Robot automatic laser cladding machine for transmission shaft

Abstract

A power head frame is fixed to one end of a machine tool base, a flexible tip is placed at the other end of the machine tool base, a precise lifting carrier roller is installed on the machine tool base, a workpiece is placed on the precise lifting carrier roller, the power head frame clamps the workpiece through a chuck, and the flexible tip abuts against the workpiece through a tip. The precise lifting carrier roller and the flexible tip are locked through a locking plate bolt; a robot walking mechanism is arranged on one side of the machine tool base, and a six-axis robot, a powder feeder and a robot control cabinet are distributed on the upper portion of the robot walking mechanism. And a laser gun matched with the workpiece is arranged on the six-axis robot. The device is used for repairing the surfaces of transmission shafts of large ships and wind driven generators and changing the performance of the transmission shafts, and can be suitable for surface laser cladding of transmission shafts of different sizes by modifying relevant parameters of a control system.

Description

Technical Field

[0001] The invention relates to the technical field of surface treatment, and in particular to an automatic laser cladding machine for a transmission shaft robot. Background Art

[0002] With the advent of domestic laser generators in recent years, the stability of laser generators has been greatly improved, and the price is relatively cheap compared to imported ones. Laser mechanical equipment has been increasingly popularized and applied in China, and laser cladding has also emerged in various fields, especially in areas with high mechanical performance requirements, such as large ships, shield machines and wind turbines, etc., which are very popular.

[0003] In the manufacturing process of large ships, the transmission shaft is one of the key core components. Not only is the comprehensive mechanical performance of the transmission shaft required to meet the standards, but it is also required not to be corroded in the complex environment of the ocean. In order to meet the wear and corrosion resistance of the transmission shaft of large ships without affecting its internal metallographic structure and mechanical properties, laser cladding is undoubtedly the best choice. In the laser cladding process, different metal powders (commonly used are nickel-based, cobalt-based, titanium-based and other composite materials and ceramics) can be selected according to the use requirements. After laser irradiation, a molten pool is formed at the position of laser irradiation, and then it is quickly cooled and solidified to form a coating layer, so that the metal powder and the workpiece matrix are metallurgically bonded to form a whole. In the entire process of laser cladding, the local cladding time is short, the efficiency is high, the cladding layer is thin, the surface damage depth of the part matrix is ​​relatively shallow, and the concentrated heat is small. From a microscopic point of view, laser cladding enables metal powder and part matrix to combine at the molecular level, ensuring strength without changing the crystal structure of the part matrix, maintaining all the previous physical and chemical properties of the part matrix, and the deformation of the part matrix after cooling is relatively small, the coating layer is relatively thin (generally not more than 1mm), and the internal thermal stress can be ignored; the corresponding macroscopic performance is that the laser cladding speed is fast, does not destroy the original performance of the part matrix, the overall deformation is small, the surface strength and density are high, there is no internal stress, and it can be used without heat treatment. In view of the above characteristics, laser cladding is used for the surface treatment of the transmission shaft of large ships, which can greatly improve efficiency and shorten the production cycle. At the same time, laser cladding can also quickly repair the surface of the transmission shaft, so that the parts that are severely worn and failed can be turned into treasure. The main shafts of large ships, wind turbines, shield machines, etc. are very expensive. After use and wear, if the cost of re-manufacturing is relatively high and the construction period is long, after surface repair, they can be reused after fine processing, saving a lot of economic costs and time.

[0004] Compared with traditional surface repair technology, laser cladding surface repair technology is more suitable for parts with high precision requirements and high mechanical properties. Whether using gas shielded welding or submerged arc welding, a large amount of internal energy will be accumulated during the cladding process, causing physical changes inside the workpiece matrix, affecting the performance of the parts. At the same time, it can be seen that there is obvious bending deformation in the appearance. After the cladding is completed, heat treatment is required to eliminate internal stress, and then processing and surface treatment are carried out. The reserved processing allowance during processing is relatively large. After laser cladding, parts do not need heat treatment. They can be directly processed and ground with a grinder before being put into use. The processing allowance is small (no more than 1mm), the process flow is small, and it is convenient and fast.

[0005] Laser cladding is very convenient for small precision parts, but it is difficult to perform laser cladding on large parts. The main problem is that large parts are heavy, and the speed of laser cladding is fast. During laser cladding, the parts need to rotate quickly, and at the same time, the outer circle runout of the parts must be small (generally no more than 0.1mm). During the entire laser cladding process, the bending deformation of the parts does not exceed 0.2mm. Summary of the invention

[0006] In order to realize laser cladding on the surface of a large transmission shaft, the present invention adopts a head and tail frame clamping method, with a roller frame for auxiliary support in the middle. When the transmission shaft rotates rapidly, the laser gun and the powder feeder move with the robot to complete the laser cladding process on the entire surface of the workpiece.

[0007] A transmission shaft robot automatic laser cladding machine, wherein a machine tool base is placed on a machine tool mattress, a power head frame is fixed at one end of the machine tool base, a flexible center is placed at the other end of the machine tool base, a precision lifting roller is installed on the machine tool base, a workpiece is placed on the precision lifting roller, the power head frame clamps the workpiece through a chuck, the flexible center presses the workpiece through the center, and the precision lifting roller and the flexible center are locked by locking plate bolts; a robot walking mechanism is arranged on one side of the machine tool base, a six-axis robot, a powder feeder, and a robot control cabinet are arranged on the upper part of the robot walking mechanism; a laser gun matching the workpiece is arranged on the six-axis robot.

[0008] Preferably, protective plate guide rails are provided on both sides of the length direction of the machine tool base of the present invention, and the movable protective cover moves freely along the protective plate guide rails on the machine tool base, and eye protection glass is installed on the movable protective cover.

[0009] Preferably, the power head frame of the present invention includes a three-jaw chuck connected to the chuck, an auxiliary top is arranged at the center position of the three-jaw chuck, the outer ring of the slewing bearing is fixed on the head frame housing and remains motionless, the inner ring has a gear and is fixedly connected to the connecting flange, the three-jaw chuck is then fixedly connected to the connecting flange with bolts, and the auxiliary top is maintained at the center position of the three-jaw chuck and is fixedly connected to the connecting flange. Under the action of the driving gear, the inner ring of the slewing bearing, the connecting flange, the auxiliary top and the three-jaw chuck rotate together; the servo motor and the reducer are fixedly installed on the head frame housing through the reducer mounting plate, the reducer shaft is fitted with the driving gear, and the driving gear is locked from the reverse side with a retaining ring, and the clearance between the driving gear and the inner gear ring of the slewing bearing is adjusted by the screws on the adjusting mechanism.

[0010] Preferably, the flexible top of the present invention is placed on a top base on a machine tool base, a wheel mechanism is installed on the side of the top base, a driving mechanism and a hydraulic system are installed on the lower side and the upper side of the top base respectively, the driving mechanism includes a reducer, a motor, a reducer mounting plate, a driving shaft and a driving gear, the driving gear is meshed with a rack located on the side of the machine tool base for transmission; the hydraulic system includes a pump station and a hydraulic cylinder, the pump station is provided with a pressure gauge and a pressure regulating valve, and the relevant data is controlled and displayed on the touch screen through an electronic control system; the cylinder body of the hydraulic cylinder is connected and fixed to the top tailstock, the telescopic shaft of the hydraulic cylinder is connected to the sliding sleeve, the sliding sleeve (slides along the guide key inside the tailstock top, the top is inserted into the sliding sleeve and telescopically moves with the telescopic shaft of the hydraulic cylinder; the heightening connecting seat fixes the top base and the top tailstock together.

[0011] Preferably, the precision lifting roller of the present invention includes a split roller frame, a lifting mechanism, and a side auxiliary mechanism; the split roller frame is placed on the roller frame connecting plate and fixed with screws, the roller frame connecting plate is distributed and fixedly connected with the nuts of the first screw lift and the second screw lift, the bases of the first screw lift and the second screw lift are distributed and fixed on the roller frame base, the first screw lift and the second screw lift are connected by a transition connecting shaft and a rigid coupling, the input shaft of the first screw lift is connected to the transmission shaft by a rigid coupling, the end of the transmission shaft passes through the bearing seat and the bearing, a handwheel is installed at the tail, and the bearing seat is fixed to the right side of the roller frame base; sliders are installed on both sides of the roller frame base, the linear guide rails are fixedly installed on the side auxiliary plates, the side auxiliary plates on the left and right sides are connected together by the auxiliary connecting plates, and the auxiliary connecting plates are connected to the roller frame The connecting plates are fixedly installed together. When the roller frame is raised or lowered, the side auxiliary plates, linear guide rails and auxiliary connecting plates are raised or lowered together. A roller lifting mechanism is installed inside the roller frame base. The inner ring of the bearing inside the small roller is hinged to the connecting rod and the pull rod through a connecting pin. The connecting rod is hinged to the fixed pin, and the fixed pin is hinged to the roller frame base. By rotating the lifting screw, the roller mechanism moves on the slide groove of the roller frame base and forces the pull rod to move at the same time, thereby driving the connecting rod to rotate. At this time, the small roller extends downward to contact the guide surface of the machine tool base and reversely supports the entire roller frame mechanism. The precision roller frame mechanism moves back and forth on the machine tool track through the small roller. When it moves to the desired position, the lifting screw is adjusted in the reverse direction. Due to the action of gravity, the connecting rod rotates in the reverse direction, and the small roller retracts into the inside of the roller frame base. At this time, the precision roller frame is completely placed on the machine tool guide rail.

[0012] Preferably, the split roller frame of the present invention includes a roller base, and the first roller and the second roller are arranged in the guide groove of the roller base, and the first roller and the second roller are driven by the first trapezoidal lead screw and the second trapezoidal lead screw respectively; one end of each trapezoidal lead screw is fixed by a seat bearing and a thrust ball bearing in the side mounting plate, and the other end is fixed by a bearing seat and a bearing, the trapezoidal lead screw nut is connected to the roller, and the roller on the roller can rotate freely; the second trapezoidal lead screw is rotated with a wrench, and the lead screw nut drives the second roller to move; the transmission shaft is rotated with a wrench, and the nut on the first trapezoidal lead screw drives the first roller to move through the gear pair.

[0013] Preferably, the robot walking mechanism of the present invention includes a heightened seat for installing a laser gun and a six-axis robot, the heightened seat is fixedly mounted on the moving skateboard, the powder feeder and the robot controller are fixed on the electrical placement platform on both sides of the robot, the electrical placement platform is fixed on the moving skateboard, a slider is installed under the moving skateboard, and it forms a moving pair with the linear guide rail on the large base, and all components on the skateboard are driven by a gear rack mechanism together with the moving skateboard to make a linear movement; the gear rack mechanism includes mutually cooperating walking gears and walking racks fixedly mounted on the large base, a reducer mounting plate is fixedly mounted on the moving skateboard, a first motor reducer and a second motor reducer are arranged on the reducer mounting plate, and the output shafts of the first motor reducer and the second motor reducer are distributed and connected to the walking gear.

[0014] Preferably, an accordion cover is installed on the linear guide rail of the present invention, and the accordion cover mounting plate and the accordion cover guide plate are fixed on the large base.

[0015] The present invention adopts the above technical solution and has the following advantages compared with the prior art:

[0016] 1. Realize laser cladding of large transmission shafts, mainly for the drive shafts of large ships and the fan shafts of wind turbines, etc.

[0017] 2. The flexible tip can ensure that the workpiece is pressed tightly without bending. During laser cladding, the temperature of the workpiece will rise. Due to thermal expansion and contraction, the workpiece will stretch. If the tip is not flexible, for a long axis of more than 5 meters, it will be bent.

[0018] 3. The lifting precision roller frame can not only support large-mass workpieces, but also adjust up and down and left and right to keep the circular workpiece concentric with the power head frame, thus ensuring the uniform thickness of the cladding layer in the 360-degree direction.

[0019] 4. The roller frame travel mechanism can move it to any position within the range to adapt to laser cladding of workpieces of different lengths. The adjustment process is convenient and simple, without the need for crane lifting, saving time.

[0020] 5. The robot walking mechanism expands the travel range of laser cladding and is suitable for longer workpieces (the current maximum workpiece length is 20 meters).

[0021] 6. Integrate the robot, laser device and machine tool so that the three are in one control system, modify the parameters according to different requirements, and then perform laser cladding on products with different performance requirements.

[0022] 7. The transmission shaft robot automatic laser cladding machine of the present invention greatly improves economic benefits, saves costs, shortens production cycles, and also reduces the labor intensity of production workers, making the surface treatment of transmission shafts of large ships and wind turbines more efficient and simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the automatic laser cladding machine of the present invention.

[0024] Figure 2 yes Figure 1 Left view of .

[0025] Figure 3 yes Figure 1 Top view of the .

[0026] Figure 4 It is a structural schematic diagram of the power head frame of the present invention.

[0027] Figure 5 yes Figure 4 AA section view.

[0028] Figure 6 It is a schematic structural diagram of the flexible tip of the present invention.

[0029] Figure 7 yes Figure 6 Left view of .

[0030] Figure 8 yes Figure 6 Enlarged view of part I in the middle.

[0031] Fig. 9 The precision roller frame mechanism of the present invention

[0032] Fig.10 yes Fig. 9 Middle BB section view.

[0033] Fig.11 yes Fig. 9 CC section view.

[0034] Fig.12 It is a structural schematic diagram of the roller lifting mechanism of the present invention.

[0035] Fig.13 It is a structural schematic diagram of the split roller frame of the present invention.

[0036] Fig.14 yes Fig.13 Top view of the .

[0037] Fig.15 The robot walking mechanism of the present invention

[0038] Fig.16yes Fig.15 Left view of .

[0039] Fig.17 yes Fig.16 Enlarged view of part B in the middle.

[0040] Among them: 1. Power head frame, 2. Workpiece, 3. Flexible top, 4. Guard plate guide rail, 5. Precision lifting roller, 6. Machine tool base, 7. Machine tool pad, 8. Level adjustment device, 9. Removable protective cover, 10. Drag chain, 11. Anchor bolt, 12. Six-axis robot, 13. Locking plate, 14. Robot walking mechanism, 15. Powder feeder, 16. Robot control cabinet, 17. Laser gun, 18. Three-jaw chuck, 19. Auxiliary top, 20. Connecting flange, 21. Slewing bearing, 22. Servo motor, 23. Reducer, 24. Drive gear, 25. Reducer mounting plate, 26. Adjustment mechanism, 27. Reducer shaft, 28. Headstock box, 29. Centering base, 30. Wheel mechanism, 31. Centering, 32. Sliding sleeve, 33. Centering tailstock, 34. Hydraulic cylinder, 35. Rack, 36. Centering mobile reducer, 37. Centering mobile motor, 38. Centering pump station, 39. Centering reducer mounting plate, 40. Centering mobile drive shaft, 41. Centering mobile drive gear, 42. Heightening connecting seat, 50. Split roller frame, 51. First screw lift , 52, roller frame connecting plate, 53, auxiliary connecting plate, 54, side auxiliary plate, 55, slider, 56, linear guide, 57, screw sleeve, 58, transition connecting shaft, 59, rigid coupling, 60, second screw lift, 61, handwheel, 62, roller frame base, 63, bearing seat, 64, transmission shaft, 65, small roller, 66, connecting rod, 67, pull rod, 68, lifting screw, 69, roller mechanism, 70, fixing pin, 71, connecting pin, 73, roller base, 74 / 75, side mounting plate, 76 / 77, ladder Screw rod, 78, first roller, 79, second roller, 80, trapezoidal screw nut, 81, transmission shaft, 82, seat bearing, 83, wrench, 84, gear pair, 85, bearing seat, 88, large base, 89, heightening seat, 90, accordion cover mounting plate, 91, first servo motor reducer, 92, second servo motor reducer, 93, reducer mounting plate, 94, linear guide rail, 95, slider, 96, travel gear, 97, travel rack, 98, mobile skateboard, 99, electrical placement platform, 100, accordion cover guide plate. DETAILED DESCRIPTION

[0041] The technical solution of the present invention is described in detail below with reference to the accompanying drawings:

[0042] like Figure 1-Figure 3As shown in the figure, a large transmission shaft is laser clad in the form of a machine tool. A precision roller frame is installed on the bed to support the workpiece. The position of the roller frame is adjusted to keep the concentricity between the workpiece and the chuck within 0.05mm. Then the chuck on the headstock is used to clamp the workpiece, and the other end of the workpiece is pressed against the flexible top. Then the motor drive mechanism in the headstock is started to make the workpiece rotate with the chuck. At the same time, the robot walking mechanism starts to move. The laser gun performs laser cladding on the surface of the workpiece while walking in a straight line with the robot until the laser cladding of the entire workpiece surface is completed. The layout is as follows Figure 1 As shown. The machine tool base 6 is placed on the machine tool mattress 7, and the machine tool track is kept horizontal by adjusting the machine tool mattress; the power head frame 1 is fixed on the left end of the machine tool base 6, the flexible top 3 is placed on the right end of the machine tool base 6, and the precision lifting roller 5 is installed on the machine tool base 6. The workpiece 2 is placed on the precision lifting roller 5. By adjusting the height of the roller, the rotation center of the workpiece 2 and the chuck center of the power head frame 1 and the top of the flexible top 3 are kept concentric within 0.05mm, and then the left end is clamped with the chuck, and the right end is tightened with the top. Finally, the locking plate 13 is used to lock the precision lifting roller 5 and the flexible top 3 through bolts to prevent movement during the laser cladding process. The laser gun 17 is installed on the six-axis robot 12, and the robot 12 is placed on the robot walking mechanism 14 together with the powder feeder 15 and the robot control cabinet 16, and moves linearly along the linear track above. Optical fiber and cable are placed inside the drag chain 10 to provide power and control signals for the robot and laser generator (placed independently, not marked in the figure, and connected to the laser gun with imported optical fiber). During laser cladding, the chuck on the power head frame 1 drives the workpiece 2 to rotate, the powder feeder 15 transports dust to the surface of the workpiece 2, and the laser gun 17 emits a laser beam to radiate the surface of the workpiece 2. The workpiece surface and the dust are sintered and fused within the laser radiation area (i.e., the spot diameter), so that the metal powder is completely melted and forms a whole with the workpiece 2. With the lateral linear movement of the robot 12, the surface laser cladding of the workpiece 2 is completed. The movable protective cover 9 can move freely along the protective plate guide rail on the machine tool base. The protective cover is equipped with eye protection glass, which can not only ensure the observation of the laser cladding process, but also protect the staff from laser radiation.

[0043] The power head frame structure of the present invention is as follows Figure 4 , Figure 5As shown, the outer ring of the slewing bearing 21 is fixed on the head frame box 28 and remains stationary, the inner ring has a gear and is connected and fixed to the connecting flange 20, the three-jaw chuck 18 is bolted and fixed to the connecting flange 20, and the auxiliary top 19 is kept at the center position of the three-jaw chuck and connected and fixed to the connecting flange 20. Under the action of the driving gear 24, the inner ring of the slewing bearing 21, the connecting flange 20, the auxiliary top 19 and the three-jaw chuck 18 rotate together. The servo motor 22 and the reducer 23 are fixedly installed on the head frame box 28 through the reducer mounting plate 25. The reducer shaft 27 is fitted with the driving gear 24, and the driving gear 24 is locked from the reverse side with a retaining ring. The clearance between the driving gear 24 and the inner gear ring of the slewing bearing 21 is adjusted by the screw on the adjusting mechanism 26 to ensure that the clearance of the gear meshing does not exceed 0.05mm. The slewing bearing 21 must be of precision grade. After installation, it is necessary to detect that the runout of the chuck is not greater than 0.05mm at a rotation speed of 10r / min.

[0044] The flexible tip of the present invention is one of the core components of the equipment. During laser cladding, the tip presses the workpiece tightly to prevent it from moving. At the same time, as the local temperature increases during laser cladding, the length of the workpiece is elongated to a certain extent, and the reaction force on the tip increases. The workpiece will be squeezed and bent to undergo elastic deformation. When the internal axial stress of the workpiece reaches 120Mpa, the elastic deformation is greater than 0.1mm, and the circular runout of the workpiece rotation exceeds the machining accuracy range of the workpiece. When the stress is reduced to below 40Mpa, the workpiece is relatively loose and easy to move. Therefore, the clamping force of the tip must change during the entire cladding process to keep the internal stress of the workpiece at about 80Mpa when the workpiece expands and contracts due to heat. Therefore, the tip adopts a hydraulic method to monitor the changes in oil pressure in real time and automatically adjust the pressure to complete the laser cladding process.

[0045] The flexible top structure of the present invention is as follows Figure 6-Figure 8As shown. The top base 29 is placed on the guide rail of the machine tool base 6, and a wheel mechanism 30 is installed on its side to guide the top to move on the machine tool track. The gap between the top assembly and the machine tool guide rail is controlled by adjusting the screws on the side of the wheel mechanism 30. The driving mechanism and the hydraulic system are installed on the lower side and upper side of the top base 29 respectively: the driving mechanism is composed of a reducer 36, a motor 37, a reducer mounting plate 39, a driving shaft 40 and a driving gear 41. The driving gear 41 is meshed with the rack 35 on the side of the machine tool base 6 to allow the flexible top to move to an appropriate position to suit workpieces of different lengths. During the laser cladding process, it is necessary to tighten the screws to lock the locking plate 13 to prevent the top base from having gaps or movement; the hydraulic system is composed of a pump station 38 and a hydraulic cylinder 34. The pump station is equipped with a pressure gauge and a pressure regulating valve, and the relevant data is controlled and displayed on the touch screen through the electronic control system. The hydraulic cylinder 34 is connected and fixed to the top tailstock 33, the telescopic shaft is connected to the sleeve 32, the sleeve 32 slides along the guide key inside the tailstock top 33, the top 31 is inserted into the sleeve 32 and moves telescopically along the telescopic shaft of the hydraulic cylinder, so as to tighten or loosen the workpiece. The heightening connection seat 42 fixes the top base 29 and the top tailstock 33 together. During assembly, the height of the heightening connection seat 42 can be changed to make the height of the top consistent with the center height of the three-jaw chuck 18 of the power head frame, and then adjust the relative position of the top tailstock 33 and the heightening connection seat 42 to make the top concentric with the three-jaw chuck 18, and the concentricity error does not exceed 0.1mm.

[0046] The precision lifting roller of the present invention mainly plays a supporting role, bears most of the weight of the workpiece, can be freely lifted and lowered, and can be adjusted left and right. While supporting the workpiece, it is necessary to ensure that the workpiece and the chuck and top of the power head frame maintain concentricity. Its structure is as follows Figure 9-12 shown.

[0047] The precision lifting roller is composed of a split roller frame 50, a lifting mechanism and a side auxiliary mechanism. The split roller frame 50 is placed on the roller frame connecting plate 52 and fixed with screws. The roller frame connecting plate 52 is fixedly connected to the nuts of the first screw lift 51 and the first screw lift 60. The bases of the first screw lift 51 and the first screw lift 60 are fixed on the roller frame base 62. The first screw lift 51 and the first screw lift 60 are connected by a transition connecting shaft 58 and a rigid coupling 59. The input shaft of the screw lift 51 is connected to the transmission shaft 64 by a rigid coupling 59. The end of the transmission shaft 64 passes through the bearing seat 63 (fixed on the right side of the roller frame base 62) and its bearing, and a handwheel 61 is installed at the tail. When the handwheel 61 is turned, the transmission shaft 64, the rigid coupling 59 and the transition connecting shaft 58 rotate synchronously, driving the nuts of the screw lifts 51 and 60 to rise and fall at the same time, and the roller frame connecting plate 52 and the split roller frame 50 are also lifted and fallen together. Sliders 55 are installed on both sides of the roller frame base 62, and linear guides 56 are fixedly installed on the side auxiliary plates 54. The side auxiliary plates 54 on the left and right sides are connected together by auxiliary connecting plates 53, and the auxiliary connecting plates 53 are fixedly installed together with the roller frame connecting plates 52. When the roller frame is raised or lowered, the side auxiliary plates 54, linear guides 56 and auxiliary connecting plates 53 are raised or lowered together. The auxiliary device mainly plays a guiding role to prevent the split roller frame 50 from deviation during the lifting process, thereby ensuring its accuracy during the lifting process. A roller lifting mechanism is installed inside the roller frame base 62. The inner ring of the bearing inside the small roller 65 is hinged with the connecting rod 66 and the pull rod 67 through the connecting pin 71. The connecting rod 66 is hinged with the fixing pin 70. The fixing pin 70 is hinged on the roller frame base 62. The lifting screw 68 is rotated, and the roller mechanism 69 moves on the slide groove of the roller frame base 62, and at the same time forces the pull rod 67 to move, thereby driving the connecting rod 66 to rotate. At this time, the small roller 65 extends downward to contact the guide surface of the machine tool base 6 and reversely supports the entire roller frame mechanism. The precision roller frame mechanism can move back and forth on the machine tool track through the small roller 65. When it moves to the desired position, the lifting screw 68 is adjusted in the reverse direction. Due to the action of gravity, the connecting rod 66 rotates in the reverse direction, and the small roller 65 retracts into the inside of the roller frame base 62. At this time, the precision roller frame is completely placed on the machine tool guide rail. The roller lifting mechanism can easily move it to the desired position.

[0048] Before laser cladding, the locking plate 13 is used to lock the precision roller frame and the machine tool guide surface, and then the height of the roller frame is adjusted by the hand wheel 61. At the same time, the position of the roller is adjusted by the wrench 83 to make the workpiece concentric with the three-jaw chuck 18 and the center 31 before laser cladding can be carried out.

[0049] The structure of the split roller frame 50 of the present invention is as follows: Fig.13 , Fig.14As shown. The first roller 78 and the second roller 79 are in the guide groove of the roller base 73, and are driven by the first trapezoidal screw 76 and the first trapezoidal screw 77 respectively. One end of the trapezoidal screw is fixed by a seat bearing 82 and a thrust ball bearing in the side mounting plate, and the other end is fixed by a bearing seat 85 and its bearing. The screw nut 80 is connected to the roller, and the roller on the roller can rotate freely. Use a wrench 83 to turn the trapezoidal screw 77, and the screw nut drives the roller 79 to move; use a wrench to turn the transmission shaft 81, and the nut on the trapezoidal screw 76 drives the roller 78 to move through the gear pair 84. The roller frame mechanism can adjust the position of the two rollers at will by standing on one side, and the operation is convenient.

[0050] The robot walking mechanism of the present invention is as follows Figure 15-17 As shown, the laser gun 17 and the six-axis robot 12 are fixedly mounted on the moving slide 98 through the heightening seat 89, the powder feeder 15 and the robot controller 16 are fixed on the electrical placement platform 99 and are located on both sides of the robot, the electrical placement platform 99 is fixed on the moving slide 98, a slider 95 is installed under the moving slide, and it forms a moving pair with the linear guide rail 94 on the large base 88, and all the components on the slide are driven by the gear rack mechanism together with the moving slide to make a linear movement. Among them, the travel gear 96 is connected with the output shaft of the servo motor reducer 91 / 92, the motor reducer 91 / 92 is fixedly mounted on the moving slide 98 through the reducer mounting plate 93, and the travel rack 97 is fixedly mounted on the large base 88. An accordion cover is installed on the linear guide rail, and the accordion cover mounting plate 90 and the accordion cover guide plate 100 are fixed on the large base 88. During installation, the straightness of any position of the guide rail is maintained within 0.02mm per meter. During installation, the horizontal adjustment device 8 is used to keep the upper plane of the linear guide rail 94 horizontal, and the linear guide rail 94 is parallel to the center line of the machine tool rotation, and the parallelism error is within 0.1mm. Then, the large base 88 is fixed with anchor screws, and the accordion cover, drag chain and optical fiber are finally arranged. The laser generator and its control center system should be placed in an open position within 10 meters of the large base to facilitate heat dissipation, maintenance and wiring.

[0051] 1. The transmission shaft is required to have high strength, certain impact toughness, sufficient bending and torsional fatigue strength and stiffness. The journal surface needs to have high hardness and wear resistance. It is generally made of forged alloy steel and is relatively expensive. The cost price of the transmission shaft of a large ship is usually more than 20 million yuan per piece, and the production cycle is at least 12 months. If it is remanufactured to replace the damaged old shaft, the cost is relatively high, which is obviously not cost-effective.

[0052] 2. Surface repair of worn old shafts is the fastest and lowest cost method. Usually, for the transmission shafts of large ships, laser cladding only needs to be done once, which takes 7 working days to complete with a processing fee of 1.1 million yuan. The surface thickness of the cladding layer is about 1-2 mm. The clad workpiece only needs to be lathe-turned once, and then the surface can be directly processed by a grinder. The processing fee is about 300,000 yuan in 3 working days, and the repair of the old shaft can be completed in 10 working days. The total cost does not exceed 1.5 million yuan, which greatly saves time and cost and plays an important role in the later maintenance of the transmission shafts of large ships.

Claims

1. A transmission shaft robot automatic laser cladding machine, characterized in that The machine tool base (6) is placed on the machine tool mattress (7), the power head frame (1) is fixed on one end of the machine tool base (6), the flexible top (3) is placed on the other end of the machine tool base (6), the precision lifting roller (5) is installed on the machine tool base (6), the workpiece (2) is placed on the precision lifting roller (5), the power head frame (1) clamps the workpiece (2) through a chuck, the flexible top (3) presses the workpiece (2) through the top, and the precision lifting roller (5) and the flexible top (3) are bolt-locked through a locking plate (13); a robot walking mechanism (14) is arranged on one side of the machine tool base (6), and a six-axis robot (12), a powder feeder (15), and a robot control cabinet (16) are arranged on the upper part of the robot walking mechanism (14); a laser gun (17) matched with the workpiece (2) is arranged on the six-axis robot (12).

2. The transmission shaft robot automatic laser cladding machine according to claim 1 is characterized in that Guard rails are arranged on both sides of the machine tool base (6) in the length direction, and the movable guard cover (9) is freely movable along the guard rails on the machine tool base, and eye protection glass is installed on the movable guard cover (9).

3. The transmission shaft robot automatic laser cladding machine according to claim 1 is characterized in that The power head frame (1) comprises a three-jaw chuck (18) connected to the chuck, an auxiliary top (19) is arranged at the center of the three-jaw chuck (18), the outer ring of the slewing bearing (21) is fixed on the head frame box (28) and remains stationary, the inner ring has a gear and is connected and fixed to the connecting flange (20), the three-jaw chuck (18) is further connected and fixed to the connecting flange (20) by bolts, the auxiliary top (19) is kept at the center of the three-jaw chuck (18) and is connected and fixed to the connecting flange (20), and the driving gear (24) is connected to the driving gear (24) ... fixed to the driving gear (21) and the outer ring of the slewing bearing (21) is fixed to the connecting flange (20) and the three-jaw chuck (18) is connected and fixed to the connecting flange (20) by bolts. ), the inner ring of the slewing bearing (21), the connecting flange (20), the auxiliary center (19) and the three-jaw chuck (18) rotate together; the servo motor (22) and the reducer (23) are fixedly mounted on the head frame box (28) through the reducer mounting plate (25), the reducer shaft (27) is fitted with the driving gear (24), and the driving gear (24) is locked from the reverse side with a retaining ring, and the clearance between the driving gear (24) and the inner gear ring of the slewing bearing (21) is adjusted by the screw on the adjusting mechanism (26).

4. The transmission shaft robot automatic laser cladding machine according to claim 3 is characterized in that The flexible top (3) is placed on a top base (29) on a machine tool base (6), a side of the top base (29) is provided with a wheel mechanism (30), a side lower portion and a side upper portion of the top base (29) are provided with a driving mechanism and a hydraulic system, respectively, the driving mechanism comprises a reducer (36), a motor (37), a reducer mounting plate (39), a driving shaft (40) and a driving gear (41), the driving gear (41) is meshed with a rack (35) located on the side of the machine tool base (6) for transmission; the hydraulic system comprises a pump station (38) and a hydraulic system. The hydraulic cylinder (34) and the pump station (38) are provided with a pressure gauge and a pressure regulating valve, and the electronic control system is used to control and display relevant data on the touch screen; the cylinder body of the hydraulic cylinder (34) is connected and fixed with the top tailstock (33), the telescopic shaft of the hydraulic cylinder (34) is connected with the sliding sleeve (32), the sliding sleeve (32) slides along the guide key inside the tailstock top 33, the top (31) is inserted into the sliding sleeve (32) and moves telescopically along the telescopic shaft of the hydraulic cylinder; the heightening connecting seat (42) fixes and connects the top base (29) and the top tailstock (33) together.

5. The transmission shaft robot automatic laser cladding machine according to claim 4 is characterized in that The precision lifting roller (5) comprises a split roller frame (50), a lifting mechanism, and a lateral auxiliary mechanism; the split roller frame (50) is placed on a roller frame connecting plate (52) and fixed with screws; the roller frame connecting plate (52) is fixedly connected with nuts of a first screw lift (51) and a second screw lift (60); the bases of the first screw lift (51) and the second screw lift (60) are fixedly connected on a roller frame base (62); a transition connecting shaft (58) is used between the first screw lift (51) and the second screw lift (60) The first screw lift (51) is connected to a rigid coupling (59), the input shaft of the first screw lift (51) is connected to the transmission shaft (64) by a rigid coupling (59), the end of the transmission shaft (64) passes through the bearing seat (63) and the bearing, and a hand wheel (61) is installed at the tail, and the bearing seat (63) is fixed to the right side of the roller frame base (62); sliders (55) are installed on both sides of the roller frame base (62), and the linear guide rail (56) is fixedly installed on the side auxiliary plate (54), and the side auxiliary plates (54) on the left and right sides are connected together through the auxiliary connecting plate (53), and the auxiliary connecting plate (5 3) is fixedly installed with the roller frame connecting plate (52). When the roller frame is raised or lowered, the side auxiliary plate (54), the linear guide rail (56) and the auxiliary connecting plate (53) are raised or lowered together. A roller lifting mechanism is installed inside the roller frame base (62). The inner ring of the bearing inside the small roller (65) is hinged with the connecting rod (66) and the pull rod (67) through the connecting pin (71). The connecting rod (66) is hinged with the fixing pin (70). The fixing pin (70) is hinged on the roller frame base (62). The lifting screw (68) is rotated, and the roller mechanism (69) The roller frame moves on the slide groove of the roller frame base (62) and forces the pull rod (67) to move, thereby driving the connecting rod (66) to rotate. The small roller (65) extends downward to contact the guide surface of the machine tool base (6) and reversely supports the entire roller frame mechanism. The precision roller frame mechanism moves back and forth on the machine tool track through the small roller (65). When it moves to the required position, the lifting screw (68) is adjusted in the reverse direction. Due to the effect of gravity, the connecting rod (66) rotates in the reverse direction, and the small roller (65) retracts into the inside of the roller frame base (62). The precision roller frame is completely placed on the machine tool guide rail.

6. The transmission shaft robot automatic laser cladding machine according to claim 5 is characterized in that The split roller frame (50) comprises a roller base (73), a first roller (78) and a second roller (79) are arranged in the guide groove of the roller base (73), and the first roller (78) and the second roller (79) are driven by a first trapezoidal screw (76) and a second trapezoidal screw (77) respectively; one end of each trapezoidal screw is fixed by a seat bearing and a thrust ball bearing in the side mounting plate, and the other end is fixed by a bearing seat (85) and a bearing, and the trapezoidal screw nut (80) is connected to the roller, and the roller on the roller can rotate freely; the second trapezoidal screw (77) is rotated by a wrench (83), and the screw nut drives the second roller (79) to move; the transmission shaft (81) is rotated by the wrench (83), and the nut on the first trapezoidal screw (76) drives the first roller (78) to move through the gear pair (84).

7. The transmission shaft robot automatic laser cladding machine according to claim 6 is characterized in that The robot walking mechanism includes a heightened seat (89) for mounting a laser gun (17) and a six-axis robot (12), the heightened seat (89) being fixedly mounted on a moving slide (98), a powder feeder (15) and a robot controller (16) being fixed on an electrical placement platform (99) on both sides of the robot, the electrical placement platform (99) being fixed on the moving slide (98), a slider (95) being mounted under the moving slide, and forming a moving pair with a linear guide rail (94) on the large base (88), and all parts on the slide The component moves linearly along with the moving slide plate (98) through the transmission of the gear rack mechanism; the gear rack mechanism comprises a traveling gear (96) and a traveling rack (97) fixedly mounted on the large base (88) and cooperating with each other; a reducer mounting plate (93) is fixedly mounted on the moving slide plate (98); a first motor reducer (91) and a second motor reducer (92) are arranged on the reducer mounting plate (93); and the output shafts of the first motor reducer (91) and the second motor reducer (92) are distributedly connected to the traveling gear (96).

8. The transmission shaft robot automatic laser cladding machine according to claim 7 is characterized in that The accordion cover is installed on the linear guide rail (94), and the accordion cover mounting plate (90) and the accordion cover guide plate (100) are fixed on the large base (88).

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