CN116533144A - Position calibration type shot blasting device and working method thereof - Google Patents
Position calibration type shot blasting device and working method thereof Download PDFInfo
- Publication number
- CN116533144A CN116533144A CN202310648149.XA CN202310648149A CN116533144A CN 116533144 A CN116533144 A CN 116533144A CN 202310648149 A CN202310648149 A CN 202310648149A CN 116533144 A CN116533144 A CN 116533144A
- Authority
- CN
- China
- Prior art keywords
- spray gun
- laser
- laser ranging
- ranging sensors
- spraying
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005422 blasting Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 21
- 239000007921 spray Substances 0.000 claims abstract description 85
- 238000005507 spraying Methods 0.000 claims abstract description 47
- 230000000694 effects Effects 0.000 abstract description 2
- 238000005728 strengthening Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000010410 layer Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000002344 surface layer Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
- B24C1/10—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for compacting surfaces, e.g. shot-peening
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
- B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C5/00—Devices or accessories for generating abrasive blasts
- B24C5/02—Blast guns, e.g. for generating high velocity abrasive fluid jets for cutting materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
-
- 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
- Y02P10/20—Recycling
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a position calibration type shot blasting device and a working method thereof. The spraying table is arranged in the spraying box. The mechanical arm is arranged on the spraying box; the spray gun is mounted on the mechanical arm. The calibration assembly includes a laser emitting base and three reference plates. The laser emission base is fixedly connected to the spray gun; three laser ranging sensors are arranged on the laser emission base. The laser emergent directions of the three laser ranging sensors are mutually perpendicular. Three datum plates are arranged in the spraying box; the three reference plates are respectively used for receiving laser rays emitted by the three laser ranging sensors to obtain the distances between the three laser ranging sensors and the corresponding reference plates. According to the invention, after the mechanical arm is reset, the spray gun is subjected to secondary calibration; the phenomenon that the positions of the nozzles of the spray guns are deviated due to gaps and the like in the shot blasting process of the spray guns is avoided, and therefore the shot blasting effect of the spray guns is affected.
Description
Technical Field
The invention belongs to the technical field of shot blasting, and particularly relates to a position calibration type shot blasting device and a working method thereof.
Background
The shot blasting process is also called shot blasting strengthening, and is one of effective methods for reducing the fatigue of the part and improving the service life, and the shot blasting treatment is to spray high-speed shot flow on the surface of the part so as to enable the surface layer of the part to generate plastic deformation to form a strengthening layer with a certain thickness, and higher residual stress is formed in the strengthening layer.
In the existing shot blasting process, because equipment is maintained and replaced, a gun support system is replaced, a mechanical arm collides when moving, or a gun is collided when in shot blasting experiments, and the like, the adjustment and the resetting of the spray gun are needed to be carried out again, and each adjustment and the resetting are realized by mechanical zeroing of the equipment, and the position of the spray gun is different from the initial programming position due to the influence of assembly gaps among the components such as the spray nozzle, the support and the like. The nozzle position has a great influence on shot coverage, and particularly in the positions of grooves, assembly holes, and the like where shot is small, extremely high accuracy is required. The existing equipment needs to reset zero position, and the position variation caused by the reasons during the operation of the spray gun cannot be guaranteed.
Disclosure of Invention
The invention aims to provide a position calibration type shot blasting device and a working method thereof.
In a first aspect, the present invention is a position-calibrated peening apparatus comprising a spray tank, a spray station, a robotic arm, a spray gun, and a calibration assembly. The spraying table is arranged in the spraying box. The mechanical arm is arranged on the spraying box; the spray gun is mounted on the mechanical arm.
The calibration assembly comprises a laser emission base and three reference plates. The laser emission base is fixedly connected to the spray gun; three laser ranging sensors are arranged on the laser emission base. The laser emergent directions of the three laser ranging sensors are mutually perpendicular. Three datum plates are arranged in the spraying box; the three reference plates are respectively used for receiving laser rays emitted by the three laser ranging sensors to obtain the distances between the three laser ranging sensors and the corresponding reference plates.
Before shot blasting operation is carried out on the spray gun, the three laser ranging sensors detect the distance between the three laser ranging sensors and the corresponding reference plate, and the spatial position of the spray gun in the spraying box is determined through the obtained three distance values, so that calibration of the initial position of the spray gun is completed.
Preferably, the robotic arm provides two degrees of freedom of movement to the spray gun such that the spray gun is movable within the spray booth in both axial and radial directions of the spray station.
Preferably, the spraying direction of the spray gun is perpendicular to the axis of the spraying table.
Preferably, the laser emission base is integrally formed with the housing of the spray gun.
Preferably, the receiving side surface of the reference plate is perpendicular to the laser emission of the corresponding laser ranging sensor.
Preferably, the spraying platform is mounted on a rotary lifting assembly. The rotary lifting assembly comprises an electric rotating table and an electric lifting sliding table. The electric lifting sliding table is arranged on the bottom surface of the inner cavity of the spraying box; the electric rotating table is arranged on the lifting part of the electric lifting sliding table. The spraying table is fixed with the rotating part of the electric rotating table.
In a second aspect, a calibration method of a position calibration type shot blasting device includes the following specific calibration steps:
step one, mounting a shot-blasted workpiece on a spraying table; the driving mechanical arm drives the spray gun to move, so that the three laser ranging sensors face the three reference plates respectively.
And secondly, transmitting laser to the corresponding reference plate by the three laser ranging sensors to obtain the distance between the laser ranging sensors and the reference plate, obtaining initial distance values of the three laser ranging sensors, determining coordinates of the spray gun in a space rectangular coordinate system according to the three initial distance values, and marking the coordinates as an operation origin.
Step three, the mechanical arm drives the spray gun to move, so that shot blasting treatment on a machined workpiece is completed;
step four, after shot blasting treatment is completed, the mechanical arm drives the spray gun to move towards the working origin; in the moving process of the spray gun, the laser ranging sensors detect the distance between the laser ranging sensors and the corresponding reference plate, and calculate the error between the obtained distance value and the initial distance value, and the spray gun is reset and stops moving when the difference between the distance values measured by the three laser ranging sensors and the corresponding initial distance value is smaller than an error threshold value.
And fifthly, replacing the shot blasting workpiece, and repeatedly executing the third and fourth steps.
Preferably, in the third step, three laser ranging sensors continuously detect the distance between the three laser ranging sensors and the corresponding reference plate, and the spatial position of the spray gun in the shot blasting process is determined through the obtained three distance values.
The invention has the beneficial effects that:
1. according to the invention, three laser ranging sensors are arranged; the space position of the spray gun is measured by three laser ranging sensors; comparing the positions of the reset points of the spray guns after each time to obtain a reset position error value of the spray guns; the error value is counted in the running program of the mechanical arm, and the running route of the mechanical arm is adjusted, so that the spraying of the spray gun is more accurate.
2. According to the invention, the spray gun and the laser emission base are integrally formed, so that the position deviation is avoided when the laser emission base is installed, and the position deviation of the spray nozzle of the spray gun in the calibration process is influenced.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a calibration assembly according to the present invention;
fig. 3 is a schematic view of the structure of the spray gun in the invention.
Wherein: 1. a spraying box; 2. a spraying table; 3. a mechanical arm; 4. a spray gun; 5. a laser emission base; 6-1, a first reference plate; 6-2, a second reference plate; 6-3, a third datum plate.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, a position-calibrated peening apparatus includes a spray tank 1, a spray table 2, a robot arm 3, a spray gun 4, a rotation lift assembly, and a calibration assembly. The rotary lifting assembly is installed in the spray booth 1. The rotary lifting assembly comprises an electric rotating table and an electric lifting sliding table. The electric lifting sliding table is arranged on the bottom surface of the inner cavity of the spraying box 1; the electric rotating table is arranged on the lifting part of the electric lifting sliding table. The spraying table 2 is fixed to a rotating portion of the electric rotating table. The electric lifting sliding table is used for adjusting the position of the processed workpiece before processing, and the phenomenon that the spraying area of the processed workpiece is located outside the stroke of the mechanical arm and cannot be sprayed is avoided. The mechanical arm 3 is arranged on one side wall of the spraying box 1; the mechanical arm 3 freely moves in the spraying box 1 along the axial direction and the radial direction of the spraying table 2. The spray gun 4 is mounted on the mechanical arm 3, and the spray direction of the spray gun 4 is perpendicular to the axis of the spraying table 2.
And a space rectangular coordinate system is established by taking the central point of the top surface of the spraying table 2 as a coordinate origin O. The axis direction of the spray table 2 is the z-axis, and the spray direction parallel to the spray gun 4 is the x-axis.
As shown in fig. 2 and 3, the calibration assembly includes a laser emitting base 5 and three reference plates. The laser emission base 5 is fixedly connected to the outer shell of the spray gun 4. Three laser ranging sensors are arranged on the laser emission base 5. The laser emitted by the three laser ranging sensors is parallel to the x, y and z axes respectively. The three reference plates are a first reference plate 6-1, a second reference plate 6-2 and a third reference plate 6-3, respectively. The first datum plate 6-1 and the second datum plate 6-2 are respectively fixedly connected to two mutually perpendicular side walls of the spraying box 1. The receiving sides of the first reference plate 6-1 and the second reference plate 6-2 are perpendicular to the x-axis and the y-axis, respectively. The third datum plate 6-3 is fixedly attached to the top surface of the spray booth 1 and the receiving side of the third datum plate 6-3 is perpendicular to the z-axis. The three reference plates are used for receiving laser emitted by the laser ranging sensor; from this the position of the lance 4 is calculated. By transferring the reset detection point of the device from the mechanical arm 3 to the spray gun 4, errors possibly existing in the process of installing the spray gun 4 and spraying the spray gun 4 are reduced, and the phenomena of incomplete spraying and low spraying effect caused by the errors are avoided.
The invention provides an unnecessary technical feature: the laser ranging sensor is detachably fixed on the laser emission base 5.
The invention provides an unnecessary technical feature: the laser emission base 5 is integrally formed with the housing of the spray gun 4.
The calibration steps of the invention are specifically as follows:
step one, a workpiece to be processed is placed on a spraying table 2, and the position of the workpiece to be processed is adjusted through an electric lifting sliding table, so that the processing area of the workpiece to be processed is positioned in the movement stroke of a spray gun.
And step two, driving the mechanical arm 3, wherein the mechanical arm 3 drives the spray gun 4 to be far away from the spraying table 2.
And thirdly, transmitting laser to the corresponding reference plate by the three laser ranging sensors to obtain the distance between the laser ranging sensors and the reference plate, obtaining initial distance values of the three laser ranging sensors, determining the coordinates of the spray gun 4 in a space rectangular coordinate system according to the three initial distance values, and marking the coordinates as an operation origin.
And fourthly, the mechanical arm 3 drives the spray gun 4 to move to the position where the workpiece is machined. The spray gun 4 carries out shot blasting treatment on the processed workpiece; simultaneously, in the process of shot blasting treatment of the spray gun 4, three laser ranging sensors emit laser; and recording in real time through the three datum plates to obtain the movement track of the spray gun 4.
Step five, after shot blasting treatment is completed, the mechanical arm drives the spray gun to move towards the working origin; in the moving process of the spray gun, the laser ranging sensors detect the distance between the laser ranging sensors and the corresponding reference plate, and calculate the error between the obtained distance value and the initial distance value, and the spray gun is reset and stops moving when the difference between the distance values measured by the three laser ranging sensors and the corresponding initial distance value is smaller than an error threshold value.
And step six, replacing the processed workpiece, and repeating the step four and the step five to shot blasting the rest processed workpiece.
Claims (8)
1. A position calibration type shot blasting device, characterized in that: the device comprises a spraying box (1), a spraying table (2), a mechanical arm (3), a spray gun (4) and a calibration assembly; the spraying table (2) is arranged in the spraying box (1); the mechanical arm (3) is arranged on the spraying box (1); the spray gun (4) is arranged on the mechanical arm (3);
the calibration assembly comprises a laser emission base and three reference plates; the laser emission base is fixedly connected to the spray gun (4); three laser ranging sensors are arranged on the laser emission base; the laser emergent directions of the three laser ranging sensors are mutually perpendicular; three datum plates are arranged in the spraying box (1); the three reference plates are respectively used for receiving laser rays emitted by the three laser ranging sensors to obtain the distances between the three laser ranging sensors and the corresponding reference plates;
before the shot blasting operation of the spray gun is carried out, the three laser ranging sensors detect the distance between the three laser ranging sensors and the corresponding reference plate, and the spatial position of the spray gun in the spraying box (1) is determined through the obtained three distance values, so that the calibration of the initial position of the spray gun is completed.
2. A position-calibrated peening apparatus according to claim 1, wherein: the mechanical arm (3) provides two degrees of freedom of movement for the spray gun (4) so that the spray gun (4) can move in the spraying box (1) along the axial direction and the radial direction of the spraying table (2).
3. A position-calibrated peening apparatus according to claim 1, wherein: the spraying direction of the spray gun (4) is perpendicular to the axis of the spraying table (2).
4. A position-calibrated peening apparatus according to claim 1, wherein: the laser emission base and the shell of the spray gun (4) are integrally formed.
5. A position-calibrated peening apparatus according to claim 1, wherein: the receiving side face of the reference plate is perpendicular to the laser emergent direction of the corresponding laser ranging sensor.
6. A position-calibrated peening apparatus according to claim 1, wherein: the spraying table (2) is arranged on the rotary lifting assembly; the rotary lifting assembly comprises an electric rotating table and an electric lifting sliding table; the electric lifting sliding table is arranged on the bottom surface of the inner cavity of the spraying box (1); the electric rotating platform is arranged on the lifting part of the electric lifting sliding table; the spraying table (2) is fixed with the rotating part of the electric rotating table.
7. A method of operating a position-calibrated peening device according to claim 1, wherein: the method comprises the following steps:
step one, mounting a shot-blasted workpiece on a spraying table (2); the driving mechanical arm (3) drives the spray gun to move, so that the three laser ranging sensors face the three reference plates respectively;
step two, the three laser ranging sensors emit laser to the corresponding reference plates to obtain the distance between the laser ranging sensors and the reference plates, initial distance values of the three laser ranging sensors are obtained, and the coordinates of the spray gun (4) in a space rectangular coordinate system are determined according to the three initial distance values and are recorded as the working origin;
step three, the mechanical arm (3) drives the spray gun (4) to move, so that shot blasting treatment on a processed workpiece is completed;
step four, after shot blasting treatment is completed, the mechanical arm (3) drives the spray gun (4) to move towards the working origin; in the moving process of the spray gun (4), the laser ranging sensors detect the distance between the spray gun and the corresponding reference plate, and calculate the error between the obtained distance value and the initial distance value, until the difference between the distance values measured by the three laser ranging sensors and the corresponding initial distance values is smaller than an error threshold value, the spray gun is reset and stops moving;
and fifthly, replacing the shot blasting workpiece, and repeatedly executing the third and fourth steps.
8. A method of operating a position-calibrated peening device according to claim 7, wherein: in the third step, three laser ranging sensors continuously detect the distance between the three laser ranging sensors and the corresponding reference plate, and the spatial position of the spray gun in the shot blasting process is determined through the obtained three distance values.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310648149.XA CN116533144A (en) | 2023-06-02 | 2023-06-02 | Position calibration type shot blasting device and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310648149.XA CN116533144A (en) | 2023-06-02 | 2023-06-02 | Position calibration type shot blasting device and working method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116533144A true CN116533144A (en) | 2023-08-04 |
Family
ID=87448863
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310648149.XA Pending CN116533144A (en) | 2023-06-02 | 2023-06-02 | Position calibration type shot blasting device and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116533144A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117381261A (en) * | 2023-12-13 | 2024-01-12 | 德阳市华建机械设备有限公司 | Automatic welding machine fault recognition device and method |
-
2023
- 2023-06-02 CN CN202310648149.XA patent/CN116533144A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117381261A (en) * | 2023-12-13 | 2024-01-12 | 德阳市华建机械设备有限公司 | Automatic welding machine fault recognition device and method |
| CN117381261B (en) * | 2023-12-13 | 2024-03-08 | 德阳市华建机械设备有限公司 | Automatic welding machine fault recognition device and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111299929B (en) | Method for automatically measuring and correcting welding gun posture of welding robot | |
| CN116533144A (en) | Position calibration type shot blasting device and working method thereof | |
| JP5199452B2 (en) | External system for improving robot accuracy | |
| JP3840271B2 (en) | Tool center point calibration method | |
| CN110978059B (en) | Portable six-axis manipulator calibration device and calibration method thereof | |
| US6668466B1 (en) | Highly accurate articulated coordinate measuring machine | |
| CN100503157C (en) | Surface shape determining device for a machining apparatus and surface shape determining method | |
| US7113878B1 (en) | Target for calibrating a non-contact sensor | |
| KR20010082137A (en) | Robotic laser pointer | |
| CN112642619A (en) | Intelligent spraying robot system and spraying method thereof | |
| US20060157533A1 (en) | Processing system | |
| EP2350750A1 (en) | A method and an apparatus for calibration of an industrial robot system | |
| CN111060063B (en) | Automatic positioning and aligning device and method for rotary barrel parts of cartridge receiver | |
| CN109631762A (en) | A kind of method that laser self-calibration realizes Zero calibration | |
| CN114082568B (en) | Off-line digital-analog planning system and method for large ship body segmented spraying operation | |
| CN109499796A (en) | A kind of coat thickness detection device and its paint finishing and spray painting control method | |
| CN106705880B (en) | A kind of large caliber reflecting mirror face shape profile detection method and device in place | |
| US10935968B2 (en) | Robot, robot system, and method for setting coordinate system of robot | |
| CN110893619A (en) | Industrial robot position appearance calibrating device based on laser tracker | |
| US10890427B2 (en) | Nozzle inspection method and apparatus | |
| CN112916515B (en) | Mechanical arm posture self-adaptive adjusting method for laser paint removal | |
| US11554506B2 (en) | Device and method for measuring repeated positioning precision of robotic arm | |
| CN209502046U (en) | A kind of coat thickness detection device and its paint finishing | |
| CN110722266B (en) | Manipulator assembly line type workpiece three-dimensional scanning and additive repairing device and method | |
| CN113733102A (en) | Error calibration device and method for industrial robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |