Coaxial powder feeding laser cladding equipment based on omnidirectional overhead structure

Abstract

The invention discloses coaxial powder feeding laser cladding equipment of an omnidirectional overhead structure, and relates to the technical field of metal additive manufacturing laser cladding. The equipment comprises a rigid parallel beam portal frame, a bearing type omni-directional moving mechanism and a moving assembly, the portal frame is formed by arranging high-strength I-shaped steel at equal intervals, opposite pulley type claws are connected into grooves in the two sides of the I-shaped steel, chain wheels and chains are fixedly connected to the opposite pulley type claws, the chain wheels drive the chains to be arranged on the two sides of the bearing type omni-directional moving mechanism, and the moving assembly is arranged on the portal frame. The bearing type omni-directional moving mechanism is provided with a moving assembly; the moving assembly comprises a six-degree-of-freedom mechanical arm and a cladding laser head. The opposite pulley type claws are driven by rotation of the chain wheels and the chain to clamp the I-shaped steel groove flange, so that the I-shaped steel groove flange moves transversely and quickly, and the pulleys move longitudinally above the flange in a rolling manner, so that barrier-free X-Y-axis omnidirectional movement is realized, and meanwhile, a working space which is high in openness and easy to expand is formed in a suspended overhead mounting manner; and the movement flexibility of the cladding laser head is improved, the cladding machining period of a complex curved surface is shortened, and the overall quality of a cladding product is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coaxial powder feeding laser cladding in metal additive manufacturing, and particularly relates to a coaxial powder feeding laser cladding equipment based on an omnidirectional overhead structure. BACKGROUND

[0002] The coaxial powder feeding laser cladding technology is an advanced surface engineering treatment and additive manufacturing technology, and its technical feature is that a high-energy-density laser beam is used as a heat source to instantaneously melt metal powder sprayed by a plurality of delivery devices distributed around a laser cladding head on a substrate surface to form a surface coating layer that is well metallurgically combined with the substrate and has ideal physical, chemical and mechanical properties under a rapid cooling rate. The working principle of the coaxial powder feeding laser cladding is similar to that of "surface plating" and "micro welding", but the bonding strength is much higher than that of existing electroplating technology, and the heat-affected zone is much smaller than that of traditional surfacing. The core goal of the technology is to prepare a high-performance coating on a damaged substrate and repair the damaged area, so as to realize the regeneration and strengthening of the substrate surface in terms of wear resistance, corrosion resistance and high-temperature resistance.

[0003] However, the existing coaxial powder feeding laser cladding technology is mostly applied to two-dimensional planar coating preparation and repair work, and when facing three-dimensional special-shaped workpieces, the cladding surface needs to be adjusted with the help of a machine tool, and the laser cladding head is installed vertically, which strictly limits the geometric freedom of the laser cladding head in the near space of the existing workpiece, and cannot realize multi-attitude and wide-angle cladding work. Especially when cladding some workpieces with overhanging planes, complex curved surfaces and internal cavity flow channels, the processing process often needs to be interrupted, and the workpiece placement position needs to be adjusted again, which seriously reduces the production efficiency, and even secondary continuous cladding may cause cracking and faulting of the coating and the repaired area, thereby causing quality problems. Therefore, the coaxial powder feeding laser cladding equipment based on the omnidirectional overhead structure is designed to solve the above problems caused by geometric constraints. SUMMARY

[0004] The present application aims to solve some of the shortcomings in the prior art and proposes a coaxial powder feeding laser cladding equipment based on an omnidirectional overhead structure.

[0005] In order to solve the above technical problems, the application adopts the following technical scheme: a coaxial powder feeding laser cladding equipment based on an omnidirectional overhead structure, comprising a rigid parallel beam gantry, a load-bearing omnidirectional moving mechanism, a motion assembly and a laser cladding head, the rigid parallel beam gantry is composed of high-strength I-beams arranged at equal distances, and is movably connected with the load-bearing omnidirectional moving mechanism through a roller type hook claw, the load-bearing omnidirectional moving mechanism and the motion assembly are hard connected through fixing bolts, and the motion assembly is connected with the laser cladding head at the end, wherein the load-bearing omnidirectional moving mechanism is provided with a synchronous rotating shaft at each side, and is provided with a symmetrical chain wheel transmission device in the axial direction, and the synchronous rotating shaft penetrates through the through hole of the symmetrical chain wheel transmission device.

[0006] Preferably, the motion assembly comprises a base, a large arm, a small arm and a wrist, which together constitute a six-degree-of-freedom manipulator, and the wrist is connected with the laser cladding head at the end.

[0007] Preferably, the roller type hook claw comprises symmetrical support rods, a connecting rod and rollers, the connecting rod is fixed to the center position of the top connecting plate of the symmetrical support rods, and the rollers are installed at the end of the connecting rod, and the width is matched with the groove flange of the high-strength I-beam.

[0008] Preferably, the symmetrical chain wheel transmission device comprises a chain wheel and a chain, the chain wheel penetrates through the synchronous rotating shaft in cooperation with the rolling bearing, and the chain covers the chain wheel to form chain transmission.

[0009] Preferably, the chain comprises inner chain plates, outer chain plates, pin shafts and extension pin shafts, the inner chain plates are embedded in the outer chain plates and connected through the pin shafts, the extension pin shafts are matched with the adjacent interval of the high-strength I-beams of the rigid parallel beam gantry, and are used for fixing the symmetrical support rods.

[0010] Preferably, the symmetrical support rods are installed on the extension pin shafts in pairs and oppositely through fixing nuts, and the whole presents a spread-eagle shape, a limit bearing is arranged in the through hole of the symmetrical support rods, and the opening and closing angle of the symmetrical support rods is not less than the length of the flange of the high-strength I-beam.

[0011] Preferably, the rigid parallel beam gantry is fixed to the ground through foundation bolts, and the motion assembly and the laser cladding head are installed on the load-bearing omnidirectional moving mechanism in an inverted suspension mode.

[0012] Compared with the prior art, the gain effect of the application is that the load-bearing omnidirectional moving mechanism is movably connected with the rigid parallel beam gantry through the roller type hook claw, under the action of the chain wheel and the chain, the roller type hook claw rotates, the opposite eight-shaped structure design can make the roller type hook claw clamp the high-strength I-beam flange, the load-bearing omnidirectional moving mechanism moves along the X-axis direction, meanwhile, the roller rotates in the high-strength I-beam flange, the load-bearing omnidirectional moving mechanism moves along the Y-axis direction, the six-degree-of-freedom mechanical arm connected with the laser cladding head can complete various posture actions; the application can prepare coating and repair work through the rigid parallel beam gantry omnidirectional moving laser cladding head without changing the position of the workpiece, and the six-degree-of-freedom mechanical arm can be used for cladding operation on the complex feature structure surface, has high flexibility, small geometric constraint, is convenient for production operation, improves the efficiency and product quality. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 A schematic diagram of the overall structure of a coaxial powder feeding laser cladding equipment based on an omnidirectional overhead structure is provided for the application. Figure 2 A front view of the overall structure of a coaxial powder feeding laser cladding equipment based on an omnidirectional overhead structure is provided for the application. Figure 3 A schematic diagram of a load-bearing omnidirectional moving mechanism of a coaxial powder feeding laser cladding equipment based on an omnidirectional overhead structure is provided for the application. Figure 4 A schematic diagram of a motion assembly structure of a coaxial powder feeding laser cladding equipment based on an omnidirectional overhead structure is provided for the application. Figure 5 A schematic diagram of a symmetric chain wheel transmission device structure and X-axis direction movement of a coaxial powder feeding laser cladding equipment based on an omnidirectional overhead structure is provided for the application. Figure 6 A schematic diagram of roller type hook claw along Y-axis direction movement of a coaxial powder feeding laser cladding equipment based on an omnidirectional overhead structure is provided for the application.

[0014] Marked with the following figure: 1 rigid parallel beam gantry, 2 load-bearing omnidirectional moving mechanism, 3 motion assembly, 4 laser cladding head, 5 roller type hook claw, 6 symmetric chain wheel transmission device, 21 synchronous rotating shaft, 31 base, 32 large arm, 33 small arm, 34 wrist, 51 symmetric support rod, 52 connecting rod, 53 roller, 61 chain wheel, 62 chain, 511 limit bearing, 621 inner chain plate, 622 outer chain plate, 623 pin shaft, 624 extension pin shaft. DETAILED DESCRIPTION

[0015] The embodiments of the present application will be described in detail and completely below with reference to the accompanying drawings of the embodiments of the present application, so that the technical solutions and advantages of the present application are more clearly and obviously understood. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments.

[0016] In one embodiment, as shown in Figures 1-6 A coaxial powder feeding laser cladding equipment based on an omnidirectional gantry structure includes a rigid parallel beam gantry 1, a load-bearing omnidirectional moving mechanism 2, a motion assembly 3, and a laser cladding head 4. The rigid parallel beam gantry 1 is composed of high-strength I-beams arranged at equal distances and is movably connected to the load-bearing omnidirectional moving mechanism 2 through roller-type claws 5. The load-bearing omnidirectional moving mechanism 2 and the motion assembly 3 are hard-connected through fixed bolts. The laser cladding head 4 is connected to the end of the motion assembly 3. When the high-strength I-beams are arranged at equal distances, cross beams are used for reinforcement treatment, and the spacing is not more than three times the width. Under the action of external force, the load-bearing omnidirectional moving mechanism 2 can drive the motion assembly 3 and the laser cladding head 4 to move on the rigid parallel beam gantry 1 through the roller-type claws 5, so that the laser cladding head is located at different positions to perform cladding processing on the workpiece, avoiding repeated adjustment of the position of the workpiece during processing.

[0017] In one embodiment, the load-bearing omnidirectional moving mechanism 2 is provided with synchronous rotating shafts 21 on both sides, symmetric chain wheel transmission devices 6 are arranged along the axial direction, and the synchronous rotating shafts 21 pass through the through holes of the symmetric chain wheel transmission devices 6. When the load-bearing omnidirectional moving mechanism 2 moves, it drives the two synchronous rotating shafts 21 to rotate, and the synchronous rotating shafts 21 drive the symmetric chain wheel transmission devices 6 to rotate. Rolling bearings are installed at the connection between the load-bearing omnidirectional moving mechanism 2 and the synchronous rotating shafts 21 to avoid hard friction and damage to the shaft body during rotation. The symmetric chain wheel transmission devices 6 and the synchronous rotating shafts 21 are connected by interference assembly to ensure the stability and reliability of rotation.

[0018] In one embodiment, the symmetric chain wheel transmission device 6 includes a chain wheel 61 and a chain 62. The chain wheel 61 penetrates the synchronous rotating shaft 21 to form an interference fit and circumferential fixation. The chain 62 covers the chain wheel 61 to form a chain transmission. The chain 62 includes inner link plates 621, outer link plates 622, pin shafts 623, and extension pin shafts 624. The inner link plates 621 are embedded in the outer link plates 622 and connected by the pin shafts 623. The extension pin shafts 624 are adapted to the adjacent spacing of the high-strength I-beams of the rigid parallel beam gantry (1) to fix the symmetric support rods 51. Synchronous rotating shaft 21 drives chain wheel 61 to rotate, and chain wheel 61 drives closed circulation chain 62 to rotate. Inner chain plate 621 and outer chain plate 622 are connected in series through pin shaft 623. The length of extension pin shaft 624 exceeds the outer side surface of outer chain plate 622, and is used for fixing symmetric support rod 51.

[0019] In an embodiment, the roller hook 5 comprises symmetric support rod 51, connecting rod 52 and roller 53. The connecting rod 52 is fixed to the center of the connecting flat plate at the top of the symmetric support rod 51, and the roller 53 is installed at the end of the connecting rod 52. The width of the roller 53 is matched with the groove flange of the high-strength I-beam. The symmetric support rod 51 is installed on the extension pin shaft 624 through the fixed nuts from both sides, and the whole presents an eight-shaped structure. The limit bearing 511 is arranged in the through hole of the symmetric support rod 51, and the opening angle of the symmetric support rod 51 is not less than the length of the flange of the high-strength I-beam. The symmetric support rod 51 is sleeved on the extension pin shaft 624 of the chain 62 through the limit bearing 511 in the through hole at the lower end of the symmetric support rod 51, and is fastened from both sides by using the fixed nuts. Each group of symmetric support rods 51 presents a stable eight-shaped structure after installation, and the rotating stroke is greater than the flange width of a single high-strength I-beam, which is convenient for the hook to clamp the flange of the high-strength I-beam. The connecting rod 52 is fixed to the center of the connecting flat plate at the top of the symmetric support rod 51 by welding, and the roller 53 with the same width as the groove of the flange of the high-strength I-beam is connected through the rolling bearing. When two synchronous rotating shafts 21 drive the chain wheel 61 to rotate under external force, the chain wheel 61 drives the chain 62 to rotate. At this time, the eight-shaped roller hook 5 moves in the forward direction, and when passing through the circular arc part of the chain 62, the extension pin shaft 624 rolls due to the relative friction of the chain wheel 61, so that the roller hook 5 closes inward, and the opposite hooks firmly clamp the flange of the high-strength I-beam and prevent derailment, thereby realizing the X-axis movement of the load-bearing omnidirectional movement mechanism 2. At the same time, the roller hook 5 which has completed the clamping state realizes the Y-axis movement of the load-bearing omnidirectional movement mechanism 2 under the action of the roller 53.

[0020] In an embodiment, the motion assembly 3 comprises a base 31, a large arm 32, a small arm 33 and a wrist 34, which together constitute a six-degree-of-freedom mechanical arm. The laser cladding head 4 is connected to the end of the wrist 34 and is installed in an inverted and suspended manner on the load-bearing omnidirectional movement mechanism 2. The motion assembly 3 adopts a six-degree-of-freedom joint type mechanical arm. By controlling the coordinated movement of each joint of the base 31, the large arm 32, the small arm 33 and the wrist 34, the laser cladding head 4 can realize accurate reference point positioning and complex attitude adjustment (rotation around X, Y and Z axes) in three-dimensional space to adapt to the curvature of the workpiece surface and the cladding process requirements.

[0021] Working principle: the load-bearing omnidirectional moving mechanism 2 moves under the condition of external force, and the symmetrical sprocket transmission device 6 is driven to rotate by the synchronous rotating shaft 21. The sprocket 61 drives the chain 62 to move, and since the lower end of the symmetrical supporting rod 51 of the roller hook 5 is hinged to the extension pin shaft 624 of the chain 62, and the upper end of the roller 53 is constrained in the high-strength I-beam flange groove, the movement of the chain 62 is converted into the accurate linear movement (X-axis direction) of the load-bearing omnidirectional moving mechanism 2 and all components thereon along the arrangement direction of the high-strength I-beam of the rigid parallel beam gantry 1, and the roller rolls in the high-strength I-beam flange groove to realize the movement of all components along the length direction of the high-strength I-beam (Y-axis direction). After the load-bearing omnidirectional moving mechanism 2 is positioned to the specified approximate working area, the movement assembly 3 starts to work, and the base 31, the large arm 32, the small arm 33 and the wrist 34 of the six-degree-of-freedom mechanical arm are driven to move by the joint servo motor, so as to drive the laser cladding head 4 at the end to accurately position and adjust the posture in the three-dimensional space (covering X-axis, Y-axis, Z-axis and rotation freedom), so as to reach the specific cladding processing position.

[0022] It should be noted that the load-bearing omnidirectional moving mechanism 2 in the present application moves under the condition of external force, wherein the external force condition is not limited to a certain specific way, and can be selected as motor driving, and can also be selected as manual pushing and pulling, and therefore cannot be understood as a limitation of the present application.

[0023] In addition, the above-mentioned is only the preferred embodiment of the present application, and is not used to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, and for those skilled in the art, the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A coaxial powder feeding laser cladding equipment based on an omnidirectional overhead structure, comprising a rigid parallel beam gantry (1), a load-bearing omnidirectional movement mechanism (2), a movement assembly (3) and a laser cladding head (4), characterized in that, The rigid parallel beam gantry (1) is composed of high-strength I-beams arranged at equal distances, is movably connected with the load-bearing omnidirectional moving mechanism (2) through the roller type hook claw (5), is hard connected between the load-bearing omnidirectional moving mechanism (2) and the motion assembly (3) through fixed bolts, and the end of the motion assembly (3) is connected with the laser cladding head (4), wherein the load-bearing omnidirectional moving mechanism (2) is respectively provided with a synchronous rotating shaft (21) on both sides and is provided with a symmetrical chain wheel transmission device (6) in the axial direction, and the synchronous rotating shaft (21) penetrates through the through hole of the symmetrical chain wheel transmission device (6).

2. The omni-directional overhead structure based coaxial powder feeding laser cladding apparatus according to claim 1, wherein, The motion assembly (3) includes a base (31), a large arm (32), a small arm (33) and a wrist (34), and together constitutes a six-degree-of-freedom mechanical arm, and the wrist (34) is connected with the laser cladding head (4) at the end.

3. The omni-directional overhead structure based coaxial powder feeding laser cladding apparatus according to claim 1, wherein, The roller type hook claw (5) includes symmetrical support rods (51), connecting rods (52) and rollers (53), the connecting rods (52) are fixed to the top connecting plate center position of the symmetrical support rods (51), and the rollers (53) are installed at the end of the connecting rods (52) and are matched with the groove flanges of the high-strength I-beams in width.

4. The omni-directional overhead structure based coaxial powder feeding laser cladding apparatus according to claim 1, wherein, The symmetrical chain wheel transmission device (6) includes a chain wheel (61) and a chain (62), the chain wheel (61) penetrates through the synchronous rotating shaft (21) in cooperation with the rolling bearing, and the chain (62) covers the chain wheel (61) to form chain transmission.

5. The omni-directional overhead structure based coaxial powder feeding laser cladding apparatus according to claim 4, wherein, The chain (62) includes inner chain plates (621), outer chain plates (622), pin shafts (623) and extended pin shafts (624), the inner chain plates (621) are embedded in the outer chain plates (622) and are connected through the pin shafts (623), and the extended pin shafts (624) are matched with the adjacent interval of the high-strength I-beams of the rigid parallel beam gantry (1) and are used for fixing the symmetrical support rods (51).

6. The omni-directional overhead structure based coaxial powder feeding laser cladding apparatus according to claim 5, wherein, The symmetrical support rods (51) are installed on the extended pin shafts (624) in pairs and oppositely through fixed nuts, and as a whole, the symmetrical support rods (51) present a figure-of-eight shape, the through hole of the symmetrical support rod (51) is provided with a limiting bearing (511), and the opening and closing angle of the symmetrical support rod (51) is not less than the length of the flange of the high-strength I-beam.

7. The omni-directional overhead structure based coaxial powder feeding laser cladding apparatus according to claim 1, wherein, The rigid parallel beam gantry (1) is fixed to the ground through foundation bolts, and the motion assembly (3) and the laser cladding head (4) are installed in an inverted suspension manner on the load-bearing omnidirectional moving mechanism (2).

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