CN114833144B - Laser cleaning device and method for aircraft skin panel before welding - Google Patents

Abstract

The invention relates to a laser cleaning device before welding of an aircraft skin panel, which comprises a laser cleaning execution device, a self-locating clamping device, a cleaning laser and a control system, wherein the self-locating clamping device is arranged on the laser cleaning execution device; the self-locating clamping device is used for clamping a wallboard and locating, the control system is electrically connected with the laser cleaning execution device and the cleaning laser respectively, and the laser cleaning execution device is connected with the cleaning laser and utilizes the received laser to clean the wallboard. The invention also relates to a method for cleaning the aircraft skin panel by laser before welding. The device and the method for laser cleaning of the aircraft skin panel before welding aim to solve the problems of low efficiency and poor quality stability of the traditional laser cleaning process of the skin panel.

Description

Laser cleaning device and method for aircraft skin panel before welding

Technical Field

The invention relates to the technical field of laser processing, in particular to a laser cleaning device and a cleaning method for an aircraft skin panel before welding.

Background

The aircraft skin panel component is a common skin structure in aviation and aerospace structural components and is used for pneumatic skins of aircrafts such as airplanes and space shuttles. At present, novel aircraft skin panel components adopt an inner profile surface ribbed panel design mode in order to increase structural rigidity and overall strength. The most advanced aircraft skin panel stiffened member at present adopts a laser double-light beam welding mode to weld criss-cross stringers and bulkheads on a skin, and the manufacturing process has the advantages of obvious weight reduction effect, no damage to a pneumatic surface, small deformation and high profile precision.

The surface of the skin of the airplane needs to be cleaned before laser welding of the stringer and the bulkhead, and impurities such as oil stains and oxidation layers on the surface are removed. Before welding, a traditional skin wallboard component generally adopts an acid pickling method, a component to be welded is soaked in a chemical reagent, and a surface oxide layer and oil stains are treated through corrosion. In the method, because the chemical waste liquid is difficult to recycle and treat, the environment is greatly polluted, and the mode is limited by site conditions, an acid liquid pool needs to be built according to the size of a part, so that the implementation difficulty is high. Meanwhile, the pickling process generally occurs before welding, and once welding is started, the skin welding wall plate in the semi-finished product state cannot be pickled again due to corrosion of the weld joint by acid liquor. In the titanium and titanium alloy laser welding process HB/Z20017-2012, the surface of the part which is subjected to acid cleaning for more than 24 hours needs to be cleaned again before welding. Therefore, for large skin panels with large number of welding lines and long welding period, the pickling process cannot meet the welding requirements.

The laser cleaning technology is simple to operate, adopts optical fiber transmission, has high cleaning surface cleanliness, can effectively remove oil stains, rust, oxide layers and the like on the surface of a material, has no damage to the surface of a base material, can be cleaned on line, and greatly meets the requirement of long-period welding of large skin wallboards.

At present, the laser cleaning machine is all sold with the unit mode, and handheld laser cleaning head adopts artifical mode to wash, and inefficiency and washing orbit are unstable, and the effect is relatively poor. At present, a self-adaptive laser cleaning equipment system designed and manufactured particularly for a large aircraft skin titanium alloy wall plate structure is not yet available.

Therefore, the inventor provides a laser cleaning device before welding of an aircraft skin panel and a cleaning method thereof.

Disclosure of Invention

(1) Technical problem to be solved

The embodiment of the invention provides a laser cleaning device before welding of an aircraft skin panel and a cleaning method thereof, and solves the technical problems of low efficiency and poor quality stability of the traditional laser cleaning process of the skin panel.

(2) Technical scheme

The invention provides a laser cleaning device before welding of an aircraft skin panel, which comprises a laser cleaning execution device, a self-locating clamping device, a cleaning laser and a control system, wherein the self-locating clamping device is used for clamping a skin panel of an aircraft;

the self-locating clamping device is used for clamping and locating a wallboard, the control system is electrically connected with the laser cleaning execution device and the cleaning laser respectively, and the laser cleaning execution device is connected with the cleaning laser and utilizes the received laser to clean the wallboard.

Furthermore, the laser cleaning execution device comprises a multi-degree-of-freedom manipulator, a laser cleaning head, a guide rail, a laser scanning and locating device and an online detection device;

the multi-degree-of-freedom mechanical arm is arranged on the guide rail, the laser cleaning head is arranged on the multi-degree-of-freedom mechanical arm, and the optical scanning position-finding device and the online detection device are arranged on the laser cleaning head;

the laser scanning locating device is used for sending the located position information of the self-locating clamping device to the control system, and the online detection device is used for detecting the surface roughness and the temperature of the skin wall plate in the laser cleaning process.

Furthermore, the self-locating clamping device comprises a profile bracket, a hole positioning device, a locking device, a profile tire beam and a locating device;

wherein, hole positioner is used for the location the wallboard sends its positional information for laser scanning seeks the position device, locking device is used for locking the wallboard, profile child roof beam install in the profile support just is used for supporting the wallboard, it locates to seek the position device the bottom of profile support just is used for the location.

Further, the locating device comprises a roller and a locator, the roller is installed at the bottom of the molded surface support, and the locator is arranged on the side portion of the roller.

Further, the on-line measuring device centre gripping includes CCD camera, roughness appearance and infrared temperature appearance.

Further, the cleaning laser is a pulse laser.

Further, the control system is a PLC control system.

The invention provides a cleaning method of a laser cleaning device before welding of an aircraft skin panel, which comprises the following steps:

mounting and locking the wall plate on the self-locating clamping device;

placing the self-locating clamping device in a set range from a target point, carrying out self-adaptive adjustment on the self-locating clamping device according to the target point, and finally determining position information;

the laser cleaning executing device transmits the searched position information to the control system;

the control system plans a laser cleaning track according to the position information;

calling laser cleaning parameters and implementing cleaning operation;

real-time detection is carried out through an online detection device in the cleaning process;

and adjusting laser cleaning parameters in real time through a feedback result of the online detection device until the cleaning effect meets the requirement.

(3) Advantageous effects

In conclusion, the self-positioning clamping device can perform self-positioning of the clamping device, the efficiency is remarkably improved, the laser cleaning scanning track can be automatically generated through the control system, the surface quality detection in the laser cleaning process is completed on line, and the cleaning efficiency is improved by over 80%.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a pre-welding laser cleaning device for an aircraft skin panel according to an embodiment of the invention;

FIG. 2 is a schematic structural diagram of a laser cleaning execution device of a laser cleaning device before welding of an aircraft skin panel according to an embodiment of the invention;

FIG. 3 is a schematic structural diagram of a self-locating clamping device of a laser cleaning device before welding for an aircraft skin panel according to an embodiment of the present invention;

fig. 4 is an assembly schematic diagram of a self-locating clamping device and a panel of a laser cleaning device for an aircraft skin panel before welding according to an embodiment of the present invention;

fig. 5 is a schematic flow chart of a method for laser cleaning an aircraft skin panel before welding according to an embodiment of the invention.

In the figure:

1-laser cleaning executing device; 101-six degree of freedom manipulator; 102-laser cleaning head; 103-a guide rail; 104-laser scanning locating device; 105-an online detection device; 2-wall plate; 3-self-locating clamping device; 301-a profile holder; 302-a hole locating device; 303-locking means; 304-profile tire beam; 305-a seeking device; 4-cleaning the laser; 5-a control system; 6-target point.

Detailed Description

Embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention and are not intended to limit the scope of the invention, i.e., the invention is not limited to the embodiments described, but covers any modifications, alterations, and improvements in the parts, components, and connections without departing from the spirit of the invention.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

Fig. 1 is a schematic structural diagram of a pre-welding laser cleaning device for an aircraft skin panel according to an embodiment of the present invention, where the cleaning device may include a laser cleaning execution device 1, a self-locating clamping device 3, a cleaning laser 4, and a control system 5;

the self-locating clamping device 3 is used for clamping the wallboard 2 and locating, the control system 5 is electrically connected with the laser cleaning execution device 1 and the cleaning laser 4 respectively, and the laser cleaning execution device 1 is connected with the cleaning laser 4 and utilizes the received laser to clean the wallboard 2.

In the above embodiment, the self-locating and clamping device 3 integrates the functions of the clamping tool and the self-locating device, so that the self-locating of the clamping device can be performed, the efficiency is remarkably improved, and the locating accuracy can be improved by more than 10 times. The cleaning laser 4 is connected with the laser cleaning executing device 1 through an optical fiber, and transmits laser to the laser cleaning executing device 1 to complete laser cleaning of the wall plate 2.

As an alternative embodiment, as shown in fig. 2, the laser cleaning execution device 1 includes a multi-degree-of-freedom robot 101, a laser cleaning head 102, a guide rail 103, a laser scanning position-finding device 104, and an online detection device 105;

the multi-degree-of-freedom manipulator 101 is clamped and installed on the guide rail 103, the laser cleaning head 102 is installed on the multi-degree-of-freedom manipulator 101, and the optical scanning position-finding device 104 and the online detection device 105 are installed on the laser cleaning head 102;

the laser scanning locating device 104 is used for sending the located position information of the self-locating clamping device 3 to the control system 5, and the online detection device clamping 105 is used for detecting the surface roughness and the temperature of the skin panel in the laser cleaning process.

Specifically, as shown in fig. 2, the multi-degree-of-freedom manipulator 101 may be a six-degree-of-freedom manipulator, which is more flexible to operate, and the guide rail 103 may be an X-direction guide rail; the laser scanning position-searching device 104 is matched with the self-position-searching holding device 3 for use together, so that the laser cleaning scanning track of the wall plate 2 can be generated quickly, and the processing efficiency is improved by more than 80%. The online detection device 105 can intelligently identify the surface state of the cleaning workpiece, such as the surface roughness, the surface temperature and the oxide layer removal condition of the workpiece, and complete the closed-loop detection and control of the whole cleaning process, so that the surface cleaning effect of the part is obviously improved.

As an alternative embodiment, as shown in fig. 3-4, the self-indexing gripping device grip 3 comprises a profile holder 301, a hole positioning device 302, a locking device 303, a profile tire beam 304, and an indexing device 305;

the hole positioning device 302 is used for positioning the wall plate 2 and sending the position information to the laser scanning locating device 104, the locking device 303 is used for locking the wall plate 2, the profile tire beam 304 is installed on the profile support 301 and used for supporting the wall plate 2, and the locating device 305 is arranged at the bottom of the profile support 301 and used for positioning.

In particular, the profile holder 301 is the supporting body of the entire holding device; the hole positioning device 302 mainly functions to realize the relative positioning of the wall plate 2 to be cleaned and the self-locating clamping device 3 and provide the position information for the laser scanning locating device 104; the locking device 303 is mainly used for realizing the locking and fixing between the wall plate 2 to be cleaned and the self-positioning clamping device 3; the profile bottom beam 304 mainly plays a role in supporting the wall plate 2 to be cleaned; the main function of the locating device 305 is to realize the location of the self-locating holding device 3 according to the position information of the target point 6.

As an alternative embodiment, as shown in fig. 3, the position finder 305 comprises a roller mounted at the bottom of the profile frame 301 and a position finder at the side of the roller. Wherein, four rollers can be respectively arranged at four corners of the bottom of the profile bracket 301, and the self-locating clamping device 3 can be conveniently moved by the rollers to adjust the position of the self-locating clamping device; the position-finding device 305 employs a surface laser measuring device.

As an alternative embodiment, the online detection device 105 includes a CCD (charge coupled device) camera, a roughness meter and an infrared thermometer. The method has the main functions of detecting the surface roughness and the temperature of the skin panel in the laser cleaning process and preventing surface defects such as ablation, burn and the like caused by overheating of a workpiece.

As an alternative embodiment, the cleaning laser 4 is a pulsed laser. Particularly, 2000W-level laser cleaning equipment produced by Haichu photons can be selected.

As an alternative embodiment, the control system 5 is a PLC control system. The PLC control system adopts a computer technology, the control logic of the PLC control system is stored in a memory in a program mode, and only the program needs to be changed when the control logic is changed, so that the system function is easy to change or increase. The control system has the advantages of less connection, small volume and low power consumption.

Fig. 5 is a schematic flow chart of a cleaning method of a pre-welding laser cleaning device for an aircraft skin panel according to an embodiment of the present invention, where the method may include the following steps:

s100, mounting the wall plate on a self-locating clamping device and locking;

s200, placing the self-locating clamping device in a set range away from a target point, carrying out self-adaptive adjustment on the self-locating clamping device according to the target point, and finally determining position information;

s300, the laser cleaning executing device transmits the searched position information to the control system;

s400, planning a laser cleaning track by the control system according to the position information;

s500, calling laser cleaning parameters and implementing cleaning operation;

s600, carrying out real-time detection through an online detection device in the cleaning process;

s700, adjusting laser cleaning parameters in real time through a feedback result of the online detection device until a cleaning effect meets requirements.

Specifically, in step S700, after the cleaning is completed, the cleaning surface is integrally detected and determined by the on-line detection device. And (5) when the judgment result meets the requirement, finishing the cleaning operation, and when the judgment result does not meet the requirement, repeating the steps S500-S700, and cleaning again until the requirement is met.

The multi-degree-of-freedom mechanical arm 101 in the laser cleaning executing device 1 in the laser cleaning system adopts a domestic new 90 kg-level mechanical arm, and the repeated positioning precision is 0.05mm; the laser cleaning head 102 and the cleaning laser 4 adopt a Haichu photon production 2000W grade laser cleaning device; the laser scanning position-finding device 104 adopts a surface scanning laser measuring sensor; the wall plate 2 is made of TC4 titanium alloy with the thickness of 2mm and the size of 1600mm-3000mm; the whole self-locating clamping device 3 is made of stainless steel material; the locating device 305 employs a surface laser measuring device.

Example 1

The wall plate 2 is mounted on the self-positioning holding device 3, and the workpiece is locked by the locking device 302. The self-locating clamping device 3 is placed in the range of 300mm around the target point 6, after the locating device 305 is started, the self-locating clamping device 3 is self-located to the target point 6, and the precision error is +/-0.35 mm. After the self-position-searching clamping device 3 reaches a preset position, the laser scanning position-searching device 104 scans the position information of the self-position-searching clamping device 3, and then transmits the position information of the self-position-searching clamping device 3 to a terminal control system for off-line track programming. After off-line programming is completed, initial laser cleaning parameters are firstly called out, the laser cleaning power is 800W, the laser frequency is 45kHz, and the cleaning speed is 10mm/s, and laser cleaning processing is started.

In the laser cleaning process, the online detection device 105 is used for detecting and feeding back the surface temperature, the roughness and the oxide layer removal condition of the workpiece, the detection result is fed back to the control system 5, and the cleaning parameters, the laser power, the pulse frequency and the cleaning speed are adjusted. After the cleaning is completed, the surface of the workpiece is finally scanned and detected integrally by the online detection device 105, and after the surface is qualified, the whole cleaning process is completed.

The resulting laser cleaning operation control and parameters are shown in table 1. And after the processing is finished, the surface state of the titanium alloy is checked, the surface is bright white metallic luster, and is smooth without ablation and pits.

TABLE 1 laser cleaning operation parameter Table

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Example 2

The wall plate 2 is mounted on the self-positioning holding device 3, and the workpiece is locked by the locking device 302. The self-locating clamping device 3 is placed in the range of 200mm around the target point 6, and after the locating device 305 is started, the self-locating clamping device 3 is self-located to the target point 6 with the precision error of +/-0.30 mm. After the self-position-searching clamping device 3 reaches a preset position, the laser scanning position-searching device 104 scans the position information of the self-position-searching clamping device 3, and then transmits the position information of the self-position-searching clamping device 3 to a terminal control system for off-line track programming. After off-line programming is completed, initial laser cleaning parameters are firstly called out, the laser cleaning power is 700W, the laser frequency is 40kHz, and the cleaning speed is 8mm/s, and laser cleaning processing is started.

In the laser cleaning process, the online detection device 105 is used for detecting and feeding back the surface temperature, the roughness and the oxide layer removal condition of the workpiece, the detection result is fed back to the control system 5, and the cleaning parameters, the laser power, the pulse frequency and the cleaning speed are adjusted. After the cleaning is completed, the surface of the workpiece is finally scanned and detected integrally by the online detection device 105, and after the surface is qualified, the whole cleaning process is completed.

The resulting laser cleaning operation control and parameter table is shown in table 2. And after the processing is finished, the surface state of the titanium alloy is checked, the surface is bright white metallic luster, and is smooth without ablation and pits.

TABLE 2 laser cleaning operation parameter table

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It should be clear that the embodiments in this specification are described in a progressive manner, and the same or similar parts in the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. The present invention is not limited to the specific steps and structures described above and shown in the drawings. Also, a detailed description of known process techniques is omitted herein for the sake of brevity.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and alterations to this application will become apparent to those skilled in the art without departing from the scope of this invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (6)

1. A laser cleaning device before welding of an aircraft skin panel is characterized by comprising a laser cleaning execution device (1), a self-locating clamping device (3), a cleaning laser (4) and a control system (5);

the self-locating clamping device (3) is used for clamping a wallboard (2) and locating, the control system (5) is electrically connected with the laser cleaning execution device (1) and the cleaning laser (4) respectively, the laser cleaning execution device (1) is connected with the cleaning laser (4) and the wallboard (2) is cleaned by the received laser;

the laser cleaning execution device (1) comprises a multi-degree-of-freedom mechanical arm (101), a laser cleaning head (102), a guide rail (103), a laser scanning locating device (104) and an online detection device (105);

the multi-degree-of-freedom manipulator (101) is mounted on the guide rail (103), the laser cleaning head (102) is mounted on the multi-degree-of-freedom manipulator (101), and the laser scanning position-finding device (104) and the online detection device (105) are mounted on the laser cleaning head (102);

the laser scanning locating device (104) is used for sending the located position information of the self-locating clamping device (3) to the control system (5), and the online detection device (105) is used for detecting the surface roughness and the temperature of the wall plate in the laser cleaning process;

the self-locating clamping device (3) comprises a profile support (301), a hole positioning device (302), a locking device (303), a profile tire beam (304) and a locating device (305);

wherein the hole positioning device (302) is used for positioning the wall plate (2) and sending the position information thereof to the laser scanning position finding device (104), the locking device (303) is used for locking the wall plate (2), the profile tire beam (304) is arranged on the profile support (301) and is used for supporting the wall plate (2), and the position finding device (305) is arranged at the bottom of the profile support (301) and is used for positioning;

the locating device is also provided with a target point (6), and the locating device (305) realizes the location of the self-locating clamping device (3) according to the position information of the target point (6).

2. The preweld laser cleaning device of an aircraft skin panel according to claim 1, wherein the position finder device (305) comprises a roller mounted at a bottom of the profile frame (301) and a position finder provided at a side of the roller.

3. The preweld laser cleaning device for aircraft skin panels according to claim 1, wherein the online detection device (105) comprises a CCD camera, a coarseness gauge and an infrared thermometer.

4. The pre-weld laser cleaning device for aircraft skin panels according to claim 1, characterized in that the cleaning laser (4) is a pulsed laser.

5. The preweld laser cleaning device of an aircraft skin panel according to claim 1, characterized in that the control system (5) is a PLC control system.

6. A cleaning method for an aircraft skin panel preweld laser cleaning device according to any one of claims 1 to 5, characterized in that the method comprises the following steps:

mounting and locking the wall plate on the self-locating clamping device;

placing the self-locating clamping device in a set range from a target point, carrying out self-adaptive adjustment on the self-locating clamping device according to the target point, and finally determining position information;

the laser cleaning executing device transmits the searched position information to the control system;

the control system plans the laser cleaning track according to the position information;

calling laser cleaning parameters and implementing cleaning operation;

real-time detection is carried out through an online detection device in the cleaning process;

and adjusting laser cleaning parameters in real time through a feedback result of the online detection device until the cleaning effect meets the requirement.

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