CN111060026B - Method for detecting cladding quality based on laser displacement sensor coaxial powder feeding equipment - Google Patents
Method for detecting cladding quality based on laser displacement sensor coaxial powder feeding equipment Download PDFInfo
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- CN111060026B CN111060026B CN201911412110.8A CN201911412110A CN111060026B CN 111060026 B CN111060026 B CN 111060026B CN 201911412110 A CN201911412110 A CN 201911412110A CN 111060026 B CN111060026 B CN 111060026B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
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- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C24/00—Coating starting from inorganic powder
- C23C24/08—Coating starting from inorganic powder by application of heat or pressure and heat
- C23C24/10—Coating starting from inorganic powder by application of heat or pressure and heat with intermediate formation of a liquid phase in the layer
- C23C24/103—Coating with metallic material, i.e. metals or metal alloys, optionally comprising hard particles, e.g. oxides, carbides or nitrides
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The invention relates to a method for detecting cladding quality based on a laser displacement sensor coaxial powder feeding device, which comprises the following steps: firstly, a servo motor moves according to a motion track specified by a processing program; secondly, the controller compares the actual coordinate position of the cladding head fed back by the servo motor encoder relative to the machine tool for cladding the workpiece with the signal position of the workpiece monitored by the laser displacement sensor, judges whether the position deviation of the cladding head and the workpiece exceeds the deviation range of the signals acquired by the laser displacement sensor set in advance, and automatically processes the signals; meanwhile, the controller compares the actual coordinate position of the cladding head fed back by the servo motor encoder relative to the machine tool for cladding the workpiece with the preplanned command position of the servo motor, judges whether the position deviation of the cladding head and the servo motor exceeds the preset automatic adjustment deviation range of the servo motor, and automatically adjusts the servo motor. The detection method can realize ultra-stable high-precision measurement on all workpieces which are difficult to detect.
Description
Technical Field
The invention belongs to the technical field of additive manufacturing, and particularly relates to a method for detecting cladding quality based on a laser displacement sensor coaxial powder feeding device.
Background
The coaxial powder feeding laser cladding technology is an important development direction of the laser rapid prototyping technology, and the laser rapid prototyping equipment can be divided into two main technical directions of powder laying type and coaxial powder feeding type cladding technology according to different powder feeding modes. The powder spreading device of the powder spreading type 3D printing equipment comprises a powder storage chamber, a powder spreading shaft and a scraper blade, wherein in a workpiece printing area, a path scanned by laser is solidified into a solid structure, then the whole substrate of the printing area descends to a certain height, the scraper blade scrapes 3D printing metal powder in the powder storage chamber to the printing area, the 3D printing metal powder covers the surface of a formed printing workpiece, and a new layer of printing forming process is started. The powder feeding process of the coaxial powder feeding type 3D printing equipment is characterized in that a powder feeder continuously inputs 3D printing metal powder materials, the metal powder is heated and melted and rapidly solidified under the inert gas protective atmosphere, and is metallurgically bonded with a base material to finally form a printing piece with a certain geometric shape.
The working principle of the powder laying type 3D printing equipment is different from that of the coaxial powder feeding type 3D printing equipment, but the powder laying type 3D printing equipment and the coaxial powder feeding type 3D printing equipment adopt a high-energy laser beam to carry out rapid melting and rapid solidification molding technology on metal powder materials. Compared with other rapid forming technologies, the coaxial powder feeding technology has the characteristics of short period, low cost, high flexibility, high performance and the like. However, the problem that the flatness of the surface of the cladding layer is poor compared with that of powder-laying equipment due to the influence of the powder feeding amount along with the change of the moving direction also exists. When the conventional coaxial powder feeding equipment is used for printing large-size workpieces, a craftsman often needs to stop laser cladding after printing a certain number of layers, and detect the cladding quality of the surfaces of the workpieces and detect whether the problems of cracking and deformation of the surfaces of the cladding parts caused by uneven distribution of thermal stress or residual stress of the cladding parts exist in the cladding process.
At present, a real-time cladding quality detection technology aiming at coaxial powder feeding laser cladding forming is not adopted at home, and a camera shooting or visual sensor method is mainly adopted at foreign countries for the real-time cladding quality detection technology aiming at the coaxial powder feeding laser cladding forming. However, this technique has several problems: 1) the CCD industrial camera for shooting or vision is influenced by the smoke dust in the processes of laser intensity and cladding, and the identification error is still large after the algorithm correction; 2) image processing is needed for detecting the cladding quality, and the image processing speed seriously restricts the cladding speed, so that the cladding speed cannot be fast, and the cladding efficiency is not high.
The existing large-size coaxial powder feeding printing equipment and technology have the problem that full-automatic printing cannot be realized. Therefore, how to introduce an automatic real-time detection cladding quality technology, realizing that the whole printing process does not need to be stopped for detection, becoming a coaxial powder feeding laser cladding device to improve the cladding quality, improve the cladding processing efficiency and reduce the work load of operating process personnel.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method for detecting cladding quality based on a laser displacement sensor coaxial powder feeding device, and the detection method can realize ultra-stable high-precision measurement on all workpieces which are difficult to detect.
The invention is realized in this way, a method for detecting cladding quality based on the coaxial powder feeding equipment of the laser displacement sensor, the coaxial powder feeding equipment based on the laser displacement sensor comprises a controller, a timer, a buffer, two laser displacement sensors and a servo motor, wherein the controller is respectively connected with the timer, the buffer, the two laser displacement sensors and the servo motor, the two laser displacement sensors are respectively connected with the buffer, each laser displacement sensor emits blue laser with the wavelength of 405nm, and the two laser displacement sensors are arranged at a certain angle and are arranged above a workpiece to be detected;
the method for detecting cladding quality comprises the following steps:
1) adjusting the objective lenses of the two laser displacement sensors to focus the laser emitted by the two laser displacement sensors, and simultaneously, only receiving the reflected laser with the wave band of 405nm by the light receiving components of the two laser displacement sensors;
setting a motion track specified by a processing program in advance, acquiring a deviation range of signals by a laser displacement sensor, and automatically adjusting the deviation range by a servo motor;
2) firstly, a controller sends an instruction to a servo motor according to a motion track specified by a processing program, and the servo motor moves; the servo motor encoder feeds back the actual coordinate position information of the cladding head relative to the machine tool for cladding the workpiece, and the laser displacement sensor collects the position information of the cladding head relative to the cladding workpiece in real time in the moving process of the servo motor;
secondly, the controller compares the actual coordinate position of the cladding head fed back by the servo motor encoder relative to the machine tool for cladding the workpiece with the signal position of the workpiece monitored by the laser displacement sensor, judges whether the position deviation of the cladding head and the workpiece exceeds the deviation range of the signals acquired by the laser displacement sensor set in advance, and automatically processes the signals; the laser displacement sensor automatically acquires position data information for multiple times in the process of acquiring the position data, and after preprocessing a plurality of groups of acquired digital quantity information, effective position data information is put into a global variable array of the buffer; the preprocessing of the digital quantity information acquired by the laser displacement sensor is independently completed by an internal acquisition chip of the laser displacement sensor, the internal acquisition chip of the laser displacement sensor traverses the array by adopting a method of circular nesting and mutual difference for each group of digital quantity information, whether each group of digital quantity information is effective or not is judged according to whether the calculated difference value exceeds the preset deviation range of the acquisition signal of the laser displacement sensor, and if the difference value exceeds the specified range, the group of digital quantity information is invalid and is not used any more.
Meanwhile, the servo motor preplanned instruction position data obtained according to the movement track specified by the processing program and the effective position data acquired by the laser displacement sensor are put into a buffer, and the controller judges whether the number of effective digital quantity information acquired by the laser displacement sensor in the current buffer meets a preset condition or not; and if the preset condition is not met, continuously putting the collected effective position data into the buffer from the laser displacement sensor. If the preset conditions are met, the controller takes the needed front M groups of position data, takes the average value of the taken M groups of position data, compares the average value with the actual coordinate position value (here, the feedback position of a servo motor encoder) of the machine tool, and judges whether the actual cladding position reaches the preplanning command position within the specified time; if the command arrives, the servo motor runs to the pre-planning command position without adjustment; if the position information does not reach the preset position deviation range, the position data in the servo motor encoder is kept and uploaded to the controller, and the controller judges whether the position information which does not reach exceeds the preset position deviation range; if the deviation range of the pre-planned command position is not exceeded, the servo motor is abandoned to be adjusted; if the deviation range exceeds the position deviation range of the pre-planning instruction, the movement direction and the speed of the servo motor are automatically adjusted according to the error direction; the single comparison trace ends.
In the above technical solution, preferably, each time the comparison is started, the single comparison process is controlled within 20ms by setting a timer, and if the time does not reach, the time is delayed; if the time exceeds, the data is sent out, and the next comparison operation is carried out, so that the phenomenon that the data calculation time is inconsistent and the communication is blocked is prevented.
In the above technical solution, preferably, when the servo motor needs to be adjusted, whether the adjustment value is within the adjustment range is determined according to the adjustment range set for the servo motor by the controller, and if the adjustment value exceeds the adjustment range, the adjustment is abandoned. The adjustment strategy is to simplify the control instruction sent by the controller to the servo motor, so as to achieve the purpose of reducing misoperation of the servo motor caused by slight vibration in the motion process and the fact that the laser displacement sensor meets an obstacle in operation.
In the above technical solution, preferably, the controller is configured with a clipping filtering algorithm.
The invention has the advantages and positive effects that:
1) the laser displacement sensor adopts 405nm blue laser, focuses the 405nm short-wavelength laser by using the objective lens, and the light receiving component also receives the laser on the wave band, which is not mutually influenced with the 1064nm wave band laser commonly used in laser cladding, so that a clear and stable high-precision profile can be generated on the light receiving component. In addition, the light receiving density of the laser is improved, the light intensity can be ensured, and ultra-stable high-precision measurement can be realized for all workpieces which are difficult to detect.
2) The method adopts two groups of laser displacement sensors which are arranged at a certain angle, blue laser emitted by the two groups of laser sensors is irradiated alternately, multiple reflected lights can be distinguished and eliminated in a system by calculating the acquired light intensity difference, and the influence of external environment light and various emitted lights is eliminated.
3) And an amplitude limiting filtering algorithm is configured in the controller, so that the fluctuation of pattern data caused by vibration of the equipment in the high-speed cladding processing process is reduced, and the influence on the detection result is avoided.
Drawings
Fig. 1 is a schematic diagram of a cladding quality detection device based on a laser displacement sensor coaxial powder feeding device according to an embodiment of the present invention;
fig. 2 is a working flow chart for detecting cladding quality based on a laser displacement sensor coaxial powder feeding device provided by the embodiment of the invention;
fig. 3 is a comparison of the inspection profile of the signal of the laser displacement sensor after photoelectric conversion by using the conventional red laser (a) and the blue laser (b) provided by the embodiment of the present invention.
In the figure: 1. a laser displacement sensor; 2. and cladding the workpiece.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It will be appreciated by those of skill in the art that the following specific examples or embodiments are illustrative of a series of preferred arrangements of the invention to further explain the principles of the invention, and that such arrangements may be used in conjunction or association with one another, unless it is explicitly stated that some or all of the specific examples or embodiments cannot be used in conjunction or association with other examples or embodiments in the invention. Meanwhile, the following specific examples or embodiments are only provided as an optimized arrangement mode and are not to be understood as limiting the protection scope of the present invention.
In addition, it should be understood by those skilled in the art that the specific values set forth in the following detailed description and examples are for illustration purposes and are not to be construed as limiting the scope of the invention; the algorithms and their parameter settings are also only used for exemplary purposes, and the formal transformation of the parameters and the conventional mathematical derivation of the algorithms are all considered to fall within the scope of the present invention.
Referring to fig. 1 and 2, the embodiment provides a method for detecting cladding quality based on a laser displacement sensor coaxial powder feeding device, where the laser displacement sensor coaxial powder feeding device includes a controller, a timer, a buffer, two laser displacement sensors, and a servo motor, the controller is respectively connected to the timer, the buffer, the two laser displacement sensors, and the servo motor, the two laser displacement sensors are respectively connected to the buffer, each laser displacement sensor emits blue laser with a wavelength of 405nm, and the two laser displacement sensors are arranged at a certain angle and installed above a workpiece to be detected;
the method for detecting cladding quality comprises the following steps:
1) adjusting the objective lenses of the two laser displacement sensors to focus the laser emitted by the two laser displacement sensors, and meanwhile, only receiving the reflected laser with the wave band of 405nm by the light receiving components of the two laser displacement sensors, so that the laser with the wave band can be distinguished from other multiple reflected lights, and the interference of ambient light on the collected data is avoided;
setting a motion track specified by a processing program in advance, acquiring a deviation range of signals by a laser displacement sensor, and automatically adjusting the deviation range by a servo motor;
2) firstly, a servo motor moves according to a movement track specified by a processing program; the controller sends an instruction to the servo motor according to a movement track specified by a processing program, the servo motor encoder feeds back the actual coordinate position information of the cladding head relative to the machine tool of the cladding workpiece, and the laser displacement sensor collects the position information of the cladding head relative to the cladding workpiece in real time in the movement process of the servo motor;
secondly, the controller compares the actual coordinate position of the cladding head fed back by the servo motor encoder relative to the machine tool for cladding the workpiece with the signal position of the workpiece monitored by the laser displacement sensor, judges whether the position deviation of the cladding head and the workpiece exceeds the deviation range of the signals acquired by the laser displacement sensor set in advance, and automatically processes the signals; the regulation process belongs to the feedforward regulation of a motion control system, and is an open-loop control system formed by the direct control action of an input or disturbance signal (feedforward signal). When the controller sends out a motion track signal, the motor does not immediately send out a feedback signal, but the laser displacement sensor sends out a feedforward signal after receiving stimulation to act on the servo motor, so that the servo motor can make adaptive response as soon as possible and regulate and control the motion in time. The feedforward control system can avoid the fluctuation and the reaction hysteresis reaction caused by overusing when in negative feedback regulation, so that the regulation control is quicker and faster. In consideration of the badness of the cladding environment, for example, smoke and dust appear in the cladding process, the laser displacement sensor automatically collects position data information for multiple times, in this embodiment, 10 times are set, and after 10 sets of collected digital quantity information are preprocessed, effective position data information is put into a global variable array of a buffer; the actual position of the workpiece is monitored by the laser displacement sensor in real time, and is compared with the actual coordinate position of the cladding head relative to the machine tool for cladding the workpiece, which is fed back by the servo motor encoder. The running direction and position information of the servo motor are controlled by the digital quantity information collected by the laser displacement sensor, so that the method is very important for preprocessing the digital signals. The preprocessing of the digital quantity information acquired by the laser displacement sensor is independently completed by an internal acquisition chip of the laser displacement sensor, the internal acquisition chip of the laser displacement sensor traverses the array by adopting a method of circular nesting and mutual difference for each group of digital quantity information, whether each group of digital quantity information is effective or not is judged according to whether the calculated difference value exceeds the preset deviation range of the acquisition signal of the laser displacement sensor, and if the difference value exceeds the specified range, the group of digital quantity information is invalid and is not used any more. The judgment range is determined by the field environment and the precision of the laser displacement sensor, and is set in advance according to the process requirements.
Meanwhile, the servo motor preplanned instruction position data obtained according to the movement track specified by the processing program and the effective position data acquired by the laser displacement sensor are put into a buffer, and the controller judges whether the number of effective digital quantity information acquired by the laser displacement sensor in the current buffer meets a preset condition or not; and if the preset condition is not met, continuously putting the collected effective position data into the buffer from the laser displacement sensor. If the preset conditions are met, the controller takes the needed front M groups of position data, takes the average value of the taken M groups of position data, compares the average value with the actual coordinate position value (here, the feedback position of a servo motor encoder) of the machine tool, and judges whether the actual cladding position reaches the preplanning command position within the specified time; if the command arrives, the servo motor runs to the pre-planning command position without adjustment; if the position information does not reach the preset position deviation range, the position data in the servo motor encoder is kept and uploaded to the controller, and the controller judges whether the position information which does not reach exceeds the preset position deviation range; if the deviation range of the pre-planned command position is not exceeded, the servo motor is abandoned to be adjusted; if the deviation range exceeds the position deviation range of the pre-planning instruction, the movement direction and the speed of the servo motor are automatically adjusted according to the error direction; the adjustment process belongs to negative feedback adjustment of a motion control system, an instruction position serves as a system input end, an actual position serves as a system output end, negative feedback adjustment enables output to play a role opposite to input, errors between system output and a system target are reduced, and the system tends to be stable. The single comparison trace ends.
As a preferred embodiment, in order to be able to perform the effect of the comparison operation on the running speed for a large amount of data, the following procedure is optimized for the whole comparison process. When the comparison is started each time, the single comparison process is controlled within 20ms by setting a timer, and if the time does not reach the time, the time is delayed; if the time exceeds, the data is sent out, and the next comparison operation is carried out, so that the phenomenon that the data calculation time is inconsistent and the communication is blocked is prevented.
In a preferred embodiment, the controller is configured with a clipping filtering algorithm, and the principle of the clipping filtering algorithm is to determine the maximum deviation value (set as a) allowed by two sampling according to an empirical judgment, and judge each time a new value is detected:
if the difference between the current value and the previous value is less than or equal to A, the current value is valid;
if the difference between the current value and the previous value is greater than A, the current value is invalid, the current value is abandoned, and the previous value is used for replacing the current value;
the maximum deviation value A needs to be obtained through a debugging test, and is obtained by comparing the acquired data with the position and time curve of the actual motion of the servo motor.
In a preferred embodiment, when the servo motor needs to be adjusted, whether the adjustment value is within the adjustment range is judged according to the adjustment range set by the controller for the servo motor, and if the adjustment value exceeds the adjustment range, the adjustment is abandoned. The adjustment strategy is to simplify the control instruction sent by the controller to the servo motor, so as to achieve the purpose of reducing misoperation of the servo motor caused by slight vibration in the motion process and the fact that the laser displacement sensor meets an obstacle in operation.
As shown in fig. 3, the comparison between the inspection profile of the signal of the blue laser (b) of the present invention and the inspection profile of the signal of the conventional red laser (a) after photoelectric conversion by the laser displacement sensor shows that the blue laser of the present invention can form a clear and stable high-precision profile.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: it is to be understood that modifications may be made to the technical solutions described in the foregoing embodiments, or some or all of the technical features may be equivalently replaced, and the modifications or the replacements may not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (3)
1. A method for detecting cladding quality based on a laser displacement sensor coaxial powder feeding device is characterized by comprising the following steps: the coaxial powder feeding equipment based on the laser displacement sensors comprises a controller, a timer, a buffer, two laser displacement sensors and a servo motor, wherein the controller is respectively connected with the timer, the buffer, the two laser displacement sensors and the servo motor, the two laser displacement sensors are respectively connected with the buffer, each laser displacement sensor emits blue laser with the wavelength of 405nm, and the two laser displacement sensors are arranged at a certain angle and are arranged above a workpiece to be measured;
the method for detecting cladding quality comprises the following steps:
1) adjusting the objective lenses of the two laser displacement sensors to focus the laser emitted by the two laser displacement sensors, and simultaneously, only receiving the reflected laser with the wave band of 405nm by the light receiving components of the two laser displacement sensors;
setting a motion track specified by a processing program in advance, acquiring a deviation range of signals by a laser displacement sensor, and automatically adjusting the deviation range by a servo motor;
2) firstly, a controller sends an instruction to a servo motor according to a motion track specified by a processing program, and the servo motor moves; the servo motor encoder feeds back the actual coordinate position information of the cladding head relative to the machine tool for cladding the workpiece, and the laser displacement sensor collects the position information of the cladding head relative to the cladding workpiece in real time in the moving process of the servo motor;
secondly, the controller compares the actual coordinate position of the cladding head fed back by the servo motor encoder relative to the machine tool for cladding the workpiece with the signal position of the workpiece monitored by the laser displacement sensor, judges whether the position deviation of the cladding head and the workpiece exceeds the deviation range of the signals acquired by the laser displacement sensor set in advance, and automatically processes the signals; the laser displacement sensor automatically acquires position data information for multiple times in the process of acquiring the position data, and after preprocessing a plurality of groups of acquired digital quantity information, effective position data information is put into a global variable array of the buffer; the preprocessing of the digital quantity information acquired by the laser displacement sensor is independently completed by an internal acquisition chip of the laser displacement sensor, the internal acquisition chip of the laser displacement sensor traverses the arrays of digital quantity information of each group by adopting a method of circular nesting and mutual difference, judges whether the digital quantity information of each group is effective according to whether the calculated difference value exceeds the preset deviation range of the acquisition signal of the laser displacement sensor, and if the difference value exceeds the specified range, the digital quantity information of the group is invalid and is not used any more;
meanwhile, the servo motor preplanned instruction position data obtained according to the movement track specified by the processing program and the effective position data acquired by the laser displacement sensor are put into a buffer, and the controller judges whether the number of effective digital quantity information acquired by the laser displacement sensor in the current buffer meets a preset condition or not; if the preset condition is not met, the collected effective position data is continuously put into a buffer from the laser displacement sensor; if the preset conditions are met, the controller takes the needed front M groups of position data, takes the average value of the taken M groups of position data, compares the average value with the actual coordinate position value of the machine tool, and judges whether the actual cladding position reaches the pre-planning instruction position within the specified time; if the command arrives, the servo motor runs to the pre-planning command position without adjustment; if the position information does not reach the preset position deviation range, the position data in the servo motor encoder is kept and uploaded to the controller, and the controller judges whether the position information which does not reach exceeds the preset position deviation range; if the deviation range of the pre-planned command position is not exceeded, the servo motor is abandoned to be adjusted; if the deviation range exceeds the position deviation range of the pre-planning instruction, the movement direction and the speed of the servo motor are automatically adjusted according to the error direction; ending the single comparison tracking;
when the comparison is started each time, the single comparison process is controlled within 20ms by setting a timer, and if the time does not reach the time, the time is delayed; if the time exceeds, the data is sent out, and the next comparison operation is carried out.
2. The method for detecting cladding quality based on the laser displacement sensor coaxial powder feeding equipment is characterized in that when the servo motor needs to be adjusted, whether an adjustment value is within an adjustment range is judged according to the adjustment range set by a controller for the servo motor, and if the adjustment value is beyond the adjustment range, the adjustment is abandoned.
3. The method for detecting cladding quality based on the laser displacement sensor coaxial powder feeding equipment is characterized in that an amplitude limiting filter algorithm is configured in the controller.
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| CN112857271B (en) * | 2021-01-08 | 2022-03-11 | 中国科学院力学研究所 | Method for judging stability of laser cladding process |
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