CN115430991A - Steel plate laser repairing device and method - Google Patents
Steel plate laser repairing device and method Download PDFInfo
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- CN115430991A CN115430991A CN202211188361.4A CN202211188361A CN115430991A CN 115430991 A CN115430991 A CN 115430991A CN 202211188361 A CN202211188361 A CN 202211188361A CN 115430991 A CN115430991 A CN 115430991A
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Abstract
The invention provides a steel plate laser repairing device and method. The device and the method automatically identify the defects, automatically polish the defects and efficiently repair the defects through photographing measurement and laser scanning measurement, and solve the technical problem of steel plate surface repair. According to the invention, the position and the shape of the defect are accurately confirmed through photographing measurement and laser scanning measurement, the defect polishing process parameters are determined through matching of preset polishing path expert database data and the defect shape, and the mechanical arm automatically seeks and polishes, so that the problems of low polishing efficiency and poor stability are effectively solved, and a foundation is laid for repair. The polished defect part is effectively filled by the high-precision high-efficiency robot laser cladding repair method, so that the repair efficiency and stability are improved, and the possibility of generating secondary defects is reduced. Under the holding of high-precision measurement, the grinding precision and efficiency of the robot after cladding are obviously improved, and the surface quality of the repaired plate is improved. The device and the method are suitable for being used as a steel plate laser repairing device and method.
Description
Technical Field
The invention relates to final assembly construction in the field of ships, in particular to a steel plate laser repairing device and a steel plate laser repairing method.
Background
At present, high-tech ship hull is made of thick plate high-strength steel, and has high requirements on the surface quality of steel plates so as to ensure the structural strength of the ship hull and further ensure various performances of the ship. The maximum value of the defect depth of the surface of the steel plate is required to be not more than 25% or 10mm of the nominal thickness of the steel plate, and the smaller value of the defect depth and the nominal thickness is selected; the depth minimum must not be less than 2mm. The traditional steel plate repair adopts manual arc welding or manual TIG welding after manual polishing to repair, the repair efficiency is low, the defects are frequently generated after repair, and the repair quality stability is poor. Especially, when some tool manufacturing type stock steel plates are repaired, the surface quality of the stock steel plates is poorer than that of the new steel plates, the repairing amount is larger, and the quality of repairing the surface of the steel plates is difficult to guarantee. Unstable repair quality is very important under the demand of fast-paced production and construction.
Disclosure of Invention
In order to solve the problem of ship steel plate surface repair, ensure the stability of steel plate repair quality on one hand and improve the laser repair efficiency of a steel plate on the other hand, the invention provides a steel plate laser repair device and a steel plate laser repair method. The device and the method automatically identify the defects, automatically polish the defects and efficiently repair the defects through photographing measurement and laser scanning measurement, and solve the technical problem of steel plate surface repair.
The technical scheme adopted by the invention for solving the technical problem is as follows:
a steel plate laser repairing device mainly comprises a rolling platform, a polishing robot, a laser repairing robot, a polishing robot, a binocular shooting mechanism I, a laser scanning mechanism, a binocular shooting mechanism II and a gantry; a workpiece is placed on the rolling platform, a gantry is arranged across the rolling platform, a binocular shooting mechanism I and a binocular shooting mechanism II are arranged on the gantry, and a laser scanning mechanism is arranged between the binocular shooting mechanism I and the binocular shooting mechanism II; the three stations sequentially complete the grinding, laser repairing and polishing of the workpiece.
In a preferred embodiment, the polishing station comprises a polishing robot, a polishing head assembled on the polishing robot, a corresponding gantry, and a binocular shooting mechanism I, a binocular shooting mechanism II and a laser scanning mechanism which are arranged on the gantry;
wherein, the polishing robots are respectively arranged at two sides of the rolling platform, and the tail ends of the polishing robots are connected with polishing heads; the polishing robot conveys the polishing head to the polishing position according to the defect position to carry out polishing work, and the robot repeatedly positions with the precision of +/-0.05 mm;
the polishing head comprises a polishing mechanism and a laser tracking and scanning mechanism, the laser tracking and scanning mechanism can accurately correct specific polished position information at the tail end, and polishing quality is improved.
In a preferred embodiment, the laser repairing station comprises a laser repairing robot, a laser repairing head assembled on the laser repairing robot, a laser, a powder feeder, a corresponding gantry, and a binocular shooting mechanism I, a binocular shooting mechanism II and a laser scanning mechanism which are arranged on the gantry;
the laser repairing robot is respectively arranged on two sides of the rolling platform, and the tail end of the laser repairing robot is connected with the laser repairing head; the laser repairing robot conveys a laser repairing head to a repairing position according to the polished state to carry out laser repairing work, and the robot repeatedly positions with the precision of +/-0.05 mm;
the laser repairing head comprises a laser cladding head and a laser tracking scanning mechanism, and the laser tracking scanning mechanism accurately corrects the specific position information of laser cladding at the tail end and improves the repairing quality; the laser cladding head adopts coaxial powder feeding and has the function of coaxially conveying, repairing and filling metal powder;
the laser is connected with the laser repairing head through the optical fiber through the gantry, and a laser source with stable power and uniform spot energy density is provided for repairing work;
the powder feeder is connected with the laser repairing head through the gantry through a powder feeding pipe, and a powder source with stable and controllable powder flow is provided for repairing work.
In a preferred embodiment, the grinding station comprises a grinding robot, a grinding head assembled on the grinding robot, a corresponding gantry, and a binocular shooting mechanism I, a binocular shooting mechanism II and a laser scanning mechanism which are arranged on the gantry;
the grinding robot is respectively arranged at two sides of the rolling platform, and the tail end of the laser repairing robot is connected with the grinding head; the grinding robot conveys the grinding head to a grinding position according to the state after cladding to carry out grinding work, and the robot repeatedly positions with the precision of +/-0.05 mm;
the grinding head comprises a grinding mechanism and a laser tracking and scanning mechanism, and the laser tracking and scanning mechanism can accurately correct specific position information of grinding at the tail end and improve grinding quality.
In order to further solve the technical problem to be solved by the invention, the invention provides a steel plate laser repairing method, which is realized by the following steps:
(1) Starting a measuring system, a polishing robot, a laser repairing robot, a polishing robot, a laser, a powder feeder and a rolling platform, and preparing for repairing; the measuring system is a binocular shooting mechanism I, a laser scanning mechanism, a binocular shooting mechanism II and a laser tracking and scanning mechanism in a polishing head, a laser repairing head and a polishing head.
(2) Powder matched with the material of the steel plate workpiece to be repaired is loaded into a powder feeder, and the powder feeding gas flow of the powder feeder is set; and simultaneously testing whether the laser indication red light is normal or not to ensure that the laser output is normal.
(3) After the workpiece enters the working range of the polishing station through the rolling platform, the polishing station measuring system measures the surface defect appearance of the steel plate workpiece; automatically matching the measured shape curved surface with polishing path data in a robot repair expert system, and automatically locating and starting polishing by a polishing robot after matching; and during the period, a laser tracking system on the polishing head feeds back the polishing track from time to time and corrects the polishing path by combining with measurement and positioning.
(4) The polished vertical projection morphology mainly comprises a circle, an ellipse, a waist circle, a chamfer triangle and a chamfer quadrangle; the bottom of the pit is a plane after polishing, and the bottom and the edge of the original height of the steel plate workpiece are in U-shaped smooth transition and are stored in a polishing path expert library; and (4) repairing the path reference setting of the expert library, wherein the polishing path is mainly the polishing allowance.
(5) And (4) measuring the polished pits by a measuring system after polishing, and if the deviation of the polished pits and the preset shape exceeds 0.5mm, conveying the workpiece to the polishing position by the rolling platform for supplementary polishing until the appearance of the pits is qualified.
(6) After the polished pits are qualified, the workpiece is continuously conveyed to a laser repairing station by the rolling platform, the laser repairing robot judges the movement position according to the measured pit position, judges the required laser focal length and starts to act synchronously with the height deviation of the workpiece, when the preset position and height are reached, the laser emits light according to the matched power, the powder feeder synchronously and coaxially feeds powder according to the matched powder feeding flow, the laser repairing robot repairs according to the repairing path expert library movement path, and a laser tracking system on a laser repairing head feeds back the repairing track in real time and corrects the repairing path by combining with the measurement positioning; the repair residual height can be set according to requirements, and is usually set to be 1-3mm.
(7) And (4) measuring the repair extra height by using a measuring system after laser repair, if the deviation of the repair extra height from the preset shape exceeds 1mm, conveying the workpiece to a laser repair position by using the rolling platform for supplementary repair until the shape is qualified.
(8) After the laser repair is qualified, the rolling platform continuously conveys the workpiece to a polishing station, the polishing robot judges the movement position according to the measured residual height position and synchronously starts to act, the polishing head performs polishing, and a laser tracking system on the polishing head feeds back the polishing track from time to time and corrects the polishing path by combining with the measurement positioning.
(9) And (4) measuring the surface of the steel plate workpiece by the measuring system after grinding, and if the surface is out of tolerance, conveying the workpiece to a grinding position by the rolling platform for supplementary grinding until the shape is qualified.
(10) When a plurality of surface defects of the workpiece exist, batch polishing, laser repair and coping can be carried out, so that the working efficiency is improved, and the workpiece is reduced to turn back and forth.
The positive effects are as follows:
1. the position and the shape of the defect are accurately confirmed through photographing measurement and laser scanning measurement, the defect polishing process parameters are determined through matching of preset polishing path expert database data and the shape of the defect, and the manipulator automatically seeks and polishes, so that the problems of low polishing efficiency and poor stability are effectively solved, and a foundation is laid for repair;
2. the polished defect part is effectively filled through a high-precision high-efficiency robot laser cladding repair method, and surplus height is reasonably reserved to prepare for next polishing, so that the repair efficiency and stability are improved, and the possibility of generating secondary defects is greatly reduced;
3. under the holding of high-precision measurement, the grinding precision and efficiency of the robot after cladding are obviously improved, and the surface quality of the repaired plate is effectively improved;
4. the repaired high-strength steel plate reaches tens of thousands of yuan per ton, and can be put into use formally after being repaired, so that the construction cost is greatly saved;
5. the device has good repair efficiency and repair quality stability and extremely strong popularization.
According to the invention, the position and the shape of the defect are accurately confirmed through photographing measurement and laser scanning measurement, the defect polishing process parameters are determined through matching of preset polishing path expert database data and the defect shape, and the mechanical arm automatically seeks and polishes, so that the problems of low polishing efficiency and poor stability are effectively solved, and a foundation is laid for repair. The polished defect part is effectively filled through a high-precision high-efficiency robot laser cladding repair method, and surplus height is reasonably reserved to prepare for next polishing, so that the repair efficiency and stability are improved, and the possibility of generating secondary defects is greatly reduced. Under the holding of high-precision measurement, the grinding precision and efficiency of the robot after cladding are obviously improved, and the surface quality of the repaired plate is effectively improved. The device and the method are suitable for being used as a steel plate laser repairing device and method.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
In the figure: 1. the system comprises a rolling platform, a polishing robot, a polishing head, a laser repairing robot, a laser repairing head, a polishing robot, a polishing head, a binocular shooting mechanism I, a laser scanning mechanism, a binocular shooting mechanism II, a binocular shooting mechanism I, a laser scanning mechanism 10, a gantry 11, a workpiece 12, a laser 13 and a powder feeder 14.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Example 1: the material of a workpiece 12 is 10CrNi3MoV, the size of a steel plate is 35mm multiplied by 2000mm multiplied by 10000mm, a waist-round pit is arranged at 2, the powder is matched nickel-based powder, powder feeding gas Ar gas is used, the gas flow is 25-30L/min, the laser power is 1500W, a round 1mm light spot is formed, and the repair speed is 2mm/s.
Referring to the attached drawings of the specification, the steel plate laser repairing device mainly comprises a rolling platform 1, a polishing robot 2, a laser repairing robot 4, a polishing robot 6, a binocular shooting mechanism I8, a laser scanning mechanism 9, a binocular shooting mechanism II 10 and a gantry 11; a workpiece 12 is placed on the rolling platform 1, a gantry 11 is arranged across the rolling platform 1, a binocular shooting mechanism I8 and a binocular shooting mechanism II 10 are arranged on the gantry 11, and a laser scanning mechanism 9 is arranged between the binocular shooting mechanism I8 and the binocular shooting mechanism II 10; a grinding station with a grinding robot 2, a laser repairing station with a laser repairing robot 4 and a grinding station with a grinding robot 6 are sequentially formed, and the three stations sequentially finish grinding, laser repairing and grinding of a workpiece 12.
In order to ensure the stability of the structure of the device, the rolling platform 1 conveys the workpiece 12 on a grinding station, a laser repairing station and a grinding station, and a measuring reference target is arranged at an obvious position of the edge of the rolling platform 1 to provide a uniform reference for the measuring work of the whole device.
In order to further ensure the stability of the structure of the invention, the polishing station comprises a polishing robot 2, a polishing head 3 assembled on the polishing robot 2, a corresponding gantry 11, and a binocular shooting mechanism I8, a binocular shooting mechanism II 10 and a laser scanning mechanism 9 which are arranged on the gantry 11;
wherein, the polishing robots 2 are respectively arranged at two sides of the rolling platform 1, and the tail ends of the polishing robots 2 are connected with polishing heads 3; the polishing robot 2 conveys the polishing head 3 to a polishing position according to the defect position to carry out polishing work, and the robot repeatedly positions with the precision of +/-0.05 mm;
preferably, the polishing head 3 comprises a polishing mechanism and a laser tracking and scanning mechanism, and the laser tracking and scanning mechanism can accurately correct specific polishing position information at the tail end, so that the polishing quality is improved.
In order to optimize the stability of the structure of the laser repairing robot, the laser repairing station comprises a laser repairing robot 4, a laser repairing head 5 assembled on the laser repairing robot 4, a laser 13, a powder feeder 14, a corresponding gantry 11, and a binocular shooting mechanism I8, a binocular shooting mechanism II 10 and a laser scanning mechanism 9 which are arranged on the gantry 11;
the laser repairing robot 4 is respectively arranged on two sides of the rolling platform 1, and the tail end of the laser repairing robot 4 is connected with a laser repairing head 5; the laser repairing robot 4 conveys the laser repairing head 5 to a repairing position according to the polished state to carry out laser repairing work, and the robot repeatedly positions with the precision of +/-0.05 mm;
preferably, the laser repair head 5 comprises a laser cladding head and a laser tracking and scanning mechanism, and the laser tracking and scanning mechanism accurately corrects the specific position information of laser cladding at the tail end, so that the repair quality is improved; the laser cladding head adopts coaxial powder feeding and has the function of coaxially conveying, repairing and filling metal powder;
as a conventional technical choice, the laser 13 is connected with the laser repair head 5 through the gantry 11 through an optical fiber, so as to provide a laser source with stable power and uniform spot energy density for repair work;
as a conventional technical option, the powder feeder 14 is connected with the laser repairing head 5 through the gantry 11 through a powder feeding pipe, so as to provide a powder source with stable and controllable powder flow for repairing work.
In order to optimize the structure of the invention, the grinding station comprises a grinding robot 6, a grinding head 7 assembled on the grinding robot 6, a corresponding gantry 11, and a binocular shooting mechanism I8, a binocular shooting mechanism II 10 and a laser scanning mechanism 9 which are arranged on the gantry 11;
wherein, the coping robots 6 are respectively arranged at two sides of the rolling platform 1, and the tail ends of the laser repairing robots 4 are connected with coping heads 7; the grinding robot 6 conveys the grinding head 7 to a grinding position according to the state after cladding to carry out grinding work, and the robot repeatedly positions with the precision of +/-0.05 mm;
preferably, the grinding head 7 comprises a grinding mechanism and a laser tracking and scanning mechanism, and the laser tracking and scanning mechanism can accurately correct specific position information of grinding at the tail end, so that the grinding quality is improved.
In order to further optimize the structure of the invention, the binocular shooting mechanism I8 and the binocular shooting mechanism II 10 have a binocular shooting measurement function, are hung on the gantry 11, and carry out binocular shooting measurement on the steel plate to be repaired; each station is provided with the same binocular photographing measuring mechanism.
As a conventional technical option, the laser scanning mechanism 9 is a laser scanning measuring mechanism, suspended on the gantry 11, and each station is equipped with the same laser scanning mechanism.
As a conventional technical choice, the binocular shooting mechanism I8, the binocular shooting mechanism II 10, the laser scanning mechanism 9 and the laser scanning mechanism at the tail end of each station robot and the basic target jointly bear a measuring system of the device and bear measuring functions, so that the device aims to accurately and accurately detect and repair the appearance of a working area on a steel plate at each stage and guide the work of each process of feedback repair.
A steel plate laser repairing method is realized according to the following steps:
(1) Starting a measuring system, a polishing robot 2, a laser repairing robot 4, a polishing robot 6, a laser 13, a powder feeder 14 and a rolling platform 1, and preparing for repairing each item; the measuring system is a binocular shooting mechanism I8, a laser scanning mechanism 9, a binocular shooting mechanism II 10, a polishing head 3, a laser repairing head 5 and a laser tracking and scanning mechanism in the polishing head 7.
(2) Nickel-based powder matched with the material of the workpiece 12 to be repaired is loaded into the powder feeder 14, and the powder feeding gas flow of the powder feeder 14 is set to be 25-30L/min; meanwhile, testing whether the laser 13 indicates that the red light is normal or not so as to ensure that the output of the laser 13 is normal; and if necessary, performing a light emitting test to test whether the performances such as the spot size and the like meet the requirements.
(3) After the workpiece 12 enters the working range of the coping station through the rolling platform 1, the coping station measuring system measures the surface defect appearance of the steel plate workpiece 12; the measured shape curved surface is automatically matched with polishing path data in a robot repair expert system, and after matching, the polishing robot 2 automatically seeks positions to polish two defects; and during the period, a laser tracking system on the polishing head 3 feeds back the polishing track from time to time and corrects the polishing path by combining with measurement and positioning.
(4) The polished vertical projection appearance is waist-shaped; the bottom of the pit is a plane after polishing, and the bottom and the edge of the original height of the steel plate workpiece 12 are in U-shaped smooth transition and are stored in a polishing path expert library; and (4) repairing the path reference setting of the expert library, wherein the polishing path is mainly the polishing residual.
(5) And (3) measuring two polished pits by a measuring system after polishing, if the deviation of the measured values from the preset shape exceeds 0.5mm, conveying the workpiece 12 to the polishing position by the rolling platform 1 for supplementary polishing until the appearance of the pits is qualified.
(6) After the pits are polished to be qualified, the workpiece 12 is continuously conveyed to a laser repair station by the rolling platform 1, the laser repair robot 4 judges a movement position according to the measured pit position, judges a required laser focal length and starts to act synchronously with the height deviation of the workpiece 12, when the preset position and height are reached, the laser 13 emits light according to matched power, the powder feeder 14 synchronously and coaxially feeds powder according to matched powder feeding flow, the laser repair robot 4 repairs according to a repair path expert library movement path, and a laser tracking system on the laser repair head 5 feeds back a repair track from time to time and corrects the repair path by combining measurement and positioning; the repair extra height can be set according to requirements, and is usually set to be 1-3mm; the second pit is repaired after the laser repair is completed.
(7) And (3) measuring the repair extra height by using a measuring system after laser repair, if the deviation of the repair extra height from the preset shape exceeds 1mm, conveying the workpiece 12 to a laser repair position by using the rolling platform 1 for supplementary repair until the shape is qualified.
(8) After the laser repair is qualified, the rolling platform 1 continuously conveys the workpiece 12 to a polishing station, the polishing robot 6 judges the movement position according to the measured residual height position and synchronously starts to act, the polishing head 7 polishes the two residual heights, and a laser tracking system on the polishing head 7 feeds back a polishing track from time to time and corrects a polishing path by combining with the measurement positioning.
(9) And (3) measuring the surface of the steel plate workpiece 12 by the post-grinding measuring system, and if the surface is out of tolerance, conveying the workpiece 12 to a grinding position by the rolling platform 1 for supplementary grinding until the appearance is qualified.
(10) The two surface defects can be polished, laser repaired and polished in batch to improve the working efficiency and reduce the back and forth of the workpiece 12.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides a steel sheet laser prosthetic devices which characterized by: the device mainly comprises a rolling platform (1), a polishing robot (2), a laser repairing robot (4), a polishing robot (6), a binocular shooting mechanism I (8), a laser scanning mechanism (9), a binocular shooting mechanism II (10) and a gantry (11); a workpiece (12) is placed on the rolling platform (1), the gantry (11) is arranged across the rolling platform (1), the binocular photographing mechanism I (8) and the binocular photographing mechanism II (10) are arranged on the gantry (11), and the laser scanning mechanism (9) is arranged between the binocular photographing mechanism I (8) and the binocular photographing mechanism II (10); and a grinding station with the grinding robot (2), a laser repairing station with the laser repairing robot (4) and a grinding station with the grinding robot (6) are sequentially formed, and the three stations sequentially finish grinding, laser repairing and grinding of the workpiece (12).
2. The laser repairing device for steel plate as claimed in claim 1, wherein:
the rolling platform (1) conveys the workpiece (12) on a polishing station, a laser repairing station and a polishing station, and a measurement reference target is arranged at an obvious position of the edge of the rolling platform (1) to provide a uniform reference for the measurement work of the whole device.
3. The laser repairing device for steel plate as claimed in claim 1, wherein:
the polishing station comprises a polishing robot (2), a polishing head (3) assembled on the polishing robot (2), a corresponding gantry (11), and a binocular shooting mechanism I (8), a binocular shooting mechanism II (10) and a laser scanning mechanism (9) which are arranged on the gantry (11); the polishing robots (2) are respectively arranged at two sides of the rolling platform (1), and the tail ends of the polishing robots (2) are connected with the polishing heads (3); the polishing robot (2) conveys the polishing head (3) to a polishing position according to the defect position to carry out polishing work, and the robot is repeatedly positioned with the precision of +/-0.05 mm.
4. A steel plate laser repairing device as defined in claim 3 wherein:
the polishing head (3) comprises a polishing mechanism and a laser tracking and scanning mechanism, the laser tracking and scanning mechanism can accurately correct specific polished position information at the tail end, and polishing quality is improved.
5. The laser repairing device for steel plate as claimed in claim 1, wherein:
the laser repairing station comprises a laser repairing robot (4), a laser repairing head (5) assembled on the laser repairing robot (4), a laser (13), a powder feeder (14), a corresponding gantry (11), and a binocular shooting mechanism I (8), a binocular shooting mechanism II (10) and a laser scanning mechanism (9) which are arranged on the gantry (11); the laser repairing robot (4) is respectively arranged at two sides of the rolling platform (1), and the tail end of the laser repairing robot (4) is connected with the laser repairing head (5); the laser repairing robot (4) conveys the laser repairing head (5) to a repairing position according to the polished state to carry out laser repairing work, and the repeated positioning precision of the robot is +/-0.05 mm; the laser (13) is connected with the laser repairing head (5) through the gantry (11) through an optical fiber, so that a laser source with stable power and uniform light spot energy density is provided for repairing work; the powder feeder (14) is connected with the laser repairing head (5) through the gantry (11) through a powder feeding pipe, so that a powder source with stable and controllable powder flow is provided for repairing work.
6. The laser repairing device for steel plate as claimed in claim 5, wherein:
the laser repairing head (5) comprises a laser cladding head and a laser tracking scanning mechanism, and the laser tracking scanning mechanism accurately corrects the specific position information of laser cladding at the tail end and improves the repairing quality; the laser cladding head adopts coaxial powder feeding and has the function of coaxially conveying, repairing and filling metal powder.
7. The laser repairing device for steel plate as claimed in claim 1, wherein:
the grinding station comprises a grinding robot (6), a grinding head (7) assembled on the grinding robot (6), a corresponding gantry (11), and a binocular shooting mechanism I (8), a binocular shooting mechanism II (10) and a laser scanning mechanism (9) which are arranged on the gantry (11); the grinding robots (6) are respectively arranged on two sides of the rolling platform (1), and the tail ends of the laser repair robots (4) are connected with the grinding heads (7); the grinding robot (6) conveys the grinding head (7) to a grinding position according to the state after cladding to carry out grinding work, and the repeated positioning precision of the robot is +/-0.05 mm.
8. The laser repairing device for steel plate as claimed in claim 7, wherein:
the grinding head (7) comprises a grinding mechanism and a laser tracking and scanning mechanism, and the laser tracking and scanning mechanism can accurately correct specific position information of grinding at the tail end and improve grinding quality.
9. The laser repairing device for steel plate as claimed in claim 1, wherein:
the binocular photographing mechanism I (8) and the binocular photographing mechanism II (10) have a binocular photographing measurement function, are hung on the gantry (11), and perform binocular photographing measurement on a steel plate to be repaired; each station is provided with the same binocular shooting measuring mechanism;
the laser scanning mechanism (9) is a laser scanning measuring mechanism and is suspended on the gantry (11), and each station is provided with the same laser scanning mechanism;
the binocular shooting mechanism I (8), the binocular shooting mechanism II (10), the laser scanning mechanism (9), the laser scanning measurement at the tail end of each station robot and a basic target jointly bear a measurement system of the device and a measurement function.
10. A steel plate laser repairing method is characterized in that: use of the device according to any of claims 1-9, comprising the steps of:
1) starting a measuring system, a polishing robot (2), a laser repairing robot (4), a polishing robot (6), a laser (13), a powder feeder (14) and a rolling platform (1) to prepare for repairing; the measuring system is a binocular shooting mechanism I (8), a laser scanning mechanism (9), a binocular shooting mechanism II (10), a laser tracking scanning mechanism in the polishing head (3), the laser repairing head (5) and the polishing head (7);
2) Powder matched with the material of the workpiece (12) to be repaired is loaded into the powder feeder (14), and the powder feeding gas flow of the powder feeder (14) is set; meanwhile, testing whether the laser (13) indicates that the red light is normal or not so as to ensure that the output of the laser (13) is normal;
3) After a workpiece (12) enters a grinding station working range through the rolling platform (1), a grinding station measuring system measures the surface defect appearance of the workpiece (12); the measured shape curved surface is automatically matched with polishing path data in a robot repair expert system, and after matching, the polishing robot (2) automatically seeks a position and starts polishing; during the period, a laser tracking system on the polishing head (3) feeds back a polishing track from time to time and corrects a polishing path by combining measurement and positioning;
4) The polished vertical projection morphology mainly comprises a circle, an ellipse, a waist circle, a chamfer triangle and a chamfer quadrangle; the bottom of the pit is a plane after polishing, and the bottom and the edge of the original height of the workpiece (12) are in U-shaped smooth transition and are stored in a polishing path expert library; the path of the repair expert library is set according to reference, and the polishing path is mainly the polishing residual;
5) The measuring system measures the grinding pits after grinding, and if the deviation of the grinding pits and the preset shape exceeds 0.5mm, the rolling platform (1) conveys the workpiece (12) back to the grinding position for supplementary grinding until the appearance of the pits is qualified;
6) After the pits are polished to be qualified, the workpiece (12) is continuously conveyed to a laser repairing station by the rolling platform (1), the laser repairing robot (4) judges a moving position according to the measured pit position and judges that the required laser focal length synchronously starts to act with the height deviation of the workpiece (12), when the preset position and height are reached, the laser (13) emits light according to the matched power, the powder feeder (14) synchronously and coaxially feeds powder according to the matched powder feeding flow, the laser repairing robot (4) performs repairing according to the motion path of the repairing path expert library, and a laser tracking system on the laser repairing head (5) feeds back a repairing track from time to time and corrects the repairing path by combining with measurement and positioning; the repair extra height can be set according to requirements, and is usually set to be 1-3mm;
7) The measuring system measures the repair extra height after laser repair, and if the deviation of the repair extra height from the preset shape exceeds 1mm, the rolling platform (1) conveys the workpiece (12) back to the laser repair position for supplementary repair until the shape is qualified;
8) After the laser repair is qualified, the rolling platform (1) continuously conveys the workpiece (12) to a polishing station, the polishing robot (6) judges the movement position according to the measured residual height position and synchronously starts to act, the polishing head (7) performs polishing, and a laser tracking system on the polishing head (7) feeds back a polishing track from time to time and corrects a polishing path by combining with the measurement positioning;
9) The measuring system measures the surface of the steel plate workpiece (12) after grinding, and if the surface is out of tolerance, the rolling platform (1) conveys the workpiece (12) back to a grinding position for supplementary grinding until the shape is qualified;
10 Batch polishing, laser repair and coping are performed when a plurality of surface defects of the workpiece (12) exist, so that the working efficiency is improved, and the workpiece (12) is reduced to turn back and forth.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211188361.4A CN115430991A (en) | 2022-09-28 | 2022-09-28 | Steel plate laser repairing device and method |
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| CN202211188361.4A CN115430991A (en) | 2022-09-28 | 2022-09-28 | Steel plate laser repairing device and method |
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| CN202211188361.4A Pending CN115430991A (en) | 2022-09-28 | 2022-09-28 | Steel plate laser repairing device and method |
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