CN114454184A - Mobile robot multi-process composite in-place repair device and method - Google Patents
Mobile robot multi-process composite in-place repair device and method Download PDFInfo
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- CN114454184A CN114454184A CN202111602008.1A CN202111602008A CN114454184A CN 114454184 A CN114454184 A CN 114454184A CN 202111602008 A CN202111602008 A CN 202111602008A CN 114454184 A CN114454184 A CN 114454184A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- 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
- C23C24/00—Coating starting from inorganic powder
- C23C24/08—Coating starting from inorganic powder by application of heat or pressure and heat
- C23C24/10—Coating starting from inorganic powder by application of heat or pressure and heat with intermediate formation of a liquid phase in the layer
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Manipulator (AREA)
Abstract
The invention provides a mobile robot multi-process composite in-place repair device, which comprises: a movable chassis; the robot is arranged on the chassis, and the tail end of the robot is provided with a quick-change connector; each end tool is provided with a connecting piece which can be detachably connected with the quick-change connector; the robot is used for connecting the three-end tools according to a set sequence, acquiring image data of a workpiece to be repaired through the vision tool, determining a cladding processing track and a polishing processing track according to the image data, controlling the cladding tool to perform cladding processing according to the cladding processing track, and controlling the polishing tool to perform polishing processing according to the polishing processing track. The invention has the beneficial effects that: the rapid replacement of multiple functions of vision measurement, laser cladding and polishing is realized, so that a multi-process mixed process flow of vision measurement, part pretreatment, measurement locating, laser cladding, measurement locating and part polishing is realized, one-stop full-process machining is ensured, and the production efficiency is improved.
Description
Technical Field
The invention relates to the technical field of multi-process composite manufacturing, in particular to a multi-process composite in-place repair device and method for a mobile robot.
Background
In recent years, with the rapid development of aerospace, nuclear and high-speed rail industries, the structures of heavy metal equipment parts such as aircraft engines, large-scale transport tools, power platforms and the like are more and more complex, most parts are limited by the processing capacity of a traditional machine tool when facing field maintenance, and the repair requirements of some complex high-performance parts cannot be met. In response to this situation, a device that can use multi-process hybrid manufacturing techniques to repair these high performance complex components in the field has been developed.
At present, the multi-process hybrid manufacturing technology used in the market is mostly applied to machine tools, and the integral manufacturing of functional complex structural parts can be realized. The multi-procedure hybrid manufacturing technology is a secondary development technology of a traditional numerical control machine tool on the premise of an additive manufacturing technology, combines the advantages of high dimensional precision and good surface quality of additive manufacturing forming by material reduction manufacturing, compensates a novel hybrid processing method with low accuracy of the additive manufacturing technology, and ensures the dimensional precision and the surface quality of a part forming process by using additive manufacturing and timely cutting processing stacked layer by layer, so that a functional part can be directly formed in one-step processing, and the part can complete a deposition-finish machining continuous processing process on the same numerical control machine tool. The essence of the method is to integrate material reduction manufacturing into the whole deposition process of material increase manufacturing, and the method aims to improve the geometric precision and surface quality of the solid part, so that the finally formed solid part is highly fitted with an ideal three-dimensional model, the production efficiency is further improved, the working space is saved, the manufacturing difficulty of a complex structural part is reduced, the integration of the parts is realized, the production cost is effectively reduced while the quality of the parts is improved, the capability of traditional machining and manufacturing of the complex structural part is expanded, and the bottleneck problem of directly manufacturing the complex functional structural part is solved. The technology is mainly applied to machine tools at present, and in the face of increasing requirements for overhauling parts with high-performance complex structures, the machine tools are greatly restricted by sites, limited in machining size, high in transportation cost and high in difficulty and cannot meet the requirements for field machining. Therefore, a mobile robot multi-process composite in-place repairing device needs to be developed.
Disclosure of Invention
In view of this, to solve the problem of insufficient capability of the conventional multi-process composite system for repairing parts on site, embodiments of the present invention provide a multi-process composite in-place repair apparatus and method for a mobile robot.
The embodiment of the invention provides a mobile robot multi-process composite in-place repairing device, which comprises:
a movable chassis;
the robot is arranged on the chassis, and a quick-change connector is arranged at the tail end of the robot;
the three end tools are respectively a vision tool, a cladding tool and a grinding tool, and each end tool is provided with a connecting piece which can be detachably connected with the quick-change connector;
the robot is used for connecting the three end tools according to a set sequence, acquiring image data of a workpiece to be repaired through the visual tool, determining a cladding processing track of the cladding tool and a grinding processing track of the grinding tool according to the image data, controlling the cladding tool to perform cladding processing according to the cladding processing track, and controlling the grinding tool to perform grinding processing according to the grinding processing track.
Further, the chassis is provided with at least one anti-tipping assembly.
Further, the anti-tipping assembly comprises a cross beam and a positioning rod, the cross beam is connected with the chassis, and the positioning rod is in threaded connection with the cross beam so that the bottom of the positioning rod is in contact with the ground or is separated from the ground.
Further, a powder feeder is arranged on the chassis, and when the cladding tool is connected with the quick-change connector, the powder feeder is connected with the cladding tool.
Further, the tool support is included, and each end tool is placed on the tool support.
Furthermore, one side of the tool support is provided with three dustproof cover plates, and each dustproof cover plate is arranged above one terminal tool.
Further, the dustproof cover plate is fixedly connected with the tool support through an air cylinder, and the dustproof cover plate is hinged to one end of the air cylinder.
In addition, based on the mobile robot multi-process composite in-place repair device, the embodiment of the invention also provides a mobile robot multi-process composite in-place repair method, which comprises the following steps:
s1, controlling the chassis to move to enable the robot to reach a designated position;
s2, controlling the robot to be connected with the visual tool through the quick-change connector, scanning a workpiece to be repaired through the visual tool to obtain image data, and determining a cladding processing track of the cladding tool according to the image data;
s3, controlling the robot to dismount the visual tool through the quick-change connector, connecting the cladding tool, and controlling the cladding tool to clad and machine the workpiece to be repaired according to the cladding machining track;
s4, controlling the robot to demount the cladding tool through the quick-change connector, connecting the vision tool, scanning a workpiece to be repaired through the vision tool to obtain image data, and determining a polishing track of the polishing tool according to the image data;
and S5, controlling the robot to dismount the vision tool through the quick-change connector, connecting the grinding tool, and controlling the grinding tool to grind and process the workpiece to be repaired according to the grinding track.
The technical scheme provided by the embodiment of the invention has the following beneficial effects: according to the mobile robot multi-process composite in-place repair device and method, the quick-change connector at the tail end of the robot is detachably connected with the vision tool, the cladding tool and the polishing tool respectively, so that the quick replacement of multiple functions of vision measurement, laser cladding and polishing is realized, the multi-process mixed process flow of vision measurement, part pretreatment, measurement locating, laser cladding, measurement locating and part polishing is realized, one-stop full-process machining is ensured, the production efficiency is improved, and the space is saved; in addition, the invention has simple structure, adopts modular design to ensure plug and play, occupies small area and solves the problems that the traditional machine tool is greatly restricted by field, limited in processing size, high in transportation cost and difficult and can not adapt to the field processing requirement.
Drawings
FIG. 1 is a schematic diagram of a mobile robot with a multi-process composite in-place repair device according to the present invention;
fig. 2 is a schematic diagram of a three-end tool of a mobile robot multi-process composite in-place repair device of the present invention.
In the figure: 1-chassis, 2-robot, 3-vision tool, 4-cladding tool, 5-grinding tool, 6-quick-change connector, 7-beam, 8-locating rod, 9-powder feeder, 10-universal wheel, 11-electric control cabinet, 12-connecting piece, 13-tool support, 14-dustproof cover plate and 15-cylinder.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings. The following presents a simplified summary of the invention in order to provide a basic understanding of the invention and to provide a basic understanding of the invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 and 2, an embodiment of the present invention provides a mobile robot multi-process composite in-place repair apparatus, which includes a chassis 1, a robot 2, and three end tools 3, 4, and 5.
The chassis 1 is used for bearing the robot 2, and a plurality of universal wheels 10 are arranged at the bottom of the chassis 1, so that the chassis 1 can move and further carry the robot 2 to a specified position.
As shown in fig. 1, in order to prevent the robot 2 from tipping the chassis 1 during operation, the chassis 1 is provided with at least one anti-tipping assembly, through which the chassis 1 is stably fixed by cooperating with the ground. The number of the anti-tipping components can be flexibly selected according to practical application scenes, and the anti-tipping components are generally dispersedly arranged on one side of the chassis 1 and used for supporting and limiting the chassis 1 through a plurality of angles.
Specifically, the anti-tipping assembly comprises a cross beam 7 and a positioning rod 8, the cross beam 7 is connected with the chassis 1, and the positioning rod 8 is in threaded connection with the cross beam 7 so that the bottom of the positioning rod is in contact with the ground or separated from the ground. Preferably, the cross beam 7 is horizontally arranged, the positioning rod 8 is vertically arranged, and the positioning rod 8 penetrates through the cross beam 7 and is in threaded connection with the cross beam 7.
As shown in fig. 1, a supporting block may be further disposed at the lower end of the positioning rod 8 to increase the contact area with the ground, so as to ensure that the lower end of the positioning rod 8 is stably contacted with the ground, thereby stably positioning the chassis 1. Meanwhile, a hand wheel can be arranged at the upper end of the positioning rod 8, and the positioning rod 8 can be easily screwed through the hand wheel, so that the supporting block is in contact with the ground or is separated from the ground.
In addition, the cross beam 7 is detachably connected with the chassis 1, specifically, the cross beam 7 is connected with the chassis 1 through a detachable fastener, the detachable fastener can be selected from various options, such as a detachable fastener selecting bolt in the embodiment, a U-shaped mounting seat is arranged on the side surface of the chassis 1, the end of the cross beam 7 is inserted into the mounting seat, and the bolt penetrates through the cross beam 7 so as to fasten the cross beam 7. The anti-tipping assembly is mounted or dismounted as required to facilitate transport and transfer of the chassis 1. And simultaneously, the bolts are unscrewed, and the cross beam 7 can also rotate, so that the position of the positioning rod 8 can be adjusted, namely the position of the anti-tipping assembly can be adjusted to adapt to different environments.
The robot 2 is mounted on the chassis 1, the robot 2 is a multi-axis robot, and the electric control cabinet 11 of the robot 2 is also arranged on the chassis 1. The robot 2 is provided with a quick-change connector 6 at the end, and in this embodiment, the quick-change connector 6 is an electric quick-change connector of a plug-in type. It will be understood that other types of electric quick-change couplings can be selected for the quick-change coupling 6, without being limited to the embodiment.
As shown in fig. 2, the three end tools are a vision tool 3, a cladding tool 4 and a grinding tool 5. And the end tools are arranged side by side and are respectively placed on the tool bracket 13 for standby. In order to prevent dust from falling onto the end tools, three dust covers 14 are provided on one side of the tool holder 13, each dust cover 14 being provided above one of the end tools. The dustproof cover plate 14 is fixedly connected with the tool support 13 through an air cylinder 15, the air cylinder 15 is vertically arranged, and the lower end of the dustproof cover plate is fixed on the upper end of the tool support 13, the upper end of the dustproof cover plate is an output end, and the dustproof cover plate 14 is arranged on the upper end of the tool support 13. The dust cover 14 is moved around the end tool to cover or remove from the end tool, and the air cylinder 15 can be controlled to adjust the height of the dust cover 14 to avoid affecting the connection of the robot 2 to each end tool.
Each end tool is provided with a coupling 12 which can be detachably connected to the quick-change coupling. The coupling 12 is here a mating socket of the plug-in electric quick-change coupling, by means of which quick-change coupling 6 the robot can be coupled to any of the end tools. In the multi-process complex system maintenance, the robot 2 is used to connect the three end tools in a set order.
Specifically, when the robot 2 is connected to the vision tool 3, the vision tool 3 is used to perform three-dimensional scanning on a workpiece to be repaired, acquire image data of the workpiece to be repaired, generate a three-dimensional model according to the image data, and further determine a cladding processing track of the cladding tool 4 and a polishing processing track of the polishing tool 5.
And when the robot 2 is connected with the cladding tool 4, controlling the cladding tool 4 to clad and machine the workpiece to be repaired according to the cladding machining track. In this embodiment, a powder feeder 9 is disposed on the chassis 1, and when the cladding tool 4 is connected to the quick-change connector 6, the powder feeder 9 is connected to the cladding tool 4 to input cladding repair material to the cladding tool 4. Similarly, when the robot 2 is connected to the polishing tool 5, the polishing tool 5 is controlled to polish the workpiece to be repaired according to the polishing track.
In addition, based on the mobile robot multi-process composite in-place repair device, the embodiment of the invention also provides a mobile robot multi-process composite in-place repair method, which comprises the following steps:
s1, controlling the chassis 1 to move to enable the robot 2 to reach a designated position;
s2, controlling the robot 2 to be connected with the visual tool 3 through the quick-change connector 6, scanning a workpiece to be repaired through the visual tool 3 to obtain image data, and determining a cladding processing track of the cladding tool 4 according to the image data;
s3, controlling the robot 2 to dismount the visual tool 3 through the quick-change connector 6, connecting the cladding tool 4, and controlling the cladding tool 4 to clad and machine the workpiece to be repaired according to the cladding machining track;
s4, controlling the robot 2 to dismount the cladding tool 4 through the quick-change connector 6, connecting the vision tool 3, scanning a cladded workpiece to be repaired through the vision tool 3 to obtain image data, and determining a grinding track of the grinding tool 5 according to the image data;
and S5, controlling the robot 2 to dismount the vision tool 3 through the quick-change connector 6, connecting the grinding tool 5, and controlling the grinding tool 5 to grind and process the workpiece to be repaired according to the grinding track.
The mobile robot multi-process composite in-place repair method can realize a multi-process mixed process flow of vision measurement, part pretreatment, measurement locating, laser cladding, measurement locating and part polishing, cladding, polishing and repairing the surface of a workpiece to be repaired, and achieves the machining precision and surface quality required by repair.
In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that they are relative concepts that may be modified in various manners of use and placement and that the use of directional terms should not be taken to limit the scope of what is claimed.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. The utility model provides a mobile robot multiple operation is compound to repair device on throne which characterized in that includes:
a movable chassis;
the robot is arranged on the chassis, and a quick-change connector is arranged at the tail end of the robot;
the three end tools are respectively a vision tool, a cladding tool and a grinding tool, and each end tool is provided with a connecting piece which can be detachably connected with the quick-change connector;
the robot is used for connecting the three end tools according to a set sequence, acquiring image data of a workpiece to be repaired through the visual tool, determining a cladding processing track of the cladding tool and a grinding processing track of the grinding tool according to the image data, controlling the cladding tool to perform cladding processing according to the cladding processing track, and controlling the grinding tool to perform grinding processing according to the grinding processing track.
2. The mobile robotic multi-process composite in-place repair apparatus of claim 1, wherein: the chassis is provided with at least one anti-tipping component.
3. The mobile robotic multi-process composite in-place repair apparatus of claim 2, wherein: the anti-tipping assembly comprises a cross beam and a positioning rod, the cross beam is connected with the chassis, and the positioning rod is in threaded connection with the cross beam so that the bottom of the positioning rod is in contact with the ground or is separated from the ground.
4. The mobile robotic multi-process composite in-place repair apparatus of claim 1, wherein: the base plate is provided with a powder feeder, and when the cladding tool is connected with the quick-change connector, the powder feeder is connected with the cladding tool.
5. The mobile robotic multi-process composite in-place repair apparatus of claim 1, wherein: the tool support comprises a tool support, and each end tool is placed on the tool support.
6. The mobile robotic multi-process composite in-place repair apparatus of claim 5, wherein: and three dustproof cover plates are arranged on one side of the tool support, and each dustproof cover plate is arranged above one terminal tool.
7. The mobile robotic multi-process composite in-place repair apparatus of claim 6, wherein: the dustproof cover plate is fixedly connected with the tool support through an air cylinder, and the dustproof cover plate is hinged to one end of the air cylinder.
8. A mobile robot multi-process composite in-place repairing method is characterized in that: the mobile robot multi-process composite in-place repair device as claimed in any one of claims 1 to 7, and comprising the steps of:
s1, controlling the chassis to move to enable the robot to reach a designated position;
s2, controlling the robot to be connected with the visual tool through the quick-change connector, scanning a workpiece to be repaired through the visual tool to obtain image data, and determining a cladding processing track of the cladding tool according to the image data;
s3, controlling the robot to dismount the visual tool through the quick-change connector, connecting the cladding tool, and controlling the cladding tool to clad and machine the workpiece to be repaired according to the cladding machining track;
s4, controlling the robot to demount the cladding tool through the quick-change connector, connecting the vision tool, scanning a workpiece to be repaired through the vision tool to obtain image data, and determining a polishing track of the polishing tool according to the image data;
and S5, controlling the robot to dismount the vision tool through the quick-change connector, connecting the grinding tool, and controlling the grinding tool to grind and process the workpiece to be repaired according to the grinding track.
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| CN202111602008.1A CN114454184A (en) | 2021-12-24 | 2021-12-24 | Mobile robot multi-process composite in-place repair device and method |
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| CN202111602008.1A CN114454184A (en) | 2021-12-24 | 2021-12-24 | Mobile robot multi-process composite in-place repair device and method |
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| CN114454184A true CN114454184A (en) | 2022-05-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115430991A (en) * | 2022-09-28 | 2022-12-06 | 渤海造船厂集团有限公司 | Steel plate laser repairing device and method |
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