CN112981388B - Robot laser cladding process treatment method - Google Patents
Robot laser cladding process treatment method Download PDFInfo
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- CN112981388B CN112981388B CN201911283536.8A CN201911283536A CN112981388B CN 112981388 B CN112981388 B CN 112981388B CN 201911283536 A CN201911283536 A CN 201911283536A CN 112981388 B CN112981388 B CN 112981388B
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- cladding
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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
Abstract
The invention mainly aims to provide a robot laser cladding process treatment method, which comprises the following specific design methods: the robot is used for controlling the laser to carry out multi-channel and multi-layer cladding on the surface of an object, and the surface of the object with the same size can be arranged and clad according to an array. When the invention is used, only configuration parameters provided by the robot are needed to be set, the robot can automatically calculate and plan a path according to the parameters, and control the laser power according to different positions, thereby avoiding artificial manual errors, accurately setting processing parameters to realize real-time effective control, and avoiding the damage of environmental factors in work to human bodies.
Description
Technical Field
The invention relates to the field of laser cladding, in particular to a robot laser cladding process treatment method.
Background
The traditional multi-axis machine tool is difficult to work in different postures according to requirements in cladding actions. The manual work requires the adjustment of the matching of the process parameters according to the situation, which is the skill, proficiency and skill of the operator
Concentration and the like will be very demanding. Moreover, the laser cladding method can generate high temperature and laser reflection or irradiation of the processed area
The hazards of the process, the arc light generated by the process, the air dust pollution generated by the powder splashing and the like all cause to the operators in the same line
The physical health of the person poses a hazard.
And performing laser cladding by using an industrial robot, wherein the laser cladding of the robot is to use the robot to operate a laser and spread materials on the surface of a base material to be clad on the surface of an object according to a planned path. The robot provides a reference for the surface of the object to be clad
Several configuration interfaces, multi-layer stacked technological parameter setting interface and multiple array parameters with same area cladded on object surface
And configuring the interface.
When the industrial robot is used for laser cladding, various external control instructions can be added into an operating command, the machine tool is more flexible than the traditional multi-axis machine tool in the aspects of font change, freedom degree and the like, and manual operation can be replaced to avoid manual errors
Poor, can accurately set processing parameters to realize instant and effective control, and can also avoid environmental factors in work from affecting human bodies
The injury of (1). However, since a plate is laser-clad by using a robot, the width of a single laser channel is limited, and a plurality of laser channels are required to be fused for filling
Therefore, point teaching is required for each movement track, and if multiple layers need to be clad, each path of each layer needs to be clad
Teaching point positions on all the tracks, performing temperature control on the joint positions of different tracks and controlling the temperature among different tracks
And the like, and the operations are complex, the workload is large, the programming of the robot is complicated, and the efficiency is low. If the whole translation cladding operation in a certain area needs to be realized, the programming needs to be taught again for each position, and the efficiency is very low.
Disclosure of Invention
The invention mainly aims to provide a robot laser cladding process treatment method, which comprises the following specific design methods:
1. the method comprises the following steps that a controller is installed in a robot, a cladding instruction is arranged in the controller, a path point position is arranged in the cladding instruction, the path point position is a starting point S, an ending point E of a single path and a cladding direction point D, a clad surface is formed by the three points, and the cladding instruction calculates position information of the clad surface in a robot coordinate system according to the three points;
2. inputting a set cladding instruction into a controller, moving the robot to a starting point s for cladding through the control of the controller, starting laser to clad the surface of the object, moving the robot to a point E on the surface of the object to complete a track, moving the robot to a starting point or an ending point of a next path track along the surface of the object, and cladding the surface of the next object;
as shown in fig. 1, the movement track of the robot on the surface of the object, such as S-E1-S2-E2 or S-E-S1-E1-S2-E2, is controlled and adjusted by configuring the laser cladding process parameters of the robot at the joint of the two tracks, E-E1 or E-S1, to the external equipment affecting the cladding effect, such as laser power, gas pressure, etc.;
in the first track, S is a first track starting point, E is a first track end point, E1 is a second track starting point, S1 is a second track end point, S2 is a third track starting point, and E2 is a third track end point;
in the second track, S is a starting point of the first track, E is an end point of the first track, S1 is a starting point of the second track, E1 is an end point of the second track, S2 is a starting point of the third track, and E2 is an end point of the third track;
3. and melting a coating with a certain width on one surface, pausing the melting and covering, cooling for a certain time, and continuing to execute the rest melting and covering programs at the paused position to finish the whole object surface.
The cladding instruction provides the number of layers to set parameters, the height parameter of each layer and the laser power attenuation ratio parameter of each layer for the user to set.
The cladding instruction is to set a robot controller according to parameters provided by equipment to be processed, such as the height of each layer, gas of each layer, laser power parameters, a cladding pause cooling position, cooling time, and to adjust the laser cladding tool of each layer
The process effect is good.
And the robot is provided with an array parameter configuration interface for laser cladding.
The array parameter configuration interface sets array parameters, completes integral translation operation in the X direction or the Y direction, translates the cladding coating with the specified width to another area, calculates a path by a robot, plans the position and controls of the cladding area
And controlling the cladding process by external equipment for manufacturing the laser.
The beneficial effects of the invention are as follows: the invention uses the robot to control the laser to perform multi-channel and multi-layer cladding on the surface of the object, and can clad the surface of the object with the same size according to array arrangement.
When the invention is used, only the configuration parameters provided by the robot are needed to be set, the robot can automatically calculate and plan the path according to the parameters, and the laser power is controlled according to the setting at different positions, thereby avoiding artificial manual errors and being capable of accurately
The processing parameters are set to realize instant and effective control, and the harm of environmental factors in work to human bodies can be avoided.
The invention avoids the problem that the robot operator manually calculates the number of the cladding surfaces, the number of layers and the array position when using the robot for laser cladding. The teaching of a large number of path point positions is reduced, the complexity of manual programming is reduced, and different positions are controlled
The power of the laser is controlled by manual interference, and the robot can accurately set processing parameters to realize real-time and effective control.
The invention sets three path point positions, reduces teaching point positions of the robot, only needs three points for trial teaching on the surface of an object, and the robot carries out trial teaching according to the taught point positions and the number of channels related to cladding, the cladding width or number, the spacing distance of each channel and the optical power
The motion track of the robot is automatically fitted by parameters such as rate and the like, the surface of an object is covered, and the production efficiency is improved. The robot provides the height direction
The number of layers, the height of the layers, the optical power and other parameters, and the track of the cladding multi-layer and the repetition precision of the track are calculated according to the setting of the parameters
The method is good. And the consistency of the cladding process treatment such as each joining treatment, multilayer superposition and the like is better.
The robot provides interfaces of laser power attenuation parameters, pause parameters and pause time parameters when two motion tracks are connected, calculates pause positions and pause times according to the parameters in the motion process, and controls a laser switch and
the power and other behaviors control the temperature of the surface to be clad and change the track of the robot for the connection position of each channel and each layer
The dynamic speed and the temperature control of laser cladding enable the surface of an object to be smoother and smoother, the consistency of different surfaces to be higher, the treatment of subsequent processes is reduced, and the production quality and efficiency are improved.
The invention can clad the same cladding surface distributed in an array according to production requirements. The robot provides array parameters such as the number of x-directions in the x and y-directions, the spacing distance in the x-direction, the number of y-directions, and the spacing distance in the y-direction as shown in fig. 3. The robot calculates the array arrangement track needing cladding according to the taught starting point S, the taught end point E, the direction calibration point D and the array parameters, manual interference is reduced, and production efficiency is improved.
Drawings
FIG. 1 is a first layer trace of the surface of an object according to the present invention;
FIG. 2 is a first layer trace of the surface of an object according to the present invention;
FIG. 3 is a schematic view of the multilayer cladding of the present invention;
FIG. 4 is a schematic diagram of the array layout of the present invention.
Description of the preferred embodiment
Example 1
When the laser cladding robot is used, a cladding instruction is set for the controller according to the cladding requirement, the robot controller is used for providing a special laser cladding instruction and a laser cladding parameter setting interface, and the robot laser cladding instruction is called according to the setting of the parameters, namely, the robot self controls the movement track, the posture change, the laser switch, the laser power adjustment and the gas pressure adjustment of the robot.
The robot cladding controller provides a special laser cladding instruction, and only three starting points S, an end point E of a single path and a cladding direction point D need to be taught on the surface of the object to be clad as shown in figure 1, and the robot calculates the surface to be clad according to the three points. And (5) calculating the x direction by taking the starting point S and the ending point E as a cladding first track. The robot will determine the cladding direction according to the taught direction D and calculate the y direction.
The robot cladding controller provides the setting parameters of the motion track direction. The robot moves to the starting point s of cladding, then starts laser, starts to clad the surface of the object, moves to the point E of the surface of the object, completes a track, and moves to the point E along the surface of the object
The starting or ending point of the next path trajectory. As shown in the motion trail of FIG. 1, the motion trail of the robot on the surface of the object, such as S-E-E1-S1-S2-E2 or S-E-S1-E1-S2-E2, can be set in an end-to-end connection mode. S is a starting point of a first motion track, S1 is a starting point of a second motion track, S2 is a starting point of a third motion track, E is an end point of the first motion track, E1 is an end point of the second motion track, and E2 is an end point of the third motion track;
and the robot cladding controller provides parameters for setting the laser power and the air pressure of the joining position. The E-E1 or E-S1 at the joint of the two tracks can influence the cladding effect on the laser power, the gas pressure and the like by configuring the laser cladding process parameters of the robot
The external equipment of the fruit is controlled and adjusted.
The robot cladding controller provides xy plane pause position, pause time and pause position offset proportion setting parameters. A coating with a certain width is melted on one surface, and the robot cladding command calculates the position needing to be suspended according to the set suspension position
And after the robot reaches the position, the robot stops moving, the laser is turned off, and after the robot is cooled for a certain time, the rest cladding program is continuously executed to finish the surface of the whole object. Adding a pause at the pause position relative to the pause position of the previous layer when the next layer is clad
The position deviation proportion is staggered with the pause position of the previous layer, and the robot cladding instruction is according to the set pause position
And calculating the position needing to be suspended in the middle of each layer according to the deviation ratio, and controlling the cladding process.
The robot cladding controller provides parameters for setting the number of layers and the layer height, parameters for setting the laser power attenuation ratio of each layer, parameters for setting the number of cooling layers and parameters for setting the cooling time. Melting an area of coating on the surface of an object, and then machining
The human software automatically raises the height of the laser on the surface of the object according to the set layer number and layer height, and the laser is overlaid layer by layer to melt one layer
The level of coating is shown in figure 2. And according to the number of cooling layers and the cooling time, turning off the laser when the robot moves to the corresponding number of layers, and continuing to complete the subsequent cladding work after the cooling time is finished. Robot cladding controller cladding different layers
And setting parameters according to the laser power attenuation ratio of each layer to adjust the laser power and control the cladding temperature and effect.
The robot cladding controller provides array configuration parameters such as the number of the x direction, the spacing distance of the x direction, the number of the y direction, the spacing distance of the y direction and the like. According to the array parameter setting, the whole translation operation is completed in the X direction or the Y direction, the cladding coating area with the specified width is translated to another area, the robot cladding controller calculates the path, the position of the cladding area is planned, and the laser and other external equipment are controlled to control the cladding process, as shown in fig. 3.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments, and the above embodiments and the description are only illustrative of the present invention
The principles of the invention may be modified and adapted without departing from the spirit and scope of the invention
Modifications and improvements are intended to be within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and their equivalents
Equivalents are defined.
Claims (5)
1. A robot laser cladding process treatment method comprises the following specific design method:
1. the method comprises the following steps that a controller is installed in a robot, a cladding instruction is arranged in the controller, a path point position is arranged in the cladding instruction, the path point position is a starting point S, an ending point E of a single path and a cladding direction point D, a clad surface is formed by the three points, and the cladding instruction calculates position information of the clad surface in a robot coordinate system according to the three points;
teaching the three path point positions on the surface of the object, and calculating an array arrangement track needing cladding by the robot according to a starting point S, an ending point E, cladding direction points D and array parameters of the teaching, wherein the array parameters comprise the number of X directions, the spacing distance of the X directions, the number of Y directions and the spacing distance of the Y directions; the starting point S and the ending point E are cladding first tracks, the X direction is calculated, the cladding direction is determined according to the taught cladding direction point D, and the Y direction is calculated; the robot automatically fits the motion track of the robot according to the taught point position and the number of related cladding tracks, the cladding width or number of tracks, the spacing distance of each track and the optical power parameter, and covers the surface of an object; the robot provides parameters of the number of layers, the height of the layers and the optical power in the height direction, and the track of cladding multiple layers is calculated according to the parameters; according to the array parameter setting, the integral translation operation is completed in the X direction or the Y direction, the area of the cladding coating with the specified width is translated to another area, the robot cladding controller calculates a path, the position of the cladding area is planned, and the external equipment of the laser is controlled to control the cladding process;
2. inputting a set cladding instruction into a controller, controlling the robot to move to a starting point S for cladding through the controller, starting laser to clad the surface of the object, moving to a point E on the surface of the object to complete a track, moving to a starting point or an ending point of a next path track along the surface of the object, and cladding the surface of the next object; controlling and adjusting external equipment with laser power and gas pressure influencing cladding effect at the joint E-E1 or E-S1 of the two tracks by configuring laser cladding process parameters of the robot;
the motion trail of the robot on the surface of the object is S-E-E1-S1-S2-E2 or S-E-S1-E1-S2-E2;
in the first track, S is a first track starting point, E is a first track end point, E1 is a second track starting point, S1 is a second track end point, S2 is a third track starting point, and E2 is a third track end point;
in the second track, S is a starting point of the first track, E is an end point of the first track, S1 is a starting point of the second track, E1 is an end point of the second track, S2 is a starting point of the third track, and E2 is an end point of the third track;
3. and melting a coating with a certain width on one surface, pausing the melting and covering, cooling for a certain time, and continuing to execute the rest melting and covering programs at the paused position to finish the whole object surface.
2. The method of claim 1, wherein the cladding command provides a number of layers setting parameter, a height parameter of each layer, and a laser power attenuation ratio parameter of each layer for a user to set.
3. The method of claim 1, wherein the cladding command is to set the robot controller according to parameters provided by the equipment to be processed, the parameters include height of each layer, gas pressure of each layer, laser power parameters, a position for suspending cladding cooling, cooling time, and adjusting the process effect of each layer.
4. The robot laser cladding process processing method according to claim 1, characterized in that an array parameter configuration interface for laser cladding is arranged on the robot.
5. The robot laser cladding process processing method according to claim 4, wherein the array parameter configuration interface performs array parameter setting.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040251242A1 (en) * | 2001-11-17 | 2004-12-16 | Jeong-Hun Suh | Method and system for real-time monitoring and controlling height of deposit by using image photographing and image processing technology in laser cladding and laser-aided direct metal manufacturing process |
| CN110129790A (en) * | 2019-06-20 | 2019-08-16 | 河北敬业增材制造科技有限公司 | A kind of laser cladding equipment of applicable industry robot |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040251242A1 (en) * | 2001-11-17 | 2004-12-16 | Jeong-Hun Suh | Method and system for real-time monitoring and controlling height of deposit by using image photographing and image processing technology in laser cladding and laser-aided direct metal manufacturing process |
| CN110129790A (en) * | 2019-06-20 | 2019-08-16 | 河北敬业增材制造科技有限公司 | A kind of laser cladding equipment of applicable industry robot |
Non-Patent Citations (1)
| Title |
|---|
| 激光快速成型薄壁墙堆积工艺调控;申屹豪等;《热加工工艺》;20161231(第24期);第39-42页 * |
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