Mobile robot laser inner hole cladding machine

Abstract

The invention relates to a mobile robot laser inner hole cladding machine, and relates to the technical field of laser cladding. The mobile robot laser inner hole cladding machine comprises a laser device, a powder feeding mechanism and a laser cladding head, the powder feeding mechanism is used for continuously conveying metal powder to the laser cladding head, the mobile robot laser inner hole cladding machine further comprises a control machine base and a moving base, the laser device and the powder feeding mechanism are both installed on the control machine base, a collaborative robot is further arranged on the moving base, and the collaborative robot is connected with the laser cladding head. The laser cladding head is installed on the collaborative robot so that the collaborative robot can drive the laser cladding head to move, and the control machine base and the movable base are both used for moving on the ground. The device has the effect of conveniently repairing the internal parts of the large machine.

Description

Technical Field

[0001] This application relates to the technical field of laser cladding, and in particular to a mobile robot laser internal hole cladding machine. Background Art

[0002] With the continuous development of the social economy and the increasing improvement of the scientific and technological level, the industry in our country is also booming. As a surface treatment technology, laser cladding can use a laser to heat powdered metal to a molten or semi-molten state, and then spray it onto the surface of a pre-treated substrate at a certain speed to form a metallurgical bonding coating. Therefore, it can repair the surface of a device or part, and thus plays an important role.

[0003] In the prior art, there is a laser internal hole cladding device, which includes a machine body. One end of the machine body is provided with a rotating mechanism. The rotating mechanism includes a rotating seat and a rotating component. The rotating seat is rotatably connected to the machine body and is used to clamp the part to be clad. The rotating component is used to drive the rotating seat to rotate. The other end of the machine body is also provided with a cladding mechanism and a powder feeding mechanism. The cladding mechanism includes a moving component, a laser cladding head and a laser. The laser cladding head is used to clad the surface of the part on the rotating seat. The laser is connected to the laser cladding head through a flexible optical fiber to provide a high-energy laser beam to the laser cladding head to achieve laser output. The moving component is used to drive the laser cladding head close to the part on the rotating seat. The powder feeding mechanism is used to continuously input metal powder into the laser cladding head. When in use, the part to be repaired is installed on the rotating seat. Then, the moving component drives the laser cladding head close to the part on the rotating seat. Thereafter, the laser cladding head performs laser cladding on the surface or inner wall of the part. During this process, the rotating component drives the rotating seat to rotate.

[0004] In view of the above related technologies, since the volume and weight of the cladding device in the prior art are relatively large, when in use, it is often necessary to unify the parts to be clad to the repair location and install them on the rotating seat one by one before the parts can be clad. This makes it necessary to disassemble, install and transport the large parts to be repaired in heavy machinery such as inside a ship and a wind turbine when they need to be repaired, which is time-consuming and laborious, and greatly increases the overall time required for repair. Therefore, it needs to be improved. Summary of the Invention

[0005] In order to facilitate the repair of internal components of large machinery, this application provides a mobile robot laser internal hole cladding machine.

[0006] A mobile robot laser internal hole cladding machine provided by this application adopts the following technical solutions: A mobile robot laser internal hole cladding machine includes a laser, a powder feeding mechanism, and a laser cladding head. The powder feeding mechanism is used to continuously supply metal powder to the laser cladding head. It also includes a control base and a moving base. The laser and the powder feeding mechanism are both installed on the control base. A collaborative robot is also provided on the moving base. The laser cladding head is installed on the collaborative robot so that the collaborative robot drives the laser cladding head to move. Both the control base and the moving base are used to move on the ground.

[0007] By adopting the above technical solution, compared with the prior art where an integrated setting method is used to integrate the laser cladding equipment on the same body, when it is necessary to repair components inside heavy machinery, it is necessary to remove the components to be repaired inside the heavy machinery and transport them to the repair location together, which is time-consuming and laborious. In this application, through the setting of the control base and the moving base, when it is necessary to repair components inside heavy machinery, both the control base and the moving base can move to the vicinity of the heavy machinery, so there is no need to transport the components inside the heavy machinery to the repair location uniformly. This effectively facilitates the repair of large mechanical components, reduces the cost required for transporting multiple components, and reduces the overall duration required for repair.

[0008] Preferably, an abutting mechanism is further provided on the laser cladding head. The abutting mechanism includes an adaptation frame, a rotating frame, abutting wheels, and an adjusting component. The rotating frame is rotatably connected to the adaptation frame and is also rotatably connected to the end of the laser cladding head. The abutting wheels are arranged on the adaptation frame, and the adjusting component is used to drive the rotating frame to rotate.

[0009] By adopting the above technical solution, the setting of the abutting mechanism enables the adjusting component to drive the rotating frame to rotate, so that the rotating frame can drive the adaptation frame to displace, and further enables the adaptation frame to drive the abutting wheels to displace, adjusting the positions of the abutting wheels so that the abutting wheels can contact the inner walls of different holes, thereby increasing the stability of the laser cladding head when rotating driven by the collaborative robot, reducing the amplitude of the laser cladding head shaking during rotation, and increasing the repair effect of the laser cladding head on the inner wall of the part hole.

[0010] Preferably, the abutting mechanism further includes an additional frame. The additional frame is rotatably connected to the laser cladding head and is also rotatably connected to the corresponding adaptation frame. The additional frame is arranged parallel to the rotating frame, and the number of abutting wheels on the adaptation frame is set to several.

[0011] By adopting the above technical solution, the setting of the additional frame can increase the stability of the adaptive frame during displacement. At the same time, the parallel setting of the additional frame and the rotating frame can enable the adaptive frame to maintain a translational state when it is driven by the rotating frame and displaced, so that the abutment wheels on the adaptive frame can abut against the inner walls of holes of different diameters, thereby ensuring the stability of the abutment and the abutment effect between the abutment wheels on the adaptive frame and the inner walls of the holes.

[0012] Preferably, the abutment mechanism further includes an adjustment component, which includes an adjustment frame, which is disposed on the laser cladding head and slidably connected to the laser cladding head, and the sliding direction is the extension direction of the laser cladding head, and the adjustment frame is rotatably connected to the additional frame.

[0013] By adopting the above technical solution and arranging the adjustment component, when the adaptable frame abuts against the guide surface in the hole, the end of the adaptable frame can be offset to the side close to the laser cladding head, so that the adaptable frame drives the additional frame to be displaced, and then the adjustment frame slides to adapt to the change in the position of the end of the adaptable frame, so that the abutment wheel of the adaptable frame can abut against the inner wall of the guide surface, so that the end of the laser cladding head can smoothly enter one side of the guide surface, and the deep part of the hole is repaired, which effectively ensures the use effect of the present application.

[0014] Preferably, the adaptable frame is further provided with a giving way frame, the giving way frame is located at one end of the adaptable frame away from the adjustment frame, the giving way frame is further embedded with a movable ball, the movable ball is movably connected to the giving way frame, the giving way frame is rotatably connected to the adaptable frame, the adjustment assembly further comprises a linkage member, and the adjustment frame drives the giving way frame to rotate via the linkage member.

[0015] By adopting the above technical solution, the setting of the yield frame and the linkage member makes it possible that when the abutting wheel on the adapting frame abuts against the inner wall of the guide surface, during the sliding of the adjusting frame, the adjusting frame can drive the yield frame to rotate through the linkage member, so that the yield frame makes way for the inner wall of the hole, allowing the adapting frame to rotate normally, while reducing the probability of the adapting frame abutting against the inner wall of the hole or the guide surface, thereby ensuring the smooth operation of the present application.

[0016] Preferably, the linkage member comprises a linkage frame, one end of which is rotatably connected to a side of the yield frame away from the adaption frame, and the other end of which is rotatably connected to the corresponding adjustment frame.

[0017] By adopting the above technical solution, the linkage frame is set so that when the adjustment frame slips, the adjustment frame can drive one end of the linkage frame to move together, so that the other end of the linkage frame drives the yield frame to rotate, and the end of the yield frame gradually approaches the laser cladding head, effectively realizing the linkage between the yield frame and the adaptation frame, and effectively facilitating the operation of relevant personnel.

[0018] Preferably, the adjustment assembly further comprises a reset member, the reset member is located at a side of the adjustment frame away from the rotating frame, and the reset member is used for resetting the adjustment frame by its own elastic force.

[0019] By adopting the above technical solution and setting the reset member, the reset member can restore the adjustment frame to the initial position through its own elastic force, and can also keep the adjustment frame in the initial state through its own elastic force, effectively ensuring the normal use of the adaptive frame.

[0020] Preferably, the adjustment assembly comprises a driving member, a sliding frame and a transmission frame, the sliding frame is slidably connected to the end of the laser cladding head, the transmission frame is rotationally connected to the sliding frame and is rotationally connected to the rotating frame, and the driving member is used to drive the sliding frame to slide.

[0021] By adopting the above technical solution and setting the adjustment assembly, the driving member can drive the sliding frame to slide, so that the sliding frame drives the transmission frame to move, and the transmission frame drives the rotating frame to rotate, thereby realizing the driving of the rotating frame. At the same time, the driving member can control the rotation angle of the rotating frame by controlling the sliding amount of the sliding frame, which effectively facilitates the operation of relevant personnel.

[0022] Preferably, a redirecting frame is further provided on the adaptable frame, the redirecting frame is rotatably connected to a side of the adaptable frame away from the laser cladding head, and the extension direction of its own rotation axis is the direction in which the adaptable frame is away from the laser cladding head, and the abutment wheel is rotatably connected to the redirecting frame.

[0023] By adopting the above technical solution, the redirecting frame is set so that the redirecting frame can rotate with the displacement of the adapting frame, so that the abutment wheel on the redirecting frame can always adapt to the movement or rotation of the adapting frame with the laser cladding head, effectively reducing the friction between the abutment wheel and the inner wall of the hole, while also ensuring the stability of the laser cladding head during rotation.

[0024] Preferably, the adaptable rack and the rotating rack are both provided in plurality and are arranged relative to each other and distributed around the laser cladding head, and the adjusting assembly is used for driving each of the rotating racks to rotate.

[0025] By adopting the above technical solution, the setting of a plurality of adaptor frames effectively ensures the stability of the laser cladding head during rotation, reduces the magnitude of shaking when the laser cladding head rotates, and thus ensures the repair effect of the laser cladding head on the inner wall of the hole of the part.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: 1. The setting of the control base and the moving base enables the control base and the moving base to move to the vicinity of the heavy machinery when it is necessary to repair the components inside the heavy machinery. Thus, it is not necessary to transport the components inside the heavy machinery to the repair location uniformly, which effectively facilitates the repair of large mechanical components, reduces the cost required for transporting multiple components, and reduces the overall duration required for repair. 2. The setting of the abutting mechanism enables the adjusting component to drive the rotating frame to rotate, so that the rotating frame can drive the adaptor frame to displace, and further enables the adaptor frame to drive the abutting wheel to displace, adjusting the position of the abutting wheel so that the abutting wheel can contact the inner wall of different holes, thereby increasing the stability of the laser cladding head when rotating driven by the collaborative robot, reducing the amplitude of shaking when the laser cladding head rotates, and increasing the repair effect of the laser cladding head on the inner wall of the hole of the part. 3. The setting of the adjusting component enables the end of the adaptor frame to shift towards the side close to the laser cladding head when the adaptor frame abuts against the guiding surface inside the hole. Thus, the adaptor frame drives the additional frame to displace, and further enables the adjusting frame to slide, adapting to the change in the position of the end of the adaptor frame, so that the abutting wheel of the adaptor frame can abut against the inner wall of the guiding surface, enabling the end of the laser cladding head to smoothly enter one side of the guiding surface and repair the part deep in the hole, effectively ensuring the use effect of the present application. Description of the Drawings

[0027] Figure 1 is a schematic diagram of the overall mobile robot laser internal hole cladding machine in Embodiment 1 of the present application.

[0028] Figure 2 is a schematic diagram of the structure of the laser in Embodiment 1 of the present application.

[0029] Figure 3 is a schematic diagram of the structure of the adaptor frame in Embodiment 2 of the present application.

[0030] Figure 4 is a schematic diagram of the structure of the adjusting component in Embodiment 2 of the present application.

[0031] Figure 5 is a schematic diagram of the structure of the linkage member in Embodiment 2 of the present application.

[0032] Figure 6It is a schematic structural diagram of the additional frame used in Embodiment 3 of the present application.

[0033] Explanation of reference numerals: 1, laser; 2, powder feeding mechanism; 21, powder feeder; 22, powder feeding pipe; 3, laser cladding head; 4, control base; 41, water chiller; 42, control mechanism; 421, control panel; 422, electric control cabinet; 5, moving base; 51, collaborative robot; 6, universal wheel; 7, abutting mechanism; 71, adapting frame; 72, rotating frame; 73, abutting wheel; 74, adjusting assembly; 741, driving member; 7411, driving motor; 7412, lead screw; 742, sliding frame; 743, transmission frame; 75, additional frame; 76, yielding frame; 77, adjusting assembly; 771, adjusting frame; 7711, extending portion; 772, reset member; 773, linkage member; 7731, linkage frame; 78, redirecting frame; 8, guide rod; 9, moving ball. Detailed implementation manners

[0034] The following further elaborates on the present application Figure 1-6 in conjunction with the appended drawings.

[0035] Embodiment 1: Embodiment 1 of the present application discloses a mobile robot laser internal hole cladding machine. Referring to Figure 1 and Figure 2 , the mobile robot laser internal hole cladding machine includes a laser 1, a powder feeding mechanism 2, a laser cladding head 3, a control base 4 and a moving base 5. The powder feeding mechanism 2 is used to continuously supply metal powder to the laser cladding head 3. The laser 1 and the powder feeding mechanism 2 are both installed on the control base 4. A collaborative robot 51 is also provided on the moving base 5, and the laser cladding head 3 is installed on the collaborative robot 51 so that the collaborative robot 51 drives the laser cladding head 3 to move. Both the control base 4 and the moving base 5 are used to move on the ground.

[0036] Referring to Figure 1 and Figure 2 , a plurality of universal wheels 6 are provided at the bottoms of both the control base 4 and the moving base 5 so that the control base 4 and the moving base 5 can move on the ground. In the embodiment of the present application, the powder feeding mechanism 2 includes a powder feeder 21 and a powder feeding pipe 22. The powder feeder 21 is fixedly installed at the top end of the control base 4 and stores metal powder inside. The bottom end of the powder feeder 21 is communicated with one end of the powder feeding pipe 22, and the other end of the powder feeding pipe 22 is communicated with the end of the laser cladding head 3 installed on the collaborative robot 51. In the embodiment of the present application, the powder feeding pipe 22 is set as a flexible pipe.

[0037] Referring to Figure 1 and Figure 2, the laser 1 is fixedly installed on the control base 4 and is used to generate a laser beam, and the generated laser beam is directly transmitted into the laser cladding head 3. A water chiller 41 is also fixedly installed on the control base 4, and the water chiller 41 is used to cool the laser 1, so as to ensure the stability and service life of the laser 1. Both the laser 1 and the water chiller 41 are prior arts, so they will not be elaborated here.

[0038] Referring to Figure 2 , a collaborative robot 51 is fixedly installed on the top of the moving base 5. In the embodiment of the present application, the collaborative robot 51 is set as a multi-degree-of-freedom robotic arm to ensure that it can adapt to holes of different specifications and sizes. The laser cladding head 3 is fixedly installed on the end of the robotic arm.

[0039] Referring to Figure 1 and Figure 2 , a control mechanism 42 is further provided on the control base 4. The control mechanism 42 includes a control panel 421 and an electric control cabinet 422. The control panel 421 is fixedly installed on the surface of the control base 4, and the electric control cabinet 422 is fixedly installed inside the control base 4. The control panel 421, the collaborative robot 51, the powder feeder 21, the water chiller 41, the laser 1 and the laser cladding head 3 are all electrically connected to the electric control cabinet 422, so that relevant personnel can operate on the control panel 421, and the control panel 421 feeds back the operation signal to the electric control cabinet 422, so that the electric control cabinet 422 controls the operation of each device.

[0040] The implementation principle of the mobile robot laser internal hole cladding machine in Embodiment 1 of the present application is as follows: when it is necessary to repair the components inside a heavy machinery, both the control base 4 and the moving base 5 are moved to the vicinity of the components to be repaired in the heavy machinery. Then, through the control panel 421, the electric control cabinet 422 drives the collaborative robot 51 to approach the hole to be repaired, and the collaborative robot 51 drives the laser cladding head 3 to make a circular motion, so that when the laser cladding head 3 is working, the hole is repaired, so that it is not necessary to transport the components inside the heavy machinery to the repair location uniformly, which effectively facilitates the repair of large mechanical components, reduces the cost required for transporting multiple components, and reduces the overall duration required for repair.

[0041] Embodiment 2: The difference between Embodiment 2 and Embodiment 1 of the present application is that referring to Figure 3 and Figure 4 , an abutting mechanism 7 is further provided on the end of the working end of the laser cladding head 3. The abutting mechanism 7 includes an adapting frame 71, a rotating frame 72, an abutting wheel 73 and an adjusting assembly 74. The numbers of the adapting frame 71 and the rotating frame 72 are both set to several. In the implementation of the present application, they are both set to three and are circumferentially and equally angularly distributed along the axis direction of the laser cladding head 3.

[0042] Referring toFigure 3 and Figure 4 The adjustment assembly 74 includes a driving member 741, a sliding frame 742 and a transmission frame 743. The driving member 741 includes a driving motor 7411 and a screw rod 7412. The driving motor 7411 is fixedly mounted on the laser cladding head 3, and the axis direction of the output shaft of the driving motor 7411 is parallel to the axis direction of the laser cladding head 3. The output shaft of the driving motor 7411 is fixedly connected to one end of the screw rod 7412 through a coupling, and both ends of the screw rod 7412 are rotatably connected to the laser cladding head 3 through bearings.

[0043] Reference Figure 3 and Figure 4 , one end of the screw rod 7412 passes through the sliding frame 742 and is threadedly connected to the sliding frame 742. The sliding frame 742 is set in an annular shape and is sleeved on the laser cladding head 3, and is slidably connected to the laser cladding head 3, and the sliding direction is the axial direction of the laser cladding head 3. In the embodiment of the present application, the transmission frame 743 is set in three groups, and the three groups of transmission frames 743 are set in a one-to-one correspondence with the three rotating frames 72. Two transmission frames 743 are set in each group, and are respectively located on opposite sides of the rotating frame 72.

[0044] Reference Figure 3 and Figure 4 One end of each transmission frame 743 is rotatably connected to the laser cladding head 3 through a pin, and the other end of each transmission frame 743 is rotatably connected to the corresponding rotating frame 72 along the middle of its own length direction through a pin. One end of each rotating frame 72 is rotatably connected to the laser cladding head 3 through a pin, and the other end of each rotating frame 72 is rotatably connected to the corresponding adaptable frame 71 through a pin.

[0045] Reference Figure 4 and Figure 5 The abutment mechanism 7 also includes an additional frame 75, a clearance frame 76 and an adjustment assembly 77. The additional frame 75, the clearance frame 76 and the adjustment assembly 77 are all set to a plurality of them. In the embodiment of the present application, the number of additional frames 75 and the adjustment assembly 77 is set to three, and they are arranged one by one. Each adjustment assembly 77 includes an adjustment frame 771, a reset member 772 and a linkage member 773. One end of each additional frame 75 is rotatably connected to the corresponding adaptation frame 71 through a pin shaft, and the other end is rotatably connected to the corresponding adjustment frame 771 through a pin shaft, and each additional frame 75 is arranged in parallel with the corresponding rotating frame 72 to ensure the displacement stability of the adaptation frame 71.

[0046] Reference Figure 3 and Figure 4, the end of each adjustment frame 771 is embedded in the laser cladding head 3, and is slidably connected to the laser cladding head 3 through a slide rail, and the sliding direction is the axial direction of the laser cladding head 3. In each groove of the laser cladding head 3 for embedding the adjustment frame 771, a guide rod 8 is provided. Both ends of each guide rod 8 are fixedly connected to the inner wall of the corresponding groove, and one end passes through the corresponding adjustment frame 771 and is slidably connected to the corresponding adjustment frame 771. The sliding direction of the adjustment frame 771 relative to the guide rod 8 is the axial direction of the guide rod 8.

[0047] Referring to Figure 3 and Figure 5 , in the embodiment of the present application, each reset member 772 is set as a compression spring. Each such compression spring is sleeved on the corresponding guide rod 8, and one end abuts against the inner side wall of the corresponding groove, and the other end abuts against the corresponding adjustment frame 771, so as to supply the corresponding adjustment frame 771 to reset through its own elastic force.

[0048] Referring to Figure 3 and Figure 5 , a plurality of redirecting frames 78 are provided on each adaptation frame 71. In the embodiment of the present application, there are two redirecting frames 78 on each adaptation frame 71, and they are respectively located at both ends of the adaptation frame 71 along its own length direction. One end of each redirecting frame 78 is embedded in the corresponding adaptation frame 71 and is rotatably connected to the corresponding adaptation frame 71, and the rotation axis is perpendicular to the axis of the laser cladding head 3. A contact wheel 73 is provided on each redirecting frame 78, and the contact wheel 73 is rotatably connected to the corresponding redirecting frame 78 through a pin shaft.

[0049] Referring to Figure 3 , Figure 4 and Figure 5 , in the initial state, one side of the adaptation frame 71 is in contact with the side wall of the laser cladding head 3. When the driving member 741 drives the corresponding sliding frame 742 to slide, the sliding frame 742 drives the corresponding transmission frame 743 to displace, and further makes the transmission frame 743 drive the corresponding rotating frame 72 to rotate, so that the rotating frame 72 drives the corresponding adaptation frame 71 to displace. During this process, the adaptation frame 71 drives the corresponding additional frame 75 to displace, so that the additional frame 75 rotates relative to the corresponding adjustment frame 771, causing the adaptation frame 71 to translate, so that the contact wheel 73 on the adaptation frame 71 abuts against the inner wall of the hole.

[0050] Referring to Figure 3 , Figure 4 and Figure 5After that, when the adaptable frame 71 moves with the laser cladding head 3, when the abutting wheel 73 at the end of the adaptable frame 71 away from the sliding frame 742 abuts against the guide surface in the hole, the end of the adaptable frame 71 rotates toward the end close to the laser cladding head 3 to adapt to the change of the guide surface. In this process, the adaptable frame 71 drives the additional frame 75 to move, so that the additional frame 75 moves away from the end of the adaptable frame 71, drives the adjustment frame 771 to slide, and realizes the adaptation of the adaptable frame 71. In this process, the reset member 772 is compressed.

[0051] Reference Figure 3 and Figure 5 Each of the yielding frames 76 is located at one end of the corresponding adapting frame 71 away from the adjusting frame 771, and each of the yielding frames 76 is rotatably connected to the end of the corresponding adapting frame 71 through a pin. A moving ball 9 is embedded on the outer wall of each yielding frame 76 away from the laser cladding head 3, and each of the moving balls 9 is movably connected to the corresponding yielding frame 76, so that the moving ball 9 can rotate in the groove embedded in the yielding frame 76.

[0052] Reference Figure 3 and Figure 5 Each adjustment frame 771 has an extension portion 7711 extending in a direction close to the mounting frame, and each extension portion 7711 is integrally formed with the corresponding adjustment frame 771. Each linkage member 773 includes two linkage frames 7731, which are respectively located on opposite sides of the corresponding additional frame 75 to be misaligned with the additional frame 75, thereby achieving avoidance.

[0053] Reference Figure 4 and Figure 5 One end of each linkage frame 7731 is rotatably connected to one end of the corresponding extension portion 7711 close to the sliding frame 742 through a pin, and the other end of each linkage frame 7731 is rotatably connected to the side of the corresponding yielding frame 76 away from the adapting frame 71 through a pin. Each linkage frame 7731 is parallel to and has the same length as the corresponding rotating frame 72, so that when the adjusting frame 771 does not slide and the rotating frame 72 rotates, the linkage frame 7731 can rotate and drive the yielding frame 76 to slide together.

[0054] Reference Figure 3 , Figure 4 and Figure 5In the initial state, the end of the moving ball 9 and the end of the abutting wheel 73 are located on the same straight line. When the sliding frame 742 drives the rotating frame 72 to rotate, so that the rotating frame 72 drives the adapting frame 71 to move, the linkage frame 7731 rotates together and causes the yielding frame 76 to move. In this process, the yielding frame 76 and the corresponding adapting frame 71 remain relatively still, so that the abutting wheel 73 and the moving ball 9 can simultaneously abut against the inner wall of the hole.

[0055] Reference Figure 3 , Figure 4 and Figure 5 When the adaptable frame 71 moves away from the abutting wheel 73 at one end of the sliding frame 742 and abuts against the guide surface in the hole, the end of the adaptable frame 71 away from the sliding frame 742 rotates toward the laser cladding head 3, so that the adaptable frame 71 adapts to the shape of the guide surface. In this process, the adaptable frame 71 drives the additional frame 75 to move, thereby causing the adjustment frame 771 to slide. At this time, the adjustment frame 771 drives the linkage frame 7731 to move through the extension portion 7711, thereby causing the linkage frame 7731 to drive the yield frame 76 away from one end of the adaptable frame 71 and rotate toward the laser cladding head 3, thereby reducing the probability that the yield frame 76 abuts against the inner wall of the hole or the inner wall of the guide surface.

[0056] The implementation principle of the mobile robot laser inner hole cladding machine in Example 2 of the present application is as follows: when the driving member 741 drives the corresponding sliding frame 742 to slide, the sliding frame 742 drives the corresponding rotating frame 72 to rotate through the transmission frame 743, so that the adapting frame 71 is translated, so that the abutting wheel 73 on the adapting frame 71 abuts against the inner wall of the hole. In this process, the linkage frame 7731 rotates, so that the adapting frame 71 drives the yielding frame 76 to move together.

[0057] Thereafter, during the process of the adaptation frame 71 moving with the laser cladding head 3, when the abutting wheel 73 at one end of the adaptation frame 71 away from the sliding frame 742 abuts against the guide surface in the hole, the end of the adaptation frame 71 rotates toward the end close to the laser cladding head 3 to adapt to the change of the guide surface. In this process, the adaptation frame 71 drives the additional frame 75 to shift, thereby causing the adjustment frame 771 to slide, thereby achieving adaptation to the adaptation frame 71. At this time, the adjustment frame 771 drives the linkage frame 7731 to shift through the extension portion 7711, thereby causing the linkage frame 7731 to drive the yielding frame 76 away from one end of the adaptation frame 71 and rotate toward the direction of the laser cladding head 3.

[0058] Embodiment 3: The difference between the third embodiment of the present application and the second embodiment is that: Figure 6Each additional frame 75, each rotating frame 72 and each linkage frame 7731 are configured as a retractable rod body, and each rod body is provided with a pressure spring, and the two ends of each pressure spring are respectively against the two retractable parts on the rod body, so that the corresponding rod body can return to the initial position under the elastic force of the pressure spring, so that the adaptation frame 71 and the yield frame 76 of the present application can continue to be against the inner wall of the hole.

[0059] The implementation principle of a mobile robot laser inner hole cladding machine in Example 3 of the present application is as follows: each additional frame 75, rotating frame 72 and linkage frame 7731 are set as a retractable rod, so that when it is necessary to change the distance between the laser emitting end of the laser cladding head 3 and the inner wall of the hole, so that the rotation axis of the laser cladding head 3 is not the same as the axis of the hole to be welded, the additional frame 75, rotating frame 72 and linkage frame 7731 closer to the inner wall of the hole can shrink with the movement of the laser cladding head 3, and the remaining additional frames 75, rotating frame 72 and linkage frame 7731 can be displaced under the drive of the pressure spring and approach the inner wall of the hole, so that the corresponding abutment wheel 73 and the moving ball 9 can continue to abut against the inner wall of the hole. This allows each abutment wheel 73 and each moving ball 9 to continue to abut against the inner wall of the hole, ensuring the use effect of the laser cladding head 3.

[0060] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A mobile robot laser internal hole cladding machine, comprising a laser (1), a powder feeding mechanism (2) and a laser cladding head (3), wherein the powder feeding mechanism (2) is used for continuously conveying metal powder to the laser cladding head (3), and is characterized in that: The invention also comprises a control base (4) and a movable base (5), the laser (1) and the powder feeding mechanism (2) are both mounted on the control base (4), a collaborative robot (51) is also arranged on the movable base (5), the laser cladding head (3) is mounted on the collaborative robot (51), so that the collaborative robot (51) drives the laser cladding head (3) to move, and the control base (4) and the movable base (5) are both used for moving on the ground.

2. The mobile robot laser internal hole cladding machine according to claim 1, characterized in that: The laser cladding head (3) is also provided with an abutment mechanism (7), the abutment mechanism (7) comprising an adaptable frame (71), a rotating frame (72), an abutment wheel (73) and an adjustment component (74), the rotating frame (72) being rotatably connected to the adaptable frame (71) and rotatably connected to the end of the laser cladding head (3), the abutment wheel (73) being provided on the adaptable frame (71), and the adjustment component (74) being used for driving the rotating frame (72) to rotate.

3. The mobile robot laser internal hole cladding machine according to claim 2, characterized in that: The abutment mechanism (7) further comprises an additional frame (75), the additional frame (75) being rotatably connected to the laser cladding head (3) and being rotatably connected to the corresponding adaption frame (71), the additional frame (75) being arranged in parallel with the rotating frame (72), and the number of the abutment wheels (73) on the adaption frame (71) being arranged in a plurality.

4. A mobile robot laser internal hole cladding machine according to claim 3, characterized in that: The abutment mechanism (7) further comprises an adjustment assembly (77), wherein the adjustment assembly (77) comprises an adjustment frame (771), wherein the adjustment frame (771) is arranged on the laser cladding head (3) and is slidably connected to the laser cladding head (3), and the sliding direction is the extension direction of the laser cladding head (3), and the adjustment frame (771) is rotatably connected to the additional frame (75).

5. A mobile robot laser internal hole cladding machine according to claim 4, characterized in that: The adaptable frame (71) is also provided with a clearance frame (76), the clearance frame (76) is located at one end of the adaptable frame (71) away from the adjustment frame (771), the clearance frame (76) is also embedded with a movable ball (9), the movable ball (9) is movably connected to the clearance frame (76), the clearance frame (76) is rotationally connected to the adaptable frame (71), and the adjustment assembly (77) further comprises a linkage member (773), and the adjustment frame (771) drives the clearance frame (76) to rotate through the linkage member (773).

6. The mobile robot laser internal hole cladding machine according to claim 5, characterized in that: The linkage member (773) comprises a linkage frame (7731), one end of which is rotationally connected to a side of the yield frame (76) away from the adaption frame (71), and the other end of which is rotationally connected to the corresponding adjustment frame (771).

7. A mobile robot laser internal hole cladding machine according to claim 4, characterized in that: The adjustment assembly (77) further comprises a reset member (772), wherein the reset member (772) is located on a side of the adjustment frame (771) away from the rotating frame (72), and the reset member (772) is used for resetting the adjustment frame (771) through its own elastic force.

8. The mobile robot laser internal hole cladding machine according to claim 2, characterized in that: The adjusting assembly (74) includes a driving member (741), a sliding frame (742) and a transmission frame (743). The sliding frame (742) is slidably connected to the end of the laser cladding head (3). The transmission frame (743) is rotatably connected to the sliding frame (742) and is also rotatably connected to the rotating frame (72). The driving member (741) is used to drive the sliding frame (742) to slide.

9. The mobile robot laser internal hole cladding machine according to claim 2, wherein: A redirecting frame (78) is further provided on the adapting frame (71). The redirecting frame (78) is rotatably connected to a side of the adapting frame (71) away from the laser cladding head (3), and the extending direction of its own rotation axis is the direction in which the adapting frame (71) is away from the laser cladding head (3). The abutting wheel (73) is rotatably connected to the redirecting frame (78).

10. A mobile robot laser internal hole cladding machine according to claim 2, characterized in that: A plurality of the adapting frames (71) and the rotating frames (72) are provided and are arranged oppositely, and are all distributed around the laser cladding head (3). The adjusting assembly (74) is used to drive each of the rotating frames (72) to rotate.

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