CN115572812A - Efficient laser shock peening control method based on technological parameter matching - Google Patents
Efficient laser shock peening control method based on technological parameter matching Download PDFInfo
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- 230000035939 shock Effects 0.000 title claims abstract description 43
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- 238000005728 strengthening Methods 0.000 claims abstract description 39
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- C—CHEMISTRY; METALLURGY
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- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
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Abstract
The invention relates to a high-efficiency laser shock peening control method based on process parameter matching. The impact strengthening platform consists of a laser, a robot, an optical path, a water path and a PC (personal computer), wherein a control system is arranged on the PC, and the control system performs integrated control on the platform and plans the motion track of the robot according to the selected or newly-built processing technological parameters of a processing object. The method has the advantages that the process parameters, the curvature change of the processed curved surface, the acceleration of the robot movement and other factors are comprehensively considered in the track planning process, the robot movement is completely matched with the light emitting frequency of the laser, the laser can work at the high frequency of 10HZ or even 20HZ, the processing efficiency is greatly improved, and the platform can reach a high-speed and stable processing state. And detecting the impact energy value and the safety state of equipment operation in real time in the machining process, and automatically giving an alarm if an abnormality occurs. The control method ensures the safety and high efficiency of the whole laser shock peening process and reaches the international leading level.
Description
Technical Field
The invention relates to the technologies of robot motion trajectory planning, automation control, laser shock peening technology and the like, in particular to the technology of optimizing a processing trajectory according to the laser shock peening technology and carrying out surface shock peening on a processing object.
Background
In order to improve the application reliability of parts and prolong the service life, the surface strengthening technology and method are widely applied. Common methods for surface strengthening comprise shot blasting, forging and extruding, surface rolling and the like, wherein the shot blasting is strong, a high-speed shot is utilized to strongly impact the surface of a part to generate a deformation hardening layer and cause residual compressive stress, and the residual compressive stress can offset a part of working load (tensile stress), so that the fatigue resistance of the part is improved; the forging and the extrusion can introduce a certain value of pressure on the surface of the material, so that the object has better mechanical property and longer service life; the surface rolling is to apply a certain numerical pressure to the surface of the material through a rolling tool in a certain form, so that the surface of the material is subjected to local micro plastic deformation, and the effects of improving the surface roughness and uniform stress field distribution are achieved. With the development of high-end equipment such as aerospace, nuclear energy, traffic, weapons and the like, the requirements on the surface performance of parts are higher and higher, the traditional strengthening technologies such as surface rolling, shot blasting, forging, extruding and the like are gradually difficult to meet the production requirements of the high-performance equipment, the problems can be well solved by the Laser Shock Processing (LSP) technology, and different from the traditional surface strengthening technology, the typical principle structure of a constraint layer and an absorption protection layer can obviously increase the pressure of shock waves, so that the material is strengthened. The strengthening mode has the characteristics of high pressure (GPa grade), high energy (GW grade) and ultrahigh strain rate (> 106 s-1). The fatigue life of the material is obviously prolonged. Because the laser shock peening technology has the advantages, the laser shock peening technology is developed rapidly in recent years and is mainly applied to the fields of aerospace and national defense war industry at present. With the continuous maturity of the technology, the laser shock peening technology shows incomparable technical advantages in the fields of ship manufacturing industry, nuclear industry, petrochemical industry, biomedical industry, rail transit, power grid power and the like, and has huge application prospects and commercial values.
At present, the laser shock peening efficiency is generally low due to various limitations of laser equipment performance, a real-time control technology, an offline programming technology and the like, the development of a high-frequency laser shock method is one of effective means for improving the production efficiency, the planning of a high-speed motion trajectory on a complex free curved surface is always the key point of optimization and innovation of laser shock peening, and at present, breakthrough is urgently needed in the aspects of real-time monitoring and process control of a laser shock peening process in China.
Disclosure of Invention
In order to overcome the problems in the laser shock peening process of the parts, the invention provides a high-efficiency laser shock peening control method based on process parameter matching, and the high-efficiency laser shock peening processing process is realized by the method of track planning and process parameter matching, equipment integrated control of a platform and real-time online energy monitoring.
The technical scheme adopted by the invention for realizing the purpose is as follows:
the invention relates to a high-efficiency laser shock peening control method based on process parameter matching, which comprises the following steps:
platform parameter initialization: the control system outputs an instruction to carry out initialization parameter setting on equipment of the platform;
planning a processing track: selecting a processing object, determining processing parameters, and planning a processing track according to the processing parameters;
controlling the strengthening processing process of the workpiece: according to the processing technological parameters, the control system outputs instructions to control the running states of the light path and the water path and complete the starting of the laser and the setting of energy and frequency; controlling the robot to move to a target position, and coordinating with the laser to complete the strengthening processing of the workpiece;
energy and equipment state real-time monitoring in the machining process: and detecting the impact energy value and the safety state of equipment operation in real time in the control process, recording main processing data, and automatically giving an alarm if the main processing data is abnormal.
The method for setting the initialization parameters of the equipment of the platform by the control system output instruction comprises the following steps:
step 1.1: the control system outputs an instruction to control the light path platform to drive the focusing lens to move on the laser light path, and the focusing lens is used for changing the diameter of a light spot when a workpiece is struck;
step 1.2: controlling the water supply device of the restraint layer to be opened and closed, and adjusting the water supply flow;
step 1.3: the control system outputs instructions to control the laser to complete the parameter settings of pre-burning, discharging, opening the optical gate, energy, frequency and pulse width.
Finishing the processing track planning of the track robot according to the processing technological parameters of the processing object, comprising the following steps:
step 2.1: selecting or creating processing technological parameters from a technological database equipped by a control system according to a processing object, wherein the technological parameters comprise spot size D, lap joint ratio P, laser light emitting frequency H and energy size E;
step 2.2: calculating the motion track points and the laser incidence postures of the robot according to the processing area, and calculating the robot motion speed V of the starting end point of each straight line segment, the time t for reaching a uniform motion state and the tail end postures of the planning robot to finish segmented laser shock processing in the process that the tail end of the robot holds the object to be processed to sequentially pass through each motion track point;
and the movement speed V of the robot is calculated by the spot size D, the lap joint ratio P and the laser emergent frequency H to obtain:
V＝D*(1-P)*H (1)
the calculation formula of the time t for the robot to reach the uniform motion state is as follows:
t＝V/a (2)
the strengthening processing process of the workpiece comprises the following steps:
step 3.1: determining the impact position of the confined water according to the reinforced area and the surface form of the workpiece;
step 3.2: the control system controls the opening of the light path and the water path, and the starting of the laser and the setting of energy and frequency;
and (3) performing step (b).3: the tail end of the robot holds an object to be processed and moves to an appointed target position in sequence according to the track point, and the object moves in coordination with the laser and the constrained layer water feeding device to finish the strengthening processing of the workpiece; wherein during the intensified machining process, the machining position p is not vertical to the incident posture i The resulting energy effects are energy compensated.
The robot tail end, the laser and the restraint layer water delivery device move in a coordinated mode, and the method comprises the following steps:
the control system controls the robot to move according to a planned track after receiving a machining starting instruction, the time for triggering the laser to emit light is adjusted in the control system according to the t through signal interaction of the laser and the robot in the moving process, the movement of the robot is matched with the laser strengthening position, and the surface state of the strengthened workpiece is uniform and stable;
wherein, the water delivery position follows the laser strengthening position by moving the water delivery device of the constraint layer before processing.
The machining position p being non-perpendicular to the incident attitude i The generated energy influence is used for energy compensation, and the method comprises the following steps:
the laser intensification of the incident angle theta due to interference, shielding, etc i Not always equal to 90 degrees, and calculating an incident angle theta according to the area normal and the actual posture of the tail end of the robot i ；
p i Setting energy E of a point i Theoretical energy E required for surface strengthening 0 And angle of incidence theta i The relationship of (1) is:
E i ＝E 0 /sin(θ i )。
energy and equipment state real-time supervision in the course of working, check energy size and safe state among the control process, if meet unusual stop processing, self-closing laser instrument, robot stop motion, including the following steps:
step 4.1: real-time inspection of the machining energy value E of the laser output Mi And E with i Comparing to obtain deviation E err ＝E Mi -E i If E is err Alarm if greater than the allowable error；
Step 4.2: inquiring the running states of the laser, the robot and the water delivery device of the constraint layer in real time to ensure normal processing;
step 4.3: an operator monitors the processing and feedback information of the equipment in real time through the control system;
step 4.4: and the system process database records historical processing data in real time and updates and stores the historical processing data.
A high-efficiency laser shock peening control system based on process parameter matching comprises the following program modules: the system comprises an interface module, a platform parameter initialization module, a processing track planning module, a workpiece strengthening processing process control module, a real-time energy and equipment state monitoring module and a visualization module in the processing process, wherein when the program module is loaded, the method steps of any one of claims 1-8 are executed, and efficient laser shock strengthening control based on process parameter matching is realized.
The interface module comprises a process parameter setting unit, a laser control unit, a light path and water path control unit and a processing visual display area; the process parameter setting unit is used for inputting a processing object to be sent to the background, calculating the processing parameters and the processing track by a processing track planning module of the background, and feeding back and displaying the calculation results of the processing parameters and the processing track; the laser control unit is used for inputting the starting of the laser, setting the energy and frequency and sending the setting to the platform parameter initialization module of the background; the light path water path control unit is used for inputting a light path motion adjusting instruction and a water path motion adjusting instruction to a platform parameter initialization module or a workpiece strengthening processing process control module at the background before or during the processing process; and the processing visualization display area unit is used for receiving the drawing instruction of the visualization module to perform real-time simulation graphic display on the laser shock peening process.
The invention has the following advantages:
1. according to the invention, by carrying out integrated control on all subsystems of the platform, the automatic processing process of laser shock peening of parts is realized.
2. The invention matches the process processing parameters in the track calculation process, obviously improves the efficiency of the whole processing process and stabilizes the processing quality.
3. The control system of the invention adopts a safe production means of real-time energy monitoring and equipment state monitoring, thereby ensuring the safety of the whole processing process.
4. The method has the advantages that the process parameters, the curvature change of the processed curved surface, the acceleration of the robot movement and other factors are comprehensively considered in the track planning process, the robot movement is completely matched with the light emitting frequency of the laser, the laser can work at a high frequency of 10HZ or even 20HZ, the processing efficiency is greatly improved, and the platform can reach a high-speed stable processing state. And detecting the impact energy value and the safety state of equipment operation in real time in the machining process, and automatically giving an alarm if an abnormality occurs. The control method ensures the safety and high efficiency of the whole laser shock peening process and reaches the international leading level.
Drawings
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a schematic diagram of the optical path of the apparatus of the present invention;
FIG. 3 is a flow chart of the method of the present invention;
FIG. 4 is a software interface diagram of the control system of the present invention;
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms than those specifically described herein, and it will be apparent to those skilled in the art that many more modifications are possible without departing from the inventive concepts herein, and it is therefore intended that this invention not be limited to the specific embodiments disclosed below.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The invention relates to a high-efficiency laser shock peening control method based on process parameter matching, which is further described in detail by combining a strengthening example of the edge of a curved surface part.
The device adopted by the implementation of the invention consists of 1 industrial robot, a robot tail end clamping tool, 1 high-power laser, 1 optical platform, a constrained layer water feeding device and 1 upper computer control system, and the invention adopts a Kuka KR30 industrial robot and a radium treasure high-power laser.
The overall structure of the system is shown in figure 1, a control system is installed on an industrial personal computer, a network card of an upper computer is connected with a switch through a network cable, the switch is connected with a robot, a laser and an optical platform through the network cable, and a clamping tool clamps a processing object to be connected.
The device structure of the optical platform consists of a lens and an electric sliding table for controlling the lens to move, and the size of a light spot at the processing position of the laser is adjusted by adjusting the position of the lens. Electronic slip table includes: bottom support, upper portion platform are equipped with driving motor, linear motion module on the platform, install focusing lens on the linear motion module, and the linear motion module drives focusing lens along laser light path direction removal under driving motor's control.
The device structure of the constrained layer water delivery device consists of a bracket and a water outlet universal pipe, and the universal pipe can be adjusted according to the position of a workpiece, so that a water film can be formed on the surface of the workpiece. Before processing, the bracket of the water delivery device of the restraint layer can be manually moved, so that the water delivery position follows the laser strengthening position.
The tail end clamping tool of the robot can adopt the existing clamp form and is installed at the tail end of the robot through a flange. The invention relates to a high-efficiency laser shock peening control method based on process parameter matching, which comprises the following steps:
step 1: the control system can carry out integrated control on the equipment of the platform;
step 2: selecting a processing object, determining processing parameters, and planning a processing track according to the processing parameters;
and 3, step 3: according to the processing technological parameters, the control system controls the running states of the light path and the water path, completes the starting of the laser, the setting of energy and frequency, controls the robot to move to a target position, coordinates with the laser to move, and completes the strengthening processing of the workpiece;
and 4, step 4: and detecting the impact energy value and the safety state of equipment operation in real time in the control process, recording main processing data, and automatically giving an alarm if the main processing data is abnormal.
The implementation process comprises the following steps:
step 1: the control system can carry out integrated control on the equipment of the impact reinforcement platform;
and the upper computer control system controls the laser light-emitting frequency, the energy, the pre-burning, the working and other instructions. And the upper computer control system controls the optical platform to adjust the position of the optical lens to complete the setting of the focal position and the size of the light spot of the laser. And the upper computer control system controls the selection and the track running of the robot program. And the upper computer control system controls the opening and closing of the water feeding device of the constraint layer and controls the thickness of the water film by controlling the water flow.
Step 1.1: the control system controls the light path system to complete the switching of light spots with different diameters (such as 2mm circular light spots and 3mm circular light spots);
step 1.2: the control system controls the water delivery device of the restriction layer to complete the control of main states such as opening and closing, flow rate adjustment and the like; finishing initialization operations such as water film thickness adjustment of the constraint layer;
step 1.3: the control system controls the laser to finish automatic control of main operations such as pre-burning (namely starting the xenon lamp for pre-burning), working (namely discharging the xenon lamp), switching on the optical gate to output laser, energy, frequency, pulse width and the like; step 2: selecting a processing object, determining processing parameters and finishing the processing track planning;
step 2.1: according to a processing object, selecting or newly establishing processing technological parameters from a technological database equipped by a control system, wherein the technological parameters mainly comprise main processing indexes such as spot size D, lap joint rate P, laser light emitting frequency H, energy E and the like.
Step 2.2: calculating the motion track points and the laser incidence postures of the robot according to the processing area, and calculating the robot motion speed V of the starting end point of each straight line segment, the time t for reaching a uniform motion state and the tail end postures of the planning robot to finish segmented laser shock processing in the process that the tail end of the robot holds the object to be processed to sequentially pass through each motion track point;
the motion track point is a plurality of straight line segments which are obtained by dividing a plane or curved surface processing area, the end points of the straight line segments are used as the motion track points of the robot, and the laser incidence attitude is a planned robot tail end attitude so that the surface of an object to be processed can be vertically hit by laser;
calculating the movement speed V of the robot by the spot size D, the lap joint ratio P and the laser light emitting frequency H, paying attention to the setting of the acceleration a of the robot in the movement speed calculation process, and calculating the time t for controlling the robot to reach a uniform movement state.
V＝D*(1-P)*H (1)
t＝V/a (2)
The matching of the linear velocity and the angular velocity is noticed in the motion velocity calculation process, so that the robot keeps constant motion within a certain range. In this example, D =3mm, overlap ratio P =0.25, H =10Hz, acceleration a =1m/s -2 Then
V＝0.03*(1-0.25)*10＝0.225m/s，
t＝0.225s。
And step 3: the control system starts the process, and the flow chart of the process of the system is shown in figure 3. According to the processing technological parameters, the control system outputs instructions to control the running states of the light path and the water path and complete the starting of the laser and the setting of energy and frequency; controlling the robot to move to a target position, and coordinating with the laser to complete the strengthening processing of the workpiece;
step 3.1: according to the type of the strengthening area and the type of the workpiece, the impact position of the confined water is determined, generally, the position is obliquely above the position of the light spot, a water film in a certain area is formed on the surface of the workpiece under the action of gravity and impact, the water film can cover the position of the light spot, the thickness of the water film can be adjusted, and the type of the workpiece is a processing curved surface or a processing plane.
Step 3.2: the control system controls the opening of the light path and the water path, and the starting of the laser, the energy setting and the frequency setting.
Step 3.3: the tail end of the robot holds an object to be processed to move to a specified target position, and the object to be processed moves in coordination with the laser and the water delivery device of the constraint layer to finish the strengthening processing of the workpiece. And in the process of strengthening processing, energy compensation is carried out on the condition that the posture change is large.
Robot motion and laser light emitting coordination control: and selecting a processing path program, controlling the robot to move to a pre-processing position by the control system, controlling the robot to finish track movement, finishing light emitting and stopping operation of the laser through signal interaction of the laser and the robot in the movement process, and finishing the strengthening processing of the workpiece.
The method comprises the following specific steps:
and after receiving the machining starting instruction, the control system controls the robot to move according to the planned track, and the time for triggering the laser to emit light is adjusted in the control system according to the t, so that the movement of the robot is matched with the laser strengthening position, and the surface state of the strengthened workpiece is uniform and stable.
For working positions p not perpendicular to the laser incidence attitude i The generated energy influence is used for energy compensation, and the method comprises the following steps:
the laser intensification of the incident angle theta due to interference, shielding, etc i Not always equal to 90 degrees, and calculating the incident angle theta according to the normal direction and the actual posture of the area i 。
p i Setting energy E of a point i Theoretical energy E required for surface strengthening 0 And angle of incidence theta i The relationship of (1) is:
E i ＝E 0 /sin(θ i )。
and 4, step 4: and detecting the impact energy value and the running safety state of the equipment in real time in the control process, if the processing is stopped in case of abnormity, automatically closing the laser, stopping the robot to move, recording main processing data, and if the processing is abnormal, automatically alarming. Step 4.1: real-time inspection of the processing energy value E Mi And E with i Comparing to obtain deviation E err ＝E Mi -E i If E is err And if the error is larger than the allowable error, alarming.
Step 4.2: and the running states of equipment such as a laser, a robot and the like are inquired in real time, and normal processing is ensured.
Step 4.3: the operating state of the equipment can be clearly known by an operator through the monitoring equipment.
Step 4.4: and the system process database records historical processing data in real time and updates and stores the historical processing data.
Control system operational interface as shown in fig. 4, the control system comprises: the system comprises an interface module, a platform parameter initialization module, a processing track planning module, a workpiece strengthening processing process control module, an energy and equipment state real-time monitoring module in the processing process and a visualization module, wherein the interface module comprises a process parameter setting unit, a laser control unit, a light path water path control unit and a processing visualization display area. The process parameter setting unit is used for inputting a processing object to be sent to the background, calculating the processing parameters and the processing track by a processing track planning module of the background, and feeding back and displaying the calculation results of the processing parameters and the processing track; the laser control unit is used for inputting the starting of the laser, setting the energy and frequency and sending the setting to the platform parameter initialization module of the background; the light path water path control unit is used for inputting a light path motion adjusting instruction and a water path motion adjusting instruction to a platform parameter initialization module or a workpiece strengthening processing process control module at the background before or during the processing process; and the processing visual display area unit is used for receiving the drawing instruction of the visual module to perform real-time simulation graphic display on the laser shock peening process. Platform parameter initialization module: the control system outputs an instruction to carry out initialization parameter setting on equipment of the platform; a processing track planning module: selecting a processing object, determining processing parameters, and planning a processing track according to the processing parameters; the workpiece strengthening processing process control module comprises: according to the processing technological parameters, the control system outputs instructions to control the running states of the light path and the water path and complete the starting of the laser and the setting of energy and frequency; controlling the robot to move to a target position, and coordinating with the laser to complete the strengthening processing of the workpiece; energy and equipment state real-time supervision module in the course of working: and in the control process, the impact energy value and the safety state of equipment operation are detected in real time, main processing data are recorded, and if the main processing data are abnormal, an alarm is automatically given.
While the foregoing is directed to the preferred embodiment of the present invention, it will be appreciated by those skilled in the art that various changes and modifications may be made therein without departing from the principles of the invention as set forth in the appended claims.
Claims (10)
1. The invention relates to a high-efficiency laser shock peening control method based on process parameter matching, which is characterized by comprising the following steps of:
platform parameter initialization: the control system outputs an instruction to carry out initialization parameter setting on equipment of the platform;
planning a processing track: selecting a processing object, determining processing parameters, and planning a processing track according to the processing parameters;
controlling the strengthening processing process of the workpiece: according to the processing technological parameters, the control system outputs instructions to control the running states of the light path and the water path and complete the starting of the laser and the setting of energy and frequency; controlling the robot to move to a target position, and coordinating with the laser to complete the strengthening processing of the workpiece;
energy and equipment state real-time monitoring in the processing process: and in the control process, the impact energy value and the safety state of equipment operation are detected in real time, main processing data are recorded, and if the main processing data are abnormal, an alarm is automatically given.
2. The efficient laser shock peening control method based on process parameter matching according to claim 1, wherein the control system outputs an instruction to perform initialization parameter setting on equipment of the platform, and the method comprises the following steps:
step 1.1: the control system outputs an instruction to control the light path platform to drive the focusing lens to move on the laser light path, and the focusing lens is used for changing the diameter of a light spot when a workpiece is struck;
step 1.2: controlling the water delivery device of the restraint layer to be opened and closed, and adjusting the flow rate of the delivered water;
step 1.3: the control system outputs instructions to control the laser to complete the parameter settings of pre-burning, discharging, opening the optical gate, energy, frequency and pulse width.
3. The efficient laser shock peening control method based on process parameter matching according to claim 1, wherein the process trajectory planning of the trajectory robot is completed according to the process parameters of the processing object, and the method comprises the following steps:
step 2.1: selecting or creating processing technological parameters from a technological database equipped by a control system according to a processing object, wherein the technological parameters comprise spot size D, lap joint ratio P, laser light emitting frequency H and energy size E;
step 2.2: and calculating the motion track points and the laser incidence postures of the robot according to the processing area, and calculating the robot motion speed V of the starting end point of each straight line segment, the time t for reaching a uniform motion state and the tail end postures of the planning robot to finish segmented laser shock processing in the process that the tail end of the robot holds the object to be processed to sequentially pass through each motion track point.
4. The efficient laser shock peening control method based on process parameter matching according to claim 3, wherein the calculated robot movement speed V is obtained by calculating a spot size D, a lap joint ratio P, and a laser light emission frequency H:
V＝D*(1-P)*H (1)
the calculation formula of the time t for the robot to reach the uniform motion state is as follows:
t＝V/a (2)。
5. the efficient laser shock peening control method based on process parameter matching according to claim 1, wherein the peening process of the workpiece comprises the following steps:
step 3.1: determining the impact position of the confined water according to the reinforced area and the surface form of the workpiece;
step 3.2: the control system controls the opening of the light path and the water path, and the starting of the laser and the setting of energy and frequency;
step 3.3: the tail end of the robot holds an object to be processed and moves to an appointed target position in sequence according to the track point, and the object moves in coordination with the laser and the constrained layer water feeding device to finish the strengthening processing of the workpiece; wherein during the intensified working process, the working position p is not vertical to the incident posture i The resulting energy effects are energy compensated.
6. The efficient laser shock peening control method based on process parameter matching according to claim 5, wherein the robot tail end moves in coordination with a laser and a constrained layer water delivery device, and the method comprises the following steps:
the control system receives a machining starting instruction and then controls the robot to move according to a planned track, signal interaction between the laser and the robot is carried out in the moving process, the time for triggering the laser to emit light is adjusted in the control system according to the t, the robot moves to be matched with the laser strengthening position, and the surface state of a strengthened workpiece is uniform and stable;
wherein, the water delivery position follows the laser strengthening position by moving the water delivery device of the constraint layer before processing.
7. The efficient laser shock peening control method based on process parameter matching as claimed in claim 5, wherein the processing position p which is not vertical to the incident attitude i The generated energy influence is compensated, and the method comprises the following steps:
the laser-intensified incident angle theta due to the existence of interference, shielding, etc i Not always equal to 90 degrees, and calculating an incident angle theta according to the area normal and the actual posture of the tail end of the robot i ；
p i Setting energy E of a point i Theoretical energy E required for surface strengthening 0 And angle of incidence theta i The relationship of (1) is:
E i ＝E 0 /sin(θ i )。
8. the efficient laser shock peening control method based on process parameter matching according to claim 1, wherein energy and equipment states in the machining process are monitored in real time, energy size and safety states are checked in the control process, if machining is stopped due to abnormality, a laser is automatically turned off, and a robot stops moving, and the method comprises the following steps:
step 4.1: real-time inspection of the machining energy value E of the laser output Mi And E with i Comparing to obtain deviation E err ＝E Mi -E i If E is err If the error is larger than the allowable error, alarming;
step 4.2: inquiring the running states of the laser, the robot and the water delivery device of the restraint layer in real time to ensure normal processing;
step 4.3: an operator monitors the processing and feedback information of the equipment in real time through a control system;
step 4.4: and the system process database records historical processing data in real time and updates and stores the historical processing data.
9. A high-efficiency laser shock peening control system based on process parameter matching is characterized in that the control system internally comprises the following program modules: the system comprises an interface module, a platform parameter initialization module, a processing track planning module, a workpiece strengthening processing process control module, an energy and equipment state real-time monitoring module and a visualization module, wherein when the program module is loaded, the method steps of any one of claims 1-8 are executed, and efficient laser shock strengthening control based on process parameter matching is realized.
10. The efficient laser shock peening control system based on process parameter matching according to claim 9, wherein the interface module comprises a process parameter setting unit, a laser control unit, a light path water path control unit and a processing visual display area; the process parameter setting unit is used for inputting a processing object to be sent to the background, calculating the processing parameters and the processing track by a processing track planning module of the background, and feeding back and displaying the calculation results of the processing parameters and the processing track; the laser control unit is used for inputting the starting of the laser, setting the energy and frequency and sending the setting to the platform parameter initialization module of the background; the light path waterway control unit is used for inputting a light path movement adjusting instruction and a waterway movement adjusting instruction to a background platform parameter initialization module or a workpiece strengthening processing process control module before or during the processing process; and the processing visual display area unit is used for receiving the drawing instruction of the visual module to perform real-time simulation graphic display on the laser shock peening process.
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