CN220724343U - Automatic mechanical arm laser cladding device for shaft part surface - Google Patents
Automatic mechanical arm laser cladding device for shaft part surface Download PDFInfo
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- CN220724343U CN220724343U CN202322090874.8U CN202322090874U CN220724343U CN 220724343 U CN220724343 U CN 220724343U CN 202322090874 U CN202322090874 U CN 202322090874U CN 220724343 U CN220724343 U CN 220724343U
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- 238000004372 laser cladding Methods 0.000 title claims abstract description 34
- 238000005253 cladding Methods 0.000 claims abstract description 64
- 230000003993 interaction Effects 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims abstract description 6
- 210000000707 wrist Anatomy 0.000 claims description 13
- 210000000245 forearm Anatomy 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 description 8
- 239000000758 substrate Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 238000001816 cooling Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- Laser Beam Processing (AREA)
Abstract
The utility model relates to the technical field of laser cladding, in particular to an automatic laser cladding device of a mechanical arm for the surface of a shaft part, which comprises the mechanical arm, a lathe and an industrial personal computer, wherein the mechanical arm is arranged at one side of the lathe; the movable end of the mechanical arm is provided with a laser head assembly, and the laser head assembly comprises a preheating laser head and a cladding laser head; the industrial personal computer performs data interaction with the man-machine interaction interface, and is respectively in communication link with an I/O module of the mechanical arm and a spindle driving frequency converter of the lathe; the I/O module comprises a mechanical arm I/O module and a laser control I/O module, wherein the mechanical arm I/O module is used for controlling the mechanical arm to act, and the laser I/O module is used for controlling the start and stop and the power of the laser head assembly. According to the utility model, the laser control, the lathe control and the mechanical arm control are integrated, so that automatic cladding operation can be realized.
Description
Technical Field
The utility model relates to the technical field of laser cladding, in particular to an automatic laser cladding device of a mechanical arm for the surface of shaft parts.
Background
The laser cladding technology is widely applied in the industrial field, a molten pool is formed by irradiating the surface of a substrate with a high-energy laser beam, cladding materials are fed into the molten pool in a powder form and are fused with the surface of the substrate, and a material adding cladding layer is formed on the surface of the substrate, so that the purposes of modifying and repairing the surface of a workpiece are achieved, and the service life of a part is prolonged.
The laser cladding has the advantages of heat concentration, high heating and cooling speeds, environmental protection, small thermal deformation of a workpiece and the like, and the main equipment of the laser cladding comprises the following components: patent number CN201721027688.8 discloses a cladding laser head.
When the surface cladding operation of the shaft parts is needed, the surface operation of the shaft parts is needed to be surrounded, the manual operation of operators is difficult to accurately control the operation, the cladding area is uneven, especially the partial cladding area is too long, or the temperature of a substrate is easily increased due to inaccurate control of repeated cladding, and finally the quality of a cladding layer is influenced.
Disclosure of Invention
The utility model aims to overcome the defects in the prior art and provides an automatic mechanical arm laser cladding device for the surfaces of shaft parts, which can realize automatic cladding operation by integrating laser control, lathe control and mechanical arm control.
The technical scheme of the utility model is as follows: the automatic laser cladding device for the mechanical arm of the surface of the shaft part comprises a mechanical arm, a lathe and an industrial personal computer, wherein the mechanical arm is arranged at one side of the lathe;
the movable end of the mechanical arm is provided with a laser head assembly, and the laser head assembly comprises a preheating laser head and a cladding laser head;
the industrial personal computer performs data interaction with the man-machine interaction interface, and is respectively in communication link with an I/O module of the mechanical arm and a spindle driving frequency converter of the lathe;
the I/O module comprises a mechanical arm I/O module and a laser control I/O module, wherein the mechanical arm I/O module is used for controlling the mechanical arm to act, and the laser I/O module is used for controlling the start and stop and the power of the laser head assembly.
Preferably, the mechanical arm comprises a base, a rotating seat, a large arm, a forearm barrel and a wrist which are sequentially connected, and the preheating laser head and the cladding laser head are fixed on the wrist.
Preferably, the lathe comprises a lathe body, a lathe seat, a spindle box, a chuck and a tailstock;
the main shaft box is arranged at the top of one side of the lathe bed, a main shaft for driving shaft parts to perform rotary motion is arranged on the main shaft box, and the chuck is assembled at the free end of the main shaft and is used for clamping the shaft parts;
the tailstock is arranged at the top of the other side of the lathe bed, and the shaft parts are fastened through the tailstock.
Preferably, the machine tool further comprises a coordinate positioning system, wherein the coordinate positioning system takes a lathe plane as an X-Y plane;
the positive direction of the X axis is right in front of the mechanical arm base, and is vertical to the lathe spindle;
the positive direction of the Y axis is the upper part of the mechanical arm base, and the positive direction of the Z axis is the left side of the mechanical arm base and is parallel to the lathe spindle.
Preferably, the industrial personal computer performs data interaction with the man-machine interaction interface through the USB and DVI interfaces.
Preferably, the industrial personal computer communicates with the I/O module through EtherCAT protocol;
and the industrial personal computer is communicated with a spindle driving frequency converter of the lathe through a Modbus485 protocol.
Preferably, a lathe spindle motor for driving the spindle to rotate is arranged in the spindle box, and the lathe spindle motor is connected with a spindle driving frequency converter through lathe spindle driving.
Preferably, the mechanical arm is also provided with a mechanical arm motor unit for driving the rotating seat, the large arm, the forearm cylinder and the wrist to move;
the mechanical arm I/O module comprises a servo driving module and a servo driver, and the servo driving module is connected with the mechanical arm motor group through the servo driver.
Compared with the prior art, the utility model has the following advantages:
according to the utility model, cladding operation is controlled by the industrial personal computer, laser control, mechanical arm control and lathe control are integrated, different workpiece technological parameter information is preset in the system, the system integration and packaging degree are high, automatic cladding operation can be realized, a surface to be processed is preheated by a preheating laser head during operation, and cladding operation is carried out on the preheated workpiece surface by the cladding laser head;
in addition, compared with manual control, the method can realize a precise double-screw cladding mode through mechanized control, and the cladding mode can reduce the rise of the temperature of the substrate in the cladding process and improve the quality of the cladding layer.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present utility model;
FIG. 2 is a block diagram of a system for integrating laser control, robot arm control and lathe control by an industrial personal computer;
FIG. 3 is a schematic diagram of a double spiral cladding trace;
in the figure:
1. the device comprises a base, a rotating seat, a large arm, an industrial personal computer, a spindle box, a forearm barrel, a chuck, a wrist, a cladding laser head, a preheating laser head and a welding laser head, wherein the base, the rotating seat, the large arm and the industrial personal computer are arranged in sequence, the spindle box and the forearm barrel are arranged in sequence, the chuck and the wrist are arranged in sequence, the cladding laser head is arranged in sequence, and the preheating laser head is arranged in sequence;
11. the workpiece, 12, tailstock, 13, lathe bed, 14, bed, 15, first spiral line, 16, second spiral line.
Detailed Description
The utility model is further illustrated by the following examples in connection with the accompanying drawings.
Example 1
Referring to fig. 1 and 2, an automatic laser cladding device for a mechanical arm for a shaft part surface comprises a mechanical arm, a lathe and an industrial personal computer 4.
The mechanical arm is arranged on one side of the lathe, and the lathe is used for clamping the shaft parts and driving the shaft parts to rotate.
The laser head assembly is installed to the active end of arm, and the laser head assembly is including preheating laser head 10 and cladding laser head 9, and wherein preheat laser head 10 is used for preheating the waiting processing surface of axle class part, and cladding laser head 9 is used for carrying out cladding operation on the surface after preheating.
The industrial personal computer 4 performs data interaction with the man-machine interaction interface, and the industrial personal computer 4 is respectively in communication link with the I/O module of the mechanical arm and the spindle driving frequency converter of the lathe.
The I/O module comprises a mechanical arm I/O module and a laser control I/O module, wherein the mechanical arm I/O module is used for controlling the mechanical arm to act, and the laser I/O module comprises a laser start-stop module and a power control module and is used for controlling the start-stop and the power of the laser head assembly.
The man-machine interface system can display information such as cladding layer number, mechanical arm position, mechanical arm running speed, lathe rotating speed and the like according to requirements, indicates running conditions of each system, controls running of each system through intervention of the man-machine interface system, and can be arranged on the industrial personal computer 4 or a computer and then is in data connection with the industrial personal computer 4.
The workpiece 11 is clamped by a lathe and rotates, the industrial personal computer 4 plans the running track of the mechanical arm and the matching of the rotating speed of the lathe spindle and the running speed of the mechanical arm, and controls the mechanical arm to drive the laser cladding head to move at a uniform speed above the workpiece 11 along the rotating shaft direction of the workpiece 11, so that the mechanical arm drives the laser cladding head to completely and uniformly cover the surface to be clad and complete cladding operation.
The mechanical arm can adopt an electric drive multi-joint mechanical arm, the electric drive mode has the advantages of convenient power supply, quick response, larger driving force, convenient signal detection, transmission and processing, and can adopt various flexible control schemes.
Example 2
The embodiment is to further optimize the mechanical arm and the lathe based on the embodiment, and specifically comprises the following steps:
the mechanical arm comprises a base 1, a rotating seat 2, a large arm 3, a forearm cylinder 6 and a wrist 8 which are sequentially connected, and the mechanical arm is also provided with a mechanical arm motor group for driving the rotating seat 2, the large arm 3, the forearm cylinder 6 and the wrist 8 to move.
The mechanical arm I/O module comprises a servo driving module and a servo driver, and the servo driving module is connected with the mechanical arm motor group through the servo driver.
The preheating laser head 10 and the cladding laser head 9 are fixed on the wrist 8, the working position is changed along with the operation of the mechanical arm, and the operation track of the laser is controlled by controlling the position of the mechanical arm.
The cladding angle of the cladding laser head 9 is adjusted along with the rotation of the wrist 8, the range of the cladding angle can be a range of +45 DEG to-45 DEG, and aiming at different characteristics of the surfaces of shaft parts, the cladding angle of the cladding laser head 9 can be adjusted to perform multi-angle operation, so that the cladding operation of any angle in the range of +45 to-45 DEG is realized, and the optimal cladding angle is achieved before.
The lathe comprises a lathe bed 13, a lathe bed 14, a spindle box 5, a chuck 7 and a tailstock 12.
The lathe bed 13 is provided with the top of a lathe bed seat 14, the spindle box 5 is arranged at the top of one side of the lathe bed 13, the tailstock 12 is arranged at the top of the other side of the lathe bed 13, and shaft parts are fastened through the tailstock 12.
The main shaft box 5 is provided with a main shaft for driving the shaft parts to perform rotary motion, the main shaft box 5 is internally provided with a lathe main shaft motor for driving the main shaft to rotate, and the lathe main shaft motor is connected with a main shaft driving frequency converter through lathe main shaft driving. The chuck 7 is fitted at the free end of the spindle and is used to hold the shaft-like parts.
Example 3
The embodiment is further optimized based on the embodiment, and specifically comprises the following steps:
the embodiment also comprises a coordinate positioning system which can be arranged on the industrial personal computer 4 or on a computer and then is in data connection with the industrial personal computer 4, and the coordinate positioning system takes the lathe plane as an X-Y plane.
The positive direction of the X axis is the right front of the mechanical arm base 1, and the positive direction of the X axis is vertical to the main shaft of the lathe.
The positive direction of the Y axis is the upper part of the mechanical arm base 1, and the positive direction of the Z axis is the left side of the mechanical arm base 1 and is parallel to the lathe spindle.
A certain characteristic point on the lathe spindle clamping workpiece 11 is selected as a coordinate origin (0, 0), a three-dimensional coordinate system is established by an X axis, a Y axis, a Z axis and the coordinate origin, the lathe spindle rotates, and the mechanical arm moves at a uniform speed in the Z axis direction.
The industrial personal computer 4 can control the running track and running speed of the mechanical arm, and the uniform cladding of the surface of the workpiece 11 is realized by the mutual cooperation of the rotation of the lathe spindle and the uniform motion of the mechanical arm in the Y-axis direction.
Example 4
The embodiment is further optimized based on the embodiment, and specifically comprises the following steps:
the industrial personal computer 4 performs data interaction with the man-machine interaction interface through the USB and DVI interfaces.
The industrial personal computer 4 communicates with the I/O module via EtherCAT protocol.
The industrial personal computer 4 communicates with a spindle driving frequency converter of the lathe through a Modbus485 protocol.
Different workpiece 11 process parameter information is preset in the industrial personal computer 4 4, a process database of the cladding workpiece 11 is built in the industrial personal computer 4 4, and corresponding process parameters (parameters such as a starting coordinate point of a mechanical arm, operating speed of the mechanical arm, rotating speed of a lathe spindle, laser power and the like) can be searched out according to the size and the material property of the cladding workpiece 11 to directly carry out cladding.
The industrial personal computer 4 is specifically selected to jump the industrial personal computer 4 of a company, the model Nuvo-7501 is eight generations, comprises 6I/O connection ports and a plurality of Modbus845 communication ports, supports a plurality of specifications of hard disks, can be internally provided with a large amount of process parameter information of the workpiece 11, is high in multi-task control speed and accurate in information transmission, can realize multi-axis multi-motor joint control, is good in openness, and can be communicated with a third party by using a communication technology of the industrial personal computer 4, such as Visual Studio and MATLAB.
Example 5
The specific working process of the mechanical arm automatic laser cladding device for the surface of the shaft part in the embodiment is as follows:
firstly, a chuck 7 clamps a workpiece 11, a tailstock 12 is matched for fastening the workpiece 11, and a lathe spindle drives the workpiece 11 to perform rotary motion;
the preheating laser head 10 and the cladding laser head 9 are sequentially connected with the wrist 8 of the mechanical arm, the surface to be processed of the workpiece 11 is firstly preheated by the preheating laser head 10, and then cladding operation is carried out by the cladding laser head 9;
the industrial personal computer 4 is arranged on one side of the lathe bed 13, which is close to the spindle box 5, different workpiece 11 technological parameter information is arranged in the industrial personal computer 4, after the human-computer interaction interface inputs all attribute parameters of the workpiece 11 and confirms operation, the lathe spindle drives the workpiece 11 to rotate, and meanwhile, the laser cladding head is driven to a working initial coordinate point (X0, Y0 and Z0) by the mechanical arm.
After the rotation speed of the main shaft is stable, the laser cladding head starts to operate with the matching power of the database, meanwhile, the mechanical arm drives the laser cladding head to move at a constant speed along the Z-axis direction, cladding operation is carried out by using the tracks of double spiral lines, after the first spiral track is completed, then the mechanical arm drives the laser cladding head to return to the position above the working starting coordinate point again, next spiral track cladding is carried out until the operation reaches the end point, the first layer cladding operation is completed, if cladding of the subsequent layers is carried out, only the operation is needed to be repeated, and the operation is repeated until the thickness of the cladding layer is required.
The laser cladding head drives the laser cladding head to move through the movement of the mechanical arm, the lathe is used for clamping the workpiece 11 and rotating, and the movement of the mechanical arm is matched with the rotation of the workpiece 11, so that the laser cladding operation is completed.
The man-machine interface system can display information such as cladding layer number, mechanical arm position, mechanical arm running speed, lathe spindle rotating speed and the like according to requirements, indicates running conditions of all systems, and controls all systems to run through intervention of the man-machine interface system.
According to the utility model, cladding operation is controlled by the industrial personal computer 4, laser control, mechanical arm control and lathe control are integrated, different workpiece 11 technological parameter information is built in, the system integration and packaging degree are high, automatic cladding operation can be realized, a surface to be processed is preheated by the preheating laser head 10 during operation, and cladding operation is carried out on the surface of the preheated workpiece 11 by the cladding laser head 9;
in addition, compared with manual control, the mechanical control can realize a precise double-screw cladding mode, and the cladding mode can reduce the rise of the temperature of a substrate in the cladding process and improve the quality of a cladding layer;
fig. 3 is a schematic diagram of a double-spiral cladding track, cladding is performed according to a first spiral line 15 during cladding operation, and after the first spiral line is finished, the laser head returns to the starting point, and cladding operation is performed along a second spiral line 16.
The present utility model is not limited to the above-described embodiments, and various changes may be made without departing from the spirit of the present utility model within the knowledge of those skilled in the art, and the contents after the changes still fall within the scope of the present utility model.
Claims (8)
1. A automatic laser cladding device of arm for axle type part surface, its characterized in that: the automatic control device comprises a mechanical arm, a lathe and an industrial personal computer, wherein the mechanical arm is arranged at one side of the lathe;
the movable end of the mechanical arm is provided with a laser head assembly, and the laser head assembly comprises a preheating laser head and a cladding laser head;
the industrial personal computer performs data interaction with the man-machine interaction interface, and is respectively in communication link with an I/O module of the mechanical arm and a spindle driving frequency converter of the lathe;
the I/O module comprises a mechanical arm I/O module and a laser control I/O module, wherein the mechanical arm I/O module is used for controlling the mechanical arm to act, and the laser I/O module is used for controlling the start and stop and the power of the laser head assembly.
2. The automatic laser cladding device for the mechanical arm of the surface of the shaft part according to claim 1, wherein the automatic laser cladding device is characterized in that: the mechanical arm comprises a base, a rotating seat, a big arm, a forearm barrel and a wrist which are sequentially connected, and the preheating laser head and the cladding laser head are fixed on the wrist.
3. The automatic laser cladding device for the mechanical arm of the surface of the shaft part according to claim 1, wherein the automatic laser cladding device is characterized in that: the lathe comprises a lathe body, a lathe seat, a main spindle box, a chuck and a tailstock;
the main shaft box is arranged at the top of one side of the lathe bed, a main shaft for driving shaft parts to perform rotary motion is arranged on the main shaft box, and the chuck is assembled at the free end of the main shaft and is used for clamping the shaft parts;
the tailstock is arranged at the top of the other side of the lathe bed, and the shaft parts are fastened through the tailstock.
4. The automatic laser cladding device for the mechanical arm of the surface of the shaft part according to claim 1, wherein the automatic laser cladding device is characterized in that: the machine tool comprises a lathe plane, a coordinate positioning system and a control system, wherein the coordinate positioning system takes the lathe plane as an X-Y plane;
the positive direction of the X axis is right in front of the mechanical arm base, and is vertical to the lathe spindle;
the positive direction of the Y axis is the upper part of the mechanical arm base, and the positive direction of the Z axis is the left side of the mechanical arm base and is parallel to the lathe spindle.
5. The automatic laser cladding device for the mechanical arm of the surface of the shaft part according to claim 1, wherein the automatic laser cladding device is characterized in that: and the industrial personal computer performs data interaction with the man-machine interaction interface through the USB and DVI interfaces.
6. The automatic laser cladding device for the mechanical arm of the surface of the shaft part according to claim 5, wherein: the industrial personal computer communicates with the I/O module through an EtherCAT protocol;
and the industrial personal computer is communicated with a spindle driving frequency converter of the lathe through a Modbus485 protocol.
7. The automatic laser cladding device for a mechanical arm for shaft part surfaces according to claim 3, wherein: and a lathe spindle motor used for driving the spindle to rotate is arranged in the spindle box, and the lathe spindle motor is connected with a spindle driving frequency converter through lathe spindle driving.
8. The automatic laser cladding device for the mechanical arm of the surface of the shaft part according to claim 2, wherein: the mechanical arm is also provided with a mechanical arm motor unit for driving the rotating seat, the large arm, the forearm cylinder and the wrist to move;
the mechanical arm I/O module comprises a servo driving module and a servo driver, and the servo driving module is connected with the mechanical arm motor group through the servo driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322090874.8U CN220724343U (en) | 2023-08-04 | 2023-08-04 | Automatic mechanical arm laser cladding device for shaft part surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322090874.8U CN220724343U (en) | 2023-08-04 | 2023-08-04 | Automatic mechanical arm laser cladding device for shaft part surface |
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| Publication Number | Publication Date |
|---|---|
| CN220724343U true CN220724343U (en) | 2024-04-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322090874.8U Active CN220724343U (en) | 2023-08-04 | 2023-08-04 | Automatic mechanical arm laser cladding device for shaft part surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220724343U (en) |
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2023
- 2023-08-04 CN CN202322090874.8U patent/CN220724343U/en active Active
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