CN114346409B - Real-time processing path generation system for three-dimensional scanning and verification - Google Patents
Real-time processing path generation system for three-dimensional scanning and verification Download PDFInfo
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- CN114346409B CN114346409B CN202210092553.9A CN202210092553A CN114346409B CN 114346409 B CN114346409 B CN 114346409B CN 202210092553 A CN202210092553 A CN 202210092553A CN 114346409 B CN114346409 B CN 114346409B
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- 238000012545 processing Methods 0.000 title claims abstract description 113
- 238000012795 verification Methods 0.000 title claims abstract description 19
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000012797 qualification Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 10
- 238000003754 machining Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 5
- 238000013499 data model Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 238000001704 evaporation Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 239000007791 liquid phase Substances 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008020 evaporation Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000010329 laser etching Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
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- 238000003672 processing method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
Abstract
The invention discloses a real-time processing path generating system for three-dimensional scanning and verification, which comprises a first area scanning camera and a second area scanning camera which are arranged back and forth along the moving direction of a reference processing path and are fixedly connected to a 3D laser processing component, wherein a scanning area formed by the first area scanning camera and a scanning area formed by the second area scanning camera share one boundary, the first area scanning camera is used for scanning and acquiring model data information A of a surface to be processed of a workpiece in advance, the second area scanning camera is used for acquiring model data information B of the surface to be processed of the workpiece in real time, and deviation is eliminated and a real-time processing path is formed under the real-time comparison and verification of the model data information B and the model data information A. The invention not only can greatly shorten the data processing time, but also can reduce the cost of hardware and software required by data processing, and can accurately implement 3D laser processing under the mode of eliminating deviation so as to greatly improve the qualification rate of workpiece processing.
Description
The application is a divisional application of multi-axis linkage processing equipment and method with the application date of 2021, 12-month and 6-day, the application number of 2021114753162 and the name of real-time acquisition, three-dimensional scanning and verification.
Technical Field
The invention belongs to the technical field of 3D laser processing, and particularly relates to a real-time processing path generation system for three-dimensional scanning and verification.
Background
With the development of 3D laser processing technology, many products adopt a 3D laser processing mode to perform laser etching processing, specifically, the thermophysical effect formed by the physical state change caused by the interaction of laser and processed material, and the comprehensive result generated by various energy changes, that is, the laser beam irradiates on the workpiece in focal plane after initially passing through the focusing lens, so that the temperature of the processed material surface rises rapidly, when the temperature rises to be close to the evaporation temperature of the material, the laser starts to remove the material, at this time, the solid metal starts to melt, at first, a part of the metal begins to vaporize, and then with the continuous rise of the temperature, the metal vapor carries the liquid phase substance to be sprayed out from the bottom of the liquid phase at a very high speed, so that the new surface of the bottom is exposed to the irradiation of the laser beam, thereby continuously generating melting, evaporating and spraying.
At present, in the 3D laser processing process, a microstructure of a surface array of a workpiece to be processed is generally obtained, then virtual layout and design are performed to form a processing path, and then a laser beam moves linearly or rotates around an axis in a coordinate system formed by X, Y, Z axes according to the set processing path, so as to process the surface of the workpiece.
Obviously, if the above processing method is adopted, the following defects exist:
1. once the shape of the surface to be processed of the product to be processed is too complex, the process of forming the surface array micro-structure diagram is complex, long time is needed for data arrangement, and then data modeling is performed to form a processing path, so that the processing efficiency is low, and a huge and complex database is needed;
2. once the characteristics of the curved surface and the specific area and the provided data model have deviation due to the manufacturing precision, the method cannot eliminate the deviation in time, for example, the data model is directly used for laser processing, the deviation can be directly converted into processing deviation, and thus, the qualification rate of the processed workpiece is greatly reduced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an improved three-dimensional scanning and verification real-time processing path generation system.
In order to solve the technical problems, the invention adopts the following technical scheme: the real-time processing path generating system comprises a first area array scanning camera and a second area array scanning camera which are arranged back and forth along the moving direction of the reference processing path and are fixedly connected to a 3D laser processing component, wherein a scanning area formed by the first area array scanning camera and a scanning area formed by the second area array scanning camera share one boundary, the first area array scanning camera is used for scanning and acquiring model data information A of a surface to be processed of a workpiece in advance, the second area array scanning camera is used for acquiring model data information B of the surface to be processed of the workpiece in real time, and deviation is eliminated and a real-time processing path is formed under the real-time comparison and verification of the model data information B and the model data information A.
Preferably, the 3D laser processing part includes a fixing base, a laser emitter mounted on the fixing base, a scanning galvanometer and a beam combining lens, and the first and second area array scanning cameras are mounted on the fixing base. In this way, the model data information B and the model data information a can be acquired relatively synchronously.
Further, the model data information B is obtained by synchronous movement of the second area scanning camera, the scanning galvanometer and the beam combining lens. Therefore, the data of the 3D curved surface can be accurately acquired, compared and verified in real time.
According to one specific implementation and preferred aspect of the present invention, the second area scanning camera is located below the beam combining lens and forms an effective scanning area capable of covering the laser beam passing through the beam combining lens. Therefore, when the laser processing is implemented, the angle and the position of the laser transmitter can be adjusted in time through the model data information obtained by the second area array scanning camera, so that the accurate processing is implemented.
Preferably, the center line of the scanning area formed by the second area scanning camera is arranged perpendicular to the light beam passing through the center area of the scanning galvanometer. The advantages of this arrangement are: the model data information acquired by the second area array scanning camera can be kept relatively vertical no matter the model data information rotates to any angle around the Z axis, so that the deviation is further reduced, and the best deviation eliminating effect is achieved.
According to a specific and preferred aspect of the present invention, the first area scanning camera is arranged side by side with the laser transmitter. Thus, it is convenient to perform translational laser processing after eliminating the deviation.
Preferably, a center line of a scanning area formed by the first area scanning camera is arranged in parallel with a light beam passing through a center area of the scanning galvanometer.
Further, the scanning window of the first area array scanning camera is arranged in a coplanar and flush manner with the light beam emission window of the laser emitter.
In addition, the laser processing area formed by the laser emitter is positioned in the scanning area formed by the second area array scanning camera, and the center of the laser processing area is aligned with the center of the scanning area. Thus facilitating the accurate implementation of laser processing of the workpiece surface.
Preferably, a plurality of continuous surfaces to be processed are formed on the surface of the workpiece, and the scanning area formed by the first area array scanning camera and the scanning area formed by the second area array scanning camera are respectively positioned on two adjacent surfaces to be processed or on the same surface to be processed. The requirement of pre-scanning is met, and the requirement of accessories required by data storage and calculation is optimally reduced, namely, the forming efficiency of a real-time processing path planning road section is accelerated, and the processing cost is reduced.
Due to the implementation of the technical scheme, compared with the prior art, the invention has the following advantages:
according to the invention, the model data is acquired in real time according to the reference processing path, and the deviation is eliminated and the real-time processing path is formed under the real-time comparison and verification of the model data information B and the model data information A, so that the data processing time can be greatly shortened, the cost of hardware and software required by data processing is reduced, and the 3D laser processing can be accurately implemented under the mode of eliminating the deviation, so that the qualification rate of workpiece processing is greatly improved.
Drawings
FIG. 1 is a schematic diagram of a multi-axis linkage processing apparatus of the present invention;
FIG. 2 is a schematic diagram of the 3D laser processing principle of the present invention;
FIG. 3 is a schematic top view of the 3D laser machined workpiece corresponding to FIG. 2;
FIG. 4 is a schematic top view of the workpiece after the 3D laser machining of the present invention is completed;
wherein: 1. a processing platform; 2. 3D laser machining the part; 20. a fixing seat; 21. a laser emitter; 22. scanning a vibrating mirror; 23. a beam combining lens; 3. a machining path planning unit; 31. a first area scanning camera; 32. a second area scanning camera; 4. a multi-axis motion component; 40. a linear motion unit; 41. a rotation unit; p, referring to a processing path section; G. a workpiece; q1, Q2, scan area; q, shaded portion.
Detailed Description
The present invention will be described in detail with reference to the drawings and the detailed description, so that the above objects, features and advantages of the present invention can be more clearly understood. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact through an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
As shown in fig. 1, the multi-axis linkage processing apparatus according to the present embodiment, which is collected in real time and scanned and verified in three dimensions, includes a processing platform 1, a 3D laser processing section 2, a processing path planning section 3 (real-time processing path generating system), and a multi-axis moving section 4.
The processing table 1 is horizontally arranged, and simultaneously, a three-axis coordinate system of an X axis extending in the longitudinal direction of the processing table 1, a Y axis extending in the thickness direction of the processing table 1, and a Z axis extending in the width direction of the processing table 1 is formed on the processing table 1.
The workpiece G is positioned on the processing table 1 so as to extend in the X-axis direction from the longitudinal direction, the width direction in the Z-axis direction, and the thickness direction in the Y-axis direction.
The 3D laser processing part 2 includes a fixed seat 20 fixedly connected to an end portion of the fixed seat 20 far from the origin in the Z-axis direction, a laser emitter 21 mounted on the fixed seat 20, a scanning galvanometer 22, and a beam combining lens 23.
The machining path planning part 3 (real-time machining path generation system) moves in synchronization with the 3D laser machining part 2, and the machining path planning part 3 includes a first area scanning camera 31 and a second area scanning camera 32 disposed back and forth along the machining path moving direction and fixedly connected to the fixed base 20.
In this example, the first area scanning camera 31 is used for scanning and acquiring model data information a of a surface to be processed of the workpiece in advance, and the second area scanning camera 32 is used for acquiring model data information B of the surface to be processed of the workpiece in real time.
As shown in fig. 2, the first area scanning camera 31 is disposed side by side with the laser emitter 21, and the center line of the scanning area formed by the first area scanning camera 31 is disposed in parallel with the light beam passing through the center area of the scanning galvanometer 22. Thus, it is convenient to perform translational laser processing after eliminating the deviation.
Specifically, the scanning window of the first area scanning camera 31 is disposed flush with the beam emission window of the laser emitter 21 in a coplanar manner.
The second area scan camera 32 is located below the beam combining lens 23 and forms an effective scan area capable of covering the laser beam passing through the beam combining lens 23. Therefore, when the laser processing is implemented, the angle and the position of the laser transmitter can be adjusted in time through the model data information obtained by the second area array scanning camera, so that the accurate processing is implemented.
The center line of the scanning area formed by the second area scanning camera 32 is disposed perpendicular to the light beam passing through the center area of the scanning galvanometer 22. The advantages of this arrangement are: the model data information acquired by the second area array scanning camera can be kept relatively vertical no matter the model data information rotates to any angle around the Z axis, so that the deviation is further reduced, and the best deviation eliminating effect is achieved.
As shown in fig. 3, the scanning area Q1 formed by the first area scan camera 31 and the scanning area Q2 formed by the second area scan camera 32 share one boundary. Therefore, the integration of the model data information B and the model data information A can be optimally realized, the requirements of hardware and software required by data processing are further reduced, and the cost is saved.
In this example, the model data information B is obtained by the synchronous motion of the second area scanning camera 32, the scanning galvanometer 22, and the beam combining lens 23. Therefore, the data of the 3D curved surface can be accurately collected, verified and processed in real time.
In addition, the deviation is eliminated and a real-time processing path is formed under the real-time comparison and verification of the model data information B and the model data information A, and the laser transmitter 21 implements the 3D laser processing of the surface to be processed of the workpiece along the real-time processing path under the driving of the multi-axis moving component 4 by the fixed seat 20.
Meanwhile, the multi-axis linkage processing apparatus further includes a movement path input module, wherein the workpiece to be processed forms a set of reference processing path segments P from the surface, the movement path input module is used for inputting information of the reference processing path segments P, and the first area array scanning camera 31 acquires the model data information a in advance according to the information input. The control of the movement path of the first area scanning camera 31 is facilitated under the input of the reference processing path segment P, thereby further improving the efficiency of laser processing.
The multiaxial motion component 4 includes a rectilinear motion unit 40 axially moving along X, Y, Z, respectively, and a rotation unit 41 rotating around the Z axis, wherein the rotation unit 41 rotates around the W direction.
The surface of the workpiece is processed to form a plurality of continuous surfaces to be processed, and the scanning area formed by the first area scanning camera 31 and the scanning area formed by the second area scanning camera 32 are positioned on the same surface to be processed. The requirement of pre-scanning is met, and the requirement of accessories required by data storage and calculation is optimally reduced, namely, the forming efficiency of a real-time processing path planning road section is accelerated, and the processing cost is reduced.
The laser processing area formed by the laser transmitter 21 is located in the scanning area formed by the second area scanning camera 32, and the center of the processing area is aligned with the center of the scanning area. Thus facilitating the accurate implementation of laser processing of the workpiece surface.
As shown in fig. 4, the implementation procedure of this embodiment is as follows:
s1, placing a workpiece
Positioning the workpiece on the processing platform 1 with the length direction extending along the X-axis direction, the width direction extending along the Z-axis direction, and the thickness direction extending along the Y-axis direction;
s2, machining path planning
Firstly, a reference processing path section P is obtained by a workpiece surface change curve, a multi-axis moving part 4 drives a 3D laser processing part 2 to move along the reference processing path section P in X, Y, Z axis and W direction, at the moment, a first area array scanning camera 31 acquires area array model data information A, and an initial processing path planning section is formed under the model data information A;
secondly, in the synchronous process of forming an initial processing path planning section, acquiring area array model data information B of the surface of a workpiece by a scanning galvanometer 22, a beam combining lens 23 and a second area array scanning camera 32 in real-time data acquisition, wherein the model data information B and the model data information A are compared and verified to eliminate deviation, and forming a real-time deviation elimination path planning section;
finally, forming a real-time processing path planning section on the basis of synchronously implementing the initial processing path planning section and the real-time deviation elimination path planning section;
s3, laser processing
The multi-axis moving part 4 drives the 3D laser processing part to laser process the workpiece surface step by step from back to front along the real-time processing path planning section to complete the continuous processing of the hatched portion Q in fig. 4.
In summary, the advantages of the present embodiment are as follows:
1) The characteristics of the curved surface of the product to be processed and the specific area thereof are acquired, and the provided model data and the model data synchronously collected in real time are mutually verified to form a data model for eliminating deviation, and meanwhile, a real-time processing path is synchronously generated according to the data model, so that 3D laser processing can be accurately implemented, and the qualification rate of workpiece processing is greatly improved;
2) On the premise that two scanning areas share one boundary, the method not only meets the pre-scanning path planning, but also can greatly shorten the data processing time and reduce the cost of hardware and software required by data processing, namely, the method not only quickens the formation efficiency of the real-time processing path planning road section, but also reduces the processing cost;
3) Under the cooperation of the scanning galvanometer, the beam combining lens and the second area array scanning camera, the model data information B can be acquired more accurately, and deviation is eliminated under the combination of the model data information B and the model data information A, so that a real-time deviation-eliminating path planning section is obtained, and an accurate real-time processing path planning section is obtained;
4) Before three-dimensional scanning is implemented, after model data information of the reference processing path section is input, the model data information A can be more conveniently and rapidly and accurately acquired.
The present invention has been described in detail with the purpose of enabling those skilled in the art to understand the contents of the present invention and to implement the same, but not to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention.
Claims (8)
1. A real-time processing path generating system for three-dimensional scanning and verification, wherein a workpiece forms a group of reference processing paths from the surface, is characterized in that: the real-time processing path generation system comprises a first area scanning camera and a second area scanning camera which are arranged back and forth along the moving direction of the reference processing path and are fixedly connected to a 3D laser processing component, wherein a scanning area formed by the first area scanning camera and a scanning area formed by the second area scanning camera share one boundary, a plurality of continuous surfaces to be processed are formed on the surface of a workpiece, the scanning areas formed by the first area scanning camera and the scanning areas formed by the second area scanning camera are respectively positioned on two adjacent surfaces to be processed or on the same surface to be processed, the first area scanning camera is used for scanning and pre-acquiring model data information A of the surface to be processed of the workpiece, and the second area scanning camera is used for acquiring model data information B of the surface to be processed of the workpiece in real time, eliminating deviation and forming the real-time processing path under the real-time comparison and verification of the model data information B and the model data information A; the 3D laser processing component comprises a fixed seat, a laser emitter, a scanning galvanometer and a beam combining lens, wherein the laser emitter, the scanning galvanometer and the beam combining lens are arranged on the fixed seat, and the first area array scanning camera and the second area array scanning camera are arranged on the fixed seat; the model data information B is obtained by synchronous movement of the second area array scanning camera, the scanning galvanometer and the beam combining lens; the first area array scanning camera is arranged side by side with the laser emitter.
2. The three-dimensional scanning and verification real-time processing path generation system according to claim 1, wherein: the second area array scanning camera is positioned below the beam combining lens.
3. The three-dimensional scanning and verification real-time processing path generation system according to claim 2, wherein: the second area scan camera forms an effective scan area capable of covering the laser beam passing through the beam combining lens.
4. A three-dimensional scanning and verification real-time processing path generation system according to claim 3, wherein: the central line of the scanning area formed by the second area scanning camera is perpendicular to the light beam passing through the central area of the scanning galvanometer.
5. The three-dimensional scanning and verification real-time processing path generation system according to claim 1, wherein: the central line of the scanning area formed by the first area scanning camera is parallel to the light beam passing through the central area of the scanning galvanometer.
6. The three-dimensional scanning and verification real-time processing path generation system according to claim 5, wherein: the scanning window of the first area array scanning camera is arranged in a coplanar and flush manner with the light beam emission window of the laser emitter.
7. The three-dimensional scanning and verification real-time processing path generation system according to claim 1, wherein: the laser processing area formed by the laser transmitter is positioned in the scanning area formed by the second area array scanning camera.
8. The three-dimensional scanning and verification real-time processing path generation system according to claim 7, wherein: the center of the laser processing area is aligned with the center of the scanning area.
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| CN117020398B (en) * | 2023-09-28 | 2023-12-05 | 中国长江电力股份有限公司 | Method for adaptively controlling incidence angle of laser beam by complex curved surface normal curvature tracking vector searching |
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| CN114346409A (en) | 2022-04-15 |
| CN113857654A (en) | 2021-12-31 |
| CN114346410A (en) | 2022-04-15 |
| CN114346410B (en) | 2024-02-13 |
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