WO2020248660A1

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

Info

Publication number: WO2020248660A1
Application number: PCT/CN2020/082779
Authority: WO
Inventors: 张永康; 刘迎春; 刘建新; 刘俊; 单晓明; 李毓洲; 林超辉; 吴清源
Original assignee: 广东镭奔激光科技有限公司
Priority date: 2019-06-14
Filing date: 2020-04-01
Publication date: 2020-12-17
Also published as: CN110394554B; CN110394554A

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

An off-line programming method for robot motion trajectory enhanced by impeller disk laser shock

Technical field

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.

Background technique

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.

Summary of the invention

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.

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) 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) 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) 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) 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) 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) 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.

As a preferred technical solution of the present invention, the second point finding method is as follows:

Beam A: display the incident direction of the laser beam; beam B: display the emission direction of the laser beam;

The intersection of AB is the actual laser shock strengthened working face C;

(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) 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.

The circle notation is:

(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) Fixed position: Determine the position of the first point by finding the point positioning ring, and save it in the program;

(3) Marking: load the marking ring under the TCP of the first point that has been positioned, and fix it on the part;

(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) Marking: Load the marking ring under the TCP of the second point that has been positioned, and fix it on the part;

Repeat steps (2) to (5) until the track points of all the parts that need impact strengthening are determined.

As a preferred technical solution of the present invention, the angle calculation method is a vector method.

The beneficial effects of the present invention are as follows:

(1) Through the offline programming method of the present invention, the angle of oblique impact in laser impact strengthening can be quantified;

(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) 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) Through the offline programming method of the present invention, the laser beam can be reached without interference;

(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.

Description of the drawings

Figure 1 is the first step diagram of the second point finding method;

Figure 2 is the second step diagram of the second point finding method;

Figure 3 is a diagram of the third step of the second point finding method;

Figure 4 Schematic diagram of circle marking method;

Figure 5 is a schematic diagram of the trace on the blade;

Figure 6 is an interference diagram of laser beam and parts;

Figure 7 is a flow chart of the overall track programming method.

Detailed ways

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.

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:

(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;

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:

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;

Beam A: Show the incident direction of the laser beam

Beam B: shows the direction of laser beam emission

The intersection of AB is the actual laser shock strengthened working face C

(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) 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.

Further, an off-line programming method for robot motion trajectory enhanced by laser shock on an impeller disk, the circle marking method is:

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.

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.

Taking an aero engine impeller disk as an example, the specific implementation steps are as follows:

(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) 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) 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) Add the overall model of the impeller disk and clamp to the TCP point at the end of the robot MH-400II;

(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)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) 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) After completing the program, click EX.MEMORY, then click SAVE to save the program;

(9) Click the Storage Card button in the Controller toolbar to call up the saved program and import it into the robot system;

(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.

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

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) 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) 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) 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) 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) 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) 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.
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:

Beam A: display the incident direction of the laser beam; beam B: display the emission direction of the laser beam;

The intersection of AB is the actual laser shock strengthened working face C;

(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) 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.
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) 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) Fixed position: Determine the position of the first point by finding the point positioning ring, and save it in the program;

(3) Marking: load the marking ring under the TCP of the first point that has been positioned, and fix it on the part;

(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) Marking: Load the marking ring under the TCP of the second point that has been positioned, and fix it on the part;

Repeat steps (2) to (5) until the track points of all the parts that need impact strengthening are determined.
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.