一端与连接架的下端固定连接,移动端上接件的另一端与移动端中间件铰接;所述移动端下接件的一端与移动端中间件铰接,移动端下接件的另一端和第一连杆的上端通过紧固螺钉固定连接,所述移动端上接件和移动端下接件与移动端中间件之间的铰接轴方向相互垂直;所述第一连杆的下端通过平台连接件连接激光平台;所述平台连接件包括平台上接件、平台中间件和平台下接件;所述平台上接件的一端通过紧固螺钉连接第一连杆的下端,平台上接件的另一端与平台中间件铰接;所述平台下接件的一端与平台中间件铰接,平台下接件的另一端通过紧固螺钉和固定在激光平台上的轴连接,所述平台上接件和平台下接件与平台中间件之间的铰接轴方向相互垂直。The first branch chain includes a first motor, a first coupling, a first lead screw, a first support bearing, a first lead screw nut, a first fixing bracket, a first moving bracket and a first connecting rod; the The first motor is fixedly connected to the fixed platform through bolts, and the output end of the first motor is connected to the first lead screw through the first coupling; the top of the first fixed bracket is fixedly connected to the fixed platform through bolts; One end of a lead screw is connected to the first coupling, and the other end of the first lead screw is connected to a first support bearing, the first support bearing is embedded in the lower end groove of the first fixed bracket; the upper end of the first movable bracket Bolts are fixedly connected with the first lead screw nut, and the lower end of the first moving bracket is fixed with a connecting frame; the connecting frame is connected to the first moving support through a first connecting rod, and the lower end of the connecting frame is connected to the first moving bracket through a moving end connecting piece. The upper end of a connecting rod; the moving end connecting piece includes 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 moving end upper connecting piece is fixedly connected The other end of the connecting piece is hinged with the moving end middle piece; one end of the moving end lower connecting piece is hinged with the moving end middle piece, and the other end of the moving end lower connecting piece and the upper end of the first connecting rod are fixedly connected by fastening screws, The direction of the hinge axis between the upper connecting piece of the moving end, the lower connecting piece of the moving end and the middle piece of the moving end are perpendicular to each other; the lower end of the first link is connected to the laser platform through a platform connecting piece; the platform connecting piece includes a platform an upper connecting piece, a platform middle piece and a platform lower connecting piece; one end of the platform upper connecting piece is connected to the lower end of the first connecting rod through a tightening screw, and the other end of the platform upper connecting piece is hinged with the platform middle piece; One end of the connecting piece is hinged with the platform middle piece, and the other end of the platform lower connecting piece is connected with the shaft fixed on the laser platform through tightening screws. The axes are perpendicular to each other.

所述第二支链包括第二电机、第二联轴器、第二丝杠、第二支撑轴承、第二丝杠螺母、第二固定支架、第二移动支架、旋转电机、第三联轴器和第二连杆;所述第二电机通过螺栓固定连接在固定平台上,第二电机的输出端通过第二联轴器连接第二丝杠;所述第二固定支架的顶部通过螺栓固定连接在固定平台上;所述第二丝杠的一端连接第二联轴器,第二丝杠的另一端连接第二支撑轴承;所述第二支撑轴承内嵌在第二固定支架的底部槽内;所述第二移动支架与第二丝杠螺母通过螺栓固定连接,所述旋转电机支架通过螺栓固定连接在第二移动支架上;所述旋转电机固定在旋转电机支架的内侧,且旋转电机的输出端通过第三联轴器连接第二连杆;所述第二连杆的一端连接第三联轴器,第二连杆的另一端通过平台连接件连接激光平台。The second branch chain includes a second motor, a second coupling, a second lead screw, a second support bearing, a second lead screw nut, a second fixed bracket, a second moving bracket, a rotating motor, and a third coupling and the second connecting rod; the second motor is fixedly connected to the fixed platform by bolts, and the output end of the second motor is connected to the second lead screw through the second coupling; the top of the second fixing bracket is fixed by bolts connected to the fixed platform; one end of the second lead screw is connected to the second coupling, and the other end of the second lead screw is connected to the second support bearing; the second support bearing is embedded in the bottom groove of the second fixed bracket inside; the second moving bracket and the second screw nut are fixedly connected by bolts, and the rotating motor bracket is fixedly connected to the second moving bracket by bolts; the rotating motor is fixed on the inner side of the rotating motor support, and the rotating motor The output end of the second connecting rod is connected to the second connecting rod through a third coupling; one end of the second connecting rod is connected to the third coupling, and the other end of the second connecting rod is connected to the laser platform through a platform connecting piece.

进一步的,所述垂直安装孔垂直于固定平台,垂直安装孔和倾斜安装孔之间的平面夹角为15度或165度。Further, the vertical installation hole is perpendicular to the fixed platform, and the plane included angle between the vertical installation hole and the inclined installation hole is 15 degrees or 165 degrees.

进一步的,所述激光平台的中部设有通孔,第一激光支架和第二激光支架均穿过所述激光平台中部的通孔,第一激光头和第二激光头均穿过激光平台上的通孔朝激光平台下方发射出激光。Further, a through hole is provided in the middle of the laser platform, the first laser bracket and the second laser bracket pass through the through hole in the middle of the laser platform, and the first laser head and the second laser head both pass through the laser platform. The through-holes emit the laser light toward the bottom of the laser platform.

进一步的,所述第二电机与旋转电机的输出轴同轴心,且第一电机和第二电机为同种电机。Further, the second motor is coaxial with the output shaft of the rotating electrical machine, and the first motor and the second motor are of the same type.

进一步的,所述两个第一支链和一个第二支链连接固定平台和激光平台,且两个第一支链和一个第二支链的上下两端与固定平台和激光平台的连接点均呈等边三角形分布。Further, the two first branches and one second branch are connected to the fixed platform and the laser platform, and the upper and lower ends of the two first branches and one second branch are connected to the fixed platform and the laser platform. All are distributed in an equilateral triangle.

进一步的,所述第一固定支架的内部两侧设置有两个第一导轨,且套装在第一导轨上的第一滑块通过螺栓固定连接在第一丝杠螺母的两侧。Further, two first guide rails are provided on both inner sides of the first fixing bracket, and the first slider sleeved on the first guide rail is fixedly connected to both sides of the first lead screw nut by bolts.

进一步的,所述第二固定支架的内部两侧设置有两个第二导轨,且套装在第二导轨上的第二滑块通过螺栓固定连接在第二丝杠螺母的两侧。Further, two second guide rails are provided on both inner sides of the second fixing bracket, and the second sliding block sleeved on the second guide rails is fixedly connected to both sides of the second lead screw nut by bolts.

进一步的,两个第一电机的输出端分别设置有第一编码器和第二编码器,第二电机的输出端设置有第三编码器,旋转电机的输出端设置有第四编码器。Further, the output ends of the two first motors are respectively provided with a first encoder and a second encoder, the output ends of the second motors are provided with a third encoder, and the output ends of the rotary motors are provided with a fourth encoder.

本发明的工作过程如下:两条第一支链的第一电机和第二支链的第二电机不动,旋转电机运动,激光平台以第二支链为轴心作旋转运动;旋转电机不动,两条第一支链的第一电机和第二支链的第二电机同步运动,实现激光平台直线移动以及空间两自由度的旋转。通过第一电机、第二电机和旋转电机的协调运动,从而实现激光平台上的激光头任意角度移动。同时激光平台上设置有第一激光头和第二激光头,随着激光平台的空间运动,第一激光头能够在某一范围内运动,同时由于第二激光头与第一激光头呈一定的夹角,所述第二激光头能够在其他范围内运动。第一激光头和第二激光头同时运行工作,能够对具有复杂曲面特征的工件进行激光强化涂覆。The working process of the present invention is as follows: the first motor of the two first branch chains and the second motor of the second branch chain do not move, the rotary motor moves, and the laser platform rotates with the second branch chain as the axis; The first motor of the two first branch chains and the second motor of the second branch chain move synchronously, so as to realize the linear movement of the laser platform and the rotation of two degrees of freedom in space. Through the coordinated movement of the first motor, the second motor and the rotating motor, the laser head on the laser platform can move at any angle. At the same time, a first laser head and a second laser head are arranged on the laser platform. With the spatial movement of the laser platform, the first laser head can move within a certain range. The included angle, the second laser head can move in other ranges. The first laser head and the second laser head operate at the same time, and can carry out laser strengthening coating on workpieces with complex curved surface features.

本发明的控制系统,包括PLC控制器、四个伺服驱动器、三个伺服电机和四个编码器;四个伺服驱动器分别为第一伺服驱动器、第二伺服驱动器、第三伺服驱动器和第四伺服驱动器;三个伺服电机分别为第一电机、第二电机和旋转电机;四个编码器分别为第一编码器、第二编码器、第三编码器和第四编码器; PLC控制器的输出端分别与第一伺服驱动器、第二伺服驱动器、第三伺服驱动器和第四伺服驱动器的输入端并联连接;所述第一伺服驱动器的输出端与第一电机的输入端连接;所述第一编码器的一端与第一电机连接,第一编码器的另一端与第一伺服驱动器连接;所述第二伺服驱动器的输出端与另一个第一电机的输入端连接;所述第二编码器的一端与第一电机连接,第二编码器的另一端与第二伺服驱动器连接;所述第三伺服驱动器的输出端与第二电机的输入端连接;所述第三编码器的一端与第二电机连接,第三编码器的另一端与第三伺服驱动器连接。所述第四伺服驱动器的输出端与旋转电机的输入端连接;所述第四编码器的一端与旋转电机连接,第四编码器的另一端与第四伺服驱动器连接。The control system of the present invention includes a PLC controller, four servo drivers, three servo motors and four encoders; the four servo drivers are respectively the first servo driver, the second servo driver, the third servo driver and the fourth servo driver Driver; three servo motors are the first motor, the second motor and the rotary motor; the four encoders are the first encoder, the second encoder, the third encoder and the fourth encoder respectively; the output of the PLC controller The terminals are respectively connected in parallel with the input terminals of the first servo driver, the second servo driver, the third servo driver and the fourth servo driver; the output terminal of the first servo driver is connected to the input terminal of the first motor; the first servo driver is connected to the input terminal of the first motor. One end of the encoder is connected to the first motor, and the other end of the first encoder is connected to the first servo driver; the output end of the second servo driver is connected to the input end of another first motor; the second encoder One end of the encoder is connected to the first motor, and the other end of the second encoder is connected to the second servo driver; the output end of the third servo driver is connected to the input end of the second motor; one end of the third encoder is connected to the second servo driver. The second motor is connected, 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 to the input end of the rotary motor; one end of the fourth encoder is connected to the rotary motor, and the other end of the fourth encoder is connected to the fourth servo driver.

所述PLC控制器能够根据输入工件的三维坐标值,通过算法运算得出相应的第一电机、第二电机和旋转电机的转角,之后根据电机转角运算出相应的脉冲数和脉冲频率;所述第一伺服驱动器、第二伺服驱动器、第三伺服驱动器和第四伺服驱动器接收PLC控制器发出的脉冲信号,分别控制第一电机、第二电机和旋转电机运行;所述编码器采集电机的转角和转速信息,并把采集的信息输送给伺服驱动器,伺服驱动器通过对比初始信息和反馈信息,从而调整相应电机的转速和转角,确保电机达到设定的转速和转角。The PLC controller can obtain the corresponding rotation angles of the first motor, the second motor and the rotating motor through arithmetic 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 motor rotation angle; The first servo driver, the second servo driver, the third servo driver and the fourth servo driver receive the pulse signal sent by the PLC controller and control the operation of the first motor, the second motor and the rotating motor respectively; the encoder collects the rotation angle of the motor And the speed information, and send the collected information to the servo driver, the servo driver can adjust the speed and rotation angle of the corresponding motor by comparing the initial information and feedback information to ensure that the motor reaches the set rotation speed and rotation angle.

本发明的有益效果在于:本发明采用对称结构设计,具有运动灵活,承载能力强,涂覆效率高的优点;采用双激光头的结构,由于第一激光头和第二激光头呈一定的夹角,第一激光头和第二激光头的照射范围不同,相比单激光头的照射范围,双激光头具有更大的照射范围,且两个激光头同时运行工作,大大提高了激光强化涂覆的效率;此外,采用四个电机作为动力源,使得激光平台上的激光头能够实现空间多自由度运动,能够对具有空间复杂曲面特征的工件进行表面激光强化涂覆。The beneficial effects of the present invention are as follows: the present invention adopts a symmetrical structure design, which has the advantages of flexible movement, strong bearing capacity and high coating efficiency; by adopting the structure of double laser heads, since the first laser head and the second laser head are in a certain clamp The irradiation range of the first laser head and the second laser head are different. Compared with the irradiation range of the single laser head, the dual laser head has a larger irradiation range, and the two laser heads operate at the same time, which greatly improves the laser enhancement coating. In addition, four motors are used as the power source, so that the laser head on the laser platform can realize multi-degree-of-freedom motion in space, and can carry out laser-enhanced coating on the workpiece with spatially complex curved surface features.

附图说明Description of drawings

图1是本发明一种双激光强化涂覆装置的整体结构图。FIG. 1 is an overall structural diagram of a dual-laser strengthening coating device of the present invention.

图2是本发明第一支链的结构示意图。Figure 2 is a schematic structural diagram of the first branch of the present invention.

图3是本发明第二支链的结构示意图。Figure 3 is a schematic structural diagram of the second branch of the present invention.

图4是本发明垂直安装孔与倾斜安装孔呈15度时激光平台的结构结构图。4 is a structural diagram of the laser platform when the vertical mounting hole and the inclined mounting hole are at 15 degrees according to the present invention.

图5是本发明垂直安装孔与倾斜安装孔呈165度时激光平台的结构结构图。FIG. 5 is a structural diagram of the laser platform when the vertical mounting hole and the inclined mounting hole are at 165 degrees according to the present invention.

图6是本发明激光平台的部分剖面图。Figure 6 is a partial cross-sectional view of the laser platform of the present invention.

图中,1-工件、2-激光平台、3-平台下接件、4-平台中间件、5-平台上接件、6-第一连杆、7-移动端下接件、8-连接架、9-第一支撑轴承、10-第一移动支架、11-第一固定支架、12-第一电机、13-固定平台、14-第二电机、15-第二联轴器、16-第二导轨、17-第二丝杠螺母、18-第二固定支架、19-第二移动支架、20-旋转电机支架、21-旋转电机、22-第三联轴器、23-第二连杆、24-第二激光头、25-第一激光支架、26-第一激光头、27-第一导轨、28-第一滑块、29-第一联轴器、30-第一丝杠、31-第一丝杠螺母、32-移动端上接件、33-移动端中间件、34-第二滑块、35-第二丝杠、36-第二激光支架、37-第二支撑轴承。In the figure, 1-workpiece, 2-laser platform, 3-platform lower part, 4-platform middle part, 5-platform upper part, 6-first connecting rod, 7-moving end lower part, 8-connection Frame, 9-first support bearing, 10-first moving bracket, 11-first fixed bracket, 12-first motor, 13-fixed platform, 14-second motor, 15-second coupling, 16- Second guide rail, 17-second screw nut, 18-second fixed bracket, 19-second moving bracket, 20-rotating motor bracket, 21-rotating motor, 22-third coupling, 23-second connection Rod, 24-second laser head, 25-first laser bracket, 26-first laser head, 27-first guide rail, 28-first slider, 29-first coupling, 30-first lead screw , 31 - the first screw nut, 32 - the upper part of the mobile end, 33 - the middle part of the mobile end, 34 - the second slider, 35 - the second lead screw, 36 - the second laser bracket, 37 - the second support bearing.

具体实施方式Detailed ways

下面结合附图对本发明作进一步说明:The present invention will be further described below in conjunction with the accompanying drawings:

如图1~6所示,一种双激光强化涂覆装置,包括固定平台13、激光平台2、第一激光头26、第一激光支架25、第二激光头24、第二激光支架36、第一支链和第二支链,所述第一支链和第二支链的固定端连接在固定平台13上,第一支链和第二支链的输出端连接激光平台2;所述第一支链设置有两条,第二支链设置有一条;所述第一激光支架25和第二激光支架36均固定在激光平台2上,第一激光支架25和第二激光支架36固定连接,第一激光支架25和第二激光支架36相互贴合的端面上构成分别用于安装第一激光头26和第二激光头24的垂直安装孔和倾斜安装孔,第一激光头26安装在第一激光支架25和第二激光支架36构成的垂直安装孔内,第二激光头24安装在第一激光支架25和第二激光支架36构成的倾斜安装孔内。工件1设置在激光平台2的正下方,第一激光头26和第二激光头24发出的激光均直接照射到工件1上。As shown in FIGS. 1 to 6, a dual-laser strengthening coating device includes a fixed platform 13, a laser platform 2, a first laser head 26, a first laser bracket 25, a second laser head 24, a second laser bracket 36, The first branch chain and the second branch chain, the fixed ends of the first branch chain and the second branch chain are connected to the fixed platform 13, and the output ends of the first branch chain and the second branch chain are connected to the laser platform 2; There are two first branch chains and one second branch chain; the first laser bracket 25 and the second laser bracket 36 are both fixed on the laser platform 2 , and the first laser bracket 25 and the second laser bracket 36 are fixed Connection, the end faces of the first laser bracket 25 and the second laser bracket 36 that are attached to each other constitute vertical mounting holes and inclined mounting holes for installing the first laser head 26 and the second laser head 24 respectively, and the first laser head 26 is installed. In the vertical installation hole formed by the first laser bracket 25 and the second laser bracket 36 , the second laser head 24 is installed in the inclined installation hole formed by the first laser bracket 25 and the second laser bracket 36 . The workpiece 1 is disposed directly under the laser platform 2 , and the lasers emitted by the first laser head 26 and the second laser head 24 are both directly irradiated on the workpiece 1 .

所述第一支链包括第一电机12、第一联轴器29、第一丝杠30、第一支撑轴承9、第一丝杠螺母31、第一固定支架11、第一移动支架10和第一连杆6;所述第一电机12通过螺栓固定连接在固定平台13上,第一电机12的输出端通过第一联轴器29连接第一丝杠30;所述第一固定支架11的顶部通过螺栓固定连接在固定平台13上;所述第一丝杠30的一端连接第一联轴器29,第一丝杠30的另一端连接第一支撑轴承9,所述第一支撑轴承9内嵌在第一固定支架11的下端槽内;所述第一移动支架10上端通过螺栓与第一丝杠螺母31固定连接,第一移动支架10的下端固定有连接架8;所述连接架8通过第一连杆6连接在第一移动支架10上,连接架8的下端通过移动端连接件连接第一连杆6的上端;所述移动端连接件包括移动端上接件32、移动端中间件33和移动端下接件7;所述移动端上接件32的一端与连接架8的下端固定连接,移动端上接件32的另一端与移动端中间件33铰接;所述移动端下接件7的一端与移动端中间件33铰接,移动端下接件7的另一端和第一连杆6的上端通过紧固螺钉固定连接,所述移动端上接件32和移动端下接件7与移动端中间件33之间的铰接轴方向相互垂直;所述第一连杆6的下端通过平台连接件连接激光平台2;所述平台连接件包括平台上接件5、平台中间件4和平台下接件3;所述平台上接件5的一端通过紧固螺钉连接第一连杆6的下端,平台上接件5的另一端与平台中间件4铰接;所述平台下接件3的一端与平台中间件4铰接,平台下接件3的另一端通过紧固螺钉和固定在激光平台2上的轴连接,所述平台上接件5和平台下接件3与平台中间件4之间的铰接轴方向相互垂直。The first branch chain includes a first motor 12, a first coupling 29, a first lead screw 30, a first support bearing 9, a first lead screw nut 31, a first fixed bracket 11, a first moving bracket 10 and The first connecting rod 6; the first motor 12 is fixedly connected to the fixed platform 13 through bolts, and the output end of the first motor 12 is connected to the first lead screw 30 through the first coupling 29; the first fixing bracket 11 The top of the first lead screw 30 is connected to the fixed platform 13 by bolts; one end of the first lead screw 30 is connected to the first coupling 29, and the other end of the first lead screw 30 is connected to the first support bearing 9, and the first support bearing 9 is embedded in the lower end groove of the first fixed bracket 11; the upper end of the first movable bracket 10 is fixedly connected with the first lead screw nut 31 through bolts, and the lower end of the first movable bracket 10 is fixed with a connecting frame 8; the connection The frame 8 is connected to the first moving bracket 10 through the first connecting rod 6, and the lower end of the connecting frame 8 is connected to the upper end of the first connecting rod 6 through the moving end connecting piece; the moving end connecting piece includes the moving end upper connecting piece 32, The moving end middle piece 33 and the 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 lower connecting piece 7 at the moving end is hinged with the middle piece 33 at the moving end, and the other end of the lower connecting piece 7 at the moving end and the upper end of the first connecting rod 6 are fixedly connected by tightening screws. The direction of the hinge axis between the lower connecting piece 7 of the moving end and the middle piece 33 of the moving end are perpendicular to each other; the lower end of the first connecting rod 6 is connected to the laser platform 2 through the platform connecting piece; the platform connecting piece includes the upper platform connecting piece 5 , a platform middle piece 4 and a platform lower piece 3; one end of the platform upper piece 5 is connected to the lower end of the first connecting rod 6 through a tightening screw, and the other end of the platform upper piece 5 is hinged with the platform middle piece 4; One end of the platform lower connector 3 is hinged with the platform middle component 4, the other end of the platform lower connector 3 is connected with the shaft fixed on the laser platform 2 through fastening screws, and the platform upper connector 5 and the platform lower connector are connected. The direction of the hinge axis between 3 and the platform middle piece 4 is perpendicular to each other.

所述第二支链包括第二电机14、第二联轴器15、第二丝杠35、第二支撑轴承37、第二丝杠螺母17、第二固定支架18、第二移动支架19、旋转电机21、第三联轴器22和第二连杆23;所述第二电机14通过螺栓固定连接在固定平台13上,第二电机14的输出端通过第二联轴器15连接第二丝杠35;所述第二固定支架18的顶部通过螺栓固定连接在固定平台13上;所述第二丝杠35的一端连接第二联轴器15,第二丝杠35的另一端连接第二支撑轴承37;所述第二支撑轴承37内嵌在第二固定支架18的底部槽内;所述第二移动支架19与第二丝杠螺母17通过螺栓固定连接,所述旋转电机支架20通过螺栓固定连接在第二移动支架19上;所述旋转电机21固定在旋转电机支架20的内侧,且旋转电机21的输出端通过第三联轴器22连接第二连杆23;所述第二连杆23的一端连接第三联轴器22,第二连杆23的另一端通过平台连接件连接激光平台2。The second branch chain includes 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 moving bracket 19, The rotating motor 21 , the third coupling 22 and the second connecting rod 23 ; the second motor 14 is fixedly connected to the fixed platform 13 by bolts, and the output end of the second motor 14 is connected to the second motor 14 through the second coupling 15 The lead screw 35; the top of the second fixing bracket 18 is fixedly connected to the fixed platform 13 by bolts; one end of the second lead screw 35 is connected to the second coupling 15, and the other end of the second lead screw 35 is connected to the first Two supporting bearings 37; the second supporting bearing 37 is embedded in the bottom groove of the second fixing bracket 18; the second moving bracket 19 and the second screw nut 17 are fixedly connected by bolts, and the rotating motor bracket 20 The rotary motor 21 is fixed on the inner side of the rotary motor bracket 20, and the output end of the rotary motor 21 is connected to the second connecting rod 23 through the third coupling 22; One end of the second connecting rod 23 is connected to the third coupling 22 , and the other end of the second connecting rod 23 is connected to the laser platform 2 through the platform connecting piece.

所述垂直安装孔垂直于固定平台13,垂直安装孔和倾斜安装孔之间的平面夹角为15度或165度。The vertical mounting holes are perpendicular to the fixing platform 13, and the plane included angle between the vertical mounting holes and the inclined mounting holes is 15 degrees or 165 degrees.

所述激光平台2的中部设有通孔,第一激光支架25和第二激光支架36均穿过所述激光平台2中部的通孔,第一激光头26和第二激光头24均穿过激光平台2上的通孔朝激光平台2下方发射出激光。The middle of the laser platform 2 is provided with a through hole, the first laser bracket 25 and the second laser bracket 36 both pass through the through hole in the middle of the laser platform 2, and the first laser head 26 and the second laser head 24 pass through. The through hole on the laser platform 2 emits laser light toward the bottom of the laser platform 2 .

所述第二电机14与旋转电机21的输出轴同轴心,且第一电机12和第二电机14为同种电机。The second motor 14 is coaxial with the output shaft of the rotating electrical machine 21 , and the first motor 12 and the second motor 14 are the same type of motor.

所述两个第一支链和一个第二支链连接固定平台13和激光平台2,且两个第一支链和一个第二支链的上下两端与固定平台13和激光平台2的连接点均呈等边三角形分布。The two first branches and one second branch are connected to the fixed platform 13 and the laser platform 2, and the upper and lower ends of the two first branches and one second branch are connected to the fixed platform 13 and the laser platform 2 The points are distributed in an equilateral triangle.

所述第一固定支架11的内部两侧设置有两个第一导轨27,且套装在第一导轨27上的第一滑块28通过螺栓固定连接在第一丝杠螺母31的两侧。Two first guide rails 27 are disposed on both inner sides of the first fixing bracket 11 , and the first sliding block 28 sleeved on the first guide rail 27 is fixedly connected to both sides of the first lead screw nut 31 by bolts.

所述第二固定支架18的内部两侧设置有两个第二导轨16,且套装在第二导轨16上的第二滑块34通过螺栓固定连接在第二丝杠螺母17的两侧。Two second guide rails 16 are disposed on both inner sides of the second fixing bracket 18 , and the second sliding block 34 sleeved on the second guide rail 16 is fixedly connected to both sides of the second lead screw nut 17 by bolts.

两个第一电机12的输出端分别设置有第一编码器和第二编码器,第二电机14的输出端设置有第三编码器,旋转电机21的输出端设置有第四编码器。The output ends of the two first motors 12 are respectively provided with a first encoder and a second encoder, the output ends of the second motors 14 are provided with a third encoder, and the output ends of the rotary motor 21 are provided with a fourth encoder.

本发明的工作过程如下:两条第一支链的第一电机12和第二支链的第二电机14不动,旋转电机21运动,激光平台2以第二支链为轴心作旋转运动;旋转电机21不动,两条第一支链的第一电机12和第二支链的第二电机14同步运动,实现激光平台2直线移动以及空间两自由度的旋转。通过第一电机12、第二电机14和旋转电机21的协调运动,从而实现激光平台2上的激光头任意角度移动。同时激光平台2上设置有第一激光头26和第二激光头24,随着激光平台2的空间运动,第一激光头26能够在某一范围内运动,同时由于第二激光头24与第一激光头26呈一定的夹角,所述第二激光头24能够在其他范围内运动。第一激光头26和第二激光头24同时运行工作,能够对具有复杂曲面特征的工件进行激光强化涂覆。The working process of the present invention is as follows: the first motor 12 of the two first branches and the second motor 14 of the second branch do not move, the rotary motor 21 moves, and the laser platform 2 rotates with the second branch as the axis ; The rotating motor 21 does not move, the first motor 12 of the two first branches and the second motor 14 of the second branch move synchronously to realize the linear movement of the laser platform 2 and the rotation of two degrees of freedom in space. Through the coordinated movement of the first motor 12 , the second motor 14 and the rotary motor 21 , the laser head on the laser platform 2 can move at any angle. At the same time, the laser platform 2 is provided with a first laser head 26 and a second laser head 24. With the spatial movement of the laser platform 2, the first laser head 26 can move within a certain range. A laser head 26 is at a certain angle, and the second laser head 24 can move in other ranges. The first laser head 26 and the second laser head 24 operate at the same time, and can perform laser strengthening coating on workpieces with complex curved surface features.

本发明的控制系统,包括PLC控制器、四个伺服驱动器、三个伺服电机和四个编码器;四个伺服驱动器分别为第一伺服驱动器、第二伺服驱动器、第三伺服驱动器和第四伺服驱动器;三个伺服电机分别为第一电机12、第二电机14和旋转电机21;四个编码器分别为第一编码器、第二编码器、第三编码器和第四编码器; PLC控制器的输出端分别与第一伺服驱动器、第二伺服驱动器、第三伺服驱动器和第四伺服驱动器的输入端并联连接;所述第一伺服驱动器的输出端与第一电机12的输入端连接;所述第一编码器的一端与第一电机12连接,第一编码器的另一端与第一伺服驱动器连接;所述第二伺服驱动器的输出端与另一个第一电机12的输入端连接;所述第二编码器的一端与第一电机12连接,第二编码器的另一端与第二伺服驱动器连接;所述第三伺服驱动器的输出端与第二电机14的输入端连接;所述第三编码器的一端与第二电机14连接,第三编码器的另一端与第三伺服驱动器连接。所述第四伺服驱动器的输出端与旋转电机21的输入端连接;所述第四编码器的一端与旋转电机21连接,第四编码器的另一端与第四伺服驱动器连接。The control system of the present invention includes a PLC controller, four servo drivers, three servo motors and four encoders; the four servo drivers are respectively the first servo driver, the second servo driver, the third servo driver and the fourth servo driver Driver; three servo motors are the first motor 12, the second motor 14 and the rotary motor 21 respectively; the four encoders are the first encoder, the second encoder, the third encoder and the fourth encoder respectively; PLC control The output end of the driver is respectively connected in parallel with the input end of the first servo driver, the second servo driver, the third servo driver and the fourth servo driver; 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 to the first motor 12, and the other end of the first encoder is connected to the first servo driver; the output end of the second servo driver is connected to the input end of another first motor 12; One end of the second encoder is connected to the first motor 12, and the other end of the second encoder is connected to the second servo driver; the output end of the third servo driver is connected to the input end of the second motor 14; the One end of the third encoder is connected to the second motor 14, and the other end of the third encoder is connected to the third servo driver. The output end of the fourth servo driver is connected to the input end of the rotary motor 21 ; one end of the fourth encoder is connected to the rotary motor 21 , and the other end of the fourth encoder is connected to the fourth servo driver.

所述PLC控制器能够根据输入工件的三维坐标值,通过算法运算得出相应的第一电机12、第二电机14和旋转电机21的转角,之后根据电机转角运算出相应的脉冲数和脉冲频率;所述第一伺服驱动器、第二伺服驱动器、第三伺服驱动器和第四伺服驱动器接收PLC控制器发出的脉冲信号,分别控制第一电机12、第二电机14和旋转电机21运行;所述编码器采集电机的转角和转速信息,并把采集的信息输送给伺服驱动器,伺服驱动器通过对比初始信息和反馈信息,从而调整相应电机的转速和转角,确保电机达到设定的转速和转角。The PLC controller can obtain the corresponding rotation angles of the first motor 12, the second motor 14 and the rotating motor 21 through arithmetic 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 motor rotation angle. ; The first servo driver, the second servo driver, the third servo driver and the fourth servo driver receive the pulse signal sent by the PLC controller and control the operation of the first motor 12, the second motor 14 and the rotating motor 21 respectively; the described The encoder collects the rotational angle and rotational speed information of the motor, and transmits the collected information to the servo driver. The servo driver adjusts the rotational speed and rotational angle of the corresponding motor by comparing the initial information and feedback information to ensure that the motor reaches the set rotational speed and rotational angle.

上述实施例只是本发明的较佳实施例,并不是对本发明技术方案的限制,只要是不经过创造性劳动即可在上述实施例的基础上实现的技术方案,均应视为落入本发明专利的权利保护范围内。The above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the technical solutions of the present invention. As long as the technical solutions that can be realized on the basis of the above-described embodiments without creative work, all should be regarded as falling into the patent of the present invention. within the scope of protection of rights.

Claims (6)

1.一种双激光强化涂覆装置,其特征在于:包括固定平台(13)、激光平台(2)、第一激光头(26)、第一激光支架(25)、第二激光头(24)、第二激光支架(36)、第一支链和第二支链,所述第一支链和第二支链的固定端连接在固定平台(13)上,第一支链和第二支链的输出端连接激光平台(2);所述第一支链设置有两条,第二支链设置有一条;所述第一激光支架(25)和第二激光支架(36)均固定在激光平台(2)上,第一激光支架(25)和第二激光支架(36)固定连接,第一激光支架(25)和第二激光支架(36)相互贴合的端面上构成分别用于安装第一激光头(26)和第二激光头(24)的垂直安装孔和倾斜安装孔,第一激光头(26)安装在第一激光支架(25)和第二激光支架(36)构成的垂直安装孔内,第二激光头(24)安装在第一激光支架(25)和第二激光支架(36)构成的倾斜安装孔内;1. A dual-laser strengthening coating device, characterized in that: comprising a fixed platform (13), a laser platform (2), a first laser head (26), a first laser bracket (25), a second laser head (24) ), the second laser bracket (36), the first branch chain and the second branch chain, the fixed ends of the first branch chain and the second branch chain are connected on the fixed platform (13), the first branch chain and the second branch chain The output end of the branch chain is connected to the laser platform (2); the first branch chain is provided with two, and the second branch chain is provided with one; the first laser bracket (25) and the second laser bracket (36) are both fixed On the laser platform (2), the first laser bracket (25) and the second laser bracket (36) are fixedly connected, and the end faces of the first laser bracket (25) and the second laser bracket (36) abutting each other constitute For installing the vertical mounting holes and the inclined mounting holes of the first laser head (26) and the second laser head (24), the first laser head (26) is mounted on the first laser bracket (25) and the second laser bracket (36) In the vertical installation hole formed, the second laser head (24) is installed in the inclined installation hole formed by the first laser bracket (25) and the second laser bracket (36); 所述第一支链包括第一电机(12)、第一联轴器(29)、第一丝杠(30)、第一支撑轴承(9)、第一丝杠螺母(31)、第一固定支架(11)、第一移动支架(10)和第一连杆(6);所述第一电机(12)通过螺栓固定连接在固定平台(13)上,第一电机(12)的输出端通过第一联轴器(29)连接第一丝杠(30);所述第一固定支架(11)的顶部通过螺栓固定连接在固定平台(13)上;所述第一丝杠(30)的一端连接第一联轴器(29),第一丝杠(30)的另一端连接第一支撑轴承(9),所述第一支撑轴承(9)内嵌在第一固定支架(11)的下端槽内;所述第一移动支架(10)上端通过螺栓与第一丝杠螺母(31)固定连接,第一移动支架(10)的下端固定有连接架(8);所述连接架(8)通过第一连杆(6)连接在第一移动支架(10)上,连接架(8)的下端通过移动端连接件连接第一连杆(6)的上端;所述移动端连接件包括移动端上接件(32)、移动端中间件(33)和移动端下接件(7);所述移动端上接件(32)的一端与连接架(8)的下端固定连接,移动端上接件(32)的另一端与移动端中间件(33)铰接;所述移动端下接件(7)的一端与移动端中间件(33)铰接,移动端下接件(7)的另一端和第一连杆(6)的上端通过紧固螺钉固定连接,所述移动端上接件(32)和移动端下接件(7)与移动端中间件(33)之间的铰接轴方向相互垂直;所述第一连杆(6)的下端通过平台连接件连接激光平台(2);所述平台连接件包括平台上接件(5)、平台中间件(4)和平台下接件(3);所述平台上接件(5)的一端通过紧固螺钉连接第一连杆(6)的下端,平台上接件(5)的另一端与平台中间件(4)铰接;所述平台下接件(3)的一端与平台中间件(4)铰接,平台下接件(3)的另一端通过紧固螺钉和固定在激光平台(2)上的轴连接,所述平台上接件(5)和平台下接件(3)与平台中间件(4)之间的铰接轴方向相互垂直;The first branch chain includes a first motor (12), a first coupling (29), a first lead screw (30), a first support bearing (9), a first lead screw nut (31), a first lead screw (31), and a first lead screw (31). a fixed bracket (11), a first moving bracket (10) and a first connecting rod (6); the first motor (12) is fixedly connected to the fixed platform (13) by bolts, and the output of the first motor (12) The end is connected to the first lead screw (30) through the first coupling (29); the top of the first fixing bracket (11) is fixedly connected to the fixed platform (13) by bolts; the first lead screw (30) ) is connected to the first coupling (29) at one end, and the other end of the first lead screw (30) is connected to the first support bearing (9), which is embedded in the first fixing bracket (11). ); the upper end of the first moving bracket (10) is fixedly connected with the first lead screw nut (31) through bolts, and the lower end of the first moving bracket (10) is fixed with a connecting frame (8); the connection The frame (8) is connected to the first moving bracket (10) through the first connecting rod (6), and the lower end of the connecting frame (8) is connected to the upper end of the first connecting rod (6) through the moving end connecting piece; the moving end The connecting piece includes 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 fixed to the lower end of the connecting frame (8) connected, the other end of the upper connecting piece (32) of the mobile end is hinged with the middle piece (33) of the moving end; The other end of (7) and the upper end of the first connecting rod (6) are fixedly connected by tightening screws, and the upper connecting piece (32) of the moving end and the lower connecting piece (7) of the moving end are connected with the middle piece (33) of the moving end. The directions of the hinge axes between them are perpendicular to each other; the lower end of the first connecting rod (6) is connected to the laser platform (2) through a platform connecting piece; the platform connecting piece includes a platform upper connecting piece (5), a platform middle piece (4) ) and the platform lower connector (3); one end of the platform upper connector (5) is connected to the lower end of the first connecting rod (6) by tightening screws, and the other end of the platform upper connector (5) is connected to the platform middle piece (4) Hinged; one end of the platform lower connector (3) is hinged with the platform middle piece (4), and the other end of the platform lower connector (3) is fixed on the laser platform (2) by fastening screws and a shaft connection, the hinge axis directions between the platform upper connector (5) and the platform lower connector (3) and the platform middle part (4) are perpendicular to each other; 所述第二支链包括第二电机(14)、第二联轴器(15)、第二丝杠(35)、第二支撑轴承(37)、第二丝杠螺母(17)、第二固定支架(18)、第二移动支架(19)、旋转电机(21)、第三联轴器(22)和第二连杆(23);所述第二电机(14)通过螺栓固定连接在固定平台(13)上,第二电机(14)的输出端通过第二联轴器(15)连接第二丝杠(35);所述第二固定支架(18)的顶部通过螺栓固定连接在固定平台(13)上;所述第二丝杠(35)的一端连接第二联轴器(15),第二丝杠(35)的另一端连接第二支撑轴承(37);所述第二支撑轴承(37)内嵌在第二固定支架(18)的底部槽内;所述第二移动支架(19)与第二丝杠螺母(17)通过螺栓固定连接,所述旋转电机支架(20)通过螺栓固定连接在第二移动支架(19)上;所述旋转电机(21)固定在旋转电机支架(20)的内侧,且旋转电机(21)的输出端通过第三联轴器(22)连接第二连杆(23);所述第二连杆(23)的一端连接第三联轴器(22),第二连杆(23)的另一端通过平台连接件连接激光平台(2);The second branch chain includes 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 lead screw (35), and a second lead screw (17). A fixed bracket (18), a second moving 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 On the fixed platform (13), the output end of the second motor (14) is connected to the second lead screw (35) through the second coupling (15); the top of the second fixing bracket (18) is fixedly connected to the on the fixed platform (13); one end of the second lead screw (35) is connected to the second coupling (15), and the other end of the second lead screw (35) is connected to the second support bearing (37); Two supporting bearings (37) are embedded in the bottom groove of the second fixing bracket (18); the second moving bracket (19) is fixedly connected with the second screw nut (17) by bolts, and the rotating motor bracket ( 20) It is fixedly connected to the second moving bracket (19) by bolts; the rotary motor (21) is fixed on the inner side of the rotary motor bracket (20), and the output end of the rotary motor (21) passes through the third coupling ( 22) Connect the second connecting rod (23); one end of the second connecting rod (23) is connected to the third coupling (22), and the other end of the second connecting rod (23) is connected to the laser platform ( 2); 所述激光平台(2)的中部设有通孔,第一激光支架(25)和第二激光支架(36)均穿过所述激光平台(2)中部的通孔,第一激光头(26)和第二激光头(24)均穿过激光平台(2)上的通孔朝激光平台(2)下方发射出激光;A through hole is provided in the middle of the laser platform (2), both the first laser bracket (25) and the second laser bracket (36) pass through the through hole in the middle of the laser platform (2), and the first laser head (26) ) and the second laser head (24) emit laser light toward the bottom of the laser platform (2) through the through hole on the laser platform (2); 所述两个第一支链和一个第二支链连接固定平台(13)和激光平台(2),且两个第一支链和一个第二支链的上下两端与固定平台(13)和激光平台(2)的连接点均呈等边三角形分布。The two first branch chains and the one second branch chain are connected to the fixed platform (13) and the laser platform (2), and the upper and lower ends of the two first branch chains and the one second branch chain are connected to the fixed platform (13) The connection points with the laser platform (2) are all distributed in an equilateral triangle. 2.根据权利要求1所述的一种双激光强化涂覆装置,其特征在于:所述垂直安装孔垂直于固定平台(13),垂直安装孔和倾斜安装孔之间的平面夹角为15度或165度。2. A dual-laser strengthening coating device according to claim 1, characterized in that: the vertical installation hole is perpendicular to the fixed platform (13), and the plane angle between the vertical installation hole and the inclined installation hole is 15 degrees or 165 degrees. 3.根据权利要求1所述的一种双激光强化涂覆装置,其特征在于:所述第二电机(14)与旋转电机(21)的输出轴同轴心,且第一电机(12)和第二电机(14)为同种电机。3. A dual-laser strengthening coating device according to claim 1, characterized in that: the second motor (14) is coaxial with the output shaft of the rotary motor (21), and the first motor (12) It is the same type of motor as the second motor (14). 4.根据权利要求1所述的一种双激光强化涂覆装置,其特征在于:所述第一固定支架(11)的内部两侧设置有两个第一导轨(27),且套装在第一导轨(27)上的第一滑块(28)通过螺栓固定连接在第一丝杠螺母(31)的两侧。4. A dual-laser strengthening coating device according to claim 1, characterized in that: two first guide rails (27) are provided on both inner sides of the first fixing bracket (11), and are sleeved on the first fixed bracket (11). The first sliding block (28) on a guide rail (27) is fixedly connected to both sides of the first lead screw nut (31) through bolts. 5.根据权利要求1所述的一种双激光强化涂覆装置,其特征在于:所述第二固定支架(18)的内部两侧设置有两个第二导轨(16),且套装在第二导轨(16)上的第二滑块(34)通过螺栓固定连接在第二丝杠螺母(17)的两侧。5 . The double-laser strengthening coating device according to claim 1 , wherein two second guide rails ( 16 ) are provided on both sides of the inner side of the second fixing bracket ( 18 ), and are sleeved on the second fixing bracket ( 18 ). 6 . The second sliding blocks (34) on the two guide rails (16) are fixedly connected to both sides of the second lead screw nut (17) by means of bolts. 6.根据权利要求1所述的一种双激光强化涂覆装置,其特征在于:两个第一电机(12)的输出端分别设置有第一编码器和第二编码器,第二电机(14)的输出端设置有第三编码器,旋转电机(21)的输出端设置有第四编码器。6 . The double-laser strengthening coating device according to claim 1 , wherein the output ends of the two first motors ( 12 ) are respectively provided with a first encoder and a second encoder, and the second motor ( The output end of 14) is provided with a third encoder, and the output end of the rotary motor (21) is provided with a fourth encoder.
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CN204329962U (en) * 2014-11-28 2015-05-13 西安交通大学 A kind of high precision Novel bionic eye device
CN204934606U (en) * 2015-05-14 2016-01-06 北京易加三维科技有限公司 Moulding cylinder lowering or hoisting gear and the precinct laser sintering equipment with this lowering or hoisting gear
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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