CN112958874B - An arc additive remanufacturing device and method for recyclable rocket box structures - Google Patents

Abstract

The invention discloses an arc additive remanufacturing device and method for a recyclable rocket box structure, and relates to the field of additive remanufacturing, wherein the arc additive remanufacturing device comprises a control system, a box surface defect identification system, a box structure positioning system, an arc welding system and a robot motion system; the control system controls the box surface defect recognition system, the box structure positioning system, the arc welding system and the robot movement system, and three defect recognition probes of the box surface defect recognition system and welding guns of the arc welding system are all mounted on the robot main body so as to implement defect recognition operation and arc additive remanufacturing operation, and the box surface defect recognition system is good in stability, high in positioning accuracy, high in automation degree and good in operability.

Description

An arc additive remanufacturing device and method for recyclable rocket box structures

Technical field

The invention relates to an efficient arc additive remanufacturing device and method, and in particular to an arc additive remanufacturing device and method for recyclable rocket box structures.

Background technique

After the rocket box structure is put into service in the special aerospace environment, it will inevitably have defects such as burning and falling off. Due to the complex and special service environment, traditional rocket box structures can often only serve once, which greatly increases the manufacturing cost of the rocket box structure. Reusability is one of the development trends of launch vehicles. As an important part of the launch vehicle, the box structure can achieve reusability and can effectively reduce the production cost and cycle of the launch vehicle.

Arc additive remanufacturing technology is an advanced digital technology that uses the principle of layer-by-layer cladding, arc heat source, and the addition of wire to repair the structural surface. It has the advantages of low cost, efficient rapid prototyping, and easy repair of parts. It is easy to realize digitalization and intelligence, and has broad application prospects in green manufacturing. Existing welding equipment is often realized by machine tools or industrial robots. It has poor adaptability to the curved surface structure of the rocket tank. It also takes a long time, heavy workload and high cost. It is not suitable for the low-cost and high-quality manufacturing requirements of reusable rockets. .

The present invention proposes an arc additive remanufacturing device and method for a recyclable rocket box structure, which can quickly repair friction and wear defects on the surface of the rocket box structure, and is important for realizing the reusability of the rocket box structure. significance.

Contents of the invention

In order to realize the reusability of the rocket box structure and reduce the production cost and cycle of the launch vehicle, the present invention provides an arc additive remanufacturing device and method for the recyclable rocket box structure, which can solve the problems in the existing technology. It takes a long time, a large workload, and a high cost. It also has high positioning accuracy and a high degree of automation.

To achieve this goal, the present invention adopts the following technical solutions:

An arc additive remanufacturing device for recyclable rocket box structures, including a control system, box surface defect identification system, box structure positioning system, arc welding system, and robot motion system;

The control system is connected to the box surface defect identification system, box structure positioning system, arc welding system and robot motion system, and includes: display, control cabinet, and connecting lines;

The box surface defect identification system is used to detect, three-dimensionally reconstruct and locate friction and wear defects on the surface of the rocket box structure, and transmit the defect information to the control system, including three defect identification probes;

The box structure positioning system is used to clamp and position the rocket box structure, including: box outer hoop, box vertical extension structure, box inner hoop, rocket box structure, and rotating base;

The arc welding system is used to quickly repair friction and wear defects in the rocket box structure, including: arc welding machine, wire feeder, welding wire, and welding gun;

The robot motion system is used to move vertically along the outer wall of the rocket box structure according to the command of the control system, including: liftable gecko-like adsorption upper arm, liftable rolling front wheel, liftable rolling rear wheel, liftable gecko-like adsorption Middle arm, liftable gecko-like adsorption lower arm, telescopic robot torso, and robot main body;

Optionally, the three defect identification probes of the box surface defect identification system and the welding gun of the arc welding system are all mounted on the main body of the robot to implement defect identification operations and arc additive remanufacturing operations;

After the defect identification probe detects the defect signal, it immediately transmits the size and location information of the defect to the control system. After the control system receives the defect information, on the one hand, it feeds back the welding parameters to the welding system according to the defect characteristics, and on the other hand, it feeds back the welding parameters to the welding system according to the defect characteristics. Position feeds coordinate information back to the robot motion system.

Optionally, in the box structure positioning system, the rotating base receives a rotation instruction issued by the control system, and controls the rotation of the outer hoop of the box to realize the rotational positioning of the rocket box structure.

Optionally, in the arc welding system, the arc welding machine, wire feeder, welding wire, and welding gun perform arc additive remanufacturing operations according to the welding instructions issued by the control system. The welding instructions include welding path, welding speed, and wire feeding speed.

Optionally, the robot motion system is located on the right side of the rocket box structure. The robot body controls the liftable gecko-like adsorption upper arm, the liftable gecko-like adsorption middle arm, the liftable gecko-like adsorption lower arm, and the liftable gecko-like adsorption lower arm. The rolling front wheel and the liftable rolling rear wheel complete the up and down movement of the robot;

When the liftable gecko-like adsorption upper arm is suspended in the air, the liftable gecko-like adsorption middle arm and the liftable gecko-like adsorption lower arm are adsorbed on the box, the liftable rolling front wheel moves upward and drives the telescopic robot's trunk to extend. Upper body vertical movement upward;

When the liftable gecko-like adsorption lower arm is suspended in the air, the liftable gecko-like adsorption middle arm and the liftable gecko-like adsorption upper arm are adsorbed on the box, the liftable rolling rear wheel moves upward and drives the telescopic robot's torso to shorten, and the robot's lower body Move upward vertically, and finally achieve vertical crawling motion of the robot.

Optionally, during the arc additive remanufacturing process of the robot motion system, the robot body stops moving upward, and the liftable gecko-like adsorption upper arm, the liftable gecko-like adsorption middle arm, and the liftable gecko-like adsorption lower arm They are all adsorbed on the surface of the rocket box structure to ensure the smooth implementation of the arc additive remanufacturing process.

Another object of the present invention is to propose an arc additive remanufacturing method for recyclable rocket box structures with low cost and high degree of automation.

To achieve this goal, the present invention adopts the following technical solutions:

An arc additive remanufacturing method for recyclable rocket box structures, using the above arc additive remanufacturing device, includes the following steps:

First, turn on the control system and the box structure positioning system, control the box structure positioning system through the control system, set the rotation speed, and rotate the designated area to be repaired of the box structure to the right, which is the arc additive remanufacturing work area;

Second, turn on the robot motion system. The robot body is adsorbed to the bottom of the rocket box structure through the liftable gecko-like adsorption arm, and the robot motion direction and speed are set;

Third, after confirming that the positioning is correct, turn on the box surface defect identification system and welding system;

Fourth, the control system controls the liftable gecko-like adsorption upper arm, the liftable gecko-like adsorption middle arm, the liftable gecko-like adsorption lower arm, the liftable rolling front wheel and the liftable rolling rear wheel on the robot body. Begin a vertical upward movement;

Fifth, the cabinet surface defect identification system detects the defect information, performs three-dimensional reconstruction and positioning of it, and transmits the defect identification information to the control system;

Sixth, the robot motion system determines the welding position based on the coordinate information fed back by the control system. The robot body stops moving upward. The liftable gecko-like adsorption upper arm, the liftable gecko-like adsorption middle arm, and the liftable gecko-like adsorption lower arm all Adsorbed on the surface of the rocket box structure, the welding system performs arc additive remanufacturing operations based on the welding parameters fed back by the control system;

Seventh, after the work at this position is completed, repeat steps four to seven to complete the arc additive remanufacturing of the rocket box structure.

The beneficial effects of the present invention are: the arc additive remanufacturing device for the recyclable rocket box structure provided by the present invention can integrate the box surface defect identification system, box structure positioning system, arc welding system and robot motion system. Realize the surface defect reconstruction and arc additive remanufacturing of the rocket box structure. It has good stability, high positioning accuracy, high degree of automation, and good operability. It improves the reusability performance of the rocket box structure and effectively reduces the load. Rocket production cost and cycle.

Description of the drawings

Figure 1 is a schematic structural diagram of an arc additive remanufacturing device for a recyclable rocket box structure provided by an embodiment of the present invention;

Figure 2 is a schematic side view of a robot motion system provided by an embodiment of the present invention;

Figure 3 is a schematic top view of a robot motion system provided by an embodiment of the present invention;

Figure 4 is a schematic diagram of the vertical upward movement process of the robot motion system provided by the embodiment of the present invention;

In the picture,

1-Control system; 11-Monitor; 12-Control cabinet; 13-Connecting cable;

2-Box surface defect identification system; 21-Defect identification probe; 211-Defect identification probe A; 212-Defect identification probe B; 213-Defect identification probe C;

3-Box structure positioning system; 31-Box outer hoop; 32-Box vertical extension structure; 33-Box inner hoop; 34-Rocket box structure; 35-Rotating base;

4-Arc welding system; 41-Arc welding machine; 42-Wire feeder; 43-Welding wire; 44-Welding gun;

5-Robot motion system;

51-Liftable imitation gecko adsorption upper arm; 511-Liftable imitation gecko adsorption upper arm A; 512-Liftable imitation gecko adsorption upper arm B; 513-Liftable imitation gecko adsorption upper arm C; 514-Liftable imitation gecko adsorption upper arm C; Adsorb upper arm D;

52-Liftable rolling front wheel; 521-Liftable rolling front wheel A; 522-Liftable rolling front wheel B;

53-Liftable imitation gecko adsorption middle arm; 531-Liftable imitation gecko adsorption middle arm E; 532-Liftable imitation gecko adsorption middle arm F;

54-Liftable rolling rear wheel; 541-Liftable rolling rear wheel A; 542-Liftable rolling rear wheel B;

55-Liftable gecko-like adsorption lower arm; 551-Liftable gecko-like adsorption lower arm G; 552-Liftable gecko-like adsorption lower arm H; 553-Liftable gecko-like adsorption lower arm I; 554-Can Lift-type gecko-like adsorption lower arm J;

56-Telescopic robot torso; 57-Robot body;

Detailed ways

In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only the embodiments of the present invention. Some examples, not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of protection of the present invention.

In the description of this embodiment, the terms "upper", "lower", "left", "right" and other orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplified operation. It is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation.

The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementations.

As shown in Figure 1, an arc additive remanufacturing device for a recyclable rocket box structure, in which the rocket box structure is cylindrical, with its center line perpendicular to the ground, and an arc additive remanufacturing device for a recyclable rocket box structure. The arc additive remanufacturing device includes a control system 1, a box surface defect identification system 2, a box structure positioning system 3, an arc welding system 4, and a robot motion system 5; the control system 1 is connected to the box surface defect identification system 2 , box structure positioning system 3, arc welding system 4 and robot motion system 5, including: display 11, control cabinet 12, connecting wire 13; box surface defect identification system 2 is used for friction and wear on the surface of rocket box structure 34 Defects are detected, three-dimensionally reconstructed and positioned, and the defect information is transmitted to the control system 1, including three defect identification probes 21; the box structure positioning system 3 is used to clamp and position the rocket box structure 34, including: Box outer hoop 31, box extension structure 32, box inner hoop 33, rocket box structure 34, rotating base 35; arc welding system 4 is used to quickly repair friction and wear defects of the rocket box structure, including: arc welding Welding machine 41, wire feeder 42, welding wire 43, welding gun 44.

A robot motion system 5 for an arc additive remanufacturing device of a recyclable rocket box structure moves vertically along the outer wall of the rocket box structure according to the command of the control system 1, as shown in Figure 2-3, including: 51- Liftable imitation gecko adsorption upper arm, 511-Liftable imitation gecko adsorption upper arm A, 512-Liftable imitation gecko adsorption upper arm B, 513-Liftable imitation gecko adsorption upper arm C, 514-Liftable imitation gecko adsorption upper arm D. 52-Liftable rolling front wheel, 521-Liftable rolling front wheel A, 522-Liftable rolling front wheel B, 53-Liftable imitation gecko adsorption middle arm, 531-Liftable imitation gecko adsorption Middle arm E, 532-Liftable gecko adsorption middle arm F, 54-Liftable rolling rear wheel, 541-Liftable rolling rear wheel A, 542-Liftable rolling rear wheel B, 55-Liftable rear wheel Imitation gecko adsorption lower arm, 551-Liftable imitation gecko adsorption lower arm G, 552-Liftable imitation gecko adsorption lower arm H, 553-Liftable imitation gecko adsorption lower arm I, 554-Liftable imitation gecko adsorption lower arm I Lower arm J, 56-retractable robot torso, 57-robot body.

In this embodiment, the material of the rocket tank structure is 2219 aluminum alloy. The height of the box is 2m, the diameter is 3.35m, and the wall thickness is about 4mm. The welding wire is ER2319 aluminum-copper alloy welding wire, the diameter of the welding wire is 1.2mm, and the welding shielding gas Argon gas with a purity of 99.99% is used. In other embodiments, the rocket tank structure can be of other sizes, and the welding wire can be of other brands and sizes.

In this embodiment, the three defect identification probes 21 of the box surface defect identification system 2 and the welding gun 44 of the arc welding system 4 are all mounted on the robot body 57 of the robot motion system 5 for performing defect identification operations and arc additive manufacturing. Remanufacturing operation; the robot motion system 5 is located on the right side of the rocket box structure 34. In other embodiments, other welding methods may be used, and the robot motion system 5 may be located at other positions of the rocket box structure (34).

Optionally, after the defect identification probe 21 of the box surface defect identification system 2 detects the defect signal, it immediately transmits the size and location information of the defect to the control system 1. After the control system 1 receives the defect information, on the one hand, it detects the defect according to the defect characteristics. The welding parameters are fed back to the welding system 4 and the coordinate information is fed back to the robot motion system 5 according to the welding position. In this embodiment, the detected surface defects are circular pit defects caused by wear, the depth of the defect is 2mm, and the surface area of the defect is approximately 12.6mm2. In other embodiments, the defect surface topography features may be other shapes.

Optionally, as shown in Figure 1, in the box structure positioning system, the rotating base 35 receives the rotation command issued by the control system 1, controls the rotation of the box outer hoop 31, and drives the rotation positioning of the rocket box structure 34; Both ends of the rocket box structure 34 are fixed by the box inner hoop 33, the box extension structure 32, and the box outer hoop 31. The box extension structure 32 and the box inner hoop 31 are an integrated structure, and the box extension structure 32 is used to achieve Repair of the edge position of the rocket box structure. In this embodiment, the rotating base 35 drives the outer hoop 31 of the box to rotate clockwise, which in turn drives the rocket box structure 34 to rotate, rotating the area to be repaired to the far right, and the rotation speed is set to 1°/s. In other embodiments, the box outer hoop 31 can be rotated to other positions, and the setting range of the box base rotation speed is 0.2-3°/s.

Optionally, in the arc welding system, the arc welding machine 41, wire feeder 42, welding wire 43, and welding gun 44 perform arc additive remanufacturing operations according to the welding instructions issued by the control system 1. The welding instructions include welding path, welding speed, and feed. wire speed. In this embodiment, after the control system 1 receives the signal, the feedback arc additive remanufacturing process parameters are: arc current is 84A, welding speed is 1.8m/min, wire feeding speed is 4.8m/min, and dry elongation is 10mm , the shielding gas flow rate is 15L/min, the welding path is rotated from the outer edge of the defect to the center of the defect, and the number of welding layers is one. In other embodiments, the welding process parameters are determined by defect characteristics.

Optionally, the robot motion system 5 is located on the right side of the box structure. The robot body 57 controls the liftable gecko-like adsorption upper arm 51, the liftable gecko-like adsorption middle arm 53, and the liftable gecko-like adsorption lower arm 55. , the liftable rolling front wheel 52 and the liftable rolling rear wheel 54 complete the up and down movement of the robot. As shown in Figure 4, in this embodiment, when the liftable gecko-like adsorption upper arm 51 is suspended in the air, the liftable gecko-like adsorption middle arm 53 and the liftable gecko-like adsorption lower arm 55 are adsorbed on the box, the liftable gecko-like adsorption upper arm 51 is suspended in the air. The rolling front wheel 52 moves upward and drives the telescopic robot torso 56 to extend, and the upper body of the robot moves vertically upward; the liftable gecko-like adsorption lower arm 55 is suspended, the liftable gecko-like adsorption middle arm 53 and the liftable gecko-like adsorption upper arm 51 is adsorbed on the box, the elevating rolling rear wheel 54 moves upward and drives the telescopic robot torso 56 to shorten, and the robot's lower body moves vertically upward, ultimately realizing the robot's vertical crawling motion. In other embodiments, the robot body 57 can control the liftable gecko-like adsorption upper arm 51 , the liftable gecko-like adsorption middle arm 53 , the liftable gecko-like adsorption lower arm 55 , the liftable rolling front wheel 52 and the liftable gecko-like adsorption lower arm 55 . The rear wheel 54 is lifted and rolled to complete movement in other directions.

In this embodiment, during the arc additive remanufacturing process, the robot body 57 stops moving upward, and the liftable gecko-like adsorption upper arm 51 , the liftable gecko-like adsorption middle arm 53 , and the liftable gecko-like adsorption lower arm 55 are adsorbed on the surface of the rocket box structure 34 to ensure the smooth implementation of the arc additive remanufacturing process.

This embodiment also provides an arc additive remanufacturing method for a recyclable rocket box structure, including the following steps:

First, turn on the control system 1 and the box structure positioning system 3, control the box structure positioning system 3 through the control system 1, set the rotation speed, and rotate the designated area to be repaired of the box structure 34 to the right, that is, arc additive manufacturing Remanufacturing work area;

Second, the robot movement system 5 is turned on, the robot body 57 is adsorbed to the bottom of the rocket box structure 34 through the liftable gecko-like adsorption arms 51, 53, 55), and the robot movement direction and speed are set;

Third, after confirming that the positioning is correct, turn on the box surface defect identification system 2 and welding system 4;

Fourth, the control system controls the liftable gecko-like adsorption upper arm 51, the liftable gecko-like adsorption middle arm 53, the liftable gecko-like adsorption lower arm 55, and the liftable rolling front wheel by controlling the robot body 57. 52 and the liftable rolling rear wheel 54 begin to move vertically upward;

Fifth, the cabinet surface defect identification system 2 detects the defect information, performs three-dimensional reconstruction and positioning of it, and transmits the defect identification information to the control system 1;

Sixth, the robot motion system 5 determines the welding position based on the coordinate information fed back by the control system 1. The robot body 57 stops moving upward. The liftable imitation gecko adsorbs the upper arm 51, the liftable imitation gecko adsorbs the middle arm 53, and the liftable imitation gecko adsorbs the upper arm 51. The gecko adsorption lower arms 55 are all adsorbed on the surface of the rocket box structure 34, and the welding system 4 performs arc additive remanufacturing operations based on the welding parameters fed back by the control system 1;

Seventh, after the work at this position is completed, repeat steps four to seven to complete the arc additive remanufacturing of the rocket box structure.

Obviously, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. For those of ordinary skill in the field, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to provide an exhaustive list of all implementations. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims (1)

1. An arc additive manufacturing method for recyclable rocket box structures. The arc additive method uses an arc additive remanufacturing device for recyclable rocket box structures. The arc additive remanufacturing device includes a control system, a box surface defect identification system, a box structure positioning system, an arc welding system, and a robot motion system; The control system is connected to the box surface defect identification system, box structure positioning system, arc welding system and robot motion system, and includes: display, control cabinet, and connecting lines; The box surface defect identification system is used to detect, three-dimensionally reconstruct and locate friction and wear defects on the surface of the rocket box structure, and transmit the defect information to the control system, including three defect identification probes; The box structure positioning system is used to clamp and position the rocket box structure, including: box outer hoop, box vertical extension structure, box inner hoop, rocket box structure, and rotating base; in the box structure positioning system, The rotating base receives the rotation command issued by the control system, controls the rotation of the outer hoop of the box, and drives the rotation and positioning of the rocket box structure; the two ends of the rocket box structure are realized through the inner hoop of the box, the extended structure of the box, and the outer hoop of the box. Fixed, the box extension structure and the box inner hoop are integrated structures, and the box extension structure is used to repair the edge position of the rocket box structure; The arc welding system is used to quickly repair friction and wear defects in the rocket box structure, including: arc welding machine, wire feeder, welding wire, and welding gun; The robot motion system is used to move vertically along the outer wall of the rocket box structure according to the command of the control system, including: liftable gecko-like adsorption upper arm, liftable rolling front wheel, liftable rolling rear wheel, liftable gecko-like adsorption Middle arm, liftable gecko-like adsorption lower arm, telescopic robot torso, and robot main body; The three defect identification probes of the box surface defect identification system and the welding gun of the arc welding system are all mounted on the main body of the robot to implement defect identification operations and arc additive remanufacturing operations; After the defect identification probe detects the defect signal, it immediately transmits the size and location information of the defect to the control system. After the control system receives the defect information, on the one hand, it feeds back the welding parameters to the welding system according to the defect characteristics, and on the other hand, it feeds back the welding parameters to the welding system according to the defect characteristics. Position feedback coordinate information to the robot motion system; In the arc welding system, the arc welding machine, wire feeder, welding wire, and welding gun perform arc additive remanufacturing operations according to the welding instructions issued by the control system. The welding instructions include welding path, welding speed, and wire feeding speed; The robot motion system is located on the right side of the rocket box structure. The robot body controls the liftable gecko-like adsorption upper arm, the liftable gecko-like adsorption middle arm, the liftable gecko-like adsorption lower arm, the liftable rolling front wheel, The rear wheel can be lifted and rolled to complete the up and down movement of the robot; When the liftable gecko-like adsorption upper arm is suspended in the air, the liftable gecko-like adsorption middle arm and the liftable gecko-like adsorption lower arm are adsorbed on the box, the liftable rolling front wheel moves upward and drives the telescopic robot's trunk to extend. Upper body vertical movement upward; When the liftable gecko-like adsorption lower arm is suspended in the air, the liftable gecko-like adsorption middle arm and the liftable gecko-like adsorption upper arm are adsorbed on the box, the liftable rolling rear wheel moves upward and drives the telescopic robot's torso to shorten, and the robot's lower body Move upward vertically, ultimately realizing vertical crawling motion of the robot; During the arc additive remanufacturing process of the robot motion system, the robot body stops moving upward, and the liftable gecko-like adsorption upper arm, the liftable gecko-like adsorption middle arm, and the liftable gecko-like adsorption lower arm are all adsorbed on the rocket The surface of the box structure to ensure the smooth implementation of the arc additive remanufacturing process; It is characterized by including the following steps: First, turn on the control system and the box structure positioning system, control the box structure positioning system through the control system, set the rotation speed, and rotate the designated area to be repaired of the box structure to the right, which is the arc additive remanufacturing work area; Second, turn on the robot motion system. The robot body is adsorbed to the bottom of the rocket box structure through the liftable gecko-like adsorption arm, and the robot motion direction and speed are set; Third, after confirming that the positioning is correct, turn on the box surface defect identification system and welding system; Fourth, the control system controls the liftable gecko-like adsorption upper arm, the liftable gecko-like adsorption middle arm, the liftable gecko-like adsorption lower arm, the liftable rolling front wheel and the liftable rolling rear wheel on the robot body. Begin a vertical upward movement; Fifth, the cabinet surface defect identification system detects the defect information, performs three-dimensional reconstruction and positioning of it, and transmits the defect identification information to the control system; Sixth, the robot motion system determines the welding position based on the coordinate information fed back by the control system. The robot body stops moving upward. The liftable gecko-like adsorption upper arm, the liftable gecko-like adsorption middle arm, and the liftable gecko-like adsorption lower arm all Adsorbed on the surface of the rocket box structure, the welding system performs arc additive remanufacturing operations based on the welding parameters fed back by the control system; Seventh, after the work at this position is completed, repeat steps four to seven to complete the arc additive remanufacturing of the rocket box structure.