Rolling Method, System, Electronic Device and Storage Medium for Laser Cladding Workpiece

Abstract

The present application discloses a rolling method, system, electronic device and storage medium for a laser cladding workpiece. The rolling method for the laser cladding workpiece is applied to a laser cladding device. The rolling method for the laser cladding workpiece includes the following steps: detecting temperature information of a working area on the laser cladding workpiece prepared by the laser cladding device through a temperature measuring device; determining a target rolling distance between a rolling head of the laser cladding device and a laser cladding head of the laser cladding device according to the temperature information; and controlling the rolling head to roll the laser cladding workpiece according to a preset rolling path and the target rolling distance. The present application solves the technical problem of poor rolling effect in rolling the laser cladding workpiece in the prior art.

Description

Technical Field

[0001] The present application relates to the technical field of additive manufacturing, and particularly to a rolling method, system, electronic device and storage medium for a laser cladding workpiece. Background Art

[0002] Laser cladding is a new surface modification technology. By adding a cladding material on the surface of a substrate and using a high-energy density laser beam to melt and solidify it together with a thin layer on the surface of the substrate, a metallurgical bonded filler cladding layer is formed on the surface of the substrate. At present, in order to improve the mechanical properties of the workpiece prepared by laser cladding, a method of combining laser cladding with micro-forging is proposed, that is, a rolling head is added behind the cladding head. After laser cladding, when the temperature of the workpiece has not decreased too much, the workpiece is rolled, which can improve the mechanical properties of the workpiece.

[0003] However, during the laser cladding process, due to different factors such as printing speed, laser power, and powder feeding speed, the temperature of the prepared workpiece will change differently. If the rolling head rolls the workpiece when the temperature of the workpiece is high, it is easy to directly collapse the workpiece. If the rolling head rolls the workpiece when the temperature of the workpiece is low, since it is difficult to roll and deform the metal after the temperature drops, the rolling effect will be very poor, and even basically the same as the effect without rolling. Summary of the Invention

[0004] The main purpose of the present application is to provide a rolling method, system, electronic device and storage medium for a laser cladding workpiece, aiming to solve the technical problem of poor rolling effect in rolling a laser cladding workpiece in the prior art.

[0005] To achieve the above object, the present application provides a rolling method for a laser cladding workpiece. The rolling method for a laser cladding workpiece is applied to a laser cladding device, and the rolling method for a laser cladding workpiece includes the following steps:

[0006] Detect the temperature information of the working area on the laser cladding workpiece prepared by the laser cladding device through a temperature measuring device;

[0007] Determine the target rolling distance between the rolling head of the laser cladding device and the laser cladding head of the laser cladding device according to the temperature information;

[0008] Control the rolling head to roll the laser cladding workpiece according to a preset rolling path and the target rolling distance.

[0009] Optionally, the rolling head is arranged on the moving mechanism of the Z-axis of the laser cladding device, and the step of controlling the rolling head to roll the laser cladding workpiece according to a preset rolling path and the target rolling distance includes:

[0010] Obtain the laser cladding path for laser cladding by the laser cladding head, and determine the laser cladding path as the preset rolling path of the rolling head;

[0011] Control the Z-axis to move along the preset rolling path following the laser cladding head, driving the rolling head to roll the laser cladding workpiece;

[0012] Control the motion mechanism to drive the rolling head to move, so as to adjust the actual rolling distance between the rolling head and the laser cladding head to the target rolling distance.

[0013] Optionally, the working area includes a rolling area corresponding to the rolling head, a cladding area corresponding to the laser cladding head, and an area between the rolling area and the cladding area.

[0014] Optionally, the temperature measuring device includes an infrared thermal imager, and the step of detecting the temperature information of the working area on the laser cladding workpiece prepared by the laser cladding device through the temperature measuring device includes:

[0015] Use the infrared thermal imager to take real-time infrared images of the working area on the laser cladding workpiece prepared by the laser cladding device.

[0016] Optionally, the step of determining the target rolling distance between the rolling head of the laser cladding device and the laser cladding head of the laser cladding device according to the temperature information includes:

[0017] Determine the distance between the preset target temperature and the highest temperature according to the infrared image;

[0018] Determine the distance between the preset target temperature and the highest temperature as the target rolling distance between the rolling head of the laser cladding device and the laser cladding head of the laser cladding device.

[0019] This application also provides a rolling system for laser cladding workpieces. The rolling system for laser cladding workpieces includes a laser cladding device and a temperature measuring device, wherein,

[0020] The laser cladding device includes a laser cladding head, and the laser cladding device is used to control the laser cladding head to prepare a laser cladding workpiece on a substrate;

[0021] The temperature measuring device is used to detect the temperature information of the working area on the laser cladding workpiece;

[0022] The laser cladding device further includes a rolling head, and the laser cladding device is further configured to determine a target rolling distance between the rolling head and the laser cladding head according to the temperature information, and control the rolling head to roll the laser cladding workpiece according to a preset rolling path and the target rolling distance.

[0023] Optionally, the laser cladding device includes a Z-axis and a motion mechanism disposed on the Z-axis, and the rolling head is disposed on the motion mechanism, wherein,

[0024] The Z-axis is configured to control the pressing amount of the rolling head in the Z-axis direction, and is further configured to move along the preset rolling path following the laser cladding head, driving the rolling head to roll the laser cladding workpiece;

[0025] The motion mechanism is configured to drive the rolling head to move in a direction perpendicular to the Z-axis, so as to adjust the actual rolling distance between the rolling head and the laser cladding head to the target rolling distance.

[0026] Optionally, the rolling system of the laser cladding workpiece further includes:

[0027] A six-axis robot, configured to control the laser cladding head to move according to a preset laser cladding path.

[0028] This application also provides an electronic device, the electronic device being a physical device, the electronic device including: a memory, a processor, and a program of the rolling method of the laser cladding workpiece stored on the memory and executable on the processor, and when the program of the rolling method of the laser cladding workpiece is executed by the processor, the steps of the rolling method of the laser cladding workpiece as described above can be implemented.

[0029] This application also provides a storage medium, the storage medium being a computer-readable storage medium, and a program for implementing the rolling method of the laser cladding workpiece is stored on the computer-readable storage medium, and when the program of the rolling method of the laser cladding workpiece is executed by the processor, the steps of the rolling method of the laser cladding workpiece as described above are implemented.

[0030] The present application provides a rolling method, system, electronic device and storage medium for laser cladding workpieces. By means of a temperature measuring device, the temperature information of the working area on the laser cladding workpiece prepared by the laser cladding device is detected, so as to determine the temperature information of the working area on the laser cladding workpiece prepared by laser cladding, that is, the temperature of the area on the laser cladding workpiece that needs to be rolled can be determined. Furthermore, according to the temperature information, the target rolling distance between the rolling head of the laser cladding device and the laser cladding head of the laser cladding device is determined, realizing the association between the temperature information and the target rolling distance. That is, before the rolling head performs rolling, the position on the laser cladding workpiece where the suitable rolling temperature is located can be determined according to the detected temperature information. Then, by controlling the rolling head to roll the laser cladding workpiece according to the preset rolling path and the target rolling distance, the control of the rolling position of the rolling head based on the temperature is realized, so that the rolling head can roll at the position with a suitable temperature on the laser cladding workpiece, avoiding the situation that the rolling head directly collapses the workpiece when rolling at a high workpiece temperature and the poor rolling effect when the rolling head rolls at a low workpiece temperature, and overcoming the technical problem of the poor rolling effect of the existing technology for rolling laser cladding workpieces. Description of the Drawings

[0031] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments in line with the present application, and are used together with the specification to explain the principles of the present application.

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0033] Figure 1 It is a schematic flowchart of an embodiment of the rolling method for laser cladding workpieces of the present application;

[0034] Figure 2 It is a schematic diagram of a feasible implementation scenario measured by an infrared thermal imager in the present application;

[0035] Figure 3 It is a schematic diagram of a feasible implementation scenario of the distance between the rolling head and the laser cladding head in the present application;

[0036] Figure 4 It is a schematic diagram of a feasible implementation scenario of the infrared image of the laser cladding workpiece in the present application;

[0037] Figure 5 It is a schematic structural diagram of an embodiment of the rolling system for laser cladding workpieces of the present application;

[0038] Figure 6 It is a schematic diagram of a scenario of an implementable manner of the laser cladding device in this application;

[0039] Figure 7 It is a schematic diagram of the device structure of the hardware operating environment involved in the rolling method of the laser cladding workpiece in the embodiment of this application.

[0040] Explanation of the reference numerals in the drawings:

[0041] Label Name Label Name 11 Z-axis 12 Laser cladding head 13 X-Y platform 14 Substrate 15 Laser cladding workpiece 16 Rolling area 17 Cladding area 111 Motion mechanism 112 W-axis 113 Rolling head

[0042] The realization of the purpose, functional characteristics and advantages of this application will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0043] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0044] Laser cladding is a new surface modification technology. By adding a cladding material on the surface of a substrate and using a high-energy density laser beam to melt and solidify it together with a thin layer on the surface of the substrate, a metallurgical-bonded filler cladding layer is formed on the surface of the substrate. At present, in order to improve the mechanical properties of the workpiece prepared by laser cladding, a method of combining laser cladding with micro-forging is proposed, that is, a rolling head is added behind the cladding head. After laser cladding, the workpiece is rolled when the temperature of the workpiece has not dropped too much, which can improve the mechanical properties of the workpiece.

[0045] At present, in order to ensure the comprehensiveness of rolling and the simplicity and easy operation of the process, the relative positional relationship between the rolling head and the cladding head is usually pre-designed before processing and remains fixed during the laser cladding process. However, during the laser cladding process, processing conditions such as printing speed, laser power, and powder feeding speed are not constant. When the processing conditions change, the temperature of the prepared workpiece will change differently. If the rolling head rolls the workpiece when the temperature of the workpiece is high, it is easy to directly collapse the workpiece. If the rolling head rolls the workpiece when the temperature of the workpiece is low, since it is difficult to roll and deform the metal after the temperature drops, the rolling effect will be very poor, or even basically the same as the effect without rolling.

[0046] The embodiment of this application provides a rolling method for a laser cladding workpiece. In an embodiment of the rolling method for a laser cladding workpiece in this application, refer toFigure 1 , the rolling method of the laser cladding workpiece is applied to a laser cladding device, and the rolling method of the laser cladding workpiece includes the following steps:

[0047] Step S10, detecting the temperature information of the working area on the laser cladding workpiece prepared by the laser cladding device through a temperature measuring device;

[0048] In this embodiment, it should be noted that the rolling method of the laser cladding workpiece is applied to a laser cladding device. The laser cladding device includes a rolling head, a laser cladding head, a machine tool, etc. The laser cladding head is used to add cladding material to the substrate to prepare a laser cladding workpiece. The laser cladding head can be adjusted in position by a robotic arm, a robot, a machine tool bearing, or manually. The rolling head is used to roll the laser cladding workpiece. The rolling head includes a mechanical rolling head, an ultrasonic rolling head, etc. The rolling head can be adjusted in position by a robotic arm, a robot, a machine tool bearing, or manually. The temperature measuring device is a device for measuring temperature, which is used to measure the temperature of a specified area on the laser cladding workpiece prepared by the laser cladding equipment, including an infrared thermal imager, etc. The temperature measuring device can be inherent to the laser cladding device or a peripheral device communicatively connected to the laser cladding device. This embodiment does not limit this.

[0049] Specifically, before laser cladding, the substrate is pre-placed on the machine tool, and the laser cladding path of the laser cladding head of the laser cladding device is set so that the laser cladding head performs laser cladding on the substrate according to the laser cladding path to prepare a laser cladding workpiece. At the same time, the rolling head is set at a position with a preset initial rolling distance from the laser cladding head so that the rolling head is behind the laser cladding head and moves following the laser cladding head to timely roll the area on the laser cladding workpiece prepared by the laser cladding head that has not completely cooled, improving the mechanical properties of the laser cladding workpiece.

[0050] During the laser cladding process, the temperature of the working area on the laser cladding workpiece prepared by the laser cladding device is measured through a temperature measuring device, generating temperature information corresponding to the working area. Herein, the temperature information is the information of the temperature corresponding to at least one position on the laser cladding workpiece, which can be numerical information (e.g., temperature value, temperature change function, etc.) and / or image information (e.g., infrared image, temperature change curve, etc.). The working area is all or part of the area on the substrate where laser cladding can be performed. The temperature measuring device can be arranged directly above or in front of the substrate, exactly capable of accurately measuring the positions of all areas of the laser cladding workpiece printed on the substrate. The temperature measuring device can also be arranged on the bearing around the substrate, and the position is adjusted by sliding on the bearing to accurately measure all areas of the laser cladding workpiece printed on the substrate.

[0051] Optionally, the working area includes the rolling area corresponding to the rolling head, the cladding area corresponding to the laser cladding head, and the area between the rolling area and the cladding area.

[0052] In this embodiment, specifically, the working area should at least include the rolling area corresponding to the rolling head, the cladding area corresponding to the laser cladding head, and the area between the rolling area and the cladding area. Herein, the rolling area is the area on the laser cladding workpiece where the rolling head is currently performing rolling, and the cladding area is the area on the laser cladding workpiece where the laser cladding head is currently performing laser cladding. If the temperature measurement range of the temperature measuring device includes the rolling area, the cladding area, and the area between the rolling area and the cladding area, the temperature information of all positions in the rolling area, the cladding area, and the area from the cladding head to the rolling head can be obtained through one detection, the position of the laser cladding workpiece corresponding to different temperatures can be accurately determined, and further the accuracy of the subsequent determined target rolling distance can be improved.

[0053] Optionally, the temperature measuring device includes an infrared thermal imager. The step of detecting the temperature information of the working area on the laser cladding workpiece prepared by the laser cladding device through the temperature measuring device includes:

[0054] Through the infrared thermal imager, an infrared image of the working area on the laser cladding workpiece prepared by the laser cladding device is taken in real time.

[0055] In this embodiment, specifically, an infrared thermal imager is used to detect the working area on the laser cladding workpiece prepared by the laser cladding device, and an infrared image is generated. Among them, the infrared thermal imager is a device that uses infrared thermal imaging technology to detect the infrared radiation of the target object, and through means such as signal processing and optoelectronic conversion, converts the image of the temperature distribution of the target object into a visible infrared image. The infrared thermal imager has high detection accuracy and high efficiency, can detect the temperature information of the laser cladding workpiece in real time and without damage, can ensure the timeliness of the determined target rolling distance, and improve the accuracy of the target rolling distance.

[0056] In an implementable manner, referring to Figure 2 , the temperature measuring device is an infrared thermal imager, and the temperature measuring area of the infrared thermal imager is within the included angle formed by two dotted lines. As can be seen from the figure, the temperature measuring area of the infrared thermal imager includes the rolling area, the cladding area, and the area between the rolling area and the cladding area. Therefore, through one shot, an infrared image of the rolling area, the cladding area, and the area from the cladding head to the rolling head can be obtained.

[0057] Step S20, determine the target rolling distance between the rolling head of the laser cladding device and the laser cladding head of the laser cladding device according to the temperature information;

[0058] In this embodiment, specifically, obtain the preset target temperature or target temperature range suitable for rolling. According to the temperature information, determine the position of the laser cladding head and the theoretical rolling position corresponding to the target temperature or target temperature range. Then, the distance between the position of the laser cladding head and the theoretical rolling position is determined as the target rolling distance between the rolling head of the laser cladding device and the laser cladding head of the laser cladding device. Among them, since the temperature of the laser cladding workpiece is usually the highest when it is just printed, and the temperature gradually decreases as time passes after printing is completed, the position of the laser cladding head is usually the position corresponding to the highest temperature. For example, if the target temperature is 700 °C, the position corresponding to 700 °C can be determined from the temperature information, and the position corresponding to the highest temperature can be determined from the temperature information. The distance between the position corresponding to 700 °C and the position corresponding to the highest temperature is determined as the target rolling distance.

[0059] It should be noted that since the laser cladding process is not always a straight path, the distances between the rolling head and the laser cladding head involved in this application are all the distances between the rolling head and the laser cladding head on the moving path, rather than the straight-line distance. For example, as Figure 3 shown, the distance between the rolling head and the laser cladding head is (x1 + x1 + x2), rather than x2.

[0060] Optionally, the step of determining a target rolling distance between a rolling head of the laser cladding device and a laser cladding head of the laser cladding device according to the temperature information includes:

[0061] Step S21: Determine the distance between a preset target temperature and the highest temperature according to the infrared image;

[0062] Step S22: Determine the distance between the preset target temperature and the highest temperature as the target rolling distance between the rolling head of the laser cladding device and the laser cladding head of the laser cladding device.

[0063] In this embodiment, it should be noted that the temperature of the laser cladding workpiece is the highest when it is just printed. As the machine tool runs, the temperature of the area on the laser cladding workpiece far from the laser cladding head gradually decreases. The rolling head rolls on the surface of the laser cladding workpiece obtained after laser cladding. According to the image captured by the infrared thermal imager in real time and the set preset target temperature, different temperatures are represented by different colors on the infrared image. Using computer image processing technology, the positions corresponding to different temperatures can be calculated, and then the distance between the preset target temperature and any temperature on the infrared image can be determined. That is, the suitable distance between the current rolling head and the laser cladding head in theory can be determined. By adjusting the position of the rolling head so that the distance between the rolling head and the laser cladding head is the suitable distance, constant-temperature rolling during the laser cladding process can be achieved.

[0064] Specifically, obtain the target temperature suitable for rolling set in advance. According to the infrared image, respectively determine the positions of the target temperature and the highest temperature in the infrared image. Combine the rolling trajectory of the rolling head and / or the laser cladding trajectory of the laser cladding head to determine the distance between the position corresponding to the target temperature and the position corresponding to the highest temperature. Determine the distance between the preset target temperature and the highest temperature as the target rolling distance between the rolling head of the laser cladding device and the laser cladding head of the laser cladding device.

[0065] In an implementable manner, refer to Figure 4 , Figure 4The infrared image of the laser cladding workpiece shows a gradient color. The darker the color, the higher the temperature. At the position where the laser is located, the temperature is the highest, which is 1000 °C. The preset target temperature is 700 °C. According to the color, the exact position corresponding to 700 °C can be determined, and then the distance between 700 °C and 1000 °C can be determined as the target rolling distance. At this time, if the position of the rolling head is adjusted so that the actual distance between the rolling head and the laser cladding head is equal to the target rolling distance, the rolling head can roll the area with a temperature of 700 °C. If this process is continuously carried out in real time, rolling of the 700 °C area on the laser cladding workpiece can be achieved, that is, isothermal rolling can be realized.

[0066] Step S30, control the rolling head to roll the laser cladding workpiece according to the preset rolling path and the target rolling distance.

[0067] In this embodiment, specifically, control the rolling head to move according to the preset rolling path, and at the same time adjust the position of the rolling head according to the target rolling distance, so that the distance between the rolling head and the laser cladding head is the target rolling distance, and realize rolling of the laser cladding workpiece during the movement.

[0068] Optionally, the rolling head is arranged on the moving mechanism of the Z-axis of the laser cladding device. The step of controlling the rolling head to roll the laser cladding workpiece according to the preset rolling path and the target rolling distance includes:

[0069] Step S31, obtain the laser cladding path of the laser cladding head for laser cladding, and determine the laser cladding path as the preset rolling path of the rolling head;

[0070] Step S32, control the Z-axis to move along the preset rolling path, follow the laser cladding head, and drive the rolling head to roll the laser cladding workpiece;

[0071] Step S33, control the moving mechanism to drive the rolling head to move, so as to adjust the actual rolling distance between the rolling head and the laser cladding head to the target rolling distance.

[0072] In this embodiment, it should be noted that the machine tool of the laser cladding device includes an X-Y platform, a Z-axis, etc. The X-Y platform is a platform composed of an X-axis and a Y-axis for placing a substrate. The Z-axis is a bearing perpendicular to the X-Y platform. A motion mechanism is provided on the Z-axis, and the rolling head is arranged on the motion mechanism of the Z-axis. The Z-axis adjusts the reduction in the rolling reduction by reciprocating in the Z-axis direction. The rolling reduction is the reduction in the height of the workpiece after rolling. The Z-axis can also move in the X-axis direction and / or the Y-axis direction according to a preset rolling path so that the rolling head follows the movement trajectory of the laser cladding head and timely rolls the laser cladding workpiece. The motion mechanism reciprocates in the X-axis direction and / or the Y-axis direction to adjust the actual rolling distance between the rolling head and the laser cladding head.

[0073] Specifically, obtain the laser cladding path of the laser cladding head for laser cladding, and determine the laser cladding path as the preset rolling path of the rolling head, so that the rolling head rolls along the same path as the laser cladding path of the laser cladding head. Control the Z-axis to move along the preset rolling path following the laser cladding head, drive the rolling head to roll the laser cladding workpiece, and control the motion mechanism to drive the rolling head to move so as to adjust the actual rolling distance between the rolling head and the laser cladding head to the target rolling distance.

[0074] Among them, the method of controlling the Z-axis to move along the preset rolling path following the laser cladding head can be to control the Z-axis to start rolling along the preset rolling path from the starting position of the preset rolling path after a preset lag time after the laser cladding head starts laser cladding; the method of controlling the Z-axis to move along the preset rolling path following the laser cladding head can also be to control the Z-axis to be at a preset lag position before the starting position of the preset rolling path when the laser cladding head starts laser cladding, keep the relative position with the laser cladding head fixed until it moves to the starting position of the preset rolling path, and then start rolling along the preset rolling path.

[0075] In an implementable manner, a W-axis is further provided on the motion mechanism. The W-axis is a rotating shaft that rotates around an axis, and the rolling head is arranged on the W-axis. The rolling direction of the rolling head is changed by the rotation of the W-axis.

[0076] In this embodiment, by controlling the rolling head along a fixed rolling path through the Z-axis, the rolling head can always follow the laser cladding path of the laser cladding head, ensuring the comprehensiveness of rolling the laser cladded workpiece. Since the rolling area on the laser cladded workpiece that meets the preset target temperature does not change over a long distance, the position of the rolling head can be finely adjusted by the motion mechanism, so that the rolling distance between the rolling head and the laser cladding head can be adjusted to the target rolling distance. Furthermore, the temperature of the area where the rolling head performs rolling can be effectively controlled, enabling the rolling head to perform rolling when the temperature of the workpiece is appropriate, improving the rolling effect. The movement of the Z-axis and the movement of the motion mechanism are independent of each other and do not affect each other. Therefore, it can not only ensure that the rolling does not deviate from the pre-planned path but also achieve the control of the workpiece temperature during rolling.

[0077] In this embodiment, through the temperature measuring device, the temperature information of the working area on the laser cladded workpiece prepared by the laser cladding device is detected, realizing the determination of the temperature information of the working area on the laser cladded workpiece prepared by laser cladding. That is, the temperature of the area on the laser cladded workpiece that needs to be rolled can be determined. Furthermore, according to the temperature information, the target rolling distance between the rolling head of the laser cladding device and the laser cladding head of the laser cladding device is determined, realizing the association between the temperature information and the target rolling distance. That is, before the rolling head performs rolling, the position on the laser cladded workpiece where the temperature suitable for rolling is located can be determined according to the detected temperature information. Then, by controlling the rolling head to roll the laser cladded workpiece according to the preset rolling path and the target rolling distance, the control of the rolling position of the rolling head based on temperature is realized, enabling the rolling head to perform rolling at the position where the temperature of the laser cladded workpiece is appropriate, avoiding the situation that the rolling head directly collapses the workpiece when rolling at a high workpiece temperature and the poor rolling effect when the rolling head rolls at a low workpiece temperature, and overcoming the technical problem of poor rolling effect in the prior art when rolling the laser cladded workpiece.

[0078] Further, referring to Figure 5 , the present invention also provides a rolling system for a laser cladded workpiece. The rolling system for the laser cladded workpiece includes a laser cladding device 10 and a temperature measuring device 20, wherein,

[0079] The laser cladding device 10 includes a laser cladding head, and the laser cladding device is used to control the laser cladding head to prepare a laser cladded workpiece on a substrate;

[0080] The temperature measuring device 20 is used to detect the temperature information of the working area on the laser cladded workpiece;

[0081] The laser cladding device 10 further includes a rolling head, and the laser cladding device is further configured to determine a target rolling distance between the rolling head and the laser cladding head according to the temperature information, and control the rolling head to roll the laser cladding workpiece according to a preset rolling path and the target rolling distance.

[0082] In an implementable manner, the temperature measuring device 20 is an infrared thermal imager.

[0083] Optionally, the laser cladding device 10 includes a Z-axis and a motion mechanism disposed on the Z-axis, and the rolling head is disposed on the motion mechanism, wherein

[0084] the Z-axis is configured to control the pressing amount of the rolling head in the Z-axis direction, and is further configured to move along the preset rolling path and follow the laser cladding head to drive the rolling head to roll the laser cladding workpiece;

[0085] the motion mechanism is configured to drive the rolling head to move in a direction perpendicular to the Z-axis to adjust the actual rolling distance between the rolling head and the laser cladding head to the target rolling distance.

[0086] In an implementable manner, the laser cladding device 10 further includes a W-axis, the W-axis is disposed on the motion mechanism, the W-axis is a rotating axis that rotates around an axis, and the rolling head is disposed on the W-axis, and the rolling direction of the rolling head is changed by the rotation of the W-axis.

[0087] Optionally, the rolling system of the laser cladding workpiece further includes:

[0088] A six-axis robot for controlling the laser cladding head to move according to a preset laser cladding path.

[0089] In an implementable manner, with reference to Figure 6 , Figure 6A schematic diagram of a scenario of an implementable embodiment of the laser cladding device 10. The laser cladding device 10 includes a Z-axis 11, a laser cladding head 12, and an X-Y platform 13. A substrate 14 is disposed on the X-Y platform 13, and the laser cladding head 12 is disposed on a robot 30. The robot 30 controls the laser cladding head 12 to process a laser cladding workpiece 15 on the substrate 14 along a laser cladding path. The area where the laser cladding head is currently performing laser cladding is a cladding area 17. A motion mechanism 111 is disposed on the Z-axis. The motion mechanism 111 is connected to the Z-axis and can move in the X-axis and / or Y-axis directions. The motion mechanism 111 is connected to a W-axis 112, and a rolling head 113 is disposed on the W-axis. The W-axis 112 adjusts the direction of the rolling head 113 by rotating around the axis. The rolling head 113 follows the laser cladding head 12 to roll a rolling area 16 on the processed laser cladding workpiece 15.

[0090] The rolling system for a laser cladding workpiece provided in this application solves the technical problem of poor rolling effect in rolling a laser cladding workpiece in the prior art. Compared with the prior art, the beneficial effects of the rolling device for a laser cladding workpiece provided in the embodiments of the present invention are the same as those of the rolling method for a laser cladding workpiece in the above embodiments, and will not be elaborated here.

[0091] Furthermore, an embodiment of the present invention provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the rolling method for a laser cladding workpiece in the above embodiments.

[0092] Next, with reference to Figure 7 , which shows a schematic structural diagram of an electronic device suitable for implementing the embodiments of the present disclosure. The electronic device in the embodiments of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Tablet Computers), PMPs (Portable Multimedia Players), in-vehicle terminals (such as in-vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The electronic device shown is only an example and should not impose any limitations on the functions and usage scope of the embodiments of the present disclosure.

[0093] As Figure 7As shown, the electronic device may include a processing device (such as a central processing unit, a graphics processing unit, etc.), which may perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage device into a random access memory (RAM). In the RAM, various programs and data required for the operation of the electronic device are also stored. The processing device, the ROM, and the RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0094] Generally, the following systems may be connected to the I / O interface: input devices including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices including, for example, a magnetic tape, a hard disk, etc.; and a communication device. The communication device may allow the electronic device to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows an electronic device having various systems, it should be understood that it is not required to implement or have all the shown systems. More or fewer systems may be implemented or had alternatively.

[0095] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart may be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program codes for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication device, or installed from a storage device, or installed from the ROM. When the computer program is executed by the processing device, the above-mentioned functions defined in the method of the embodiment of the present disclosure are performed.

[0096] The electronic device provided by the present invention adopts the rolling method of the laser cladding workpiece in the above embodiment, and solves the technical problem of poor rolling effect of rolling the laser cladding workpiece in the prior art. Compared with the prior art, the beneficial effects of the electronic device provided by the embodiment of the present invention are the same as those of the rolling method of the laser cladding workpiece provided by the above embodiment, and other technical features in the electronic device are the same as those disclosed in the method of the above embodiment, and will not be elaborated here.

[0097] It should be understood that each part of the present disclosure may be implemented by hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0098] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims described above.

[0099] Further, this embodiment provides a computer-readable storage medium having computer-readable program instructions stored thereon, and the computer-readable program instructions are used to execute the rolling method of the laser cladding workpiece in the above embodiment.

[0100] The computer-readable storage medium provided by the embodiment of the present invention may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium can be transmitted by any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0101] The above computer-readable storage medium may be included in an electronic device; or it may exist separately without being assembled into the electronic device.

[0102] The above computer-readable storage medium carries one or more programs. When the above one or more programs are executed by an electronic device, the electronic device is caused to: detect the temperature information of the working area on the laser cladding workpiece prepared by the laser cladding device through a temperature measuring device; determine the target rolling distance between the rolling head of the laser cladding device and the laser cladding head of the laser cladding device according to the temperature information; and control the rolling head to roll the laser cladding workpiece according to a preset rolling path and the target rolling distance.

[0103] Computer program code for performing the operations of this disclosure may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0104] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that, in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0105] The modules described in the embodiments of this disclosure may be implemented in software or in hardware. In some cases, the name of the module does not constitute a limitation on the unit itself.

[0106] The computer-readable storage medium provided by the present invention stores computer-readable program instructions for performing the above-described rolling method of laser-clad workpieces, and solves the technical problem of poor rolling effect in the prior art when rolling laser-clad workpieces. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the embodiments of the present invention are the same as those of the above-described rolling method of laser-clad workpieces, and will not be elaborated here.

[0107] Furthermore, the present application also provides a computer program product, including a computer program which, when executed by a processor, implements the steps of the rolling method for laser cladding workpieces as described above.

[0108] The computer program product provided by the present application solves the technical problem of poor rolling effect in rolling laser cladding workpieces in the prior art. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiments of the present invention are the same as those of the rolling method for laser cladding workpieces provided by the above embodiments, and will not be elaborated here.

[0109] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application accordingly. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent scope of the present application.

Claims

1. A rolling method for a laser cladding workpiece, characterized in that, The rolling method of the laser cladding workpiece is applied to a laser cladding device. The rolling method of the laser cladding workpiece includes the following steps: Detect the temperature information of the working area on the laser cladding workpiece prepared by the laser cladding device through a temperature measuring device. The temperature measuring device includes an infrared thermal imager, and the temperature information detected by the infrared thermal imager is an infrared image; According to the infrared image, respectively determine the position corresponding to the preset target temperature and the position corresponding to the highest temperature in the infrared image. Combine the rolling trajectory of the rolling head of the laser cladding device and the laser cladding trajectory of the laser cladding head of the laser cladding device to determine the distance between the position corresponding to the preset target temperature and the position corresponding to the highest temperature; Determine the distance between the position corresponding to the preset target temperature and the position corresponding to the highest temperature as the target rolling distance between the rolling head of the laser cladding device and the laser cladding head of the laser cladding device. The target rolling distance is the distance between the rolling head and the laser cladding head on the moving path; Control the rolling head to roll the laser cladding workpiece according to the preset rolling path and the target rolling distance.

2. The rolling method of the laser cladding workpiece according to claim 1, wherein The rolling head is arranged on the moving mechanism of the Z-axis of the laser cladding device. The step of controlling the rolling head to roll the laser cladding workpiece according to the preset rolling path and the target rolling distance includes: Obtain the laser cladding path of the laser cladding head for laser cladding, and determine the laser cladding path as the preset rolling path of the rolling head; Control the Z-axis to move along the preset rolling path, follow the laser cladding head to move, and drive the rolling head to roll the laser cladding workpiece; Control the moving mechanism to drive the rolling head to move so as to adjust the actual rolling distance between the rolling head and the laser cladding head to the target rolling distance.

3. The rolling method of the laser cladding workpiece according to claim 1, wherein The working area includes a rolling area corresponding to the rolling head, a cladding area corresponding to the laser cladding head, and the area between the rolling area and the cladding area.

4. A rolling system for laser cladding workpieces, characterized in that, The rolling system of the laser cladding workpiece includes a laser cladding device and a temperature measuring device, wherein, The laser cladding device includes a laser cladding head, and the laser cladding device is used to control the laser cladding head to prepare a laser cladding workpiece on a substrate; The temperature measuring device is used to detect the temperature information of the working area on the laser cladding workpiece. The temperature measuring device includes an infrared thermal imager, and the temperature information detected by the infrared thermal imager is an infrared image; The laser cladding device further includes a rolling head. The laser cladding device is further configured to respectively determine the position corresponding to a preset target temperature and the position corresponding to the highest temperature in the infrared image according to the infrared image, and combine the rolling trajectory of the rolling head of the laser cladding device and the laser cladding trajectory of the laser cladding head of the laser cladding device to determine the distance between the position corresponding to the preset target temperature and the position corresponding to the highest temperature, and determine the distance between the position corresponding to the preset target temperature and the position corresponding to the highest temperature as the target rolling distance between the rolling head of the laser cladding device and the laser cladding head of the laser cladding device. The target rolling distance is the distance between the rolling head and the laser cladding head on the moving path, and control the rolling head to roll the laser cladding workpiece according to a preset rolling path and the target rolling distance.

5. The rolling system for laser cladding workpieces according to claim 4, wherein The laser cladding device includes a Z-axis and a motion mechanism disposed on the Z-axis. The rolling head is disposed on the motion mechanism, wherein, the Z-axis is configured to control the pressing amount of the rolling head in the Z-axis direction, and is configured to move along the preset rolling path following the laser cladding head, driving the rolling head to roll the laser cladding workpiece; the motion mechanism is configured to drive the rolling head to move in a direction perpendicular to the Z-axis to adjust the actual rolling distance between the rolling head and the laser cladding head to the target rolling distance.

6. The rolling system for laser cladding workpieces according to claim 4, characterized in that, The rolling system of the laser cladding workpiece further includes: a six-axis robot configured to control the laser cladding head to move according to a preset laser cladding path.

7. An electronic device, characterized in that, The electronic device includes: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor. The instructions are executed by the at least one processor so that the at least one processor can execute the steps of the rolling method of the laser cladding workpiece according to any one of claims 1 to 3.

8. A storage medium, characterized in that, The storage medium is a computer-readable storage medium. A program for implementing the rolling method of the laser cladding workpiece is stored on the computer-readable storage medium. The program for implementing the rolling method of the laser cladding workpiece is executed by a processor to implement the steps of the rolling method of the laser cladding workpiece according to any one of claims 1 to 3.

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