CN114083134A - Laser paint removing robot for aircraft skin - Google Patents
Laser paint removing robot for aircraft skin Download PDFInfo
- Publication number
- CN114083134A CN114083134A CN202111258159.XA CN202111258159A CN114083134A CN 114083134 A CN114083134 A CN 114083134A CN 202111258159 A CN202111258159 A CN 202111258159A CN 114083134 A CN114083134 A CN 114083134A
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- Prior art keywords
- laser
- paint
- real
- aircraft skin
- robot
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- 239000003973 paint Substances 0.000 title claims abstract description 59
- 238000012544 monitoring process Methods 0.000 claims abstract description 38
- 238000000034 method Methods 0.000 claims abstract description 20
- 238000001228 spectrum Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 12
- 238000000295 emission spectrum Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 6
- 230000003595 spectral effect Effects 0.000 claims description 5
- 238000011065 in-situ storage Methods 0.000 claims description 4
- 239000000758 substrate Substances 0.000 claims description 4
- 238000012806 monitoring device Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 238000010422 painting Methods 0.000 claims 1
- 239000002131 composite material Substances 0.000 abstract description 3
- 229910052751 metal Inorganic materials 0.000 abstract description 3
- 239000007769 metal material Substances 0.000 abstract description 3
- 239000003086 colorant Substances 0.000 abstract description 2
- 239000013307 optical fiber Substances 0.000 abstract description 2
- 101100029145 Mycobacterium tuberculosis (strain ATCC 25618 / H37Rv) PE25 gene Proteins 0.000 description 2
- 230000002238 attenuated effect Effects 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 238000002834 transmittance Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 239000004593 Epoxy Substances 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Images
Classifications
-
- 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
- B23K26/36—Removing material
-
- 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
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
Abstract
The invention provides an aircraft skin laser paint removing robot which is characterized by comprising a body, a movable wheel, an operating platform, a laser profile structure, an integrated spectrum structure, a temperature monitoring structure and a real-time light beam quality monitoring structure, wherein the movable wheel is installed on the lower side of the body, the operating platform is arranged on the upper side of the body, and the laser profile structure, the integrated spectrum structure, the temperature monitoring structure and the real-time light beam quality monitoring structure are respectively installed on the upper side of the operating platform. The invention improves the prior art, solves the problem that the part is not easy to reach by the paint removing method, and is provided with the CO with the output power of 20kW2The laser can remove paint layers with various colors, and a built-in closed-loop color identification and control system can accurately strip the surfaces of metal and composite materials and simultaneously realize selective stripping of the paint layers. Laser pulses are transmitted through optical fibers to carry out remote automatic operation, so that the accurate positioning of the part to be depainted is realized.
Description
Technical Field
The invention relates to the field of metal material processing, in particular to a laser paint removing robot for an aircraft skin.
Background
The surface paint layer of the aluminum alloy skin structure of the airplane can play roles in structural corrosion resistance and corrosion resistance, and improvement of aerodynamic appearance and overall attractiveness of the airplane, the surface paint layer generally consists of a layer of epoxy primer and a layer of polyurethane finish, the total thickness is about 100-150 mu m, the surface paint layer is partially removed after the airplane is accidentally damaged, and the finish paint or the finish paint and the primer on the surface of the skin are generally removed before the airplane is subjected to advanced maintenance (D inspection) or retreating/transferring.
Disclosure of Invention
According to the technical problem, the invention provides an aircraft skin laser paint removing robot which is characterized by comprising a body, a movable wheel, an operating platform, a laser profile structure, an integrated spectrum structure, a temperature monitoring structure and a real-time light beam quality monitoring structure, wherein the movable wheel is installed on the lower side of the body, the operating platform is arranged on the upper side of the body, and the laser profile structure, the integrated spectrum structure, the temperature monitoring structure and the real-time light beam quality monitoring structure are respectively installed on the upper side of the operating platform.
The laser profile structure is a laser profile instrument, a laser and a camera are arranged on the upper side of the laser profile instrument, the laser profile instrument is installed on a linear positioning system, and the laser profile instrument is connected with a display.
A laser paint removing robot for an aircraft skin comprises the following specific using method:
firstly, obtaining a 3D model of a surface to be processed in situ by utilizing a laser profile structure;
secondly, performing laser paint removal by using a laser according to the formed 3D model;
meanwhile, the laser paint removing process is jointly acted by the integrated spectrum structure, the temperature monitoring structure and the real-time light beam quality monitoring structure, and the equipment monitors the laser paint removing process to ensure the normal operation of paint removing.
The integrated spectrometer is integrated in a laser processing system to monitor the spectrum emission condition in the paint removing process, and in order to obtain faster monitoring response, a photodiode of the integrated emission spectrum can be used. The change of the emission spectrum during laser paint removal on or off the surface of the paint layer can then be evaluated by analyzing the total intensity of the emission spectrum and the emission intensity of the selected spectral lines, so that the progress of the paint removal can be mastered and the risk of damage to the substrate can be reduced.
The temperature monitoring structure is a real-time temperature monitoring device, and the temperature of the surface of the airplane can be rapidly increased at any time by high-energy laser, so that the real-time temperature monitoring of the processed surface is needed, and accidents are prevented. This function can be achieved by integrating an infrared thermal imager within the laser processing system.
The real-time light beam quality monitoring structure is a real-time light beam quality monitor, and inside the laser, the laser beam can be subjected to beam splitting monitoring to obtain the change conditions of the profile and the energy of the laser beam. As shown in fig. 3, after passing through the 1 st beam splitter, one beam is attenuated by an attenuator with a transmittance of 10% and enters a beam quality analyzer (for obtaining a beam profile), the other beam is split again and then radiates on the surface of a sample, and simultaneously, after attenuation, the laser energy is monitored by a PE25 energy meter of Ophir corporation (for obtaining pulse laser energy), and in the laser paint removal process, the two signals are monitored in real time by a computer to adjust the setting of paint removal parameters in time.
The laser is CO with the output power of 20kW2A laser.
And a built-in closed loop color identification and control system is arranged in the laser.
The laser is a laser pulse laser.
The invention has the beneficial effects that: the invention improves the prior art, solves the problem that the part is not easy to reach by the paint removing method, and is provided with the CO with the output power of 20kW2The laser can remove paint layers with various colors, and a built-in closed-loop color identification and control system can accurately strip the surfaces of metal and composite materials and simultaneously realize selective stripping of the paint layers. Laser pulses are transmitted through optical fibers to carry out remote automatic operation, so that the accurate positioning of a part to be subjected to paint removal, the accurate control of process parameters and the quantitative removal of a paint layer are realized, and the safety of operators can be ensured in some dangerous places; aiming at solving the problem that the automatic laser paint removing process can easily solve the problem, and meanwhile, operators are liberated from complicated and complicated repetitive work, so that the possibility of paint removing quality reduction caused by personnel errors is reduced. The paint can be applied to paint layers on the surfaces of metal skins of airplanes, and can also be applied to composite material parts; at the same time, the shape of the laser depainting with respect to the surface to be treatedAnd the paint removing operation of the surface with the complex shape can be realized and high cleanliness can be achieved by selecting proper process parameters.
Drawings
FIG. 1 is a schematic view of a laser profile structure according to the present invention during scanning;
FIG. 2 is a three-dimensional model diagram of a surface to be treated in example 2 of the present invention;
fig. 3 is a schematic diagram of the laser system of the present invention.
Detailed Description
Example 1
The invention provides an aircraft skin laser paint removing robot which is characterized by comprising a body, a movable wheel, an operating platform, a laser profile structure, an integrated spectrum structure, a temperature monitoring structure and a real-time light beam quality monitoring structure, wherein the movable wheel is installed on the lower side of the body, the operating platform is arranged on the upper side of the body, and the laser profile structure, the integrated spectrum structure, the temperature monitoring structure and the real-time light beam quality monitoring structure are respectively installed on the upper side of the operating platform.
The laser profile structure is a laser profile instrument, a laser and a camera are arranged on the upper side of the laser profile instrument, the laser profile instrument is installed on a linear positioning system, and the laser profile instrument is connected with a display.
A laser paint removing robot for an aircraft skin comprises the following specific using method:
firstly, obtaining a 3D model of a surface to be processed in situ by utilizing a laser profile structure; the method comprises the following steps that a laser profiler controls a laser to emit laser, a laser line penetrates through a beam splitter and a lens to be hit on a sample to be detected, the laser line forms diffuse reflection on the surface of the sample to be detected, reflected light penetrates through a high-quality optical system and is projected onto a silicon substrate, a detector detects the reflected light and transmits detected data to a computer, and the computer obtains a 3D model of the surface to be processed through imaging;
secondly, performing laser paint removal by using a laser according to the formed 3D model;
meanwhile, a spectrum structure, a temperature monitoring structure and a real-time light beam quality monitoring structure are integrated to act together in the laser paint removal process of the laser, and the equipment monitors the laser paint removal process to ensure the normal operation of paint removal; in particular, the integrated spectrometer is used in a laser processing system to monitor laser tube beams during paint removal, analyze the spectral emission and transmit the spectral emission to a computer, and a photodiode of the integrated emission spectrum can be used to obtain a faster monitoring response. The change of the emission spectrum during laser paint removal on or off the surface of the paint layer can then be evaluated by analyzing the total intensity of the emission spectrum and the emission intensity of the selected spectral lines, so that the progress of the paint removal can be mastered and the risk of damage to the substrate can be reduced.
The temperature monitoring structure is a real-time temperature monitoring device, and the temperature of the surface of the airplane can be rapidly increased at any time by high-energy laser, so that the real-time temperature monitoring of the processed surface is needed, and accidents are prevented. This function can be achieved by integrating an infrared thermal imager within the laser processing system.
The beam splitter is connected with the real-time light beam quality monitoring structure, the real-time light beam quality monitoring structure is a real-time light beam quality monitoring instrument, and the laser beam can be split and monitored inside the laser so as to obtain the change situation of the profile and the energy of the laser beam. As shown in fig. 3, after passing through the 1 st beam splitter, one beam is attenuated by an attenuator with a transmittance of 10% and enters a beam quality analyzer (for obtaining a beam profile), the other beam is split again and then radiates on the surface of a sample, and simultaneously, after attenuation, the laser energy is monitored by a PE25 energy meter of Ophir corporation (for obtaining pulse laser energy), and in the laser paint removal process, the two signals are monitored in real time by a computer to adjust the setting of paint removal parameters in time.
The laser is CO with the output power of 20kW2A laser.
And a built-in closed loop color identification and control system is arranged in the laser.
The laser is a laser pulse laser.
The operation principle of the invention is as follows:
example 2
When the surface of the aircraft skin to be finished is relatively flat, the laser is irradiated from a fixed position, and the configuration of the laser system is not complicated. However, most surfaces of real airplanes are complex curved surfaces, some parts even have complex three-dimensional structures, and in order to keep a certain laser flux and scanning speed in the laser paint removal process, some additional devices, such as a laser profiler system including a laser line and a camera, need to be introduced, the system can be coupled to a linear positioning system of a laser, and a 3D model of a surface to be processed can be obtained in situ while simplifying experimental assembly. The laser processing method of the three-dimensional surface (free-form surface) based on the laser profiler comprises the following specific steps: (a) vertically moving an XYZ worktable to enable laser lines to scan the surface to be processed line by line, and in the process, acquiring 3D shape data of the surface to be processed by using a laser profiler embedded in a laser system; (b) processing the captured image to obtain (pH, pV) pixel coordinates corresponding to each point on the surface to be processed, thereby generating a 3D model of the surface to be processed from the data point cloud, (c) programming the laser processing trajectory directly on the 3D model (instead of programming on a 2D projection), which can ensure the constancy of laser flux and scanning speed over the entire 3D surface during laser processing; (d) laser paint removal is performed. The three-dimensional laser track not only comprises the modulation of the 3D sample profile on the focusing distance, but also comprises the constancy of the scanning speed along the laser scanning track direction and is independent of the surface fluctuation, thereby realizing the uniformity of the surface to be processed during laser processing. However, with this configuration it is not possible to keep the angle of incidence of the laser beam constant, which can be problematic when processing surfaces with relatively sharp 3D topography.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. While the invention has been described with respect to the above embodiments, it will be understood by those skilled in the art that the invention is not limited to the above embodiments, which are described in the specification and illustrated only to illustrate the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides an aircraft skin laser paint removal robot, its characterized in that includes the body, removes wheel, operation platform, laser profile structure, integrated spectrum structure, temperature monitoring structure, real-time light beam quality monitoring structure, the removal wheel is installed to the body downside, the body upside is provided with operation platform, laser profile structure, integrated spectrum structure, temperature monitoring structure, real-time light beam quality monitoring structure are installed respectively to the operation platform upside.
The laser profile structure is a laser profile instrument, a laser and a camera are arranged on the upper side of the laser profile instrument, the laser profile instrument is installed on a linear positioning system, and the laser profile instrument is connected with a display.
2. The laser paint removing robot for aircraft skin according to claim 1, characterized in that the laser is CO with the output power of 20kW2A laser.
3. The laser depainting robot for the aircraft skin according to claim 1, wherein a built-in closed-loop color recognition and control system is arranged inside the laser.
4. The laser de-painting robot for aircraft skin according to claim 1, wherein the laser is a laser pulse laser.
5. The laser paint removing robot for the aircraft skin according to claim 1 is characterized by comprising the following specific using methods:
firstly, obtaining a 3D model of a surface to be processed in situ by utilizing a laser profile structure;
secondly, performing laser paint removal by using a laser according to the formed 3D model;
meanwhile, the laser paint removing process is jointly acted by the integrated spectrum structure, the temperature monitoring structure and the real-time light beam quality monitoring structure, and the equipment monitors the laser paint removing process to ensure the normal operation of paint removing.
6. The robot for laser depainting of aircraft skin according to claim 5, wherein the integrated spectrometer is integrated in a laser processing system to monitor the emission of the spectrum during depainting, and a photodiode of the integrated emission spectrum is used for faster monitoring response. The change of the emission spectrum during laser paint removal on or off the surface of the paint layer can then be evaluated by analyzing the total intensity of the emission spectrum and the emission intensity of the selected spectral lines, so that the progress of the paint removal can be mastered and the risk of damage to the substrate can be reduced.
7. The laser paint removing robot for the aircraft skin according to claim 5, characterized in that the temperature monitoring structure is a real-time temperature monitoring device, and high-energy laser can cause the temperature of the aircraft surface to rise rapidly at any time, so that the real-time temperature monitoring of the processed surface is required to prevent accidents. This function can be achieved by integrating an infrared thermal imager within the laser processing system.
8. The laser depainting robot for the aircraft skin according to claim 5, wherein the real-time beam quality monitoring structure is a real-time beam quality monitor, and a laser beam can be subjected to beam splitting monitoring inside a laser to acquire the change situation of the profile and the energy of the laser beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111258159.XA CN114083134A (en) | 2021-10-27 | 2021-10-27 | Laser paint removing robot for aircraft skin |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111258159.XA CN114083134A (en) | 2021-10-27 | 2021-10-27 | Laser paint removing robot for aircraft skin |
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| CN114083134A true CN114083134A (en) | 2022-02-25 |
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| CN202111258159.XA Pending CN114083134A (en) | 2021-10-27 | 2021-10-27 | Laser paint removing robot for aircraft skin |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115156198A (en) * | 2022-08-16 | 2022-10-11 | 南京航空航天大学 | Method for improving paint removal quality of surface of metal plate with assistance of electrostatic field |
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|---|---|---|---|---|
| CN104889570A (en) * | 2015-06-25 | 2015-09-09 | 武汉大学 | Quick forming device and method based on femtosecond laser and ion beam composite technology |
| WO2019028452A1 (en) * | 2017-08-04 | 2019-02-07 | Ipg Photonics Corporation | Material layer detection and processing |
| CN110560431A (en) * | 2019-09-20 | 2019-12-13 | 西安飞机工业（集团）有限责任公司 | method for removing aircraft skin surface coating by laser |
| CN111167804A (en) * | 2020-02-24 | 2020-05-19 | 山东省科学院激光研究所 | Device and method for cleaning composite coating by laser |
| CN111650187A (en) * | 2020-04-29 | 2020-09-11 | 北京航空航天大学合肥创新研究院 | Laser paint removal real-time feedback and damage inhibition method based on multispectral signal response |
| CN111687143A (en) * | 2020-05-20 | 2020-09-22 | 中国民用航空飞行学院 | Real-time monitoring control method and system for laser layered paint removal of aircraft skin |
| CN213379840U (en) * | 2020-09-30 | 2021-06-08 | 中制高科技术股份有限公司 | Aircraft skin surface paint removing equipment |
-
2021
- 2021-10-27 CN CN202111258159.XA patent/CN114083134A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104889570A (en) * | 2015-06-25 | 2015-09-09 | 武汉大学 | Quick forming device and method based on femtosecond laser and ion beam composite technology |
| WO2019028452A1 (en) * | 2017-08-04 | 2019-02-07 | Ipg Photonics Corporation | Material layer detection and processing |
| CN110560431A (en) * | 2019-09-20 | 2019-12-13 | 西安飞机工业（集团）有限责任公司 | method for removing aircraft skin surface coating by laser |
| CN111167804A (en) * | 2020-02-24 | 2020-05-19 | 山东省科学院激光研究所 | Device and method for cleaning composite coating by laser |
| CN111650187A (en) * | 2020-04-29 | 2020-09-11 | 北京航空航天大学合肥创新研究院 | Laser paint removal real-time feedback and damage inhibition method based on multispectral signal response |
| CN111687143A (en) * | 2020-05-20 | 2020-09-22 | 中国民用航空飞行学院 | Real-time monitoring control method and system for laser layered paint removal of aircraft skin |
| CN213379840U (en) * | 2020-09-30 | 2021-06-08 | 中制高科技术股份有限公司 | Aircraft skin surface paint removing equipment |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115156198A (en) * | 2022-08-16 | 2022-10-11 | 南京航空航天大学 | Method for improving paint removal quality of surface of metal plate with assistance of electrostatic field |
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Application publication date: 20220225 |