Off-line programming method for movement track of robot strengthened by impeller disc laser impact

Abstract

The invention relates to an off-line programming method for movement track of a robot strengthened by impeller disc laser impact. In adopting an on-line programming method for movement track of a robot of some impeller discs with complex curved surfaces and narrow space of a part to be impacted in the application process of laser impact reinforcement, the great difficulty exists. According to theoff-line programming method, a circular ring marking method and a secondary point finding method are combined on the basis of robot simulation software to determine the movement track of the robot; alaser beam can be guaranteed to reach while the laser beam is guaranteed not to interfere with other parts of a large-inclination small-space impeller disc; and oblique impact angle of each point is accurately quantified, parameters of the laser in laser impact reinforcement are determined through data such as angles, and the laser impact reinforcement process is optimized.

Description

technical field [0001] The invention relates to the technical field of robot trajectory optimization, in particular to an off-line programming method of robot trajectory for impeller disk laser shock strengthening. Background technique [0002] Laser shock peening technology, as a surface treatment technology in the foreword, has a large number of applications in the field of aero-engines, but for example, the overall blisks and blades have complex curved surfaces. The hydrodynamic performance is very important, so in the process of laser shock hardening, it is necessary to ensure that each parameter of laser shock hardening is controllable. While meeting the life requirements of the part, the surface quality of the part is guaranteed. Therefore, in the process of laser shock hardening , requires the cooperation of the robot and the laser shock peening equipment. The trajectory of the robot is extremely important to the process of laser shock peening. In the past, the techno...

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Problems solved by technology

[0002] Laser shock peening technology, as a surface treatment technology in the foreword, has a large number of applications in the field of aero-engines, but for example, the overall blisks and blades have complex curved surfaces. The hydrodynamic performance is very important, so in the process of laser shock hardening, it is necessary to ensure that each parameter of laser shock hardening is controllable. While meeting the life requirements of the part, the surface quality of the part is guaranteed. Therefore, in the process of laser shock hardening , requires the cooperation of the robot and the laser shock peening equipment. The trajectory of the robot is extremely important to the process of laser shock peening. In the past, the technology of online programming was a huge workload, and every parameter of laser shock peening was uncontrollable. , it is impossible to accurately obtain the oblique impact angle of the laser beam, and it is impossible to control the energy of each point, control the laser power density, and control the overlapping rate of laser spots; now there is an urgent need for a robot for laser shock strengthening of complex curved surface parts The method of off-line programming of motion trajectory to meet the needs of experiments and production work

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