WO2020248660A1 - Off-line programming method for motion trajectory of impeller disk laser shock peening robot - Google Patents

Off-line programming method for motion trajectory of impeller disk laser shock peening robot Download PDF

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WO2020248660A1
WO2020248660A1 PCT/CN2020/082779 CN2020082779W WO2020248660A1 WO 2020248660 A1 WO2020248660 A1 WO 2020248660A1 CN 2020082779 W CN2020082779 W CN 2020082779W WO 2020248660 A1 WO2020248660 A1 WO 2020248660A1
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laser
point
robot
ring
marking
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PCT/CN2020/082779
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French (fr)
Chinese (zh)
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张永康
刘迎春
刘建新
刘俊
单晓明
李毓洲
林超辉
吴清源
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广东镭奔激光科技有限公司
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Priority to CN201910518101.0A priority Critical patent/CN110394554B/en
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Publication of WO2020248660A1 publication Critical patent/WO2020248660A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/352Working by laser beam, e.g. welding, cutting or boring for surface treatment
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators

Abstract

Disclosed is an off-line programming method for motion trajectory of an impeller disk shock peening robot. In a laser shock peening application process, the method determines the motion trajectory of a robot using a robot simulation software in combination with two special methods: a circular ring marking method and a secondary point finding method. While ensuring that a laser beam is reachable, the method can also guarantee that the laser beam does not interfere with other parts of a large-inclination-angle and small-space impeller disk, accurately quantify the oblique impact angle of each point, determine the parameters of a laser in laser shock peening by means of data such as angle, and optimize the laser shock peening process.

Description

一种叶轮盘激光冲击强化的机器人运动轨迹离线编程方法An off-line programming method for robot motion trajectory enhanced by impeller disk laser shock 技术领域Technical field
本发明涉及机器人轨迹优化技术领域,尤其涉及到一种叶轮盘激光冲击强化的机器人运动轨迹离线编程方法。The invention relates to the technical field of robot trajectory optimization, in particular to an off-line programming method for robot motion trajectory enhanced by laser impact of an impeller disk.
背景技术Background technique
激光冲击强化技术,作为比较前言的表面处理技术,在航空发动机领域有了大量的应用,但是其中的例如整体叶盘、叶片有着复杂的曲面,其自由曲面外形尺寸精度与表面粗糙度对提高其流体动力学性能至关重要,所以在激光冲击强化的过程中要保证激光冲击强化每一个参数可控,在达到零件寿命要求的同时,保证零件的表面质量,因此,在激光冲击强化的过程中,需要机器人与激光冲击强化设备的配合,其中机器人的运动轨迹,对于激光冲击强化这个过程极其的重要,以往采取在线编程的技术,工作量巨大,而且对于激光冲击强化的每一个参数都不可控,无法精确的获得激光光束斜冲击的角度,无法实现每一个点的能量可控,激光功率密度可控,激光光斑搭接率可控;现在亟需一种针对复杂曲面零件激光冲击强化的机器人运动轨迹离线编程的方法,来满足实验和生产工作的需求。Laser shock strengthening technology, as a comparatively prefaced surface treatment technology, has a large number of applications in the field of aero-engines, but among them, for example, blisks and blades have complex curved surfaces. The shape and surface roughness of their free-form surfaces improve their accuracy. Fluid dynamics performance is very important, so in the process of laser shock strengthening, it is necessary to ensure that each parameter of laser shock strengthening is controllable. While meeting the life requirements of the parts, the surface quality of the parts is guaranteed. Therefore, in the process of laser shock strengthening , The cooperation of robots and laser shock strengthening equipment is required. The motion trajectory of the robot is extremely important for the laser shock strengthening process. In the past, online programming technology was used, and the workload was huge, and every parameter of laser shock strengthening was uncontrollable. , It is impossible to accurately obtain the angle of the oblique impact of the laser beam, control the energy of each point, control the laser power density, and control the overlap rate of the laser spot; now there is an urgent need for a robot for laser shock strengthening of complex curved parts The method of offline programming of motion trajectory can meet the needs of experiment and production work.
发明内容Summary of the invention
本发明针对现有技术的缺陷和实际生产的需求,提供一种叶轮盘激光冲击强化的机器人运动轨迹离线编程方法,通过该方法能够保证激光光束可达的同时,保证激光光束与大倾角小空间叶轮盘其他部位不干涉,精确量化每一个点的斜冲击角度,通过角度等数据,确定激 光冲击强化中激光器的参数,优化激光冲击强化的过程。Aiming at the defects of the prior art and actual production requirements, the present invention provides an off-line programming method for robot motion trajectory enhanced by laser impact of an impeller disk. This method can ensure that the laser beam is reachable while ensuring that the laser beam and the large inclination angle are small. The other parts of the impeller disk do not interfere, and the oblique impact angle of each point is accurately quantified. Through the angle and other data, the parameters of the laser in the laser shock strengthening are determined, and the laser shock strengthening process is optimized.
为实现上述目的,提供一种叶轮盘激光冲击强化的机器人运动轨迹离线编程方法,所述的方法包括以下步骤:In order to achieve the above objective, an offline programming method of robot motion trajectory enhanced by laser shock of an impeller disk is provided. The method includes the following steps:
(1)根据实验室机器人,激光光束的空间位置数据,在机器人仿真软件的中设定机器人的原点位置和激光光束的TCP点位置;(1) According to the laboratory robot and the spatial position data of the laser beam, set the origin position of the robot and the TCP point position of the laser beam in the robot simulation software;
(2)利用三维软件绘制两条模拟激光光束的圆柱体,一条用于找点定位圆环体和两条标记用的圆环体,分别用不同颜色表示,便于区分;(2) Use three-dimensional software to draw two cylinders that simulate laser beams, one for finding points and positioning torus and two torus for marking, which are expressed in different colors for easy distinction;
(3)将两条模拟激光光束的圆柱体,一个用于找点定位圆环体以及零件导入机器人系统的中,并添加到设定的坐标系下;(3) Import two cylinders that simulate laser beams, one for finding points and positioning the torus and parts into the robot system, and add it to the set coordinate system;
(4)通过二次找点法确定每一个激光冲击强化点的位置,通过圆环标记法标记光斑搭接状态以及轨迹方向的确定,并将数据保存到程序中,保证需要斜冲击的部位激光光束可达的同时激光光束与零件其他部位不干涉,激光冲击强化搭接率可控,编程的轨迹清晰可见;(4) Determine the position of each laser impact strengthening point through the second point finding method, and use the circle marking method to mark the spot overlap state and the determination of the track direction, and save the data in the program to ensure that the laser is required for oblique impact. When the beam is reachable, the laser beam does not interfere with other parts of the part, the lap rate of laser shock strengthening is controllable, and the programmed trajectory is clearly visible;
(7)在软件中通过动画演示轨迹预演示轨迹程序,确定每一个点激光光束可达且与其他部位不干涉;(7) Pre-demonstrate the trajectory program through the animation demonstration of the trajectory in the software, and make sure that each point of the laser beam is reachable and does not interfere with other parts;
(8)通过两条模拟激光光束的圆柱体的空间位置,计算出每一个斜冲击点的激光入射角度,进而确定每一个激光冲击强化的参数,并对参数进行优化。(8) Calculate the laser incident angle of each oblique impact point through the spatial position of the two cylinders that simulate the laser beam, and then determine the parameters of each laser impact strengthening, and optimize the parameters.
作为本发明的一种优选技术方案,二次找点法如下:As a preferred technical solution of the present invention, the second point finding method is as follows:
光束A:显示激光束入射方向;光束B:显示激光束射出方向;Beam A: display the incident direction of the laser beam; beam B: display the emission direction of the laser beam;
AB交汇处为实际激光冲击强化工作面C;The intersection of AB is the actual laser shock strengthened working face C;
(1)不干涉:调整光束B的角度,使光束B与其延长线和零件不存在干涉;(1) Non-interference: adjust the angle of beam B so that there is no interference between beam B and its extension lines and parts;
(2)定夹角:以光束B端点为外部TCP取垂直工作面C,此时零件与光束A不干涉,且可反求光束A与工作面C之间的夹角,精确确定光束A与工作面C之间的入射角。(2) Fixed included angle: Take the end point of beam B as the external TCP and take the vertical working surface C. At this time, the part does not interfere with beam A, and the included angle between beam A and working surface C can be inverted to accurately determine beam A and The incident angle between working faces C.
其中圆环标记法为:The circle notation is:
(1)定尺寸:根据激光束光斑直径确定圆环外径大小,根据搭接率计算出圆环内径大小,根据需要确定圆环高度为0.2mm;(1) Fixed size: Determine the outer diameter of the ring according to the laser beam spot diameter, calculate the inner diameter of the ring according to the overlap rate, and determine the height of the ring as 0.2mm according to the needs;
(2)定位置:通过找点定位圆环确定第一个点的位置,并保存至程序中;(2) Fixed position: Determine the position of the first point by finding the point positioning ring, and save it in the program;
(3)做标记:将标记圆环加载到已经定好位置的第一个点的TCP下,并固定在零件上;(3) Marking: load the marking ring under the TCP of the first point that has been positioned, and fix it on the part;
(4)定搭接:通过找点定位圆环确定第二个点的位置,使得找点定位圆环的外径与第一个点的定位圆环的内径相切;(4) Fixed lap joint: Determine the position of the second point by finding the location ring, so that the outer diameter of the location ring is tangent to the inner diameter of the location ring at the first point;
(5)做标记:将标记圆环加载到已经定好位置的第二个点的TCP下,并固定在零件上;(5) Marking: Load the marking ring under the TCP of the second point that has been positioned, and fix it on the part;
重复步骤(2)~(5),直到所有需要冲击强化部位的轨迹点的确定。Repeat steps (2) to (5) until the track points of all the parts that need impact strengthening are determined.
作为本发明的一种优选技术方案,所述的角度计算方法为向量法。As a preferred technical solution of the present invention, the angle calculation method is a vector method.
本发明的有益效果如下:The beneficial effects of the present invention are as follows:
(1)通过本发明的这种离线编程方式,能够量化激光冲击强化中斜冲击的角度;(1) Through the offline programming method of the present invention, the angle of oblique impact in laser impact strengthening can be quantified;
(2)通过本发明的这种离线编程方式,能够实现各种复杂曲面的激光冲击强化的轨迹的优化设计;(2) Through the offline programming method of the present invention, the optimized design of the trajectory of laser shock strengthening of various complex curved surfaces can be realized;
(3)通过本发明的这种离线编程方式,能够减少编程的工作量,优化编程过程中的视觉效果,更具有灵活性;(3) Through the offline programming method of the present invention, the workload of programming can be reduced, the visual effect in the programming process can be optimized, and it has more flexibility;
(4)通过本发明的这种离线编程方式,能够保证激光光束可达且不干涉;(4) Through the offline programming method of the present invention, the laser beam can be reached without interference;
(5)通过本发明的这种离线编程方式,能够优化激光冲击强化的每一个参数,保证每一个点的形貌,残余应力等要求。(5) Through the offline programming method of the present invention, each parameter of laser shock strengthening can be optimized, and the morphology, residual stress and other requirements of each point can be guaranteed.
附图说明Description of the drawings
图1为二次找点法的第一步骤图;Figure 1 is the first step diagram of the second point finding method;
图2为二次找点法的第二步骤图;Figure 2 is the second step diagram of the second point finding method;
图3为二次找点法的第三步骤图;Figure 3 is a diagram of the third step of the second point finding method;
图4圆环标记法示意图;Figure 4 Schematic diagram of circle marking method;
图5为叶片上标记轨迹示意图;Figure 5 is a schematic diagram of the trace on the blade;
图6为激光光束与零件干涉图;Figure 6 is an interference diagram of laser beam and parts;
图7为整体轨迹编程方法的流程图。Figure 7 is a flow chart of the overall track programming method.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
请结合图7,本发明提供如下技术方案,一种叶轮盘激光冲击强化的机器人运动轨迹离线编程方法,所述的方法包括以下步骤:With reference to Fig. 7, the present invention provides the following technical solution, an off-line programming method for robot motion trajectory enhanced by laser shock of an impeller disk, the method includes the following steps:
(1)根据实验室机器人,激光光束的空间位置数据,在机器人仿真软件的中设定机器人的原点位置和激光光束的TCP点位置;(1) According to the laboratory robot and the spatial position data of the laser beam, set the origin position of the robot and the TCP point position of the laser beam in the robot simulation software;
(2)利用三维软件绘制两条模拟激光光束的圆柱体,一条用于找点定位圆环体和两条标记用的圆环体,分别用不同颜色表示,便于区分;(2) Use three-dimensional software to draw two cylinders that simulate laser beams, one for finding points and positioning torus and two torus for marking, which are expressed in different colors for easy distinction;
(3)将两条模拟激光光束的圆柱体,一个用于找点定位圆环体以及零件导入机器人系统的中,并添加到设定的坐标系下;(3) Import two cylinders that simulate laser beams, one for finding points and positioning the torus and parts into the robot system, and add it to the set coordinate system;
(4)通过二次找点法确定每一个激光冲击强化点的位置,通过圆环标记法标记光斑搭接状态以及轨迹方向的确定,标记轨迹如图5所示,并将数据保存到程序中,保证需要斜冲击的部位激光光束可达的同时激光光束与零件其他部位不干涉,激光光束对零件干涉如图6所示,激光冲击强化搭接率可控,编程的轨迹清晰可见;(4) Determine the position of each laser shock strengthened point by the method of finding the point twice, and determine the overlapping state of the spot and the direction of the trajectory by the circular marking method. The trajectory of the marking is shown in Figure 5, and the data is saved in the program , To ensure that the laser beam can reach the part that needs oblique impact, and the laser beam does not interfere with other parts of the part. The interference of the laser beam on the part is shown in Figure 6. The overlap rate of laser impact enhancement is controllable and the programmed track is clearly visible;
(7)在软件中通过动画演示轨迹预演示轨迹程序,确定每一个点激光光束可达且与其他部位不干涉;(7) Pre-demonstrate the trajectory program through the animation demonstration of the trajectory in the software, and make sure that each point of the laser beam is reachable and does not interfere with other parts;
(8)通过两条模拟激光光束的圆柱体的空间位置,计算出每一个斜冲击点的激光入射角度,进而确定每一个激光冲击强化的参数,并对参数进行优化。(8) Calculate the laser incident angle of each oblique impact point through the spatial position of the two cylinders that simulate the laser beam, and then determine the parameters of each laser impact strengthening, and optimize the parameters.
进一步地,一种叶轮盘激光冲击强化的机器人运动轨迹离线编程方法,所述的二次找点法如下:Further, an off-line programming method for robot motion trajectory enhanced by laser shock-strengthened impeller disk, the second method of finding points is as follows:
在零件曲面角度较大,工作空间较小的地方,光束A与工作面C 垂直时,激光光束容易与零件其他部位存在干涉如图1;Where the angle of the part's curved surface is large and the working space is small, when the beam A is perpendicular to the working surface C, the laser beam is likely to interfere with other parts of the part as shown in Figure 1;
光束A:显示激光束入射方向Beam A: Show the incident direction of the laser beam
光束B:显示激光束射出方向Beam B: shows the direction of laser beam emission
AB交汇处为实际激光冲击强化工作面CThe intersection of AB is the actual laser shock strengthened working face C
(1)不干涉:调整光束B的角度(分别绕X,Y,Z轴旋转x.y.z角度),使光束B与其延长线和零件不存在干涉,如图2。(1) Non-interference: Adjust the angle of beam B (rotate x.y.z around the X, Y, and Z axes respectively) so that there is no interference between beam B and its extension lines and parts, as shown in Figure 2.
(2)定夹角:以光束B端点为外部TCP取垂直工作面C,此时零件与光束A不干涉,且可反求光束A与工作面C之间的夹角,精确确定光束A与工作面C之间的入射角,如图3。(2) Fixed included angle: Take the end point of beam B as the external TCP and take the vertical working surface C. At this time, the part does not interfere with beam A, and the included angle between beam A and working surface C can be inverted to accurately determine beam A and The incident angle between the working face C is shown in Figure 3.
进一步地,一种叶轮盘激光冲击强化的机器人运动轨迹离线编程方法,所述的圆环标记法为:Further, an off-line programming method for robot motion trajectory enhanced by laser shock on an impeller disk, the circle marking method is:
(1)定尺寸:根据激光束光斑直径确定圆环外径大小,根据搭接率计算出圆环内径大小,根据需要确定圆环高度为0.2mm;(1) Fixed size: Determine the outer diameter of the ring according to the laser beam spot diameter, calculate the inner diameter of the ring according to the overlap rate, and determine the height of the ring as 0.2mm according to the needs;
(2)定位置:通过找点定位圆环确定第一个点的位置,并保存至程序中;(2) Fixed position: Determine the position of the first point by finding the point positioning ring, and save it in the program;
(3)做标记:将标记圆环加载到已经定好位置的第一个点的TCP下,并固定在零件上;(3) Marking: load the marking ring under the TCP of the first point that has been positioned, and fix it on the part;
(4)定搭接:通过找点定位圆环确定第二个点的位置,使得找点定位圆环的外径与第一个点的定位圆环的内径相切;(4) Fixed lap joint: Determine the position of the second point by finding the location ring, so that the outer diameter of the location ring is tangent to the inner diameter of the location ring at the first point;
(5)做标记:将标记圆环加载到已经定好位置的第二个点的TCP下,并固定在零件上;(5) Marking: Load the marking ring under the TCP of the second point that has been positioned, and fix it on the part;
重复步骤(2)~(5),直到所有需要冲击强化部位的轨迹点的确 定,圆环标记法如图4所示。Repeat steps (2) ~ (5) until the track points of all the parts that need to be impact strengthened are determined. The circle marking method is shown in Figure 4.
进一步地,一种叶轮盘激光冲击强化的机器人运动轨迹离线编程方法,所述的角度计算方法为向量法。Further, in an offline programming method of a robot motion trajectory enhanced by laser shock of an impeller disk, the angle calculation method is a vector method.
以航空发动机叶轮盘为例,具体实施步骤如下:Taking an aero engine impeller disk as an example, the specific implementation steps are as follows:
(1)根据实验室机器人,激光光束的空间位置数据,在机器人仿真软件的word(世界坐标)中设定机器人的原点位置和激光光束的TCP点位置并命名为“LASERTCP”;(1) According to the laboratory robot and the spatial position data of the laser beam, set the origin position of the robot and the TCP point position of the laser beam in the word (world coordinates) of the robot simulation software and name it "LASERTCP";
(2)利用UG等三维软件根据激光光斑直径3mm绘制两条相同直径模拟用激光光束,长度为1000mm,分别用红、黑两种颜色表示,命名为LASER-red、LASER-black,文件格式为.hsf;另外再绘制三条外径为3mm,内径根据光斑搭接率30%,取直径为1.2mm,厚度为0.2mm的圆环柱体,分别用黄、蓝、绿三种颜色表示,命名为LASER-yellow、LASER-blue、LASER-green,文件格式为.hsf;(2) Use three-dimensional software such as UG to draw two simulation laser beams with the same diameter according to the laser spot diameter of 3mm. The length is 1000mm. They are expressed in red and black colors, named LASER-red and LASER-black. The file format is .hsf; In addition, draw three more circular cylinders with an outer diameter of 3mm and an inner diameter of 30% based on the spot overlap rate. Take a circular cylinder with a diameter of 1.2mm and a thickness of 0.2mm, which are represented by three colors of yellow, blue, and green, and named It is LASER-yellow, LASER-blue, LASER-green, and the file format is .hsf;
(3)点击HOME工具栏中的CadTree按钮展开整体整套系统的模型树,将LASER-red、LASER-black添加到LASERTCP中,并将LASER-red的Rx值修改为180,使两条激光光束成180°,最后再把LASER-green挂到LASER-black光束模型上;(3) Click the CadTree button in the HOME toolbar to expand the model tree of the entire system, add LASER-red and LASER-black to LASERTCP, and modify the Rx value of LASER-red to 180, so that the two laser beams become 180°, finally hang the LASER-green on the LASER-black beam model;
(4)将叶轮盘与夹具体的整体模型添加到机器人MH-400II末端TCP点上;(4) Add the overall model of the impeller disk and clamp to the TCP point at the end of the robot MH-400II;
(5)点击Controller工具栏中的Show按钮,调出机器人示教器,点击JOB,再点击CREATE NEW JOB,在JOB NAME里面命名为zhengtiyepan,在GROUP SET里面选择R1,再点击EXECUTE,新建完成程序;(5) Click the Show button in the Controller toolbar to call up the robot teach pendant, click JOB, then click CREATE NEW JOB, name it zhengtiyepan in JOB NAME, select R1 in GROUP SET, and click EXECUTE to create a new and complete program ;
(6)利用二次找点法选定叶轮盘叶片激光冲击强化轨迹的起始点,并将位置保存程序中,与此同时在LASER-green下添加 LASER-yellow,再将LASER-yellow赋予到叶轮盘叶片上,作为位置标记,再根据第一个点的位置,选择第二个点的位置,并将位置保存程序中,与此同时在LASER-green下添加LASER-blue,再将LASER-blue赋予到叶轮盘叶片上,作为位置标记,使得LASER-yellow的外径与LASER-green内径相切,如图5所示;(6)Using the method of secondary finding point to select the starting point of the laser shock enhanced trajectory of the impeller disk blade, and save the position in the program, at the same time add LASER-yellow under LASER-green, and then assign LASER-yellow to the impeller As a position mark on the disc blade, select the position of the second point according to the position of the first point and save the position in the program. At the same time, add LASER-blue under LASER-green, and then LASER-blue Assign it to the blade of the impeller disc as a position mark, so that the outer diameter of LASER-yellow is tangent to the inner diameter of LASER-green, as shown in Figure 5;
(7)按照上述方法依次寻找叶轮盘叶片上叶根部分,叶尖部分的激光冲击强化的冲击点,在寻找每一个点的同时,点击Controller工具栏中的Show按钮,调出机器人示教器,依次点击INSERT、ENTER按钮保存程序;(7) Follow the above method to search for the impact points of the upper blade root part and the tip part of the impeller blade by laser shock strengthening. While searching for each point, click the Show button in the Controller toolbar to call up the robot teach pendant , Click INSERT, ENTER in turn to save the program;
(8)完成程序的编制后,再点击EX.MEMORY,再点击SAVE保存程序;(8) After completing the program, click EX.MEMORY, then click SAVE to save the program;
(9)点击Controller工具栏中的Storage Card按钮,调出保存的程序,并导入机器人系统中;(9) Click the Storage Card button in the Controller toolbar to call up the saved program and import it into the robot system;
(10)通过每一个点的LASER-red、LASER-black的空间位置数据,计算和量化每一个点的斜冲击角度,规划每一个点的激光冲击强化参数。(10) Calculate and quantify the oblique impact angle of each point through the spatial position data of LASER-red and LASER-black of each point, and plan the laser impact strengthening parameters of each point.
尽管已经示出和描述了本发明的实施例,对于本领域的普通技术人员而言,可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型,本发明的范围由所附权利要求及其等同物限定。Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. And variations, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (4)

  1. 一种叶轮盘激光冲击强化的机器人运动轨迹离线编程方法,其特征在于,所述的方法包括以下步骤:An off-line programming method for robot motion trajectory enhanced by laser shock of impeller disk, characterized in that the method comprises the following steps:
    (1)根据实验室机器人,激光光束的空间位置数据,在机器人仿真软件的中设定机器人的原点位置和激光光束的TCP点位置;(1) According to the laboratory robot and the spatial position data of the laser beam, set the origin position of the robot and the TCP point position of the laser beam in the robot simulation software;
    (2)利用三维软件绘制两条模拟激光光束的圆柱体,一条用于找点定位圆环体和两条标记用的圆环体,分别用不同颜色表示,便于区分;(2) Use three-dimensional software to draw two cylinders that simulate laser beams, one for finding points and positioning torus and two torus for marking, which are expressed in different colors for easy distinction;
    (3)将两条模拟激光光束的圆柱体,一个用于找点定位圆环体以及零件导入机器人系统的中,并添加到设定的坐标系下;(3) Import two cylinders that simulate laser beams, one for finding points and positioning the torus and parts into the robot system, and add it to the set coordinate system;
    (4)通过二次找点法确定每一个激光冲击强化点的位置,通过圆环标记法标记光斑搭接状态以及轨迹方向的确定,并将数据保存到程序中,保证需要斜冲击的部位激光光束可达的同时激光光束与零件其他部位不干涉,激光冲击强化搭接率可控,编程的轨迹清晰可见;(4) Determine the position of each laser impact strengthening point through the second point finding method, and use the circle marking method to mark the spot overlap state and the determination of the track direction, and save the data in the program to ensure that the laser is required for oblique impact. When the beam is reachable, the laser beam does not interfere with other parts of the part, the lap rate of laser shock strengthening is controllable, and the programmed trajectory is clearly visible;
    (7)在软件中通过动画演示轨迹预演示轨迹程序,确定每一个点激光光束可达且与其他部位不干涉;(7) Pre-demonstrate the trajectory program through the animation demonstration of the trajectory in the software, and make sure that each point of the laser beam is reachable and does not interfere with other parts;
    (8)通过两条模拟激光光束的圆柱体的空间位置,计算出每一个斜冲击点的激光入射角度,进而确定每一个激光冲击强化的参数,并对参数进行优化。(8) Calculate the laser incident angle of each oblique impact point through the spatial position of the two cylinders that simulate the laser beam, and then determine the parameters of each laser impact strengthening, and optimize the parameters.
  2. 根据权利要求1的一种叶轮盘激光冲击强化的机器人运动轨迹离线编程方法,其特征在于:所述的二次找点法如下:The method for offline programming of robot motion trajectory enhanced by laser shock-strengthened impeller disk according to claim 1, wherein the second method of finding points is as follows:
    光束A:显示激光束入射方向;光束B:显示激光束射出方向;Beam A: display the incident direction of the laser beam; beam B: display the emission direction of the laser beam;
    AB交汇处为实际激光冲击强化工作面C;The intersection of AB is the actual laser shock strengthened working face C;
    (1)不干涉:调整光束B的角度,使光束B与其延长线和零件不存在干涉;(1) Non-interference: adjust the angle of beam B so that there is no interference between beam B and its extension lines and parts;
    (2)定夹角:以光束B端点为外部TCP取垂直工作面C,此时零件与光束A不干涉,且可反求光束A与工作面C之间的夹角,精确确定光束A与工作面C之间的入射角。(2) Fixed included angle: Take the end point of beam B as the external TCP and take the vertical working surface C. At this time, the part does not interfere with beam A, and the included angle between beam A and working surface C can be inverted to accurately determine beam A and The incident angle between working faces C.
  3. 根据权利要求1的一种叶轮盘激光冲击强化的机器人运动轨迹离线编程方法,其特征在于:所述的圆环标记法为:The method for offline programming of robot motion trajectory enhanced by laser shock-strengthened impeller disk according to claim 1, wherein the ring marking method is:
    (1)定尺寸:根据激光束光斑直径确定圆环外径大小,根据搭接率计算出圆环内径大小,根据需要确定圆环高度为0.2mm;(1) Fixed size: Determine the outer diameter of the ring according to the laser beam spot diameter, calculate the inner diameter of the ring according to the overlap rate, and determine the height of the ring as 0.2mm according to the needs;
    (2)定位置:通过找点定位圆环确定第一个点的位置,并保存至程序中;(2) Fixed position: Determine the position of the first point by finding the point positioning ring, and save it in the program;
    (3)做标记:将标记圆环加载到已经定好位置的第一个点的TCP下,并固定在零件上;(3) Marking: load the marking ring under the TCP of the first point that has been positioned, and fix it on the part;
    (4)定搭接:通过找点定位圆环确定第二个点的位置,使得找点定位圆环的外径与第一个点的定位圆环的内径相切;(4) Fixed lap joint: Determine the position of the second point by finding the location ring, so that the outer diameter of the location ring is tangent to the inner diameter of the location ring at the first point;
    (5)做标记:将标记圆环加载到已经定好位置的第二个点的TCP下,并固定在零件上;(5) Marking: Load the marking ring under the TCP of the second point that has been positioned, and fix it on the part;
    重复步骤(2)~(5),直到所有需要冲击强化部位的轨迹点的确定。Repeat steps (2) to (5) until the track points of all the parts that need impact strengthening are determined.
  4. 根据权利要求1的一种叶轮盘激光冲击强化的机器人运动轨迹离线编程方法,其特征在于:所述的角度计算方法为向量法。An off-line programming method for robot motion trajectory enhanced by laser shock-strengthened impeller disk according to claim 1, wherein the angle calculation method is a vector method.
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