CN217618843U

CN217618843U - Multi-process composite in-place repairing device of mobile robot

Info

Publication number: CN217618843U
Application number: CN202123298615.1U
Authority: CN
Inventors: 彭芳瑜; 周林; 杨岑岑; 邓犇; 刘冲亚; 唐小卫
Original assignee: Wuhan Digital Design And Manufacturing Innovation Center Co ltd
Current assignee: Wuhan Digital Design And Manufacturing Innovation Center Co ltd
Priority date: 2021-12-24
Filing date: 2021-12-24
Publication date: 2022-10-21
Anticipated expiration: 2031-12-24

Abstract

The utility model provides a compound prosthetic devices on throne of mobile robot multiple operation, include: the anti-overturning device comprises a movable chassis, wherein a plurality of anti-overturning components are arranged on the outer side of the chassis, each anti-overturning component comprises a cross beam and a positioning rod, one end of each cross beam is detachably connected with the chassis, the other end of each cross beam extends towards the direction far away from the chassis, and each positioning rod penetrates through the corresponding cross beam and is in threaded connection with the corresponding cross beam so that the lower end of each positioning rod is in contact with the ground or is separated from the ground; the robot is arranged on the chassis, and the tail end of the robot is provided with a quick-change connector; and three end tools which are respectively a vision tool, a cladding tool and a grinding tool, wherein each end tool is provided with a connecting piece which can be detachably connected with the quick-change connector. The utility model has the advantages that: the vision measurement-laser cladding-polishing multifunctional quick replacement is realized, so that a multi-procedure mixed process flow of vision measurement-part pretreatment-measurement locating-laser cladding-measurement locating-part polishing is realized, one-stop full-flow processing is ensured, and the production efficiency is improved.

Description

Multi-process composite in-place repair device for mobile robot

Technical Field

The utility model relates to a multiple operation combined manufacturing technical field especially relates to a compound prosthetic devices on throne of multiple operation of mobile robot.

Background

In recent years, with the rapid development of aerospace, nuclear and high-speed rail industries, the structures of heavy metal equipment parts such as aircraft engines, large-scale transport tools, power platforms and the like are more and more complex, most parts are limited by the processing capacity of a traditional machine tool when facing field maintenance, and the repair requirements of some complex high-performance parts cannot be met. In response to this situation, a device that can use multi-process hybrid manufacturing techniques to repair these high performance complex components in the field has been developed.

At present, the multi-process hybrid manufacturing technology used in the market is mostly applied to machine tools, and the integral manufacturing of functional complex structural parts can be realized. The multi-procedure hybrid manufacturing technology is a secondary development technology of a traditional numerical control machine tool on the premise of an additive manufacturing technology, combines the advantages of high dimensional precision and good surface quality of additive manufacturing forming by material reduction manufacturing, compensates a novel hybrid processing method with low accuracy of the additive manufacturing technology, and ensures the dimensional precision and the surface quality of a part forming process by using additive manufacturing and timely cutting processing stacked layer by layer, so that a functional part can be directly formed in one-step processing, and the part can complete a deposition-finish machining continuous processing process on the same numerical control machine tool. The method has the advantages that material reduction manufacturing is integrated into the whole deposition process of material increase manufacturing, the purpose is to improve the geometric precision and the surface quality of the solid parts, the finally formed solid parts are highly fitted with an ideal three-dimensional model, the production efficiency is further improved, the working space is saved, the manufacturing difficulty of complex structural parts is reduced, the integration of parts is realized, the production cost is effectively reduced while the quality of the parts is improved, the capacity of traditional machining and manufacturing of the complex structural parts is expanded, and the bottleneck problem of directly manufacturing the complex functional structural parts is solved. The technology is mainly applied to machine tools at present, and in the face of increasing requirements for overhauling parts with high-performance complex structures, the machine tools are greatly restricted by sites, limited in machining size, high in transportation cost and high in difficulty and cannot meet the requirements for field machining. Therefore, a mobile robot multi-process composite in-place repairing device needs to be developed.

SUMMERY OF THE UTILITY MODEL

In view of this to solve the problem that traditional multiple operation combined system overhauls on-the-spot part ability not enough, the embodiment of the utility model provides a mobile robot multiple operation is compound to be in place prosthetic devices.

An embodiment of the utility model provides a compound prosthetic devices on throne of mobile robot multiple operation, include:

the anti-tipping device comprises a movable chassis, wherein a plurality of anti-tipping assemblies are arranged on the outer side of the chassis, each anti-tipping assembly comprises a cross beam and a positioning rod, one end of each cross beam is detachably connected with the chassis, the other end of each cross beam extends towards the direction far away from the chassis, and each positioning rod penetrates through the cross beam and is in threaded connection with the cross beam so that the lower end of each positioning rod is in contact with the ground or is separated from the ground;

the robot is arranged on the chassis, and a quick-change connector is arranged at the tail end of the robot;

and the three end tools are respectively a vision tool, a cladding tool and a grinding tool, and each end tool is provided with a connecting piece which can be detachably connected with the quick-change connector.

Furthermore, the cross beam is connected with the chassis through a detachable fastener, the detachable fastener is a bolt, a U-shaped mounting seat is arranged on the side face of the chassis, the end portion of the cross beam is inserted into the mounting seat, and the bolt penetrates through the cross beam to fasten the cross beam.

Further, the crossbeam is horizontally arranged, and the locating rod is vertically arranged.

Furthermore, a supporting block is arranged at the lower end of the positioning rod.

Furthermore, a hand wheel is arranged at the upper end of the positioning rod.

Furthermore, the number of the anti-tipping assemblies is two, and the two anti-tipping assemblies are respectively arranged at two adjacent corners of the chassis.

Further, a powder feeder is arranged on the chassis, and when the cladding tool is connected with the quick-change connector, the powder feeder is connected with the cladding tool.

Further, the tool support is included, and each end tool is placed on the tool support.

Furthermore, one side of the tool support is provided with three dustproof cover plates, and each dustproof cover plate is arranged above one terminal tool.

Further, the dustproof cover plate is fixedly connected with the tool support through an air cylinder, and the dustproof cover plate is hinged to one end of the air cylinder.

The embodiment of the utility model provides a technical scheme brings the beneficial effect be: the utility model discloses a mobile robot multiple operation is compound to repair device on throne, through the quick change coupler of robot end respectively with vision instrument, cladding instrument and grinding tool detachable connection, realize vision measurement-laser cladding-the quick replacement of the multiple function of polishing to realize vision measurement-part pretreatment-measurement seek position-laser cladding-measurement seek position-the multiple operation mixed process flow of part polishing, guarantee one-stop form full flow processing, improve production efficiency, save space; additionally the utility model discloses simple structure, adopt modular design to guarantee plug-and-play, area is little and solved traditional lathe and restrained too big, the workable size is limited, the cost of transportation is high, the degree of difficulty is big, can not adapt to the problem of field machining demand by the place.

Drawings

Fig. 1 is a schematic diagram of a robot of the multi-process composite on-site repairing device of the mobile robot of the utility model;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

fig. 3 is a schematic diagram of a three-terminal tool of the multi-process composite on-site repairing device of the mobile robot of the present invention.

In the figure: 1-chassis, 2-robot, 3-vision tool, 4-cladding tool, 5-polishing tool, 6-quick-change connector, 7-beam, 8-locating rod, 9-powder feeder, 10-universal wheel, 11-electric control cabinet, 12-connecting piece, 13-tool bracket, 14-dustproof cover plate, 15-cylinder, 16-hand wheel, 17-supporting block, 18-bolt and 19-mounting seat.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be further described below with reference to the accompanying drawings. The following description is of the preferred embodiment of the present invention and is provided to enable a person of ordinary skill in the art to make and use the invention and is not intended to identify key or critical elements of the invention or to delineate the scope of the invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 and 3, an embodiment of the present invention provides a mobile robot multi-process composite in-place repair device, which includes a chassis 1, a robot 2, and three-end tools 3, 4, and 5.

The chassis 1 is used for bearing the robot 2, and a plurality of universal wheels 10 are arranged at the bottom of the chassis 1, so that the chassis 1 can move and further carry the robot 2 to a specified position.

As shown in fig. 1, in order to prevent the robot 2 from tipping the chassis 1 during operation, the chassis 1 is provided with a plurality of anti-tipping assemblies on the sides, and the anti-tipping assemblies are matched with the ground to realize stable fixation of the chassis 1. The number of the anti-tipping components can be flexibly selected according to practical application scenes, and the anti-tipping components are generally dispersedly arranged on one side of the chassis 1 and used for supporting and limiting the chassis 1 through a plurality of angles. In this embodiment, the number of the anti-tipping assemblies is two, and the two anti-tipping assemblies are respectively disposed at two adjacent corners of the chassis 1.

Specifically, the anti-tipping assembly comprises a cross beam 7 and a positioning rod 8, the cross beam 7 is connected with the chassis 1, and the positioning rod 8 is in threaded connection with the cross beam 7 so that the bottom of the positioning rod is in contact with the ground or separated from the ground. Preferably, the cross beam 7 is horizontally arranged, the positioning rod 8 is vertically arranged, and the positioning rod 8 penetrates through the cross beam 7 and is in threaded connection with the cross beam 7.

As shown in fig. 1, a supporting block 17 may be further disposed at the lower end of the positioning rod 8 to increase the contact area with the ground, so as to ensure that the lower end of the positioning rod 8 is stably contacted with the ground, thereby stably positioning the chassis 1. Meanwhile, a hand wheel 16 can be arranged at the upper end of the positioning rod 8, and the positioning rod 8 can be easily screwed through the hand wheel 16, so that the supporting block 17 is in contact with the ground or is separated from the ground.

In addition, the cross member 7 is detachably connected to the chassis 1. As shown in fig. 2, the cross beam 7 is connected to the chassis 1 through a detachable fastener, which may be selected from a plurality of options, such as a detachable fastener selecting bolt 18 in this embodiment, a U-shaped mounting seat 19 is provided on the side of the chassis 1, the end of the cross beam 7 is inserted into the mounting seat 19, and the bolt 18 penetrates through the cross beam 7 to fasten the cross beam 7. The anti-tipping assembly is mounted or dismounted as required to facilitate transport and transfer of the chassis 1. Simultaneously, the bolt 18 is loosened, the cross beam 7 can also rotate, and therefore the position of the positioning rod 8 can be adjusted, namely the position of the anti-tipping assembly can be adjusted to adapt to different environments.

The robot 2 is mounted on the chassis 1, the robot 2 is a multi-axis robot, and the electric control cabinet 11 of the robot 2 is also arranged on the chassis 1. The robot 2 is provided with a quick-change connector 6 at the end, and in this embodiment, the quick-change connector 6 is an electric quick-change connector of a plug-in type. It is understood that other types of electric quick-change connectors can be selected as the quick-change connector 6, and the present embodiment is not limited thereto.

As shown in fig. 3, the three end tools are a vision tool 3, a cladding tool 4 and a grinding tool 5. And the end tools are arranged side by side and are respectively placed on the tool bracket 13 for standby. In order to prevent dust from falling onto the end tools, three dust covers 14 are provided on one side of the tool holder 13, each dust cover 14 being provided above one of the end tools. The dustproof cover plate 14 is fixedly connected with the tool support 13 through an air cylinder 15, the air cylinder 15 is vertically arranged, and the lower end of the dustproof cover plate is fixed on the upper end of the tool support 13, the upper end of the dustproof cover plate is an output end, and the dustproof cover plate 14 is arranged on the upper end of the tool support 13. The dust cover 14 is moved around the end tool to cover or remove from the end tool, and the air cylinder 15 can be controlled to adjust the height of the dust cover 14 to avoid affecting the connection of the robot 2 to each end tool.

Each end tool is provided with a coupling piece 12 which can be detachably connected with the quick-change connector. The coupling 12 is here a mating socket of the plug-in electric quick-change coupling, by means of which quick-change coupling 6 the robot can be coupled to any of the end tools. In the multi-process complex system maintenance, the robot 2 is used to connect the three end tools in a set order.

Specifically, when the robot 2 is connected to the vision tool 3, the vision tool 3 is used to perform three-dimensional scanning on a workpiece to be repaired, acquire image data of the workpiece to be repaired, generate a three-dimensional model according to the image data, and further determine a cladding processing track of the cladding tool 4 and a polishing processing track of the polishing tool 5.

And when the robot 2 is connected with the cladding tool 4, controlling the cladding tool 4 to clad and process the workpiece to be repaired according to the cladding processing track. In this embodiment, a powder feeder 9 is disposed on the chassis 1, and when the cladding tool 4 is connected to the quick-change connector 6, the powder feeder 9 is connected to the cladding tool 4 to input cladding repair material to the cladding tool 4. Similarly, when the robot 2 is connected to the polishing tool 5, the polishing tool 5 is controlled to polish the workpiece to be repaired according to the polishing track.

As shown in fig. 1 and 3, the repairing method using the mobile robot multi-process composite in-place repairing device mainly comprises the following steps:

s1, controlling the chassis 1 to move to enable the robot 2 to reach a designated position;

s2, controlling the robot 2 to be connected with the visual tool 3 through the quick-change connector 6, scanning a workpiece to be repaired through the visual tool 3 to obtain image data, and determining a cladding processing track of the cladding tool 4 according to the image data;

s3, controlling the robot 2 to dismount the visual tool 3 through the quick-change connector 6, connecting the cladding tool 4, and controlling the cladding tool 4 to clad and machine the workpiece to be repaired according to the cladding machining track;

s4, controlling the robot 2 to dismount the cladding tool 4 through the quick-change connector 6, connecting the vision tool 3, scanning a cladded workpiece to be repaired through the vision tool 3 to obtain image data, and determining a grinding track of the grinding tool 5 according to the image data;

and S5, controlling the robot 2 to dismount the vision tool 3 through the quick-change connector 6, connecting the grinding tool 5, and controlling the grinding tool 5 to grind and process the workpiece to be repaired according to the grinding track.

The multi-process composite in-place repair method of the mobile robot can realize a multi-process mixed process flow of vision measurement, part pretreatment, measurement locating, laser cladding, measurement locating and part polishing, cladding and polishing repair are carried out on the surface of a workpiece to be repaired, and the machining precision and the surface quality required by repair are achieved.

In this document, the terms front, back, upper, lower and the like in the drawings are used for the sake of clarity and convenience only for the components are located in the drawings and the positions of the components relative to each other. It is to be understood that they are relative concepts that may be modified in various manners of use and placement and that the use of directional terms should not be taken to limit the scope of what is claimed.

The features of the embodiments and embodiments described herein above may be combined with each other without conflict.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. The utility model provides a mobile robot multiple operation is compound to repair device on throne which characterized in that includes:

and the three end tools are respectively a vision tool, a cladding tool and a polishing tool, and each end tool is provided with a connecting piece which can be detachably connected with the quick-change connector.

2. The mobile robotic multi-process hybrid in-place repair apparatus of claim 1, wherein: the cross beam is connected with the chassis through a detachable fastener which is a bolt, a U-shaped mounting seat is arranged on the side face of the chassis, the end portion of the cross beam is inserted into the mounting seat, and the bolt penetrates through the cross beam to fasten the cross beam.

3. The mobile robotic multi-process composite in-place repair apparatus of claim 1, wherein: the crossbeam is horizontally arranged, and the positioning rod is vertically arranged.

4. The mobile robotic multi-process composite in-place repair apparatus of claim 1, wherein: the lower end of the positioning rod is provided with a supporting block.

5. The mobile robotic multi-process hybrid in-place repair apparatus of claim 1, wherein: and a hand wheel is arranged at the upper end of the positioning rod.

6. The mobile robotic multi-process hybrid in-place repair apparatus of claim 1, wherein: the number of the anti-tipping assemblies is two, and the two anti-tipping assemblies are respectively arranged at two adjacent corners of the chassis.

7. The mobile robotic multi-process composite in-place repair apparatus of claim 1, wherein: the base plate is provided with a powder feeder, and when the cladding tool is connected with the quick-change connector, the powder feeder is connected with the cladding tool.

8. The mobile robotic multi-process composite in-place repair apparatus of claim 1, wherein: the tool support comprises a tool support, and each end tool is placed on the tool support.

9. The mobile robotic multi-process composite in-place repair apparatus of claim 8, wherein: and three dustproof cover plates are arranged on one side of the tool support, and each dustproof cover plate is arranged above one terminal tool.

10. The mobile robotic multi-process hybrid in-place repair apparatus of claim 9, wherein: the dustproof cover plate is fixedly connected with the tool support through an air cylinder, and the dustproof cover plate is hinged to one end of the air cylinder.