CN114952011A - Large-scale structure field laser shock peening's terminal moving beam device - Google Patents
Large-scale structure field laser shock peening's terminal moving beam device Download PDFInfo
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- CN114952011A CN114952011A CN202210645176.7A CN202210645176A CN114952011A CN 114952011 A CN114952011 A CN 114952011A CN 202210645176 A CN202210645176 A CN 202210645176A CN 114952011 A CN114952011 A CN 114952011A
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- guide arm
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- 230000035939 shock Effects 0.000 title claims abstract description 31
- 230000010354 integration Effects 0.000 abstract description 3
- 238000005728 strengthening Methods 0.000 description 12
- 230000033001 locomotion Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 239000004429 Calibre Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000008020 evaporation Effects 0.000 description 1
- 238000001704 evaporation Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000002309 gasification Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001902 propagating effect Effects 0.000 description 1
- 239000011241 protective layer Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/352—Working by laser beam, e.g. welding, cutting or boring for surface treatment
- B23K26/356—Working by laser beam, e.g. welding, cutting or boring for surface treatment by shock processing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/06—Shaping the laser beam, e.g. by masks or multi-focusing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/20—Recycling
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention relates to the technical field of laser shock peening, in particular to a tail end moving beam device for large-scale structure field laser shock peening. The six-degree-of-freedom robot comprises a base support frame, a large-caliber six-degree-of-freedom light guide arm, a flexible connecting device, a focusing device and a six-degree-of-freedom robot. One end of a large-caliber six-freedom-degree light guide arm is connected with a light guide arm connecting base, the other end of the large-caliber six-freedom-degree light guide arm is connected with a focusing device, two long arms of the large-caliber six-freedom-degree light guide arm are connected with a support through a flexible connecting device, the light guide arm connecting base is installed on a base support frame, the focusing device is installed at the tail end of a six-freedom-degree robot, a comprehensive control system is connected with the six-freedom-degree robot through a control bus, the six-freedom-degree robot pulls the focusing device to move, and the large-caliber six-freedom-degree light guide arm and the flexible connecting device follow up. The device has simple structure and high integration degree, and can accurately and flexibly realize the laser shock peening beam movability.
Description
Technical Field
The invention relates to the technical field of laser shock peening, in particular to a tail end moving beam device for large-scale structure field laser shock peening.
Background
Laser Shock Processing (LSP) utilizes high power density (> GW/cm) 2 ) Nanosecond pulses irradiate the surface of a material, an absorption protective layer coated on the surface of the material absorbs laser energy to generate explosive gasification evaporation to form high-temperature (more than 10000 ℃) plasma, the plasma continuously absorbs the laser energy to rapidly expand, high-pressure (more than GPa) shock waves propagating towards the interior of the material are formed under the constraint action of water flow, the material is subjected to severe plastic deformation under the action of the high-pressure shock waves to form residual stress and change a microstructure, and therefore the performances of the material, such as fatigue performance, abrasion, stress corrosion and the like, are improved.
For small parts which are convenient to detach and move, the parts can be transferred to a laser shock peening equipment workshop in a mode of 'component movement + beam fixation', and the parts to be strengthened are clamped by a robot to move according to a set track, so that shock spots cover a processing area, and laser shock peening processing is implemented; however, for large non-detachable parts of an airplane, such as structural members of fuselage beams, frames, and the like, strengthening processing cannot be performed in a robot clamping movement mode, and only a mode of 'component fixing + beam moving' is adopted, so that on the site of the part to be strengthened, the laser shock strengthening processing is completed by covering a shock spot on a processing area through a moving beam moving according to a set track. Therefore, when laser shock peening is performed on a large structural part, the laser shock peening can only be performed in a field by a moving beam mode, and since laser energy of joule level and nanosecond pulse width is generally adopted in laser shock peening processing, flexible conduction laser cannot be performed in an optical fiber mode, a moving beam device is an important factor for restricting the application of laser shock peening on the large structural part.
At present, two devices for realizing laser moving light beams are generally adopted, one is a flying light guide device, and the light beams can move by cooperatively controlling a reflector group, but the mode can only realize light beam movement in a small range and has poor flexibility; the other type is a light guide arm device, realizes the freedom mobility of light beams 6 by combining a reflector with a flexible joint, is applied to low-power-density laser transmission at present, such as medical laser, laser welding and the like, and has the advantages of small arm tube caliber and light weight in order to ensure flexible controllability. The laser for laser shock peening has high peak power density and high requirement on positioning accuracy, and if a small-caliber light guide arm device is adopted to realize moving light beams, the use reliability is reduced due to the accumulated damage of the large peak power density of the laser; if a large-caliber light guide arm device is adopted, the problems of weight increase and difficulty in flexible and accurate control are caused.
Disclosure of Invention
The invention provides a terminal dynamic beam device for field laser shock strengthening of a large-scale structure, which aims to solve the problems.
The invention relates to a large-scale structure field laser shock strengthening tail end moving beam device, which adopts the following technical scheme: a terminal dynamic light beam device for large-scale structure field laser shock strengthening comprises a base support frame, a light guide arm connecting base, a large-caliber six-degree-of-freedom light guide arm, a flexible connecting device, a support of the flexible connecting device, a focusing device, a six-degree-of-freedom robot, a comprehensive control system and a control bus. One end of the large-caliber six-freedom-degree light guide arm is connected with the light guide arm connecting base, the other end of the large-caliber six-freedom-degree light guide arm is connected with the focusing device, two long arms of the large-caliber six-freedom-degree light guide arm are connected with the support of the flexible connecting device through the flexible connecting device, the light guide arm connecting base is installed on the support frame of the base, the focusing device is installed at the tail end of the six-freedom-degree robot, the comprehensive control system is connected with the six-freedom-degree robot through a control bus, the six-freedom-degree robot pulls the focusing device to move, and the large-caliber six-freedom-degree light guide arm and the flexible connecting device follow up to achieve the flexibility and the accurate control of laser shock strengthening light beams.
The invention has the beneficial effects that: when the equipment is specifically operated, the comprehensive control system sets a strengthening processing path, the six-degree-of-freedom robot drags the focusing device to move point by point according to the set path, the large-caliber six-degree-of-freedom light guide arm connected with the six-degree-of-freedom robot follows, the flexible connecting device can ensure the flexibility of the movement of the light guide arm and play a supporting role, the problem of high control difficulty caused by the attitude deflection of the large-caliber six-degree-of-freedom light guide arm is solved, parallel laser beams pass through the large-caliber six-degree-of-freedom light guide arm and then are transmitted into the focusing device, and the focused laser beams are irradiated on the surface of a large structural part. After the posture of the six-degree-of-freedom robot is changed, the position and the direction of the laser at the outlet are changed along with the posture change of the six-degree-of-freedom robot. The device has simple structure and high integration degree, and can accurately and flexibly realize the processing of the laser shock peening moving beam.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of an end-effector beam apparatus for field laser shock peening of a large structure according to the present invention;
in the figure: 1. a base support frame; 2. a parallel laser beam; 3. the light guide arm is connected with the base; 4. a large-caliber six-degree-of-freedom light guide arm; 5. a flexible connection means; 6. a support; 7. a focusing device; 8. a six-degree-of-freedom robot; 9. a large structural member; 10. focusing the laser beam; 11. a comprehensive control system; 12. a control bus.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The embodiment of the invention relates to an end moving beam device for field laser shock peening of a large structure, which is shown in figure 1: a terminal dynamic beam device for field laser shock strengthening of a large-scale structure comprises a base support frame 1, a light guide arm connecting base 3, a large-caliber six-degree-of-freedom light guide arm 4, a flexible connecting device 5, a support 6 of the flexible connecting device 5, a focusing device 7, a six-degree-of-freedom robot 8, a comprehensive control system 11 and a control bus 12. The light guide arm 4 one end of heavy-calibre six degrees of freedom links to each other with light guide arm connection base 3, the other end links to each other with focusing device 7, and link together through flexible connecting device 5 and flexible connecting device 5's support 6 between two long arms of heavy-calibre six degrees of freedom light guide arm 4, light guide arm connection base 3 installs on base support frame 1, focusing device 7 installs at the 8 end of six degrees of freedom robot, integrated control system 11 links to each other with six degrees of freedom robot 8 through control bus 12, six degrees of freedom robot 8 pull focusing device 7 motion, heavy-calibre six degrees of freedom light guide arm 4 and flexible connecting device 5 follow-up, in order to realize the flexibility of laser shock strengthening light beam, accurate control.
When the equipment is specifically operated, the comprehensive control system 11 sets a strengthening processing path, the six-degree-of-freedom robot 8 drags the focusing device 7 to move point by point according to the set path, the large-caliber six-degree-of-freedom light guide arm 4 connected with the six-degree-of-freedom robot follows up, the flexible connecting device 5 can ensure the flexibility of the movement of the light guide arm and play a supporting role, the problem of high control difficulty caused by the posture deflection of the large-caliber six-degree-of-freedom light guide arm 4 is solved, the parallel laser beam 2 passes through the large-caliber six-degree-of-freedom light guide arm 4 and then is transmitted into the focusing device 7, and the focused laser beam 10 is irradiated on the surface of the large-scale structural part 9. After the posture of the six-degree-of-freedom robot 8 is changed, the position and the direction of the laser at the outlet are changed accordingly. The device has simple structure and high integration degree, and can accurately and flexibly realize the processing of the laser shock peening moving beam.
With the above embodiments, the usage principle and working process of the present invention are as follows: when in use, the method comprises the following steps:
s1: the comprehensive control system 11 arranges the impact spots and sets a strengthening processing path according to the structural characteristics of the region to be strengthened of the large structural member 9;
s2: the six-degree-of-freedom robot 8 moves point by point according to a strengthening processing path set by the comprehensive control system 11, and the focused laser beam 10 is ensured to be irradiated on the to-be-strengthened area of the large structural member 9;
s3: when the six-degree-of-freedom robot 8 adjusts the posture to the position of the impact spot, the large-caliber six-degree-of-freedom light guide arm 4 adjusts the posture along with the focusing device 7 connected with the large-caliber six-degree-of-freedom light guide arm;
s4: when the large-caliber six-degree-of-freedom light guide arm 4 adjusts the posture, the flexible connecting device 5 not only supports the large-caliber six-degree-of-freedom light guide arm 4, but also does not influence the flexibility of posture adjustment of the large-caliber six-degree-of-freedom light guide arm;
s5: after the six-degree-of-freedom robot 8 moves to a set position and the large-caliber six-degree-of-freedom light guide arm 4 adjusts the posture, the parallel laser beam 2 is transmitted into the large-caliber six-degree-of-freedom light guide arm 4, the light beam propagation direction is changed through multi-stage reflection, and then the light beam is irradiated on a large structural part 9 after passing through the focusing device 7;
s6: after the point is impacted, the six-degree-of-freedom robot 8 adjusts the posture to the next impact spot position, and the operation is repeated until all the set impact spots are covered on the large structural part 9.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (1)
1. The utility model provides a terminal beam device that moves of on-spot laser shock peening of large-scale structure which characterized in that: the device comprises a base support frame (1), a light guide arm connecting base (3), a large-caliber six-degree-of-freedom light guide arm (4), a flexible connecting device (5), a support (6) for supporting the flexible connecting device (5), a focusing device (7), a six-degree-of-freedom robot (8), a comprehensive control system (11) and a control bus (12);
one end of a large-caliber six-freedom-degree light guide arm (4) is connected with the light guide arm connecting base (3), the other end of the large-caliber six-freedom-degree light guide arm is connected with a focusing device (7), and two long arms of the large-caliber six-freedom-degree light guide arm (4) are connected with a support (6) of the flexible connecting device (5) through the flexible connecting device (5); the light guide arm connecting base (3) is arranged on the base support frame (1), and the focusing device (7) is arranged at the tail end of the six-freedom-degree robot (8); the comprehensive control system (11) is connected with the six-degree-of-freedom robot (8) through a control bus (12); the six-degree-of-freedom robot (8) drags the focusing device (7) to move, and the large-caliber six-degree-of-freedom light guide arm (4) and the flexible connecting device (5) follow up.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210645176.7A CN114952011A (en) | 2022-06-08 | 2022-06-08 | Large-scale structure field laser shock peening's terminal moving beam device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210645176.7A CN114952011A (en) | 2022-06-08 | 2022-06-08 | Large-scale structure field laser shock peening's terminal moving beam device |
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| Publication Number | Publication Date |
|---|---|
| CN114952011A true CN114952011A (en) | 2022-08-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210645176.7A Pending CN114952011A (en) | 2022-06-08 | 2022-06-08 | Large-scale structure field laser shock peening's terminal moving beam device |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4364535A (en) * | 1979-07-18 | 1982-12-21 | Asahi Kogaku Kogyo Kabushiki Kaisha | Counterbalance mechanism for laser knife device |
| US5000553A (en) * | 1989-02-09 | 1991-03-19 | El. En S.R.L. | Apparatus for the alignment of a laser beam inside an articulated tubular arm |
| ATA63492A (en) * | 1992-03-30 | 1995-12-15 | Schuoecker Dieter Dipl Ing Dr | DEVICE FOR MACHINING A WORKPIECE WITH A LASER BEAM |
| JP2001179443A (en) * | 1999-12-27 | 2001-07-03 | Honda Motor Co Ltd | Support structure for welding wire feeding device |
| US20030226835A1 (en) * | 2002-02-28 | 2003-12-11 | Bell John T. | Apparatus for marking a vehicle |
| CN106271072A (en) * | 2016-10-13 | 2017-01-04 | 上海嘉强自动化技术有限公司 | A kind of Handheld laser welder |
| CN205993465U (en) * | 2016-07-29 | 2017-03-08 | 山东易田农业机械制造有限公司 | Self-walking sprayer with spraying rod automatic leveling spray bar |
| CN209006892U (en) * | 2018-10-09 | 2019-06-21 | 上海吾问机器人应用科技有限公司 | A kind of industrial robot carbon dioxide laser diced system |
| CN213969493U (en) * | 2020-10-27 | 2021-08-17 | 深圳泰德激光科技有限公司 | Automatic welding equipment |
-
2022
- 2022-06-08 CN CN202210645176.7A patent/CN114952011A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4364535A (en) * | 1979-07-18 | 1982-12-21 | Asahi Kogaku Kogyo Kabushiki Kaisha | Counterbalance mechanism for laser knife device |
| US5000553A (en) * | 1989-02-09 | 1991-03-19 | El. En S.R.L. | Apparatus for the alignment of a laser beam inside an articulated tubular arm |
| ATA63492A (en) * | 1992-03-30 | 1995-12-15 | Schuoecker Dieter Dipl Ing Dr | DEVICE FOR MACHINING A WORKPIECE WITH A LASER BEAM |
| JP2001179443A (en) * | 1999-12-27 | 2001-07-03 | Honda Motor Co Ltd | Support structure for welding wire feeding device |
| US20030226835A1 (en) * | 2002-02-28 | 2003-12-11 | Bell John T. | Apparatus for marking a vehicle |
| CN205993465U (en) * | 2016-07-29 | 2017-03-08 | 山东易田农业机械制造有限公司 | Self-walking sprayer with spraying rod automatic leveling spray bar |
| CN106271072A (en) * | 2016-10-13 | 2017-01-04 | 上海嘉强自动化技术有限公司 | A kind of Handheld laser welder |
| CN209006892U (en) * | 2018-10-09 | 2019-06-21 | 上海吾问机器人应用科技有限公司 | A kind of industrial robot carbon dioxide laser diced system |
| CN213969493U (en) * | 2020-10-27 | 2021-08-17 | 深圳泰德激光科技有限公司 | Automatic welding equipment |
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