CN112958874B - Arc additive remanufacturing device and method for recyclable rocket box structure - Google Patents
Arc additive remanufacturing device and method for recyclable rocket box structure Download PDFInfo
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- CN112958874B CN112958874B CN202110299394.5A CN202110299394A CN112958874B CN 112958874 B CN112958874 B CN 112958874B CN 202110299394 A CN202110299394 A CN 202110299394A CN 112958874 B CN112958874 B CN 112958874B
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- 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
- B23K9/00—Arc welding or cutting
- B23K9/04—Welding for other purposes than joining, e.g. built-up welding
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- 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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/12—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to investigating the properties, e.g. the weldability, of materials
- B23K31/125—Weld quality monitoring
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
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
Technical Field
The invention relates to an efficient arc additive remanufacturing device and method, in particular to an arc additive remanufacturing device and method for a recyclable rocket box structure.
Background
After the rocket box structure is in service in an aerospace special environment, the defects of burning loss, falling off and the like are unavoidable. Because the service environment is complex and special, the traditional rocket case structure can be used only once, and the manufacturing cost of the rocket case structure is greatly increased. The reusable carrier rocket has one of the development trends, the box structure is used as an important component of the carrier rocket, and the realization of the reusable performance can effectively reduce the production cost and the period of the carrier rocket.
The arc additive remanufacturing technology is an advanced digitizing technology for repairing the structural surface by utilizing a layer-by-layer cladding principle and an arc heat source and adding wires, has the advantages of low cost, high efficiency, rapid molding, easiness in repairing parts and the like, is easy to realize digitizing and intellectualization, and has wide application prospect in green manufacturing. The existing welding equipment is often realized through a machine tool or an industrial robot, has poor adaptability to the curved surface structure of the rocket storage tank, consumes long time, has large workload and high cost, and is not suitable for manufacturing requirements of the reusable rocket on low cost and high quality.
The invention provides an arc additive remanufacturing device and method for a recyclable rocket case structure, which can finish the rapid repair of friction and abrasion defects on the surface of the rocket case structure and have important significance for realizing the recycling of the rocket case structure.
Disclosure of Invention
In order to realize the reusability of the rocket case structure and reduce the production cost and period of the carrier rocket, the invention provides an arc additive remanufacturing device and method for the recyclable rocket case structure, which can solve the problems of long time consumption, large workload and high cost in the prior art, and has high positioning precision and high automation degree.
To achieve the purpose, the invention adopts the following technical scheme:
an electric arc additive remanufacturing device for a recoverable rocket box structure comprises a control system, a box surface defect identification system, a box structure positioning system, an electric arc welding system and a robot motion system;
the control system is connected with the box surface defect recognition system, the box structure positioning system, the arc welding system and the robot motion system, and comprises: a display, a control cabinet and a connecting wire;
the box surface defect recognition system is used for detecting, reconstructing and positioning the friction and abrasion defects on the surface of the rocket box structure, and transmitting defect information to the control system, and comprises three defect recognition probes;
the box structure positioning system is used for clamping and positioning the rocket box structure, and comprises: the device comprises a box body outer hoop, a box body vertical extension structure, a box body inner hoop, a rocket box body structure and a rotating base;
the arc welding system is used for carrying out quick repair operation to the friction and wear defect of rocket case structure, includes: an electric arc welder, a wire feeder, a welding wire and a welding gun;
the robot motion system is used for moving along the rocket box structure outer wall vertically according to the command of control system, includes: the lifting type gecko-like adsorption upper arm, a lifting type rolling front wheel, a lifting type rolling rear wheel, a lifting type gecko-like adsorption middle arm, a lifting type gecko-like adsorption lower arm, a telescopic robot trunk and a robot main body;
optionally, 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, and defect recognition operation and arc additive remanufacturing operation are implemented;
and after the defect identification probe detects the defect signal, the size and position information of the defect is transmitted to the control system, and after the control system receives the defect information, the welding parameters are fed back to the welding system according to the defect characteristics, and the coordinate information is fed back to the robot motion system according to the welding position.
Optionally, in the positioning system for a rocket case structure, the rotating base receives a rotation instruction issued by the control system, and the rotation of the casing body is controlled to realize the rotation positioning of the rocket case structure.
Optionally, in the arc welding system, the arc welder, the wire feeder, the welding wire and the welding gun implement arc additive remanufacturing operation according to welding instructions issued by the control system, wherein the welding instructions comprise a welding path, a welding speed and a wire feeding speed.
Optionally, the robot motion system is positioned on the right side of the rocket box structure, and the robot main body controls the lifting type gecko-like adsorption upper arm, the lifting type gecko-like adsorption middle arm, the lifting type gecko-like adsorption lower arm, the lifting type rolling front wheel and the lifting type rolling rear wheel to finish the up-and-down motion of the robot;
the lifting type gecko-like adsorption upper arm is suspended, the lifting type gecko-like adsorption middle arm and the lifting type gecko-like adsorption lower arm are adsorbed on the box body, and the lifting type rolling front wheel moves upwards and drives the telescopic robot trunk to extend, so that the upper body of the robot moves vertically upwards;
the lifting type gecko-like adsorption lower arm is suspended, the lifting type gecko-like adsorption middle arm and the lifting type gecko-like adsorption upper arm are upwards moved by the lifting type rolling rear wheel and drive the telescopic robot trunk to be shortened, the lower body of the robot is upwards and vertically moved, and finally the vertical crawling movement of the robot is realized.
Optionally, in the arc material-increasing remanufacturing process, the robot main body stops moving upwards continuously, and the liftable gecko-like upper arm, the liftable gecko-like middle arm and the liftable gecko-like lower arm are adsorbed on the surface of the rocket box body structure, so that smooth implementation of the arc material-increasing remanufacturing process is ensured.
Another object of the invention is to propose an arc additive remanufacturing method for a recyclable rocket case structure, with low cost and high degree of automation.
In order to achieve the purpose, the invention adopts the following technical scheme:
an arc additive remanufacturing method for a recyclable rocket case structure, which adopts the arc additive remanufacturing device, comprises the following steps:
firstly, starting a control system and a box body structure positioning system, controlling the box body structure positioning system through the control system, setting a rotating speed, and rotating a designated area to be repaired of the box body structure to the right side, namely an electric arc material increase remanufacturing working area;
secondly, starting a robot motion system, wherein a robot main body is adsorbed to the bottom end of a rocket box structure through a lifting gecko-like adsorption arm, and the motion direction and the motion speed of the robot are set;
thirdly, after confirming that the positioning is correct, opening a box surface defect recognition system and a welding system;
fourthly, the control system starts to vertically move upwards by controlling the lifting type gecko-like adsorption upper arm, the lifting type gecko-like adsorption middle arm, the lifting type gecko-like adsorption lower arm, the lifting type rolling front wheel and the lifting type rolling rear wheel on the robot main body;
fifthly, detecting defect information by a box surface defect recognition system, performing three-dimensional reconstruction and positioning on the defect information, and transmitting the defect recognition information to a control system;
sixthly, the robot motion system determines a welding position according to the coordinate information fed back by the control system, the robot main body stops moving upwards continuously, the lifting type gecko-like adsorption upper arm, the lifting type gecko-like adsorption middle arm and the lifting type gecko-like adsorption lower arm are all adsorbed on the surface of the rocket box structure, and the welding system carries out arc additive remanufacturing operation according to the welding parameters fed back by the control system;
seventh, after the position operation is finished, repeating the fourth to seventh steps to finish the arc additive remanufacturing operation of the rocket box structure.
The invention has the beneficial effects that: the arc additive remanufacturing device for the recyclable rocket box structure provided by the invention can realize the reconstruction of the surface defects of the rocket box structure and the remanufacturing of the arc additive through the integrated box surface defect recognition system, the box structure positioning system, the arc welding system and the robot motion system, has the advantages of good stability, high positioning accuracy, high automation degree and good operability, improves the reusability of the rocket box structure, and effectively reduces the production cost and period of a carrier rocket.
Drawings
FIG. 1 is a schematic view of an arc additive remanufacturing device for a recyclable rocket case structure according to an embodiment of the present invention;
FIG. 2 is a schematic side view of a robotic motion system provided by an embodiment of the present invention;
FIG. 3 is a schematic top view of a robotic motion system provided by an embodiment of the present invention;
fig. 4 is a schematic diagram of a vertical upward movement process of a robot movement system according to an embodiment of the present invention;
in the drawing the view of the figure,
1-a control system; 11-a display; 12-a control cabinet; 13-connecting lines;
2-a box surface defect recognition system; 21-a defect identification probe; 211-defect recognition probe a;212—defect identification probe B;213—defect recognition probe C;
3-a box structure positioning system; 31-a box body outer hoop; 32-a vertical extension structure of the box body; 33-a box inner hoop; 34-rocket case structure; 35-rotating a base;
4-an arc welding system; 41-arc welder; 42-wire feeder; 43-welding wire; 44-welding gun;
5-a robotic motion system;
51-lifting type gecko-like adsorption upper arms; 511-lifting gecko-like adsorption upper arm A; 512-lifting gecko-like adsorption upper arm B; 513-lifting gecko-like adsorption upper arm C; 514-lifting gecko-like adsorption upper arm D;
52-liftable rolling front wheel; 521-liftable rolling front wheel A; 522-liftable rolling front wheel B;
53-lifting type gecko-like adsorption middle arm; 531-liftable gecko simulated adsorption middle arm E; 532-liftable gecko-like adsorption middle arm F;
54-liftable rolling rear wheels; 541-liftable rolling rear wheel a; 542-liftable rolling rear wheel B;
55-lifting type gecko-like adsorption lower arm; 551-liftable gecko-like adsorption lower arm G; 552-liftable gecko-like adsorption lower arm H; 553-lifting type gecko-like adsorption lower arm I; 554-lifting gecko-like adsorption lower arm J;
56-a telescoping robotic torso; 57-robot body;
Detailed Description
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 described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be configured and operate in a specific orientation.
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
As shown in fig. 1, an arc additive remanufacturing device for a recyclable rocket case structure, wherein the rocket case structure is cylindrical, the center line of the arc additive remanufacturing device is perpendicular to the ground, and the arc additive remanufacturing device for the recyclable rocket case structure comprises a control system 1, a case surface defect identification system 2, a case structure positioning system 3, an arc welding system 4 and a robot motion system 5; the control system 1 is connected with a box body surface defect recognition system 2, a box body structure positioning system 3, an arc welding system 4 and a robot motion system 5, and comprises: a display 11, a control cabinet 12 and a connecting wire 13; the box surface defect recognition system 2 is used for detecting, three-dimensionally reconstructing and positioning friction and abrasion defects on the surface of the rocket box structure 34 and transmitting defect information to the control system 1, and comprises three defect recognition probes 21; the box structure positioning system 3 is used for clamping and positioning the rocket box structure 34, and comprises: a casing outer hoop 31, a casing extension structure 32, a casing inner hoop 33, a rocket casing structure 34, and a swivel base 35; the arc welding system 4 is used for carrying out rapid repair operation on friction and abrasion defects of a rocket case structure, and comprises the following components: an arc welder 41, a wire feeder 42, a welding wire 43, and a welding gun 44.
A robotic motion system 5 for an arc additive remanufacturing device for a recyclable rocket case structure moves vertically along an exterior wall of the rocket case structure as shown in fig. 2-3 upon command of a control system 1, comprising: 51-liftable gecko-simulated upper arms, 511-liftable gecko-simulated upper arms A, 512-liftable gecko-simulated upper arms B, 513-liftable gecko-simulated upper arms C, 514-liftable gecko-simulated upper arms D, 52-liftable rolling front wheels, 521-liftable rolling front wheels A, 522-liftable rolling front wheels B, 53-liftable gecko-simulated middle arms E, 532-liftable gecko-simulated middle arms F, 54-liftable rolling rear wheels, 541-liftable rolling rear wheels A, 542-liftable rolling rear wheels B, 55-liftable gecko-simulated lower arms, 551-liftable gecko-simulated lower arms G, 552-liftable gecko-simulated lower arms H, 553-liftable gecko-simulated lower arms I, 554-liftable gecko-simulated lower arms J, 56-telescopic robot bodies and telescopic robot bodies.
In the embodiment, the rocket tank structure is made of 2219 aluminum alloy, the tank body is 2m in height, 3.35m in diameter and 4mm in wall thickness, the welding wire is ER2319 aluminum copper alloy welding wire, the welding wire is 1.2mm in diameter, and the welding protection gas is argon with the purity of 99.99%. In other embodiments, the rocket tank structure may be of other dimensions and the welding wire may be of other brands and dimensions.
In the present embodiment, the three defect recognition probes 21 of the case surface defect recognition system 2 and the welding gun 44 of the arc welding system 4 are mounted on the robot main body 57 of the robot motion system 5 for performing defect recognition operation and arc additive remanufacturing operation; the robotic movement system 5 is located to the right of the rocket case structure 34. In other embodiments, other welding methods may be used, and the robotic motion system 5 may be located elsewhere in the rocket case structure (34).
Optionally, after the defect recognition probe 21 of the box surface defect recognition system 2 detects the defect signal, the size and position information of the defect is immediately transmitted to the control system 1, and after the control system 1 receives the defect information, on one hand, the welding parameters are fed back to the welding parameters of the welding system 4 according to the defect characteristics, and on the other hand, the coordinate information is fed back to the robot motion system 5 according to the welding position. In this example, the detected surface defect was a circular pit defect due to abrasion, the defect depth was 2mm, and the defect surface area was about 12.6mm2. In other embodiments, the defect surface topography features may be other shapes.
Alternatively, as shown in fig. 1, in the case structure positioning system, the rotating base 35 receives a rotation instruction issued by the control system 1, rotates through the control case outer hoop 31, and drives the rotational positioning of the rocket case structure 34; the two ends of the rocket case structure 34 are fixed through the case inner hoop 33, the case extension structure 32 and the case outer hoop 31, the case extension structure 32 and the case inner hoop 31 are integrated, and the case extension structure 32 is used for repairing the edge position of the rocket case structure. In this embodiment, the rotating base 35 drives the casing outer hoop 31 to rotate clockwise, and further drives the rocket casing structure 34 to rotate, so that the area to be repaired is rotated to the rightmost side, and the rotating speed is set to be 1 °/s. In other embodiments, the housing collar 31 may be rotated to other positions, with the housing base rotation speed set in the range of 0.2-3/s.
Optionally, in the arc welding system, the arc welder 41, the wire feeder 42, the welding wire 43, and the welding gun 44 perform arc additive remanufacturing operations according to welding instructions issued by the control system 1, wherein the welding instructions include a welding path, a welding speed, and a wire feeding speed. In this embodiment, after the control system 1 receives the signal, the feedback arc additive remanufacturing process parameters are as follows: the arc current is 84A, the welding speed is 1.8m/, the wire feeding speed is 4.8m/min, the dry extension is 10mm, the protection air flow 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 the defect characteristics.
Optionally, the robot motion system 5 is located on the right side of the box structure, and the robot main body 57 controls the lifting gecko-like adsorption upper arm 51, the lifting gecko-like adsorption middle arm 53, the lifting gecko-like adsorption lower arm 55, the lifting rolling front wheel 52 and the lifting rolling rear wheel 54 to complete the up-and-down motion of the robot. As shown in fig. 4, in this embodiment, when the liftable gecko-like adsorption upper arm 51 is suspended, the liftable gecko-like adsorption middle arm 53 and the liftable gecko-like adsorption lower arm 55 are adsorbed to the box body, the liftable rolling front wheel 52 moves upwards and drives the telescopic robot trunk 56 to extend, and the upper body of the robot moves vertically upwards; when the lifting type gecko-like adsorption lower arm 55 is suspended, the lifting type gecko-like adsorption middle arm 53 and the lifting type gecko-like adsorption upper arm 51 are adsorbed to the box body, the lifting type rolling rear wheel 54 moves upwards and drives the telescopic robot trunk 56 to shorten, the lower body of the robot moves vertically upwards, and finally the vertical crawling motion of the robot is realized. In other embodiments, the robot body 57 may perform other directional movements by controlling the liftable gecko-like upper arm 51, the liftable gecko-like middle arm 53, the liftable gecko-like lower arm 55, the liftable rolling front wheel 52, and the liftable rolling rear wheel 54.
In this embodiment, during the remanufacturing process of the arc additive, the robot main body 57 stops moving upwards continuously, 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 all adsorbed on the surface of the rocket case structure 34, so as to ensure smooth implementation of the remanufacturing process of the arc additive.
The embodiment also provides an arc additive remanufacturing method for a recyclable rocket case structure, comprising the following steps of:
firstly, starting a control system 1 and a box structure positioning system 3, controlling the box structure positioning system 3 through the control system 1, setting a rotating speed, and rotating a designated area to be repaired of a box structure 34 to the right side, namely an electric arc material increase remanufacturing work area;
secondly, starting the robot motion system 5, wherein the robot main body 57 is adsorbed to the bottom end of the rocket box structure 34 through the liftable gecko-like adsorption arms 51, 53 and 55), and the motion direction and the motion speed of the robot are set;
thirdly, after confirming that the positioning is correct, opening the box surface defect recognition system 2 and the welding system 4;
fourth, the control system starts the vertical upward movement by controlling 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 rolling rear wheel 54 on the robot body 57;
fifthly, the defect information is detected by the box surface defect recognition system 2, three-dimensional reconstruction and positioning are carried out on the defect information, and the defect recognition information is transmitted to the control system 1;
sixth, the robot motion system 5 determines the welding position according to the coordinate information fed back by the control system 1, the robot main body 57 stops moving upwards continuously, 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 all adsorbed on the surface of the rocket case structure 34, and the welding system 4 carries out arc additive remanufacturing operation according to the welding parameters fed back by the control system 1;
seventh, after the position operation is finished, repeating the fourth to seventh steps to finish the arc additive remanufacturing operation of the rocket box structure.
It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Other variations or modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (1)
1. An arc additive remanufacturing method for a recyclable rocket case structure using an arc additive remanufacturing device for a recyclable rocket case structure, the arc additive remanufacturing device for a recyclable rocket case structure comprising a control system, a case surface defect identification system, a case structure positioning system, an arc welding system, a robotic motion system;
the control system is connected with the box surface defect recognition system, the box structure positioning system, the arc welding system and the robot motion system, and comprises: a display, a control cabinet and a connecting wire;
the box surface defect recognition system is used for detecting, reconstructing and positioning the friction and abrasion defects on the surface of the rocket box structure, and transmitting defect information to the control system, and comprises three defect recognition probes;
the box structure positioning system is used for clamping and positioning the rocket box structure, and comprises: the device comprises a box body outer hoop, a box body vertical extension structure, a box body inner hoop, a rocket box body structure and a rotating base; in the box body structure positioning system, a rotating base receives a rotating instruction issued by a control system, and the rotating base rotates through controlling the outer hoop of the box body and drives the rocket box body structure to rotate and position; the two ends of the rocket case structure are fixed through the case body inner hoop, the case body extension structure and the case body outer hoop, the case body extension structure and the case body inner hoop are of an integrated structure, and the case body extension structure is used for repairing the edge position of the rocket case structure;
the arc welding system is used for carrying out quick repair operation to the friction and wear defect of rocket case structure, includes: an electric arc welder, a wire feeder, a welding wire and a welding gun;
the robot motion system is used for moving along the rocket box structure outer wall vertically according to the command of control system, includes: the lifting type gecko-like adsorption upper arm, a lifting type rolling front wheel, a lifting type rolling rear wheel, a lifting type gecko-like adsorption middle arm, a lifting type gecko-like adsorption lower arm, a telescopic robot trunk and a robot main body;
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, and defect recognition operation and arc additive remanufacturing operation are implemented;
the defect identification probe transmits the size and position information of the defect to the control system immediately after detecting the defect signal, and the control system feeds back welding parameters to the welding system according to defect characteristics on one hand and feeds back coordinate information to the robot motion system according to the welding position on the other hand after receiving the defect information;
in the electric arc welding system, an electric arc welder, a wire feeder, a welding wire and a welding gun execute electric arc additive remanufacturing operation according to welding instructions issued by a control system, wherein the welding instructions comprise a welding path, a welding speed and a wire feeding speed;
the robot motion system is positioned on the right side of the rocket box body structure, and the robot main body controls the lifting type gecko-like adsorption upper arm, the lifting type gecko-like adsorption middle arm, the lifting type gecko-like adsorption lower arm, the lifting type rolling front wheel and the lifting type rolling rear wheel to finish the up-and-down motion of the robot;
the lifting type gecko-like adsorption upper arm is suspended, the lifting type gecko-like adsorption middle arm and the lifting type gecko-like adsorption lower arm are adsorbed on the box body, and the lifting type rolling front wheel moves upwards and drives the telescopic robot trunk to extend, so that the upper body of the robot moves vertically upwards;
the lifting type gecko-like adsorption lower arm is suspended, when the lifting type gecko-like adsorption middle arm and the lifting type gecko-like adsorption upper arm are adsorbed on the box body, the lifting type rolling rear wheel moves upwards and drives the telescopic robot trunk to shorten, the lower body of the robot moves upwards vertically, and finally the vertical crawling motion of the robot is realized;
in the arc additive remanufacturing process, the robot main body stops moving upwards, and the liftable gecko-like adsorption upper arm, the liftable gecko-like adsorption middle arm and the liftable gecko-like adsorption lower arm are adsorbed on the surface of the rocket box structure so as to ensure the smooth implementation of the arc additive remanufacturing process;
the method is characterized by comprising the following steps of:
firstly, starting a control system and a box body structure positioning system, controlling the box body structure positioning system through the control system, setting a rotating speed, and rotating a designated area to be repaired of the box body structure to the right side, namely an electric arc material increase remanufacturing working area;
secondly, starting a robot motion system, wherein a robot main body is adsorbed to the bottom end of a rocket box structure through a lifting gecko-like adsorption arm, and the motion direction and the motion speed of the robot are set;
thirdly, after confirming that the positioning is correct, opening a box surface defect recognition system and a welding system;
fourthly, the control system starts to vertically move upwards by controlling the lifting type gecko-like adsorption upper arm, the lifting type gecko-like adsorption middle arm, the lifting type gecko-like adsorption lower arm, the lifting type rolling front wheel and the lifting type rolling rear wheel on the robot main body;
fifthly, detecting defect information by a box surface defect recognition system, performing three-dimensional reconstruction and positioning on the defect information, and transmitting the defect recognition information to a control system;
sixthly, the robot motion system determines a welding position according to the coordinate information fed back by the control system, the robot main body stops moving upwards continuously, the lifting type gecko-like adsorption upper arm, the lifting type gecko-like adsorption middle arm and the lifting type gecko-like adsorption lower arm are all adsorbed on the surface of the rocket box structure, and the welding system carries out arc additive remanufacturing operation according to the welding parameters fed back by the control system;
seventh, after the position operation is finished, repeating the fourth to seventh steps to finish the arc additive remanufacturing operation of the rocket box structure.
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| CN112404658A (en) * | 2020-10-19 | 2021-02-26 | 中国石油天然气集团有限公司 | Remote control-based in-service pipeline arc 3D printing repair system and method |
| CN112475767A (en) * | 2020-11-11 | 2021-03-12 | 国家能源集团谏壁发电厂 | Water-cooled wall on-site repairing method based on automatic surfacing technology |
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