CN107838566B - Wall climbing type laser manufacturing platform capable of providing steady-state magnetic field assistance - Google Patents
Wall climbing type laser manufacturing platform capable of providing steady-state magnetic field assistance Download PDFInfo
- Publication number
- CN107838566B CN107838566B CN201711246102.1A CN201711246102A CN107838566B CN 107838566 B CN107838566 B CN 107838566B CN 201711246102 A CN201711246102 A CN 201711246102A CN 107838566 B CN107838566 B CN 107838566B
- Authority
- CN
- China
- Prior art keywords
- axis
- frame
- along
- cylindrical ring
- laser head
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 35
- 230000009194 climbing Effects 0.000 title claims abstract description 5
- 230000002146 bilateral effect Effects 0.000 abstract 2
- 238000000034 method Methods 0.000 description 6
- 238000004372 laser cladding Methods 0.000 description 4
- 238000003466 welding Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000003698 laser cutting Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
Description
技术领域Technical field
本发明涉及一种可提供稳态磁场辅助的爬壁式激光制造平台。The invention relates to a wall-climbing laser manufacturing platform that can provide steady-state magnetic field assistance.
背景技术Background technique
激光制造技术作为一种先进制造技术，在工业领域具有广泛的应用。激光制造主要包括激光熔覆、激光焊接、激光切割和激光增材制造等。目前激光制造主要以机器人手臂搭载激光头进行激光制造，通过机器人手臂来操作激光器在器件或零部件进行加工。As an advanced manufacturing technology, laser manufacturing technology has a wide range of applications in the industrial field. Laser manufacturing mainly includes laser cladding, laser welding, laser cutting and laser additive manufacturing. At present, laser manufacturing mainly uses a robot arm equipped with a laser head for laser manufacturing, and the robot arm operates the laser to process devices or parts.
随着激光制造技术的日益成熟，已越来越多的应用于工业生产中。该技术的使用条件和环境变得越来越复杂，人们对激光制造技术提出了更多的要求以期望解决更多工业上的问题。近几年，磁场辅助激光制造(激光焊接、激光熔覆)中得到广泛的研究和应用。As laser manufacturing technology becomes increasingly mature, it has been increasingly used in industrial production. The use conditions and environment of this technology are becoming more and more complex, and people have put forward more requirements for laser manufacturing technology in the hope of solving more industrial problems. In recent years, magnetic field-assisted laser manufacturing (laser welding, laser cladding) has been widely researched and applied.
现有的激光制造技术也暴露出以下几个方面的问题：1、传统的机器人手臂搭载激光器进行激光制造，使其加工范围和领域受到了限制。由于机器人手臂的原因，传统激光制造平台无法进行现场加工，只能将被加工的零部件拆卸后进行加工。2、针对某些特大型设备如龙门吊等，想对其竖直平面上的某个区域进行激光修复或者激光再制造，传统的激光制造平台已经无法满足。同时，在激光制造过程中添加磁场进行辅助的装置和方法较少，现有的设备和装置很少能够灵活地在激光制造过程中添加磁场进行辅助。Existing laser manufacturing technology also exposes the following problems: 1. Traditional robot arms are equipped with lasers for laser manufacturing, which limits the processing scope and field. Due to the robot arm, traditional laser manufacturing platforms cannot perform on-site processing, and the parts to be processed can only be disassembled and processed. 2. For some very large equipment such as gantry cranes, if you want to perform laser repair or laser remanufacturing on a certain area on the vertical plane, the traditional laser manufacturing platform can no longer meet the requirements. At the same time, there are few devices and methods for adding magnetic fields to assist in the laser manufacturing process, and few existing equipment and devices can flexibly add magnetic fields to assist during the laser manufacturing process.
专利号为CN201677136U的中国专利公开了一种垂直移动工作的激光制造头装置，该装置可以使激光头上下移动，因此该装置能够加工垂直平面上的零部件。但是，该装置无法移动，只能讲被加工的零部件拆卸后才能进行加工。The Chinese patent number CN201677136U discloses a laser manufacturing head device that works vertically. The device can move the laser head up and down, so the device can process parts on a vertical plane. However, the device cannot be moved, and the parts to be processed can only be processed after they are disassembled.
专利号为CN205635772U的中国专利公开了一种激光熔覆移动平台，该装置能通过履带式移动车进行移动进，安装在机械手臂上的激光熔覆头能够进行修复工作。虽然该装置移动方便的特点，但是，该装置只能进行机械手臂工作范围内的修复实验，无法对某些大型设备上难以接触到的部位进行激光制造，具有一定的局限性。The Chinese patent number CN205635772U discloses a laser cladding mobile platform. The device can be moved by a crawler mobile vehicle, and the laser cladding head installed on the robotic arm can perform repair work. Although the device is easy to move, it can only perform repair experiments within the working range of the robotic arm and cannot perform laser manufacturing on some inaccessible parts of large equipment, which has certain limitations.
发明内容Contents of the invention
为克服背景技术中存在的缺陷，本发明提供一种可提供稳态磁场辅助的爬壁式激光制造平台。In order to overcome the defects in the background technology, the present invention provides a wall-climbing laser manufacturing platform that can provide steady-state magnetic field assistance.
本发明解决上述问题的技术方案是：The technical solution of the present invention to solve the above problems is:
一种可提供稳态磁场辅助的爬壁式激光制造平台，包括框状的车架，所述车架水平架设在若干对滚轮对上，所述车架内设有激光头，且所述激光头的输出端垂直向下并直接指向用于承载所述车架的工作面；A wall-climbing laser manufacturing platform that can provide steady-state magnetic field assistance, including a frame-shaped frame, which is horizontally erected on several pairs of rollers, a laser head is installed in the frame, and the laser The output end of the head is vertically downward and directed toward the working surface for carrying the frame;
每对滚轮对包括相对设置的第一滚轮和第二滚轮，第一滚轮和第二滚轮分别可转动地设置在第一固定轴上和第二固定轴上，第一固定轴和第二固定轴相互平行，且第一固定轴和第二固定轴均固定在车架的底面上；Each pair of rollers includes a first roller and a second roller arranged oppositely. The first roller and the second roller are rotatably arranged on a first fixed shaft and a second fixed shaft respectively. The first fixed shaft and the second fixed shaft are parallel to each other, and the first fixed shaft and the second fixed shaft are both fixed on the bottom surface of the frame;
定义位于所述车架的顶面所在的平面内并与第一固定轴的轴向相平行的方向为x轴方向，位于所述车架的顶面所在的平面内与并与第一固定轴的轴向相垂直的方向为y轴方向；且同时垂直于x轴和y轴的方向为z轴方向；并定义沿z轴方向为上下方向，沿x轴方向为前后方向，沿y轴方向为左右方向；Define the direction located in the plane where the top surface of the vehicle frame is located and parallel to the axial direction of the first fixed axis as the x-axis direction, and the direction located in the plane where the top surface of the vehicle frame is located and parallel to the first fixed axis The direction perpendicular to the axis of For the left and right direction;
若干对所述滚轮对沿着x轴方向间隔设置，各滚轮对的第一滚轮均沿着x轴方向相互对齐，各滚轮对的第二滚轮也均沿着x轴方向相互对齐；Several pairs of roller pairs are arranged at intervals along the x-axis direction, the first rollers of each roller pair are aligned with each other along the x-axis direction, and the second rollers of each roller pair are also aligned with each other along the x-axis direction;
所述第一滚轮是由若干块相同的第一磁铁组合成的第一圆柱环，所述第一圆柱环的中心孔可转动地套设在第一转轴上，且所述第一磁铁的S极均沿第一圆柱环的径向指向第一圆柱环中心孔的圆心，所述第一磁铁的N极均沿第一圆柱环的径向指向第一圆柱环外；The first roller is a first cylindrical ring composed of several identical first magnets. The central hole of the first cylindrical ring is rotatably sleeved on the first rotating shaft, and the S of the first magnet The poles all point to the center of the central hole of the first cylindrical ring along the radial direction of the first cylindrical ring, and the N poles of the first magnet point out of the first cylindrical ring along the radial direction of the first cylindrical ring;
所述第二滚轮是由若干块相同的第二磁铁组合成的第二圆柱环，所述第二圆柱环的中心孔可转动地套设在第二转轴上，且所述第二磁铁的N极均沿第二圆柱环的径向指向第二圆柱环中心孔的圆心，所述第二磁铁的S极均沿第二圆柱环的径向指向第二圆柱环外；The second roller is a second cylindrical ring composed of several identical second magnets. The central hole of the second cylindrical ring is rotatably sleeved on the second rotating shaft, and the N of the second magnet The poles all point to the center of the central hole of the second cylindrical ring along the radial direction of the second cylindrical ring, and the S poles of the second magnet point out of the second cylindrical ring along the radial direction of the second cylindrical ring;
激光头位于第一磁铁和第二磁铁之间；The laser head is located between the first magnet and the second magnet;
所述激光头沿y轴方向的左右两侧对称设有一组x轴移动装置，所述x轴移动装置包括沿x轴方向架设的x轴丝杠，且x轴丝杠的下方设有与所述x轴丝杠相平行的x轴光杆；所述x轴丝杠的一端可转动设置在车架上，另一端与x轴电机的输出轴固定相连，且所述x轴电机固定在车架上；所述x轴丝杠上啮合有x轴滑块；所述x轴光杆贯穿所述x轴滑块，且x轴光杆的两端分别固定在车架上，以驱动x轴滑块沿所述x轴光杆滑动；The laser head is symmetrically provided with a set of x-axis moving devices on the left and right sides along the y-axis direction. The x-axis moving device includes an x-axis screw erected along the x-axis direction, and there is an x-axis screw below the x-axis screw. The x-axis light rod is parallel to the x-axis screw; one end of the x-axis screw is rotatably mounted on the frame, the other end is fixedly connected to the output shaft of the x-axis motor, and the x-axis motor is fixed on the frame on; the x-axis screw is engaged with an x-axis slider; the x-axis polished rod penetrates the x-axis slider, and the two ends of the x-axis polished rod are respectively fixed on the frame to drive the x-axis slider along the The x-axis optical rod slides;
所述激光头沿x轴方向的前后两侧对称设有一组y轴移动装置，所述y轴移动装置包括沿y轴方向架设的y轴丝杠，y轴丝杠的下方设有与所述y轴丝杠相平行的y轴光杆；所述y轴丝杠的一端可转动设置在左侧的x轴滑块上，另一端贯穿右侧的x轴滑块并与y轴电机的输出轴固定相连，所述y轴电机固定在右侧的x轴滑块上；所述y轴丝杠上啮合有y轴滑块，所述y轴光杆贯穿所述y轴滑块，且所述y轴光杆的两端分别固定在左右两侧的x轴滑块上，以驱动所述y轴滑块沿所述y轴光杆滑动；The laser head is symmetrically provided with a set of y-axis moving devices on both front and rear sides along the x-axis direction. The y-axis moving device includes a y-axis screw erected along the y-axis direction. There is a y-axis screw below the y-axis screw. The y-axis screw is a y-axis polished rod parallel to the y-axis screw; one end of the y-axis screw can be rotated on the x-axis slider on the left, and the other end runs through the x-axis slider on the right and is connected to the output shaft of the y-axis motor. Fixedly connected, the y-axis motor is fixed on the x-axis slider on the right side; the y-axis screw is engaged with the y-axis slider, the y-axis polished rod penetrates the y-axis slider, and the y-axis The two ends of the axis polished rod are respectively fixed on the x-axis slide blocks on the left and right sides to drive the y-axis slide block to slide along the y-axis polished rod;
所述激光头沿x轴方向的前后两侧对称设有一组z轴移动装置，所述z轴移动装置包括沿z轴方向延伸的z轴丝杠，所述z轴丝杠的上端垂直贯穿z轴滑块并与所述z轴相啮合，所述z轴丝杠的下端与z轴电机的输出轴固定相连，且所述z轴电机固定在位于同一侧的y轴滑块上；所述激光头的前后两侧夹设在两个z轴滑块之间，且所述z轴滑块与所述激光头的侧面固定相连。The laser head is symmetrically provided with a set of z-axis moving devices on both front and rear sides along the x-axis direction. The z-axis moving device includes a z-axis screw extending along the z-axis direction. The upper end of the z-axis screw runs vertically through the z-axis. The axis slider is meshed with the z-axis, the lower end of the z-axis screw is fixedly connected to the output shaft of the z-axis motor, and the z-axis motor is fixed on the y-axis slider on the same side; The front and rear sides of the laser head are sandwiched between two z-axis slide blocks, and the z-axis slide block is fixedly connected to the side of the laser head.
进一步，包括两对滚轮对，两个第一滚轮和两个第二滚轮分别设置在车架的四角上。Further, it includes two pairs of rollers, two first rollers and two second rollers respectively arranged on the four corners of the frame.
进一步，第一磁铁和第二磁铁的磁场强度和结构形态均相同。Furthermore, the first magnet and the second magnet have the same magnetic field intensity and structural form.
进一步，所述激光头位于所述车架的正中间。Further, the laser head is located in the middle of the frame.
本发明的有益效果主要表现在：The beneficial effects of the present invention are mainly manifested in:
1、本发明将磁场集合到激光制造平台中，在简化结构的同时能够提供磁场辅助加工。1. The present invention integrates magnetic fields into the laser manufacturing platform, which can provide magnetic field-assisted processing while simplifying the structure.
2、本发明能够通过磁极吸附方式可以进行爬壁作业，能够为大型器械进行激光制造作业。2. The present invention can perform wall climbing operations through magnetic pole adsorption, and can perform laser manufacturing operations for large instruments.
3、本发明可搭载不同的激光设备来应对不同场合下的加工。3. The present invention can be equipped with different laser equipment to cope with processing in different situations.
4、本发明可以灵活的移动，能够加工的范围和尺寸大，能够对比较大的被加工表面和缺陷进行加工修复。4. The present invention can move flexibly, has a large processing range and size, and can process and repair relatively large processed surfaces and defects.
附图说明Description of the drawings
图1是本发明的轴测图一；Figure 1 is an isometric view 1 of the present invention;
图2是本发明的轴测图二；Figure 2 is the second isometric view of the present invention;
图3是本发明的侧视图；Figure 3 is a side view of the present invention;
图4是第一滚轮的结构示意图；Figure 4 is a schematic structural diagram of the first roller;
图5是第二滚轮的结构示意图。Figure 5 is a schematic structural diagram of the second roller.
具体实施方式Detailed ways
参照附图，一种可提供稳态磁场辅助的爬壁式激光制造平台，包括框状的车架1，所述车架1水平架设在若干对滚轮对上，所述车架1上设有激光头2，所述激光头2位于框状车架1的框内，且所述激光头2的输出端21垂直向下并直接指向用于承载所述车架1的工作面，以对所述工作面进行加工。Referring to the accompanying drawings, a wall-climbing laser manufacturing platform that can provide steady-state magnetic field assistance includes a frame-shaped frame 1. The frame 1 is horizontally erected on several pairs of rollers. The frame 1 is provided with Laser head 2, the laser head 2 is located in the frame of the frame-shaped frame 1, and the output end 21 of the laser head 2 is vertically downward and directly pointed at the working surface used to carry the frame 1, so as to The above working surface is used for processing.
每对滚轮对包括相对设置的第一滚轮4和第二滚轮5，第一滚轮4和第二滚轮5分别可转动地设置在第一固定轴上和第二固定轴上，第一固定轴和第二固定轴相互平行，且第一固定轴和第二固定轴均固定在车架1的底面上；第一固定轴和第二固定轴可通过吊脚固定在车架1底面，如附图3所示。Each pair of rollers includes a first roller 4 and a second roller 5 arranged oppositely. The first roller 4 and the second roller 5 are rotatably arranged on a first fixed shaft and a second fixed shaft respectively. The first fixed shaft and The second fixed shafts are parallel to each other, and the first fixed shaft and the second fixed shaft are both fixed on the bottom surface of the frame 1; the first fixed shaft and the second fixed shaft can be fixed on the bottom surface of the frame 1 through hanging feet, as shown in the attached figure 3 shown.
定义位于所述车架1的顶面所在的平面内并与第一固定轴的轴向相平行的方向为x轴方向，位于所述车架1的顶面所在的平面内与并与第一固定轴的轴向相垂直的方向为y轴方向；且同时垂直于x轴和y轴的方向为z轴方向(即垂直于车架1的顶面的方向为z轴方向)，如图1所示；并定义沿z轴方向为上下方向，沿x轴方向为前后方向，沿y轴方向为左右方向；The direction located in the plane where the top surface of the vehicle frame 1 is located and parallel to the axial direction of the first fixed axis is defined as the x-axis direction, which is located in the plane where the top surface of the vehicle frame 1 is located and parallel to the first fixed axis. The direction perpendicular to the axial direction of the fixed axis is the y-axis direction; and the direction perpendicular to both the x-axis and the y-axis is the z-axis direction (that is, the direction perpendicular to the top surface of the frame 1 is the z-axis direction), as shown in Figure 1 as shown; and define the direction along the z-axis as the up-down direction, the direction along the x-axis as the front-to-back direction, and the direction along the y-axis as the left-right direction;
若干对所述滚轮对沿着x轴方向间隔设置，各滚轮对的第一滚轮4均沿着x轴方向相互对齐，各滚轮对的第二滚轮5也均沿着x轴方向相互对齐；Several pairs of roller pairs are arranged at intervals along the x-axis direction, the first rollers 4 of each roller pair are aligned with each other along the x-axis direction, and the second rollers 5 of each roller pair are also aligned with each other along the x-axis direction;
所述第一滚轮4是由若干块相同的第一磁铁41组合成的第一圆柱环，所述第一圆柱环的中心孔42可转动地套设在第一转轴上，且所述第一磁铁41的S极均沿第一圆柱环的径向指向第一圆柱环的中心孔42的圆心，所述第一磁铁41的N极均沿第一圆柱环的径向指向第一圆柱环外(即N极位于第一圆柱环的外表面，S极位于第一圆柱环的内表面)；The first roller 4 is a first cylindrical ring composed of several identical first magnets 41. The central hole 42 of the first cylindrical ring is rotatably sleeved on the first rotating shaft, and the first The S poles of the magnet 41 all point to the center of the central hole 42 of the first cylindrical ring along the radial direction of the first cylindrical ring, and the N poles of the first magnet 41 point to the outside of the first cylindrical ring along the radial direction of the first cylindrical ring. (That is, the N pole is located on the outer surface of the first cylindrical ring, and the S pole is located on the inner surface of the first cylindrical ring);
所述第二滚轮5是由若干块相同的第二磁铁51组合成的第二圆柱环，所述第二圆柱环的中心孔52可转动地套设在第二转轴上，且所述第二磁铁51的N极均沿第二圆柱环的径向指向第二圆柱环的中心孔52的圆心，所述第二磁铁51的S极均沿第二圆柱环的径向指向第二圆柱环外(即S极位于第二圆柱环的外表面，N极位于第二圆柱环的内表面)；如此，在第一滚轮4和第二滚轮5沿着y轴方向滚动的过程中，第一滚轮4和第二滚轮5始终形成一个静态磁场。The second roller 5 is a second cylindrical ring composed of several identical second magnets 51. The central hole 52 of the second cylindrical ring is rotatably sleeved on the second rotating shaft, and the second The N poles of the magnet 51 all point to the center of the central hole 52 of the second cylindrical ring along the radial direction of the second cylindrical ring, and the S poles of the second magnet 51 point towards the outside of the second cylindrical ring along the radial direction of the second cylindrical ring. (That is, the S pole is located on the outer surface of the second cylindrical ring, and the N pole is located on the inner surface of the second cylindrical ring); in this way, during the process of the first roller 4 and the second roller 5 rolling along the y-axis direction, the first roller 4 and the second roller 5 always form a static magnetic field.
第一磁铁41和第二磁铁51的磁场强度和结构形态均相同。当工作面倾斜或者垂直时，可以利用第一磁铁41和第二磁铁51的吸附作用进行爬壁作业。The first magnet 41 and the second magnet 51 have the same magnetic field intensity and structural form. When the working surface is inclined or vertical, the adsorption effect of the first magnet 41 and the second magnet 51 can be used to perform wall climbing operations.
激光头2位于滚轮对之间，且激光头2位于第一磁铁41和第二磁铁51之间；The laser head 2 is located between the pair of rollers, and the laser head 2 is located between the first magnet 41 and the second magnet 51;
所述激光头2沿y轴方向的左右两侧对称设有一组x轴移动装置，所述x轴移动装置包括沿x轴方向架设的x轴丝杠8，且x轴丝杠8的下方设有与所述x轴丝杠8相平行的x轴光杆9；所述x轴丝杠8的一端可转动设置在车架1上，另一端与x轴电机6的输出轴固定相连，且所述x轴电机6固定在车架1上；所述x轴丝杠8上啮合有x轴滑块7；所述x轴光杆9贯穿所述x轴滑块7，且x轴光杆9的两端分别固定在车架1上，以驱动x轴滑块7沿所述x轴光杆9滑动；x轴电机6的输出轴转动，x轴丝杠8随之转动，并驱动x轴滑块7沿所述x轴光杆9滑动。The laser head 2 is symmetrically provided with a set of x-axis moving devices on the left and right sides along the y-axis direction. The x-axis moving device includes an x-axis screw 8 erected along the x-axis direction, and there is an x-axis screw 8 below. There is an x-axis polished rod 9 parallel to the x-axis screw 8; one end of the x-axis screw 8 is rotatably mounted on the frame 1, and the other end is fixedly connected to the output shaft of the x-axis motor 6, and the The x-axis motor 6 is fixed on the frame 1; the x-axis screw 8 is engaged with an x-axis slider 7; the x-axis polished rod 9 penetrates the x-axis slider 7, and both sides of the x-axis polished rod 9 The ends are respectively fixed on the frame 1 to drive the x-axis slider 7 to slide along the x-axis polished rod 9; the output shaft of the x-axis motor 6 rotates, the x-axis screw 8 rotates accordingly, and drives the x-axis slider 7 Slide the optical rod 9 along the x-axis.
所述激光头2沿x轴方向的前后两侧对称设有一组y轴移动装置，所述y轴移动装置包括沿y轴方向架设的y轴丝杠13，y轴丝杠13的下方设有与所述y轴丝杠13相平行的y轴光杆14；所述y轴丝杠13的一端可转动设置在左侧的x轴滑块7上，另一端贯穿右侧的x轴滑块7并与y轴电机10的输出轴固定相连，且所述y轴电机10固定在右侧的x轴滑块7上；所述y轴丝杠13上啮合有y轴滑块15，所述y轴光杆14贯穿所述y轴滑块15，且所述y轴光杆14的两端分别固定在左右两侧的x轴滑块7上，以驱动所述y轴滑块15沿所述y轴光杆14滑动；x轴电机10的输出轴转动，y轴丝杠13随之转动，并驱动y轴滑块15沿所述y轴丝杠13滑动；同时，y轴移动装置也可随着x轴滑块7的移动而移动。The laser head 2 is symmetrically provided with a set of y-axis moving devices on both front and rear sides along the x-axis direction. The y-axis moving device includes a y-axis screw 13 erected along the y-axis direction. There is a y-axis screw 13 below. The y-axis polished rod 14 is parallel to the y-axis screw 13; one end of the y-axis screw 13 is rotatably mounted on the x-axis slider 7 on the left, and the other end passes through the x-axis slider 7 on the right. And is fixedly connected to the output shaft of the y-axis motor 10, and the y-axis motor 10 is fixed on the x-axis slider 7 on the right side; the y-axis screw 13 is engaged with a y-axis slider 15, and the y-axis motor 10 is The y-axis light rod 14 penetrates the y-axis slider 15, and the two ends of the y-axis light rod 14 are respectively fixed on the x-axis sliders 7 on the left and right sides to drive the y-axis slider 15 along the y-axis. The polished rod 14 slides; the output shaft of the x-axis motor 10 rotates, and the y-axis screw 13 rotates accordingly, and drives the y-axis slider 15 to slide along the y-axis screw 13; at the same time, the y-axis moving device can also follow the x-axis movement The axis slider 7 moves.
所述激光头2沿x轴方向的前后两侧对称设有一组z轴移动装置，所述z轴移动装置包括沿z轴方向延伸的z轴丝杠11，所述z轴丝杠11的上端垂直贯穿z轴滑块17并与所述z轴相啮合，所述z轴丝杠11的下端与z轴电机12的输出轴固定相连，且所述z轴电机12固定在位于同一侧的y轴滑块15上；所述激光头2夹设在两个z轴滑块17之间，且所述z轴滑块17与所述激光头的侧面固定相连。z轴电机12的输出轴转动，z轴丝杠随之转动，并驱动z轴滑块17上下滑动，同步带动激光头2上下滑动；同时，z轴移动装置也可随着x轴滑块7和y轴滑块15的移动而移动。从而激光头获得x、y、z三个方向上的位置调节。The laser head 2 is symmetrically provided with a set of z-axis moving devices on both front and rear sides along the x-axis direction. The z-axis moving device includes a z-axis screw 11 extending along the z-axis direction. The upper end of the z-axis screw 11 Vertically penetrates the z-axis slider 17 and meshes with the z-axis. The lower end of the z-axis screw 11 is fixedly connected to the output shaft of the z-axis motor 12, and the z-axis motor 12 is fixed to the y-axis on the same side. On the axis slider 15; the laser head 2 is sandwiched between two z-axis sliders 17, and the z-axis slider 17 is fixedly connected to the side of the laser head. The output shaft of the z-axis motor 12 rotates, and the z-axis screw rotates accordingly, and drives the z-axis slider 17 to slide up and down, synchronously driving the laser head 2 to slide up and down; at the same time, the z-axis moving device can also follow the x-axis slider 7 and the movement of the y-axis slider 15. As a result, the laser head can obtain position adjustment in the three directions of x, y, and z.
本发明包括两对滚轮对，两个第一滚轮4和两个第二滚轮5分别设置在车架1的四角上。The invention includes two pairs of rollers, two first rollers 4 and two second rollers 5 respectively arranged on the four corners of the vehicle frame 1 .
所述激光头2位于所述车架1的正中间。The laser head 2 is located in the middle of the frame 1 .
磁控式的第一滚轮4和第二滚轮5能够完成爬壁和提供磁场的作用，x、y、z轴移动装置能够控制所搭载的激光头2进行激光制造工作。在爬壁作业过程中，被加工处够在磁场作用下进行激光制造。The magnetically controlled first roller 4 and the second roller 5 can climb the wall and provide a magnetic field, and the x, y, and z-axis moving device can control the mounted laser head 2 to perform laser manufacturing work. During the wall-climbing operation, the processed area is capable of laser manufacturing under the action of a magnetic field.
z轴移动装置还可以安装激光制造装置或者电弧焊接装置。The z-axis moving device can also be equipped with a laser manufacturing device or an arc welding device.
z轴移动装置还可以安装旋转装置来提供绕轴旋转功能。The z-axis moving device can also be equipped with a rotating device to provide rotation around the axis.
本发明可根据需求搭载不同类型的激光头2。The present invention can be equipped with different types of laser heads 2 according to needs.
本发明可以根据具体需要选择不同磁场强度的第一滚轮4和第二滚轮5，且第一滚轮4和第二滚轮5的磁极(N极和S极)可以相互交换。The present invention can select the first roller 4 and the second roller 5 with different magnetic field strengths according to specific needs, and the magnetic poles (N pole and S pole) of the first roller 4 and the second roller 5 can be exchanged with each other.
与传统的激光制造平台相比，本发明的适用范围大大增加，可满足不同使用场合，并且具有成本低、结构简单且携带方便等优点。Compared with traditional laser manufacturing platforms, the present invention has a greatly increased scope of application, can meet different use occasions, and has the advantages of low cost, simple structure and easy portability.
本说明书实施例所述的内容仅仅是对发明构思的实现形式的列举，本发明的保护范围不应当被视为仅限于实施例所陈述的具体形式，本发明的保护范围也包括本领域技术人员根据本发明构思所能够想到的等同技术手段。The content described in the embodiments of this specification is only an enumeration of the implementation forms of the inventive concept. The protection scope of the present invention should not be considered to be limited to the specific forms stated in the embodiments. The protection scope of the present invention also includes those skilled in the art. Equivalent technical means that can be thought of based on the concept of the present invention.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711246102.1A CN107838566B (en) | 2017-12-01 | 2017-12-01 | Wall climbing type laser manufacturing platform capable of providing steady-state magnetic field assistance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711246102.1A CN107838566B (en) | 2017-12-01 | 2017-12-01 | Wall climbing type laser manufacturing platform capable of providing steady-state magnetic field assistance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107838566A CN107838566A (en) | 2018-03-27 |
| CN107838566B true CN107838566B (en) | 2023-10-20 |
Family
ID=61664402
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711246102.1A Active CN107838566B (en) | 2017-12-01 | 2017-12-01 | Wall climbing type laser manufacturing platform capable of providing steady-state magnetic field assistance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107838566B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108422102A (en) * | 2018-05-11 | 2018-08-21 | 大连大学 | A kind of plane laser cutting machine |
| CN108747031A (en) * | 2018-06-15 | 2018-11-06 | 北京金橙子科技股份有限公司 | A kind of laser marking mechanism of indefinite length processing |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08132291A (en) * | 1994-11-08 | 1996-05-28 | Nkk Corp | One side welding backing robot |
| CN101378877A (en) * | 2006-02-06 | 2009-03-04 | 力技术公司 | Carriage for automating welding, brazing, cutting and surface treatment processes |
| CN101817180A (en) * | 2010-04-21 | 2010-09-01 | 上海交通大学 | Wall-climbing wheel type mechanism based on MEMS (Micro-Electro Mechanical System) |
| CN104828170A (en) * | 2015-05-08 | 2015-08-12 | 浙江省特种设备检验研究院 | Wall-climbing robot with wall surface polishing function |
| CN104875807A (en) * | 2015-04-14 | 2015-09-02 | 浙江工业大学 | Running device for wall-climbing robot |
| CN106624519A (en) * | 2016-12-29 | 2017-05-10 | 湖北文理学院 | Butt-joint pipeline welding robot |
| CN107128389A (en) * | 2017-06-30 | 2017-09-05 | 河北工业大学 | A kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot |
| CN107351934A (en) * | 2017-08-30 | 2017-11-17 | 烟台皇宸智能制造有限公司 | A kind of wheeled magnetic adsorption wall climbing robot |
| CN207563945U (en) * | 2017-12-01 | 2018-07-03 | 浙江工业大学 | It is a kind of provide steady magnetic field auxiliary climb wall type laser manufacturing platform |
-
2017
- 2017-12-01 CN CN201711246102.1A patent/CN107838566B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08132291A (en) * | 1994-11-08 | 1996-05-28 | Nkk Corp | One side welding backing robot |
| CN101378877A (en) * | 2006-02-06 | 2009-03-04 | 力技术公司 | Carriage for automating welding, brazing, cutting and surface treatment processes |
| CN101817180A (en) * | 2010-04-21 | 2010-09-01 | 上海交通大学 | Wall-climbing wheel type mechanism based on MEMS (Micro-Electro Mechanical System) |
| CN104875807A (en) * | 2015-04-14 | 2015-09-02 | 浙江工业大学 | Running device for wall-climbing robot |
| CN104828170A (en) * | 2015-05-08 | 2015-08-12 | 浙江省特种设备检验研究院 | Wall-climbing robot with wall surface polishing function |
| CN106624519A (en) * | 2016-12-29 | 2017-05-10 | 湖北文理学院 | Butt-joint pipeline welding robot |
| CN107128389A (en) * | 2017-06-30 | 2017-09-05 | 河北工业大学 | A kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot |
| CN107351934A (en) * | 2017-08-30 | 2017-11-17 | 烟台皇宸智能制造有限公司 | A kind of wheeled magnetic adsorption wall climbing robot |
| CN207563945U (en) * | 2017-12-01 | 2018-07-03 | 浙江工业大学 | It is a kind of provide steady magnetic field auxiliary climb wall type laser manufacturing platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107838566A (en) | 2018-03-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106799545A (en) | A kind of five-axle linkage laser cutter | |
| CN203726481U (en) | Robot head | |
| CN102284795B (en) | Hybrid five-axis laser cutting machine | |
| CN102049638A (en) | Circular seam welding robot device | |
| CN107838566B (en) | Wall climbing type laser manufacturing platform capable of providing steady-state magnetic field assistance | |
| KR102450266B1 (en) | Symmetrical 3-axis parallel spindle head with multidirectional fixed-point rotation | |
| CN201012496Y (en) | Binocular Active Vision Monitoring Mechanism for Parallel Robot | |
| CN207563945U (en) | It is a kind of provide steady magnetic field auxiliary climb wall type laser manufacturing platform | |
| CN105127819B (en) | Five-axis parallel machine tool | |
| CN104960365A (en) | Ball head carving machine | |
| CN202169443U (en) | Series-parallel combined five-axis laser cutter | |
| CN204657745U (en) | A kind of new pattern laser processing head swing rotating device | |
| CN208483806U (en) | A kind of high-accuracy alignment device of view-based access control model system | |
| CN104384712A (en) | Optical fiber laser cutting robot carrier | |
| CN103252771B (en) | Asymmetrical five-degree-of-freedom parallel serial robot | |
| CN108188653B (en) | Metal texture processing tool matched with mechanical arm | |
| CN203102734U (en) | A teaching experiment equipment for a three-degree-of-freedom servo positioning system | |
| CN211490867U (en) | Movable carrier frame of polishing workstation | |
| CN104439813B (en) | A kind of large space multi-freedom-degreecontrollable controllable mechanism type welding robot | |
| CN102941772A (en) | Lower-mobility parallel mechanism with constraint chains | |
| CN204954458U (en) | Five parallel machines | |
| CN206368197U (en) | A kind of double excitation strengthens coating unit | |
| CN107322548A (en) | A kind of precisely locating platform | |
| CN209623716U (en) | A kind of auxiliary conditioning unit of stay-supported measuring system | |
| CN206308420U (en) | A kind of laser reinforcing coating equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |