CN114633270A - Laser repair robot capable of switching working faces - Google Patents
Laser repair robot capable of switching working faces Download PDFInfo
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- CN114633270A CN114633270A CN202210484986.9A CN202210484986A CN114633270A CN 114633270 A CN114633270 A CN 114633270A CN 202210484986 A CN202210484986 A CN 202210484986A CN 114633270 A CN114633270 A CN 114633270A
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- laser
- mechanical arm
- repair
- repairing
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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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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- 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
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- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention relates to the field of laser thermal repair equipment, in particular to a laser repair robot capable of switching working faces, and aims to solve the problems that the existing laser repair equipment is incomplete in repair process and cannot realize surface treatment before and after repair; poor flexibility of the equipment and incapability of automatic switching of the operation surface. The laser repairing robot with the switchable working surfaces comprises a repairing working unit, a multifunctional cabin, a crawler-type walking chassis and the like, wherein a cutting electric spindle is driven by a second mechanical arm to polish a to-be-repaired part according to a polishing path, and the cutting electric spindle is driven by the second mechanical arm to polish a cladding layer after thermal repairing according to the polishing path with the interpolation surplus height, so that the surface treatment before and after the repairing is realized; the automatic switching between the point working mode and the line patrol working mode is realized through the rotary jacking mechanism, the front-end cylinder group and the right-end cylinder group in the multifunctional cabin, the flexibility of the equipment is improved, and the equipment can automatically switch the working plane.
Description
Technical Field
The invention relates to the field of laser thermal repair equipment, in particular to a laser repair robot with a switchable working surface.
Background
The welding position of the cyclone separator, the conveying pipeline and other parts in the natural gas station are easy to generate cracks, the whole set of equipment can be out of work along with the increase of the cracks, manual repair welding is commonly used at present, but a manual repair welding method is easy to generate new microcracks, the workload of the manual repair welding is large, and the repair precision is difficult to guarantee, so that the laser repair is adopted, the heat input power is regulated and controlled in real time, and the residual stress in the repair process is reduced.
However, the existing laser repair equipment has single function, cannot meet the operation requirement under complex working conditions, and mainly has the following problems: (1) the repair process is incomplete, and the surface treatment before and after repair cannot be realized; (2) the equipment flexibility is poor, and the automatic switching of the working surface cannot be carried out, so that the laser repairing robot capable of switching the working surface is very necessary to design.
Disclosure of Invention
The invention provides a laser repairing robot capable of switching working faces, which aims to solve the problems that the existing laser repairing equipment is incomplete in repairing process and cannot realize surface treatment before and after repairing; poor flexibility of the equipment and incapability of automatic switching of the operation surface.
In order to achieve the purpose, the invention provides a laser repairing robot with switchable working faces, which comprises a repairing working unit, a multifunctional cabin, a crawler type walking chassis and repairing auxiliary equipment, wherein the repairing working unit is arranged at the upper end of the multifunctional cabin, and the multifunctional cabin is arranged on the crawler type walking chassis;
the repair operation unit comprises a coaxial powder feeding laser cladding head, a cutting electric spindle, a three-dimensional scanner, a first mechanical arm, a second mechanical arm, a station replacement lead screw sliding table, a bull's eye universal wheel, conical counter bores and threaded holes, wherein the coaxial powder feeding laser cladding head is installed on the first mechanical arm;
the multifunctional cabin comprises a laser radar, a protective gas cylinder, a gas cylinder clamp, a multifunctional cabin cover plate, an iron cone, a rotary jacking mechanism, a front-end cylinder group, a right-end cylinder group, an industrial personal computer and a laser generator, the laser generator is installed at the rear end of the multifunctional cabin, the multifunctional cabin cover plate is installed at the top of the multifunctional cabin, the front end and the right end of the top of the multifunctional cabin cover plate are both provided with the iron cone matched with a conical counter bore, the front cabin wall of the multifunctional cabin is provided with two laser radars, the right cabin wall of the multifunctional cabin is provided with two square holes, a valve of the protective gas cylinder faces to the square hole, the left cabin wall of the multifunctional cabin is provided with a sliding door, the industrial personal computer is installed in the sliding door, the bottom of the multifunctional cabin is provided with the square tube butted with the gas cylinder clamp, the protective gas cylinder is fixed with the square tube, the bottom of the multifunctional cabin is provided with a plurality of mounting plates, the rotary jacking mechanism is installed on the mounting plates, A front or right bank.
In the above laser repair robot with switchable working surfaces, optionally, a round through hole is arranged at one corner of the front end of the multifunctional cabin cover plate, a small rectangular through hole is arranged at one side of the iron cone, and a large rectangular through hole is arranged in the middle of four adjacent small rectangular through holes.
In the above laser repair robot with switchable working surface, optionally, the rotary jacking mechanism includes a first main jacking cylinder, a guide rail slider module, a servo motor, a speed reducer, a transition bottom plate, support pillars, a slider connecting plate, a thrust bearing, a deep groove ball bearing, a flange plate, and a jacking rod, the lower end of the first main jacking cylinder is mounted on a mounting plate at the bottom of the multifunctional cabin, an upper end telescopic rod of the first main jacking cylinder is connected with the transition bottom plate, three sides of the transition bottom plate are provided with slider connecting plates, the slider connecting plates are connected with sliders of the guide rail slider module, the guide rail slider modules are provided with six, guide rails of the six guide rail slider modules are mounted on a side cabin wall and an inner mounting plate of the multifunctional cabin, the support pillars are mounted at the top of the transition bottom plate, the tops of the support pillars are connected with the speed reducer, the servo motor is mounted on the upper end surface of the transition bottom plate, and an output shaft of the servo motor is connected with the speed reducer, the center of transition bottom plate sets up the ladder counter bore, and footstep bearing is installed to the bottom of ladder counter bore, and deep groove ball bearing is installed on the upper portion of ladder counter bore, and the lower extreme of jacking rod passes through footstep bearing and deep groove ball bearing and installs in the ladder counter bore that the center of transition bottom plate set up, and the upper end fixed mounting ring flange of jacking rod, ring flange pass through the screw connection with the ring thread hole of station replacement lead screw slip table bottom.
In the above laser repair robot with switchable working surfaces, optionally, the front cylinder group includes a second main jacking cylinder, a wheel-receiving auxiliary cylinder group and a wheel-receiving sheet, the second main jacking cylinder is mounted on a mounting plate at the bottom of the multifunctional cabin, the wheel-receiving auxiliary cylinder group is mounted on a side cabin wall and an internal mounting plate of the multifunctional cabin, the wheel-receiving auxiliary cylinder group includes four groups of double-rod cylinders, and the wheel-receiving sheet is disposed at an end of a telescopic rod of each double-rod cylinder.
In the above-described working surface switchable laser repair robot, the right cylinder bank and the front cylinder bank may be configured to be the same.
In the above laser repair robot with switchable working surfaces, optionally, the repair auxiliary device includes a powder feeder, a first arm controller, a second arm controller, a water chiller and an air compressor unit, the second arm controller, the water chiller and the air compressor unit are installed at the rear end of the upper end surface of the multifunctional cabin, the first arm controller is installed on the second arm controller, and the powder feeder is installed on the first arm controller.
In the above laser repairing robot capable of switching working planes, optionally, a camera is installed in front of the crawler-type traveling chassis.
In the above laser repair robot with switchable working surfaces, optionally, the inner sides of the square tube and the gas cylinder hoop are both provided with a buffer material.
In the above laser repair robot with switchable working surfaces, optionally, the middle shaft shoulder arranged on the lifting rod is clamped on the speed reducer, and the lower shaft shoulder arranged on the lifting rod is clamped on the thrust bearing.
In the above laser repair robot with switchable working surface, optionally, the working flow of the robot is as follows:
step 1: selecting an operation mode: before repairing, determining whether the robot is in a point-to-point operation mode or an inspection operation mode, and moving a repairing operation unit to a corresponding position;
step 2: the robot enters a preprocessing state: firstly, resetting a station to replace a screw rod sliding table, and enabling a second mechanical arm to be located in the middle position of the station to replace the screw rod sliding table; then the mobile robot enables the second mechanical arm to face the position to be repaired, a flange connecting plate at the tail end of the second mechanical arm rotates to enable the three-dimensional scanner to be in a vertical state, and the cutting electric spindle is in a horizontal state;
and step 3: acquiring the topography information of a part to be repaired: the second mechanical arm drives the three-dimensional scanner to be above the position to be repaired, and the three-dimensional scanner scans the outline point cloud information of the repair area;
and 4, step 4: polishing the part to be repaired: after a polishing path of the position to be repaired is generated according to the point cloud information acquired in the step3, a flange connecting plate at the tail end of the second mechanical arm rotates to enable the cutting electric spindle to be in a vertical state; starting the cutting electric spindle, and driving the cutting electric spindle to polish the part to be repaired according to the generated polishing path by the second mechanical arm, so that the part to be repaired is polished to be flat, and the inner layer metal is exposed;
and 5: station replacement for the first time: after the part to be repaired is polished, the second mechanical arm drives the cutting electric spindle to return to the horizontal state; the station replacement lead screw sliding table drives the first mechanical arm and the second mechanical arm to integrally move to the other side of the sliding table, so that the first mechanical arm is opposite to the position to be repaired.
Step 6: laser thermal repair: according to the grinding path generated in the step4, a laser repairing path is further interpolated, and the first mechanical arm drives the coaxial powder feeding laser cladding head to reach the position of a repairing starting point; according to the size and the path of the repair area, the powder feeder selects proper powder feeding amount, the protective gas cylinder sets proper gas feeding amount, the laser generator generates a laser heat source, the first mechanical arm drives the coaxial powder feeding laser cladding head to move along the laser repair path, and the area polished in the step4 is subjected to thermal repair.
And 7: and (3) station replacement for the second time: the first mechanical arm drives the coaxial powder feeding laser cladding head to return to the position before repair in the step 6; the station replacement lead screw sliding table drives the first mechanical arm and the second mechanical arm to integrally move to the other side of the sliding table, so that the second mechanical arm is opposite to the repaired position.
And 8: polishing the residual height after repair: interpolating an extra height polishing path according to the laser repairing path in the step 6; and starting the cutting electric spindle, driving the cutting electric spindle to move according to the excess height polishing path by the second mechanical arm, and polishing and flattening the excess height of the cladding layer after thermal repair.
The laser repairing robot comprises a repairing operation unit, a multifunctional cabin, a crawler type walking chassis and repairing auxiliary equipment, wherein the repairing operation unit is installed at the upper end of the multifunctional cabin, the multifunctional cabin is installed on the crawler type walking chassis, a cutting electric spindle is driven by a second mechanical arm to polish a to-be-repaired part according to a polishing path, and a cladding layer after thermal repairing is polished by the cutting electric spindle driven by the second mechanical arm according to the polishing path with the interpolated residual height, so that the surface treatment before and after repairing is realized; the automatic switching between the point working mode and the line patrol working mode is realized through the rotary jacking mechanism, the front-end cylinder group and the right-end cylinder group in the multifunctional cabin, the flexibility of the equipment is improved, and the equipment can automatically switch the working plane.
The construction of the present invention and other objects and advantages thereof will be more apparent from the following description of the preferred embodiments taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a structural diagram illustrating a point-to-point operation state of a laser repairing robot capable of switching an operation surface according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a repair operation unit of a laser repair robot capable of switching an operation surface according to an embodiment of the present invention;
fig. 3 is a schematic bottom structure diagram of a repair operation unit of a laser repair robot capable of switching an operation surface according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a station replacement screw sliding table of a laser repair robot capable of switching working planes according to an embodiment of the present invention;
fig. 5 is a first structural schematic diagram of a multifunctional cabin of a laser repairing robot with a switchable working surface according to an embodiment of the present invention;
fig. 6 is a second structural schematic diagram of a multifunctional cabin of a laser repairing robot with a switchable working surface according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a rotary jacking mechanism of a laser repairing robot capable of switching a working surface according to an embodiment of the present invention;
fig. 8 is a schematic partial structural view of a rotary jacking mechanism of a laser repairing robot capable of switching a working surface according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a cylinder group of a laser repairing robot capable of switching a working surface according to an embodiment of the present invention;
fig. 10 is a schematic diagram of a line patrol operation state structure of a laser repairing robot capable of switching a working surface according to an embodiment of the present invention;
fig. 11 is a schematic view illustrating a process of switching operation modes of a laser repairing robot capable of switching operation surfaces according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of a working process of the laser repairing robot with switchable working surfaces according to the embodiment of the present invention.
Description of reference numerals:
1-repairing the operation unit; 2-a multifunctional cabin; 3-crawler type walking chassis; 4-powder feeder; 5-a first robot arm controller; 6-a second arm controller; 7-a water chiller and an air compressor unit; 8-a laser generator; 9-routing square tubes; 10-an optical fiber; 11-a powder guide pipe;
1-1 coaxial powder feeding laser cladding head; 1-2 cutting the electric spindle; 1-3 three-dimensional scanners; 1-4 a first robot arm; 1-5 second mechanical arm; 1-6 stations replace a screw sliding table; 1-7 bull's eye universal wheels; 1-8 conical counter bores; 1-9 threaded holes;
1-61-servo motor; 1-62-heavy-duty slide; 1-63-lead screw; 1-64-guide rails;
2-1 laser radar; 2-2 protecting the gas cylinder; 2-3, clamping a gas cylinder; 2-4 of a multifunctional deck plate; 2-5 of iron cone; 2-6 rotating the jacking mechanism; 2-7 front cylinder groups; 2-8 right cylinder banks; 2-9 industrial personal computers; 2-10 a first main jacking cylinder; 2-11 guide rail slide block modules; 2-12 servo motors; 2-13 speed reducer; 2-14 transition floors; 2-15 support columns; 2-16 slide block connecting plates; 2-17 thrust bearings; 2-18 deep groove ball bearings; 2-19 flange plates; 2-20 second main jacking cylinder; 2-21 connected-wheel auxiliary cylinder group; 2-22 wheel connecting sheets; 2-23 lifting the rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1-10, the invention provides a laser repairing robot with switchable working surfaces, which comprises a repairing working unit 1, a multifunctional cabin 2, a crawler-type walking chassis 3 and repairing auxiliary equipment, wherein the repairing working unit 1 is installed at the upper end of the multifunctional cabin 2, and the multifunctional cabin 2 is installed on the crawler-type walking chassis 3;
it should be noted that the crawler type traveling chassis 3 is installed below the multifunctional cabin 2 for movement of the robot.
The repair operation unit 1 comprises a coaxial powder feeding laser cladding head 1-1, a cutting electric spindle 1-2, a three-dimensional scanner 1-3, a first mechanical arm 1-4, a second mechanical arm 1-5, a station replacement lead screw sliding table 1-6, a bull's eye universal wheel 1-7, a conical counter bore 1-8 and a threaded hole 1-9, wherein the coaxial powder feeding laser cladding head 1-1 is installed on the first mechanical arm 1-4, a tail end connecting plate of the second mechanical arm 1-5 is installed, the cutting electric spindle 1-2 and the three-dimensional scanner 1-3 are installed on the flange connecting plate, the first mechanical arm 1-4 and the second mechanical arm 1-5 are installed on the station replacement lead screw sliding table 1-6, four bull's eye universal wheels 1-7 are installed at the bottom of the station replacement lead screw sliding table 1-6, and four conical counter bores 1-8 are arranged, one end of the bottom of the station replacement lead screw sliding table 1-6 is provided with an annular threaded hole 1-9;
it should be noted that, for example, the station replacement lead screw sliding table 1-6 includes a servo motor 1-61 and a heavy-duty sliding block 1-62, the device comprises a screw rod 1-63 and a guide rail 1-64, wherein a first mechanical arm 1-4 and a second mechanical arm 1-5 are installed on a heavy-load sliding block 1-62, a servo motor 1-61 is fixed at one end of the guide rail 1-64, an output shaft of the servo motor 1-61 is fixedly connected with the screw rod 1-63, the upper end of the heavy-load sliding block 1-62 is in sliding connection with the guide rail 1-64, the screw rod 1-63 is in threaded connection with a threaded hole at the lower end of the heavy-load sliding block 1-62, the rotation of the servo motor 1-61 drives the screw rod 1-63 to rotate, the heavy-load sliding block 1-62 is driven to do linear motion on the guide rail 1-64, and the first mechanical arm 1-4 and the second mechanical arm 1-5 are driven to move.
The multifunctional cabin 2 comprises laser radars 2-1, protective gas cylinders 2-2, gas cylinder clamps 2-3, a multifunctional cabin cover plate 2-4, an iron cone 2-5, a rotary jacking mechanism 2-6, a front end cylinder group 2-7, a right end cylinder group 2-8, an industrial personal computer 2-9 and a laser generator 8, wherein the laser generator 8 is arranged at the rear end in the multifunctional cabin 2, the multifunctional cabin cover plate 2-4 is arranged at the top of the multifunctional cabin 2, the iron cones 2-5 matched with the conical counter bores 1-8 are arranged at the front end and the right end of the top of the multifunctional cabin cover plate 2-4, the two laser radars 2-1 are arranged on the front cabin wall of the multifunctional cabin 2, the two laser radars 2-1 are arranged on the right cabin wall of the multifunctional cabin 2, the two square holes are arranged on the right cabin wall of the multifunctional cabin 2, valves of the protective gas cylinders 2-2 face the square holes, a sliding door is installed on the left cabin wall of the multifunctional cabin 2, an industrial personal computer 2-9 is installed in the sliding door, a square tube in butt joint with a gas cylinder clamp 2-3 is arranged at the bottom of the multifunctional cabin 2, the gas cylinder 2-2 is protected to be fixed with the square tube through the gas cylinder clamp 2-3, a plurality of installation plates are installed at the bottom of the multifunctional cabin 2, and a rotary jacking mechanism 2-6, a front-end cylinder group 2-7 or a right-end cylinder group 2-8 are installed on the installation plates.
The cutting motorized spindle 1-2 and the three-dimensional scanner 1-3 are electrically connected with an industrial personal computer 2-9, the gas in the protective gas cylinder 2-2 is argon, two protective gas cylinders 2-2 are arranged, one protective gas cylinder conveys argon to the powder feeder 4 to drive powder to flow, the other protective gas cylinder conveys argon to the coaxial powder feeding laser cladding head 1-1, and the powder is clad in an argon atmosphere during thermal repair; an I/O interface and an AD module interface are arranged in each of industrial computers 2-9, the I/O interface is connected with an electromagnetic valve for controlling the cylinder group, the AD module interface is connected with a laser radar 2-1, the industrial computers 2-9 are connected with a first mechanical arm controller 5, a second mechanical arm controller 6 is connected through a network cable, the industrial computers transmit path data to the two controllers, and the first mechanical arm controller 5 and the second mechanical arm controller 6 drive the first mechanical arm 1-4 and the second mechanical arm 1-5 respectively.
As shown in fig. 5-6, a round through hole is arranged at one corner of the front end of the multifunctional cabin cover plate 2-4, a small rectangular through hole is arranged at one side of the iron cone 2-5, and a large rectangular through hole is arranged in the middle of four adjacent small rectangular through holes.
It should be noted that the circular through-holes allow the rotary jacks 2 to 6 to pass through, and the small rectangular through-holes and the large rectangular through-holes allow the front cylinder banks 2 to 7 and the right cylinder banks 2 to 8 to pass through, so that automatic switching of the operation modes of the repair work unit 1 is facilitated.
As shown in fig. 7-8, the rotary jacking mechanism 2-6 comprises a first main jacking cylinder 2-10, a guide rail slider module 2-11, a servo motor 2-12, a reducer 2-13, a transition bottom plate 2-14, a support column 2-15, a slider connecting plate 2-16, a thrust bearing 2-17, a deep groove ball bearing 2-18, a flange 2-19 and a jacking rod 2-23, wherein the lower end of the first main jacking cylinder 2-10 is fixedly arranged on a mounting plate at the bottom of the multifunctional cabin 2, an upper end telescopic rod of the first main jacking cylinder 2-10 is connected with the transition bottom plate 2-14, slider connecting plates 2-16 are arranged on three sides of the transition bottom plate 2-14, the slider connecting plates 2-16 are connected with sliders of the guide rail slider module 2-11, and the guide rail slider modules 2-11 are provided with six, the guide rails of six guide rail sliding block modules 2-11 are fixedly arranged on the side cabin wall and the internal mounting plate of the multifunctional cabin 2, the top of a transition bottom plate 2-14 is fixedly provided with support columns 2-15, the top of each support column 2-15 is fixedly connected with a speed reducer 2-13, a servo motor 2-12 is arranged on the upper end face of the transition bottom plate 2-14, an output shaft of the servo motor 2-12 is connected with the speed reducer 2-13, the center of the transition bottom plate 2-14 is provided with a stepped counter bore, the bottom of the stepped counter bore is provided with a thrust bearing 2-17, the upper part of the stepped counter bore is provided with a deep groove ball bearing 2-18, the lower end of a jacking rod 2-23 is arranged in a stepped counter bore arranged at the center of the transition bottom plate 2-14 through the thrust bearing 2-17 and the deep groove ball bearing 2-18, the upper end of the jacking rod 2-23 is fixedly provided with a flange 2-19, the flange plates 2-19 are connected with annular threaded holes 1-9 at the bottoms of the station replacement lead screw sliding tables 1-6 through screws.
It should be noted that the stability of the up-and-down movement of the transition bottom plate 2-14 is increased by the guide rail slider module 2-11, the servo motor 2-12 and the first main jacking cylinder 2-10 of the rotary jacking mechanism 2-6 are controlled by the industrial personal computer 2-9, for example, the jacking rod 2-23 can be a shaft in the speed reducer 2-13, and the output shaft of the servo motor 2-12 is converted into the rotation of the jacking rod 2-23 after being decelerated by the speed reducer 2-13.
As shown in fig. 9, the front cylinder group 2-7 comprises a second main jacking cylinder 2-20, a wheel receiving auxiliary cylinder group 2-21 and wheel receiving plates 2-22, the second main jacking cylinder 2-20 is fixedly arranged on a mounting plate at the bottom of the multifunctional cabin 2, the wheel receiving auxiliary cylinder group 2-21 is fixedly arranged on a side cabin wall and an inner mounting plate of the multifunctional cabin 2, the wheel receiving auxiliary cylinder group 2-21 comprises four groups of double-rod cylinders, and the wheel receiving plates 2-22 are arranged at the end parts of telescopic rods of the double-rod cylinders.
It should be noted that after the telescopic rods of the wheel-receiving auxiliary cylinder groups 2-21 are extended, the upper end surfaces of the wheel-receiving sheets 2-22 are flush with the upper end surface of the multifunctional cabin 2.
As shown in fig. 5 to 6, the right bank 2-8 is identical in structure to the front bank 2-7.
It should be noted that the second main lift-up cylinder 2-20 of the front cylinder group 2-7, the wheel-engaging auxiliary cylinder group 2-21, and the main lift-up cylinder of the right cylinder group 2-8, the wheel-engaging auxiliary cylinder group of the right cylinder group 2-8 are controlled by the industrial personal computer 2-9, and the right cylinder group 2-8 is identical in structure to the front cylinder group 2-7, so that the repair work unit 1 is easily installed on the multi-function deck 2 after switching the operation mode.
As shown in fig. 1 and 10, the repair assisting apparatus includes a powder feeder 4, a first arm controller 5, a second arm controller 6, a water cooler, and an air compressor unit 7, the second arm controller 6 and the water cooler, and the air compressor unit 7 are installed at the rear end of the upper end surface of the multifunctional cabin 2, the first arm controller 5 is installed on the second arm controller 6, and the powder feeder 4 is installed on the first arm controller 5.
It should be noted that the first mechanical arm controller 5 and the second mechanical arm controller 6 respectively control the movement of the first mechanical arm 1-4 and the second mechanical arm 1-5, a wiring square tube 9 is installed between the water cooler and the air compressor unit 7 and the mechanical arm controller, an optical fiber 10 passes through the wiring square tube 9 to be connected with a laser generator 8 and the upper end of the coaxial powder feeding laser cladding head 1-1, a powder outlet at the lower end of the powder feeder 4 is connected with a powder inlet of the coaxial powder feeding laser cladding head 1-1 through a powder guide tube 11, and powder is conveyed to the coaxial powder feeding laser cladding head 1-1 under the combined action of gravity and argon gas flow in the protective gas cylinder 2-2; the water chiller in the water chiller and air compressor unit 7 provides cooling water for the laser generator 8 and the coaxial powder feeding laser cladding head 1-1, and the air compressors in the water chiller and air compressor unit 7 are a front end cylinder group 2-7, a right end cylinder group 2-8, a first main jacking cylinder 2-10 and a second main jacking cylinder 2-20 to provide air sources.
As shown in fig. 1 and 10, a camera is mounted in front of the crawler type traveling chassis 3.
It should be noted that a camera is installed in front of the crawler-type traveling chassis 3, so that the robot can avoid obstacles during traveling.
As shown in fig. 5-6, the inner sides of the square tube and the gas cylinder clamp 2-3 are provided with buffer materials.
It should be noted that the protective gas cylinder 2-2 is in contact with the square pipe and the buffer material on the inner side of the gas cylinder hoop 2-3, and the buffer material plays a role in buffering and damping the protective gas cylinder 2-2.
As shown in fig. 7-8, the middle shoulders of the lifting rods 2-23 are clamped on the speed reducers 2-13, and the lower shoulders of the lifting rods 2-23 are clamped on the thrust bearings 2-17.
It should be noted that the middle shaft shoulder and the lower shaft shoulder arranged on the lifting rod 2-23 axially limit the lifting rod 2-23.
It should be noted that, as shown in fig. 1, when the positions to be repaired are concentrated in one area, a robot peer-to-peer operation mode is used, in which the repair operation unit 1 is located at the front end of the robot, and when two laser radars 2-1 installed on the front cabin wall of the multifunctional cabin 2 sense that the front operation surface is too close to the robot, the industrial personal computers 2-9 output signals to control the robot to stop.
It should be noted that, as shown in fig. 10, when the positions to be repaired are distributed on the pipeline working surface such as a pipeline, the line patrol working mode of the robot is used, in this mode, the repair working unit 1 is located at the right end of the robot, two laser radars 2-1 installed on the right bulkhead of the multifunctional cabin 2 acquire the distance from the right side of the robot to the line to be repaired at any time, and assist in adjusting the position and posture of the robot during the line patrol process, so that the robot keeps the proper distance from the line to be repaired as much as possible during the line patrol process.
As shown in fig. 11, the steps of switching the peer-to-peer operation mode to the patrol operation mode are as follows:
step 1: the first mechanical arm 1-4 rotates 180 degrees clockwise, and the second mechanical arm 1-5 rotates 180 degrees counterclockwise;
step 2: the first main jacking cylinder 2-10 and the second main jacking cylinder 2-20 of the front-end cylinder group 2-7 extend out simultaneously, and the station replacement lead screw sliding table 1-6 is jacked up, so that a conical counter bore 1-8 at the bottom of the station replacement lead screw sliding table 1-6 is gradually separated from an iron cone 2-5 at the front side of the multifunctional cabin cover plate 2-4;
step 3: the auxiliary extension wheel cylinder group 2-21 of the front end cylinder group 2-7 extends out, and the extension wheel sheet 2-22 of the front end cylinder group 2-7 contacts the bull's eye universal wheel 1-7;
step 4: retracting a second main jacking cylinder 2-20 of the front-end cylinder group 2-7, and after the upper surface of the second main jacking cylinder 2-20 is separated from a station replacement lead screw sliding table 1-6, driving a jacking rod 2-23 and a flange plate 2-19 to synchronously rotate through a speed reducer 2-13 by the rotation of a servo motor 2-12 so as to drive the station replacement lead screw sliding table 1-6 to rotate 90 degrees anticlockwise;
step 5: in the process of rotating the station replacement screw sliding table 1-6, the extension wheel auxiliary cylinder group of the right cylinder group 2-8 extends out to prepare for the connection of the bull eye universal wheel 1-7;
step 6: after the station replacement lead screw sliding table 1-6 rotates in place, the main jacking cylinder of the right cylinder group 2-8 extends out, and after the upper surface of the main jacking cylinder of the right cylinder group 2-8 contacts the station replacement lead screw sliding table 1-6, the wheel-connected auxiliary cylinder group of the right cylinder group 2-8 retracts;
step 7: the first main jacking cylinder 2-10 and the main jacking cylinder of the right cylinder group 2-8 retract simultaneously, and in the retracting process, a conical counter bore 1-8 at the bottom of the station replacement lead screw sliding table 1-6 is gradually matched with an iron cone 2-5 on the right side of the multifunctional cabin cover plate 2-4.
The steps for converting the line patrol operation mode into the peer-to-peer operation mode are not described in detail.
As shown in fig. 12, the robot has the following operation flow:
step 1: selecting an operation mode: before the repairing operation, the robot is determined to be in a point-to-point operation mode or an inspection operation mode, and the repairing operation unit 1 is moved to a corresponding position;
and 2, step: the robot enters a pretreatment state: firstly, resetting a station replacement lead screw sliding table 1-6, and enabling a second mechanical arm 1-5 to be located in the middle of the station replacement lead screw sliding table 1-6; then the mobile robot makes the second mechanical arm 1-5 right face the position to be repaired, the flange connecting plate at the tail end of the second mechanical arm 1-5 rotates to enable the three-dimensional scanner 1-3 to be in a vertical state, and the cutting electric spindle 1-2 is in a horizontal state (as shown in a figure 12 a);
and step 3: acquiring the topography information of a part to be repaired: the second mechanical arm 1-5 drives the three-dimensional scanner 1-3 to a position above the position to be repaired, and the three-dimensional scanner 1-3 scans the outline point cloud information of the repair area and transmits the information to the industrial personal computer 2-9 (as shown in a b picture in fig. 12);
and 4, step 4: polishing the part to be repaired: according to the point cloud information collected in the step3, after a polishing path of the position to be repaired is generated by an industrial personal computer 2-9, a flange connecting plate at the tail end of a second mechanical arm 1-5 rotates to enable a cutting electric spindle 1-2 to be in a vertical state; starting the cutting electric spindle 1-2, and driving the cutting electric spindle 1-2 to polish the part to be repaired according to the generated polishing path by the second mechanical arm 1-5, polishing the part to be repaired to be flat, and exposing the inner layer metal (as shown in a c diagram in fig. 12);
and 5: station replacement for the first time: after the part to be repaired is polished, the second mechanical arm 1-5 drives the cutting electric spindle 1-2 to return to the horizontal state; the station replacement lead screw sliding table 1-6 drives the first mechanical arm 1-4 and the second mechanical arm 1-5 to integrally move to the other side of the sliding table, so that the first mechanical arm 1-4 is over against the position to be repaired (as shown in a diagram d in fig. 12).
Step 6: laser thermal repair: according to the grinding path generated in the step4, the industrial personal computer 2-9 further interpolates a laser repair path, and the first mechanical arm 1-4 drives the coaxial powder feeding laser cladding head 1-1 to reach the position of a repair starting point; according to the size and the path of the repair area, the powder feeder 4 selects a proper powder feeding amount, the protective gas cylinder 2-2 sets a proper gas feeding amount, the laser generator 8 generates a laser heat source, the first mechanical arm 1-4 drives the coaxial powder feeding laser cladding head 1-1 to move along the laser repair path, and the area polished in the step4 is subjected to thermal repair (as shown in a diagram e in fig. 12).
And 7: and (3) station replacement for the second time: the first mechanical arm 1-4 drives the coaxial powder feeding laser cladding head 1-1 to return to the position before repair in the step 6; the station replacement lead screw sliding table 1-6 drives the first mechanical arm 1-4 and the second mechanical arm 1-5 to integrally move to the other side of the sliding table, so that the second mechanical arm 1-5 is opposite to the repaired position (as shown in a diagram f in fig. 12).
And step 8: polishing the repaired residual height: according to the laser repair path in the step6, an extra height polishing path is interpolated by the industrial personal computers 2-9; starting the cutting electric spindle 1-2, driving the cutting electric spindle 1-2 to move according to the excess height polishing path by the second mechanical arm 1-5, and polishing and flattening the excess height of the cladding layer after thermal repairing (as shown in a graph g in fig. 12).
It should be noted that the first mechanical arm 1-4 and the second mechanical arm 1-5 can automatically evade each other when working, so as to prevent collision interference; the path generation and interpolation calculation in step4, step6, and step 8 are performed in parallel with the mechanism operation process.
The invention provides a laser repairing robot capable of switching working surfaces, which comprises a repairing working unit 1, a multifunctional cabin 2, a crawler-type walking chassis 3 and repairing auxiliary equipment, wherein the repairing working unit 1 is arranged at the upper end of the multifunctional cabin 2, the multifunctional cabin 2 is arranged on the crawler-type walking chassis 3, a cutting electric spindle 1-2 is driven by a second mechanical arm 1-5 to polish a part to be repaired according to a polishing path, and a cutting electric spindle 1-2 is driven by the second mechanical arm 1-5 to polish a cladding layer after thermal repairing according to a polishing path with the interpolated residual height, so that surface treatment before and after repairing is realized; the automatic switching between the point working mode and the line patrol working mode is realized through the rotary jacking mechanisms 2-6, the front end cylinder group 2-7 and the right end cylinder group 2-8 in the multifunctional cabin 2, so that the flexibility of the equipment is increased, and the equipment can automatically switch the working surface.
In the description of the present invention, it should be noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning a fixed connection, an indirect connection through intervening media, a connection between two elements, or an interaction between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. The terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless specifically stated otherwise.
The terms "first," "second," "third," "fourth," and the like in the description and claims of this application and in the above-described drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The laser repairing robot with the switchable working surfaces is characterized by comprising a repairing operation unit, a multifunctional cabin, a crawler type walking chassis and repairing auxiliary equipment, wherein the repairing operation unit is installed at the upper end of the multifunctional cabin, and the multifunctional cabin is installed on the crawler type walking chassis.
The repair operation unit includes that coaxial powder feeding laser melts and covers head, cutting electricity main shaft, three-dimensional scanning appearance, first arm, second arm, station replacement lead screw slip table, bull's eye universal wheel, toper counter bore and screw hole, coaxial powder feeding laser melts and covers the head and installs on the first arm, the terminal mounting flange connecting plate of second arm, installation cutting electricity main shaft and three-dimensional scanning appearance on the flange connecting plate, first arm with the second arm is installed on the station replacement lead screw slip table, the station is replaced four in the bottom installation of lead screw slip table the bull's eye universal wheel just sets up four toper counter bores, the station is replaced the bottom one end of lead screw slip table and is set up annular screw hole.
The multifunctional cabin comprises a laser radar, a protective gas cylinder, a gas cylinder clamp, a multifunctional cabin cover plate, an iron cone, a rotary jacking mechanism, a front-end cylinder group, a right-end cylinder group, an industrial personal computer and a laser generator, wherein the laser generator is installed at the rear end in the multifunctional cabin, the multifunctional cabin cover plate is installed at the top of the multifunctional cabin, the iron cones matched with the cone counter bores are arranged at the front end and the right end of the top of the multifunctional cabin cover plate, two laser radars are installed on the front cabin wall of the multifunctional cabin, two laser radars are installed on the right cabin wall of the multifunctional cabin, two square holes are arranged on the right cabin wall of the multifunctional cabin, a valve of the protective gas cylinder faces the square holes, a sliding door is installed on the left side of the multifunctional cabin, a cabin wall is installed in the sliding door, and a square tube butted with the industrial personal computer is arranged at the bottom of the multifunctional cabin, the protection gas cylinder passes through the gas cylinder clamp and manages fixedly with square, a plurality of mounting panels of bottom installation in multi-functional cabin, installation rotation climbing mechanism, front end cylinder group or right-hand member cylinder group on the mounting panel.
2. The laser repairing robot capable of switching working planes according to claim 1, wherein a round through hole is formed in one corner of the front end of the multifunctional cabin cover plate, a small rectangular through hole is formed in one side of the iron cone, and a large rectangular through hole is formed in the middle of four adjacent small rectangular through holes.
3. The laser repairing robot with switchable working surfaces according to claim 1, wherein the rotary jacking mechanism comprises a first main jacking cylinder, a guide rail slider module, a servo motor, a speed reducer, a transition bottom plate, a support pillar, a slider connecting plate, a thrust bearing, a deep groove ball bearing, a flange plate and a jacking rod, the lower end of the first main jacking cylinder is mounted on the mounting plate at the bottom of the multifunctional cabin, an upper end telescopic rod of the first main jacking cylinder is connected with the transition bottom plate, slider connecting plates are arranged on three sides of the transition bottom plate and connected with sliders of the guide rail slider module, the guide rail slider module is provided with six guide rails, the guide rails of the six guide rail slider modules are mounted on a side cabin wall and an internal mounting plate of the multifunctional cabin, and the support pillar is mounted at the top of the transition bottom plate, the top and the retarder connection of support column, servo motor install the up end of transition bottom plate, servo motor's output shaft and retarder connection, the center of transition bottom plate sets up the ladder counter bore, footstep bearing is installed to the bottom of ladder counter bore, deep groove ball bearing is installed on the upper portion of ladder counter bore, the lower extreme of jacking rod passes through footstep bearing and deep groove ball bearing and installs in the ladder counter bore that the center of transition bottom plate set up, the upper end fixed mounting ring flange of jacking rod, the ring flange with the annular screw hole of station replacement lead screw slip table bottom passes through the screw connection.
4. The switchable worksurface laser repair robot of claim 3 wherein the front cylinder group comprises a second main jacking cylinder, a wheel-receiving auxiliary cylinder group and wheel-receiving sheets, the second main jacking cylinder is mounted on a mounting plate at the bottom of the multifunctional cabin, the wheel-receiving auxiliary cylinder group is mounted on a side cabin wall and an internal mounting plate of the multifunctional cabin, the wheel-receiving auxiliary cylinder group comprises four groups of double-rod cylinders, and the end parts of telescopic rods of the double-rod cylinders are provided with the wheel-receiving sheets.
5. The switchable worksurface laser repair robot of claim 4 wherein the right bank of cylinders is identical in construction to the front bank of cylinders.
6. The worktop-switchable laser repair robot according to claim 1, wherein the repair assistance device includes a powder feeder, a first arm controller, a second arm controller, a water chiller, and an air compressor unit, the second arm controller and the water chiller and air compressor unit are installed at a rear end of an upper end surface of the multifunctional cabin, the first arm controller is installed on the second arm controller, and the powder feeder is installed on the first arm controller.
7. The switchable worksurface laser repair robot of claim 6 wherein a camera is mounted in front of the tracked undercarriage.
8. The switchable worksurface laser repair robot of claim 7, wherein the inner sides of the square tube and the gas cylinder hoop are provided with buffer materials.
9. The switchable working surface laser repairing robot according to claim 8, wherein a middle shoulder provided on the lifting rod is clamped on the speed reducer, and a lower shoulder provided on the lifting rod is clamped on the thrust bearing.
10. A switchable working surface laser repair robot according to claims 1-9, characterized in that the robot has the following workflow:
step 1: selecting an operation mode: before repairing, determining whether the robot is in a point-to-point operation mode or an inspection operation mode, and moving a repairing operation unit to a corresponding position;
step 2: the robot enters a preprocessing state: firstly, resetting a station to replace a screw rod sliding table, and enabling a second mechanical arm to be located in the middle position of the station to replace the screw rod sliding table; then the mobile robot enables the second mechanical arm to face the position to be repaired, a flange connecting plate at the tail end of the second mechanical arm rotates to enable the three-dimensional scanner to be in a vertical state, and the cutting electric spindle is in a horizontal state;
and step 3: acquiring the shape information of a part to be repaired: the second mechanical arm drives the three-dimensional scanner to be above the position to be repaired, and the three-dimensional scanner scans the outline point cloud information of the repair area;
and 4, step 4: polishing the part to be repaired: after a polishing path of the position to be repaired is generated according to the point cloud information acquired in the step3, a flange connecting plate at the tail end of the second mechanical arm rotates to enable the cutting electric spindle to be in a vertical state; starting the cutting electric spindle, and driving the cutting electric spindle to polish the part to be repaired according to the generated polishing path by the second mechanical arm, so that the part to be repaired is polished to be flat, and the inner layer metal is exposed;
and 5: station replacement for the first time: after the part to be repaired is polished, the second mechanical arm drives the cutting electric spindle to return to a horizontal state; the station replacement lead screw sliding table drives the first mechanical arm and the second mechanical arm to integrally move to the other side of the sliding table, so that the first mechanical arm is opposite to the position to be repaired.
Step 6: laser thermal repair: according to the grinding path generated in the step4, a laser repairing path is further interpolated, and the first mechanical arm drives the coaxial powder feeding laser cladding head to reach the position of a repairing starting point; according to the size and the path of the repair area, the powder feeder selects proper powder feeding amount, the protective gas cylinder sets proper gas feeding amount, the laser generator generates a laser heat source, the first mechanical arm drives the coaxial powder feeding laser cladding head to move along the laser repair path, and the area polished in the step4 is subjected to thermal repair.
And 7: and (3) station replacement for the second time: the first mechanical arm drives the coaxial powder feeding laser cladding head to return to the position before repair in the step 6; the station replacement lead screw sliding table drives the first mechanical arm and the second mechanical arm to integrally move to the other side of the sliding table, so that the second mechanical arm is opposite to the repaired position.
And 8: polishing the repaired residual height: interpolating an extra height polishing path according to the laser repairing path in the step 6; and starting the cutting electric spindle, driving the cutting electric spindle to move according to the excess height polishing path by the second mechanical arm, and polishing and flattening the excess height of the cladding layer after thermal repair.
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