CN109623156A - The complex-curved welding edge dynamic slave laser sweep-out method of space flight, system and medium - Google Patents
The complex-curved welding edge dynamic slave laser sweep-out method of space flight, system and medium Download PDFInfo
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- CN109623156A CN109623156A CN201910012663.8A CN201910012663A CN109623156A CN 109623156 A CN109623156 A CN 109623156A CN 201910012663 A CN201910012663 A CN 201910012663A CN 109623156 A CN109623156 A CN 109623156A
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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
- B23K26/36—Removing material
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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
- B23K26/70—Auxiliary operations or equipment
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- Optics & Photonics (AREA)
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Abstract
The present invention provides a kind of space flight Complex Different Shape curved surface welding edge dynamic slave laser sweep-out method, system and media, comprising: laser pose regulates and controls step: enabling sensor to detect pending area, obtains pose and regulate and control data；Laser removes step: regulating and controlling data according to the pose of acquisition, control laser action is completed laser and removed in pending area.The present invention adjusts laser beam using non-contact type self adaption, solve the dynamic followings difficult points such as Complex Different Shape structure welding side Free Transform and structural mutation, ensure that laser beam keeps stablizing operation posture and distance in the various dimensions direction such as variable curvature curved surface normal direction, tangential, realizes that the stabilization of large-scale space flight Complex Different Shape curved surface welding edge coating and dirt, efficient, accurate laser are removed.
Description
Technical field
The present invention relates to aerospace vehicles, spacecraft structural member laser fabrication technology field, and in particular, to
The complex-curved welding edge dynamic slave laser sweep-out method of space flight, system and medium.
Background technique
Space launch vehicle, spacecraft, aviation aircraft are often with Complex Different Shape curved-surface structure welding structure to meet gas
The needs of dynamic shape and liquid storage are the crucial special constructions such as carrier rocket, big aircraft, space station, have light weight degree
High, the features such as pneumatic property of shape is good.However during product development, the processing and manufacturing of Complex Different Shape curved surface is unavoidable, especially
It is that Complex Different Shape curved surface generally requires welding to realize whole aerodynamic configuration structure development.The welding manufacture work of Complex Different Shape curved surface
Skill, or need to be surface-treated in Complex Different Shape curved surface regional area, the corresponding technique such as spray treatment.Therefore, it needs
It to carry out the surface coverings such as greasy dirt, paint, rusty stain, oxidation film to Complex Different Shape curved surface welding edge locally to remove, to meet weldering
Connect equal subsequent manufacturing procedures.
Currently, carrying out the office of Complex Different Shape curved surface welding edge using the mechanical technologies method such as polishing, scraping, scraping, flour milling
It removes in portion.Large labor intensity, production efficiency are low, it is difficult to realize automation, clear quality is difficult to ensure that remained on surface is more, it is difficult to
Handle techniques and the operation problems such as labyrinth.
It is produced using the complex-curved welding edge dynamic following laser sweep-out method of space flight, it can be with the free shape of dynamic following
The Complex Different Shape curved surface welding edge of state, to the adaptable of various Complex Different Shape curved surface, reset procedure is steady and high-efficient, laser
Removing position is precisely controllable with region, and automated production is high-efficient, solves space flight Complex Different Shape curved-surface structure mechanical grinding and removes
The problems such as low efficiency and poor Structure adaptation.
Currently without the explanation or report for finding technology similar to the present invention, it is also not yet collected into money similar both at home and abroad
Material.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of complex-curved welding edge dynamic of space flight is servo-actuated
Laser sweep-out method, system and medium.
A kind of space flight Complex Different Shape curved surface welding edge dynamic slave laser sweep-out method provided according to the present invention, comprising:
Using multi-sensor information fusion technology carry out the removing of dynamic slave laser or using dynamic be servo-actuated mechanical mechanism into
Mobile state slave laser is removed.
It is described that the removing of dynamic slave laser is carried out using multi-sensor information fusion technology, comprising:
Laser pose regulates and controls step: enabling sensor to detect pending area, obtains pose and regulate and control data；
Laser removes step: regulating and controlling data according to the pose of acquisition, control laser action completes laser in pending area
It removes；
It is described that mechanical mechanism progress dynamic slave laser removing is servo-actuated using dynamic, comprising:
Follower rate-determining steps: by the servo-actuated combination executing agency of dynamic, control laser action is complete in pending area
It is removed at laser.
Preferably, the laser pose regulates and controls step:
Information acquiring step: enabling sensor to detect pending area, Returning sensor detection information；
Regulate and control data acquisition step: right using multi-sensor information fusion technology according to the sensor detection information of return
Sensor detection information is handled, and is obtained pose and is regulated and controled data.
Preferably, the sensor includes following any or appoints a variety of:
Laser sensor, visual sensor, ultrasonic sensor；
The sensor detection information includes following any or appoints a variety of:
Detection information, the detection information of visual sensor, the detection information of ultrasonic sensor of laser sensor；
The pose regulation data include following any or appoint a variety of:
The operating distance data of the pose angle-data of laser beam, laser beam.
Preferably, the laser removing step includes:
Regulate and control data according to the pose of acquisition, control executing agency adjusts the pose angle and laser beam of laser beam
Operating distance makes laser beam irradiate pending area, completes laser and removes；
The executing agency includes: servo actuator, industrial robot；
It is described adjust laser beam operating distance include:
The surface distance of laser to pending area is adjusted to the focal length of laser.
Preferably, it includes: that dynamic is servo-actuated mechanical mechanism, servo-actuated execution servo that the dynamic, which is servo-actuated combination executing agency,
Structure, dynamic slave laser pipette tips holding mechanism；
The follower rate-determining steps include:
Mechanical mechanism, servo-actuated execution servo mechanism, dynamic slave laser pipette tips holding mechanism, root are servo-actuated by control dynamic
According to the surface condition of pending area, the pose angle of laser beam is adjusted in real time and adjusts the operating distance of laser beam, is made
Laser beam irradiates pending area, completes laser and removes；
It is described adjust laser beam operating distance include:
The surface distance of laser to pending area is adjusted to the focal length of laser.
A kind of space flight Complex Different Shape curved surface welding edge dynamic slave laser provided according to the present invention removes system, comprising:
Using multi-sensor information fusion technology carry out the removing of dynamic slave laser or using dynamic be servo-actuated mechanical mechanism into
Mobile state slave laser is removed.
It is described that the removing of dynamic slave laser is carried out using multi-sensor information fusion technology, comprising:
Laser pose regulates and controls module: enabling sensor to detect pending area, obtains pose and regulate and control data；
Laser removes module: regulating and controlling data according to the pose of acquisition, control laser action completes laser in pending area
It removes；
It is described that mechanical mechanism progress dynamic slave laser removing is servo-actuated using dynamic, comprising:
Follower control module: by the servo-actuated combination executing agency of dynamic, control laser action is complete in pending area
It is removed at laser.
Preferably, the laser pose regulation module includes:
Data obtaining module: enabling sensor to detect pending area, Returning sensor detection information；
Regulate and control data acquisition module: right using multi-sensor information fusion technology according to the sensor detection information of return
Sensor detection information is handled, and is obtained pose and is regulated and controled data.
The sensor includes following any or appoints a variety of:
Laser sensor, visual sensor, ultrasonic sensor；
The sensor detection information includes following any or appoints a variety of:
Detection information, the detection information of visual sensor, the detection information of ultrasonic sensor of laser sensor；
The pose regulation data include following any or appoint a variety of:
The operating distance data of the pose angle-data of laser beam, laser beam.
Preferably, the laser removes module:
Regulate and control data according to the pose of acquisition, control executing agency adjusts the pose angle and laser beam of laser beam
Operating distance makes laser beam irradiate pending area, completes laser and removes；
The executing agency includes: servo actuator, industrial robot；
It is described adjust laser beam operating distance include:
The surface distance of laser to pending area is adjusted to the focal length of laser.
Preferably, it includes: that dynamic is servo-actuated mechanical mechanism, servo-actuated execution servo that the dynamic, which is servo-actuated combination executing agency,
Structure, dynamic slave laser pipette tips holding mechanism；
The follower control module:
Mechanical mechanism, servo-actuated execution servo mechanism, dynamic slave laser pipette tips holding mechanism, root are servo-actuated by control dynamic
According to the surface condition of pending area, the pose angle of laser beam is adjusted in real time and adjusts the operating distance of laser beam, is made
Laser beam irradiates pending area, completes laser and removes；
It is described adjust laser beam operating distance include:
The surface distance of laser to pending area is adjusted to the focal length of laser.
A kind of computer readable storage medium for being stored with computer program provided according to the present invention, the computer journey
Space flight Complex Different Shape curved surface welding edge dynamic slave laser described in any of the above embodiments removing side is realized when sequence is executed by processor
The step of method.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, the present invention adjusts laser beam using non-contact type self adaption, solves Complex Different Shape structure welding side Free Transform
With the dynamic followings difficult point such as structural mutation, it is ensured that laser beam keeps steady in the various dimensions direction such as variable curvature curved surface normal direction, tangential
It is set for industry posture and distance, realizes the stabilization of large-scale space flight Complex Different Shape curved surface welding edge coating and dirt, efficient, accurate laser
It removes.
2, the non-contact laser beam that the present invention is adjusted using dynamic following, it is strong to space flight abnormal curved surface structure adaptability,
Operation is flexible high, understands that process stability is good, high-efficient, and the part that Complex Different Shape curved surface may be implemented precisely controllably is removed, from
Dynamicization high production efficiency, solving that complicated space flight abnormal curved surface welding edge mechanical grinding elimination efficiency is low and Structure adaptation is poor etc. asks
Topic.
3, the present invention can choose laser beam quality and Rayleigh range adapts to surface to be treated state, meet contactless office
Portion precisely removes requirement, and can carry out the removing of single single track or multiple multiple tracks is successively removed.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is space flight Complex Different Shape curved surface welding edge dynamic following laser sweep-out method schematic diagram
Fig. 2 is typical space Complex Different Shape curved-surface structure schematic diagram
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
A kind of space flight Complex Different Shape curved surface welding edge dynamic slave laser sweep-out method provided according to the present invention, comprising:
Using multi-sensor information fusion technology carry out the removing of dynamic slave laser or using dynamic be servo-actuated mechanical mechanism into
Mobile state slave laser is removed.
It is described that the removing of dynamic slave laser is carried out using multi-sensor information fusion technology, comprising:
Laser pose regulates and controls step: enabling sensor to detect pending area, obtains pose and regulate and control data；
Laser removes step: regulating and controlling data according to the pose of acquisition, control laser action completes laser in pending area
It removes；
It is described that mechanical mechanism progress dynamic slave laser removing is servo-actuated using dynamic, comprising:
Follower rate-determining steps: by the servo-actuated combination executing agency of dynamic, control laser action is complete in pending area
It is removed at laser.
Specifically, the laser pose regulates and controls step:
Information acquiring step: enabling sensor to detect pending area, Returning sensor detection information；
Regulate and control data acquisition step: right using multi-sensor information fusion technology according to the sensor detection information of return
Sensor detection information is handled, and is obtained pose and is regulated and controled data.
Specifically, the sensor includes following any or appoints a variety of:
Laser sensor, visual sensor, ultrasonic sensor；
The sensor detection information includes following any or appoints a variety of:
Detection information, the detection information of visual sensor, the detection information of ultrasonic sensor of laser sensor；
The pose regulation data include following any or appoint a variety of:
The operating distance data of the pose angle-data of laser beam, laser beam.Further, the pose angle packet
Include: laser beam projects the position of point, direction.
Specifically, the laser removing step includes:
Regulate and control data according to the pose of acquisition, control executing agency adjusts the pose angle and laser beam of laser beam
Operating distance makes laser beam irradiate pending area, completes laser and removes；
The executing agency includes: servo actuator, industrial robot；
It is described adjust laser beam operating distance include:
The surface distance of laser to pending area is adjusted to the focal length of laser.
Specifically, it includes: that dynamic is servo-actuated mechanical mechanism, servo-actuated execution servo that the dynamic, which is servo-actuated combination executing agency,
Structure, dynamic slave laser pipette tips holding mechanism；
The follower rate-determining steps include:
Mechanical mechanism, servo-actuated execution servo mechanism, dynamic slave laser pipette tips holding mechanism, root are servo-actuated by control dynamic
According to the surface condition of pending area, the pose angle of laser beam is adjusted in real time and adjusts the operating distance of laser beam, is made
Laser beam irradiates pending area, completes laser and removes；
It is described adjust laser beam operating distance include:
The surface distance of laser to pending area is adjusted to the focal length of laser.Further, the laser beam is
Pulsed optical fibre laser, the peak power of the pulsed optical fibre laser are greater than 10000W, and pulse frequency is greater than 50Hz, laser focal model
It encloses for 200mm~500mm, laser removing speed range is 0.5m/min~2m/min.
Space flight Complex Different Shape curved surface welding edge dynamic slave laser provided by the invention removes system, can be through the invention
The step process for the space flight Complex Different Shape curved surface welding edge dynamic slave laser sweep-out method given is realized.Those skilled in the art can
To be interpreted as the space flight Complex Different Shape curved surface for the space flight Complex Different Shape curved surface welding edge dynamic slave laser sweep-out method
One preference of welding edge dynamic slave laser removing system.
A kind of space flight Complex Different Shape curved surface welding edge dynamic slave laser provided according to the present invention removes system, comprising:
Using multi-sensor information fusion technology carry out the removing of dynamic slave laser or using dynamic be servo-actuated mechanical mechanism into
Mobile state slave laser is removed.
It is described that the removing of dynamic slave laser is carried out using multi-sensor information fusion technology, comprising:
Laser pose regulates and controls module: enabling sensor to detect pending area, obtains pose and regulate and control data；
Laser removes module: regulating and controlling data according to the pose of acquisition, control laser action completes laser in pending area
It removes；
It is described that mechanical mechanism progress dynamic slave laser removing is servo-actuated using dynamic, comprising:
Follower control module: by the servo-actuated combination executing agency of dynamic, control laser action is complete in pending area
It is removed at laser.
Specifically, the laser pose regulation module includes:
Data obtaining module: enabling sensor to detect pending area, Returning sensor detection information；
Regulate and control data acquisition module: right using multi-sensor information fusion technology according to the sensor detection information of return
Sensor detection information is handled, and is obtained pose and is regulated and controled data.
The sensor includes following any or appoints a variety of:
Laser sensor, visual sensor, ultrasonic sensor；
The sensor detection information includes following any or appoints a variety of:
Detection information, the detection information of visual sensor, the detection information of ultrasonic sensor of laser sensor；
The pose regulation data include following any or appoint a variety of:
The operating distance data of the pose angle-data of laser beam, laser beam.Further, the pose angle packet
Include: laser beam projects the position of point, direction.
Specifically, the laser removes module:
Regulate and control data according to the pose of acquisition, control executing agency adjusts the pose angle and laser beam of laser beam
Operating distance makes laser beam irradiate pending area, completes laser and removes；
The executing agency includes: servo actuator, industrial robot；
It is described adjust laser beam operating distance include:
The surface distance of laser to pending area is adjusted to the focal length of laser.
Specifically, it includes: that dynamic is servo-actuated mechanical mechanism, servo-actuated execution servo that the dynamic, which is servo-actuated combination executing agency,
Structure, dynamic slave laser pipette tips holding mechanism；
The follower control module:
Mechanical mechanism, servo-actuated execution servo mechanism, dynamic slave laser pipette tips holding mechanism, root are servo-actuated by control dynamic
According to the surface condition of pending area, the pose angle of laser beam is adjusted in real time and adjusts the operating distance of laser beam, is made
Laser beam irradiates pending area, completes laser and removes；
It is described adjust laser beam operating distance include:
The surface distance of laser to pending area is adjusted to the focal length of laser.
A kind of computer readable storage medium for being stored with computer program provided according to the present invention, which is characterized in that
The computer program realized when being executed by processor space flight Complex Different Shape curved surface welding edge described in any of the above embodiments dynamic with
The step of dynamic laser sweep-out method.
Below by preference, the present invention is more specifically illustrated.
Preference 1:
The present invention is required according to carrier rocket ellipsoid bottom thin-wall curved-surface melon valve welding edge anodic oxidation membrane removal, is used
The optical-fiber laser reset mode in high peak energies ultrashort pulse period, design multi-information fusion sensing control technology or dynamic with
Dynamic mechanical mechanism, carrying out part to carrier rocket ellipsoid bottom thin-wall curved-surface anode oxidation membrane, precisely laser is removed.It utilizes
Laser without contact action character and various dimensions direction from main regulation servo actuator, Complex Different Shape curved surface normal direction,
Tangentially, laterally etc. dimensions direction adjusts laser beam pose angle and operating distance, realizes space flight abnormal curved surface Free Transform shape
The efficient stable of welding edge film layer and dirt is removed under state.High energy pulse laser beam focusing acts on abnormal curved surface welding edge film
Layer and dirt wait processing end face specific region, adapt to the deformation of Complex Different Shape curved surface free state by radiation mode.Laser is clear
Except process, need that laser and surface to be treated vertical line angle is kept to be within ± 10 °, while guaranteeing laser to surface to be treated
Distance is within the scope of laser focal≤150mm, by properly setting laser power 100W, sweep length 20mm, removing speed
1m/min realizes that the efficient thorough laser of welding edge anode oxidation membrane under Complex Different Shape curved surface free state is removed.
Embodiment 2:
The multiple miscellaneous curved surface welding edge dynamic following laser sweep-out method of abnormity of space flight, which is characterized in that use multi-information fusion
Sensing control technology or dynamic are servo-actuated mechanical mechanism, the normal direction of Complex Different Shape curved surface, the various dimensions direction such as tangential, lateral from
Main regulation servo actuator realizes space flight abnormal curved surface to realize servo-actuated regulation laser beam pose angle and operating distance
The efficient stable of welding edge film layer and dirt is removed under free deformation.Pulsed optical fibre laser focussing force is in Complex Different Shape song
Face pending area adapts to free state by adjusting laser beam active width with non-contact radiation mode, quick to realize
Precisely laser is removed for the part of efficient opposite sex curved surface welding edge.
The Complex Different Shape curved surface free state slave laser sweep-out method, which is characterized in that the multi information of use melts
It closes sensing control technology or dynamic is servo-actuated mechanical mechanism, have special in time transients Real-time Feedback, Spatial distributions synchronous feedback
Point, so that the position feature of laser work pipette tips dynamic following abnormal curved surface, realizes that precisely laser removes the steady of operation for part
Property and continuity.
The multi-information fusion sensing control technology laser sweep-out method, it is characterised in that use laser sensing, vision
The multi-information fusions sensing detection technology such as sensing, ultrasonic sensing, real-time feedback control servo actuator or industrial robot
Equal intelligent Actuators realize synchronous dynamic following under space flight abnormal curved surface free state, meet the pose angle of laser beam
It is adjusted with operating distance.
The dynamic following mechanical mechanism laser sweep-out method, which is characterized in that execution machine is combined by dynamic following
Structure realizes the accurate removing of abnormal curved surface welding edge film layer and dirt, and combined mechanism includes dynamic following mechanical mechanism, follows and hold
The major parts such as row servo mechanism, dynamic following laser pipette tips holding mechanism.
The pulsed optical fibre laser, which is characterized in that the nanosecond in high peak energies ultrashort pulse period or picosecond light
Fine laser irradiates pending area by high energy pulse energy, realizes that broken, the removing of surface covering and dirt are removed, and
The ultrashort activity duration, to guarantee that substrate is unaffected.
The non-contact laser is removed, which is characterized in that using the appropriate laser irradiation position to be processed for focusing focal length
It sets, rather than the contacts formula mechanical removal such as cutter scraping.Laser beam quality and Rayleigh range, which are chosen, adapts to surface to be treated shape
State meets contactless part and precisely removes requirement.And the removing of single single track can be carried out or multiple multiple tracks is successively removed.
Embodiment 3:
The present embodiment is achieved through the following technical solutions: according to space flight Complex Different Shape curve flexibility Free Transform etc. itself
Characteristic, using contactless pulse laser reset mode.The dynamic of use is servo-actuated mechanical mechanism or multi-information fusion sensing control
Technology processed has the characteristics that in time transients Real-time Feedback, Spatial distributions synchronous feedback, so that high energy pulse optical-fiber laser is continuously steady
It is set for for pending areas such as Complex Different Shape curved surface welding edges.By high energy pulse irradiate it is to be cleaned after series effect, promote
Make to generate broken, splashing, removing to surface coverings such as greasy dirt, paint, rusty stain, oxidation films.It is focused by reasonable set laser
Distance and removing speed are realized and are efficiently precisely removed, meet the Complex Different Shapes curved surface knot such as aerospace vehicle, spacecraft
The surface to be treated of structure removes operation.
Preferably, it when the dynamic following laser sweep-out method feature is contactless pulse laser reset mode, uses
The detection feedback control combined mechanism of multi-information fusion sensing control technology realizes the pose angle and operating distance of laser beam
It adjusts, wherein high energy pulse optical-fiber laser continuous-stable acts on the pending areas such as Complex Different Shape curved surface welding edge；
Preferably, the detection feedback control combined mechanism feature of the multi-information fusion sensing control technology is that design uses
The multi-information fusions sensing detection technology such as laser sensing, visual sensing, ultrasonic sensing, real-time feedback control servo actuator or
The intelligent Actuators such as person's industrial robot realize synchronous dynamic following under space flight abnormal curved surface free state, meet laser light
The pose angle and operating distance of beam are adjusted；
Preferably, the laser sweep-out method Feature Selection laser peak power, laser pulse frequency, laser focal, swash
The characteristic quantities such as light Rayleigh range, removing speed, laser peak power are greater than 10000W, and laser pulse frequency is greater than 50Hz, laser
Focal length 200mm~500mm, laser 0.5~2m/min of removing speed guarantee oxidation film etc. after Surface absorption pulse energy to be cleaned
Effectively broken and removing and elimination efficiency；
Preferably, the contactless dynamic following laser sweep-out method feature laser is to surface to be treated distance feature
Amount, wherein laser to surface distance is set as laser focal, guarantees that laser removes the adaptation to surface irregularity to be processed
Property, it improves laser and removes technique to the adaptability of surface appearance；
Preferably, the surface to be treated situation feature that the abnormal curved surface laser is removed, wherein the ultrashort arteries and veins of high peak energies
Nanosecond or picosecond optical-fiber laser for rushing the period irradiate pending area by high energy pulse energy, realize surface covering and
Broken, the removing of dirt are removed, and the ultrashort activity duration, to guarantee that substrate is unaffected.
In the description of the present application, it is to be understood that term " on ", "front", "rear", "left", "right", " is erected at "lower"
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on the figure or position
Relationship is set, description the application is merely for convenience of and simplifies description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.
One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code
It, completely can be by the way that method and step be carried out programming in logic come so that provided by the invention other than system, device and its modules
System, device and its modules are declined with logic gate, switch, specific integrated circuit, programmable logic controller (PLC) and insertion
The form of controller etc. realizes identical program.So system provided by the invention, device and its modules may be considered that
It is a kind of hardware component, and the knot that the module for realizing various programs for including in it can also be considered as in hardware component
Structure；It can also will be considered as realizing the module of various functions either the software program of implementation method can be Hardware Subdivision again
Structure in part.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. a kind of space flight Complex Different Shape curved surface welding edge dynamic slave laser sweep-out method characterized by comprising
It carries out the removing of dynamic slave laser using multi-sensor information fusion technology or is servo-actuated mechanical mechanism using dynamic to be moved
State slave laser is removed.
It is described that the removing of dynamic slave laser is carried out using multi-sensor information fusion technology, comprising:
Laser pose regulates and controls step: enabling sensor to detect pending area, obtains pose and regulate and control data；
Laser removes step: regulating and controlling data according to the pose of acquisition, it is clear to complete laser in pending area for control laser action
It removes；
It is described that mechanical mechanism progress dynamic slave laser removing is servo-actuated using dynamic, comprising:
Follower rate-determining steps: by the servo-actuated combination executing agency of dynamic, control laser action is completed to swash in pending area
Light is removed.
2. space flight Complex Different Shape curved surface welding edge dynamic slave laser sweep-out method according to claim 1, feature exist
In the laser pose regulates and controls step:
Information acquiring step: enabling sensor to detect pending area, Returning sensor detection information；
Regulate and control data acquisition step: according to the sensor detection information of return, using multi-sensor information fusion technology, to sensing
Device detection information is handled, and is obtained pose and is regulated and controled data.
3. space flight Complex Different Shape curved surface welding edge dynamic slave laser sweep-out method according to claim 2, feature exist
In the sensor includes following any or appoints a variety of:
Laser sensor, visual sensor, ultrasonic sensor；
The sensor detection information includes following any or appoints a variety of:
Detection information, the detection information of visual sensor, the detection information of ultrasonic sensor of laser sensor；
The pose regulation data include following any or appoint a variety of:
The operating distance data of the pose angle-data of laser beam, laser beam.
4. space flight Complex Different Shape curved surface welding edge dynamic slave laser sweep-out method according to claim 3, feature exist
In the laser removes step and includes:
Regulate and control data according to the pose of acquisition, control executing agency adjusts the pose angle of laser beam and the effect of laser beam
Distance makes laser beam irradiate pending area, completes laser and removes；
The executing agency includes: servo actuator, industrial robot；
It is described adjust laser beam operating distance include:
The surface distance of laser to pending area is adjusted to the focal length of laser.
5. space flight Complex Different Shape curved surface welding edge dynamic slave laser sweep-out method according to claim 1, feature exist
In it includes: dynamically to be servo-actuated mechanical mechanism, servo-actuated execution servo mechanism, dynamic to be servo-actuated and swash that the dynamic, which is servo-actuated combination executing agency,
Light gun head holding mechanism；
The follower rate-determining steps include:
By control dynamic be servo-actuated mechanical mechanism, it is servo-actuated execute servo mechanism, dynamic slave laser pipette tips holding mechanism, according to
The surface condition of processing region adjusts the pose angle of laser beam in real time and adjusts the operating distance of laser beam, makes laser
Beam irradiation pending area is completed laser and is removed；
It is described adjust laser beam operating distance include:
The surface distance of laser to pending area is adjusted to the focal length of laser.
6. a kind of space flight Complex Different Shape curved surface welding edge dynamic slave laser removes system characterized by comprising
It carries out the removing of dynamic slave laser using multi-sensor information fusion technology or is servo-actuated mechanical mechanism using dynamic to be moved
State slave laser is removed.
It is described that the removing of dynamic slave laser is carried out using multi-sensor information fusion technology, comprising:
Laser pose regulates and controls module: enabling sensor to detect pending area, obtains pose and regulate and control data；
Laser removes module: regulating and controlling data according to the pose of acquisition, it is clear to complete laser in pending area for control laser action
It removes；
It is described that mechanical mechanism progress dynamic slave laser removing is servo-actuated using dynamic, comprising:
Follower control module: by the servo-actuated combination executing agency of dynamic, control laser action is completed to swash in pending area
Light is removed.
7. space flight Complex Different Shape curved surface welding edge dynamic slave laser according to claim 6 removes system, feature exists
In the laser pose regulation module includes:
Data obtaining module: enabling sensor to detect pending area, Returning sensor detection information；
Regulate and control data acquisition module: according to the sensor detection information of return, using multi-sensor information fusion technology, to sensing
Device detection information is handled, and is obtained pose and is regulated and controled data.
The sensor includes following any or appoints a variety of:
Laser sensor, visual sensor, ultrasonic sensor；
The sensor detection information includes following any or appoints a variety of:
Detection information, the detection information of visual sensor, the detection information of ultrasonic sensor of laser sensor；
The pose regulation data include following any or appoint a variety of:
The operating distance data of the pose angle-data of laser beam, laser beam.
8. space flight Complex Different Shape curved surface welding edge dynamic slave laser according to claim 7 removes system, feature exists
In the laser removes module:
Regulate and control data according to the pose of acquisition, control executing agency adjusts the pose angle of laser beam and the effect of laser beam
Distance makes laser beam irradiate pending area, completes laser and removes；
The executing agency includes: servo actuator, industrial robot；
It is described adjust laser beam operating distance include:
The surface distance of laser to pending area is adjusted to the focal length of laser.
9. space flight Complex Different Shape curved surface welding edge dynamic slave laser according to claim 6 removes system, feature exists
In it includes: dynamically to be servo-actuated mechanical mechanism, servo-actuated execution servo mechanism, dynamic to be servo-actuated and swash that the dynamic, which is servo-actuated combination executing agency,
Light gun head holding mechanism；
The follower control module:
By control dynamic be servo-actuated mechanical mechanism, it is servo-actuated execute servo mechanism, dynamic slave laser pipette tips holding mechanism, according to
The surface condition of processing region adjusts the pose angle of laser beam in real time and adjusts the operating distance of laser beam, makes laser
Beam irradiation pending area is completed laser and is removed；
It is described adjust laser beam operating distance include:
The surface distance of laser to pending area is adjusted to the focal length of laser.
10. a kind of computer readable storage medium for being stored with computer program, which is characterized in that the computer program is located
Reason device realizes that space flight Complex Different Shape curved surface welding edge dynamic slave laser described in any one of claims 1 to 5 is clear when executing
The step of except method.
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Application publication date: 20190416 |