CN214300361U - Rotary laser cladding head and laser cladding equipment - Google Patents
Rotary laser cladding head and laser cladding equipment Download PDFInfo
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- CN214300361U CN214300361U CN202023195100.4U CN202023195100U CN214300361U CN 214300361 U CN214300361 U CN 214300361U CN 202023195100 U CN202023195100 U CN 202023195100U CN 214300361 U CN214300361 U CN 214300361U
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Abstract
The utility model discloses a rotatory laser cladding head and laser cladding equipment relates to vibration material disk and makes technical field to solve irregular shape parts such as awl class laser spot out of plumb problem that laser cladding inefficiency that leads to when laser cladding. The rotary laser cladding head comprises: the laser cladding device comprises a fixed seat, a rotating mechanism and a laser cladding head, wherein the rotating mechanism is hinged on the fixed seat, the laser cladding head is in power connection with the rotating mechanism, a hinge axis of the rotating mechanism is intersected with a rotating axis of the rotating mechanism, and the hinge axis of the rotating mechanism is a hinge shaft axis of the rotating mechanism hinged with the fixed seat. The laser cladding equipment comprises the rotary laser cladding head provided by the technical scheme.
Description
Technical Field
The utility model relates to a vibration material disk technical field especially relates to a rotatory laser cladding head and laser cladding equipment.
Background
In the prior art, the additive manufacturing technology can be applied to the manufacturing of parts and the repairing and remanufacturing of the parts. Aiming at surface repair and part remanufacturing of large parts with irregular shapes like cones, a plurality of complex defect positions in the parts cannot be efficiently clad by using vertical laser. Parts generally need to be rotated, but the rotating parts are not easy to fix and position for part of the parts, so that the laser cladding precision is low, the cladding effect is not ideal, and the cladding efficiency is reduced. Moreover, a plurality of printing areas needing repair or remanufacture exist in the part, one-time cladding is not available, the part needs to be disassembled back and forth, laser is difficult to emit to the desired printing area, laser cladding positioning accuracy is low, and the problems that forming and collapse cannot be achieved are likely to occur.
Based on the reasons, the problems of low efficiency and the like caused by the fact that laser spots are not perpendicular to the surface of a part in laser cladding often occur in surface repair and part remanufacturing of parts with conical irregular shapes.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a rotatory laser cladding head and laser cladding equipment to solve irregular shape parts such as awl class laser spot out of plumb laser cladding inefficiency and the inside quality defect scheduling problem that leads to when laser cladding.
In a first aspect, the utility model provides a rotatory laser cladding head, including fixing base, slewing mechanism and laser cladding head, slewing mechanism articulates on the fixing base, and laser cladding head is connected with slewing mechanism power, and slewing mechanism's articulated axis intersects with slewing mechanism's axis of rotation, and slewing mechanism's articulated axis is slewing mechanism and fixing base articulated axis.
Compared with the prior art, the utility model provides an among the rotatory laser cladding head, slewing mechanism articulates on the fixing base, and the laser cladding head is connected with slewing mechanism power. Based on this, can utilize slewing mechanism to control the laser cladding head and rotate, adjust the laser emission direction of laser cladding head, also can utilize slewing mechanism to rotate for the fixing base, adjust the laser emission direction of laser cladding head. Meanwhile, the hinge axis of the rotating mechanism is intersected with the rotating axis of the rotating mechanism, so that the laser emission direction of the laser cladding head can be adjusted in two directions by using the rotating mechanism.
Therefore, when the angle of the laser emitted by the laser cladding head on the part is not in line with the requirement (vertical), the laser emitting direction of the laser cladding head can be adjusted in two directions by utilizing the rotating mechanism. The inclination angle of the laser spot and the surface of the part is reduced and tends to be vertical by rotating the laser cladding head, so that the laser cladding efficiency is improved.
In a second aspect, the present invention further provides a laser cladding apparatus, which comprises the above-mentioned technical solution of a rotating laser cladding head.
Compared with the prior art, the utility model provides a laser cladding equipment's beneficial effect and above-mentioned technical scheme rotatory laser cladding head's beneficial effect is the same, and the here is not repeated.
Drawings
The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided for explaining the invention without unduly limiting it. In the drawings:
FIGS. 1A-1C are schematic illustrations of a prior art remanufacturing of a part in three orientations;
fig. 2, fig. 4 and fig. 5 are schematic structural views of a rotary laser cladding head according to an embodiment of the present invention;
fig. 3A and fig. 3B are schematic views of a rotary laser cladding head provided in an embodiment of the present invention in two postures;
fig. 6A and 6B are schematic structural diagrams of a top view of a rotary laser cladding head according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a front view of a rotary laser cladding head according to an embodiment of the present invention;
fig. 8 is a schematic structural view of the embodiment of the present invention further provides a laser cladding apparatus.
Reference numerals:
1-part, 2-laser cladding head, 3-substrate, 4-fixed seat, 5-rotating mechanism, 51-mounting piece, 6-rotating driving piece, 7-controllable connecting shaft, 8-sensor and 9-controller.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise. The meaning of "a number" is one or more unless specifically limited otherwise.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to 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, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Aiming at surface repair and part remanufacturing of large parts with irregular shapes such as cones, a plurality of complex defect positions in the parts cannot be directly irradiated by using a vertical laser head. When the above situation occurs, the parts need to be rotated, but the rotating parts are not easy to fix and position for part of the parts. When the surface cladding is carried out by the mode, the parts are not easy to fix, and the parts are not easy to position when being assembled and disassembled every time, and the laser is not easy to irradiate the designated position, so that the cladding efficiency is reduced. The parts are provided with a plurality of positions needing cladding, one-time cladding cannot be performed, the parts need to be disassembled back and forth, the laser cladding positioning precision is low, and the problems of incapability of forming, collapse and the like can occur. Therefore, in the surface repair and the part remanufacture of the conical irregular-shaped part, the problem of low laser cladding efficiency caused by non-vertical laser spots often occurs.
Secondly, in the remanufacturing process of the conical part, the larger the angle between a laser spot and the surface of the part is, the longer the length of the spot of a vertical spot on the surface of the part is, so that the dispersion of laser power is caused, and the problems of incapability of forming, collapse and the like can be caused seriously. Therefore, the laser cladding needs to use larger laser power than the situation that the light spot is perpendicular to the surface of the part. The parameters of the equipment during forming need to be adjusted, which results in more manpower and material resources being consumed for parameter tests. Not only is the part molding period increased, but also the part cost is increased, and high-power lasers are not available on the market, and the increased power sometimes cannot necessarily meet the required requirements. For ease of understanding, the following angles of the parts are illustrated:
fig. 1A to 1C illustrate a schematic diagram of a process of remanufacturing a part 1 in three postures according to the prior art. As shown in fig. 1A to 1C, an included angle between the surface of the part 1 and a laser spot emitted by the laser cladding head 2 is θ, and when the included angle θ is 90 °, the laser cladding efficiency is highest.
As shown in fig. 1A, in the existing remanufacturing process of the part 1, the part 1 is placed on a substrate 3, an included angle θ between the surface of the part 1 and laser is large, and the laser cladding efficiency is low.
One solution of the prior art is to turn the part 1 itself, as shown in fig. 1B. After the part 1 is rotated, although the included angle theta can be reduced, the part 1 is not easy to fix and position on the substrate 3, the laser irradiation precision is not sufficient, the operation is inconvenient, and time and labor are wasted.
As shown in fig. 1C, another solution is to rotate the substrate 3 under the part 1, so as to change the included angle θ, thereby improving the laser cladding efficiency. Although the substrate 3 can rotate in the Z-axis direction, the rotation process is stable, but when the substrate 3 rotates in the X-axis direction and the Y-axis direction, on one hand, the component 1 is difficult to fix, and corresponding fixing clamps are required to be added for different components. On the other hand, the substrate 3 has a limited rotation angle and cannot adjust the included angle θ to a proper angle.
Therefore, in the remanufacturing process of the part 1, the problem of low laser cladding efficiency caused by non-perpendicularity of laser spots during laser cladding of the irregular-shaped part occurs.
The embodiment of the utility model provides a laser cladding equipment, including rotatory laser cladding head. The rotary laser cladding head is used for printing parts on a base material or remanufacturing the parts.
For automatic laser cladding, the laser cladding equipment can further comprise a controller and a motion platform, the controller is electrically connected with the rotary laser cladding head and the motion platform respectively, the controller controls the motion platform to move the rotary laser cladding head to an appointed position, and then the rotary laser cladding head is controlled to rotate to the appointed position.
In practical application, the fixing seat 4 can be fixedly connected with a three-axis motion platform of the laser cladding device, and the three-axis motion platform can adjust the spatial position of the laser cladding head 2. The three-axis motion platform is conventionally an XYZ-axis motion platform in which three motion directions are perpendicular to each other. The three-axis motion platform can drive the rotary laser cladding head to perform integral spatial movement. The three-axis motion platform is only one example of the three-axis motion platform, and is not limited to the use of the fixing base 4.
Fig. 2 illustrates a schematic structural diagram of a rotary laser cladding head provided in an embodiment of the present invention. In order to solve the above problem, as shown in fig. 2, an embodiment of the present invention provides a rotary laser cladding head. The rotary laser cladding head comprises a fixed seat 4, a rotating mechanism 5 and a laser cladding head 2. The fixed seat 4 can be connected with a three-axis mobile platform.
The rotating mechanism 5 is hinged on the fixing seat 4, the laser cladding head 2 is in power connection with the rotating mechanism 5, the hinge axis of the rotating mechanism 5 is intersected with the rotating axis of the rotating mechanism 5, and the hinge axis of the rotating mechanism 5 is the hinge axis of the rotating mechanism 5 hinged with the fixing seat 4.
Fig. 3A and fig. 3B illustrate schematic diagrams of the rotary laser cladding head provided by the embodiment of the present invention in two postures. As shown in fig. 3A and 3B, when the rotating laser cladding head reaches the outer side of the repair point of the part 1, the rotating mechanism 5 rotates the laser cladding head 2 and the rotating mechanism 5 rotates relative to the fixing base 4, so that the spatial position of the laser cladding head 2 changes and the emission angle of the laser changes, and the included angle θ between the surface of the part 1 and the laser spot emitted by the laser cladding head 2 tends to 90 °.
Fig. 4 illustrates a schematic structural diagram of a rotary laser cladding head provided in an embodiment of the present invention. As shown in fig. 4, the rotating mechanism 5 is hinged to the fixed seat 4, and when the rotating mechanism 5 rotates relative to the fixed seat 4, an angle a (or an angle relative to a horizontal plane) of the rotating mechanism 5 relative to the fixed seat 4 changes. The relative rotation process can be realized by various power mechanisms. For example, rotatory laser cladding head can also include flexible subassembly, and flexible subassembly's one end articulates at fixing base 4, and the other end articulates at slewing mechanism 5, can drive through flexible subassembly flexible slewing mechanism 5 and take place relative rotation between fixing base 4. For another example, the rotary laser cladding head may further include a rotary driving member, and the rotary driving member drives the rotating mechanism 5 to rotate relative to the fixing base 4. It should be noted that there are many devices or assemblies or structures that can implement the above-mentioned rotation process, and the device or assembly or structure is not limited herein.
Fig. 5 illustrates a schematic structural diagram of a rotary laser cladding head according to an embodiment of the present invention. As shown in fig. 5, the rotating mechanism 5 is rotatably connected with the laser cladding head 2, and the laser cladding head 2 is arranged at the power output end of the rotating mechanism 5. When the laser cladding head 2 rotates relative to the rotating mechanism 5, the angle B of the laser cladding head 2 relative to the rotating mechanism 5 changes, and the hinge axis of the rotating mechanism 5 is intersected with the rotating axis of the rotating mechanism 5. For example, the rotating mechanism 5 may be a motor, the laser cladding head 2 is disposed on a rotating shaft of the motor, and a body of the motor is hinged to the fixing base 4. The controller of the laser cladding equipment can control the rotation angle of the laser cladding head by controlling the rotation angle of the motor.
Adopt under the condition of above-mentioned technical scheme the embodiment of the utility model provides an in the rotatory laser cladding head, fixing base 4 is arranged in when the in-service use with rotatory laser cladding head fixed to laser cladding equipment on. Slewing mechanism 5 is articulated with fixing base 4, and slewing mechanism 5 is rotatable for fixing base 4, and when slewing mechanism 5 took place to rotate, the laser cladding head 2 rotated along with slewing mechanism 5 to the realization is with laser cladding head 2 and rotate in a direction, and then the emission direction of adjustment laser. The rotating mechanism 5 drives the laser cladding head 2 to rotate, and the hinge axis of the rotating mechanism 5 is intersected with the rotating axis of the rotating mechanism 5, so that the laser cladding head 2 can rotate in the other direction. Because the laser cladding head 2 can rotate in two directions, the angle of the laser cladding head 2 irradiating on the part 1 can be adjusted, so that the inclination angle of a laser spot and the surface of the part 1 is reduced and tends to be vertical, and the laser cladding efficiency is improved.
Fig. 6A and 6B illustrate schematic structural diagrams of a top view of a rotary laser cladding head according to an embodiment of the present invention. The hinge axis of the rotating mechanism 5 is intersected with the rotating axis of the rotating mechanism 5, and the included angle between the hinge axis and the rotating axis is related to the rotatable range of the laser cladding head 2 and is also related to the spatial position of a laser emitting port of the laser cladding head 2. Therefore, the included angle between the two axes needs to ensure the rotatable range of the laser cladding head 2 and the conversion difficulty.
As shown in fig. 6A, the angle α formed by the hinge axis of the rotating mechanism 5 and the fixed seat 4 and the rotation axis of the rotating mechanism 5 may be 60 ° to 120 °. For example: 30 °, 45 °, 60 °, 90 ° or 120 °. Under this contained angle scope, slewing mechanism 5, fixing base 4 and laser cladding head 2 between the installation accuracy higher, above-mentioned three connection structure also realizes more easily. In practice, the angle α should not be too small, and should be as close to 90 ° as possible. The included angle alpha is close to 90 degrees, and the rotatable range of the laser cladding head is larger.
As shown in fig. 6B, the hinge axis of the rotating mechanism 5 and the fixed seat 4 forms an angle α of 90 ° with the rotation axis of the rotating mechanism 5. Obviously, when the included angle α is 90 °, the rotatable range of the laser cladding head 2 is the largest, and the spatial position conversion after rotation is the simplest.
Fig. 7 illustrates a schematic structural diagram of a front view of a rotary laser cladding head according to an embodiment of the present invention. As shown in fig. 7, when the rotation axis of the rotation mechanism 5 intersects with the normal direction of the laser emitting port of the laser cladding head 2, and the included angle β is 90 °, the spatial position of the laser emitting port of the laser cladding head 2 is easier to convert, that is, easier to control to the designated position.
As shown in fig. 2, 4 and 5, the rotating mechanism 5 includes a rotary drive and a mounting member 51 provided on the rotary drive, and the laser cladding head 2 is provided on the mounting member 51. The laser cladding head 2 is difficult to be directly connected with the power output end of the rotary driving piece, and the intermediate connection mode of the mounting piece 51 is easy to realize. The mounting member 51 may have a mounting portion fixedly connected to the power output end of the rotary driving member, and the mounting member may further have a mounting hole fixedly connected to the laser cladding head 2. The specific implementation form is determined according to the specific form of the rotary driving member and the laser cladding head 2, and is not limited herein.
As shown in fig. 2, 4 and 5, the mounting member 51 is a turntable, and the turntable is fixedly connected to a rotating shaft of the rotary drive. When the rotary driving member is a motor such as a servo motor, the mounting member 51 may be a turntable, and the turntable may have a mounting hole for mounting the servo motor. The other side of the turntable may have mounting holes that match the laser cladding head 2.
As shown in fig. 2 and 4, the fixed seat 4 and the rotating mechanism 5 may be hinged together by a connecting shaft. The connecting shaft can be integrally formed with the rotating mechanism 5, and can also be fixedly connected to the rotating mechanism 5 in a non-detachable or detachable mode. When the rotating mechanism 5 rotates relative to the fixed seat 4, the rotating shaft rotates synchronously along with the rotating mechanism 5.
The fixing seat 4 may have a mounting groove, the connecting shaft is disposed in the mounting groove, and the end of the rotating mechanism 5 is disposed on the connecting shaft. The connecting shaft is embedded into the mounting groove, an auxiliary assembly of the bearing can be arranged on the mounting groove, and the auxiliary assembly is used for reducing the rotation resistance of the connecting shaft.
As shown in fig. 2 and 4, the rotating mechanism 5 may further include a rotating driving member 6, the connecting shaft is in power connection with the rotating driving member 6, and the rotating driving member 6 is disposed on the fixing base 4. The rotary driving member 6 can be a servo motor, and can also be used by other types of motors matched with angle sensors such as encoders and the like. The rotating mechanism 5 is for rotating the connecting shaft and obtaining the rotating angle, and the specific form is not limited.
Fig. 8 illustrates a schematic structural diagram of a laser cladding apparatus according to an embodiment of the present invention. As shown in fig. 8, an embodiment of the present invention provides a laser cladding apparatus, including a rotary laser cladding head in the above technical scheme. When the rotary laser cladding head is provided with a connecting shaft, the fixed seat is hinged with the rotating mechanism 5 through the connecting shaft, the connecting shaft is a controllable connecting shaft 7, the end part of the rotating mechanism 5 is fixed on the controllable connecting shaft 7, the laser cladding equipment further comprises a controller 9 and a sensor 8 electrically connected with the controller 9, the sensor 8 is used for acquiring the rotating angle of the controllable rotating shaft 7, and the controller 9 is electrically connected with the controllable connecting shaft 7 and the rotating mechanism 5.
The controllable connecting shaft 7 may include a connecting shaft and a motor, the sensor 8 may acquire a rotation angle of the connecting shaft, and the sensor 8 may be an angle sensor such as an encoder.
The controller 9 is electrically connected with the rotating mechanism 5, and the controller 9 can acquire the rotating angle of the rotating mechanism 5 for rotating the laser cladding head. The controller 9 is electrically connected to the sensor 8, and the sensor 8 can measure the rotation angle of the controllable rotation shaft and send it to the controller 9. The controller 9 converts the spatial position of the laser port of the laser cladding head and the emitting direction of the laser by mathematical geometry according to the information of the sensor 8 and the rotating mechanism 5.
When laser cladding is performed, the controller 9 acquires a printing point required to be remanufactured by the part by acquiring model information of the part, and acquires an angle of laser required by the printing point by mathematical geometry. The spatial position of a laser port of the laser cladding head and the laser emission direction are determined, the controller 9 controls the rotating mechanism 5 to rotate and controls the controllable connecting shaft 7 to rotate, the laser cladding head is moved to a corresponding position, and then laser cladding is carried out.
Adopt under the condition of above-mentioned technical scheme the utility model provides an among the laser cladding equipment, when the connecting axle is controllable connecting axle 7, controller 9 is connected with controllable connecting axle 7 electricity. The end part of the rotating mechanism 5 is fixed on the controllable connecting shaft 7, and the controller 9 controls the controllable connecting shaft 7 to rotate, so that the rotating mechanism 5 is driven to rotate controllably relative to the fixed seat, and the laser cladding head can rotate controllably along with the rotating mechanism 5. The controller 9 also controls the rotating mechanism 5 to controllably rotate the laser cladding head, and the laser cladding head can controllably rotate in two directions by combining the action of the controllable rotating shaft. The sensor 8 is electrically connected with the controller 9, the sensor 8 acquires the rotation information of the laser cladding head in real time, and the controller 9 adjusts the rotation angle between the rotating mechanism 5 and the controllable rotating shaft according to the rotation information, so that the adjustment of the angle between the laser spot of the laser cladding head 2 and the surface of the part 1 is finally realized.
In the foregoing description of embodiments, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a rotatory laser cladding head, its characterized in that, includes fixing base, slewing mechanism and laser cladding head, slewing mechanism articulates on the fixing base, the laser cladding head with slewing mechanism power is connected, slewing mechanism's articulated axis with slewing mechanism's axis of rotation is crossing, slewing mechanism's articulated axis does slewing mechanism with fixing base articulated shaft axis.
2. The rotating laser cladding head of claim 1, wherein an included angle formed by a hinge axis of the rotating mechanism and the fixing seat and a rotating axis of the rotating mechanism is 60-120 °.
3. The rotating laser cladding head of claim 1, wherein an angle formed by a hinge axis of the rotating mechanism and the fixing seat and a rotation axis of the rotating mechanism is 90 °.
4. The rotating laser cladding head of claim 1, wherein a rotation axis of the rotating mechanism intersects a normal direction of a laser emitting port of the laser cladding head.
5. The rotating laser cladding head of claim 1, wherein said rotation mechanism comprises a rotary drive and a mounting member provided on said rotary drive, said laser cladding head being provided on said mounting member.
6. The rotary laser cladding head of claim 5, wherein the mounting member is a turntable fixedly connected to a rotating shaft of the rotary drive.
7. The rotating laser cladding head of any one of claims 1 to 6, wherein the fixing base and the rotating mechanism are hinged together by a connecting shaft.
8. The rotating laser cladding head of claim 7, wherein the fixing base has a mounting groove, the connecting shaft is disposed in the mounting groove, and an end of the rotating mechanism is disposed on the connecting shaft;
the rotating mechanism further comprises a rotating driving piece, the connecting shaft is in power connection with the rotating driving piece, and the rotating driving piece is arranged on the fixed seat.
9. Laser cladding apparatus, comprising a rotary laser cladding head according to any one of claims 1 to 8.
10. The laser cladding apparatus of claim 9, wherein the rotating laser cladding head is the laser cladding head of claim 7 or 8, the connecting shaft is a controllable connecting shaft, an end of the rotating mechanism is fixed on the controllable connecting shaft, the laser cladding apparatus further comprises a controller and a sensor electrically connected with the controller, the sensor is used for obtaining a rotation angle of the controllable connecting shaft, and the controller is electrically connected with the controllable connecting shaft and the rotating mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202023195100.4U CN214300361U (en) | 2020-12-24 | 2020-12-24 | Rotary laser cladding head and laser cladding equipment |
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| CN202023195100.4U CN214300361U (en) | 2020-12-24 | 2020-12-24 | Rotary laser cladding head and laser cladding equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114606489A (en) * | 2022-03-02 | 2022-06-10 | 苏州大学 | Method and equipment for automatically adjusting cladding head to be vertical to base surface to be processed |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114606489A (en) * | 2022-03-02 | 2022-06-10 | 苏州大学 | Method and equipment for automatically adjusting cladding head to be vertical to base surface to be processed |
| CN114606489B (en) * | 2022-03-02 | 2023-12-01 | 苏州大学 | Method and equipment for automatically adjusting verticality of cladding head and base surface to be processed |
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