CN215950784U

CN215950784U - Self-adaptive variable-diameter steel pipe inner wall laser cladding robot

Info

Publication number: CN215950784U
Application number: CN202120747361.8U
Authority: CN
Inventors: 李昌; 张大成; 高兴; 韩兴; 许彦
Original assignee: University of Science and Technology Liaoning USTL
Current assignee: University of Science and Technology Liaoning USTL
Priority date: 2021-04-13
Filing date: 2021-04-13
Publication date: 2022-03-04
Anticipated expiration: 2031-04-13

Abstract

The utility model relates to a self-adaptive variable-diameter steel pipe inner wall laser cladding robot, which is integrally in a capsule shape and comprises a self-adaptive traveling system, a mechanical support and balance system, a laser cladding system and a water cooling system, wherein the self-adaptive traveling system is powered by a servo motor, a gear box is fixedly connected with an equipment shell, the servo motor transmits power to a main shaft through the gear box, the front part and the rear part of the main shaft are respectively and fixedly connected with two driving bevel gears, and each driving bevel gear is connected with 3 groups of traveling foot supports through driven bevel gears; each driven bevel gear is connected with 1 group of walking foot supports; the 3 groups of front walking foot supports and the 3 groups of rear walking foot supports are supported on the inner wall of the steel pipe to be clad, the inner wall of the steel pipe with variable diameter or constant diameter is subjected to laser cladding through self-adaptive walking, and the pressure overload protection device can adapt to laser cladding strengthening operation of the inner walls of different pipes.

Description

Self-adaptive variable-diameter steel pipe inner wall laser cladding robot

Technical Field

The utility model belongs to the technical field of laser cladding, and particularly relates to a self-adaptive variable diameter steel pipe inner wall laser cladding robot.

Background

With the rapid development of the mechanical industry, the service environment of mechanical parts becomes more and more severe, the mechanical parts are often in service under the limit working conditions of high temperature, high speed, high pressure and strong corrosivity, the requirements on the surface performance of the mechanical parts are higher and higher, and laser additive manufacturing is an important method for improving the surface strengthening quality of the mechanical parts. The laser cladding technology has wide application in the industrial field. The laser cladding has the advantages of heat concentration, high heating and cooling speed, environmental protection, small thermal deformation of workpieces and the like. However, most of the existing laser cladding equipment mainly clad the outer surface of a part, and few equipment for laser cladding of the inner wall of a slender pipe part are used, only the equipment for laser cladding of the inner wall of the pipe mainly drives a cladding head and related equipment to extend into the pipe through a telescopic single arm for cladding, the maximum extension distance of the single arm is limited by stability balance to be 3m, the cladding head driven by the single arm cannot rotate, and the cladding pipe is supported to rotate through rotating a mould, so that cladding of the inner wall of the pipe is realized. After the single arm is melted to 3m deep, the other end of the pipe is turned to and extends into 3m again for cladding. The overall maximum cladding length is less than 6m, and the diameter of the cladding pipe fitting cannot be too small. The automation degree of the equipment is low, the implementation working condition of the cladding process is seriously limited, and the automation operation is not facilitated.

Chinese patent application No. 201510357239.9 discloses a pipe fitting inner wall laser cladding device, though the mechanism is simple, it can not be suitable for the variable pipe diameter operating mode, and equipment need constantly adjust the laser focus position under the variable pipe diameter, therefore this technical scheme can't realize carrying out continuous laser cladding operation to the pipe fitting that the pipe diameter changes. Meanwhile, the cooling treatment of equipment such as a laser cladding head and the like is not considered. The laser cladding operation space of the inner wall of the steel pipe is narrow and limited, smoke is mixed, the environmental temperature is easy to rise, a large amount of heat is often generated in cladding, and if the heat cannot be discharged in time, the heat can be continuously accumulated, and the heat damage can be caused to cladding head equipment.

Chinese patent application No. 201910597211.0 discloses a device and a use method suitable for laser cladding of the inner wall of a slender tube, which improves cladding stability by increasing a fulcrum, and realizes cladding operation by rotating a cladding pipe fitting by water cooling through a pipeline. But the device is only suitable for long and thin pipe fittings which are small in size and easy to move, and has no corresponding design scheme for large-tonnage pipes and fixed pipe fitting inner walls. Meanwhile, the length of the pipe fitting is strictly limited, and the pipe fitting with the overlarge length can not be used as a force.

In the times of industrial brisk development, the problem of laser cladding strengthening of the inner wall of the slender pipe under different working conditions cannot be ignored. There are two bottlenecks that limit this area: firstly, cladding process; and the other is a cladding mechanical carrier device. With the development of laser technology, the cladding process is gradually mature and solved. However, an important mechanical device carrier for realizing the laser cladding of the inner wall of the steel pipe is still lacked, and the device needs to be suitable for wider application working conditions, and particularly, the problem of the laser cladding of the inner wall of the pipe which is reinforced by the inner wall of a large-tonnage pipe which cannot be moved, has step-change pipe diameter and is longer is urgently solved. Therefore, it is urgently needed to design a pipe inner wall cladding device with simple structure, convenient use and high automation degree so as to improve the wider application of the laser cladding process in the strengthening of the inner wall of the elongated pipe.

Disclosure of Invention

In order to overcome the defects of the prior art, the utility model aims to provide a self-adaptive variable diameter steel pipe inner wall laser cladding robot which can realize laser cladding strengthening treatment on the inner wall of a long pipe with a pipe diameter changing in a step manner.

In order to achieve the purpose, the utility model is realized by the following technical scheme:

a self-adaptive variable-diameter steel pipe inner wall laser cladding robot is in a capsule shape and comprises a self-adaptive traveling system, a mechanical support and balance system, a laser cladding system and a water cooling system;

the self-adaptive walking system comprises a servo motor, a gear box, a main shaft and walking foot supports, wherein the servo motor provides power for the self-adaptive walking system, the gear box is fixedly connected with an equipment shell, the servo motor transmits the power to the main shaft on the main shaft of the whole equipment through the gear box, the front part and the rear part of the main shaft are respectively and fixedly connected with two driving bevel gears, and each driving bevel gear is connected with 3 groups of walking foot supports through driven bevel gears; the driving bevel gears are meshed with the driven bevel gears, the driven bevel gears are uniformly distributed by taking the main shaft as the center, and the axis of each driven bevel gear forms an angle of 90 degrees with the axis of the driving bevel gear; each driven bevel gear is connected with 1 group of walking foot supports;

the walking foot support comprises a chain wheel I, a chain wheel II, a worm wheel and a heat-resistant walking wheel, a driven bevel gear is coaxially and fixedly connected with the worm, the worm and the worm wheel are in meshed transmission, the center of the worm wheel is fixedly connected with the chain wheel I through a pin shaft, and the pin shaft is supported by a support fixedly connected to the outer part of the equipment shell; the first chain wheel and the second chain wheel are in chain transmission, the second chain wheel is connected with the heat-resistant travelling wheel, and power is transmitted to the heat-resistant travelling wheel through chain transmission; the servo motor drives the walking foot supports, the walking action of each walking foot support is transmitted to the worm gear through 3 driven bevel gears which mutually form an angle of 120 degrees, and then the power is transmitted to the heat-resistant walking wheel through chain transmission.

The mechanical support and balance system is powered by a servo motor to drive 3 groups of front walking foot supports and 3 groups of rear walking foot supports; the mechanical support and balance system is composed of two parts;

the first part is a support member group which comprises a tension rod, a hollow screw rod and a three-jaw nut; the top end of the tension rod is hinged with the middle part of a Y-shaped supporting rod of the walking foot support, and the bottom end of the tension rod is hinged with a claw on the three-claw screw nut; the hollow lead screw is in threaded connection with the three-jaw nut, is coaxially arranged with the main shaft and is connected with the main shaft through a bearing to provide supporting power for the walking foot support;

the second part is a pressure overload protection device between the heat-resistant travelling wheel and the inner wall of the cladding steel pipe, and comprises a spring cavity, a constant pressure ball, a pressure spring, a constant pressure gear and a gear fixing retaining ring, wherein splines are uniformly distributed on the outer part of the spring cavity and are spliced with a rear hollow lead screw, so that the circumferential fixation of the spring cavity and the rear hollow lead screw is realized; a cylindrical blind hole structure is uniformly distributed in the circumferential direction in the spring cavity, and a pressure spring is arranged in the cylindrical blind hole structure; the constant pressure gear is coaxially arranged with the main shaft; hemispherical pits are uniformly distributed on the surface, close to the spring cavity, of the constant pressure gear in the circumferential direction, a constant pressure ball is arranged in each pit, a gear fixing retaining ring is arranged between the main shaft and the spring cavity and is in threaded connection with the inner side of the spring cavity, the constant pressure ball, the constant pressure gear and the gear fixing retaining ring are sequentially abutted and contacted under the action of a pressure spring, a gap is reserved between the constant pressure gear and the spring cavity, and a gap is reserved between the gear fixing retaining ring and the main shaft;

the servo motor transmits power to the constant pressure gear through gear meshing transmission, the constant pressure gear drives the spring cavity to rotate through the constant pressure ball, the spring cavity transmits the power to the hollow screw rod and the three-jaw nut, the tension rod is driven through axial movement of the three-jaw nut, and the power is transmitted to the Y-shaped supporting rod, so that the stretching angle adjustment of the 6 groups of walking foot supports is realized, and the walking foot supports are in contact with the inner tube wall to be clad.

The laser cladding system comprises a gear II, a gear III, a gear IV, a cladding head rotating shell, a cladding head fixing shell, a reflector, a beam focusing lens adjusting motor, a beam focusing lens adjusting lead screw, a beam focusing lens, a reflector angle adjusting motor and a cladding nozzle; a second gear is fixedly connected with the main shaft, the second gear is mutually engaged with a third gear, the third gear and a fourth gear are fixedly connected with a transmission shaft, the transmission shaft is connected with the equipment shell through a bearing, the fourth gear is engaged with a first gear fixed on the cladding head rotating shell, the cladding head fixing shell is fixedly connected with the equipment shell, the cladding head rotating shell is mutually rotatably connected with the cladding head fixing shell, laser cavities and powder feeding cavities are respectively arranged in the cladding head rotating shell and the cladding head fixing shell from inside to outside, the two laser cavities are mutually communicated, and a first sealing ring is arranged at the connection position; the two powder feeding cavities are communicated with each other, and a sealing ring II is arranged at the joint;

a beam focusing lens adjusting motor is fixed on the cladding head fixing shell, the beam focusing lens adjusting motor drives a beam focusing lens adjusting lead screw to rotate so as to drive a nut in threaded connection with the beam focusing lens adjusting lead screw to lift, and the beam focusing lens is fixed on the nut to realize adjustment of the position of a laser focusing point; the laser cavity of the rotary shell of the cladding head is internally provided with a reflector, a reflector angle adjusting motor can drive the reflector to rotate, and the position of a light spot irradiated on the inner wall of the pipe is adjusted by matching with the position adjustment of a light beam focusing lens, so that the light spot is converged at the same point as the powder sprayed by the cladding nozzle, and the rotary shell of the cladding head is connected with the cladding nozzle communicated with the powder feeding cavity.

The water cooling system comprises water cooling pipelines which are uniformly arranged on the inner wall of the equipment shell, and the water cooling pipelines are connected with a cooling water inlet pipe and a cooling water outlet pipe which are arranged outside the equipment shell.

The heat-resistant walking device is characterized by further comprising a Y-shaped supporting rod, one end of the Y-shaped supporting rod is hinged with a support outside the device shell, the other end of the Y-shaped supporting rod is connected with a heat-resistant walking wheel, and the first chain wheel and the second chain wheel are connected to the Y-shaped supporting rod.

And a balancing weight block is fixed in the hollow screw rod.

And a rectangular light-transmitting outlet is formed in the position, close to the cladding nozzle, of the cladding head rotating shell.

Compared with the prior art, the utility model has the beneficial effects that:

the self-adaptive variable diameter steel pipe inner wall laser cladding robot is ingenious in design, can walk in the steel pipe in a self-adaptive mode, and is suitable for laser cladding strengthening operation of different pipe inner walls based on the pressure overload protection device. The method has the following specific advantages:

1. the device is suitable for laser cladding of the inner wall of the pipe with the changed diameter, the posture of the device can be self-adaptively adjusted in time in the cladding process, and cladding can be continuously performed when the pipe diameter is changed.

2. The device is provided with a light beam focusing lens and a reflector with adjustable positions, realizes the adjustment of a light path, is coordinated with a rotary cladding head for feedback control, can realize 360-degree rotation of the cladding head, and is particularly suitable for the laser cladding operation of large-tonnage fixed pipes and the inner walls of pipes inconvenient to move or rotate.

3. The laser cladding system can be flexibly and randomly closed according to the requirements of working conditions, and selective laser cladding operation of different positions of the inner wall of the steel pipe is realized.

4. Energy-saving, environment-friendly, precise and controllable. The device is provided with a water cooling pipeline, so that heat generated by laser cladding on the inner wall of the pipe can be discharged in time, and the device can adapt to long-time operation.

5. The portable device has small volume, light weight, strong applicability and can be moved in different places.

6. The whole capsule type design structure is adopted, the series products with different sizes can be designed according to different working condition requirements, the disassembly is easy, the structure is simple, the maintenance is convenient, the visual function is designed, the control scheme is adjusted in time according to the laser cladding working condition and the cladding pipe characteristics, and the operation is optimized.

Drawings

Fig. 1 is an assembly view of the overall structure of the laser cladding robot.

Fig. 2-1 is a front view of the laser cladding robot.

Fig. 2-2 is a cross-sectional view of fig. 2-1 taken along line a-a.

FIG. 3-1 is a block diagram of an adaptive running system.

FIG. 3-2 is an enlarged view of section A of FIG. 3-1.

Fig. 3-3 is an enlarged view of portion B of fig. 3-1.

Fig. 4-1 is a block diagram of a mechanical support and counterbalance system.

Fig. 4-2 is an enlarged view of the portion C of fig. 4-1.

Fig. 4-3 is a cross-sectional view taken along line E-E of fig. 4-1.

Fig. 5-1 is a structural view of the pressure overload protection apparatus.

Fig. 5-2 is a cross-sectional view taken along line F-F of fig. 5-1.

Fig. 6 is a block diagram of a laser cladding system.

Fig. 7-1 is a front view of a laser cladding system.

Fig. 7-2 is a sectional view taken along line H-H of fig. 7-1.

Fig. 8-1 is a top view of a laser cladding system.

Fig. 8-2 is a sectional view taken along line G-G of fig. 8-1.

Fig. 9-1 is a schematic view of the structure of the water cooling system.

Fig. 9-2 is a cross-sectional view taken along line a-a of fig. 9-1.

Fig. 9-3 is a cross-sectional view taken along line B-B of fig. 9-1.

Fig. 10-1 is a structural diagram of the laser cladding robot.

Fig. 10-2 is an enlarged view of the portion D of fig. 10-1.

Fig. 10-3 is an enlarged view of section E of fig. 10-1.

Fig. 10-4 is an enlarged view of section F of fig. 10-1.

Fig. 10-5 is an enlarged view of the portion G of fig. 10-1.

In the figure: 1. the device comprises a device shell 2, a reflector angle adjusting motor 3, a first gear 4, a cladding head rotating shell 5, a cladding nozzle 6, a fourth gear support 7, a front tension rod 8, a front Y-shaped support rod 9, a front heat-resistant walking wheel 10, a front chain wheel II 11, a pin shaft 12, a tension rod 13, a rear Y-shaped support rod 14, a heat-resistant walking wheel 15, a rear chain 16, a rear chain wheel II 17, a servo motor 18, a gear box 19, a connecting bolt 20, an auxiliary shaft 21, a fifth gear 22, a sixth gear 23, a seventh gear 24, an eighth gear 25, a worm 26, a front foot support worm 27, a driving bevel gear 28, a driven bevel gear (3) 29, a rear chain wheel I30, a pin shaft 31, a main shaft 33, a rear foot support pin shaft 34, a ninth gear 35, a rear hollow lead screw 36, a bearing 37, a constant pressure gear 38, a gear fixing retainer 39, a cavity spring retainer 40. The rear three-jaw screw 41, the front three-jaw screw 42, the balancing weight 43, the constant pressure ball 44, the pressure spring 45, the gear two 46, the gear three 47, the beam focusing lens adjusting motor 48, the cladding head fixing shell 49, the fixing limit flange 50, the bearing 51, the light transmission outlet 52, the front chain 53, the gear four 54, the transmission shaft 55, the optical fiber fixing nut 56, the carrier gas and cladding powder tube fixing nut 57, the carrier gas and cladding powder tube 58, the foot support bevel gear 59, the laser cavity 60, the electric wire 61, the optical fiber 62, the sealing ring one 63, the sealing ring two 64, the powder feeding cavity 65, the beam focusing lens adjusting screw 66, the beam focusing lens 67, the connecting screw 68, the reflector 69, the carrier gas and cladding powder tube inlet 70, the cooling water inlet tube 71, the cooling water outlet tube 72, the water cooling pipeline 73 and the pipeline fixing tube.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings, but it should be noted that the present invention is not limited to the following embodiments.

Referring to fig. 1-10-5, the self-adaptive variable diameter steel pipe inner wall laser cladding robot comprises a self-adaptive traveling system, a mechanical support and balance system, a laser cladding system and a water cooling system.

Referring to fig. 1, 2-2, 3-1-3, 4-1-4-3, the adaptive running system: the servo motor 17 provides power, and the power is transmitted to a main shaft 32 on the main axis of the whole device through two pairs of gears seven 23, eight 24, five 21 and six 22 of the gear box 18 and is simultaneously transmitted to the auxiliary shaft 20. The auxiliary shaft 20 drives the gear nine 34 to be in meshing transmission with the constant pressure gear 37, so that power input is realized. The constant pressure gear 37 transmits power to a spring cavity 39 through constant pressure balls 43 arranged in 8 groups of hemispherical pits on the constant pressure gear, 4 splines are uniformly distributed outside the spring cavity 39 and are inserted into a rear hollow lead screw 35 to realize circumferential rotation, the rear hollow lead screw 35 drives a rear three-jaw screw 40 to move towards the front direction along three sliding grooves on the equipment shell 1, the rear three-jaw screw 40 drives a rear Y-shaped support rod 13 to move through a tension rod 12, so that 3 rear walking foot support angle opening actions are realized, the 3 foot supports circumferentially form an angle of 120 degrees with each other to support the inner wall of a pipe, and the heat-resistant walking wheel 14 is adjusted to a position which is just in contact with the inner wall of the pipe to be clad. Meanwhile, power is also transmitted to the same 3 front walking foot supports through the auxiliary shaft 20, and the position adjustment between the front heat-resistant walking wheels 9 and the inner wall of the pipe is realized.

When the pressure between the heat-resistant travelling wheel 14 and the inner wall of the pipe reaches a certain value, the rear three-jaw screw nut 40 is blocked to move, so that the rear hollow screw 35 stops running, the constant pressure gear 37 enables the constant pressure balls 43 and the pressure springs 44 to be squeezed, the constant pressure balls 43 are respectively separated from the 8 groups of uniformly distributed hemispherical recesses until the constant pressure gear 37 and the spring cavity 39 are separated from a synchronous rotating state, the heat-resistant travelling wheel 14 supported by the 6 travelling legs is tightly pressed against the inner wall of the pipe through the elastic force applied by the pressure springs, and sufficient friction force is provided for self-adaptive travelling of equipment.

Meanwhile, the main shaft 32 synchronously drives the driving bevel gear 27, and the driving bevel gear 27 is simultaneously meshed with 3 driven bevel gears 28, so that the first power is divided into three outputs. The 3 driven bevel gears 28 are coaxially and fixedly connected with the worm 25 respectively to drive the worm 25 to rotate, and the worm 25 and the worm wheel 31 are meshed for transmission. The worm wheel 31 transmits power to a first rear chain wheel 29 arranged on the pin shaft 30 in parallel, the first rear chain wheel 29 and a second rear chain wheel 16 are transmitted through a rear chain 15, and finally the power is transmitted to the heat-resistant travelling wheel 14. Similarly, the rear walking foot supports have 3 groups, and power is respectively and synchronously transmitted to the other two rear walking foot supports. The same front walking foot supports are also provided with three groups, the main shafts 32 are uniformly distributed in 120 degrees in space, and the power is provided by the front 3 driven bevel gears to realize driving, so that the self-walking function of the robot is realized.

4-1-4-3, 5-1 and 5-2, when the diameter of the pipe to be clad is increased from small to large, the three front traveling legs firstly jump to the working condition of large diameter to cause the pressure between the front traveling legs and the inner wall of the steel pipe to disappear, the fixed pressure ball 43 returns to the hemispherical recess under the action of the pressure spring according to the pressure change requirement, the fixed pressure gear 37 drives the spring cavity 39 to rotate through the fixed pressure ball 43, thereby driving the front hollow lead screw to rotate, causing the front three-jaw screw nut 41 to move forward, driving the front tension rod 7 to pull the front leg support Y-shaped support rod 8 to open by an angle so as to adapt to the current requirement of the pipe diameter of the large-diameter steel pipe, and after the front hollow lead screw nut is supported to a certain position, the front heat-resistant traveling wheel 9 is in contact with the inner wall of the steel pipe, and when the pressure reaches a certain value, the pressure overload protection device is restarted. The front three-jaw screw 41 is blocked to cause the front hollow screw to stop running, the constant pressure gear 37 enables extrusion between a constant pressure ball 43 and a pressure spring 44, the constant pressure ball 43 is separated from 8 groups of uniformly distributed hemispherical pits respectively until the constant pressure gear 37 and a spring cavity 39 are separated from a synchronous rotating state, and elastic force applied by the pressure spring 44 enables the heat-resistant travelling wheels 9 supported by 3 front legs to be pressed against the inner wall of the pipe, so that sufficient friction force is provided for self-adaptive travelling of equipment. In a similar way, the 3 rear walking legs also repeat the diameter changing actions in the next step, but the process still carries out continuous cladding operation, and further the cladding of the diameter changing steel pipe is realized.

When the diameter of the pipe to be clad is changed from large to small, the servo motor 17 needs to be controlled to rotate reversely, the equipment automatically folds 6 walking legs through the lead screw, exits the equipment from the original path of the steel pipe and enters the steel pipe for cladding from the other direction, and the cladding operation under the working condition that the diameter is changed from small to large is repeated until the cladding process is completed. And in the exiting process, the laser cladding system needs to be turned off, and the cladding operation is stopped.

Referring to fig. 6, 7-1, 7-2, 8-1, 8-2, 9-1-9-3 and 10-1-10-5, the laser cladding system is powered by a servo motor 17, a gear two 45 is fixedly connected to a main shaft 32, the gear two 45 is in mutual meshing transmission with a gear three 46, the power is transmitted to a gear four 53 fixedly connected to a transmission shaft 54 through the gear three 46 through the transmission shaft 54, the gear four 53 is arranged on a gear four support 6, the gear four 53 is in mutual meshing transmission with the gear one 3, the power is transmitted to a cladding head rotating shell 4 fixedly connected with the gear one 3 through the gear one 3, a cladding head fixing shell 48 is fixedly connected with an equipment shell 1, the cladding head fixing shell 48 is in mutual close fit with the cladding head rotating shell 4, a sealing ring is adopted for sealing, a powder feeding cavity 64 is in mutual sealing ring two 63 between the outside, The first sealing rings 62 between the laser cavity 59 and the powder feeding cavity 64 are respectively embedded in the respective grooves to respectively form the sealed laser cavity 59 and the sealed powder feeding cavity 64, the fixing and limiting flange 49 is pressed tightly by a plurality of connecting screws 67, and the cladding head fixing shell 48 and the cladding head rotating shell 4 are limited by the fixing and limiting flange 49 to freely rotate between the two. The laser cladding system transmits power to the cladding head rotating shell 4 to rotate through gear transmission by the servo motor 17, and rotates relative to the cladding head fixing shell 48.

The carrier gas and cladding powder tube 57 is fixedly connected to the cladding head fixing shell 48 through the carrier gas and cladding powder tube fixing nut 56, so that the carrier gas and cladding powder tube inlet 69 is connected to the powder cavity 64, and the optical fiber 61 is fixedly connected to the cladding head fixing shell 48 through the optical fiber fixing nut 55. The electric wire 60 is connected with the beam focusing lens adjusting motor 47, the beam focusing lens adjusting motor 47 is started to drive the beam focusing lens adjusting screw rod 65 to rotate, and the beam focusing lens 66 is in spiral fit with the beam focusing lens adjusting screw rod 65 through a nut, so that the position of the beam focusing lens 66 is adjusted, and the position of a laser focusing point is adjusted flexibly. The reflector angle adjusting motor 2 is started to adjust the angle of the reflector 68 in the laser cavity 59, and the reflector and the beam focusing lens 66 are matched to adjust the position of the beam focusing lens to realize control signal feedback, so that the light spot position of the laser beam irradiated on the inner wall of the pipe is effectively adjusted, the light spot position and the powder sprayed by the cladding nozzle 5 are converged at the same point, a rectangular light-transmitting outlet 51 is arranged on the rotary shell 4 of the cladding head close to the cladding nozzle 5, and the size of the rectangular light-transmitting outlet is matched with the light path adjusting range according to the requirements of different pipe diameters. And starting the laser, the powder feeder and the carrier gas, wherein the carrier gas carries cladding powder to be introduced from the powder feeding cavity 64 and sprayed to the inner wall of the steel pipe through the cladding nozzle 5, and the laser is introduced from the laser cavity 59, so that the laser cladding operation of the pipe wall is effectively carried out.

The light path adjusting part is also suitable for laser quenching and laser cleaning (paint removal and rust removal) operations, so the adjustment related to the processes is in the protection scope of the patent.

And (3) starting the water cooling system, wherein circulating water enters from the cooling water inlet pipe 70 and circularly flows through the equipment shell water cooling pipeline 72 to effectively cool and radiate the inner wall of the equipment shell 1, and is discharged through the cooling water outlet pipe 71. The pipeline fixing tube 73 is fixedly connected with the equipment shell 1 and used for fixing the optical fiber 61, the electric wire 60, the carrier gas and the cladding powder tube 67.

The inner wall of the steel pipe is subjected to laser cladding through a self-adaptive variable diameter steel pipe inner wall laser cladding robot, the whole self-adaptive variable diameter steel pipe inner wall laser cladding body is in a capsule shape, the self-adaptive variable diameter steel pipe inner wall laser cladding body is supported on the inner wall of the steel pipe to be cladded through 3 groups of forward walking foot supports and 3 groups of backward walking foot supports, and the inner wall of the variable diameter or non-variable diameter steel pipe is subjected to laser cladding through self-adaptive walking.

The robot has the advantages of reasonable structure, easy disassembly, light weight, reliable performance, flexible and convenient use, high automation degree, easy maintenance and low energy consumption, really runs through the practical and low-cost design concept all the time, solves the bottleneck problem of the pipe inner wall laser cladding process under the complex and changeable working condition, and is beneficial to promoting the wider popularization and application of the laser cladding technology.

Claims

1. A self-adaptive variable diameter steel pipe inner wall laser cladding robot is characterized in that the robot is in a capsule shape as a whole, and the robot comprises a self-adaptive traveling system, a mechanical support and balance system, a laser cladding system and a water cooling system;

2. The adaptive type variable diameter steel pipe inner wall laser cladding robot according to claim 1, wherein the mechanical support and balance system is powered by a servo motor to drive 3 groups of front walking legs and 3 groups of rear walking legs; the mechanical support and balance system is composed of two parts;

3. The adaptive type diameter-variable steel pipe inner wall laser cladding robot of claim 1, wherein the laser cladding system comprises a second gear, a third gear, a fourth gear, a cladding head rotating shell, a cladding head fixing shell, a reflector, a beam focusing lens adjusting motor, a beam focusing lens adjusting lead screw, a beam focusing lens, a reflector angle adjusting motor and a cladding nozzle; a second gear is fixedly connected with the main shaft, the second gear is mutually engaged with a third gear, the third gear and a fourth gear are fixedly connected with a transmission shaft, the transmission shaft is connected with the equipment shell through a bearing, the fourth gear is engaged with a first gear fixed on the cladding head rotating shell, the cladding head fixing shell is fixedly connected with the equipment shell, the cladding head rotating shell is mutually rotatably connected with the cladding head fixing shell, laser cavities and powder feeding cavities are respectively arranged in the cladding head rotating shell and the cladding head fixing shell from inside to outside, the two laser cavities are mutually communicated, and a first sealing ring is arranged at the connection position; the two powder feeding cavities are communicated with each other, and a sealing ring II is arranged at the joint;

4. The laser cladding robot for the inner wall of the adaptive variable diameter steel pipe according to claim 1, wherein the water cooling system comprises water cooling pipelines uniformly arranged on the inner wall of the equipment shell, and the water cooling pipelines are connected with a cooling water inlet pipe and a cooling water outlet pipe outside the equipment shell.

5. The laser cladding robot for the inner wall of the self-adaptive variable diameter steel pipe as claimed in claim 1, further comprising a Y-shaped support rod, wherein one end of the Y-shaped support rod is hinged to a support outside the equipment housing, the other end of the Y-shaped support rod is connected with a heat-resistant traveling wheel, and the first chain wheel and the second chain wheel are connected to the Y-shaped support rod.

6. The adaptive type reducing steel pipe inner wall laser cladding robot of claim 2, characterized in that a balancing weight is fixed in the hollow lead screw.

7. The adaptive type diameter-variable steel pipe inner wall laser cladding robot as claimed in claim 3, wherein a rectangular light-transmitting outlet is formed in the position, close to the cladding nozzle, of the cladding head rotating shell.