WO2018161194A1 - 一种具有人工智能控制的激光焊接机械臂及其操作台 - Google Patents

一种具有人工智能控制的激光焊接机械臂及其操作台 Download PDF

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Publication number
WO2018161194A1
WO2018161194A1 PCT/CN2017/075673 CN2017075673W WO2018161194A1 WO 2018161194 A1 WO2018161194 A1 WO 2018161194A1 CN 2017075673 W CN2017075673 W CN 2017075673W WO 2018161194 A1 WO2018161194 A1 WO 2018161194A1
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electric telescopic
laser
fixed
rod
laser welding
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PCT/CN2017/075673
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English (en)
French (fr)
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肖丽芳
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肖丽芳
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Priority to PCT/CN2017/075673 priority Critical patent/WO2018161194A1/zh
Publication of WO2018161194A1 publication Critical patent/WO2018161194A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/10—Devices involving relative movement between laser beam and workpiece using a fixed support, i.e. involving moving the laser beam

Definitions

  • the invention relates to a laser welding robot arm with artificial intelligence control and a console thereof.
  • Laser welding also known as laser cladding or laser cladding, is a new surface modification technology. It forms a metallurgical bonding layer on the surface of the substrate by adding a solder material to the surface of the substrate and using a high energy density laser beam to fuse it with a thin layer of the substrate surface.
  • Laser welding means that the selected coating material is placed on the surface of the substrate to be welded by different irradiation methods to be simultaneously irradiated with a thin layer of the substrate surface by laser irradiation, and rapidly solidified to form a very low dilution, and the substrate is formed.
  • a metallurgical combined surface coating that significantly improves the wear, corrosion, heat, oxidation and electrical properties of the surface of the substrate to achieve surface modification or repair, which not only meets the specific properties of the surface of the material. Requires, and saves a lot of valuable elements.
  • laser welding has the characteristics of small dilution, compact structure, good coating and matrix bonding, suitable for welding materials, large changes in particle size and content, so the application prospect of laser welding technology is very good. broad. From the current application of laser welding, it is mainly used in three aspects: first, surface modification of materials, such as gas turbine blades, rolls, gears, etc.; second, surface repair of products, such as rotors, molds, etc.
  • the model is quickly fabricated using a layer-by-layer sintering stack of metal powder.
  • welding materials are: nickel-based, cobalt-based, iron-based alloys, tungsten carbide composite materials. Among them, nickel-based materials are used most, and they are cheaper than cobalt-based materials.
  • a laser welding robot arm with artificial intelligence control and a console thereof the main structures thereof are: table bracket, guide rail, slider, chassis, limit block, limit strip, electric telescopic long rod, stepping motor, bearing Table box, rutting plate, L-shaped lifting arm, fixed steel plate set, front laser seat clamping table, rear laser seat clamping table, electric telescopic short rod a, laser seat a, laser seat b, laser seat c, laser seat d, angle steel sheet, laser welded plate, left electric telescopic double rod, right electric telescopic double rod, electric telescopic short rod b, welding flux, the work table bracket has guide rails on both sides of the top end, and the guide rail passes through the slide The block rests with a chassis; one side of the chassis is fixed to the telescopic end rod of the electric telescopic long rod, and the base portion of the electric telescopic long rod is fixed to the
  • the central position of the chassis is provided with a circular hole groove, and the two sides of the hole groove are respectively provided with a limiting strip, and the end groove position of the hole groove is provided with a limiting block; the chassis of the chassis is provided with a bearing box A stepping motor is arranged under the bearing box, and the stepping motor has a power output shaft through the hole slot.
  • the side of the table bracket is fixed with an L-shaped lifting arm by a steel plate bolt, and a fixed steel plate group is welded to the end of the L-shaped lifting arm.
  • the left and right sides of the fixed steel plate group are fixed with a left electric telescopic double pole and a right electric telescopic double by bolts. Rod.
  • the front laser seat clamping table is fixed by bolts to the bottom position of the L-shaped lifting arm end, and the rear laser seat clamping table is fixed by bolts to the bottom position of the L-shaped lifting arm.
  • the front laser holder clamping table has two electric telescopic short rods a, and a laser base a and a laser holder b are respectively fixed under the electric telescopic short rods a;
  • the electric laser telescopic short rod a is clamped in the rear laser holder clamping table, and the laser base c and the laser seat d are respectively fixed under the rear laser seat clamping table.
  • the front end of the fixed steel plate group is fixed by the bolt and the angle steel piece, and a laser welded plate is arranged between the bottom end of the angle steel piece and the bottom end of the rear laser seat clamping table.
  • the left electric telescopic double rod and the right electric telescopic double rod end slot cavity each hold an electric telescopic short rod b, and the electric telescopic short rod b is fixed with a welding flux.
  • a rut disc is placed on the center of the chassis. Further, the center position of the ram is fixed by the power output shaft of the stepping motor. Further, the stepping motor, the electric telescopic short rod a, and the electric telescopic short rod b are controlled by an intelligent system of a computer.
  • the invention has the advantages of simple structure and easy assembly of the machine parts; and is suitable for realizing high-precision operation of laser welding under the control of the intelligent system of the computer; in addition, the working parts of the worktable are highly integrated and detachable and replaceable. Strong, can truly achieve high precision laser welding purpose.
  • FIG. 1 is a schematic view showing the overall structure of a laser welding robot arm with artificial intelligence control and its operation platform.
  • 2 is a schematic view showing the overall structure of a laser welding robot arm with artificial intelligence control and an upper portion thereof.
  • FIG. 3 is a schematic diagram of an explosion structure of a laser welding robot arm with artificial intelligence control and an upper portion thereof.
  • 4 is a schematic view showing the overall structure of a laser welding robot arm with artificial intelligence control and a lower portion thereof.
  • FIG. 5 is a schematic diagram of a laser welding robot arm with artificial intelligence control and an exploded structure of a lower portion thereof.
  • Embodiment A laser welding robot arm with artificial intelligence control and a console thereof, the main structures thereof are: table bracket 1, guide rail 2, slider 3, chassis 4, limit block 5, limit strip 6, electric Telescopic long rod 7, stepping motor 8, cap box 9, cymbal disc 10, L-shaped lifting arm 11, fixed steel plate set 12, front laser seat holding table 13, rear laser holder holding table 14, electric telescopic short Rod a15, laser holder a16, laser holder b17, laser holder c18, laser holder d19, angle steel sheet 20, laser welded plate 21, left electric telescopic double rod 22, right electric telescopic double rod 23, electric telescopic short rod b24, welding aid
  • the flux 25 is provided with a guide rail 2 on both sides of the top end of the table support 1 , and the chassis 4 is placed on the guide rail 2 with the bottom plate 4; the side of the chassis 4 and the telescopic end rod of the electric telescopic long rod 7
  • the base portion of the electric telescopic long rod 7 is fixed to the table bracket
  • the fixed steel plate group 12 and the left and right sides of the fixed steel plate group 12 are respectively fixed with a left electric telescopic double rod 22 and a right electric telescopic double rod 23 by bolts; the front laser seat clamping table 13 is fixed to the L-shaped lifting arm 11 by bolts.
  • the rear laser seat clamping table 14 is fixed by bolts to the bottom end of the L-shaped lifting arm 11;
  • the front laser seat clamping table 13 has two electric telescopic short rods A15, and a laser base a16 and a laser base b17 are respectively fixed under the electric telescopic short rod a15;
  • the rear laser seat holding table 14 has two electric telescopic short rods a15 clamped therein, and is clamped at the rear laser seat A laser base c18 and a laser seat d19 are respectively fixed under the table 14;
  • the front end of the fixed steel plate set 12 is fixed to the angle steel piece 20 by bolts, and the bottom end of the angle steel piece 20 and the bottom end of the rear laser seat clamping table 14 are erected.
  • the ram 10 is placed at the center of the chassis 4. The center position of the ram 10 is fixed by the power output shaft of the stepping motor 8.
  • the stepping motor 8, the electric telescopic short rod a15, and the electric telescopic short rod b24 are controlled by an intelligent system of a computer.
  • the workbench designed by the present invention is mainly used for laser welding of the ram plate 10. The equipment adopts two sets of systems to work together at the same time.
  • the limiting block 5 and the limiting strip 6 carry out the movable clamping in a certain range.
  • the laser welding material is placed on the laser welding plate 21 to be fixed and fixed, and the welding flux 25 is loaded under the electric telescopic short rod b24; the laser seat a16 under the front laser holder clamping table 13 and the rear laser holder clamping table 14 is adjusted.
  • the left electric telescopic double rod 22 and the right electric telescopic double rod 23 are activated to push the welding flux 25 under the table support 1 and the laser coating material strip on the laser welded plate 21 is adjusted.
  • the electric telescopic long rod 7 is activated to translate the chassis 4 to the opposite position of the L-shaped lifting arm 11.
  • the stepping motor 8 is driven to rotate at a high speed, and the laser holder a16, the laser holder b17, the laser holder c18, and the laser holder d19 are activated, and the matched laser welding plate 21 and the solder flux 25 work in cooperation.

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  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Laser Beam Processing (AREA)

Abstract

一种具有人工智能控制的激光焊接机械臂及其操作台，工作台支架（1）上顶端两侧均设有导轨（2），导轨（2）上通过滑块（3）搁置有底盘（4）；所述的底盘（4）一侧边与电动伸缩长杆（7）的伸缩端杆相固定，电动伸缩长杆（7）的机座部分通过连接件与工作台支架（1）相固定；所述的底盘（4）中心位置开有圆形的孔槽，孔槽的两侧各设有限位条（6），孔槽的端角位置处设有限位块（5）；所述的底盘（4）的孔槽下设有承台箱（9），承台箱（9）底下设有步进电机（8），所述步进电机（8）的动力输出轴贯通孔槽。上述结构简单、机件装配容易；适用于在计算机的智能系统控制下实现激光焊接的各个高精度的操作；各个工作配件集成度高，且可拆卸更换性强，实现了高精度下激光焊接的目的。

Description

一种具有人工智能控制的激光焊接机械臂及其操作台 技术领域
本发明涉及一种具有人工智能控制的激光焊接机械臂及其操作台。
背景技术
激光焊接亦称激光包覆或激光熔敷，是一种新的表面改性技术。它通过在基材表面添加焊接材料，并利用高能密度的激光束使之与基材表面薄层一起熔凝的方法，在基层表面形成与其为冶金结合的添料焊接层。激光焊接是指以不同的添料方式在被焊接基体表面上放置被选择的涂层材料经激光辐照使之和基体表面一薄层同时熔化，并快速凝固后形成稀释度极低，与基体成冶金结合的表面涂层，显著改善基层表面的耐磨、耐蚀、耐热、抗氧化及电气特性的工艺方法，从而达到表面改性或修复的目的，既满足了对材料表面特定性能的要求，又节约了大量的贵重元素。与堆焊、喷涂、电镀和气相沉积相比，激光焊接具有稀释度小、组织致密、涂层与基体结合好、适合焊接材料多、粒度及含量变化大等特点，因此激光焊接技术应用前景十分广阔。从当前激光焊接的应用情况来看，其主要应用于三个方面：一，对材料的表面改性，如燃汽轮机叶片，轧辊，齿轮等；二，对产品的表面修复，如转子，模具等。有关资料表明，修复后的部件强度可达到原强度的90％以上，其修复费用不到重置价格的1/5，更重要的是缩短了维修时间，解决了大型企业重大成套设备连续可靠运行所必须解决的转动部件快速抢修难题。另外，对关键部件表面通过激光焊接超耐磨抗蚀合金，可以在零部件表面不变形的情况下大大提高零部件的使用寿命；对模具表面进行激光焊接处理，不仅提高模具强度，还可以降低2/3的制造成本，缩短4/5的制造周期。三，快速原型制造。利用金属粉末的逐层烧结叠加，快速制造出模型。利用激光熔敷技术快速制造零件的技术，焊接材料：目前应用广泛的激光焊接材料主要有：镍基、钴基、铁基合金、碳化钨复合材料。其中，又以镍基材料应用最多，与钴基材料相比，其价格便宜
技术问题
问题的解决方案
技术解决方案
本发明的目的是提供一种具有人工智能控制的激光焊接机械臂及其操作台。一种具有人工智能控制的激光焊接机械臂及其操作台，其主要构造有：工作台支架、导轨、滑块、底盘、限位块、限位条、电动伸缩长杆、步进电机、承台箱、车轱辘盘、L形举臂、固定钢板组、前激光座夹持台、后激光座夹持台、电动伸缩短杆a、激光座a、激光座b、激光座c、激光座d、角钢片、激光焊接板、左电动伸缩双杆、右电动伸缩双杆、电动伸缩短杆b、焊接助焊剂，所述的工作台支架上顶端两侧均设有导轨，导轨上通过滑块搁置有底盘；所述的底盘一侧边与电动伸缩长杆的伸缩端杆相固定，电动伸缩长杆的机座部分通过连接件与工作台支架相固定。所述的底盘中心位置开有圆形的孔槽，孔槽的两侧各设有限位条，孔槽的端角位置处设有限位块；所述的底盘的孔槽下设有承台箱，承台箱底下设有步进电机，所述的步进电机其动力输出轴贯通孔槽。所述的工作台支架一侧通过钢板螺栓固定有L形举臂，L形举臂末端焊接有固定钢板组，固定钢板组左右两侧通过螺栓各固定有左电动伸缩双杆、右电动伸缩双杆。所述的前激光座夹持台通过螺栓固定于L形举臂末端底下位置处，所述的后激光座夹持台通过螺栓固定于L形举臂中端底下位置处。所述的前激光座夹持台内夹持有两个电动伸缩短杆a，并且在电动伸缩短杆a下分别固定有激光座a、激光座b；。所述的后激光座夹持台内夹持有两个电动伸缩短杆a，并且在后激光座夹持台下分别固定有激光座c、激光座d。所述的固定钢板组前端通过螺栓与角钢片相固定，角钢片底端与后激光座夹持台底端之间架立有激光焊接板。所述的左电动伸缩双杆、右电动伸缩双杆末端槽腔内均夹持电动伸缩短杆b，所述的电动伸缩短杆b下固定有焊接助焊剂。进一步地，所述的底盘中心位置上搁置有车轱辘盘。进一步地，所述的车轱辘盘中心位置被步进电机的动力输出轴所固定。进一步地，所述的步进电机、电动伸缩短杆a、电动伸缩短杆b通过计算机的智能系统控制。本发明的有益效果：结构简单、机件装配容易；适用于在计算机的智能系统控制下实现激光焊接的各个高精度的操作；此外工作台的装置中各个工作配件集成度高，且可拆卸更换性强，能够真正意义上实现了高精度下激光焊接的 目的。
发明的有益效果
对附图的简要说明
附图说明
图1为本发明一种具有人工智能控制的激光焊接机械臂及其操作台整体结构图。图2为本发明一种具有人工智能控制的激光焊接机械臂及其操作台上部整体结构图。图3为本发明一种具有人工智能控制的激光焊接机械臂及其操作台上部爆炸结构图。图4为本发明一种具有人工智能控制的激光焊接机械臂及其操作台下部整体结构图。图5为本发明一种具有人工智能控制的激光焊接机械臂及其操作台下部爆炸结构图。图中1-工作台支架，2-导轨，3-滑块，4-底盘，5-限位块，6-限位条，7-电动伸缩长杆，8-步进电机，9-承台箱，10-车轱辘盘，11-L形举臂，12-固定钢板组，13-前激光座夹持台，14-后激光座夹持台，15-电动伸缩短杆a，16-激光座a，17-激光座b，18-激光座c，19-激光座d，20-角钢片，21-激光焊接板，22-左电动伸缩双杆，23-右电动伸缩双杆，24-电动伸缩短杆b，25-焊接助焊剂。
实施该发明的最佳实施例
本发明的最佳实施方式
实施例：一种具有人工智能控制的激光焊接机械臂及其操作台，其主要构造有：工作台支架1、导轨2、滑块3、底盘4、限位块5、限位条6、电动伸缩长杆7、步进电机8、承台箱9、车轱辘盘10、L形举臂11、固定钢板组12、前激光座夹持台13、后激光座夹持台14、电动伸缩短杆a15、激光座a16、激光座b17、激光座c18、激光座d19、角钢片20、激光焊接板21、左电动伸缩双杆22、右电动伸缩双杆23、电动伸缩短杆b24、焊接助焊剂25，所述的工作台支架1上顶端两侧均设有导轨2，导轨2上通过滑块3搁置有底盘4；所述的底盘4一侧边与电动伸缩长杆7的伸缩端杆相固定，电动伸缩长杆7的机座部分通过连接件与工作台支架1相固定；所述的底盘4中心位置开有圆形的孔槽，孔槽的两侧各设有限位条6，孔槽的端角位置处设有限位块5；所述的底盘4的孔槽下设有承台箱9，承台箱9底下 设有步进电机8，所述的步进电机8其动力输出轴贯通孔槽；所述的工作台支架1一侧通过钢板螺栓固定有L形举臂11，L形举臂11末端焊接有固定钢板组12，固定钢板组12左右两侧通过螺栓各固定有左电动伸缩双杆22、右电动伸缩双杆23；所述的前激光座夹持台13通过螺栓固定于L形举臂11末端底下位置处，所述的后激光座夹持台14通过螺栓固定于L形举臂11中端底下位置处；所述的前激光座夹持台13内夹持有两个电动伸缩短杆a15，并且在电动伸缩短杆a15下分别固定有激光座a16、激光座b17；所述的后激光座夹持台14内夹持有两个电动伸缩短杆a15，并且在后激光座夹持台14下分别固定有激光座c18、激光座d19；所述的固定钢板组12前端通过螺栓与角钢片20相固定，角钢片20底端与后激光座夹持台14底端之间架立有激光焊接板21；所述的左电动伸缩双杆22、右电动伸缩双杆23末端槽腔内均夹持电动伸缩短杆b24，所述的电动伸缩短杆b24下固定有焊接助焊剂25。所述的底盘4中心位置上搁置有车轱辘盘10。所述的车轱辘盘10中心位置被步进电机8的动力输出轴所固定。所述的步进电机8、电动伸缩短杆a15、电动伸缩短杆b24通过计算机的智能系统控制。本发明设计的工作台主要是为车轱辘盘10激光焊接使用的。设备采用了两套系统同时协同工作的，下面针对本工作台整个实施过程进行一个描述：首先将需要焊接的两块车轱辘盘10依次的套入步进电机8的动力输出轴上，并且通过限位块5、限位条6将其在一定的范围进行可活动性的夹持。将激光焊接材料放置于激光焊接板21上吸附固定，在电动伸缩短杆b24下装载好焊接助焊剂25；调整好前激光座夹持台13、后激光座夹持台14下的激光座a16、激光座b17、激光座c18、激光座d19的相对位置。启动左电动伸缩双杆22、右电动伸缩双杆23将焊接助焊剂25推入工作台支架1下，并且调整好激光焊接板21上的激光覆材料条。最后启动电动伸缩长杆7使得底盘4平移至L形举臂11的正对位置下。驱动步进电机8高速旋转，启动激光座a16、激光座b17、激光座c18、激光座d19的同时，与之匹配的激光焊接板21及焊接助焊剂25协同工作。以上显示和描述了本发明的基本原理、主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围 内。本发明要求保护范围由所附的权利要求书及其等效物界定。

Claims (4)

  1. 一种具有人工智能控制的激光焊接机械臂及其操作台，其主要构造有：工作台支架(1)、导轨(2)、滑块(3)、底盘(4)、限位块(5)、限位条(6)、电动伸缩长杆(7)、步进电机(8)、承台箱(9)、车轱辘盘(10)、L形举臂(11)、固定钢板组(12)、前激光座夹持台(13)、后激光座夹持台(14)、电动伸缩短杆a(15)、激光座a(16)、激光座b(17)、激光座c(18)、激光座d(19)、角钢片(20)、激光焊接板(21)、左电动伸缩双杆(22)、右电动伸缩双杆(23)、电动伸缩短杆b(24)、焊接助焊剂(25)，其特征在于：工作台支架(1)上顶端两侧均设有导轨(2)，导轨(2)上通过滑块(3)搁置有底盘(4)；所述的底盘(4)一侧边与电动伸缩长杆(7)的伸缩端杆相固定，电动伸缩长杆(7)的机座部分通过连接件与工作台支架(1)相固定；
    所述的底盘(4)中心位置开有圆形的孔槽，孔槽的两侧各设有限位条(6)，孔槽的端角位置处设有限位块(5)；所述的底盘(4)的孔槽下设有承台箱(9)，承台箱(9)底下设有步进电机(8)，所述的步进电机(8)其动力输出轴贯通孔槽；
    所述的工作台支架(1)一侧通过钢板螺栓固定有L形举臂(11)，L形举臂(11)末端焊接有固定钢板组(12)，固定钢板组(12)左右两侧通过螺栓各固定有左电动伸缩双杆(22)、右电动伸缩双杆(23)；
    所述的前激光座夹持台(13)通过螺栓固定于L形举臂(11)末端底下位置处，所述的后激光座夹持台(14)通过螺栓固定于L形举臂(11)中端底下位置处；
    所述的前激光座夹持台(13)内夹持有两个电动伸缩短杆a(15)，并且在电动伸缩短杆a(15)下分别固定有激光座a(16)、激光座b(17)；
    所述的后激光座夹持台(14)内夹持有两个电动伸缩短杆a(15)，并且在后激光座夹持台(14)下分别固定有激光座c(18)、激光座d(19)；
    所述的固定钢板组(12)前端通过螺栓与角钢片(20)相固定，角钢片(20)底端与后激光座夹持台(14)底端之间架立有激光焊接板(21)；
    所述的左电动伸缩双杆(22)、右电动伸缩双杆(23)末端槽腔内均夹持电动伸缩短杆b(24)，所述的电动伸缩短杆b(24)下固定有焊接助焊剂(25)。
  2. 根据权利要求1所述的一种具有人工智能控制的激光焊接机械臂及其操作台，其特征在于所述的底盘(4)中心位置上搁置有车轱辘盘(10)。
  3. 根据权利要求1所述的一种具有人工智能控制的激光焊接机械臂及其操作台，其特征在于所述的车轱辘盘(10)中心位置被步进电机(8)的动力输出轴所固定。
  4. 根据权利要求1所述的一种具有人工智能控制的激光焊接机械臂及其操作台，其特征在于所述的步进电机(8)、电动伸缩短杆a(15)、电动伸缩短杆b(24)通过计算机的智能系统控制。
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