CN112176274A - Track calibration method for thermal spraying spray gun and bearing spraying method - Google Patents
Track calibration method for thermal spraying spray gun and bearing spraying method Download PDFInfo
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- CN112176274A CN112176274A CN202011090939.3A CN202011090939A CN112176274A CN 112176274 A CN112176274 A CN 112176274A CN 202011090939 A CN202011090939 A CN 202011090939A CN 112176274 A CN112176274 A CN 112176274A
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- 238000005507 spraying Methods 0.000 title claims abstract description 87
- 238000007751 thermal spraying Methods 0.000 title claims abstract description 71
- 239000007921 spray Substances 0.000 title claims abstract description 65
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000000576 coating method Methods 0.000 claims abstract description 65
- 239000011248 coating agent Substances 0.000 claims abstract description 64
- 238000003466 welding Methods 0.000 claims 1
- 239000000843 powder Substances 0.000 description 31
- 230000009286 beneficial effect Effects 0.000 description 10
- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 description 6
- 230000036544 posture Effects 0.000 description 5
- PNEYBMLMFCGWSK-UHFFFAOYSA-N Alumina Chemical compound [O-2].[O-2].[O-2].[Al+3].[Al+3] PNEYBMLMFCGWSK-UHFFFAOYSA-N 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 229910052786 argon Inorganic materials 0.000 description 3
- 239000007789 gas Substances 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 2
- 238000005524 ceramic coating Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010892 electric spark Methods 0.000 description 1
- 239000001257 hydrogen Substances 0.000 description 1
- 229910052739 hydrogen Inorganic materials 0.000 description 1
- 125000004435 hydrogen atom Chemical group [H]* 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 229910052757 nitrogen Inorganic materials 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
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Classifications
-
- 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
- C23C4/00—Coating by spraying the coating material in the molten state, e.g. by flame, plasma or electric discharge
- C23C4/12—Coating by spraying the coating material in the molten state, e.g. by flame, plasma or electric discharge characterised by the method of spraying
- C23C4/134—Plasma spraying
Abstract
The invention relates to a track calibration method of a thermal spraying spray gun and a bearing spraying method. The method for calibrating the track of the thermal spraying spray gun comprises the following steps: simulating a spraying point of a spray gun nozzle through a laser projection point emitted by a laser; drawing a track line on a plane, then translating the manipulator to enable a laser projection point emitted by a laser to move along the track line, and recording a moving path of the manipulator; detaching the laser, repeating the moving path by the manipulator, and stopping the spray gun after the spray gun generates a thermal spraying coating track on the plane, wherein the thermal spraying coating track is parallel to the track line; and (3) resetting the laser, repeating the moving path of the manipulator again, simultaneously adjusting the laser projection point in the forward direction to enable the laser projection point to coincide with the thermal spraying coating track on the plane, recording the offset S or the offset angle alpha of the laser projection point, and then adjusting the laser projection point in the reverse direction according to the offset S or the offset angle alpha, so that the thermal spraying coating track after the arc striking point gun coincides with the track line.
Description
Technical Field
The invention relates to a track calibration method of a thermal spraying spray gun and a bearing spraying method.
Background
In order to solve the problem that electric spark is generated on the surfaces of a bearing raceway and a rolling element due to induced current on equipment such as a motor bearing, an insulating coating is generally required to be sprayed on the outer peripheral surface and the end surface of a bearing outer ring and the inner wall surface and the end surface of an inner ring. The insulating coating is typically an alumina ceramic coating, using a plasma spray process.
In the actual process of spraying, argon and nitrogen or argon and hydrogen form plasma flame together to generate flame spots with certain diameters from a spray gun nozzle, and after being sent to the flame center at the nozzle along a powder sending pipe through a powder sending device, alumina powder is heated to a semi-molten or molten state, then is accelerated to a certain initial speed along with flame flow, is sprayed to the surface of a pretreated substrate, and is deposited and cooled to form an alumina ceramic coating with high insulating property.
At present, after powder is fed by a point gun, flame deflection exists in flame flow. As shown in fig. 1 and 2, when the powder feeding pipe 13 does not feed powder, the unfired flame 11 ejected from the spray gun 10 is directed vertically downward; after the powder is fed from the powder feeding pipe 13, the flame 12 after the powder feeding ejected from the powder spraying gun 10 is deflected to one side by the airflow of the powder feeding pipe 13. As shown in fig. 3 and 4, the post-powder-feeding flame axis 14 and the non-powder-feeding flame axis 15 form an offset angle α, and the offset distance between the post-powder-feeding flame trajectory 16 and the non-powder-feeding flame trajectory 17 formed on the spray plane is S. So that the spraying point position has larger error.
In order to solve the problems, in a spraying debugging process, one spraying mode is to determine and program the starting point of a spray gun track according to visual inspection, for example, a coverage area of a coating on a workpiece substrate is observed in a trial spraying mode, the spraying mode needs to stop a gun for observing the spraying track for many times, so that the spraying efficiency is reduced, the quality of a thermal spraying coating is influenced, and abnormal loss is caused to important parts such as a spray gun electrode and the like due to frequent gun stopping; the other spraying mode is to directly set the debugging area to be covered in a large range to eliminate errors, and the spraying mode can cause powder waste and increase the cost.
Disclosure of Invention
The invention aims to provide a thermal spraying spray gun track calibration method, which aims to solve the problem that the spraying point position has larger error due to the action of airflow of a powder feeding pipe in the prior art; the invention aims to provide a bearing spraying method to solve the problem that in the prior art, the spraying effect of a bearing is influenced due to the fact that a large error exists in the spraying point position under the action of airflow of a powder feeding pipe.
The track calibration method of the thermal spraying gun adopts the following technical scheme:
the method for calibrating the track of the thermal spraying spray gun comprises the following steps:
(1) installing a laser at a spray gun nozzle, and enabling the central line of an emitting opening of the laser to coincide with the central line of the spray gun nozzle so as to simulate a spraying point of the spray gun nozzle through a laser projection point emitted by the laser;
(2) drawing a track line on a plane, then translating the manipulator to enable a laser projection point emitted by a laser to move along the track line, and recording a moving path of the manipulator;
(3) the laser is disassembled, an arc is ignited, the manipulator repeats the moving path, the spray gun stops after generating a thermal spraying coating track on the plane, and at the moment, the thermal spraying coating track is parallel to the track line;
(4) and (3) resetting the laser, repeating the moving path of the manipulator again, simultaneously adjusting the laser projection point in the forward direction to enable the laser projection point to coincide with the thermal spraying coating track on the plane, recording the offset S or the offset angle alpha of the laser projection point, and then adjusting the laser projection point in the reverse direction according to the offset S or the offset angle alpha, so that the thermal spraying coating track after the arc striking point gun coincides with the track line.
The beneficial effects are that: after the track calibration method for the thermal spraying spray gun is adopted, the precision and the efficiency of track debugging can be effectively improved, the waste of powder and gas caused by covering a workpiece by increasing a spraying area is avoided, meanwhile, the gun does not need to be stopped in the process to check the coating covering quality, a high-quality coating can be obtained, and the unnecessary loss of equipment is reduced.
Further, in the step (4), the horizontal degree of freedom of the manipulator is adjusted in a forward direction to enable the laser projection point to coincide with the thermal spraying coating track on the plane, the offset S of the laser projection point is recorded, then the horizontal degree of freedom of the manipulator is adjusted in a reverse direction, the distance is adjusted to be 2 times of the offset S, and the thermal spraying coating track after the arc striking and the gun pointing can coincide with the track line.
The beneficial effects are that: the mechanical arm for clamping the spray gun is a six-axis mechanical arm, so that the mechanical arm has six degrees of freedom, and the track of the thermal spraying coating after arc striking and gun pointing is superposed with the track line by adjusting the horizontal degree of freedom of the mechanical arm, so that the adjustment is more convenient.
Further, in the step (4), the rotational degree of freedom of the manipulator is adjusted in a forward direction to enable the laser projection point to coincide with the thermal spraying coating track on the plane, the deflection angle alpha of the laser projection point is recorded, then the rotational degree of freedom of the manipulator is adjusted in a reverse direction, the angle is adjusted to be 2 times of the deflection angle alpha, and the thermal spraying coating track after the arc striking and the gun pointing can coincide with the track line.
The beneficial effects are that: the mechanical arm for clamping the spray gun is a six-axis mechanical arm, so that the mechanical arm has six degrees of freedom, and the track of the thermal spraying coating after arc striking and gun pointing is superposed with the track line by adjusting the horizontal degree of freedom of the mechanical arm, so that the adjustment is more convenient.
Further, in the step (4), the horizontal degree of freedom of the laser is adjusted in a forward direction, so that the laser projection point and the thermal spraying coating track on the plane are overlapped, the offset S of the laser projection point is recorded, then the horizontal degree of freedom of the manipulator is adjusted in a reverse direction, and the distance is adjusted to be the offset S, so that the thermal spraying coating track after the arc striking and the gun pointing can be overlapped with the track line.
The beneficial effects are that: therefore, when the horizontal degree of freedom of the manipulator is reversely adjusted, the superposition of the laser projection point and the trajectory line can be utilized to determine the superposition of the thermal spraying coating trajectory after the arc ignition point gun and the trajectory line.
Further, in the step (4), the rotational degree of freedom of the laser is adjusted in the forward direction, so that the laser projection point and the thermal spraying coating track on the plane are overlapped, the deflection angle alpha of the laser projection point is recorded, then the rotational degree of freedom of the manipulator is adjusted in the backward direction, and the angle is adjusted to the deflection angle alpha, so that the thermal spraying coating track after the arc striking and the gun point is overlapped with the track line.
The beneficial effects are that: therefore, when the rotational freedom degree of the manipulator is reversely adjusted, the superposition of the laser projection point and the trajectory line can be utilized to determine the superposition of the thermal spraying coating trajectory after the arc ignition point gun and the trajectory line.
The bearing spraying method adopts the following technical scheme:
a bearing spraying method, a thermal spraying spray gun track calibration method before downward spraying, flat spraying and upward spraying, wherein the method comprises the following steps:
(1) installing a laser at a spray gun nozzle, and enabling the central line of an emitting opening of the laser to coincide with the central line of the spray gun nozzle so as to simulate a spraying point of the spray gun nozzle through a laser projection point emitted by the laser;
(2) drawing a track line on a plane, then translating the manipulator to enable a laser projection point emitted by a laser to move along the track line, and recording a moving path of the manipulator;
(3) the laser is disassembled, an arc is ignited, the manipulator repeats the moving path, the spray gun stops after generating a thermal spraying coating track on the plane, and at the moment, the thermal spraying coating track is parallel to the track line;
(4) and (3) resetting the laser, repeating the moving path of the manipulator again, simultaneously adjusting the laser projection point in the forward direction to enable the laser projection point to coincide with the thermal spraying coating track on the plane, recording the offset S or the offset angle alpha of the laser projection point, and then adjusting the laser projection point in the reverse direction according to the offset S or the offset angle alpha, so that the thermal spraying coating track after the arc striking point gun coincides with the track line.
The beneficial effects are that: after the track calibration method for the thermal spraying spray gun is adopted, the precision and the efficiency of track debugging can be effectively improved, the waste of powder and gas caused by covering a workpiece by increasing a spraying area is avoided, meanwhile, the gun does not need to be stopped in the process to check the coating covering quality, a high-quality coating can be obtained, and the unnecessary loss of equipment is reduced.
Further, in the step (4), the horizontal degree of freedom of the manipulator is adjusted in a forward direction to enable the laser projection point to coincide with the thermal spraying coating track on the plane, the offset S of the laser projection point is recorded, then the horizontal degree of freedom of the manipulator is adjusted in a reverse direction, the distance is adjusted to be 2 times of the offset S, and the thermal spraying coating track after the arc striking and the gun pointing can coincide with the track line.
The beneficial effects are that: the mechanical arm for clamping the spray gun is a six-axis mechanical arm, so that the mechanical arm has six degrees of freedom, and the track of the thermal spraying coating after arc striking and gun pointing is superposed with the track line by adjusting the horizontal degree of freedom of the mechanical arm, so that the adjustment is more convenient.
Further, in the step (4), the rotational degree of freedom of the manipulator is adjusted in a forward direction to enable the laser projection point to coincide with the thermal spraying coating track on the plane, the deflection angle alpha of the laser projection point is recorded, then the rotational degree of freedom of the manipulator is adjusted in a reverse direction, the angle is adjusted to be 2 times of the deflection angle alpha, and the thermal spraying coating track after the arc striking and the gun pointing can coincide with the track line.
The beneficial effects are that: the mechanical arm for clamping the spray gun is a six-axis mechanical arm, so that the mechanical arm has six degrees of freedom, and the track of the thermal spraying coating after arc striking and gun pointing is superposed with the track line by adjusting the horizontal degree of freedom of the mechanical arm, so that the adjustment is more convenient.
Further, in the step (4), the horizontal degree of freedom of the laser is adjusted in a forward direction, so that the laser projection point and the thermal spraying coating track on the plane are overlapped, the offset S of the laser projection point is recorded, then the horizontal degree of freedom of the manipulator is adjusted in a reverse direction, and the distance is adjusted to be the offset S, so that the thermal spraying coating track after the arc striking and the gun pointing can be overlapped with the track line.
The beneficial effects are that: therefore, when the horizontal degree of freedom of the manipulator is reversely adjusted, the superposition of the laser projection point and the trajectory line can be utilized to determine the superposition of the thermal spraying coating trajectory after the arc ignition point gun and the trajectory line.
Further, in the step (4), the rotational degree of freedom of the laser is adjusted in the forward direction, so that the laser projection point and the thermal spraying coating track on the plane are overlapped, the deflection angle alpha of the laser projection point is recorded, then the rotational degree of freedom of the manipulator is adjusted in the backward direction, and the angle is adjusted to the deflection angle alpha, so that the thermal spraying coating track after the arc striking and the gun point is overlapped with the track line.
The beneficial effects are that: therefore, when the rotational freedom degree of the manipulator is reversely adjusted, the superposition of the laser projection point and the trajectory line can be utilized to determine the superposition of the thermal spraying coating trajectory after the arc ignition point gun and the trajectory line.
The above-described preferred embodiments may be adopted alone, or two or more embodiments may be arbitrarily combined when they can be combined, and the embodiments formed by the combination are not specifically described here and are included in the description of the present patent.
Drawings
FIG. 1 is a schematic view of a prior art lance for ejecting a flame without feeding powder;
FIG. 2 is a schematic view of a prior art post-powder-feed lance-fired flame configuration;
FIG. 3 is a schematic axial view of a prior art unfired and post-pulverized flame;
FIG. 4 is a schematic illustration of the trace of the unfulfilled flame and the post-pulverized flame of FIG. 3;
FIG. 5 is a schematic structural view of embodiment 1 of the bearing coating method of the present invention;
in the figure: 10-a spray gun; 11-no powder feeding flame; 12-flame after powder feeding; 13-powder feeding pipe; 14-flame axis after powder feeding; 15-axis of unfired flame; 16-flame trajectory after powder feeding; 17-flame trajectory without powder feed; 18-upper end face; 19-outer peripheral surface; 20-lower end face.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, which may be present in the embodiments of the present invention, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the statement that "comprises an … …" is intended to indicate that there are additional elements of the same process, method, article, or apparatus that comprise the element.
In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" when they are used are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, or may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art from specific situations.
In the description of the present invention, unless otherwise specifically stated or limited, the term "provided" may be used in a broad sense, for example, the object of "provided" may be a part of the body, or may be arranged separately from the body and connected to the body, and the connection may be detachable or non-detachable. The specific meaning of the above terms in the present invention can be understood by those skilled in the art from specific situations.
The present invention will be described in further detail with reference to examples.
Example 1 of the bearing spray coating method of the present invention:
as shown in fig. 5, the posture of the spray gun at the time of spraying was decomposed into three postures of downward spraying, flat spraying and upward spraying according to the characteristics of the plasma thermal spraying for the alumina insulation coating. Taking the bearing outer ring as an example, downward spraying is used for spraying the upper end surface 18 of the bearing outer ring, flat spraying is used for spraying the outer peripheral surface 19 of the bearing outer ring, and upward spraying is used for spraying the lower end surface 20 of the bearing outer ring.
With fixed parameters of the thermal spray process, such as: powder, spray gun power, spraying distance, spray gun moving speed, gas carrying capacity and the like, and determining flame deflection angles under different spray gun postures. After the spray gun is adjusted to a posture, the track calibration method of the thermal spraying spray gun comprises the following steps:
(1) and fixedly mounting a laser at the spray gun nozzle, and enabling the central line of the emitting opening of the laser to coincide with the central line of the spray gun nozzle so as to simulate the spraying point of the spray gun nozzle through the laser projection point emitted by the laser.
(2) Selecting a steel plate, drawing a trajectory line on the plane of the steel plate, wherein the trajectory line is a non-powder-feeding trajectory line, then translating the manipulator to enable a laser projection point emitted by a laser to move along the trajectory line, and recording a moving path of the manipulator; wherein the steel plates have dimensions of 300mm x 5 mm.
(3) And (3) detaching the laser, igniting the arc spot gun, moving the spray gun at the translation speed of the manipulator required by the process, repeating the moving path, and stopping the spray gun after the spray gun generates a thermal spraying coating track with a certain thickness on a plane, wherein the thermal spraying coating track is a track line after powder feeding, and at the moment, the thermal spraying coating track is parallel to the track line.
(4) And (3) reinstalling the laser, repeating the moving path of the manipulator again, simultaneously positively adjusting the rotational degree of freedom of the manipulator to ensure that the laser projection point and the thermal spraying coating track on the plane are superposed, recording the deflection angle alpha of the laser projection point, then reversely adjusting the rotational degree of freedom of the manipulator, and adjusting the angle to be 2 times of the deflection angle alpha, so that the thermal spraying coating track after the arc striking point gun is superposed with the trajectory, namely, the flame is sprayed vertically to the plane after powder feeding.
Thus, the deflection angle of the flame after powder feeding of the spray gun under different postures and different movement paths is measured to obtain the deflection angle alpha measured under downward spraying1Deflection angle alpha measured under flat jet2And alpha measured with spraying upward3。
Programming the whole track of the spray gun after the track point positions of the spray gun on the upper end surface, the outer peripheral surface and the lower end surface of the bearing outer ring are determined. Spraying after no interference in test operation, wherein the spraying parameters are as follows: the voltage is 70-80V, the current is 500-600A, the argon flow is 55-60 NLPM, the hydrogen flow is 10-15 NLPM, the spraying distance is 100-120 mm, the powder feeding amount is 25-30 g/min, and the spraying linear speed is 500-800 mm/s. During spraying, the bearing outer ring rotates around its axis, and the spray gun 10 reciprocates in the direction indicated by the arrow in fig. 5 to spray the bearing outer ring. The spraying of the bearing inner ring is the same as above.
Example 2 of the bearing spray coating method of the present invention:
the difference between this embodiment and embodiment 1 is that in embodiment 1, in step (4), the laser is remounted, the manipulator repeats the path just moved again, the rotational degree of freedom of the manipulator is adjusted in the forward direction, the laser projection point and the thermal spray coating trajectory on the plane are overlapped, the deflection angle α of the laser projection point is recorded, then the rotational degree of freedom of the manipulator is adjusted in the reverse direction, the angle is adjusted to 2 times the deflection angle α, and the thermal spray coating trajectory after the arc striking point gun is overlapped with the trajectory, that is, the flame vertical plane spraying after powder feeding is performed. In the embodiment, on the basis of reinstalling the laser, the manipulator repeats the moving path again, the horizontal degree of freedom of the manipulator is adjusted in the forward direction, the laser projection point and the thermal spraying coating track on the plane are overlapped, the offset S of the laser projection point is recorded, then the horizontal degree of freedom of the manipulator is adjusted in the reverse direction, and the distance is adjusted to be 2 times of the offset S, so that the thermal spraying coating track after the arc striking point gun is overlapped with the track line.
Example 3 of the bearing spray coating method of the present invention:
the difference between this embodiment and embodiment 1 is that in embodiment 1, the laser is reinstalled in step (4), the manipulator repeats the path just moved again, the rotational degree of freedom of the manipulator is adjusted in the forward direction, the laser projection point and the thermal spray coating trajectory on the plane are overlapped, the deflection angle α of the laser projection point is recorded, then the rotational degree of freedom of the manipulator is adjusted in the reverse direction, the angle is adjusted to 2 times the deflection angle α, and the thermal spray coating trajectory after the arc striking point gun is overlapped with the trajectory, that is, the flame is sprayed vertically to the plane after the powder feeding. In the embodiment, on the basis of reinstalling the laser, the manipulator repeats the moving path again, the horizontal degree of freedom of the laser is adjusted in the forward direction, the laser projection point and the thermal spraying coating track on the plane are overlapped, the offset S of the laser projection point is recorded, then the horizontal degree of freedom of the manipulator is adjusted in the reverse direction, and the thermal spraying coating track after the arc striking point gun is overlapped with the track line by adjusting the distance to be the offset S.
Example 4 of the bearing spray coating method of the present invention:
the difference between this embodiment and embodiment 1 is that in embodiment 1, the laser is reinstalled in step (4), the manipulator repeats the path just moved again, the rotational degree of freedom of the manipulator is adjusted in the forward direction, the laser projection point and the thermal spray coating trajectory on the plane are overlapped, the deflection angle α of the laser projection point is recorded, then the rotational degree of freedom of the manipulator is adjusted in the reverse direction, the angle is adjusted to 2 times the deflection angle α, and the thermal spray coating trajectory after the arc striking point gun is overlapped with the trajectory, that is, the flame is sprayed vertically to the plane after the powder feeding. In the embodiment, on the basis of reinstalling the laser, the manipulator repeats the moving path again, the rotational degree of freedom of the laser is adjusted in the forward direction, the laser projection point and the thermal spraying coating track on the plane are overlapped, the deflection angle alpha of the laser projection point is recorded, then the rotational degree of freedom of the manipulator is adjusted in the reverse direction, and the deflection angle alpha is adjusted, so that the thermal spraying coating track after the arc striking point gun is overlapped with the trajectory.
The embodiment of the track calibration method of the thermal spraying gun in the invention comprises the following steps: the thermal spray gun trajectory calibration method described in the embodiment of the thermal spray gun trajectory calibration method, that is, any one of embodiments 1 to 4 of the bearing spraying method described above, will not be described in detail here.
The above description is only a preferred embodiment of the present application, and not intended to limit the present application, the scope of the present application is defined by the appended claims, and all changes in equivalent structure made by using the contents of the specification and the drawings of the present application should be considered as being included in the scope of the present application.
Claims (10)
1. The method for calibrating the track of the thermal spraying gun is characterized by comprising the following steps of:
(1) installing a laser at a spray gun nozzle, and enabling the central line of an emitting opening of the laser to coincide with the central line of the spray gun nozzle so as to simulate a spraying point of the spray gun nozzle through a laser projection point emitted by the laser;
(2) drawing a track line on a plane, then translating the manipulator to enable a laser projection point emitted by a laser to move along the track line, and recording a moving path of the manipulator;
(3) the laser is disassembled, an arc is ignited, the manipulator repeats the moving path, the spray gun stops after generating a thermal spraying coating track on the plane, and at the moment, the thermal spraying coating track is parallel to the track line;
(4) and (3) resetting the laser, repeating the moving path of the manipulator again, simultaneously adjusting the laser projection point in the forward direction to enable the laser projection point to coincide with the thermal spraying coating track on the plane, recording the offset S or the offset angle alpha of the laser projection point, and then adjusting the laser projection point in the reverse direction according to the offset S or the offset angle alpha, so that the thermal spraying coating track after the arc striking point gun coincides with the track line.
2. The method for calibrating the trajectory of a thermal spray gun according to claim 1, wherein in step (4), the horizontal degree of freedom of the manipulator is adjusted in the forward direction so that the laser projection point coincides with the trajectory of the thermal spray coating on the plane, the offset S of the laser projection point is recorded, and then the horizontal degree of freedom of the manipulator is adjusted in the backward direction so that the trajectory of the thermal spray coating after the arc starting point coincides with the trajectory by adjusting the distance to 2 times the offset S.
3. The method for calibrating the trajectory of a thermal spray gun according to claim 1, wherein in step (4), the rotational degree of freedom of the manipulator is adjusted in the forward direction so that the laser projection point coincides with the trajectory of the thermal spray coating on the plane, and the deflection angle α of the laser projection point is recorded, and then the rotational degree of freedom of the manipulator is adjusted in the backward direction so that the trajectory of the thermal spray coating after the arc starting point coincides with the trajectory by adjusting the deflection angle α to 2 times.
4. The method for calibrating the trajectory of a thermal spray gun according to claim 1, wherein in the step (4), the horizontal degree of freedom of the laser is adjusted in the forward direction so that the laser projection point coincides with the trajectory of the thermal spray coating on the plane, the offset S of the laser projection point is recorded, and then the horizontal degree of freedom of the manipulator is adjusted in the reverse direction so that the trajectory of the thermal spray coating after the arc starting point coincides with the trajectory by adjusting the distance to the offset S.
5. The method for calibrating the trajectory of a thermal spray gun according to claim 1, wherein in the step (4), the rotational degree of freedom of the laser is adjusted in the forward direction so that the laser projection point coincides with the trajectory of the thermal spray coating on the plane, the deflection angle α of the laser projection point is recorded, and then the rotational degree of freedom of the manipulator is adjusted in the reverse direction so that the trajectory of the thermal spray coating after the arc striking point coincides with the trajectory.
6. A bearing spray coating method is characterized in that the track calibration method of a thermal spray gun before downward spraying, horizontal spraying and upward spraying is carried out on the track calibration method, wherein the track calibration method comprises the following steps:
(1) installing a laser at a spray gun nozzle, and enabling the central line of an emitting opening of the laser to coincide with the central line of the spray gun nozzle so as to simulate a spraying point of the spray gun nozzle through a laser projection point emitted by the laser;
(2) drawing a track line on a plane, then translating the manipulator to enable a laser projection point emitted by a laser to move along the track line, and recording a moving path of the manipulator;
(3) the laser is disassembled, an arc is ignited, the manipulator repeats the moving path, the spray gun stops after generating a thermal spraying coating track on the plane, and at the moment, the thermal spraying coating track is parallel to the track line;
(4) and (3) resetting the laser, repeating the moving path of the manipulator again, simultaneously adjusting the laser projection point in the forward direction to enable the laser projection point to coincide with the thermal spraying coating track on the plane, recording the offset S or the offset angle alpha of the laser projection point, and then adjusting the laser projection point in the reverse direction according to the offset S or the offset angle alpha, so that the thermal spraying coating track after the arc striking point gun coincides with the track line.
7. The bearing spray coating method according to claim 6, wherein in the step (4), the horizontal degree of freedom of the manipulator is adjusted in a forward direction so that the laser projection point coincides with the thermal spray coating trajectory on the plane, and the offset S of the laser projection point is recorded, and then the horizontal degree of freedom of the manipulator is adjusted in a backward direction so that the thermal spray coating trajectory after the arc starting point coincides with the trajectory by adjusting the distance to 2 times the offset S.
8. The bearing spray coating method according to claim 6, wherein in the step (4), the rotational degree of freedom of the robot is adjusted in a forward direction so that the laser projection point coincides with the thermal spray coating trajectory on the plane, and the deflection angle α of the laser projection point is recorded, and then the rotational degree of freedom of the robot is adjusted in a backward direction so that the thermal spray coating trajectory after the arc starting and the spot welding coincides with the trajectory line by adjusting the deflection angle α to 2 times.
9. The bearing spray coating method according to claim 6, wherein in the step (4), the horizontal degree of freedom of the laser is adjusted in a forward direction so that the laser projection point coincides with the thermal spray coating trajectory on the plane, the offset S of the laser projection point is recorded, and then the horizontal degree of freedom of the manipulator is adjusted in a backward direction so that the thermal spray coating trajectory after the arc starting and the gun pointing coincides with the trajectory.
10. The bearing spray coating method according to claim 6, wherein in the step (4), the rotational degree of freedom of the laser is adjusted in a forward direction so that the laser projection point coincides with the trajectory of the thermal spray coating on the plane, and the deflection angle α of the laser projection point is recorded, and then the rotational degree of freedom of the manipulator is adjusted in a reverse direction so that the trajectory of the thermal spray coating after the arc striking and the gun striking coincides with the trajectory.
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