A strengthening device for ultrasonic impact, ultrasonic rolling and rolling of metal surfaces

Abstract

The present invention relates to a strengthening device for metal surfaces by ultrasonic impact, ultrasonic rolling, and rolling, wherein the front end of an impact gun is provided with an impact gun head, the front end of the impact gun head is provided with a mounting hole, the rear end of a mounting sleeve in the strengthening processing device is fixedly connected to the impact gun housing, and the impact gun head passes through the mounting sleeve; during ultrasonic impact processing, the rear end of the ultrasonic impact head in the strengthening processing device is connected to the front end of the mounting sleeve through a connecting sleeve, the impact gun head passes through the connecting sleeve and extends into the ultrasonic impact head, and the rear end diameter of the ultrasonic impact needle is larger than the diameter of the mounting hole and a gap is left between the end face of the impact gun head, at which time the impact gun vibrates at a high frequency; during ultrasonic rolling processing, the rear end of the ultrasonic rolling head is threadedly installed in the mounting hole, and the impact gun vibrates at a high frequency; during rolling processing, the rear end of the rolling head provided with a rolling bead is threadedly installed in the mounting hole, and the impact gun does not vibrate. The present invention can complete the conversion between the three strengthening types of ultrasonic impact, ultrasonic rolling, and rolling by simply replacing the punch needle.

Description

Technical Field

[0001] The invention relates to the technical field of metal surface strengthening treatment, in particular to a strengthening device for metal surface ultrasonic impact, ultrasonic rolling and rolling. Background Art

[0002] The principle of ultrasonic impact is that the impact needle rebounds after being subjected to the reaction of the metal component, and after hitting the high-frequency vibrating amplitude rod of the impact gun, it is excited again and hits the metal component at high speed again and repeats this process many times to achieve the purpose of strengthening the metal surface. In the existing technology, ultrasonic impact is usually performed by manually holding an impact gun to impact the metal component. Due to the long processing time, the worker needs to expend a lot of physical strength. At the same time, due to the high-frequency reciprocating impact of the impact needle during the whole process, the impact force on the workpiece is difficult to maintain stable by manpower alone. The principle of rolling processing is to use high-hardness steel balls to roll on the relatively soft workpiece material, thereby forcing the surface of the workpiece to produce plastic deformation to achieve the purpose of surface strengthening. In the existing technology, both ultrasonic impact and rolling processing have machine tool-type devices. Although this can reduce labor intensity and improve processing stability, the processing functions of these devices are relatively simple, and therefore it is usually difficult to apply them to the strengthening treatment of metal components with complex curved surfaces.

[0003] A Chinese utility model patent with authorization announcement number CN208322593U discloses a multi-purpose ultrasonic rolling and impact device. However, this device operates in two ways: the first uses a rolling gun to roll cylindrical components, adjusting the rolling gun position by rotating the slide box feed handle and the rotating slide feed handle. The second uses an ultrasonic impact gun to ultrasonically impact plate-like components. The ultrasonic impact gun is installed in the same way as the first type of rolling gun, but the plate-like component is mounted on a fixture and moved into position by the fixture. This device also uses existing rolling guns and ultrasonic impact guns to achieve the corresponding processing, and the overall structure is relatively complex.

[0004] The Chinese invention patent with authorization announcement number CN113199281B discloses a convertible fixture for ultrasonic milling, impact, and rolling tools, which includes a milling machine spindle positioning mechanism, a fixture adapter housing, a tool change drive wheel, a tool mounting plate, a clutch, a clutch conversion actuator, a Morse taper shank, and three ultrasonic tools. The three ultrasonic tools are evenly distributed on the tool mounting plate and all have a 30° inclination angle toward the center of the tool mounting plate. The ultrasonic milling tool can rotate, while the ultrasonic impact and rolling tools are immovable. After the ultrasonic milling process is completed, the device needs to change the tool and perform ultrasonic impact and other processes. It first needs to pull the spring pin to release the lock of the tool change drive wheel, and then rotate the tool change drive wheel clockwise and synchronously drive the clutch conversion drive sleeve to rotate. During the rotation of the clutch conversion drive sleeve, the shift fork cylindrical rod and the V-shaped drive groove will be forced to move relative to each other until the shift fork cylindrical rod slides from the lowest point of the V-shaped drive groove to the highest point. Then continue to rotate the tool change drive wheel clockwise until the spring pin automatically slides into another tool change positioning lock hole. The tool change drive wheel is re-locked. At this time, the ultrasonic impact tool is moved just below the milling machine spindle. The structure of this device is also relatively complex. Summary of the Invention

[0005] The purpose of the present invention is to provide a strengthening device for metal surfaces using ultrasonic impact, ultrasonic rolling and rolling. The device can complete the conversion of the three strengthening types of ultrasonic impact, ultrasonic rolling and rolling by simply replacing the punch needle. While expanding the applicability of the equipment, the conversion structure is also greatly simplified.

[0006] The object of the present invention is achieved through the following technical solutions:

[0007] A strengthening device for ultrasonic impact, ultrasonic rolling, and rolling of metal surfaces, comprising an industrial robot, an impact gun, and a strengthening processing device, wherein the impact gun is disposed at the end of the industrial robot, and a retractable impact gun head is provided at the front end of the impact gun, and a mounting hole is provided on the front end surface of the impact gun head. The strengthening processing device comprises a mounting sleeve, a connecting sleeve, an ultrasonic impact head, an ultrasonic rolling head, and a rolling head, wherein the rear end of the mounting sleeve is fixedly connected to the impact gun housing, and the impact gun head passes through the mounting sleeve;

[0008] During ultrasonic impact machining, the rear end of the ultrasonic impact head is connected to the front end of the mounting sleeve through a connecting sleeve, and the impact gun head extends into the ultrasonic impact head through the connecting sleeve. An ultrasonic impact needle is provided at the front end of the ultrasonic impact head, and the rear end diameter of the ultrasonic impact needle is larger than the diameter of the mounting hole and a gap is left between the end face of the impact gun head. During ultrasonic impact machining, the impact gun vibrates at a high frequency;

[0009] During ultrasonic rolling processing, the rear end of the ultrasonic rolling head is threadedly installed in the mounting hole at the front end of the impact gun head and the impact gun vibrates at a high frequency;

[0010] During rolling processing, the rear end of the rolling head provided with rolling beads is threadedly installed in the installation hole at the front end of the impact gun head and the impact gun does not vibrate.

[0011] An internal thread of the mounting sleeve is provided on the inner wall at the front end of the mounting sleeve, an external connecting thread that cooperates with the internal thread of the mounting sleeve is provided on the outer wall at the rear end of the connecting sleeve, an internal connecting thread is provided on the inner wall at the front end of the connecting sleeve, the ultrasonic impact head includes a connecting seat body, and the ultrasonic impact needle is provided at the front end of the connecting seat body, and the rear end of the connecting seat body is provided with an external seat thread that cooperates with the internal connecting thread.

[0012] The connecting sleeve includes a front connecting part and a rear connecting part, and the diameter of the rear connecting part is larger than that of the front connecting part. The outer wall of the rear connecting part is provided with the outer connecting thread, and the inner wall of the front connecting part is provided with the inner connecting thread.

[0013] The ultrasonic rolling head includes an ultrasonic rolling needle and a first threaded portion provided at the rear end of the ultrasonic rolling needle, wherein the first threaded portion is threadedly engaged with the mounting hole.

[0014] The rolling head includes a rolling seat body, and a second threaded portion is provided at the rear end of the rolling seat body to be threadedly matched with the mounting hole, and the rolling ball is rotatably mounted on the front end of the rolling seat body.

[0015] The impact gun is arranged in a gun seat, and the rear end of the gun seat is fixedly connected to the end of the industrial robot. Springs are arranged on both sides of the impact gun and connected to the end of the gun seat.

[0016] The strengthening device for ultrasonic impact, ultrasonic rolling and rolling of metal surfaces also includes a workbench and a chuck device that is slidably arranged on the workbench and fixes the workpiece to be processed. The chuck device includes a mounting seat body, a motor and a chuck. The mounting seat body is slidably arranged on the workbench. A mounting vertical plate and a chuck seat are provided on the mounting seat body, and the motor is arranged on the mounting vertical plate. The chuck is arranged in the chuck seat. The rear end of the chuck is connected to the motor power shaft through a coupling, and a locking bolt is provided on the mounting seat body.

[0017] The advantages and positive effects of the present invention are:

[0018] 1. The present invention utilizes industrial robots to realize force-position hybrid control to improve the precise control of important process parameters such as pressure and displacement, while completing the conversion of three strengthening types: ultrasonic impact, ultrasonic rolling and rolling through a simple needle replacement method, which not only expands the applicability of the equipment, but also greatly simplifies the conversion structure. The present invention adjusts the spatial posture of the robot arm through the path planning of the industrial robot, thereby ensuring that the impact head or rolling head always acts vertically on the workpiece during the strengthening process, and the mounting sleeve, connecting sleeve, ultrasonic impact head, ultrasonic rolling head and rolling head in the strengthening processing device are all connected through threaded cooperation, thereby ensuring easy disassembly and installation.

[0019] 2. When the present invention performs ultrasonic impact processing, the rear end of the ultrasonic impact head is connected to the front end of the mounting sleeve through a connecting sleeve. An ultrasonic impact needle is provided at the front end of the ultrasonic impact head, and the diameter of the rear end of the ultrasonic impact needle is larger than the diameter of the mounting hole at the front end of the impact gun head and a gap is left between the end face of the impact gun head. In this way, after the impact gun is started and is in a high-frequency vibration state, there is enough space for the ultrasonic impact needle to realize reciprocating vibration between the end face of the impact gun head and the sample.

[0020] 3. When processing the same metal workpiece, the path planning of the industrial robot generally does not change. Therefore, the present invention elastically arranges the impact gun in the gun seat to meet the conversion needs of the impact head or the rolling head. As long as the distance error between the replaced impact head or rolling head and the metal surface to be processed is within the elastic expansion and contraction range, the force control requirements of the enhanced processing can be met, thereby realizing seamless conversion and connection of the three types of enhancement. At the same time, a force sensor is provided on the impact gun head for real-time monitoring of the impact force or rolling force to achieve precise closed-loop control and cooperate to achieve constant force. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the use state of the present invention.

[0022] Figure 2 for Figure 1 Schematic diagram of the structure of the installation sleeve,

[0023] Figure 3 for Figure 2 Schematic diagram of the state when the connecting sleeve is installed on the middle installation sleeve,

[0024] Figure 4 for Figure 3 Schematic diagram of installing the ultrasonic impact head on the middle connecting sleeve,

[0025] Figure 5 for Figure 4 Schematic diagram of the working state of the ultrasonic impact head.

[0026] Figure 6 for Figure 2Schematic diagram of installing ultrasonic rolling head on the impact gun head,

[0027] Figure 7 for Figure 6 Schematic diagram of the working state of the ultrasonic rolling head.

[0028] Figure 8 for Figure 2 Schematic diagram of the installation of the rolling head on the impact gun head,

[0029] Figure 9 for Figure 8 Schematic diagram of the structure of the middle rolling head,

[0030] Figure 10 for Figure 9 Schematic diagram of the working state of the middle rolling head,

[0031] Figure 11 for Figure 1 Schematic diagram of the installation structure of the impact gun 1,

[0032] Figure 12 for Figure 1 Schematic diagram of the structure of the middle chuck device.

[0033] Among them, 1 is an impact gun, 101 is an impact gun head, 102 is a mounting hole, 103 is a gun seat, 1031 is a connecting element, 104 is a spring, 2 is a strengthening processing device, 201 is a mounting sleeve, 2011 is an internal thread of the mounting sleeve, 202 is a connecting plate, 203 is a connecting sleeve, 2031 is a rear connecting part, 20311 is an external connecting thread, 2032 is a front connecting part, 20321 is an internal connecting thread, 204 is an ultrasonic impact head, 2041 is a connecting seat body, 20411 is an external thread of the seat body, 2042 is an ultrasonic impact needle, 205 is an ultrasonic impact head, Acoustic rolling head, 2051 is the ultrasonic rolling needle, 2052 is the first threaded portion, 206 is the rolling head, 2061 is the second threaded portion, 2062 is the rolling seat body, 2063 is the ball, 2064 is the rolling ball, 3 is the industrial robot, 4 is the chuck device, 401 is the mounting seat body, 4011 is the mounting vertical plate, 4012 is the chuck seat, 4013 is the locking bolt, 402 is the motor, 403 is the coupling, 404 is the chuck, 5 is the workbench, 6 is the air compressor, 7 is the control cabinet, 8 is the sample one, 9 is the sample two, and 10 is the sample three. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings.

[0035] like Figures 1 to 12 As shown, the present invention includes an industrial robot 3, an impact gun 1 and a strengthening processing device 2, wherein the impact gun 1 is arranged at the end of the industrial robot 3, and as shown in FIG. Figures 2 to 10As shown, the front end of the impact gun 1 is provided with a retractable impact gun head 101, and the front end surface of the impact gun head 101 is provided with a mounting hole 102. The strengthening processing device 2 includes a mounting sleeve 201, a connecting sleeve 203, an ultrasonic impact head 204, an ultrasonic rolling head 205 and a rolling head 206, wherein Figure 2 As shown, the rear end of the mounting sleeve 201 is fixedly connected to the housing of the impact gun 1 through a connecting plate 202, and the impact gun head 101 passes through the mounting sleeve 201. During ultrasonic impact processing, Figures 3-5 As shown, the rear end of the ultrasonic impact head 204 is connected to the front end of the mounting sleeve 201 through the connecting sleeve 203, and the impact gun head 101 passes through the connecting sleeve 203 and extends into the ultrasonic impact head 204. Figure 5 As shown, the front end of the ultrasonic impact head 204 is provided with an ultrasonic impact needle 2042, and the rear end diameter of the ultrasonic impact needle 2042 is larger than the diameter of the mounting hole 102 and a gap is left between the end face of the impact gun head 101. In this way, after the impact gun 1 is started and is in a high-frequency vibration state, the ultrasonic impact needle 2042 has enough space between the end face of the impact gun head 101 and the sample 8 to achieve reciprocating vibration under the action of the impact gun 1. During ultrasonic rolling processing, Figures 6-7 As shown, the rear end of the ultrasonic rolling head 205 is directly threadedly installed in the mounting hole 102 at the front end of the impact gun head 101. At this time, the impact gun 1 is still in a high-frequency vibration state after being started, and the ultrasonic rolling head 205 vibrates at high frequency along with the impact gun 1 to perform ultrasonic rolling processing on the sample 2 9. At the same time, the sample 2 9 can be driven to rotate in conjunction with the chuck 404 in the chuck device 4. During rolling processing, Figures 8-10 As shown, the rear end of the rolling head 206, equipped with rolling beads 2064, is directly threaded into the mounting hole 102 at the front end of the impact gun head 101. However, the impact gun 1 is not powered on and does not vibrate. Sample 3 10 can be driven and rotated by the chuck 404 in the chuck assembly 4, and the rolling beads 2064 are used to achieve rolling strengthening. The present invention achieves switching between three different strengthening types by simply replacing the ultrasonic impact head 204, ultrasonic rolling head 205, and rolling head 206. This simple switching structure significantly reduces manufacturing costs compared to the complex switching mechanisms used in the prior art. The impact gun 1 can directly utilize an ultrasonic impact gun, which is well known in the art and commercially available.

[0036] like Figures 2-4As shown, in this embodiment, the inner wall of the front end of the mounting sleeve 201 is provided with an inner thread 2011 of the mounting sleeve, the outer wall of the rear end of the connecting sleeve 203 is provided with an outer connecting thread 20311 that cooperates with the inner thread 2011 of the mounting sleeve, the inner wall of the front end of the connecting sleeve 203 is provided with an inner connecting thread 20321, the ultrasonic impact head 204 includes a connecting seat body 2041, and the ultrasonic impact needle 2042 is provided at the front end of the connecting seat body 2041, and the rear end of the connecting seat body 2041 is provided with an outer seat body thread 20411 that cooperates with the inner connecting thread 20321, as shown Figure 5 As shown, the impact gun head 101 extends into the connecting seat body 2041 and leaves a gap with the rear end of the ultrasonic impact needle 2042 to ensure its reciprocating vibration. The ultrasonic impact needle 2042 can be floatingly arranged on the connecting seat body 2041.

[0037] like Figure 4 As shown, in this embodiment, the connecting sleeve 203 includes a front connecting portion 2032 and a rear connecting portion 2031, and the diameter of the rear connecting portion 2031 is larger than that of the front connecting portion 2032. The outer wall of the rear connecting portion 2031 is provided with the external connecting thread 20311, and the inner wall of the front connecting portion 2032 is provided with the internal connecting thread 20321.

[0038] like Figure 6 As shown, in this embodiment, the ultrasonic rolling head 205 includes an ultrasonic rolling needle 2051 and a first threaded portion 2052 provided at the rear end of the ultrasonic rolling needle 2051, wherein the first threaded portion 2052 is threadedly matched with the mounting hole 102 at the front end of the impact gun head 101.

[0039] like Figures 8-9 As shown, in this embodiment, the rolling head 206 includes a rolling seat body 2062, and the rear end of the rolling seat body 2062 is provided with a second threaded portion 2061 that is threadedly matched with the mounting hole 102 at the front end of the impact gun head 101, and the rolling ball 2064 is rotatably mounted on the front end of the rolling seat body 2062 through the support of the ball 206.

[0040] like Figure 11As shown, in this embodiment, the impact gun 1 is mounted in a gun holder 103. A connecting element 1031 is provided at the rear end of the gun holder 103, securely connected to the end of the industrial robot 3. Springs 104 are provided on both sides of the impact gun 1, connecting to the end of the gun holder 103. This allows the impact gun 1 to automatically and elastically expand and contract in response to changes in the sample surface. Simultaneously, a force sensor is provided on the impact gun head 101 to monitor the impact or rolling force in real time, enabling precise closed-loop control. During operation, the industrial robot 3 requires prior training to determine the machining path. When machining the same metal sample, this established machining path generally does not change with the replacement of a different impact or rolling head. Therefore, the impact gun 1 is elastically mounted in the gun holder 103 to accommodate the need for switching between impact or rolling heads. In this embodiment, the impact gun 1 has an elastic expansion range of 98 mm. As long as the distance error between the replaced impact or rolling head and the metal surface is within this elastic expansion range, the force control requirements for enhanced machining can be met. The force sensor is well known in the art and is commercially available.

[0041] like Figure 1 As shown, the system of the present invention further includes a workbench 5 and a chuck device 4 slidably arranged on the workbench 5, as shown in FIG. Figure 5 As shown, the sample 8 can be placed directly on the workbench 5, and as shown in FIG. Figure 7 and Figure 10 As shown, sample 2 9 and sample 3 10 need to be fixed together by the chuck device 4, as shown in FIG. Figure 12 As shown, in this embodiment, the chuck device 4 includes a mounting seat body 401, a motor 402 and a chuck 404, wherein the mounting seat body 401 is slidably arranged on the workbench 5, the workbench 5 is provided with a slide groove, the lower side of the mounting seat body 401 is provided with a slider that cooperates with the slide groove, the mounting seat body 401 is provided with a mounting vertical plate 4011 and a chuck seat 4012, and the motor 402 is arranged on the mounting vertical plate 4011, the chuck 404 is arranged in the chuck seat 4012, the rear end of the chuck 404 is connected to the power shaft of the motor 402 through a coupling 403, and the mounting seat body 401 is also provided with a locking bolt 4013, when the mounting seat body 401 is moved into position, it is locked in position on the workbench 5 by the locking bolt 4013.

[0042] like Figure 1 As shown, the system of the present invention further includes a control cabinet 7, an air compressor 6 and other devices. The industrial robot 3, the control cabinet 7, the air compressor 6 and the like are all well-known technologies in the art and are commercially available products.

[0043] The working principle of the present invention is:

[0044] In order to solve the problem of complex conversion mechanism of impact head or rolling head in the prior art, the present invention utilizes industrial robot 3 to realize force-position hybrid control to improve the precise control of important process parameters such as pressure and displacement, while also completing the conversion of three strengthening types of ultrasonic impact, ultrasonic rolling and rolling through a simple needle replacement method. While expanding the applicability of the equipment, the conversion structure is also greatly simplified.

[0045] When the present invention works, it is first necessary to determine the processing movement path of the industrial robot 3 for the sample workpiece, specifically:

[0046] Step 1: Determine the tool coordinate system origin (TCP) using the XYZ 4-point method. Specifically, the TCP to be measured is moved from four different directions toward a reference point. Control cabinet 2 calculates the tool's TCP from the different flange positions at the end of industrial robot 3. The tool coordinate system pose is then determined using the ABC world coordinate system method. Both the XYZ 4-point method and the ABC world coordinate system method are well known in the art.

[0047] Step 2: Determine the relative positions of the industrial robot 3 and the workpiece to be processed. The workpiece to be processed is fixed on the worktable 5. The ultrasonic impact needle 2042 is sequentially moved to three different vertices of the workpiece to be processed. The X, Y, and Z coordinates of each fixed point in the industrial robot coordinate system are recorded. The workpiece model is then transformed to the industrial robot coordinate system through rotation and translation using the three-point method to ensure that the references of the industrial robot 3 and the workpiece to be processed are aligned. The three-point method is well known in the art.

[0048] Step 3: Adjust the position and posture of the industrial robot 3 through the control cabinet 7, plan the reinforcement range, path and movement step length, and perform simulation collision verification, which is a well-known technology in the field.

[0049] Step 4: The control cabinet 7 controls the movement of the industrial robot 3 according to the planned path. When the end of the industrial robot 3 moves to the surface of the workpiece, the operator sets the relevant parameters of the impact gun 1 on the control console and completes the strengthening process.

[0050] The present invention adjusts the spatial position of the robot arm through the path planning of the industrial robot 3, thereby ensuring that the impact head or rolling head always acts vertically on the workpiece during the strengthening process. The above path planning method is well known in the art.

[0051] And as Figures 2 to 10 As shown, the present invention can realize the conversion of three strengthening types, namely ultrasonic impact, ultrasonic rolling and rolling, by simply replacing the punch needle, specifically:

[0052] When ultrasonic impact machining is performed, Figures 3-5As shown, the rear end of the ultrasonic impact head 204 is connected to the front end of the mounting sleeve 201 through the connecting sleeve 203, and the impact gun head 101 extends into the ultrasonic impact head 204 after passing through the connecting sleeve 203. An ultrasonic impact needle 2042 is provided at the front end of the ultrasonic impact head 204, and the rear end diameter of the ultrasonic impact needle 2042 is larger than the diameter of the mounting hole 102 and a gap is left between the end face of the impact gun head 101. In this way, after the impact gun 1 is started and is in a high-frequency vibration state, there is enough space for the ultrasonic impact needle 2042 to realize reciprocating vibration between the end face of the impact gun head 101 and the sample.

[0053] When ultrasonic rolling is performed, Figures 6-7 As shown, after the ultrasonic impact head 204 and the connecting sleeve 203 are disassembled, the rear end of the ultrasonic rolling head 205 can be directly threadedly installed in the mounting hole 102 at the front end of the impact gun head 101. At this time, the impact gun 1 is still in a high-frequency vibration state after being started, and the ultrasonic rolling head 205 vibrates at high frequency with the impact gun 1 to perform ultrasonic rolling processing on the sample. Figure 7 As shown, the chuck 404 in the chuck device 4 can cooperate to drive the workpiece to rotate.

[0054] When rolling, Figures 8-10 As shown, after the ultrasonic rolling head 205 is disassembled, the rear end of the rolling head 206 can be directly screwed into the mounting hole 102 at the front end of the impact gun head 101. However, at this time, the impact gun 1 does not turn on the ultrasonic power supply, that is, the impact gun 1 does not vibrate. Figure 10 As shown, the chuck 404 in the chuck device 4 cooperates to drive the workpiece to rotate, and uses the rolling beads 2064 to achieve rolling strengthening.

[0055] like Figures 2 to 10 As shown, the mounting sleeve 201, the connecting sleeve 203, the ultrasonic impact head 204, the ultrasonic rolling head 205, the rolling head 206 and other components in the strengthening processing device 2 of the present invention are all connected by threaded fitting, thereby ensuring easy disassembly and installation.

[0056] In addition, it can be seen from the above that the present invention ensures that the impact head or rolling head always acts vertically on the workpiece during the strengthening process through the path planning of the industrial robot 3. Therefore, when processing the same metal workpiece, the path planning of the general industrial robot 3 does not change. Figure 11 As shown, the present invention elastically arranges the impact gun 1 in the gun seat 103 to meet the conversion needs of the impact head or the rolling head. As long as the distance error between the replaced impact head or rolling head and the metal surface to be processed is within the telescopic range, the force control requirements of the strengthening processing can be met, thereby achieving seamless conversion and connection between the three strengthening types. At the same time, a force sensor is provided on the impact gun head 101 for real-time monitoring of the impact force or rolling force to achieve precise closed-loop control and cooperate to achieve constant force.

[0057] Finally, Figure 1 As shown, in order to meet the positioning requirements of different types of workpieces, the present invention provides a slidable chuck device 4 on the workbench 5 to meet the positioning requirements of workpieces of different shapes.

Claims

1. A strengthening device for metal surface ultrasonic impact, ultrasonic rolling and rolling, characterized in that: The invention comprises an industrial robot (3), an impact gun (1) and a strengthening processing device (2), wherein the impact gun (1) is arranged at the end of the industrial robot (3), and a telescopically movable impact gun head (101) is provided at the front end of the impact gun (1), and a mounting hole (102) is provided on the front end surface of the impact gun head (101); the strengthening processing device (2) comprises a mounting sleeve (201), a connecting sleeve (203), an ultrasonic impact head (204), an ultrasonic rolling head (205) and a rolling head (206), wherein the rear end of the mounting sleeve (201) is fixedly connected to the housing of the impact gun (1), and the impact gun head (101) passes through the mounting sleeve (201); During ultrasonic impact processing, the rear end of the ultrasonic impact head (204) is connected to the front end of the mounting sleeve (201) through the connecting sleeve (203), and the impact gun head (101) passes through the connecting sleeve (203) and extends into the ultrasonic impact head (204). An ultrasonic impact needle (2042) is provided at the front end of the ultrasonic impact head (204), and the rear end diameter of the ultrasonic impact needle (2042) is larger than the diameter of the mounting hole (102) and a gap is left between the ultrasonic impact needle (2042) and the end face of the impact gun head (101). During ultrasonic impact processing, the impact gun (1) vibrates at a high frequency. During ultrasonic rolling processing, the rear end of the ultrasonic rolling head (205) is threadedly mounted in the mounting hole (102) at the front end of the impact gun head (101), and the impact gun (1) vibrates at a high frequency; During rolling processing, the rear end of the rolling head (206) provided with the rolling ball (2064) is threadedly installed in the mounting hole (102) at the front end of the impact gun head (101) and the impact gun (1) does not vibrate.

2. The strengthening device for metal surface ultrasonic impact, ultrasonic rolling and rolling according to claim 1, characterized in that: The front inner wall of the mounting sleeve (201) is provided with an internal thread of the mounting sleeve (2011), the rear outer wall of the connecting sleeve (203) is provided with an external connecting thread (20311) that cooperates with the internal thread of the mounting sleeve (2011), the front inner wall of the connecting sleeve (203) is provided with an internal connecting thread (20321), the ultrasonic impact head (204) includes a connecting seat body (2041), and the ultrasonic impact needle (2042) is provided at the front end of the connecting seat body (2041), and the rear end of the connecting seat body (2041) is provided with an external seat body thread (20411) that cooperates with the internal connecting thread (20321).

3. The strengthening device for metal surface ultrasonic impact, ultrasonic rolling and rolling according to claim 2, characterized in that: The connecting sleeve (203) comprises a front connecting portion (2032) and a rear connecting portion (2031), wherein the diameter of the rear connecting portion (2031) is larger than that of the front connecting portion (2032), the outer wall of the rear connecting portion (2031) is provided with the outer connecting thread (20311), and the inner wall of the front connecting portion (2032) is provided with the inner connecting thread (20321).

4. The strengthening device for metal surface ultrasonic impact, ultrasonic rolling and rolling according to claim 1, characterized in that: The ultrasonic rolling head (205) comprises an ultrasonic rolling needle (2051) and a first threaded portion (2052) provided at the rear end of the ultrasonic rolling needle (2051), wherein the first threaded portion (2052) is threadably engaged with the mounting hole (102).

5. The strengthening device for metal surface ultrasonic impact, ultrasonic rolling and rolling according to claim 1, characterized in that: The rolling head (206) includes a rolling seat (2062), and a second threaded portion (2061) is provided at the rear end of the rolling seat (2062) for threaded engagement with the mounting hole (102), and the rolling ball (2064) is rotatably mounted on the front end of the rolling seat (2062).

6. The strengthening device for metal surface ultrasonic impact, ultrasonic rolling and rolling according to claim 1, characterized in that: The impact gun (1) is arranged in a gun seat (103), and the rear end of the gun seat (103) is fixedly connected to the end of the industrial robot (3). Springs (104) are provided on both sides of the impact gun (1) and connected to the end of the gun seat (103).

7. The strengthening device for metal surface ultrasonic impact, ultrasonic rolling and rolling according to claim 1, characterized in that: The invention comprises a workbench (5) and a chuck device (4) which is slidably arranged on the workbench (5) and fixes a workpiece to be processed, wherein the chuck device (4) comprises a mounting seat body (401), a motor (402) and a chuck (404); the mounting seat body (401) is slidably arranged on the workbench (5); a mounting vertical plate (4011) and a chuck seat (4012) are provided on the mounting seat body (401); the motor (402) is arranged on the mounting vertical plate (4011); the chuck (404) is arranged in the chuck seat (4012); the rear end of the chuck (404) is connected to the power shaft of the motor (402) through a coupling (403); and a locking bolt (4013) is provided on the mounting seat body (401).

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