CN115097792A - Pulse laser and robot coordination control system, method and terminal - Google Patents
Pulse laser and robot coordination control system, method and terminal Download PDFInfo
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Abstract
The invention provides a pulse laser light-emitting-robot motion coordination control system, which comprises: the upper computer defines point position information of laser processing of the workpiece to be processed; a pulse laser module which provides pulse laser required for laser processing; the robot module is used for clamping a workpiece to be machined through laser shot blasting and realizing the spatial motion of the workpiece to be machined; the control system receives point location information of the upper computer; information interaction is carried out between the pulse laser module and the laser light-emitting module to realize laser light-emitting-light-emitting feedback closed-loop control; and information interaction is carried out with the robot module, and laser light emission-robot motion coordination control is realized. The invention overcomes the mutually independent state of the laser and the robot in the existing system, and the pulse laser is precisely triggered after the robot moves to a target position, thereby realizing the coordination control of laser light emission-robot movement and the closed-loop control of laser light emission-light emission feedback, and ensuring the precision and safety of laser processing.
Description
Technical Field
The invention relates to the technical field of laser processing, in particular to a pulse laser and robot coordination control system, method and terminal.
Background
The laser shot blasting process utilizes high-energy pulse laser to induce plasma to generate transient high-amplitude impact pressure on the surface of metal, so that the material is subjected to high-strain-rate plastic deformation, further residual compressive stress distributed along the depth direction is introduced, and the fatigue performance of the metal material is improved or the metal material is subjected to bending deformation. At present, the laser shot blasting process is widely applied to the strengthening of complex profiles or the forming of large integral panels in the field of aerospace.
The laser shot blasting process system mainly comprises a workpiece clamp and a light guide light path, and the fixed light guide light path is commonly used at present. In the whole laser shot blasting process flow, the light path is kept fixed, and the workpiece to be machined moves in the light path through the workpiece clamp by means of corresponding motion control, so that the whole machining process flow is completed. Industrial robots are widely used as equipment for clamping workpieces due to the characteristics of products such as flexibility, universality, high motion control precision and the like. The United states LSP Technologies corporation established and opened cooperation with the United states general electric company, and was introduced in 2014
The 200 laser shot blasting system has the characteristics of standardization, equipment and customization, and can meet various complex processing requirements. The system comprises a laser, a light guide light path, a shot blasting head and an industrial robot. And finishing the laser shot blasting process by the program setting of the industrial robot. The system basically lays the commercialization model of the laser peening system for small workpieces.
At present, two control modes exist in the market for controlling a pulse laser and an industrial robot in a fixed light guide path type laser shot blasting process system. Generally, a laser shot blasting control system can adopt a mode of independent control of a robot and a laser, the light emitting frequency of the laser is strictly matched with the operation speed of an industrial robot, the laser just emits light when the robot just moves to a target position, and the laser needs to be debugged repeatedly, so that not only is time and labor wasted, but also the laser point position control precision is low, and the process control of laser shot blasting impact is lacked; the second mode is a laser light-emitting-robot movement coordination control mode based on PLC, although accurate matching between a laser trigger time point and a movement in-place time point can be realized, under the condition of laser point-by-point impact, the robot needs to be started and stopped frequently, the light-emitting frequency of a laser can only reach 1-2Hz, and the laser shot blasting impact efficiency is not high.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a pulse laser and robot coordination control system, a method and a terminal.
According to an aspect of the present invention, there is provided a pulsed laser light emission-robot motion coordination control system, comprising:
the upper computer defines point location information of laser processing of the workpiece to be processed;
a pulse laser module which provides pulse laser required by laser processing;
the robot module clamps the workpiece to be machined and realizes the spatial motion of the workpiece to be machined;
the control system receives point location information of the upper computer; the laser light-emitting feedback control system performs information interaction with the pulse laser module to realize laser light-emitting-light-emitting feedback closed-loop control; and information interaction is carried out with the robot module, and laser light emission-robot motion coordination control is realized.
Preferably, the pulsed laser module includes:
the pulse laser unit triggers the pulse laser to finish light emitting;
and the optical path unit adjusts the irradiated laser spot into a required shape and size.
Preferably, the laser light emission-light emission feedback closed-loop control includes:
when the pulse laser unit receives a light emitting signal sent by the control system, the pulse laser is triggered to complete light emitting;
and after the light is emitted, the pulse laser unit sends a light emitting feedback signal to the control system.
Preferably, the laser light emission-robot motion coordination control includes:
the robot module periodically corrects the spatial position of the workpiece to be processed until the workpiece to be processed moves to the target position;
when the set conditions are met, the control system controls the pulse laser module to complete laser light-emitting-light-emitting feedback closed-loop control;
and when the control system detects the light-emitting feedback signal sent by the pulse laser module, controlling the robot module to move towards the next target point.
Preferably, the laser light emission-robot motion coordination control is realized based on an interface of the robot module;
based on the interface, the robot module performs data interaction with the control system;
the interface has periodic signal processing capacity and is used for monitoring and adjusting the motion path of the robot module and the program running state in real time.
Preferably, the robot module periodically corrects the spatial position of the workpiece to be processed until moving to the target position, including:
the robot module periodically feeds back real-time pose information of the robot to the control system;
the robot module periodically obtains the single pose correction quantity fed back by the control system;
and the robot module adjusts the spatial position according to the pose correction quantity.
Preferably, the single-pose correction amount is
Wherein, P real For the real-time position of the robot, P destination For the target position of the robot, N is the number of data interaction periods of the robot in a specified time
T Laser Is the pulse period of a pulsed laser, T robot For the communication period of the robot module with the external control system, N real The number of communication cycles the robot module and the control system have completed.
Preferably, the setting conditions include:
the deviation between the real-time position and the target position is smaller than a set value;
or the like, or a combination thereof,
the periodic information interaction times of the control system and the robot module reach the rated requirement.
According to a second aspect of the present invention, there is provided a pulsed laser light-emitting-robot motion coordination control method, including the steps of:
s1, the upper computer defines the position information of the target point location and sends the position information to the control system;
s2, the control system periodically reads the real-time pose information of the robot, judges whether the set conditions are met, and switches to S5 when the set conditions are met; if the set condition is not met, the process proceeds to S3;
s3, the control system calculates the correction amount of the single pose of the robot module and feeds the correction amount back to the robot module;
s4, the robot module controls the robot actuating mechanism to correct the spatial position according to the single pose correction amount, and the operation is switched to S2;
s5, the control system sends out optical signals to the pulse laser module;
s6, finishing light emission by the pulse laser, and sending a light feedback signal to the control system;
and S7, after receiving the light-emitting feedback signal, the control system switches to S2 until all point location processing is finished.
According to a third aspect of the present invention, there is provided a terminal comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor being operable to execute the system of any one of the above, or to perform the method of any one of the above, when the program is executed by the processor.
Compared with the prior art, the invention has the following beneficial effects:
the pulse laser light-emitting-robot motion coordination control system overcomes the problem that a laser and a robot in the existing system are mutually independent, and the pulse laser is accurately triggered after the robot moves to a target position, so that laser light-emitting-robot motion coordination control and laser light-emitting-light-emitting feedback closed-loop control are realized, and the precision and the safety of laser processing are ensured.
The pulse laser light-emitting-robot movement coordination control system provided by the embodiment of the invention overcomes the problem of low machining efficiency of frequent starting and stopping of a robot in the existing system, fully utilizes the signal processing of the robot and the light-emitting periodicity of the pulse laser based on the periodic signal processing capacity of the robot, and controls the robot to move to a machining position in a single light-emitting period of the laser under the condition of ensuring the safe movement and continuous movement of the robot, so that the use frequency of the laser is maximally utilized, the highest use frequency can reach 50Hz, and the laser machining efficiency is remarkably improved;
the pulse laser light-emitting-robot motion coordination control system in the embodiment of the invention is not only suitable for plane processing, but also suitable for space curved surface processing, and can meet the laser processing requirements of various parts.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic structural diagram of a pulsed laser light-emitting-robot motion coordination control system according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a path planning of laser peening point-by-point peening and interpolation peening according to an embodiment of the present invention, wherein (a) is a schematic diagram illustrating point-by-point scanning, and (b) is a schematic diagram illustrating interpolation scanning.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the invention.
Based on the prior art, the pulse laser and the industrial robot motion coordination control need to be realized. According to laser processing technology path planning, based on the periodic signal processing capacity of the industrial robot, the robot is required to continuously correct the real-time space position, and accurate triggering of the laser is achieved after the industrial robot moves to a target point position, so that the laser processing precision is improved. Meanwhile, it is required to maximally utilize the light emitting frequency of the pulse laser to significantly improve the laser processing efficiency. The present invention provides the following embodiments to meet the above technical needs.
Referring to fig. 1, a schematic diagram of a pulsed laser light-emitting-robot coordination control system in a laser processing process is provided. As shown in the figure, the system comprises an upper computer, a control system, a robot module and a pulse laser module;
and the upper computer is used for defining point location information of the laser processing of the workpiece to be processed and sending the point location information to the control system. The control system is used for receiving point location information of the host computer; the laser light-emitting feedback control system performs information interaction with a pulse laser module to realize laser light-emitting-light-emitting feedback closed-loop control; and the laser light-emitting device performs information interaction with a robot module to realize laser light-emitting-robot motion coordination control. And the robot module is used for clamping the workpiece to be machined of the laser shot blasting, and performing information interaction with the control system to realize the spatial motion of the workpiece to be machined. And the pulse laser module is used for providing pulse laser required by laser processing.
In order to better realize the closed-loop control of the laser light emission and the light emission feedback, the invention provides a preferred embodiment. In this embodiment, the pulse laser module includes a pulse laser unit and an optical path unit, where the pulse laser unit triggers the pulse laser to complete light emission when receiving a light emission signal sent by the control system; and after the light is emitted, an emitted light feedback signal is sent to the control system. And the light path unit adjusts the laser spot irradiated by the pulse laser unit to a required shape and size. The closed-loop control process comprises the following steps: when the pulse laser unit receives a light emitting signal sent by the control system, the pulse laser is triggered to complete light emitting; and after the light is emitted, the pulse laser unit sends an emitted light feedback signal to the control system.
In order to better realize the laser light emission-robot motion coordination control, the invention provides a preferred embodiment. In this embodiment, the robot module has an interface for performing real-time data interaction with the control system, and the interface has a periodic signal processing capability, and can perform real-time monitoring and adjustment on a robot motion path and a program running state. The robot module periodically feeds back real-time pose information of the robot to the control system, periodically obtains single pose correction quantity fed back by the control system, and controls the motion execution mechanism to correct the spatial position of the workpiece to be processed according to the single pose correction quantity. The coordination control process comprises the following steps: the robot periodically corrects the spatial position of the workpiece to be processed until the robot moves to a target position; when the set conditions are met, the control system controls the pulse laser module to complete laser light-emitting-light-emitting feedback closed-loop control; and when the control system detects the light-emitting feedback signal sent by the pulse laser module, the robot is controlled to move towards the next target point.
Based on the same inventive concept of the above embodiments, another embodiment of the present invention further provides a method for controlling the coordination of the pulse laser light emission and the robot motion, including:
s1, the upper computer defines the target point position information and sends the target point position information to the control system;
s2, the control system periodically reads the real-time pose information of the robot, judges whether the set condition is met, and switches to S5 when the set condition is met; if the set condition is not met, the process proceeds to S3;
s3, the control system calculates the correction amount of the single pose of the robot module and feeds the correction amount back to the robot module;
s4, the robot module controls the robot actuating mechanism to correct the position according to the pose correction amount, and the process is switched to S2;
s5, the control system sends out optical signals to the pulse laser module;
s6, finishing light emission by the pulse laser, and sending a light feedback signal to the control system;
and S7, after receiving the light-emitting feedback signal, the control system switches to S2 until all point location processing is finished.
To facilitate an understanding of the above embodiments, the present invention provides three examples.
The first example:
the frequency of the pulse laser is 5Hz, the size of a laser spot is 4mm, the lap ratio is 20%, the industrial robot and an external system carry out periodic information interaction at the frequency of 4ms, and the laser peening path planning is shown in figure 2 (a). The embodiment can realize the point-by-point processing of laser shot blasting, and the specific flow comprises the following steps:
s01, the upper computer defines the target point position coordinates P of all laser peening destination And sending the point set to a control system;
s02, the control system reads the real-time pose information P of the robot every 4ms real Calculating and target position P destination Deviation of (a) P destination -P real Judging whether or not Δ is satisfied accepted If the set condition is satisfied, the process proceeds to S05; if the set condition is not met, the process proceeds to S03;
s03, the control system calculates the single pose correction quantity delta of the robot module Single correction And feeds back to the robot module. The calculation formula of the correction amount of the single pose is
Wherein, P real For the real-time position of the robot, P destination The target position of the robot is N is the number of data interaction cycles of the robot in a specified time
T Laser Is the pulse period of a pulsed laser, T robot For the communication period of the robot module with the external control system, N real The number of communication cycles completed for the robot module and the control system;
s04, the robot module controls the robot actuating mechanism to correct the position according to the pose correction amount, and the process is switched to S02;
s05, the control system sends out optical signals to the pulse laser module;
s06, finishing light emission by the pulse laser, and sending a light feedback signal to the control system;
and S07, after receiving the light-emitting feedback signal, the control system shifts to the next target position to execute S02 until all point location processing is finished.
Second embodiment:
the frequency of the pulse laser is 5Hz, the size of a laser spot is 4mm, the lap ratio is 20%, the industrial robot and an external system perform periodic information interaction at the frequency of 4ms, the industrial robot moves to a specified target position in a single light emitting period of the laser to finish light emitting of the laser, and the laser shot blasting path planning is shown in figure 2 (b). When the starting point and the end point of a certain track are known, the coordinate information of other points on the path can be calculated according to the laser spot size and the lap joint rate. The embodiment can realize laser shot peening interpolation processing, the robot finishes laser impact under the condition of continuous motion, theoretically, the frequency of 50Hz can be reached, and the specific flow comprises the following steps:
s001, defining the coordinate position P of the target point of the needed laser shot blasting by the upper computer destination According to the laser spot size and the lap joint rate, calculating the number of interpolation points between point positions, and sending the number to a control system;
s002, the control system reads the real-time pose information P of the robot every 4ms real Judging whether the periodic information interaction times of the control system and the robot module meet the requirement
When the set conditions are met, the operation goes to S005; if the set conditions are not satisfied, the process proceeds to S003. Wherein T is Laser Is the pulse period of a pulsed laser, T robot Communication cycle, N, for the robot module with the external control system real The number of communication cycles completed for the robot module and the control system;
s003, controlling the system according to the interpolation points (see figure 2(b), P destination The target position P of each point is calculated for the defined number of the first line point and the last line point of each column, and the point between the two points is an interpolation point) destination And the actual position and the target position P destination Deviation of (a) P destination -P real Calculating the single pose correction quantity delta of the robot module Single correction And feeds back to the robot module. The calculation formula of the correction amount of the single pose is
Wherein, P real For the real-time position of the robot, P destination The target position of the robot is N is the number of data interaction cycles of the robot in a specified time
S004, the robot module controls the robot actuating mechanism to correct the position according to the pose correction amount, and the step is switched to S002;
s005, the control system sends out light signals to the pulse laser module;
s006, finishing light emission by the pulse laser, and sending a light feedback signal to the control system;
and S007, after receiving the light-emitting feedback signal, the control system switches to S002 until all point positions are processed.
The present invention provides a third embodiment, which is a combination of the first embodiment and the second embodiment, based on the same concept as the above embodiments.
The embodiment provides that a target processing point position is defined through an upper computer, the robot periodically and continuously corrects the spatial position to reach the target position based on the periodic information interaction capacity of the robot, and the control system controls the pulse laser to emit light after the set conditions are met, so that the coordination control of laser light emission-robot motion and the closed-loop control of laser light emission-light emission feedback are realized. The embodiment overcomes the problems that the laser and the robot are mutually independent or the robot frequently starts and stops and has low processing efficiency in the existing system, and obviously improves the laser processing efficiency and the processing precision.
Based on the same inventive concept, other embodiments of the present invention provide a terminal, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor can be used to execute any one of the systems described above or execute the methods described above when executing the computer program.
It should be noted that, the steps in the method provided by the present invention may be implemented by using corresponding modules, devices, units, and the like in the system, and those skilled in the art may refer to the technical solution of the system to implement the step flow of the method, that is, the embodiment in the system may be understood as a preferred example for implementing the method, and details are not described herein.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices provided by the present invention in purely computer readable program code means, the method steps can be fully programmed to implement the same functions by implementing the system and its various devices in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices thereof provided by the present invention can be regarded as a hardware component, and the devices included therein for realizing various functions can also be regarded as structures in the hardware component; means for performing the functions may also be regarded as structures within both software modules and hardware components for performing the methods.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The above-described preferred features may be used in any combination without conflict with each other.
Claims (10)
1. A pulse laser light-emitting-robot motion coordination control system is characterized by comprising:
the upper computer defines point location information of laser processing of the workpiece to be processed;
a pulse laser module which provides pulse laser required by laser processing;
the robot module clamps the workpiece to be machined and realizes the spatial motion of the workpiece to be machined;
the control system receives point location information of the upper computer, performs information interaction with the pulse laser module, and realizes laser light emission-light emission feedback closed-loop control; and information interaction is carried out with the robot module, and coordination control of laser light emission and robot motion is realized.
2. The system of claim 1, wherein the pulsed laser module comprises:
the pulse laser unit triggers the pulse laser to complete light emission;
and the optical path unit adjusts the irradiated laser spot into a required shape and size.
3. The system of claim 2, wherein the laser light-emitting-light-emitting feedback closed-loop control comprises:
when the pulse laser unit receives a light emitting signal sent by the control system, the pulse laser is triggered to complete light emitting;
and after the light is emitted, the pulse laser unit sends a light emitting feedback signal to the control system.
4. The system of claim 1, wherein the laser light-emitting-robot motion coordination control comprises:
the robot module periodically corrects the spatial position of the workpiece to be processed until the workpiece to be processed moves to the target position;
when the set conditions are met, the control system controls the pulse laser module to complete laser light-emitting-light-emitting feedback closed-loop control;
and when the control system detects the light-emitting feedback signal sent by the pulse laser module, controlling the robot module to move towards the next target point.
5. The system for controlling coordination of light emission and robot motion of a pulsed laser according to claim 4, wherein the coordination of light emission and robot motion of the laser is realized based on an interface of the robot module;
based on the interface, the robot module performs data interaction with the control system;
the interface has periodic signal processing capacity and is used for monitoring and adjusting the motion path of the robot module and the program running state in real time.
6. The pulsed laser light-emitting-robot motion coordination control system according to claim 5, wherein the robot module periodically corrects the spatial position of the workpiece to be processed until the workpiece to be processed moves to the target position, and the method comprises the following steps:
the robot module periodically feeds back real-time pose information of the robot to the control system;
the robot module periodically obtains the single pose correction quantity fed back by the control system;
and the robot module corrects the spatial position of the workpiece to be processed according to the pose correction quantity.
7. The system of claim 6, wherein the single-time pose correction amount is
Wherein, P real For the real-time position, P, of the robot module destination Is the target position of the robot module, and N is the number of the interaction cycles of the robot module data in the specified time
T Laser Is the pulse period of a pulsed laser, T robot Communication cycle, N, for the robot module with the external control system real The number of communication cycles the robot module and the control system have completed.
8. The pulsed laser light-emitting-robot motion coordination control system according to any one of claims 4 to 7, wherein the setting conditions include:
the deviation between the real-time position of the robot module and the target position is smaller than a set value;
or the like, or, alternatively,
and the periodic information interaction times of the control system and the robot module meet the rated requirement.
9. A pulse laser light emitting-robot motion coordination control method is characterized by comprising the following steps:
s1, the upper computer defines the position information of the target point location and sends the position information to the control system;
s2, the control system periodically reads the real-time pose information of the robot, judges whether the set condition is met, and switches to S5 when the set condition is met; if the set condition is not met, the process proceeds to S3;
s3, the control system calculates the correction amount of the single pose of the robot module and feeds the correction amount back to the robot module;
s4, the robot module controls the robot actuating mechanism to correct the spatial position according to the single pose correction amount, and the operation is switched to S2;
s5, the control system sends out optical signals to the pulse laser module;
s6, finishing light emission by the pulse laser, and sending a light feedback signal to the control system;
and S7, after receiving the light-emitting feedback signal, the control system switches to S2 until all point location processing is finished.
10. A terminal comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program is operable to perform the system of any one of claims 1 to 8 or to perform the method of claim 9.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116275587A (en) * | 2023-04-17 | 2023-06-23 | 霖鼎光学(江苏)有限公司 | Control system for laser cutting of workpiece |
| CN117047285A (en) * | 2023-08-14 | 2023-11-14 | 上海智能制造功能平台有限公司 | Laser shot blasting forming large-breadth dynamic scanning closed-loop control system and method |
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| CN117047285A (en) * | 2023-08-14 | 2023-11-14 | 上海智能制造功能平台有限公司 | Laser shot blasting forming large-breadth dynamic scanning closed-loop control system and method |
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