CN111778389A - Control method of laser shot blasting device - Google Patents
Control method of laser shot blasting device Download PDFInfo
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- CN111778389A CN111778389A CN202010828620.XA CN202010828620A CN111778389A CN 111778389 A CN111778389 A CN 111778389A CN 202010828620 A CN202010828620 A CN 202010828620A CN 111778389 A CN111778389 A CN 111778389A
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- laser peening
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- 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
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- 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
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- 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
- C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
- C21D9/50—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for welded joints
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Abstract
In a control method (100) of a laser peening apparatus according to an embodiment of the present invention, the laser peening apparatus includes a laser oscillator that generates a laser beam, a work head that irradiates the laser beam to a work site, a manipulator that transfers the laser beam from the laser oscillator to the work head, and a three-dimensional scanning device, the control method of the laser peening apparatus includes: a) a three-dimensional scanning step (S110) for scanning a laser peening target surface by the three-dimensional scanning device to obtain a profile of the laser peening target surface; b) a filtering step (S120) for obtaining information of a work area required after filtering the obtained contour; c) a working path calculation step (S130) for calculating an optimal laser peening working path based on the obtained profile and information of the working field; and d) a drive control step (S140) for driving the laser peening device according to the calculated work path.
Description
The present application is a divisional application of a chinese patent application having an application number of 201710067794.7, an application date of 07/02/2017, and an invention name of "method for controlling a laser peening apparatus".
Technical Field
The present invention relates to a method for controlling a laser peening apparatus, and more particularly, to a method for controlling a laser peening apparatus, which can perform not only a peening operation with respect to a nozzle inner surface having a tubular shape but also a peening operation with respect to an uneven weld zone and the periphery of the weld zone accurately and stably.
Background
Laser beams are widely used in many fields because of their high energy density and continuity (coherence) characteristics. In nuclear reactors of nuclear power plants, laser application technology is also applied as means for inspection, preventive maintenance, repair, and the like.
For example, there are laser build-up welding (laser welding) for repairing cracks of structures and the like, and laser peening (laser peening) for preventing stress corrosion cracking of structures and the like in nuclear reactors.
Laser peening is a preventive maintenance technique using nd.yag (neodymium-doped yttrium aluminum garnet) laser. Laser peening is a method of generating plasma by condensing and irradiating laser light onto the surface of a material with a lens or the like, and implanting residual stress into the material by a shock wave of the plasma. Although stress corrosion cracking occurs if three conditions of material, environment, and stress are met, laser peening can change a tensile stress state or a low compressive stress state to a high compressive stress state, thereby preventing stress corrosion cracking of wood or a weld.
Laser peening apparatuses are classified into apparatuses in which a mirror (mirror) is disposed inside a hollow light guide to transmit light and apparatuses in which light is transmitted using a light guide fiber, according to a method of transmitting laser light. An example of a laser peening apparatus for a nuclear reactor is disclosed in korean patent laid-open publication No. 2012 and 0048692.
In the case of a general laser peening apparatus, since a laser beam is irradiated at a portion perpendicular to a processing surface, the laser beam is irradiated in a direction perpendicular to the processing surface. The plasma generated on the processing surface may damage the laser peening apparatus or the plasma laser beam may be cut.
On the other hand, in the laser peening apparatus according to the related art, an operator has to directly specify a working path of a laser working head (head) for an uneven weld and a periphery of the weld. Further, since the shape and size of the welded portion are manually measured to specify the operation path of the operation head, much time is consumed in the shot blasting operation, the accuracy of the operation is lowered, and the effective shot blasting operation cannot be completed.
Therefore, there is a strong need for a technology that can solve the problems caused by the prior art.
[ Prior Art document ]
[ patent document ]
Korean registration patent No. 10-1401902 (registration of 2014, 05, 25)
Disclosure of Invention
The invention aims to provide a control method of a laser shot blasting device, which not only can accurately and stably execute shot blasting operation on the inner surface of a tubular nozzle, but also can execute shot blasting operation on uneven welding parts and the periphery of the welding parts.
In order to achieve the above object, according to one aspect of the present invention, a method for controlling a laser peening apparatus including a laser oscillator for generating a laser beam, a work head for irradiating the laser beam to a work site, a manipulator for transferring the laser beam from the laser oscillator to the work head, and a three-dimensional scanning device includes: a) a three-dimensional scanning step of scanning a laser peening target surface by the three-dimensional scanning device to obtain a profile of the laser peening target surface; b) a filtering step of obtaining information of a required work area after filtering (filtering) the obtained contour; c) a working path calculation step of calculating an optimum laser peening working path based on the obtained profile and information of the working area; and d) a drive control step of driving the laser peening device according to the calculated work path.
In one embodiment of the present invention, the filtering step may comprise: extracting three-dimensional surface data of the laser peening target surface from a contour of the laser peening target surface; extracting three-dimensional surface data of a welded portion from a contour of the laser peening target surface; and extracting three-dimensional surface data of the periphery of the welded portion from the contour of the laser peening target surface.
In addition, the filtering step may further include a work area data obtaining step of obtaining data of a work area by fusing the three-dimensional surface data of the welded portion and the periphery of the welded portion with each other.
In one embodiment of the present invention, the job path calculating step may include: a path simplification step of processing the whole path of the operation area through a straight line or a curve; a route derivation step of deriving a route for a plurality of cases that can travel from one end of the processed route to the other end; and a path selection step of selecting a path having the shortest moving distance among the plurality of derived paths.
In one embodiment of the present invention, the driving control step may include: and a working head control step for maintaining a constant focal length and an incident angle during the laser peening operation. And controlling the working magnetic head of the laser peening device.
In addition, the driving control step may further include: and a position change control step of controlling the rotation angles and the position change distances of the first main body, the second main body, the horizontal movement portion, the third main body, and the laser beam irradiation nozzle of the working magnetic head.
In one embodiment of the present invention, the driving control step may include: and a peripheral device control step of controlling driving of the laser oscillator, the manipulator, the working head, and the three-dimensional scanning device.
In addition, the method of controlling a laser peening apparatus may further include: and monitoring, namely monitoring the operating state of the laser shot blasting device by using a monitoring device.
Additionally, the monitoring step may include: an emergency stop step of stopping the laser peening apparatus by the monitoring apparatus when the driving of the working head cannot be performed correctly.
Additionally, the monitoring step may include: and a real-time error correction step of correcting an error of the laser peening apparatus in real time by the monitoring apparatus when the driving of the working head cannot be correctly performed.
As described above, the control method of the laser peening apparatus according to the present invention includes: since the three-dimensional scanning step, the filtering step, the work path calculating step, and the drive control step are performed, it is possible to perform not only the blasting work for the inner surface of the tubular nozzle but also the blasting work for uneven welded portions and the surrounding portions of the welded portions accurately and stably.
In addition, the control method of the laser peening apparatus according to the present invention includes: the step of extracting the three-dimensional surface data of the laser peening target surface, the step of extracting the three-dimensional surface data of the welded portion, and the step of extracting the three-dimensional surface data of the periphery of the welded portion, therefore, accurate three-dimensional surface data about the uneven work portion can be extracted.
In addition, the control method of the laser peening apparatus according to the present invention includes: the path simplification step, the path derivation step, and the path selection step, and therefore, the optimized laser peening work path and work pattern data can be derived.
In addition, the control method of the laser peening apparatus according to the present invention can effectively control the driving of the working head and the peripheral apparatus based on the optimized laser peening work path and the work pattern data, and thus can maximize the efficiency of the laser peening work.
In addition, the control method of the laser peening apparatus according to the present invention includes: the monitoring step, the emergency stopping step and the real-time error correcting step, so that a user can easily monitor the correct operation of the laser peening apparatus and can perform the emergency stopping or error correcting operation in real time, with the result that the efficiency of the laser peening operation can be maximized.
Drawings
Fig. 1 is a flowchart illustrating a control method of a laser peening apparatus according to an embodiment of the present invention.
Fig. 2 is a flow chart showing the filtering step shown in fig. 1 in more detail.
Fig. 3 is a flowchart showing the job path calculation step shown in fig. 1 in more detail.
Fig. 4 is a flowchart showing the control driving step shown in fig. 1 in more detail.
Fig. 5 is a flow chart showing the monitoring step shown in fig. 1 in more detail.
Fig. 6 is a perspective view illustrating a laser peening apparatus according to an embodiment of the present invention.
Fig. 7 is a perspective view illustrating the working head shown in fig. 6.
Fig. 8 is a perspective view showing a working head of a laser peening apparatus according to still another embodiment of the present invention.
Fig. 9 is a front perspective view showing a state in which the inside of the work head insertion nozzle shown in fig. 8 is used.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The terms or words used in the present specification and claims should not be construed as being limited to general or dictionary meanings, but should be construed as meanings or concepts conforming to the technical idea of the present invention.
Throughout the present specification, when it is stated that a certain component is "on" another component, it includes not only a case where the certain component is connected to the other component but also a case where another component exists between the two components. Throughout the present specification, when a component is described as "including" a certain component, it means that other components may be included without excluding other components unless the description is particularly contrary.
A flowchart illustrating a control method of a laser peening apparatus according to an embodiment of the present invention is illustrated in fig. 1, and flowcharts illustrating respective steps illustrated in fig. 1 in more detail are illustrated in fig. 2 to 5.
In addition, diagrams illustrating a laser peening apparatus according to one embodiment of the present invention are illustrated in fig. 6 to 9.
Referring to the above drawings, a control method S100 of the laser peening apparatus according to the present invention is a method of using and controlling the laser peening apparatus 100 shown in fig. 6 to 9.
First, the configuration of the laser peening apparatus 100 according to the present embodiment will be described with reference to fig. 6 to 9.
As shown in fig. 6 and 7, the laser peening apparatus 100 according to the present embodiment may include: a laser oscillator 110, a manipulator (manipulator)120, a work head 130, a three-dimensional scanning device 140, and a control unit 150.
Specifically, laser oscillator 110 may generate a laser beam and deliver it to the work head via manipulator 120.
The manipulator 120 is installed to extend a predetermined length at one side of the laser oscillator 110, has a work head 130 installed at one end, and can transmit the laser beam received from the laser oscillator 110 to the work head 130.
The working head 130 is mounted to one end of the manipulator 120 to be rotatable at a predetermined angle by two or more rotational structures, and can irradiate the laser beam received from the manipulator 120 to a working site.
The three-dimensional scanning device 140 is attached to the work head 130, and performs three-dimensional scanning of the welded portion and the periphery of the welded portion to calculate work pattern data of the work route data station of the work head 130.
The control unit 150 is installed inside the laser peening apparatus 100, and receives the work path data and the work pattern data from the three-dimensional scanning device 140, thereby controlling the driving of the work head 130.
As shown in fig. 1, the control method S100 of the laser peening apparatus according to the present embodiment may include: a three-dimensional scanning step S110, a filtering step S120, a working path calculating step S130, a control driving step S140, and a monitoring step S150.
Specifically, the three-dimensional scanning step S110 is a step of scanning the laser peening target surface by the three-dimensional scanning device 100 to obtain a profile (profile) of the laser peening target surface.
In the three-dimensional scanning step S110, the laser peening target can be scanned by the three-dimensional scanning device 140 shown in fig. 7.
After the three-dimensional scanning step S110 is completed, the obtained profile data may be processed through a filtering step S120.
Specifically, the filtering step S120, as a step of obtaining information of the required work area after filtering (filtering) the obtained contour, may include the following steps: extracting three-dimensional surface data S121 of the laser peening target surface from the profile of the laser peening target surface; extracting three-dimensional surface data on the welded portion from the contour of the laser peening target surface S122; and extracting three-dimensional surface data S123 about the periphery of the welded portion from the contour of the laser peening target surface. In addition, the filtering step S120 may include a working area data obtaining step S124 of mutually fusing three-dimensional surface data about the welded portion and the periphery of the welded portion to obtain data about a working area.
Therefore, the control method S100 of the laser peening apparatus according to the present invention includes the steps of: extracting three-dimensional surface data S121 of a laser peening target surface; extracting three-dimensional surface data on the welded portion S122; extracting three-dimensional surface data about the periphery of the weld; and the work area data S124 is obtained, therefore, accurate three-dimensional surface data of an uneven work portion can be extracted.
Filtering step S120 as a step of extracting data for the job path calculating step S130, the job path calculating step S130 is executed after the filtering step S120 is completed.
The working path calculating step S130, as a step of calculating an optimal laser peening working path based on the obtained information of the contour and the working area, may include the following: a path simplification step S131 of processing the entire path of the work area by a straight line or a curved line; a route derivation step S132 of deriving routes for a plurality of cases that can travel from one end portion to the other end portion of the processed route; and a route selection step S133 of selecting a route having the shortest moving distance among the derived many routes.
In the aforementioned path derivation step S132, paths for many cases can be derived, and the reference direction can be set so as to derive the paths for many cases. For example, the direction may be set to a left-to-right or upper-to-lower direction. In the case of a circular or elliptical path, the path may be guided in a clockwise or counterclockwise direction.
In addition, in the path selected in the path selecting step S133, the shortest path among the plurality of derived paths may be selected, and the shortest path may include all paths drawn with one stroke.
Therefore, the control method S100 of the laser peening apparatus according to the present embodiment includes: the path simplification step S131, the path derivation step S132, and the path selection step S133 can derive the optimized laser peening work path and work pattern data.
The control driving step S140, as a step of driving the laser peening apparatus 100 according to the calculated work path, may include: a working head control step S141, a position change control step S142, and a peripheral device control step S143.
Specifically, the working head control step S141 is a step of controlling the working head 130 of the laser peening apparatus 100 so as to maintain a certain focal distance and an incident angle at the time of performing the laser peening work. The drive control step S140 is a step of controlling the rotation angle and the position change distance of the first body 131, the second body 132, the horizontal movement portion 134, the third body 133, and the laser beam irradiation nozzle (nozzle)135 of the working head 130. Further, the peripheral device control step S143 is a step of controlling driving of the laser oscillator 110, the manipulator 120, the work head 130, and the three-dimensional scanning device 140.
The control method S100 of the laser peening apparatus according to the present embodiment can perform an effective laser peening work by using the laser peening apparatus 100, the laser peening apparatus 100 can set a laser beam irradiation direction in a plurality of directions.
When performing the laser peening operation with respect to the tubular nozzle, the operation head 130 having a tubular shape as shown in fig. 8 and 9 can be used. At this time, the working head 130 having a pipe shape shown in fig. 8 and 9 may be used alternately with the laser beam irradiation nozzle 135 shown in fig. 7. In this case, as shown in fig. 9, the working head 130 can be used by being inserted into the mouth.
The monitoring step S150 may include an emergency stop step S151 and a real-time error correction step S152 as a step of monitoring the use state of the laser peening apparatus 100 by the monitoring device 160.
Specifically, the emergency stop step S151 is a step of stopping the laser peening apparatus 100 by the monitoring device 160 when the driving of the work head 130 cannot be performed correctly. The real-time error correction step S152 is a step of correcting the error of the laser peening apparatus 100 in real time by the monitoring device 160 when the driving of the work head 130 cannot be performed correctly.
Therefore, the method S100 for controlling the laser peening apparatus according to the present embodiment includes the monitoring step S150, the emergency stop step S151, and the real-time error correction step S152, so that the user can easily monitor the correct operation of the laser peening apparatus and can perform the emergency stop or error correction work in real time, with the result that the efficiency of the laser peening work is maximized.
In the above detailed description of the invention only specific embodiments according thereto have been described. It should be understood, however, that the invention is not to be limited to the particular forms disclosed, but to the contrary, the invention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
In other words, the present invention is not limited to the specific embodiments and descriptions, and various modifications can be made by one skilled in the art without departing from the spirit of the present invention claimed in the claims.
Description of the reference numerals
S100, control method of laser peening device
S110, three-dimensional scanning step
S120, a filtering step
S121, extracting three-dimensional surface data of laser peening target surface
S122, extracting three-dimensional surface data of welding part
S123, extracting three-dimensional surface data of the periphery of the welding part
S124, a working area data obtaining step
S130, a working path calculating step
S131, path simplification step
S132, route deriving step
S133, route selection step
S140, a drive control step
S141, a working head control step
S142, position changing control step
S143, peripheral device control step
S150, monitoring step
S151, emergency stop step
S152, real-time error correction step
100, laser peening apparatus
110 laser oscillator
120, manipulator
121, vertical length changing part
130, working head
131, a first body part
132, second body part
133, third body part
134, horizontal moving part
135, laser beam irradiation nozzle
136, extended length
137, laser beam irradiation spraying part
140, three-dimensional scanning device
150, control part
160, monitoring device
Claims (10)
1. A method (S100) for controlling a laser peening apparatus including a laser oscillator for generating a laser beam, a work head for irradiating the laser beam to a work site, a manipulator for transferring the laser beam from the laser oscillator to the work head, and a three-dimensional scanning device, the method comprising:
a) a three-dimensional scanning step (S110) for scanning a laser peening target surface by the three-dimensional scanning device to obtain a profile of the laser peening target surface;
b) a filtering step (S120) for obtaining information of a required working area after filtering the obtained contour;
c) a working path calculation step (S130) for calculating an optimum laser peening working path based on the obtained profile and information of the working area; and
d) and a drive control step (S140) for driving the laser peening device according to the calculated work path.
2. The method of controlling a laser peening apparatus according to claim 1,
the filtering step (S120) includes the steps of:
extracting three-dimensional surface data of the laser peening target surface from the profile of the laser peening target surface (S121);
extracting three-dimensional surface data of a welded portion from a contour of the laser peening target surface (S122); and
three-dimensional surface data of the periphery of the welded portion is extracted from the contour of the laser peening target surface (S123).
3. The method of controlling a laser peening apparatus according to claim 2,
the filtering step (S120) further comprises:
and a working area data acquisition step (S124) for obtaining data relating to the working area by fusing the three-dimensional surface data of the welded portion and the surrounding of the welded portion with each other.
4. The method of controlling a laser peening apparatus according to any one of claims 1 to 3,
the job path calculation step (S130) includes:
a path simplification step (S131) for processing the whole path of the operation area through a straight line or a curve;
a route derivation step (S132) for deriving a plurality of routes that can travel from one end of the processed route to the other end; and
and a route selection step (S133) for selecting a route having the shortest moving distance from among the plurality of derived routes.
5. The method of controlling a laser peening apparatus according to claim 1,
the drive control step (S140) includes:
and a working head control step (S141) for controlling the working head of the laser peening device so as to maintain a constant focal distance and an incident angle when the laser peening operation is performed.
6. The method of controlling a laser peening apparatus according to claim 5,
the control driving step (S140) further includes:
and a position change control step (S142) for controlling the rotation angle and the position change distance of the first body part, the second body part, the horizontal movement part, the third body part, and the laser beam irradiation nozzle of the working magnetic head.
7. The method of controlling a laser peening apparatus according to claim 5 or 6,
the control driving step (S140) includes:
and a peripheral device control step (S143) for controlling the driving of the laser oscillator, the manipulator, the working head, and the three-dimensional scanning device.
8. The method of controlling a laser peening apparatus according to claim 1, further comprising:
and a monitoring step (S150) for monitoring the operating state of the laser peening device by using a monitoring device.
9. The method of controlling a laser peening apparatus according to claim 8,
the monitoring step (S150) includes:
and an emergency stop step (S151) for stopping the laser peening device by the monitoring device when the driving of the working head cannot be correctly performed.
10. The method of controlling a laser peening apparatus according to claim 8 or 9,
the monitoring step (S150) includes:
and a real-time error correction step (S152) for correcting errors of the laser peening device in real time by the monitoring device when the driving of the working head cannot be correctly performed.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2016-0023659 | 2016-02-26 | ||
| KR1020160023659A KR20170101017A (en) | 2016-02-26 | 2016-02-26 | Laser Peening Apparatus |
| KR1020160023654A KR101790140B1 (en) | 2016-02-26 | 2016-02-26 | Control Method of Laser Peening Apparatus |
| KR10-2016-0023654 | 2016-02-26 | ||
| CN201710067794.7A CN107130100A (en) | 2016-02-26 | 2017-02-07 | The control method of laser peening device |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710067794.7A Division CN107130100A (en) | 2016-02-26 | 2017-02-07 | The control method of laser peening device |
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| CN111778389A true CN111778389A (en) | 2020-10-16 |
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| CN201710067794.7A Pending CN107130100A (en) | 2016-02-26 | 2017-02-07 | The control method of laser peening device |
| CN202010828620.XA Pending CN111778389A (en) | 2016-02-26 | 2017-02-07 | Control method of laser shot blasting device |
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| CN201710067794.7A Pending CN107130100A (en) | 2016-02-26 | 2017-02-07 | The control method of laser peening device |
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| CN110732778B (en) * | 2019-10-18 | 2022-07-12 | 扬州镭奔激光科技有限公司 | 3D printing-based laser shot blasting process light path accessibility inspection method |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101011777A (en) * | 2006-12-11 | 2007-08-08 | 江苏大学 | Method and apparatus of forming cut deal laser prestress composite shot blasting |
| CN101759139A (en) * | 2009-12-10 | 2010-06-30 | 江苏大学 | Surface modification processing method and device of MEMS microcomponent |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100355514C (en) * | 2005-05-20 | 2007-12-19 | 江苏大学 | Method and equipment for forming plate of moderate thickness through laser shot blast |
| CN101694584A (en) * | 2009-10-23 | 2010-04-14 | 大连海事大学 | Aero-engine labyrinth disc hot list processing thickness information extraction system |
| CN203440403U (en) * | 2013-08-09 | 2014-02-19 | 苏州柯莱得激光科技有限公司 | Movable laser mould surface strengthening machine |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101011777A (en) * | 2006-12-11 | 2007-08-08 | 江苏大学 | Method and apparatus of forming cut deal laser prestress composite shot blasting |
| CN101759139A (en) * | 2009-12-10 | 2010-06-30 | 江苏大学 | Surface modification processing method and device of MEMS microcomponent |
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