CN112060103B - Movable ultrafast laser processing robot equipment and processing method - Google Patents
Movable ultrafast laser processing robot equipment and processing method Download PDFInfo
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- CN112060103B CN112060103B CN202010791270.4A CN202010791270A CN112060103B CN 112060103 B CN112060103 B CN 112060103B CN 202010791270 A CN202010791270 A CN 202010791270A CN 112060103 B CN112060103 B CN 112060103B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention discloses a movable ultrafast laser processing robot device and a processing method, wherein the device comprises: the positioning navigation subsystem is used for performing navigation positioning and outputting real-time positioning information; the integrated control subsystem is used for controlling the omnidirectional intelligent mobile platform to move according to the real-time positioning information; the alignment of the industrial mechanical arm and the workpiece to be processed and the processing of the workpiece to be processed are finished by controlling the industrial mechanical arm and the ultrafast laser tail end execution subsystem; the omnidirectional intelligent mobile platform is used for moving under the control of the integrated control subsystem; the industrial mechanical arm is used for moving to a processing station under the control of the integrated control subsystem; and the ultrafast laser end execution subsystem is used for monitoring and feeding back the processing pose information in real time. The invention aims to realize large-scale flexible attitude adjustment, positioning and local high-efficiency high-quality processing of equipment and finish the manufacture of large composite structural members such as satellite structural plates, bearing cylinders, large antenna unfolding arms and the like.
Description
Technical Field
The invention belongs to the technical field of movable robots, and particularly relates to movable ultrafast laser processing robot equipment and a processing method.
Background
With the development of China towards large size, light weight, high bearing capacity and high reliability in the field of manufacturing of important structural components, the manufacturing characteristics of high precision and high flexibility provide new challenges for processing equipment. With the outstanding advantages of light weight, high strength, wide temperature range, low expansion, good fatigue resistance, excellent heat resistance and the like, non-metal composite materials such as resin-based composite materials, ceramic-based composite materials, carbon-based composite materials and the like begin to be applied more and more widely.
Although the non-metallic composite material is mainly manufactured by a forming method, secondary processing is required later to meet the precision or assembly requirements. The main obstacle hindering the further popularization and application of the method is the difficulty of secondary processing, and the difficulty is mainly reflected in three aspects:
firstly, the problem of the processing size is as follows: the large-size structures (such as a central bearing cylinder and an arm rod of a large antenna unfolding arm) are difficult to process due to the limitation of the stroke of numerical control processing equipment and the size of a workpiece capable of being accommodated;
secondly, the problems of efficiency and cost are as follows: the material is high in strength and hardness, so that the machining efficiency is low, the cutter durability is low, the cutter changing is frequent, the machining cost is high, the machining efficiency is low, and at present, a manual hole machining mode is adopted for drilling a large number of composite material structures;
the final is the accuracy and quality issues: the anisotropy and the non-homogeneous characteristic of the material cause the processing quality defects such as layering or edge breakage, fiber breakage or extraction, microcrack, rough surface and the like to be prominent, and the mechanical property of the structure is influenced. The non-metal composite material structure is processed by adopting a traditional laser source (such as carbon dioxide laser, millisecond/microsecond/nanosecond laser), quality problems such as layering or edge breakage, fiber breakage or extraction and the like caused by contact stress in traditional contact processing (such as cutting processing and ultrasonic vibration assisted cutting processing) can be avoided, but due to the prominent thermal effect of the traditional laser source, a prominent processing heat affected zone exists at the edge of a processed structure, the problems of carbonization or discoloration of the surface layer of the processed area, low structure size precision and the like exist. The structure has lower processing precision and poorer precision consistency, and cannot meet the preparation of higher-precision structures such as functional windows, fine holes for installation and debugging and the like.
How to solve the above problems is one of the problems that the skilled person needs to solve urgently.
Disclosure of Invention
The technical problem of the invention is solved: the defects of the prior art are overcome, the movable ultrafast laser processing robot equipment and the processing method are provided, and the equipment is large-scale flexible in posture adjustment and positioning and local high-efficiency and high-quality processing is achieved, so that high-efficiency and high-precision manufacturing of large composite structural members such as satellite structural plates, bearing cylinders and large antenna unfolding arms is completed.
In order to solve the technical problem, the invention discloses a movable ultrafast laser processing robot device, which comprises: the system comprises an omnidirectional intelligent mobile platform, an industrial mechanical arm, an integrated control subsystem, an ultrafast laser terminal execution subsystem and a positioning navigation subsystem;
the positioning navigation subsystem is used for performing navigation positioning on the movable ultrafast laser processing robot equipment and outputting real-time positioning information of the movable ultrafast laser processing robot equipment;
the integrated control subsystem is used for guiding the omnidirectional intelligent mobile platform to move according to the real-time positioning information output by the positioning navigation subsystem, so that the movable ultrafast laser processing robot equipment moves to a preset processing station; the alignment of the tail end of the industrial mechanical arm and a target point of the workpiece to be processed is finished by controlling the industrial mechanical arm and the ultrafast laser tail end execution subsystem, and the focusing of a laser beam on the surface of the workpiece to be processed and the processing of the workpiece to be processed are kept all the time;
the omnidirectional intelligent mobile platform is used for carrying out translation and rotation under the control of the integrated control subsystem so as to enable the movable ultrafast laser processing robot equipment to move to a preset processing station;
the industrial mechanical arm is used for moving to a processing station under the control of the integrated control subsystem, finishing the alignment of the tail end of the industrial mechanical arm and a target point of a workpiece to be processed, and lifting the tail end of the industrial mechanical arm to finish the processing of the workpiece to be processed;
the ultrafast laser tail end execution subsystem is used for monitoring real-time processing pose information between the tail end of the industrial mechanical arm and a workpiece to be processed and feeding back the real-time processing pose information to the integrated control subsystem, so that the integrated control subsystem controls the industrial mechanical arm and the ultrafast laser tail end execution subsystem according to the real-time processing pose information, alignment of the tail end of the industrial mechanical arm and a target point of the workpiece to be processed is completed, the workpiece to be processed is processed, and whether a laser beam and the surface of the workpiece to be processed are focused or not is monitored in real time in the processing process.
In the above mobile ultrafast laser processing robot apparatus, the positioning navigation subsystem includes:
the positioning navigation module is used for determining the real-time position of the movable ultrafast laser processing robot equipment and outputting the real-time positioning information of the movable ultrafast laser processing robot equipment;
and the visual positioning module is used for determining the real-time pose relationship between the industrial mechanical arm and the workpiece to be processed and outputting the pose relationship.
In the above mobile ultrafast laser process robot apparatus, the integrated control subsystem includes:
the mobile robot control module is used for controlling the omnidirectional intelligent mobile platform to move to a preset processing station according to the real-time positioning information of the movable ultrafast laser processing robot equipment output by the positioning navigation module and the real-time pose relationship between the industrial mechanical arm and the workpiece to be processed output by the visual positioning module; when the movable ultrafast laser processing robot equipment is determined to be located in the working area according to the real-time positioning information and the industrial mechanical arm can completely cover the pre-planned processing area according to the real-time pose relation, determining that the movable ultrafast laser processing robot equipment moves to a preset processing station;
the system comprises an ultrafast laser generator and power supply module, a laser end execution subsystem and a control module, wherein the ultrafast laser generator and power supply module is used for generating laser beams with specific wavelengths according to preset pulse frequency, preset pulse energy and preset pulse width, and the laser beams are transmitted to the ultrafast laser end execution subsystem along a pipeline coiled on the industrial mechanical arm; adjusting the pulse frequency, the pulse energy and the pulse width of the output laser beam to a preset pulse frequency, a preset pulse energy and a preset pulse width according to a feedback control instruction returned by the optical path transmission monitoring and control module;
and the optical path transmission monitoring and controlling module is used for monitoring the pulse frequency, the pulse energy and the pulse width of the laser beam output by the ultrafast laser generator and the power supply module, and outputting a feedback control instruction when the pulse frequency, the pulse energy and the pulse width of the laser beam output by the ultrafast laser generator and the power supply module are monitored to be inconsistent with any one group of preset pulse frequency, preset pulse energy and preset pulse width.
In the above mobile ultrafast laser processing robot apparatus, the ultrafast laser end-effector sub-system includes:
the laser emission module is used for receiving and emitting the laser beam with the specific wavelength output by the ultrafast laser generator and the power supply module;
the laser positioning module is used for imaging a target point of a workpiece to be processed and sending the imaging result of the target point to the mobile robot control module;
the laser ranging module is used for determining the real-time distance between the laser emitting module and the workpiece to be processed according to the projection of the laser beam emitted by the laser emitting module on the surface of the workpiece to be processed and sending the real-time distance to the mobile robot control module;
and the focusing self-adjusting module is used for adjusting the distance between the laser emission module and the surface of the workpiece to be processed under the control of the mobile robot control module, so that the laser beam output by the laser emission module is always focused on the surface of the workpiece to be processed.
In the above-mentioned mobile ultrafast laser processing robot equipment, mobile robot control module is still used for:
controlling the industrial mechanical arm to move to a processing station indicated by a preset processing instruction, and roughly aligning the tail end of the industrial mechanical arm with a target point of a workpiece to be processed;
determining the actually measured position information of at least three target points according to the target point imaging result output by the laser positioning module; carrying out coordinate system frame transformation according to the actually measured position information of at least three target points to obtain an actually measured Cartesian pose coordinate system; determining Euler angles of rotation of three axes between an actual measurement Cartesian pose coordinate system and a theoretical Cartesian pose coordinate system; wherein, the theoretical cartesian position and posture coordinate system is: performing frame transformation of a coordinate system according to theoretical position information of at least three target points;
if the Euler angles of rotation of three axes between the actual measurement Cartesian pose coordinate system and the theoretical Cartesian pose coordinate system all meet preset Euler angles, determining that the tail end of the industrial mechanical arm is precisely aligned with a target point of a workpiece to be processed; otherwise, controlling the movement of the industrial mechanical arm, and adjusting the tail end position of the industrial mechanical arm until the Euler angles of rotation of three axes between the actual measurement Cartesian pose coordinate system and the theoretical Cartesian pose coordinate system all meet the preset Euler angle.
In the above-mentioned mobile ultrafast laser processing robot equipment, mobile robot control module is still used for:
according to the real-time distance between the laser emission module output by the laser ranging module and the workpiece to be processed, the distance between the laser emission module and the surface of the workpiece to be processed is adjusted through the focusing self-adjusting module, so that the real-time distance between the laser emission module and the workpiece to be processed always meets the focusing distance, and the laser beam output by the laser emission module is ensured to be always focused on the surface of the workpiece to be processed; wherein if L1-L2|≤0.5ZRThen determine that the real-time distance satisfies the focus distance, L1Representing the real-time distance, L, between the laser emitting module and the workpiece to be machined2Representing the theoretical distance, Z, between the laser emitting module and the workpiece to be machinedRRepresenting the focused beam rayleigh length.
In the above-mentioned mobile ultrafast laser processing robot equipment, mobile robot control module is still used for:
controlling the industrial mechanical arm to move according to a processing track indicated by a preset processing instruction, and adjusting the distance between the laser emission module and the surface of a workpiece to be processed through the focusing self-adjusting module in the process that the industrial mechanical arm moves according to the processing track, so that the real-time distance between the laser emission module and the workpiece to be processed always meets the focusing distance, and the laser beam output by the laser emission module is ensured to be always focused on the surface of the workpiece to be processed; meanwhile, the ultrafast laser generator and the power supply module are controlled to output laser beams with specific wavelengths, and the laser beams are output through the laser emitting module, so that the workpiece to be processed is processed.
In the above-described mobile ultrafast laser processing robot apparatus,
the industrial mechanical arm is a six-degree-of-freedom mechanical arm;
the industrial mechanical arm and the integrated control subsystem are installed on a working table top of the omnidirectional intelligent mobile platform, the positioning navigation subsystem is installed on the omnidirectional intelligent mobile platform, and the ultrafast laser tail end execution subsystem is installed at the tail end of the industrial mechanical arm.
In the above-described mobile ultrafast laser processing robot apparatus,
the laser emission module, the laser positioning module and the laser ranging module are arranged on the focusing self-adjusting module;
the focusing self-adjusting module can adjust the laser emitting module, the laser positioning module and the laser ranging module which are arranged on the focusing self-adjusting module to move back and forth along the emitting direction of the laser beams.
Correspondingly, the invention also discloses a processing method of the movable ultrafast laser processing robot equipment, which comprises the following steps:
controlling the omnidirectional intelligent mobile platform to move according to the real-time positioning information output by the positioning navigation subsystem, so that the movable ultrafast laser processing robot equipment moves to a preset processing station;
controlling the tail end of the industrial mechanical arm to align with a target point of the workpiece to be processed according to real-time processing pose information between the tail end of the industrial mechanical arm and the workpiece to be processed, which is determined by the ultrafast laser tail end execution subsystem;
and controlling the movement of the industrial mechanical arm according to the processing track indicated by the preset processing instruction, and finishing the processing of the workpiece to be processed by adjusting and controlling the ultrafast laser tail end execution subsystem in real time in the process that the industrial mechanical arm moves according to the processing track.
The invention has the following advantages:
(1) the invention adopts the movable robot and the non-contact low-heat-effect laser processing, and the processing mode of 'the machine tool rotates around the workpiece' is not limited by the size of the processed workpiece; meanwhile, due to the processing of ultrafast laser in a non-contact mode, low thermal damage and high material removal resolution, the quality of the robot is not easily affected due to the characteristic of weak rigidity, and the processing principle of no contact stress and low thermal effect avoids the occurrence of force and thermal defects such as composite material layering, edge breakage, surface layer scorching or color change and the like.
(2) The invention solves the fine processing requirements of large-stroke and large-size structures: the industrial mechanical arm and the integrated control subsystem are installed on a working table top of the omnidirectional intelligent mobile platform, the positioning navigation subsystem is installed on the omnidirectional intelligent mobile platform, the ultrafast laser tail end execution subsystem is installed at the tail end of the industrial mechanical arm, and the mobile robot (the industrial mechanical arm and the omnidirectional intelligent mobile platform) has a large-range flexible mobile function, so that the processing range of ultrafast laser can be remarkably enlarged, and the fine processing of a large-scale structure is realized.
(3) The invention realizes the flexible adjustment of the processing attitude: the ultrafast laser end execution subsystem is installed at the end of industrial mechanical arm, realizes the propagation of light beam through fibre channel, and the optical fiber transmission channel that possesses the radian of bending response function can keep laser wavelength and energy density, reduces the pulse broadening, realizes laser cold working.
(4) The invention solves the problem that ultrafast laser can not be focused accurately due to motion error: the mobile robot control module can read the real-time distance fed back by the laser ranging module, adaptively assigns a frame variable, and automatically keeps the distance between a laser beam cutting head output by the laser emission module and the surface of a workpiece to be processed constant in an equipment interpolation clock period, thereby solving the problem that ultrafast laser cannot accurately focus a processing position due to large-scale structure motion errors.
Drawings
FIG. 1 is a schematic structural diagram of a movable ultrafast laser processing robot apparatus according to an embodiment of the present invention;
fig. 2 is a flowchart of the processing steps of a mobile ultrafast laser processing robot apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in detail with reference to the accompanying drawings.
In order to solve the processing requirements of numerous large-size non-metal composite materials (resin-based composite materials, ceramic-based composite materials, carbon-based composite materials and the like), and solve the outstanding common problems of difficult precision control, layering, fiber bundle tearing, difficult preparation of micro structures, incapability of processing large-size structures, low processing efficiency and the like in the traditional contact processing of the materials, in the aspects of quality, precision, efficiency, processable objects and the like, the invention forms movable ultrafast laser processing robot equipment on the basis of organically integrating a movable robot and a high-performance industrial ultrafast laser, realizes large-scale flexible posture adjustment, positioning and local efficient high-quality processing of the equipment, and completes efficient and high-precision manufacturing of large-size composite material structural members such as a satellite structural plate, a force bearing cylinder, a large-size antenna unfolding arm and the like.
As shown in fig. 1, in the present embodiment, the movable ultrafast laser process robot apparatus includes: the system comprises an omnidirectional intelligent mobile platform 1, an industrial mechanical arm 2, an integrated control subsystem 3, an ultrafast laser terminal execution subsystem 4 and a positioning navigation subsystem 5. And the positioning navigation subsystem 5 is used for performing navigation positioning on the movable ultrafast laser processing robot equipment and outputting real-time positioning information of the movable ultrafast laser processing robot equipment. The integrated control subsystem 3 is used for guiding the omnidirectional intelligent mobile platform 1 to move according to the real-time positioning information output by the positioning navigation subsystem 5, so that the movable ultrafast laser processing robot equipment moves to a preset processing station; and the alignment of the tail end of the industrial mechanical arm 2 and a target point of the workpiece to be processed is finished through the control of the industrial mechanical arm 2 and the ultrafast laser tail end execution subsystem 4, the focusing of the laser beam on the surface of the workpiece to be processed is kept all the time, and the processing of the workpiece to be processed is also kept. And the omnidirectional intelligent mobile platform 1 is used for translating and rotating under the control of the integrated control subsystem 3, so that the movable ultrafast laser processing robot equipment moves to a preset processing station. And the industrial mechanical arm 2 is used for moving to a processing station under the control of the integrated control subsystem 3, finishing the alignment of the tail end of the industrial mechanical arm 2 and a target point of a workpiece to be processed, and lifting the tail end of the industrial mechanical arm 2 to finish the processing of the workpiece to be processed. And the ultrafast laser tail end execution subsystem 4 is used for monitoring real-time processing pose information between the tail end of the industrial mechanical arm 2 and a workpiece to be processed, feeding the real-time processing pose information back to the integrated control subsystem 3, so that the integrated control subsystem 3 controls the industrial mechanical arm 2 and the ultrafast laser tail end execution subsystem 4 according to the real-time processing pose information, finishing the alignment of the tail end of the industrial mechanical arm 2 and a target point of the workpiece to be processed, processing the workpiece to be processed and monitoring whether a laser beam is focused on the surface of the workpiece to be processed in real time in the processing process.
Preferably, the industrial mechanical arm 2 and the integrated control subsystem 3 are installed on a working table of the omnidirectional intelligent mobile platform 1, the positioning navigation subsystem 5 is installed on the omnidirectional intelligent mobile platform 1, and the ultrafast laser end execution subsystem 4 is installed at the tail end of the industrial mechanical arm 2.
In this embodiment, the positioning navigation subsystem 5 may specifically include: a positioning navigation module 501 and a visual positioning module 502. The positioning navigation module 501 generally searches for a position according to a pre-planned station, but cannot determine the position of the workpiece to be processed, and needs to further determine a visual mark on the workpiece to be processed by a visual camera in the visual positioning module 502, so as to determine the pose relationship between the industrial robot 2 and the workpiece to be processed. Specifically, the method comprises the following steps:
and the positioning navigation module 501 is used for determining the real-time position of the movable ultrafast laser processing robot equipment and outputting the real-time positioning information of the movable ultrafast laser processing robot equipment.
The vision positioning module 502 is configured to determine a pose relationship between the industrial robot 2 and the workpiece to be processed, and output a real-time pose relationship between the industrial robot 2 and the workpiece to be processed.
As can be seen from the above, in this embodiment, it is determined whether the movable ultrafast laser processing robot apparatus moves to the predetermined processing station through the real-time positioning information output by the positioning navigation module 501 and the real-time pose relationship output by the visual positioning module 502. When the movable ultrafast laser processing robot equipment moves to a preset processing station position, the motion range of the industrial mechanical arm 2 on the omnidirectional intelligent mobile platform 1 can completely cover the processing surface of the workpiece to be processed. In addition, it should be noted that the positioning navigation module 501 may be installed on the omnidirectional intelligent mobile platform 1 as a part of a large-scene real-time positioning system, the large-scene real-time positioning system further includes a plurality of indoor GPS transmitting stations, and the positioning navigation module 501, the GPS transmitting stations, and the visual positioning module 502 cooperate to realize navigation positioning of the movable ultrafast laser processing robot equipment.
In this embodiment, the integrated control subsystem 3 may specifically include:
the mobile robot control module 301 is configured to control the omnidirectional intelligent mobile platform 1 to move to a predetermined processing station according to the real-time positioning information of the movable ultrafast laser processing robot equipment output by the positioning navigation module 501 and the real-time pose relationship between the industrial mechanical arm 2 and the workpiece to be processed output by the visual positioning module 502; and when the movable ultrafast laser processing robot equipment is determined to be located in the working area according to the real-time positioning information and the industrial mechanical arm 2 is determined to be capable of completely covering the pre-planned processing area according to the real-time pose relation, determining that the movable ultrafast laser processing robot equipment moves to the preset processing station.
The ultrafast laser generator and power supply module 302 is used for generating laser beams with specific wavelengths according to a preset pulse frequency, a preset pulse energy and a preset pulse width, and the laser beams are transmitted to the ultrafast laser tail end execution subsystem 4 along a pipeline wound on the industrial robot arm 2; and adjusting the pulse frequency, the pulse energy and the pulse width of the output laser beam to a preset pulse frequency, a preset pulse energy and a preset pulse width according to a feedback control instruction returned by the optical path transmission monitoring and control module 303. The specific values of the preset pulse frequency, the preset pulse energy and the preset pulse width may be determined according to the actual requirement of the workpiece to be processed, which is not limited in this embodiment.
And the optical path transmission monitoring and control module 303 is configured to monitor a pulse frequency, a pulse energy, and a pulse width of the laser beam output by the ultrafast laser generator and the power supply module 302, and output a feedback control instruction when it is monitored that the pulse frequency, the pulse energy, and the pulse width of the laser beam output by the ultrafast laser generator and the power supply module 302 are inconsistent with any one group of the preset pulse frequency, the preset pulse energy, and the preset pulse width.
In this embodiment, the ultrafast laser end-effector subsystem 4 may specifically include:
and the laser emission module 401 is configured to receive the laser beam with the specific wavelength output by the ultrafast laser generator and the power supply module 302, and emit the laser beam.
And the laser positioning module 402 is configured to image a target point of the workpiece to be processed, and send an imaging result of the target point to the mobile robot control module 301. At least three target points A, B and C can be preset on the detected part of the workpiece to be processed, and the target points A, B and C are not collinear; the laser positioning module 402 can measure the positions P of the target points A, B and C in the imaging coordinate system1、P2And P3The cartesian pose coordinates thus determined are as follows:
e2＝e3×e1。
and the laser ranging module 403 is configured to determine a real-time distance between the laser emitting module 401 and the workpiece to be processed according to a projection of the laser beam emitted by the laser emitting module 401 on the surface of the workpiece to be processed, and send the real-time distance to the mobile robot control module 301. The frequency fed back to the mobile robot control module 301 by the real-time distance is consistent with the interpolation frequency of the mobile robot control module 301 controlling the industrial robot 2, so as to ensure that the fed-back real-time distance can be read by the mobile robot control module 301 in real time.
And the focusing self-adjusting module 404 is configured to adjust a distance between the laser emitting module 401 and the surface of the workpiece to be processed under the control of the mobile robot control module 301, so that the laser beam output by the laser emitting module 401 is always focused on the surface of the workpiece to be processed.
Preferably, the mobile robot control module 301 may further be configured to: controlling the industrial mechanical arm 2 to move to a processing station indicated by a preset processing instruction, and roughly aligning the tail end of the industrial mechanical arm 2 with a target point of a workpiece to be processed; determining the actually measured position information of at least three target points according to the target point imaging result output by the laser positioning module 402; carrying out coordinate system frame transformation according to the actually measured position information of at least three target points to obtain an actually measured Cartesian pose coordinate system; determining Euler angles of rotation of three axes between an actual measurement Cartesian pose coordinate system and a theoretical Cartesian pose coordinate system; if the Euler angles of rotation of the three axes between the actual measurement Cartesian pose coordinate system and the theoretical Cartesian pose coordinate system all meet preset Euler angles (such as 3 degrees), the end of the industrial mechanical arm 2 is determined to be precisely aligned with the target point of the workpiece to be processed; otherwise, controlling the industrial mechanical arm 2 to move, and adjusting the tail end position of the industrial mechanical arm 2 until the Euler angles of rotation of three axes between the actual measurement Cartesian pose coordinate system and the theoretical Cartesian pose coordinate system all meet the preset Euler angle. Wherein, the theoretical cartesian position and posture coordinate system is: and performing frame transformation of a coordinate system according to theoretical position information of at least three target points.
Further, the mobile robot control module 301 may be further configured to: the real-time distance between the output laser emission module 401 and the workpiece to be processed is adjusted through the focusing self-adjusting module 404, so that the real-time distance between the laser emission module 401 and the workpiece to be processed always meets the focusing distance, and the laser beam output by the laser emission module 401 is always focused on the surface of the workpiece to be processed. Wherein, | L1-L2|≤0.5ZR，L1Represents the real-time distance, L, between the laser emitting module 401 and the workpiece to be machined2Represents a theoretical distance, Z, between the laser emitting module 401 and the workpiece to be processedRRepresenting the focused beam rayleigh length.
Further, the mobile robot control module 301 may be further configured to: controlling the industrial mechanical arm 2 to move according to a processing track indicated by a preset processing instruction, and adjusting the distance between the laser emission module 401 and the surface of a workpiece to be processed through the focusing self-adjusting module 404 in the process that the industrial mechanical arm 2 moves according to the processing track, so that the real-time distance between the laser emission module 401 and the workpiece to be processed always meets the focusing distance, and the laser beam output by the laser emission module 401 is ensured to be always focused on the surface of the workpiece to be processed; meanwhile, the ultrafast laser generator and power supply module 302 is controlled to output laser beams with specific wavelengths, and the laser beams are output through the laser emitting module 401, so that the workpiece to be processed is processed.
It should be noted that the industrial robot 2 may select a six-degree-of-freedom robot, and may perform model selection or customized development according to the height of the workpiece to be processed, which is not limited in this embodiment.
Further, the self-adjusting focusing module 404 may be composed of a set of screw-guiding mechanism with a driving motor, the laser emitting module 401, the laser positioning module 402 and the laser ranging module 403 are installed on the self-adjusting focusing module 404, the self-adjusting focusing module 404 can realize the back and forth movement of the laser emitting module 401, the laser positioning module 402 and the laser ranging module 403 lifted on the self-adjusting focusing module 404 along the emitting direction of the laser beam based on the screw-guiding mechanism with a driving motor, so as to ensure that the spot of the laser beam emitted by the laser emitting module 401 can be exactly focused on the surface of the workpiece to be processed, and the laser emitting module 401 will be synchronously adjusted in real time during the movement of the industrial robot arm 2. Wherein, real-time synchronous adjustment means:
in each interpolation period of the mobile robot control module 301, after receiving the real-time distance fed back by the laser ranging module 403, the mobile robot control module 301 compares the current real-time distance with the real-time distance received in the previous interpolation period, if the error is smaller than a specified value e, the focus self-adjustment module 404 does not move, and if the error is larger than e, the laser emission module 401 lifted above the focus self-adjustment module moves until the difference between the real-time distance received in the next interpolation period and fed back by the laser ranging module 403 and the distance value in the current interpolation period is smaller than e. The value of e can be selected according to actual conditions.
On the basis of the above embodiment, the present invention also discloses a processing method of the movable ultrafast laser processing robot equipment, as shown in fig. 2, the processing method includes: controlling the omnidirectional intelligent mobile platform 1 to move according to the real-time positioning information output by the positioning navigation subsystem 5, so that the movable ultrafast laser processing robot equipment moves to a preset processing station; according to the real-time processing pose information between the tail end of the industrial mechanical arm 2 and the workpiece to be processed, which is determined by the ultrafast laser tail end execution subsystem 4, the tail end of the industrial mechanical arm 2 is controlled to be aligned with the target point of the workpiece to be processed; and controlling the industrial mechanical arm 2 to move according to the processing track indicated by the preset processing instruction, and finishing the processing of the workpiece to be processed by adjusting and controlling the ultrafast laser tail end execution subsystem 4 in real time in the process that the industrial mechanical arm 2 moves according to the processing track.
Preferably, an optional specific processing step may be as follows:
step 1, positioning: after a machining start instruction is issued, the mobile robot control module 301 controls the 4-wheel lifting whole equipment of the omnidirectional intelligent mobile platform 1 to move to a preset machining station under the guidance of the positioning navigation module 501, and meanwhile, detects the real-time pose relationship between the industrial mechanical arm 2 and a workpiece to be machined through the visual positioning module 502, and judges whether the machining stroke of the industrial mechanical arm 2 under the current pose covers a planned machining area; if yes, determining that the equipment moves to a preset processing station position, and executing the step 2; otherwise, the mobile robot control module 301 alarms and is manually intervened by an operator.
Step 2, alignment: the mobile robot control module 301 controls the industrial robot arm 2 to move to the processing station indicated by the preset processing instruction, and because the motion precision of the omnidirectional intelligent mobile platform 1 leads to the possible error between the station position reached by the industrial robot arm 2 and the processing station indicated by the preset processing instruction, that is, the rough alignment between the tail end of the industrial robot arm 2 and the target point of the workpiece to be processed can only be completed, therefore, the imaging result of the target point of the workpiece to be processed needs to be precisely aligned according to the laser positioning module 402: determining the actually measured position information of at least three target points according to the target point imaging result output by the laser positioning module 402; carrying out coordinate system frame transformation according to the actually measured position information of at least three target points to obtain an actually measured Cartesian pose coordinate system; determining Euler angles of rotation of three axes between an actual measurement Cartesian pose coordinate system and a theoretical Cartesian pose coordinate system; if the Euler angles of rotation of the three axes between the actual measurement Cartesian pose coordinate system and the theoretical Cartesian pose coordinate system all meet the preset Euler angle of 3 degrees, executing the step 3; otherwise, the mobile robot control module 301 alarms and is manually intervened by an operator.
Step 3, parameter setting: the mobile robot control module 301 controls the industrial mechanical arm 2 to move to a first processing position of a workpiece to be processed, the ultrafast laser generator and power supply module 302 generates laser beams, at the moment, the laser beams generated by the ultrafast laser generator and power supply module 302 are monitored through the light path transmission monitoring and control module 303, the pulse frequency, the pulse energy and the pulse width of the laser beams generated by the ultrafast laser generator and power supply module 302 are determined, whether the pulse frequency, the pulse energy and the pulse width meet corresponding preset pulse frequency, preset pulse energy and preset pulse width is judged, and if yes, the process step 4 is executed; otherwise, according to a feedback control instruction returned by the optical path transmission monitoring and control module 303, the pulse frequency, the pulse energy, and the pulse width of the output laser beam are adjusted until the pulse frequency, the pulse energy, and the pulse width of the output laser beam satisfy the corresponding preset pulse frequency, preset pulse energy, and preset pulse width.
Step 5, processing circulation: the mobile robot control module 301 controls the industrial mechanical arm 2 to perform interpolation motion according to a preset track according to the numerical control program, and in each interpolation period, the laser ranging module 403 simultaneously measures the real-time distance between the laser emitting module 401 and the workpiece to be processed, and continuously monitors and calculates the real-time distance according to the mode in the step 4, so that the energy density of the laser beam acting on the surface of the workpiece to be processed is ensured to be constant until all the numerical control programs are completely executed.
For the method embodiment, since it corresponds to the method embodiment, the description is relatively simple, and the relevant points can be referred to the description of the equipment embodiment.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (8)
1. A movable ultrafast laser processing robot apparatus, comprising: the system comprises an omnidirectional intelligent mobile platform (1), an industrial mechanical arm (2), an integrated control subsystem (3), an ultrafast laser end execution subsystem (4) and a positioning navigation subsystem (5);
the positioning navigation subsystem (5) is used for performing navigation positioning on the movable ultrafast laser processing robot equipment and outputting real-time positioning information of the movable ultrafast laser processing robot equipment;
the integrated control subsystem (3) is used for guiding the omnidirectional intelligent mobile platform (1) to move according to the real-time positioning information output by the positioning navigation subsystem (5), so that the movable ultrafast laser processing robot equipment moves to a preset processing station; the alignment of the tail end of the industrial mechanical arm (2) and a target point of the workpiece to be processed is finished by controlling the industrial mechanical arm (2) and the ultrafast laser tail end execution subsystem (4), and the focusing of a laser beam on the surface of the workpiece to be processed and the processing of the workpiece to be processed are kept all the time;
the omnidirectional intelligent mobile platform (1) is used for carrying out translation and rotation under the control of the integrated control subsystem (3) so as to enable the movable ultrafast laser processing robot equipment to move to a preset processing station;
the industrial mechanical arm (2) is used for moving to a processing station under the control of the integrated control subsystem (3), finishing the alignment of the tail end of the industrial mechanical arm (2) and a target point of a workpiece to be processed, and lifting the tail end of the industrial mechanical arm (2) to finish the processing of the workpiece to be processed;
the ultrafast laser tail end execution subsystem (4) is used for monitoring real-time processing pose information between the tail end of the industrial mechanical arm (2) and a workpiece to be processed, feeding the real-time processing pose information back to the integrated control subsystem (3), so that the integrated control subsystem (3) controls the industrial mechanical arm (2) and the ultrafast laser tail end execution subsystem (4) according to the real-time processing pose information, finishing the alignment of the tail end of the industrial mechanical arm (2) and a target point of the workpiece to be processed, processing the workpiece to be processed and monitoring whether a laser beam is focused on the surface of the workpiece to be processed in real time in the processing process;
wherein:
an integrated control subsystem (3) comprising:
the mobile robot control module (301) is used for controlling the omnidirectional intelligent mobile platform (1) to move to a preset processing station according to the real-time positioning information of the movable ultrafast laser processing robot equipment output by the positioning navigation module (501) in the positioning navigation subsystem (5) and the real-time pose relation between the industrial mechanical arm (2) output by the visual positioning module (502) in the positioning navigation subsystem (5) and a workpiece to be processed; when the movable ultrafast laser processing robot equipment is determined to be located in the working area according to the real-time positioning information and the industrial mechanical arm (2) is determined to be capable of completely covering the pre-planned processing area according to the real-time pose relation, determining that the movable ultrafast laser processing robot equipment moves to a preset processing station;
the system comprises an ultrafast laser generator and power supply module (302), a laser end execution subsystem (4) and a control module, wherein the ultrafast laser generator and power supply module is used for generating laser beams with specific wavelengths according to preset pulse frequency, preset pulse energy and preset pulse width, and the laser beams are transmitted to the ultrafast laser end execution subsystem (4) along a pipeline wound on an industrial mechanical arm (2); according to a feedback control instruction returned by the optical path transmission monitoring and control module (303), adjusting the pulse frequency, the pulse energy and the pulse width of the output laser beam to a preset pulse frequency, a preset pulse energy and a preset pulse width;
and the optical path transmission monitoring and control module (303) is used for monitoring the pulse frequency, the pulse energy and the pulse width of the laser beam output by the ultrafast laser generator and power supply module (302), and outputting a feedback control instruction when the pulse frequency, the pulse energy and the pulse width of the laser beam output by the ultrafast laser generator and power supply module (302) are not consistent with any one group of preset pulse frequency, preset pulse energy and preset pulse width.
2. The movable ultrafast laser processing robot apparatus according to claim 1, wherein the positioning navigation subsystem (5) comprises:
the positioning navigation module (501) is used for determining the real-time position of the movable ultrafast laser processing robot equipment and outputting the real-time positioning information of the movable ultrafast laser processing robot equipment;
and the visual positioning module (502) is used for determining the real-time pose relationship between the industrial mechanical arm (2) and the workpiece to be processed and outputting the real-time pose relationship.
3. Mobile ultrafast laser processing robot equipment according to claim 1, characterized by an ultrafast laser end effector subsystem (4) comprising:
the laser emission module (401) is used for receiving the laser beam with the specific wavelength output by the ultrafast laser generator and the power supply module (302) and emitting the laser beam;
the laser positioning module (402) is used for imaging a target point of a workpiece to be processed and sending the imaging result of the target point to the mobile robot control module (301);
the laser ranging module (403) is used for determining the real-time distance between the laser emitting module (401) and the workpiece to be processed according to the projection of the laser beam emitted by the laser emitting module (401) on the surface of the workpiece to be processed, and sending the real-time distance to the mobile robot control module (301);
and the focusing self-adjusting module (404) is used for adjusting the distance between the laser emission module (401) and the surface of the workpiece to be processed under the control of the mobile robot control module (301) so that the laser beam output by the laser emission module (401) is always focused on the surface of the workpiece to be processed.
4. The movable ultrafast laser processing robot apparatus of claim 3, wherein the mobile robot control module (301) is further configured to:
controlling the industrial mechanical arm (2) to move to a processing station indicated by a preset processing instruction, and roughly aligning the tail end of the industrial mechanical arm (2) with a target point of a workpiece to be processed;
determining the actually measured position information of at least three target points according to the target point imaging result output by the laser positioning module (402); carrying out coordinate system frame transformation according to the actually measured position information of at least three target points to obtain an actually measured Cartesian pose coordinate system; determining Euler angles of rotation of three axes between an actual measurement Cartesian pose coordinate system and a theoretical Cartesian pose coordinate system; wherein, the theoretical cartesian position and posture coordinate system is: performing frame transformation of a coordinate system according to theoretical position information of at least three target points;
if the Euler angles of rotation of three axes between the actual measurement Cartesian pose coordinate system and the theoretical Cartesian pose coordinate system all meet preset Euler angles, the tail end of the industrial mechanical arm (2) is determined to be precisely aligned with the target point of the workpiece to be processed; otherwise, controlling the industrial mechanical arm (2) to move, and adjusting the tail end position of the industrial mechanical arm (2) until the Euler angles of rotation of three axes between the actual measurement Cartesian pose coordinate system and the theoretical Cartesian pose coordinate system all meet the preset Euler angle.
5. The movable ultrafast laser processing robot apparatus of claim 3, wherein the mobile robot control module (301) is further configured to:
according to the real-time distance between the laser emission module (401) output by the laser ranging module (403) and the workpiece to be processed, the distance between the laser emission module (401) and the surface of the workpiece to be processed is adjusted through the focusing self-adjusting module (404), so that the real-time distance between the laser emission module (401) and the workpiece to be processed always meets the focusing distance, and the laser beam output by the laser emission module (401) is always focused on the surface of the workpiece to be processed; wherein if L1-L2|≤0.5ZRThen determine that the real-time distance satisfies the focus distance, L1Represents the real-time distance, L, between the laser emitting module (401) and the workpiece to be machined2Represents the theoretical distance, Z, between the laser emitting module (401) and the workpiece to be machinedRRepresenting the focused beam rayleigh length.
6. The movable ultrafast laser processing robot apparatus of claim 5, wherein the mobile robot control module (301) is further configured to:
controlling the industrial mechanical arm (2) to move according to a processing track indicated by a preset processing instruction, and adjusting the distance between the laser emission module (401) and the surface of a workpiece to be processed through the focusing self-adjusting module (404) in the process that the industrial mechanical arm (2) moves according to the processing track, so that the real-time distance between the laser emission module (401) and the workpiece to be processed always meets the focusing distance, and the laser beam output by the laser emission module (401) is ensured to be always focused on the surface of the workpiece to be processed; meanwhile, the ultrafast laser generator and the power supply module (302) are controlled to output laser beams with specific wavelengths, and the laser beams are output through the laser emitting module (401), so that the workpiece to be processed is processed.
7. The movable ultrafast laser processing robot apparatus of claim 1,
the industrial mechanical arm (2) is a six-degree-of-freedom mechanical arm;
the industrial mechanical arm (2) and the integrated control subsystem (3) are installed on a working table surface of the omnidirectional intelligent mobile platform (1), the positioning navigation subsystem (5) is installed on the omnidirectional intelligent mobile platform (1), and the ultrafast laser terminal execution subsystem (4) is installed at the tail end of the industrial mechanical arm (2).
8. The movable ultrafast laser processing robot apparatus of claim 3,
the laser emission module (401), the laser positioning module (402) and the laser ranging module (403) are arranged on the focusing self-adjusting module (404);
the focusing self-adjusting module (404) can adjust the laser emitting module (401), the laser positioning module (402) and the laser ranging module (403) which are arranged on the focusing self-adjusting module (404) to move back and forth along the emitting direction of the laser beams.
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| CN202010791270.4A CN112060103B (en) | 2020-08-07 | 2020-08-07 | Movable ultrafast laser processing robot equipment and processing method |
| PCT/CN2021/110579 WO2022028483A1 (en) | 2020-08-07 | 2021-08-04 | Mobile ultrafast laser processing robot equipment and processing method |
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| CN112060103B (en) * | 2020-08-07 | 2022-02-01 | 北京卫星制造厂有限公司 | Movable ultrafast laser processing robot equipment and processing method |
| CN112916515B (en) * | 2021-03-15 | 2022-07-05 | 西安唐人电子科技有限公司 | Mechanical arm posture self-adaptive adjusting method for laser paint removal |
| CN113070658B (en) * | 2021-04-21 | 2022-03-25 | 上海海事大学 | Positioning and assembling system and method for blade of turbine blade disc |
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| CN115156700A (en) * | 2022-08-11 | 2022-10-11 | 西安航空职业技术学院 | Intelligent welding robot for workpiece machining |
| CN116294987B (en) * | 2022-11-25 | 2023-12-08 | 无锡中车时代智能装备研究院有限公司 | Coordinate conversion method and system in automatic measurement polishing system with double robots |
| CN115582849A (en) * | 2022-12-12 | 2023-01-10 | 北华航天工业学院 | Variable position robot tail end actuating mechanism |
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