Moving-detecting-repairing integrated robot laser cladding system

Abstract

The utility model discloses a moving-detecting-repairing integrated robot laser cladding system which comprises an upper computer, a robot laser cladding system, an automatic guided vehicle cooperative moving system and a measuring system, wherein the robot laser cladding system, the automatic guided vehicle cooperative moving system and the measuring system are respectively connected with the upper computer; the robot laser cladding system comprises a laser, a powder feeder, a water cooling machine, a mechanical arm system and a cladding head; the automatic guided vehicle cooperative moving system comprises a plurality of automatic guided vehicles; the laser, the powder feeder, the water cooling machine and the mechanical arm system are transferred to a site through the automatic guide vehicle; the cladding head is arranged on the mechanical arm system, the laser is connected with the cladding head through a laser optical cable, the powder feeder is connected with the cladding head through a powder feeding pipe, and the water cooling machine is connected with the cladding head through a water inlet pipe and a water outlet pipe to form a cooling loop. According to the system, large workpieces do not need to be carried, cooperative movement of multiple devices can be achieved, and the workpieces to be repaired can be repaired on site; stations are convenient to move, and the working space is not limited; the detection system is high in speed, low in cost and high in precision.

Description

Technical Field

[0001] The utility model relates to the technical field of laser cladding, in particular to a mobile-detection-repairing integrated robot laser cladding system. Background Art

[0002] In the industrial field, there are many demands for on-site repair of metal materials: large wind turbine blades; repair and manufacturing of aircraft engine parts, wings, landing gear, etc.; repair and manufacturing of offshore platforms and ship parts; repair and manufacturing of parts for thermal power generation and nuclear power plants; repair of large buildings, such as bridges and tower cranes. However, the existing technology has the following problems: the workpiece is large in size and weight, difficult to carry, and urgently needs on-site repair; the workpiece is large in size, which requires the processing space of the machine tool to be large enough, resulting in increased costs; the workpiece is of high value, and the cost loss is too great if it is scrapped after being damaged. Utility Model Content

[0003] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a mobile-detection-repair integrated robot laser cladding system.

[0004] The utility model is realized through the following technical scheme: a mobile-detection-repair integrated robot laser cladding system, comprising a host computer and a robot laser cladding system, an automatic guided vehicle collaborative mobile system, and a measuring system respectively connected to the host computer; the robot laser cladding system comprises a laser, a powder feeder, a water cooler, a mechanical arm system, and a cladding head; the automatic guided vehicle collaborative mobile system comprises a plurality of automatic guided vehicles; the laser, the powder feeder, the water cooler, and the mechanical arm system are transferred to the site by the automatic guided vehicles; the cladding head is arranged on the mechanical arm system, the laser is connected to the cladding head through a laser optical cable, the powder feeder is connected to the cladding head through a powder feeding pipe, and the water cooler is connected to the cladding head through a water inlet pipe and a water outlet pipe to form a cooling circuit.

[0005] The end of the cladding head emits laser under the action of the laser, and the end of the cladding head sprays metal powder under the action of the powder feeder as the raw material for metal printing; cooling water flows out of the water cooler through the outlet pipe to reach the cladding head to take away the heat generated by laser printing, and the high-temperature water flows into the water cooler through the inlet pipe for cooling, thereby ensuring that the temperature of the cladding head is within the allowable range to prevent high-temperature damage. The cladding head is loaded at the end of the robotic arm system and driven to move. The cladding head emits laser and sprays powder. The laser burns the area to be repaired to form a molten pool. The powder will melt after being sprayed into the molten pool. The molten pool will cool rapidly after the laser moves, and the sprayed powder will be deposited on the area to be repaired.

[0006] The measurement system includes an environment scanning device and a defect detection device; the environment scanning device is installed on the automatic guided vehicle, the environment scanning device scans and senses the environment, confirms the size and position of the workpiece to be repaired and the obstacle, and transmits the data to the host computer, the host computer analyzes and calculates the required work position of the workpiece to be repaired and designs a moving path that avoids obstacles and moves to the working position, and transmits instructions to the automatic guided vehicle for execution; the defect detection device is installed on the cladding head, the defect detection device detects the damaged morphology and position of the workpiece to be repaired, and transmits the data to the host computer, the host computer analyzes and plans the moving path of the cladding head, and transmits the data to the robot laser cladding system to perform printing repair.

[0007] The environment scanning device is a visual camera or a laser radar.

[0008] The defect detection device is a structured light camera, a binocular camera, a line laser scanner or an ultrasonic probe.

[0009] There are multiple environmental scanning devices, each automatic guided vehicle is equipped with one environmental scanning device, and one environmental scanning device is installed on the robotic arm system.

[0010] The laser, powder feeder, water cooler and mechanical arm are detachably loaded on the automatic guided vehicle.

[0011] The robotic arm system includes a positioning column, a first robotic arm, a second robotic arm, a third robotic arm and a mounting portion; the lower portion of the first robotic arm is sleeved on the outer periphery of the positioning column and can rotate around the circumference thereof, the lower end of the second robotic arm is hinged to the upper end of the first robotic arm, the lower end of the third robotic arm is hinged to the upper end of the second robotic arm, and the mounting portion is hinged to the upper end of the third robotic arm; the cladding head is arranged on the mounting portion.

[0012] Compared with the prior art, the advantages of the present invention are:

[0013] (1) This system does not require the transportation of large workpieces and can be repaired on site;

[0014] (2) The workstation is easy to move and the working space is not restricted;

[0015] The use of a coordinated automatic guided vehicle carrying a robotic arm system, laser, powder feeder, water cooler and other equipment overcomes the problem of limited working space due to the limited length of pipelines, and can ensure that energy and material transportation pipelines are still connected at different and far-flung work locations;

[0016] (3) The detection system is fast, low cost and high accuracy;

[0017] A detection solution that combines low-precision environmental perception with high-precision defect detection is adopted. A low-cost, low-precision, high-speed environmental scanning device (visual camera or lidar) is used for the surrounding environment to quickly detect the workpiece and obstacles to be repaired. Before repair, a high-precision defect detection device (structured light camera, binocular camera, line laser scanner or ultrasonic probe) is used to measure the area to be repaired to obtain the high-precision shape and position of the area to be repaired.

[0018] (4) Compact structure and comprehensive functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a front view of an embodiment of the utility model;

[0020] Figure 2 It is a rear view of an embodiment of the utility model;

[0021] Figure 3 A three-dimensional diagram of an embodiment of the utility model;

[0022] Figure 4 It is a three-dimensional view from another side of the embodiment of the utility model.

[0023] The meanings of the reference numerals in the figure are as follows: 11. laser; 111. laser optical cable; 12. powder feeder; 121. powder feeding pipe; 13. water cooler; 131. water inlet pipe; 132. water outlet pipe; 14. robotic arm system; 141. positioning column; 142. first robotic arm; 143. second robotic arm; 144. third robotic arm; 145. installation part; 21. first automatic guided vehicle; 22. second automatic guided vehicle; 23. third automatic guided vehicle; 24. fourth automatic guided vehicle; 311. first environment scanning device; 312. second environment scanning device; 313. third environment scanning device; 314. fourth environment scanning device; 32. defect detection device. DETAILED DESCRIPTION

[0024] The content of the utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0025] Example

[0026] See also Figures 1 to 4, which is a mobile-detection-repair integrated robotic laser cladding system, including a host computer and a robotic laser cladding system, an automatic guided vehicle collaborative mobile system, and a measuring system respectively connected to the host computer; the robotic laser cladding system includes a laser 11, a powder feeder 12, a water cooler 13, a robotic arm system 14 and a cladding head; the automatic guided vehicle collaborative mobile system includes several automatic guided vehicles; the laser 11, the powder feeder 12, the water cooler 13, and the robotic arm system 14 are transferred to the site by the automatic guided vehicle; the cladding head is arranged on the robotic arm system 14, the laser 11 is connected to the cladding head through a laser optical cable 111, the powder feeder 12 is connected to the cladding head through a powder feeding pipe 121, and the water cooler 13 is connected to the cladding head through a water inlet pipe 131 and a water outlet pipe 132 to form a cooling circuit.

[0027] The robot laser cladding system adopts the additive manufacturing technology of direct energy deposition. The end of the cladding head emits laser under the action of the laser 11, and the end of the cladding head sprays metal powder under the action of the powder feeder 12 as the raw material for metal printing; cooling water flows out of the water cooler 13 through the outlet pipe 132 to reach the cladding head to take away the heat generated by laser printing, and the high-temperature water flows into the water cooler 13 through the inlet pipe 131 for cooling, thereby ensuring that the temperature of the cladding head is within the allowable range to prevent high-temperature damage. The end of the robotic arm system 14 is loaded with the cladding head and driven to move. The cladding head emits laser and sprays powder. The laser burns the area to be repaired to form a molten pool. The powder will melt after being sprayed into the molten pool. After the laser moves, the molten pool will cool rapidly, and the sprayed powder will be deposited on the area to be repaired. The cladding head can emit laser and spray powder to realize direct energy deposition printing (Direct Energy Depostion, DED), which can print and repair the damaged area of ​​the workpiece (or equipment / facility) to be repaired.

[0028] The measurement system includes an environment scanning device and a defect detection device 32; the environment scanning device is installed on the automatic guided vehicle, the environment scanning device scans and senses the environment, confirms the size and position of the workpiece to be repaired and the obstacle, and transmits the data to the host computer, the host computer analyzes and calculates the required work position of the workpiece to be repaired and designs a moving path that avoids obstacles and moves to the working position, and transmits instructions to the automatic guided vehicle for execution; the defect detection device 32 is installed on the cladding head, the defect detection device 32 detects the damaged morphology and position of the workpiece to be repaired, and transmits the data to the host computer, the host computer analyzes and plans the moving path of the cladding head, and transmits the data to the robot laser cladding system to perform printing repair.

[0029] The environment scanning device is a visual camera or a lidar.

[0030] The defect detection device 32 is a structured light camera, a binocular camera, a line laser scanner or an ultrasonic probe.

[0031] There are multiple environmental scanning devices, each automatic guided vehicle is equipped with an environmental scanning device, and the robotic arm system 14 is equipped with an environmental scanning device.

[0032] The laser 11, the powder feeder 12, the water cooler 13, and the robot arm are detachably mounted on the automatic guided vehicle.

[0033] The robot arm system 14 includes a positioning column 141, a first robot arm 142, a second robot arm 143, a third robot arm 144 and a mounting portion 145; the lower portion of the first robot arm 142 is sleeved on the outer periphery of the positioning column 141 and can rotate around the circumference thereof, the lower end of the second robot arm 143 is hinged to the upper end of the first robot arm 142, the lower end of the third robot arm 144 is hinged to the upper end of the second robot arm 143, and the mounting portion 145 is hinged to the upper end of the third robot arm 144; the cladding head is arranged on the mounting portion 145.

[0034] In this embodiment, there are four automatic guided vehicles, namely the first automatic guided vehicle 21, the second automatic guided vehicle 22, the third automatic guided vehicle 23 and the fourth automatic guided vehicle 24. There are four environmental scanning devices, namely the first environmental scanning device 311, the second environmental scanning device 312, the third environmental scanning device 313 and the fourth environmental scanning device 314. The laser 11 and the first environmental scanning device 311 are detachably mounted on the first automatic guided vehicle 21, the powder feeder 12 and the second environmental scanning device 312 are detachably mounted on the second automatic guided vehicle 22, the water cooler 13 and the third environmental scanning device 313 are detachably mounted on the third automatic guided vehicle 23, the robot arm system 14 and the fourth environmental scanning device 314 are detachably mounted on the fourth automatic guided vehicle 24, and the four automatic guided vehicles move in coordination. The four environmental scanning devices quickly and relatively low-precision scan the surrounding environment, find the workpiece to be repaired and other obstacles, and transmit the data to the host computer. The host computer analyzes and calculates the working position for the repair operation, and considers the route to move to the working position to avoid obstacles, and then transmits it to the four automatic guided vehicles. The automatic guided vehicles move to the designated working position in coordination to ensure the normal connection of the laser cable 111, the powder delivery pipe 121, the water inlet pipe 131, and the water outlet pipe 132, and will not break or get entangled. This embodiment uses a high-precision defect detection device 32 to detect the area to be repaired, and transmits the data to the host computer. The host computer analyzes the defects and plans the corresponding repair printing path, and then transmits it to the robot system 14 for execution. The robot system 14 executes the movement command, which is to make the cladding head loaded at the end move according to the planned printing path to repair and fill the defective area.

[0035] In this embodiment, the laser 11, powder feeder 12, water cooler 13, and robot arm can be loaded on an automated guided vehicle, or directly arranged on site after being transferred by an automated guided vehicle. The workpiece in this embodiment can also be equipment or facilities. The automated guided vehicle (AGV) collaborative mobile system, multiple automated guided vehicles carry robot arms, lasers 11, powder feeders 12, water coolers 13 and other equipment, and the information between the guided vehicles is interconnected, and they move in a coordinated manner.

[0036] In this embodiment, the detection system is a low / high precision complementary system, including a relatively low precision environmental scanning device and a relatively high precision defect detection device 32. In this embodiment, the host computer is an existing device, so there is no need to carry out a specific structural analysis. The host computer refers to a computer that can directly issue control commands, generally a PC / host computer / mastercomputer / upper computer, and displays various signal changes (hydraulic pressure, water level, temperature, etc.) on the screen.

[0037] A method for using a mobile-detection-repair integrated robot laser cladding system comprises the following steps:

[0038] (1) Multiple automated guided vehicles move in coordination, and the environmental scanning devices (such as visual cameras, laser radars, etc.) mounted on them (or the robotic arm system 14) scan the repair site. The data is transmitted to the host computer for environmental modeling. The workpiece (or equipment / facility) to be processed is selected by comparison with the design model or manual selection. The remaining objects are regarded as obstacles to be avoided. The host computer analyzes and calculates the working position and moving path required to repair the workpiece, controls the automated guided vehicles to move to the designated workstations in sequence, avoids obstacles, and ensures that the laser cable 111, the powder delivery pipe 121, and the water cooling pipe are connected;

[0039] (2) The AGV arrives at a designated working position, and the high-precision defect detection device 32 (such as a structured light camera, a binocular camera, a line laser scanner, an ultrasonic probe, etc.) loaded on the robotic arm system 14 performs high-precision scanning and detection on the workpiece (or equipment / facility) to be repaired, and transmits the data to the host computer. The shape and position of the area to be repaired are found by comparison with the design model or manual selection, and the printing repair path of the laser cladding is planned;

[0040] (3) The water cooler 13, the laser 11, and the powder feeder 12 are all turned on, and the host computer transmits the printing path to the robot arm to execute the laser cladding process until the defect is repaired;

[0041] (4) The AGV moves to the next workstation, and multiple AGVs move in coordination to ensure that the pipeline is connected without interruption. The defect detection and laser cladding processes are repeated until the entire workpiece (or equipment / facility) to be repaired is repaired.

[0042] The above detailed description is a specific description of a feasible embodiment of the utility model. The embodiment is not intended to limit the patent scope of the utility model. Any equivalent implementation or modification that does not deviate from the utility model should be included in the patent scope of this case.

Claims

1. A mobile-detection-repair integrated robot laser cladding system, characterized in that: The invention comprises a host computer and a robot laser cladding system, an automatic guided vehicle cooperative movement system and a measurement system respectively connected to the host computer; the robot laser cladding system comprises a laser (11), a powder feeder (12), a water cooler (13), a mechanical arm system (14) and a cladding head; the automatic guided vehicle cooperative movement system comprises a plurality of automatic guided vehicles; the laser (11), the powder feeder (12), the water cooler (13) and the mechanical arm system (14) are transferred to the site by the automatic guided vehicles; the cladding head is arranged on the mechanical arm system (14); the laser (11) is connected to the cladding head by a laser optical cable (111); the powder feeder (12) is connected to the cladding head by a powder feeding pipe (121); the water cooler (13) is connected to the cladding head by a water inlet pipe (131) and a water outlet pipe (132) to form a cooling circuit.

2. The mobile-detection-repair integrated robot laser cladding system according to claim 1 is characterized in that: The measuring system comprises an environment scanning device and a defect detection device (32); the environment scanning device is installed on the automatic guided vehicle, the environment scanning device scans and senses the environment, confirms the size and position of the workpiece to be repaired and the obstacle, and transmits the data to the host computer, the host computer analyzes and calculates the required work position of the workpiece to be repaired and designs a moving path that avoids obstacles and moves to the working position, and transmits instructions to the automatic guided vehicle for execution; The defect detection device (32) is installed on the cladding head, and the defect detection device (32) detects the damaged morphology and position of the workpiece to be repaired, and transmits the data to the host computer. The host computer analyzes and plans the moving path of the cladding head, and transmits the data to the robot laser cladding system to perform printing repair.

3. The mobile-detection-repair integrated robot laser cladding system according to claim 2 is characterized in that: The environment scanning device is a visual camera or a laser radar.

4. The mobile-detection-repair integrated robot laser cladding system according to claim 2 is characterized in that: The defect detection device (32) is a structured light camera, a binocular camera, a line laser scanner or an ultrasonic probe.

5. The mobile-detection-repair integrated robot laser cladding system according to claim 2 is characterized in that: There are multiple environmental scanning devices, each automatic guided vehicle is equipped with one environmental scanning device, and one environmental scanning device is installed on the mechanical arm system (14).

6. The mobile-detection-repair integrated robot laser cladding system according to claim 1 is characterized in that: The laser (11), the powder feeder (12), the water cooler (13), and the mechanical arm are detachably loaded on the automatic guided vehicle.

7. The mobile-detection-repair integrated robot laser cladding system according to claim 1 is characterized in that: The robot arm system (14) comprises a positioning column (141), a first robot arm (142), a second robot arm (143), a third robot arm (144) and a mounting portion (145); the lower portion of the first robot arm (142) is sleeved on the outer periphery of the positioning column (141) and can rotate around the circumference thereof; the lower end of the second robot arm (143) is hinged to the upper end of the first robot arm (142); the lower end of the third robot arm (144) is hinged to the upper end of the second robot arm (143); and the mounting portion (145) is hinged to the upper end of the third robot arm (144); and the cladding head is arranged on the mounting portion (145).

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