CN106435159B - The device and method of laser reinforcing in-process gaging Laser Processing point - Google Patents
The device and method of laser reinforcing in-process gaging Laser Processing point Download PDFInfo
- Publication number
- CN106435159B CN106435159B CN201610916643.XA CN201610916643A CN106435159B CN 106435159 B CN106435159 B CN 106435159B CN 201610916643 A CN201610916643 A CN 201610916643A CN 106435159 B CN106435159 B CN 106435159B
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- Prior art keywords
- laser
- pointed cone
- processing point
- reinforcing
- head
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Classifications
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D10/00—Modifying the physical properties by methods other than heat treatment or deformation
- C21D10/005—Modifying the physical properties by methods other than heat treatment or deformation by laser shock processing
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D11/00—Process control or regulation for heat treatments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
Abstract
The present invention relates to laser impact intensified manufacture field, there is provided a kind of device and method of laser reinforcing in-process gaging Laser Processing point, the device of the laser reinforcing in-process gaging Laser Processing point include：Laser, laser head, track robot and pointed cone；The laser of the laser emitting reaches laser head by light path system；The exit end of the laser head is towards work pieces process region；The articulation position of the track robotic manipulator is provided with angular transducer, and the mechanical arm end of the track robot is connected with pointed cone；The pointed cone is and relative with laser head towards work pieces process region；The pointed cone includes disk and is arranged on the columnar projections of disc centre, and pixel paper is posted on columnar projections top.The present invention can accurate measurement laser reinforcing processing stand position, improve measurement Laser Processing point efficiency and precision.
Description
Technical field
The present invention relates to laser impact intensified manufacture field, more particularly to a kind of laser reinforcing in-process gaging to laser machine
The device and method of point.
Background technology
Laser impact intensified (Laser Shocking Peening, LSP) technology, also referred to as Laser Peening Technology.Work as Gao Gong
Rate density (GW/cm magnitudes), the laser of short pulse (10~30ns magnitudes) act on metal surface by transparent restraint layer and applied
During the energy-absorbing coating covered, coating absorbs laser energy and gasifies rapidly and be formed substantially simultaneously a large amount of dense high temperature (＞
10K), high pressure (＞ 1GPa) plasma.The plasma continues to absorb the expansion of laser energy steep temperature rise, and then blast is formed
High impact wave acts on metal surface.When the surge pressure of shock wave exceedes the dynamic yield strength of material, material hair
Raw plastic deformation simultaneously produces the tension parallel to material surface on top layer.After laser action terminates, around shock zone
The reaction of material, its mechanics effect show as material surface and obtain higher residual compressive stress.Residual compressive stress can reduce friendship
Tensile stress level in varying load, make mean stress is horizontal to decline, so as to improve fatigue crack initiation life.Residual pressure should simultaneously
The presence of power, the closed effect of crackle can be caused, so as to effectively reduce the driving force of crack Propagation, extend fatigue crack and expand
Open up the life-span.
In existing reiforcing laser impact technology, the position of Laser Processing point is measured by the way of using ruler and manually calculating
Confidence ceases, and manually calculates focus and the distance of laser head first, then measures spatial focal point relative laser head by ruler
Position, and then the position of Laser Processing point is determined, the efficiency and precision measured in this way is relatively low, and error can reach 1-
3mm, so as to influence the intensity of laser spot, cause energy waste and product quality it is unstable.
The content of the invention
Present invention mainly solves the relatively low technical problem of the efficiency of measurement Laser Processing point in the prior art and precision, propose
A kind of device and method of laser reinforcing in-process gaging Laser Processing point, to reach accurate measurement laser reinforcing processing stand position
Put, improve the efficiency and precision purpose of measurement Laser Processing point.
The invention provides a kind of device of laser reinforcing in-process gaging Laser Processing point, including：Laser 101, swash
Shaven head 103, track robot 104 and pointed cone 106；
The laser that the laser 101 is emitted reaches laser head 103 by light path system 102；The laser head 103 goes out
End is penetrated towards work pieces process region 107；
The articulation position of the mechanical arm of track robot 104 is provided with angular transducer, the track machine
The mechanical arm end of people 104 is connected with pointed cone 106；The pointed cone 106 towards work pieces process region 107, and with laser head 103
Relatively；The pointed cone 106 includes disk and is arranged on the columnar projections of disc centre, and pixel paper is posted on columnar projections top.
Further, the mechanical arm end of the track robot 104 connects pointed cone 106 by ring flange 105.
Further, the ring flange 105 passes through interference fit with pointed cone 106.
It is corresponding, the method put is laser machined present invention also offers a kind of laser reinforcing in-process gaging, including it is following
Step：
Step 1, laser 101 is opened to minimum power, the laser that laser 101 is emitted is reached by light path system 102
To laser head 103；
Step 2, installation transmitting guides the light source of light beam on laser head 103, guiding light beam is launched with laser head 103 and swashs
The center line of light is parallel, wherein, the guiding light velocity is visible ray cylinder light beam, and diameter is no more than the diameter of pointed cone 106；
Step 3, track robot 104 is controlled, and using guiding the light beam to make cone 106 towards laser head 103；
Step 4, the position of cone 106 is adjusted by controlling track robot 104, when laser spot overlaps with pixel paper
When, the discoloration of pixel paper, the position that now changes colour is laser spot；
Step 5,104 each joint position of track robot is read, and the space of laser spot is drawn by each joint position
Coordinate.
A kind of device and method of laser reinforcing in-process gaging Laser Processing point provided by the invention, being capable of accurate measurement
Laser reinforcing processing stand position, the efficiency and precision of measurement Laser Processing point are improved, compared with prior art, had following excellent
Point：
1st, measurement accuracy is high：The present invention is measured using track robot laser machines a point position, at the joint of robot of track
Equipped with high-precision angle sensor, data that track robot control system is passed back according to sensor, by the way that space is calculated
Coordinate points position, measurement accuracy are very high.
2nd, measurement is accurate：The principle of the special light color of some strength is met using pixel paper, by being pasted at the top of pointed cone
Pixel paper change colour to determine a Laser Processing point position, measured value is more accurate.
3rd, laser centerline is measured：The present invention is using auxiliary guiding light beam projecting to determine laser centerline on pointed cone
Direction, so when work piece surface normal is vertical with laser centerline, laser impact intensified capacity usage ratio is best.
Brief description of the drawings
Fig. 1 is the structural representation of the device of laser reinforcing in-process gaging Laser Processing point provided by the invention；
Fig. 2 is the structural representation of pointed cone；
Fig. 3 is the sectional view of ring flange and pointed cone.
Embodiment
For make present invention solves the technical problem that, the technical scheme that uses and the technique effect that reaches it is clearer, below
The present invention is described in further detail in conjunction with the accompanying drawings and embodiments.It is understood that specific implementation described herein
Example is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that for the ease of description, accompanying drawing
In illustrate only part related to the present invention rather than full content.
Fig. 1 is the structural representation of the device of laser reinforcing in-process gaging Laser Processing point provided by the invention.Such as Fig. 1
Shown, the device of laser reinforcing in-process gaging Laser Processing point provided in an embodiment of the present invention includes：Laser 101, laser
First 103, track robot 104 and pointed cone 106.
The laser that the laser 101 is emitted reaches laser head 103 by light path system 102, and light path system 102 is, for example,
The vertical level crossing of two extended lines, laser can be passed to laser head 103 by two level crossings.The laser head 103
Exit end is towards work pieces process region 107；The articulation position of the mechanical arm of track robot 104 sets angled biography
Sensor, the mechanical arm end of the track robot 104 are connected with pointed cone 106；The pointed cone 106 is towards work pieces process region
107, and it is relative with laser head 103.Specifically, the mechanical arm end of the track robot 104 is connected by ring flange 105
Pointed cone 106, ring flange 105 pass through screw 108 and positioning pin connection with pointed cone 106.Fig. 2 is the structural representation of pointed cone.Fig. 3 is
The sectional view of ring flange and pointed cone.Reference picture 1,2 and 3, the ring flange 105 pass through interference fit with pointed cone 106.Ring flange
105, the perpendicularity of the center line of pointed cone 106 and the mechanical arm end joint face of track robot 104 can be adjusted.The pointed cone
106 include disk and are arranged on the columnar projections of disc centre, and pixel paper is posted on columnar projections top.Pixel paper is a kind of sense
Machine-glazed paper, in the case where special light reaches some strength, the position of illumination will change colour on paper, and the present invention utilizes pixel paper
Find the point of light focusing.
The course of work of apparatus of the present invention：The laser beam that laser 101 is sent, by installed in the front of laser 101
Light path system 102 be transmitted directly to work pieces process region 107 or work be transferred to by light path system 102 and laser head 103
Part machining area 107, invigoration effect is played to workpieces processing.The track robot 104 of six degree of freedom can drive pointed cone 106 to move
It is dynamic, by repeatedly practising, find Laser Processing point position.Track robot 104 utilizes track after processing stand position is found
The data of angular transducer outflow on the joint of robot 104, by the calculating of control system, draw the end of track robot 104
The space coordinates of the tip of pointed cone 106 is held, i.e. Laser Processing point position.Further, this space coordinates is transmitted to laser process equipment
Workpiece movement device, workpiece movement device moves workpiece to be added according to coordinate, makes the positive benefit in workpiece Surface Machining position to be added
In Laser Processing point.
The method that the embodiment of the present invention also provides a kind of laser reinforcing in-process gaging Laser Processing point, workpieces processing it
Before, workpiece to be processed not yet enters machining area, now starts the device of laser reinforcing in-process gaging Laser Processing point to swashing
The position coordinates of light focused spot (Laser Processing point) measures.A pixel paper is pasted in the tip of pointed cone 106, makes pointed cone 106
Point to laser head 103.The light beam of laser 101 can reach laser head 103 by light path system 102 to get to pixel paper
On.
The method of laser reinforcing in-process gaging Laser Processing point provided in an embodiment of the present invention, specifically includes following step
Suddenly：
Step 1, laser 101 is opened to minimum power, the laser that laser 101 is emitted is reached by light path system 102
To laser head 103.
Step 2, installation transmitting guides the light source of light beam on laser head 103, and adjustment light source makes guiding light beam and laser head
The center line of 103 transmitting laser is parallel, wherein, the guiding light velocity is the equipment that Attached Small can be removed at any time, and the equipment sends tiny
Visible ray cylinder light beam, diameter be no more than pointed cone 106 diameter.
Step 3, one piece of pixel paper is pasted when pointed cone 106 is initial on tip, afterwards according to the guiding light installed on laser head
The cylinder light that beam is sent, track robot 104 is controlled, due to guiding light beam and the centerline parallel of laser head 103, therefore can profit
Make cone 106 towards laser head 103 with guiding light beam；Cone approximate location closes guiding light beam after determining.
Step 4, by controlling the position of the constantly regulate cone 106 of track robot 104, when laser spot and pixel paper weight
During conjunction, the discoloration of pixel paper, now change colour the processing stand that position is laser spot, i.e. workpiece to be processed.Specifically, pixel paper ought be very
For weak laser after the focusing of laser head 103, focal position can make pixel paper change colour, and focal position is translated extremely after the discoloration of pixel paper
The tip of pointed cone 106, now the tip of pointed cone 106 is exactly laser spot.
Step 5, when 106 tip pixel paper discoloration of pointed cone, track robot 104 carries control system and reads track machine
104 each joint position of people, and draw by each joint position the space coordinates of laser spot.
The method of the present invention obtains the position of measuring point by robot measuring system.Measurement Laser Processing dot position information bag
Containing 6 dimensions (x, y, z, rx, ry, rz), precision 0.1mm.Driving robot to carry out the data of laser impact intensified processing is
The position of processing stand and method arrow, i.e. a sextuple data point set (x, y, z, rx, ry, rz).The side of this observing and controlling process integration
Method requirement not only provides the position (x, y, z) of measuring point in measurement process, and the appearance of measuring point to be also calculated by corresponding program
State, i.e. method swear (rx, ry, rz), to be prepared for following process program.Wherein, the measuring principle of method arrow：According to Differential Geometry
Principle, on curved surface not when 3 points of distances on straight line are near enough, its plane formed can approximation be used as the section.Cause
This, robot reads the position (x0, y0, z0) of Laser Processing point by step 5 first when measuring processing stand, then in laser
Processing stand nearby arbitrarily chooses 3 points not point-blank, and 3 positional distances Laser Processing points are more near better, this 3 points
Referred to as close measuring point, (x1, y1, z1) (x2, y2, z2) (x3, y3, the z3) of these three points is measured respectively, passes through these three close measuring points
Position coordinates calculate plane where this 3 points, then the three-point shape can the approximate method as measuring point into the method arrow of plane
Arrow, i.e. method arrow (rx, ry, rz).
Further, since when workpiece to be processed surface normal is vertical with laser centerline, laser impact intensified energy utilization
Rate is best, and determines that laser centerline direction can make pixel paper smaller by phototropic time spot, can increase measurement processing stand
Positional precision.So the present invention is using auxiliary guiding light beam projecting to determine the direction of laser centerline on pointed cone.Specifically,
Before device measuring processing stand, set guiding light beam parallel with center line direction first, then the tip of pointed cone 106 is pointed to and drawn
The light source of light guide bundles, guiding light beam are visible ray, one circular cone hot spot of formation on the face of pointed cone 106 are radiated at, by manually adjusting
Whole track robot 104, circular cone hot spot is set to turn into normal cone, now the center line direction of pointed cone 106 is exactly the center line side of guide line
To, that is, the direction of laser head center line, now the sensor information of recording track robot 104, is drawn sharp by system-computed
The direction of bare headed center line.
The method of the laser reinforcing in-process gaging Laser Processing point of the present embodiment, by guiding light beam to find Laser Processing
The approximate location of point, mobile pointed cone 106 post pixel paper, laser gets to pixel paper to laser machining near point on pointed cone 106
On, it can be left a trace on pixel paper, judge whether Laser Processing point overlaps with cone 106 by the vestige point on pixel paper,
During this, the position of pointed cone 106 is constantly adjusted, is overlapped until with Laser Processing point.Then control system is carried in robot
The middle coordinate position for reading pointed cone, then draw Laser Processing point position.Point position is not only obtained in measurement process, must
To attitude information, pose data are utilized by following process so that measurement and processing are combined closely.
The method of laser reinforcing in-process gaging Laser Processing point of the present invention based on acoustic pressure feature can be by of the invention any
The device for the laser reinforcing in-process gaging Laser Processing point that embodiment provides is realized.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its is right
Technical scheme described in foregoing embodiments is modified, and either which part or all technical characteristic are equally replaced
Change, the essence of appropriate technical solution is departed from the scope of various embodiments of the present invention technical scheme.
Claims (4)
- A kind of 1. device of laser reinforcing in-process gaging Laser Processing point, it is characterised in that including：Laser (101), laser Head (103), track robot (104) and pointed cone (106)；The laser of laser (101) outgoing reaches laser head (103) by light path system (102)；The laser head (103) Exit end towards work pieces process region (107)；The articulation position of track robot (104) mechanical arm is provided with angular transducer, the track robot (104) mechanical arm end is connected with pointed cone (106)；The pointed cone (106) towards work pieces process region (107), and with swash Bare headed (103) are relative；The pointed cone (106) includes disk and is arranged on the columnar projections of disc centre, on columnar projections top Post pixel paper.
- 2. the device of laser reinforcing in-process gaging Laser Processing point according to claim 1, it is characterised in that the rail The mechanical arm end of mark robot (104) connects pointed cone (106) by ring flange (105).
- 3. the device of laser reinforcing in-process gaging Laser Processing point according to claim 2, it is characterised in that the method Blue disk (105) passes through interference fit with pointed cone (106).
- A kind of 4. method of laser reinforcing in-process gaging Laser Processing point, it is characterised in that comprise the following steps：Step 1, laser (101) is opened to minimum power, the laser of laser (101) outgoing passes through light path system (102) Reach laser head (103)；Step 2, installation transmitting guides the light source of light beam on laser head (103), guiding light beam is launched with laser head (103) and swashs The center line of light is parallel, wherein, the guiding light velocity is visible ray cylinder light beam, and diameter is no more than the diameter of pointed cone (106)；Step 3, track robot (104) is controlled, and using guiding the light beam to make pointed cone (106) towards laser head (103)；Step 4, by controlling track robot (104) to adjust the position of pointed cone (106), when laser spot overlaps with pixel paper When, the discoloration of pixel paper, the position that now changes colour is laser spot；Step 5, track robot (104) each joint position is read, and show that the space of laser spot is sat by each joint position Mark.
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| CN201610916643.XA CN106435159B (en) | 2016-10-20 | 2016-10-20 | The device and method of laser reinforcing in-process gaging Laser Processing point |
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