CN112916515A - Mechanical arm posture self-adaptive adjusting method for laser paint removal - Google Patents
Mechanical arm posture self-adaptive adjusting method for laser paint removal Download PDFInfo
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- CN112916515A CN112916515A CN202110277111.7A CN202110277111A CN112916515A CN 112916515 A CN112916515 A CN 112916515A CN 202110277111 A CN202110277111 A CN 202110277111A CN 112916515 A CN112916515 A CN 112916515A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0035—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like
- B08B7/0042—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like by laser
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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Abstract
The invention discloses a self-adaptive adjusting method of a mechanical arm posture for laser paint removal, comprising the following steps of S1, determining the initial position and the working range of the mechanical arm; setting height parameters, anti-shaking parameters and threshold values of angular offset of a rotating shaft of the mechanical arm; s2, setting the on-off time of the laser signal according to the working range set in the step S1, wherein when the laser signal is on, automatic paint removal is carried out through automatic laser light emission; s3, in the paint removing process of the step S2, the controller of the mechanical arm calculates the offset of the mechanical arm in the directions of the z axis, the w axis of the rotating axis and the p axis of the mechanical arm according to the real-time measuring information of each laser range finder, the height and width of the laser output device, the height parameter, the anti-shaking parameter and the angular offset threshold parameter, so that the mechanical arm automatically performs offset compensation; the problem of current laser belt cleaning device, can not automatically regulated laser output device and wait to process equipment surface and keep parallel, influence the cleaning performance is solved.
Description
Technical Field
The invention belongs to the technical field of machinery, and particularly relates to a self-adaptive adjusting method for the attitude of a mechanical arm for laser paint removal.
Background
The traditional paint removing method has the adverse effects of dust pollution, environmental pollution, equipment damage, influence on the spraying effect of new paint and the like. The laser paint removal technology newly developed in recent years is a 'green and environment-friendly' paint removal process, has the characteristics of no need of contact, no need of grinding, no introduction of extra impurities, suitability for various unconventional materials and the like, and has 5 major advantages compared with the traditional paint removal mode: (1) the environment is protected, and the environment is not polluted; (2) does not cause damage to equipment; (3) the paint removing effect is good; (4) the application range is wide, and the paint is suitable for different types of equipment and different paint thicknesses; (5) the operation and maintenance cost is low.
The existing laser cleaning device in the market can not automatically adjust the laser output device to be parallel to the surface of equipment to be processed when controlling the laser to move on the surface of the equipment to be processed, so that the focal length of the laser on the uneven surface is changed, and the cleaning effect is influenced.
Disclosure of Invention
The invention aims to provide a manipulator posture self-adaptive adjusting method for laser paint removal, which aims to solve the problem that the cleaning effect is influenced because the existing laser cleaning device cannot automatically adjust the laser output device to be parallel to the surface of equipment to be processed.
The invention adopts the following technical scheme: a manipulator posture self-adaptive adjusting method for laser paint removal is based on a laser paint removal device, wherein the laser paint removal device comprises a manipulator and a laser output device arranged at one end of the manipulator, four laser range finders are arranged on the laser output device, each laser range finder is positioned between the laser output device and a surface to be painted, and the distance between each laser range finder and the surface to be painted is equal in the vertical direction;
the self-adaptive adjusting method of the mechanical arm posture comprises the following steps:
s1, determining the initial position and the working range of the mechanical arm; setting height parameters, anti-shaking parameters and threshold values of angular offset of a rotating shaft of the mechanical arm;
the height parameter is the distance between the plane formed by each laser range finder and the surface to be painted; the anti-shaking parameter is a threshold value of the offset of the mechanical arm in the direction vertical to the paint surface to be removed;
s2, setting the on-off time of the laser signal according to the working range set in the step S1, wherein when the laser signal is on, automatic paint removal is carried out through automatic laser light emission;
s3, in the paint removing process of the step S2, the controller of the mechanical arm calculates the offset of the mechanical arm in the directions of the z axis, the w axis of the rotating axis and the p axis of the mechanical arm according to the real-time measuring information of each laser range finder, the height and width of the laser output device, the height parameter, the anti-shaking parameter and the angular offset threshold parameter, so that the mechanical arm automatically performs offset compensation;
the center of the laser output device is taken as the origin of a coordinate system, the advancing direction of each procedure is taken as the positive direction of an x axis, the moving direction of the mechanical arm is taken as the positive direction of a y axis, the direction vertical to the paint surface to be removed is taken as the direction of a z axis, a w axis is the rotating direction around the x axis, and a p axis is the rotating direction around the y axis; and the real-time measurement information is the actual distance between each laser range finder and the paint surface to be removed.
Further, the laser paint removing device comprises:
a robot arm having a controller thereon;
one end of the laser output device is provided with a laser emitting head, and the other end of the laser output device is connected to the mechanical arm;
the protective cover is a hollow shell and is arranged at one side of the laser output device for emitting laser at intervals, the side surface of the protective cover, which is close to the laser output device, is provided with laser through holes, and the side surface of the protective cover, which is close to a working surface to be depainted, is provided with an opening; the laser penetrating hole and the opening are communicated to form a path through which laser passes, and the path is used for enabling the laser to sequentially pass through the laser penetrating hole and the opening to reach a working surface to be subjected to paint removal;
the at least four laser range finders are arranged on the outer side of the outer wall surface of the open end of the protective cover;
the laser range finder is used for measuring the actual distance from the laser range finder to a working surface to be subjected to paint removal and feeding the actual distance back to the controller of the mechanical arm; and the controller is used for receiving the actual distance, comparing the actual distance with a preset target distance in the actual distance, and adjusting the position of the mechanical arm when the actual distance is deviated from the target distance.
Further, in step S1, the working range setting includes setting of the number of times of paint removing processes, setting of the upward moving distance of the robot arm, and setting of the working distance involved in each process;
moving a mechanical arm to select an initial point A (x, y, z) on a surface to be depainted by a demonstrator under a standard collimation angular coordinate system; setting the working distance of each procedure as d, the upward moving distance of the mechanical arm after each procedure is finished as m, the starting point of the first procedure is an initial point A, and the end point is B (x + d, y, z); the starting point of the second step is C (x, y + m, z), and the end point is D (x + D, y + m, z); by analogy, the starting point of the nth process is [ x, y + (n-1) × m, z ], and the end point is [ x + (n-1) × d, y + (n-1) × m, z ].
Further, in step S1, the focal distance of the laser beam between the laser beam outlet of the laser output device and the surface to be painted is d1The distance between the plane formed by the four laser range finders and the laser beam outlet in the z-axis direction is d2The height parameter that the mechanical arm needs to maintain is d3＝d1-d2。
Further, the four laser range finders are specifically: the first laser range finder 1 and the third laser range finder 3 are respectively positioned at two sides of the laser output device 5 in the width direction, and the second laser range finder 2 and the fourth laser range finder 4 are respectively positioned at two sides of the laser output device 5 in the height direction;
in step S3, the real-time measurement information obtained by the first to fourth laser range finders is set as h1、 h2、h3And h4Height parameter is d3The amount of offset of the robot arm in the z-axis direction is
Representing the pose of the mechanical arm as (x, y, z, w, p, r), wherein (x, y, z) represents Cartesian coordinates of the target pose of the mechanical arm relative to a reference coordinate system, and (w, p, r) represents the rotation angle of the mechanical arm along x, y and z axes of the reference coordinate system;
the angle feedback quantity of the p-axis of the mechanical arm is
Wherein h is1，h3Respectively representing the measured values of two laser rangefinders arranged along the x-axis, W being the width of the laser output device;
the angle feedback quantity of the w axis of the mechanical arm is
Wherein h is2，h4Respectively representing the measured values of two laser rangefinders arranged along the y-axis, H being the height of the laser output device;
the offset of the mechanical arm is expressed as (0, 0, Δ z, Δ w, Δ p,0), and the offset of the mechanical arm is input into the controller of the mechanical arm, so that the relative posture of the mechanical arm is controlled in real time.
Further, the threshold value of the angular offset of the rotation axis of the robot arm between the w axis and the p axis is set to be δ α:
if Δ w > δ α, or Δ p > δ α, then the amount of angular feedback for Δ w or Δ p is unchanged;
if Δ w < δ α, or Δ p < δ α, then the amount of angular feedback to adjust Δ w or Δ p is zero.
Further, the anti-jitter parameter in the z-axis direction is set as δ h:
if Δ z > δ h, then the angular feedback amount of Δ z is unchanged;
if Δ z < δ h, then the amount of angular feedback to adjust Δ z is zero.
Further, the method also comprises the following steps:
the gas injection pipeline is provided with a gas outlet end, and the gas outlet end is positioned at the interval between the laser output device and the protective cover; used for blowing air to remove dust at the interval.
Further, the method also comprises the following steps:
and the shading plate is of a hollow cover structure, covers the laser output device and the protective cover and is used for shading the upper part of a path of the laser emitted by the laser output device.
The invention has the beneficial effects that: according to the adjusting method, the plurality of laser range finders are arranged to acquire the actual pose information of the mechanical arm, and after the actual pose information is compared with the pose information preset in the mechanical arm controller, the position compensation of the laser output device is automatically realized, so that the laser output device arranged on the mechanical arm can still ensure that the laser focal length is in a proper range on a complex and irregular surface to be painted, the safe and collision-free laser cleaning with reliable operation is realized, and a feasible and reliable technical scheme is provided for the engineering application in the field of laser cleaning. The invention aims at the problem of removing paint on a complex and irregular surface to be cleaned, aims at improving the paint removing effect, has wide applicable processing range compared with other paint removing technologies, can flexibly adjust the laser focal length within a proper range, keeps the plane of a processing device parallel to the surface of an area to be cleaned, and improves the paint removing effect.
Drawings
FIG. 1 is a schematic diagram of the arrangement of a laser range finder in the self-adaptive adjusting method of the attitude of the mechanical arm for laser paint removal of the invention;
FIG. 2 is a schematic diagram of the actual operation of a laser output device in the self-adaptive adjusting method of the attitude of the mechanical arm for laser paint removal according to the present invention;
FIG. 3 is a front view of a light paint removing device in a robot arm attitude adaptive adjustment method for laser paint removal according to the present invention;
FIG. 4 is a front view of a laser paint removal device without a protective cover in the self-adaptive adjusting method of the attitude of the mechanical arm for laser paint removal.
Wherein, 1, a laser output device; 2. a laser range finder; 3. a light guide optical fiber; 4. an air injection pipeline; 5. a smoke removal duct; 6. a mechanical arm; 7. a protective cover; 8. a visor; 11. a first laser range finder; 12. a second laser rangefinder; 13. a third laser range finder; 14. and a fourth laser range finder.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention provides a manipulator posture self-adaptive adjusting method for laser paint removal, which is based on a laser paint removal device, wherein the laser paint removal device comprises a manipulator and a laser output device arranged at one end of the manipulator, four laser range finders are arranged on the laser output device, each laser range finder is positioned between the laser output device and a surface to be painted, and the distance between each laser range finder and the surface to be painted is equal in the vertical direction. The laser range finders are arranged on a plane when being installed, namely, the distances between the four laser range finders and the vertical direction of a paint surface to be removed are equal, and the plane of a light outlet of the laser emitting device is parallel to the plane where the laser range finders are located. In the actual paint removing work, the uneven paint surface to be removed can be met, the situation that the plane where the laser range finder is located is not parallel to the paint surface to be removed occurs, the offset of the mechanical arm can be calculated according to the measurement information of the four laser range finders through the algorithm, and the pose of the mechanical arm is compensated, so that the plane where the laser range finder is located and the paint surface to be removed are kept parallel and in a proper focal distance. The unstable condition of laser emitter and the face of waiting to remove lacquer also can appear in the work of actually removing lacquer, for solving the unstable problem of distance, can set up the threshold value to the offset of arm, the offset that is greater than this threshold value normally mends the poor, and the offset that is less than this threshold value does not carry out the poor.
The self-adaptive adjusting method of the attitude of the mechanical arm comprises the following steps:
s1, determining the initial position and the working range of the mechanical arm, wherein the working range comprises working procedure times, upward moving distance of the mechanical arm and working distance of each working procedure;
setting height parameters, anti-shaking parameters and angle offset threshold parameters which need to be kept by the mechanical arm according to the minimum resolution of the system offset, the action condition of the mechanical arm and the distance which needs to be kept between the laser head and the paint surface to be removed; the height parameter is the distance between a plane formed by each laser range finder and the surface to be painted; the anti-shaking parameter is the threshold value of the offset of the mechanical arm in the direction vertical to the paint surface to be removed.
S2, setting the on and off of the laser signal according to the working range parameter set in the step S1, and further realizing automatic paint removal by automatic laser light emission;
and S3, calculating the offset of the mechanical arm in the directions of the z axis, the w axis and the p axis according to the measurement information of the four laser range finders carried by the mechanical arm, the height and the width of the laser output device, the height parameter to be maintained, the anti-shaking parameter and the angle offset threshold parameter set in the step S1, setting the offset as the offset channel parameter in the DPM control parameter, automatically performing offset compensation on the mechanical arm under the operation of a DPM program, ensuring that the laser head and the paint surface to be removed are within a proper focal distance range, and ensuring that the plane of the processing head is parallel to the paint surface to be removed.
The center of the laser output device is taken as the origin of a coordinate system, the advancing direction of each procedure is taken as the positive direction of an x axis, the moving direction of the mechanical arm is taken as the positive direction of a y axis, the direction of a z axis is vertical to the surface to be painted, the w axis is the rotating direction around the x axis, and the p axis is the rotating direction around the y axis; and the real-time measurement information is the actual distance between each laser range finder and the paint surface to be removed.
In some embodiments, the step of determining the initial position and working range of the robotic arm is:
moving a mechanical arm to select an initial point A (x, y, z) on a surface to be painted through a demonstrator under a tool coordinate system, wherein the tool coordinate system is a standard collimation angular coordinate system established at the center of a laser output device, the working distance d of each procedure is set, the upward moving distance m of the mechanical arm after each procedure is completed, the starting point of the first procedure is the initial point A, and the end point is the value of the starting point on the x axis plus the point corresponding to the working distance, namely B (x + d, y, z); the starting point of the second process is the value of the initial point on the y axis plus the point corresponding to the distance of each time the mechanical arm moves upwards, namely C (x, y + m, z), and the end point is the value of the end point of the first process on the y axis plus the point D (x + D, y + m, z) corresponding to the distance of each time the mechanical arm moves upwards; by analogy, the starting point of the nth process is (x, y + (n-1) × m, z), and the end point is (x + (n-1) × d, y + (n-1) × m, z).
In some embodiments, the height parameter, the anti-shaking parameter and the angle offset threshold parameter which need to be maintained by the mechanical arm are set according to the minimum resolution of the system offset, the action condition of the mechanical arm and the distance which needs to be maintained by the laser head and the paint surface to be removed.
The height parameter to be maintained is set so that the surface to be painted is within the proper focal distance of the laser, the laser range finder is arranged under the same x-axis coordinate of the laser beam in the tool coordinate system, and the laser beam outlet and the surface to be painted are at the proper laser focal distance d1The distance between the laser range finder and the laser beam outlet in the z-axis direction under the working coordinate system is d2Then d is3＝d1-d2Height parameters that need to be maintained for the robotic arm.
If the motion of the mechanical arm is adjusted by a small feedback quantity, the motion compensation of the mechanical arm is too frequent, and the mechanical arm shakes obviously when the mechanical arm is actually worked. Respectively setting a threshold value for the offset of a z axis, a w axis and a p axis, wherein the threshold value of the z axis is an anti-jitter parameter, the threshold values of the w axis and the p axis are angle offset threshold values, and if the offset is greater than the threshold value, performing normal offset compensation control; and if the offset is smaller than the threshold, adjusting the offset to be 0, and not performing offset compensation control on the mechanical arm. In actual production work, the threshold value needs to be set according to the control precision, and if the control precision is high, the threshold value can be set to be a little smaller; if the control precision is small, the threshold value can be set to be larger; the threshold setting principle is that the mechanical arm does not shake obviously during real-time adjustment.
In some embodiments, the setting of the laser switch signal is controlled by the mechanical arm, which is mainly connected with the control signal of the laser output unit through the I/O port of the mechanical arm; before the mechanical arm starts to move at the initial point of each process, the state of the I/O port is ON, and a control signal to the laser output unit is emergent light; when the robot reaches the end of each process, the state of the I/O port is OFF, and the control signal to the laser output unit is OFF. The laser paint removal is realized by the cooperation of the on and off of the laser signal.
In some embodiments, the offset of the robot in the z-axis, p-axis and w-axis directions is calculated according to the measurement information of four laser range finders carried by the robot, the width and length of the surface of the laser head, the set height parameter to be maintained and the anti-shaking parameter. As shown in fig. 1, the four laser range finders are specifically: the first laser range finder 11 and the third laser range finder 13 are respectively located on both sides of the width direction of the laser output device 1, and the second laser range finder 12 and the fourth laser range finder 14 are respectively located on both sides of the height direction of the laser output device 1.
As shown in fig. 2, the real-time measurement information obtained by the first to fourth laser range finders is h1、h2、 h3And h4Height parameter is d3The amount of offset of the robot arm in the z-axis direction is
The rotation is represented here in the form of euler angles (w, p, r), and for descriptive purposes, the pose is uniformly represented in the form of (x, y, z, w, p, r). (x, y, z) denote cartesian coordinates of the target pose relative to the reference coordinate system, and (w, p, r) denote rotational angles along the x, y, z axes of the reference coordinate system.
As shown in FIG. 2, let h be the measured values of the first laser rangefinder 11 and the third laser rangefinder 131，h3And the width of the laser output device is W, and the feedback quantity required by the p axis of the mechanical arm can be obtained as follows:
similarly, if the measured values of the second laser rangefinder 12 and the fourth laser rangefinder 14 are known to be h2，h4And the height of the laser output device is H, then the feedback quantity required by the w axis of the mechanical arm can be obtained as follows:
and setting the offset channel parameters in the DPM control parameters according to the offsets (0, 0, delta z, delta w, delta p,0), and transmitting the offset channel parameters into the DPM of the robot path control software to realize real-time relative attitude control. In order to achieve better attitude control, one of the shift amounts Δ w and Δ p must be 0 for each input, and the purpose is to prevent the light-emitting plane of the laser output device from being inclined from the traveling path. When the light-emitting plane of the laser output device is not parallel to the surface to be cleaned in the y-axis direction and an angle difference exists, the feedback quantity of the system is delta w, and the mechanical arm can be adjusted to be delta w in the w-axis direction through DPM software, so that the mechanical arm is parallel to the cleaning surface in the y-axis direction; in a similar way, when the laser head is not parallel to the surface to be painted, the angle difference exists, the feedback quantity of the system is delta p, the mechanical arm can be adjusted to be delta p in the p axis through the DPM software, and the mechanical arm is parallel to the cleaning surface in the x axis direction.
However, if the motion of the robot arm is adjusted by a small feedback amount, the motion compensation of the robot arm is too frequent, and the robot arm shakes obviously in the actual work. An anti-shake strategy is designed, wherein an anti-shake parameter in the z-axis direction and an angle offset threshold value of the w-axis and the p-axis are set, the angle offset threshold value is set to be delta alpha, and the anti-shake parameter is set to be delta h. If the feedback quantity of the angle is larger than delta alpha, the feedback quantity is unchanged, and if the feedback quantity is smaller than delta alpha, the feedback quantity of the angle is adjusted to be zero; if the feedback quantity of the height is larger than deltah, the feedback quantity is unchanged, and if the feedback quantity is smaller than deltah, the feedback quantity of the height is adjusted to be zero.
In practical work, the range of the used point laser range finder is 100-600mm, and the measurement range Mr500mm, linearity error of. + -. 0.12% Mr(ii) a The width W of the laser output device is 30cm, and the height of the laser output device is 15 cm; based on the actual paint thickness, the laser focal length is 400mm and the laser power is 12000 w.
In actual work, the working area is 0.45m2Zone of (1) intoRemoving paint; firstly, determining an initial position of a mechanical arm, moving the mechanical arm to the lower left corner of a working area through a demonstrator, recording the initial position of the point, and setting the working distance x of each process to be 1000mm, the upward moving distance to be 90mm and the process times to be 5; secondly, setting a height parameter kept by the mechanical arm to be 210mm, an anti-shaking parameter delta h to be 3mm, and a threshold value of angular offset of a rotating shaft of the mechanical arm to be 5 deg; operating the mechanical arm to start moving, wherein the laser light emitting signal is turned on when the mechanical arm moves to an initial point, the laser light emitting signal is turned off when the mechanical arm moves to the end of the process, then the mechanical arm moves upwards by 90mm and moves left by 1000mm to return to a position 90mm above the initial point, then a second process is started, the laser light emitting signal is turned on when the mechanical arm moves to the initial point, the laser light emitting signal is turned off when the mechanical arm moves to the end of the process, then the mechanical arm moves upwards by 90mm and moves left by 1000mm to return to a position 90mm above the initial point, then a third process is started, the laser light emitting signal is turned on when the mechanical arm moves to the initial point, the laser light emitting signal is turned off when the mechanical arm moves to the end of the process, then the mechanical arm moves upwards by 90mm and moves left by 1000mm to return to a position 90mm above the initial point, then a fourth process is started, the laser, and then, moving the mechanical arm upwards by 90mm, moving the mechanical arm leftwards by 1000mm, returning the mechanical arm to the position 90mm above the initial point, starting a fifth process, starting the laser light-emitting signal at the initial point of the process, closing the laser light-emitting signal when the mechanical arm moves to the tail of the process, and finishing paint removal. In the paint removing process, the algorithm can calculate the offset of the mechanical arm in the directions of the z axis, the w axis of the rotating shaft and the p axis of the mechanical arm according to the measurement information of the four laser range finders, and the offset is transmitted to DPM software of the mechanical arm to enable the mechanical arm to automatically perform offset compensation, so that the height of the mechanical arm and the paint surface to be removed is kept constant, and the plane where the point laser range finders are located is kept parallel to the paint surface to be removed.
The laser paint removal device related to the mechanical arm posture self-adaptive adjusting method for laser paint removal is shown in figures 3-4, and comprises a mechanical arm 6, wherein a controller is arranged on the mechanical arm 6, and the mechanical arm 6 is used for driving a protective cover 7 and a laser output device 1 to move so as to complete cleaning of a specified area surface. The laser output device 1 is provided with a laser emitting head at one end and is connected to the mechanical arm 6 at the other end. The light guide fiber 3 is a transmission medium of the laser light source and is connected to the upper surface of the laser output device 1. The laser device 1 is internally provided with a laser, a vibrating mirror, a focusing lens and a plane protective mirror, wherein the laser is used for generating laser beams, the vibrating mirror is used for transmitting the laser beams to the focusing lens, the focusing lens is used for focusing the laser, and the plane protective mirror is used for protecting the laser and reducing the damage of sparks to the laser.
As shown in fig. 3, the paint remover further comprises a protective cover 7 which is a hollow shell and is arranged at an interval at one side of the laser output device 1 for emitting laser, a rectangular laser through hole is formed in the side surface, close to the laser output device 1, of the protective cover 7, and an opening is formed in the side surface, close to a working surface to be subjected to paint removal; the laser penetrates through the hole and is communicated with the opening to form a path through which the laser passes, the laser sequentially penetrates through the hole and the opening, and finally the laser reaches a working surface to be subjected to paint removal.
As shown in fig. 4, four laser distance measuring devices 2 are arranged on the outer wall surface of the protective cover 7 and near one end of the working surface to be painted. The laser range finder 2 can be symmetrically arranged on the upper, lower, left and right surfaces of the protective cover. The four laser range finders measure the actual distances from the four laser range finders to a working surface to be subjected to paint removal respectively, the actual heights of the mechanical arm and the working surface to be subjected to paint removal can be calculated according to measured data, the Euler angles between the distances of the two laser range finders on the same shaft can also be calculated, the height difference and the Euler angle feedback quantity are transmitted to a PC program of the mechanical arm written by Karel language through a PLC, the PC program directly compensates the heights and the Euler angles, the control precision is improved, the robustness of the system is improved due to the design of attitude control and path planning decoupling, and the stability is improved.
In some embodiments, the laser paint removing device is further provided with a gas injection pipeline 4, the gas injection pipeline 4 is provided with a gas outlet end, and the gas outlet end is positioned at the interval between the laser output device 1 and the protective cover 7; the air injection pipeline 4 is used for blowing air to the interval for dust removal. The air injection pipeline is added to expel sparks generated during the laser emergent light work, so that the damage to the plane protective mirror and the laser head is reduced, and green, environment-friendly, stable and reliable paint removal is realized.
In some embodiments, the laser paint removing device is further provided with a smoke removing pipeline 5, the smoke removing pipeline 5 is communicated with and arranged on the side surface of the protective cover 7, and the smoke removing pipeline 5 is used for extracting smoke in the protective cover 7. Smoke and dust are generated when the smoke removing pipeline is added to absorb laser light.
In some embodiments, the laser paint removing device is further provided with a light shielding plate 8, and the light shielding plate 8 is in a hollow cover structure and covers the laser output device 1 and the protective cover 7 for shielding the upper part of the path of the laser emitted by the laser output device 1. 7 upside planes of protection casing surround light screen 8, and light screen 8 is the shading of laser range finder 2, reduces illumination to laser range finder's influence.
When the number of the laser range finders 2 is four, the laser range finders are symmetrically arranged on four upper, lower, left and right surfaces of the protective cover. The four laser range finders measure the actual distances from the four laser range finders to a working surface to be subjected to paint removal respectively, the actual heights of the mechanical arm and the working surface to be subjected to paint removal can be calculated according to measured data, the Euler angles between the distances of the two laser range finders on the same shaft can also be calculated, the height difference and the Euler angle feedback quantity are transmitted to a PC program of the mechanical arm written by Karel language through a PLC, the PC program directly compensates the heights and the Euler angles, the control precision is improved, the robustness of the system is improved due to the design of attitude control and path planning decoupling, and the stability is improved.
The laser range finder is arranged to collect actual pose information and automatically realize position compensation of the laser output device after the actual pose information is compared with pose information preset in the mechanical arm controller, so that the laser output device can automatically adjust the distance between the laser output device and a working surface to be subjected to paint removal; smoke and dust are generated during the work of absorbing laser light by adding a smoke removing pipeline; the air injection pipeline is added to expel sparks generated during laser emergent light, so that damage to the plane protective mirror and the laser head is reduced, and green, environment-friendly, stable and reliable paint removal is realized.
By using the self-adaptive adjusting method for the attitude of the mechanical arm for laser paint removal, disclosed by the invention, the laser output device arranged on the mechanical arm can still ensure that the laser focal length is in a proper range on a complex and irregular surface to be subjected to paint removal, so that safe, collision-free and reliable laser cleaning is realized, and a feasible and reliable technical scheme is provided for engineering application in the field of laser cleaning. The invention aims at the problem of removing paint on a complex and irregular surface to be cleaned, aims at improving the paint removing effect, has wide applicable processing range compared with other paint removing technologies, can flexibly adjust the laser focal length within a proper range, keeps the plane of a processing device parallel to the surface of an area to be cleaned, and improves the paint removing effect.
Claims (9)
1. The self-adaptive adjusting method for the attitude of the mechanical arm for laser paint removal is characterized in that the self-adaptive adjusting method is based on a laser paint removal device, the laser paint removal device comprises the mechanical arm and a laser output device arranged at one end of the mechanical arm, four laser distance meters are arranged on the laser output device, each laser distance meter is positioned between the laser output device and a paint surface to be removed, and the distance between each laser distance meter and the paint surface to be removed in the vertical direction is equal;
the self-adaptive adjusting method for the attitude of the mechanical arm comprises the following steps:
s1, determining the initial position and the working range of the mechanical arm; setting height parameters, anti-shaking parameters and threshold values of angular offset of a rotating shaft of the mechanical arm;
the height parameter is the distance between a plane formed by each laser range finder and the surface to be painted; the anti-shaking parameter is a threshold value of the offset of the mechanical arm in the direction vertical to the paint surface to be removed;
s2, setting the on-off time of the laser signal according to the working range set in the step S1, wherein when the laser signal is on, automatic paint removal is carried out through automatic laser light emission;
s3, in the paint removing process of the step S2, the controller of the mechanical arm calculates the offset of the mechanical arm in the directions of the z axis, the w axis of the rotating axis and the p axis of the mechanical arm according to the real-time measuring information of each laser range finder, the height and width of the laser output device, the height parameter, the anti-shaking parameter and the angular offset threshold parameter, so that the mechanical arm automatically carries out offset compensation;
the center of the laser output device is taken as the origin of a coordinate system, the advancing direction of each procedure is taken as the positive direction of an x axis, the moving direction of the mechanical arm is taken as the positive direction of a y axis, the direction vertical to the paint surface to be removed is taken as the direction of a z axis, a w axis is the rotating direction around the x axis, and a p axis is the rotating direction around the y axis; and the real-time measurement information is the actual distance between each laser range finder and the paint surface to be removed.
2. The self-adaptive adjusting method of the mechanical arm posture for laser paint removal as claimed in claim 1, wherein the laser paint removal device comprises:
a robot arm (6) having a controller thereon;
a laser output device (1), one end of which is provided with a laser emitting head, and the other end of which is connected to the mechanical arm (6);
the protective cover (7) is a hollow shell and is arranged at one side of the laser output device (1) for emitting laser at intervals, the side surface of the protective cover (7) close to the laser output device (1) is provided with laser through holes, and the side surface close to a working surface to be subjected to paint removal is provided with an opening; the laser penetrating hole and the opening are communicated to form a path through which laser passes, and the path is used for enabling the laser to sequentially pass through the laser penetrating hole and the opening to reach a working surface to be subjected to paint removal;
at least four laser range finders (2) arranged outside the outer wall surface of the open end of the protective cover (7);
the laser range finder (2) is used for measuring the actual distance from the laser range finder to a working surface to be subjected to paint removal and feeding the actual distance back to the controller of the mechanical arm (6); and the controller is used for receiving the actual distance, comparing the actual distance with a preset target distance in the actual distance, and adjusting the position of the mechanical arm when the actual distance is deviated from the target distance.
3. The robot arm attitude adaptive adjustment method for laser paint removal according to claim 1 or 2, wherein in step S1, the working range setting includes setting of the number of times of paint removal processes, setting of the upward moving distance of the robot arm, and setting of the working distance involved in each process;
moving a mechanical arm to select an initial point A (x, y, z) on a surface to be depainted by a demonstrator under a standard collimation angular coordinate system; setting the working distance of each procedure as d, the upward moving distance of the mechanical arm after each procedure is finished as m, the starting point of the first procedure is an initial point A, and the end point is B (x + d, y, z); the starting point of the second step is C (x, y + m, z), and the end point is D (x + D, y + m, z); by analogy, the starting point of the nth process is [ x, y + (n-1) × m, z ], and the end point is [ x + (n-1) × d, y + (n-1) × m, z ].
4. The self-adaptive manipulator attitude adjustment method for laser paint removal as claimed in claim 3, wherein in step S1, the laser focal length between the laser beam outlet of the laser output device and the surface to be painted is d1The distance between the plane formed by the four laser range finders and the laser beam outlet in the z-axis direction is d2The height parameter that the mechanical arm needs to maintain is d3＝d1-d2。
5. The self-adaptive adjusting method for the attitude of the mechanical arm for laser paint removal as claimed in claim 4, wherein the four laser range finders are specifically: the first laser range finder 1 and the third laser range finder 3 are respectively positioned at two sides of the laser output device 5 in the width direction, and the second laser range finder 2 and the fourth laser range finder 4 are respectively positioned at two sides of the laser output device 5 in the height direction;
in step S3, the real-time measurement information obtained by the first to fourth laser range finders is set as h1、h2、h3And h4Height parameter is d3The amount of offset of the robot arm in the z-axis direction is
Representing the pose of the mechanical arm as (x, y, z, w, p, r), wherein (x, y, z) represents Cartesian coordinates of the target pose of the mechanical arm relative to a reference coordinate system, and (w, p, r) represents the rotation angle of the mechanical arm along x, y and z axes of the reference coordinate system;
the angle feedback quantity of the p-axis of the mechanical arm is
Wherein h is1，h3Respectively representing the measured values of two laser rangefinders arranged along the x-axis, W being the width of the laser output device;
the angle feedback quantity of the w axis of the mechanical arm is
Wherein h is2，h4Respectively representing the measured values of two laser rangefinders arranged along the y-axis, H being the height of the laser output device;
the offset of the mechanical arm is expressed as (0, 0, Δ z, Δ w, Δ p,0), and the offset of the mechanical arm is input into a controller of the mechanical arm, so that the relative posture of the mechanical arm is controlled in real time.
6. The self-adaptive manipulator attitude adjustment method for laser paint removal as claimed in claim 5, wherein the threshold value of the angular offset of the rotation axis of the manipulator of the w axis and the p axis is set as δ α:
if Δ w > δ α, or Δ p > δ α, then the amount of angular feedback for Δ w or Δ p is unchanged;
if Δ w < δ α, or Δ p < δ α, then the amount of angular feedback to adjust Δ w or Δ p is zero.
7. The self-adaptive manipulator attitude adjustment method for laser paint removal as claimed in claim 5 or 6, wherein the anti-shake parameter in the z-axis direction is set to be δ h:
if Δ z > δ h, then the angular feedback amount of Δ z is unchanged;
if Δ z < δ h, then the amount of angular feedback to adjust Δ z is zero.
8. The self-adaptive adjusting method for the attitude of the mechanical arm for laser paint removal as claimed in claim 2, further comprising:
a gas injection duct (4) having a gas outlet end located at a space between the laser output device (1) and the protective cover (7); used for blowing air to remove dust at the interval.
9. The self-adaptive adjusting method for the attitude of the mechanical arm for laser paint removal as claimed in claim 2, further comprising:
and the light shielding plate (8) is of a hollow cover structure, covers the laser output device (1) and the protective cover (7) and is used for shielding the upper part of a path of the laser emitted by the laser output device (1).
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