Wheeled mobile laser cladding autonomous maintenance robot

Abstract

The invention discloses a wheel type mobile laser cladding autonomous maintenance robot. A damping mechanism is mounted on a chassis and is connected with wheels; the front end of the chassis is provided with a wire feeder, and the middle part is provided with a laser generator; the steering mechanism is installed at the lower end of the chassis, and the wheel-side motor is connected with the wheels and provides power for the wheels. The six-degree-of-freedom mechanical arm is mounted at the rear half part of the chassis; the laser generator and the wire feeder are connected with the laser cladding head and the laser rust removal head at the tail end of the mechanical arm through the six-degree-of-freedom mechanical arm; one end of the water-cooling pipeline is connected with the water-cooling mechanism, and the other end is connected with the laser cladding head; and a laser radar and a camera are mounted at the top end of the six-degree-of-freedom mechanical The problem that in a severe environment, part of parts of equipment are difficult to disassemble and repair manually after being damaged is effectively solved; the surface damage can be automatically repaired, the exposure time of personnel in a dangerous or toxic and harmful environment is shortened, and an effective solution is provided for repairing and processing equipment in a severe environment.

Description

Technical Field

[0001] The invention belongs to the field of robots and relates to a wheeled mobile laser cladding autonomous maintenance robot. Background Art

[0002] Laser cladding is an advanced surface modification technology that melts a material onto a substrate. Laser irradiation causes it to melt simultaneously with a thin layer on the substrate surface. After rapid solidification, it forms a coating with minimal dilution that forms a metallurgical bond with the substrate. This significantly improves the substrate's surface's wear resistance, corrosion resistance, heat resistance, oxidation resistance, and electrical properties. Laser cladding has broad applications in numerous fields due to its full metallurgical bonding, high solidification rate, and precise process control.

[0003] Existing laser cladding repair technology has been widely used in the industrial field, but when faced with on-site repair tasks for large, complex or remote equipment, the following major problems still exist:

[0004] Lack of portability: Existing equipment usually relies on fixed platforms. When repairing, large workpieces need to be disassembled and transported to specific workstations. This process is complicated and costly, and it is difficult to meet the on-site repair needs of ultra-large equipment such as mining machinery.

[0005] Poor environmental adaptability: Traditional repair equipment lacks mobility and cannot operate flexibly in complex working environments (such as mining areas and construction sites), which limits its actual application scenarios.

[0006] Limited repair accuracy and efficiency: Due to the lack of real-time environmental perception and path planning capabilities, existing technologies have problems such as inaccurate cladding paths, material waste, and unsatisfactory repair effects when repairing irregular damaged surfaces.

[0007] Imperfect consumables management and process integration: Existing technologies mainly rely on powder cladding materials, which have problems such as high cost, low resource utilization, and complex equipment maintenance. There is a lack of efficient integration of multiple processes (such as integrated surface pretreatment and cladding repair). Summary of the Invention

[0008] In order to overcome the shortcomings of the existing technology, the present invention provides a wheeled mobile laser cladding autonomous maintenance robot that integrates mobility, intelligence and high efficiency.

[0009] The technical solution adopted by the present invention to solve its technical problem is:

[0010] A wheeled mobile laser cladding autonomous maintenance robot comprises a laser cladding head, a laser rust removal head, a camera, a laser radar, a six-degree-of-freedom robotic arm, a water-cooling pipeline, a water-cooling mechanism, a shock absorber, wheels, a chassis, a laser generator, a steering mechanism, a wheel-side motor and a wire feeder, wherein the shock absorber is mounted on the chassis and connected to the wheels; a wire feeder is mounted on the front end of the chassis, and a laser generator is mounted in the middle part; the steering mechanism is mounted on the lower end of the chassis, and the wheel-side motor is connected to the wheels and provides power for the wheels; a six-degree-of-freedom robotic arm is mounted on the rear half of the chassis, and the laser generator and the wire feeder are connected to the laser cladding head and the laser rust removal head at the end of the robotic arm through the six-degree-of-freedom robotic arm; one end of the water-cooling pipeline is connected to the water-cooling mechanism, and the other end is connected to the laser cladding head; a laser radar and a camera are mounted on the top of the six-degree-of-freedom robotic arm.

[0011] Furthermore, the steering mechanism adopts an Ackerman steering structure.

[0012] Furthermore, the wheels are large-sized explosion-proof off-road wheels.

[0013] The beneficial effects of the present invention are mainly manifested in: effectively solving the problem that some parts of equipment in harsh environments are difficult to disassemble and repair manually after being damaged; it can automatically repair surface damage, reduce the exposure time of personnel in dangerous or toxic and harmful environments, and provide an effective solution for the repair and processing of equipment in harsh environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural diagram of a wheeled mobile laser cladding autonomous maintenance robot.

[0015] Figure 2 It is a top view of a wheeled mobile laser cladding autonomous maintenance robot.

[0016] Figure 3 This is the main view of a wheeled mobile laser cladding autonomous maintenance robot.

[0017] Figure 4 This is a working status diagram of a wheeled mobile laser cladding autonomous maintenance robot. DETAILED DESCRIPTION

[0018] The present invention will be further described below with reference to the accompanying drawings.

[0019] Reference Figures 1 to 4, a wheeled mobile laser cladding autonomous maintenance robot, comprising a laser cladding head 1, a laser rust removal head 2, a camera 3, a laser radar 4, a six-degree-of-freedom robotic arm 5, a water-cooling pipe 6, a water-cooling mechanism 7, a shock-absorbing mechanism 8, a wheel 9, a chassis 10, a laser generator 11, a steering mechanism 12, a wheel-side motor 13 and a wire feeder 14, wherein the shock-absorbing mechanism 8 is mounted on the chassis 10 and connected to the wheel 9; a wire feeder 14 is mounted at the front end of the chassis 10, and a laser generator 11 is mounted in the middle part; the steering mechanism 12 is mounted at the lower end of the chassis 10, and the wheel-side motor 13 is connected to the wheel 9 and provides power for the wheel 9; the six-degree-of-freedom robotic arm 5 is mounted at the rear half of the chassis 10, and the laser generator 11 and the wire feeder 14 are connected to the laser cladding head 1 and the laser rust removal head 2 at the end of the robotic arm 5 through the six-degree-of-freedom robotic arm 5; one end of the water-cooling pipe 6 is connected to the water-cooling mechanism 7, and the other end is connected to the laser cladding head 1; a laser radar 4 and a camera 3 are mounted at the top of the six-degree-of-freedom robotic arm 5.

[0020] The steering mechanism 12 adopts an Ackerman steering structure. The wheels 9 are large-sized explosion-proof off-road wheels.

[0021] In this embodiment, the shock absorbing mechanism 8, the wheel 9, the chassis 10, the laser generator (11), the steering mechanism (12) and the wheel-side motor (13) together constitute a motion system responsible for the movement of the robot in a complex environment; the shock absorbing mechanism (8) ensures that the cladding system remains stable and is not subject to hard impact during movement; the wheel 9 adopts a large-size explosion-proof off-road wheel to provide excellent passability and stability; the chassis (10) serves as a supporting frame and integrates various major components; the laser generator (11) provides a high-energy beam for laser operation; the steering mechanism (12) adopts a double Ackerman steering structure to ensure the flexibility of the robot; the wheel-side motor (13) is responsible for driving the wheel and providing power output.

[0022] In addition, the laser generator (11) and the wire feeder (14) are connected to the laser cladding head (1) and the laser rust removal head (2) at the end through the six-degree-of-freedom robotic arm (5), providing them with laser and cladding consumables. One end of the water cooling pipe (6) is connected to the water cooling mechanism (7), and the other end is connected to the laser cladding head (1) to ensure good heat dissipation. A laser radar (4) is installed on the top of the six-degree-of-freedom robotic arm (5) for obtaining current environmental information in real time. The camera (3) at its end is responsible for capturing the failure point on the substrate surface and generating the cladding path based on calculations.

[0023] In this embodiment, the cladding process is as follows:

[0024] According to the material properties of the parts to be repaired and the working environment, the wire feeder is loaded with the appropriate cladding wire; the water-cooled main unit (7) and the laser generator (11) are turned on for preheating. The robot moves to the repair site and obtains on-site environmental information through the camera (3) and laser radar (4). Afterwards, the laser rust removal head (2) is used to pre-treat the surface of the parts to be repaired to remove surface rust and dirt to ensure the quality of the cladding.

[0025] After the preprocessing is completed, the camera (3) and the laser radar (4) obtain the surface point cloud information of the component to be repaired and transmit the data to the main controller.

[0026] The camera (3) is turned on to prevent the laser cladding head (1) from colliding when it moves. Based on the point cloud information, the laser cladding head (1) is accurately positioned about 20 cm above the surface of the component to be repaired by the six-degree-of-freedom robotic arm (5).

[0027] After setting the cladding process parameters, the defocus of the laser cladding head (1) (the distance from the cladding head to the focus point, that is, the distance from the workpiece surface) is adjusted to an appropriate value, and an idle run is started. The distance measuring device is turned on to monitor the change of the defocus in real time and feedback is sent to the main controller. The defocus is adjusted in real time according to the feedback to ensure that the laser cladding head remains within the set range.

[0028] Before the start of processing, the wheel side motor provides a reverse torque to ensure that the whole machine is fixed. The water cooling main unit (7), laser generator (11) and wire feeder (14) are turned on to start the laser cladding repair process. The state of the molten pool during the cladding process is monitored in real time by a multi-spectral camera to ensure the quality of the repair.

[0029] After the cladding repair is completed, the small laser cladding robot moves to the set position and prepares to evacuate.

[0030] The repair is complete, the laser cladding robot retracts all parts, and the work is completed.

[0031] The wheeled mobile laser cladding autonomous maintenance robot of this embodiment achieves the following goals:

[0032] Improved on-site repair capabilities: The robot's large, explosion-proof off-road wheels and dual-Ackerman steering structure give it exceptional mobility and environmental adaptability, allowing it to be efficiently deployed in complex scenarios such as mining areas without disassembling the equipment.

[0033] Achieve high-precision repairs: Integrating LiDAR and cameras to capture environmental and surface damage information, intelligent algorithms enable real-time path planning, ensuring the accuracy and consistency of cladding repairs. Optimize consumables and process design: Utilize wire-feed cladding materials to avoid powder waste and simplify equipment maintenance. Integrating laser rust removal and cladding functions enables continuous and efficient pretreatment and repair operations.

[0034] Enhanced equipment modularity and intelligence: Through the efficient integration of a six-degree-of-freedom robotic arm and a water-cooling mechanism, system flexibility and thermal management capabilities are ensured to meet repair needs under various working conditions.

[0035] The wheeled, mobile, autonomous laser cladding repair robot of this embodiment first automatically scans and models its surroundings using a camera and lidar, precisely locating the worn areas of the workpiece and automatically generating an optimal laser cladding repair solution based on the detection results. Next, a laser rust removal device is used to remove rust from the workpiece surface, automatically removing surface dirt to ensure the efficiency and quality of the subsequent laser cladding process. During the cladding process, the laser generator generates high temperatures through the cladding head, melting the metal wire provided by the wire feeder and tightly bonding it to the workpiece surface, achieving a high-strength, wear-resistant repair effect.

[0036] The embodiments of this specification are merely examples of implementations of the invention and are provided for illustrative purposes only. The scope of protection of the present invention should not be considered limited to the specific embodiments described in these embodiments. The scope of protection of the present invention also extends to equivalent technical means that can be conceived by a person of ordinary skill in the art based on the invention.

Claims

1. A wheeled mobile laser cladding autonomous maintenance robot, characterized in that: It includes a laser cladding head, a laser rust removal head, a camera, a laser radar, a six-degree-of-freedom robotic arm, a water-cooling pipeline, a water-cooling mechanism, a shock absorber, a wheel, a chassis, a laser generator, a steering mechanism, a wheel-side motor and a wire feeder. The shock absorber is installed on the chassis and connected to the wheel; a wire feeder is installed at the front end of the chassis, and a laser generator is installed in the middle part; the steering mechanism is installed at the lower end of the chassis, and the wheel-side motor is connected to the wheel and provides power for the wheel; the six-degree-of-freedom robotic arm is installed at the rear half of the chassis, and the laser generator and the wire feeder are connected to the laser cladding head and the laser rust removal head at the end of the robotic arm through the six-degree-of-freedom robotic arm; one end of the water-cooling pipeline is connected to the water-cooling mechanism, and the other end is connected to the laser cladding head; the laser radar and camera are installed on the top of the six-degree-of-freedom robotic arm.

2. A wheeled mobile laser cladding autonomous maintenance robot according to claim 1, characterized in that: The steering mechanism adopts an Ackerman steering structure.

3. A wheeled mobile laser cladding autonomous maintenance robot according to claim 1 or 2, characterized in that: The wheels are large-sized explosion-proof off-road wheels.

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