CN112981388A - Robot laser cladding process treatment method - Google Patents
Robot laser cladding process treatment method Download PDFInfo
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- CN112981388A CN112981388A CN201911283536.8A CN201911283536A CN112981388A CN 112981388 A CN112981388 A CN 112981388A CN 201911283536 A CN201911283536 A CN 201911283536A CN 112981388 A CN112981388 A CN 112981388A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000004372 laser cladding Methods 0.000 title claims abstract description 29
- 230000008569 process Effects 0.000 title claims abstract description 22
- 238000005253 cladding Methods 0.000 claims abstract description 72
- 238000013461 design Methods 0.000 claims abstract description 3
- 238000001816 cooling Methods 0.000 claims description 12
- 239000011248 coating agent Substances 0.000 claims description 8
- 238000000576 coating method Methods 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 6
- 238000013519 translation Methods 0.000 claims description 4
- 238000002844 melting Methods 0.000 claims description 3
- 230000008018 melting Effects 0.000 claims description 3
- 238000003672 processing method Methods 0.000 claims 2
- 238000012545 processing Methods 0.000 abstract description 5
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 238000005304 joining Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Classifications
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- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C24/00—Coating starting from inorganic powder
- C23C24/08—Coating starting from inorganic powder by application of heat or pressure and heat
- C23C24/10—Coating starting from inorganic powder by application of heat or pressure and heat with intermediate formation of a liquid phase in the layer
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- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Engineering & Computer Science (AREA)
- Materials Engineering (AREA)
- Mechanical Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention mainly aims to provide a robot laser cladding process treatment method, which comprises the following specific design methods: the robot is used for controlling the laser to carry out multi-channel and multi-layer cladding on the surface of an object, and the surface of the object with the same size can be arranged and clad according to an array. When the invention is used, only configuration parameters provided by the robot need to be set, the robot can automatically calculate and plan paths according to the parameters, and control the laser power according to different positions, thereby avoiding artificial manual errors, accurately setting processing parameters to realize instant and effective control, and avoiding the damage of environmental factors in work to human bodies.
Description
Technical Field
The invention relates to the field of laser cladding, in particular to a robot laser cladding process treatment method.
Background
The traditional multi-axis machine tool is difficult to work in different postures according to requirements in cladding actions. The manual work requires adjustment of the matching of the process parameters according to the situation, which requires a high skill, skill level, concentration, and the like of the operator. In addition, the laser cladding method can cause the problems of high temperature of a processed area, damage of laser reflection or irradiation, arc light generated by processing, air dust pollution generated by powder splashing and the like, and can cause damage to the health of a first-line operator.
And performing laser cladding by using an industrial robot, wherein the laser cladding of the robot is to use the robot to operate a laser and spread materials on the surface of a base material to be clad on the surface of an object according to a planned path. The robot provides a parameter configuration interface aiming at the surface of a cladding object, a multi-layer superposed process parameter setting interface and a plurality of array parameter configuration interfaces with the same area for cladding on the surface of the object.
When the industrial robot is used for laser cladding, various external control instructions can be added into an operating command, the multi-axis laser cladding machine tool is more flexible than a traditional multi-axis machine tool in the aspects of font change, freedom degree and the like, manual operation can be replaced to avoid artificial manual errors, processing parameters can be accurately set to realize instant and effective control, and damage to a human body caused by environmental factors in work can be avoided. However, when a robot is used for laser cladding of a plate, the width of a single laser channel is limited, and a plurality of laser channels need to be fused for filling, so that point positions need to be taught for each motion track, if a plurality of layers need to be clad, the point positions need to be taught for each track of each layer, temperature control needs to be performed for joint positions of different tracks, temperature control among different tracks and the like, and the operations are complex, the workload is large, the robot programming is tedious, and the efficiency is low. If the whole translation cladding operation in a certain area needs to be realized, the programming needs to be taught again for each position, and the efficiency is very low.
Disclosure of Invention
The invention mainly aims to provide a robot laser cladding process treatment method, which comprises the following specific design methods:
the method comprises the following steps that firstly, a controller is installed in a robot, a cladding instruction is arranged in the controller, a path point position is arranged in the cladding instruction, the path point position is a starting point S, an ending point E of a single path and a cladding direction point D, a cladding surface is formed by the three points, and the cladding instruction calculates position information of the cladding surface in a robot coordinate system according to the three points;
secondly, inputting the set cladding instruction into a controller, moving the robot to a starting point s of cladding under the control of the controller, starting laser to clad the surface of the object, moving the robot to a point E on the surface of the object to complete a track, moving the robot to a starting point or an ending point of a next path track along the surface of the object, and cladding the surface of the next object;
as shown in fig. 1, the robot has a motion trajectory on the surface of the object, such as S-E1-S1-S2-E2 or S-E-S1-E1-S2-E2, and the connection between the two trajectories, E-E1 or E-S1, is configured with the laser cladding process parameters of the robot to control and adjust the external devices affecting the cladding effect, such as laser power and gas pressure;
thirdly, melting a coating with a certain width on one surface, pausing the cladding, cooling for a certain time, and continuing to execute the rest cladding program at the paused position to finish the whole object surface.
The cladding instruction provides the number of layers to set parameters, the height parameter of each layer and the laser power attenuation ratio parameter of each layer for the user to set.
The cladding instruction is to set the robot controller according to parameters provided by equipment to be processed, such as the height of each layer, gas of each layer, laser power parameters, a cladding pause cooling position, cooling time and adjustment of the process effect of laser cladding of each layer.
And the robot is provided with an array parameter configuration interface for laser cladding.
The array parameter configuration interface is used for setting array parameters, finishing integral translation operation in the X direction or the Y direction, translating the cladding coating with the specified width to another area, calculating a path by a robot, planning the position of the cladding area and controlling external equipment of a laser to control a cladding process.
The invention has the beneficial effects that: the invention uses the robot to control the laser to perform multi-channel and multi-layer cladding on the surface of the object, and can clad the surface of the object with the same size according to array arrangement.
When the invention is used, only configuration parameters provided by the robot need to be set, the robot can automatically calculate and plan paths according to the parameters, and control the laser power according to different positions, thereby avoiding artificial manual errors, accurately setting processing parameters to realize instant and effective control, and avoiding the damage of environmental factors in work to human bodies.
The invention avoids the problem that the robot operator manually calculates the number of the cladding surfaces, the number of layers and the array position when using the robot for laser cladding. The teaching of a large amount of path point positions is reduced, the complexity of manual programming is reduced, the power of the laser is controlled by manual interference at different positions, and the robot can accurately set processing parameters to realize instant and effective control.
The robot has three path point positions, reduces teaching point positions of the robot, only needs three trial teaching points on the surface of an object, automatically fits the motion track of the robot according to the taught point positions and parameters related to cladding, such as cladding width or number, spacing distance of each channel, optical power and the like, covers the surface of the object, and improves the production efficiency. The robot provides parameters such as the number of layers in the height direction, the layer height, the optical power and the like, and calculates the track of cladding multiple layers according to the setting of the parameters, so that the repetition precision is good. And the consistency of the cladding process treatment such as each joining treatment, multilayer superposition and the like is better.
The robot provides laser power attenuation parameters, pause number parameters and pause time parameter interfaces when two motion tracks are connected, calculates pause positions and pause times in the motion process according to the parameters, controls laser switches, power and other behaviors to control the temperature of the surface to be clad, and controls the motion speed of robot track transformation and the temperature of laser cladding on the connection position of each track and each layer, so that the surface of an object is smoother and smoother, the consistency of different surfaces is higher, the treatment of subsequent processes is reduced, and the production quality and efficiency are improved.
The invention can clad the same cladding surface distributed in an array according to production requirements. The robot provides array parameters such as the number of x-direction, x-direction spacing distance, y-direction number, and y-direction spacing distance in the x, y-direction as shown in fig. 3. The robot calculates the array arrangement track needing cladding according to the taught starting point S, the taught end point E, the direction calibration point D and the array parameters, manual interference is reduced, and production efficiency is improved.
Drawings
FIG. 1 is a first layer trace of the surface of an object according to the present invention;
FIG. 2 is a first layer trace of the surface of an object according to the present invention;
FIG. 3 is a schematic view of the multilayer cladding of the present invention;
FIG. 4 is a schematic diagram of the array layout of the present invention.
Detailed Description
Example 1
When the laser cladding robot is used, a cladding instruction is set for the controller according to the cladding requirement, the robot controller is used for providing a special laser cladding instruction and a laser cladding parameter setting interface, and the robot laser cladding instruction is called according to the setting of the parameters, namely, the robot self controls the movement track, the posture change, the laser switch, the laser power adjustment and the gas pressure adjustment of the robot.
The robot cladding controller provides a special laser cladding instruction, and only three starting points S, an end point E of a single path and a cladding direction point D need to be taught on the surface of the object to be clad as shown in figure 1, and the robot calculates the surface to be clad according to the three points. And a starting point S and an ending point E are cladding first tracks, and the x direction is calculated. The robot will determine the cladding direction according to the taught direction D and calculate the y direction.
The robot cladding controller provides a motion track direction setting parameter. The robot moves to the starting point s of cladding, then starts laser, starts to clad the surface of the object, moves to the point E of the surface of the object, completes one track, and then moves to the starting point or the ending point of the next path track along the surface of the object. As shown in the motion trail of FIG. 1, the motion trail of the robot on the surface of the object is S-E-E1-S1-S2-E2 or S-E-S1-E1-S2-E2, and the running mode of head-to-tail connection can be set.
And the robot cladding controller provides parameters for setting the laser power and the air pressure of the joining position. The E-E1 or E-S1 at the joint of the two tracks can control and adjust the external equipment which influences the cladding effect, such as laser power, gas pressure and the like by configuring the laser cladding process parameters of the robot.
The robot cladding controller provides xy plane pause position, pause time and pause position offset proportion setting parameters. And melting a coating with a certain width on one surface, calculating a position to be suspended according to a set suspension position by a robot cladding instruction, suspending the robot movement after the position is reached, closing the laser, cooling for a certain time, and continuing to execute the rest cladding program to finish the whole object surface. And adding a pause position offset proportion to the pause position of the previous layer at the pause position when the next layer is cladded, so that the pause position of the previous layer is staggered, and the robot cladding instruction calculates the position needing to be paused in the middle of each layer according to the set pause position offset proportion to control the cladding process.
The robot cladding controller provides parameters for setting the number of layers and the layer height, parameters for setting the laser power attenuation ratio of each layer, parameters for setting the number of cooling layers and parameters for setting the cooling time. A coating with a certain area is melted on the surface of an object, then the height of a laser is automatically increased on the surface of the object by robot software according to the set layer number and layer height, the coating with a certain height is melted by overlaying layer by layer, and the figure 2 shows. And according to the number of cooling layers and the cooling time, turning off the laser when the robot moves to the corresponding number of layers, and continuing to complete the subsequent cladding work after the cooling time is finished. When the robot cladding controller is cladding different layers, setting parameters according to the laser power attenuation ratio of each layer to adjust the laser power and control the cladding temperature and effect.
The robot cladding controller provides array configuration parameters such as the number of the x direction, the spacing distance of the x direction, the number of the y direction, the spacing distance of the y direction and the like. According to the array parameter setting, the whole translation operation is completed in the X direction or the Y direction, the cladding coating area with the specified width is translated to another area, the robot cladding controller calculates the path, the position of the cladding area is planned, and the laser and other external equipment are controlled to control the cladding process, as shown in fig. 3.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. A robot laser cladding process treatment method comprises the following specific design method:
the method comprises the following steps that firstly, a controller is installed in a robot, a cladding instruction is arranged in the controller, a path point position is arranged in the cladding instruction, the path point position is a starting point S, an ending point E of a single path and a cladding direction point D, a cladding surface is formed by the three points, and the cladding instruction calculates position information of the cladding surface in a robot coordinate system according to the three points;
secondly, inputting the set cladding instruction into a controller, moving the robot to a starting point s of cladding under the control of the controller, starting laser to clad the surface of the object, moving the robot to a point E on the surface of the object to complete a track, moving the robot to a starting point or an ending point of a next path track along the surface of the object, and cladding the surface of the next object;
as shown in fig. 1, the robot has a motion trajectory on the surface of the object, such as S-E1-S1-S2-E2 or S-E-S1-E1-S2-E2, and the connection between the two trajectories, E-E1 or E-S1, is configured with the laser cladding process parameters of the robot to control and adjust the external devices affecting the cladding effect, such as laser power and gas pressure;
thirdly, melting a coating with a certain width on one surface, pausing the cladding, cooling for a certain time, and continuing to execute the rest cladding program at the paused position to finish the whole object surface.
2. The method of claim 1, wherein the cladding command provides a number of layers setting parameter, a height parameter of each layer, and a laser power attenuation ratio parameter of each layer for a user to set.
3. The method of claim 1, wherein the cladding command is a setting of a robot controller according to parameters provided by a device to be processed, such as a height of each layer, a gas of each layer, a laser power parameter, a cladding pause cooling position, a cooling time, and a process effect of laser cladding of each layer.
4. The robot laser cladding process processing method according to claim 1, characterized in that an array parameter configuration interface for laser cladding is arranged on the robot.
5. The processing method of the robot laser cladding process according to claim 1, characterized in that the array parameter configuration interface performs array parameter setting, completes the whole translation operation in the X direction or the Y direction, translates the cladding coating with the specified width to another area, calculates the path by the robot, plans the position of the cladding area and controls the laser external equipment to control the cladding process.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911283536.8A CN112981388B (en) | 2019-12-13 | 2019-12-13 | Robot laser cladding process treatment method |
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| CN201911283536.8A CN112981388B (en) | 2019-12-13 | 2019-12-13 | Robot laser cladding process treatment method |
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| CN112981388B CN112981388B (en) | 2023-04-11 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040251242A1 (en) * | 2001-11-17 | 2004-12-16 | Jeong-Hun Suh | Method and system for real-time monitoring and controlling height of deposit by using image photographing and image processing technology in laser cladding and laser-aided direct metal manufacturing process |
| CN110129790A (en) * | 2019-06-20 | 2019-08-16 | 河北敬业增材制造科技有限公司 | A kind of laser cladding equipment of applicable industry robot |
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- 2019-12-13 CN CN201911283536.8A patent/CN112981388B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040251242A1 (en) * | 2001-11-17 | 2004-12-16 | Jeong-Hun Suh | Method and system for real-time monitoring and controlling height of deposit by using image photographing and image processing technology in laser cladding and laser-aided direct metal manufacturing process |
| CN110129790A (en) * | 2019-06-20 | 2019-08-16 | 河北敬业增材制造科技有限公司 | A kind of laser cladding equipment of applicable industry robot |
Non-Patent Citations (1)
| Title |
|---|
| 申屹豪等: "激光快速成型薄壁墙堆积工艺调控", 《热加工工艺》 * |
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Effective date of registration: 20240722 Address after: 315400 Zhejiang Yuyao Ningbo Economic Development Zone East New District Patentee after: Zhichang Technology Group Co.,Ltd. Country or region after: China Address before: Room 320, building 1, 358 Huayan village, Nanqiao Town, Fengxian District, Shanghai Patentee before: SHANGHAI GENE AUTOMATION TECHNOLOGY CO.,LTD. Country or region before: China |
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