Dynamic engraving device and method for complex surface of large aviation face wallboard

Abstract

The invention relates to the technical field of aviation assembly manufacturing, in particular to a dynamic engraving device and method for the complex surface of an aviation large face wallboard. The problem that precision and efficiency are seriously affected due to the fact that existing marking operation still depends on manual repeated marking with a marking tool is solved. The dynamic engraving device is fixed over a workpiece through a fixing device, laser beams generated by a laser module pass through a beam expanding lens, a dynamic focusing lens, a focusing lens and a reflecting mirror to be converged to a to-be-machined surface to form light spots, and the spatial position of the light spots on the surface of the workpiece is adjusted through the compound motion of the focusing lens and the reflecting mirror. According to different machining positions, the equivalent focal length is calculated, the adjustment position of the focusing lens is obtained through least square regression analysis fitting, the two-dimensional rotation angle of the reflector is obtained through calculation according to the space relation between the reflector and the machining positions, and finally marking work is completed along the to-be-machined track. The scribing precision and efficiency can be effectively improved, and the labor cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of aviation assembly manufacturing, and particularly to a dynamic engraving device and method for the complex surface of large-scale aircraft panels. Background Art

[0002] The assembly of new aircraft has higher requirements for part processing than before. Among them, the complexity of the surface and the dimensional accuracy requirements of large-scale panels have also increased significantly. In the field of aviation manufacturing, the scribing operation of such panel parts still relies on manual use of scribing tools, such as scriber needles, steel rulers, etc., to directly mark on the panel surface repeatedly for many times, seriously affecting the efficiency.

[0003] However, large-scale panels are large in size and complex in surface shape. Manual scribing is difficult to guarantee its accuracy, and it is easy to cause dimensional deviation, affecting subsequent processing and fitting operations. With the development of measurement technology, some advanced measurement devices such as coordinate measuring machines have begun to be used to assist scribing. By accurately measuring the panel surface to obtain data, and then planning scribing according to the measurement results, but this method is complex in data processing and conversion, has high requirements for operators, and is not easy to promote. In recent years, to overcome the above problems, automated scribing technology has gradually attracted attention. By mounting a scribing tool on a robot and using programming to control the movement trajectory of the robot to achieve scribing, but for large-scale panels, to achieve high-precision adaptation of the robot movement trajectory to the panel surface and accurately scribe along the planned path, the movement flexibility and accuracy of the robot need to be improved.

[0004] Therefore, to solve the problems of the existing scribing of large-scale panels, such as high requirements for production efficiency, dimensional accuracy, processing flexibility of complex surfaces, and operation level, it is necessary to design a dynamic engraving method with high-efficiency precise positioning and capable of adapting to large sizes and complex surfaces, so as to improve scribing accuracy, efficiency, and be easy to promote. Summary of the Invention

[0005] In view of the above problems, the present invention proposes a scribing method that can adapt to the complex surface of large-scale aircraft panel workpieces, has high processing accuracy and strong versatility, and has developed a dedicated dynamic engraving device for this method to achieve large-scale three-dimensional space dynamic marking of 1.5m×1.5m×0.4m.

[0006] According to one aspect of the present application, there is provided a dynamic engraving device for the complex surface of large-scale aircraft panels, which is composed of a housing 1, a laser module 2, a beam expander 3, a linear focusing mechanism 4, an adjustment mechanism 5, a focusing lens 6, a centering deflection mechanism 7, and a mirror adjustment mechanism 8;

[0007] The housing 1 includes a housing bottom plate 1-1, a connection hole 1-2, and a threaded hole 1-3;

[0008] The laser module 2 includes a fiber laser isolator 2-1, an upper cover 2-2, and a lower cover 2-3;

[0009] The linear focusing mechanism 4 includes a sliding base 4-1, a magnetic axis linear motor 4-2, a focusing lens 4-3, and an elastic rubber block 4-4;

[0010] The adjusting mechanism 5 includes an adjusting screw 5-1, a sliding disk 5-2, a sliding table 5-3, and a spring buffer 5-4;

[0011] The centering and deflecting mechanism 7 includes a motor cover 7-1, a servo motor 7-2, a turntable 7-3, a servo motor 7-4, a counterweight 7-5, a mirror fixing bracket 7-6, a fixing bracket 7-7, and a bearing 7-8.

[0012] In the laser module 2, the fiber laser isolator 2-1 is fixedly connected to the housing bottom plate 1-1 through the combination of the upper cover 2-2 and the lower cover 2-3. The end of the fiber laser isolator 2-1 is in clearance fit with the connection hole 1-2 of the housing bottom plate 1-1, and the threaded hole 1-3 coaxial with the connection hole 1-2 is threadedly connected to the end of the beam expander 3.

[0013] The laser is connected to the fiber laser isolator 2-1 through an optical fiber and outputs laser light.

[0014] The linear focusing mechanism 4 uses the magnetic axis linear motor 4-2 as the power source and is threadedly connected to the sliding base 4-1. The focusing lens 4-3 is fixed to the moving end of the magnetic axis linear motor 4-2. A stepped chute is machined on the lower surface of the sliding base 4-1, which is in sliding contact with the sliding disk 5-2 and the sliding table 5-3 of the adjusting mechanism 5. The chute is in close fit with the outer end of the sliding disk 5-2. A 2-mm gap is left on both sides between the inner end of the sliding disk 5-2, the inner end of the chute step, and the outer end of the upper part of the sliding table 5-3. One side of the sliding table 5-3 along the direction perpendicular to the movement direction of the linear focusing mechanism 4 and the sliding base 4-1 jointly abut against the side wall of the housing at one end. At the other end, the length of the sliding table 5-3 is longer than that of the sliding base 4-1, and the sliding table 5-3 tightly abuts against the side wall of the other end of the housing. The side wall of the sliding base 4-1 is elastically connected to the side wall of the housing through a set of spring buffers 5-4. The sliding base 4-1 is adjusted to move along the Y direction on the sliding table 5-3 and the sliding disk 5-2 through the adjusting screw 5-1 on the other side, and the adjustment amount is 0 to 2 mm. At the same time, the sliding disk 5-2 can drive the sliding base 4-1 to rotate around the Z axis along the arc-shaped groove inside the sliding table 5-3, and the adjustment amount is ±1.6°. A set of screws at the bottom of the adjusting mechanism 5 push up the adjusting mechanism 5 and the linear focusing mechanism 4, pressing the two elastic rubber blocks 4-4 for Z-direction fixing of the whole mechanism on the side wall of the housing, causing them to deform, so as to adjust the Z-direction position of the focusing lens 4-3 and its rotation around the X axis.

[0015] The focusing lens 4-3 is mounted on the moving end of the magnetic axis linear motor 4-2 through an optical adjustment base, and can further adjust the central position of the focusing lens 4-3 in the optical system on the basis of the adjustment mechanism 5, improving the adjustability of the linear focusing mechanism 4.

[0016] The linear focusing movement can be realized by high-response-speed drivers such as magnetic axis linear motors and rod motors, in combination with high-precision linear modules such as crossed roller guides.

[0017] The focusing lens 6 is a focusing system composed of a set of 6 lenses and a housing, which can effectively eliminate aberration. Each optical lens is axially fixed in the lens barrel in sequence through snap rings, and the lens barrel is fixed to the inner end face of the housing through a lens flange. The focusing lens and the focusing mechanism together form a dynamic focusing system, which can adjust the focal length of the lens group according to the spatial position of the processing surface, realizing dynamic engraving on complex surfaces.

[0018] The movement of the centering and deflection mechanism 7 consists of two perpendicular rotational movements. The servo motor 7-2 is fixed on the outermost side in the Y-axis direction of the motor cover 7-1, and the output shaft is connected to the inner hole of the turntable 7-3 through the D-axis and tightened with a set screw, driving the whole turntable to rotate around the Y-axis direction. There is a 1-mm gap between the bottom surface of the turntable 7-3 and the motor cover 7-1 to prevent friction during rotation;

[0019] The servo motor 7-4 is fixed at the outer end of the frame body on one side of the turntable 7-3, and the output shaft is connected to the mirror fixing bracket 7-6 through a flange. The flange is 1 mm higher than the inner end face of the frame body to prevent friction. The mirror fixing bracket 7-6 is fixed to the mirror adjustment base 8 through a threaded connection. The other end of the mirror adjustment base 8 is connected to the fixing bracket 7-7. The rotating shaft of the fixing bracket 7-7 is fixed on the frame body of the turntable 7-3 through a bearing 7-8. This rotating shaft and the bearing, and the bearing and the frame body are all in interference fit. A counterweight 7-5 symmetrically arranged with the servo motor 7-4 is installed on the outer side of the frame body of the turntable 7-3 to prevent vibration of the mechanism caused by uneven load distribution during the rotation of the motor 7-2.

[0020] A centering and deflection mirror is installed in the mirror adjustment mechanism 8;

[0021] The mirror adjustment mechanism 8 has two groups of adjustment screws that are perpendicular to each other and form a 45° angle with the vertical diameter of the mirror. By means of one screw on one side and one spring on the other side, the inner ring of the fixed seat is tightly pressed to cross-adjust the central position of the mirror, so that the laser beam emitted by the focusing lens passes through the center of the mirror, effectively utilizing the space.

[0022] All the servo motors are selected to be assisted by high-precision absolute encoders for control, and the positioning accuracy can reach ±15 arcseconds.

[0023] According to another aspect of the present application, a method for dynamic engraving on the complex surface of a large aviation panel is provided, using the above-mentioned dynamic engraving device for the complex surface of a large aviation panel;

[0024] The method includes the following steps:

[0025] Step 1: According to the required spot diameter d, obtain the diameter D of the beam emitted by the beam expander 3 through formula (1), so as to determine the magnification and size of the beam expander 3;

[0026] D = λ·f·APO·M 2 / d (1);

[0027] Where λ is the laser wavelength, f is the equivalent focal length of the laser optical path, APO is the apodization factor, and M is the beam quality factor;

[0028] Step 2: Fix the dynamic engraving device for the complex surface of the large aviation panel directly above the workpiece to be processed, plan the scribing path according to the required processing conditions, and adjust the laser power to a range that does not damage the workpiece;

[0029] Step 3: The laser output by the laser module 2 passes through the beam expander 3, the focusing lens 4-3, the focusing lens 6 and the centering deflection mirror and converges on the surface of the workpiece to be processed to form a processing spot;

[0030] Step 4: Calculate the equivalent focal length according to different processing positions, use the least squares regression analysis polynomial (2) to fit the relationship between the equivalent focal length and the adjustment position of the linear focusing mechanism 4, and obtain the moving position;

[0031] R = sqrt(∑(y - (a0 + a1·x + …… + a n ·x n )) 2 )(R = 0.999) (2);

[0032] Where R is the square root of the regression analysis residual, y is the equivalent focal length at different processing positions, a0 + a1·x + …… + a n ·x n is the polynomial relationship fitted according to the position quantity of different focusing mechanisms and the equivalent focal length value, where a0...a n are the polynomial coefficients, and x is the position quantity of the linear focusing mechanism 4;

[0033] Step 5: According to the spatial position (x, y, z) of the processing position relative to the center of the centering deflection mirror, obtain the rotation angles of the centering deflection mechanism 7 in the X and Y directions through the spherical coordinate calculation formula (3);

[0034]

[0035] Wherein, θ is the rotation angle of the centering deflection mechanism 7 in the Y direction, is the rotation angle of the centering deflection mechanism 7 in the X direction;

[0036] Step Six: The magnetic axis linear motor 4-2 and the servo motor 7-2 control each axis to move along the target path according to the adjusted position and angle changes, then adjust the laser power to the processing range, and perform rapid scribing by repeating the path at high speed.

[0037] The beneficial effects of the present invention are as follows:

[0038] First, by integrating the laser processing and in-situ processing ideas, the problem of surface marking of large-scale wall panel parts is solved, and the scribing accuracy is improved.

[0039] Second, the processing range is large, and for large-scale wall panel parts, complex surface dynamic marking can be achieved without multiple adjustments of the processing position;

[0040] Third, a high-precision drive solution with a high-precision magnetic axis linear motor module and an absolute encoder combined with a servo motor is adopted to strengthen the system integration and greatly improve the processing accuracy;

[0041] Fourth, the least squares regression analysis algorithm is adopted to reduce the adjustment position error;

[0042] Fifth, the dedicated dynamic engraving system adopts a dynamic focusing lens and a combination lens of multiple lenses, which greatly improves the system stability and can meet the application requirements of large-scale surface marking;

[0043] Sixth, the single mirror two-dimensional centering rotation motion mode is adopted to reduce the mechanism complexity. Description of the Drawings

[0044] Figure 1 is a schematic diagram of the dynamic engraving device for the complex surface of the large-scale aviation wall panel;

[0045] Figure 2 is a schematic structural diagram of the dynamic engraving device for the complex surface of the large-scale aviation wall panel;

[0046] Where 1 is the outer shell, 2 is the laser module, 3 is the beam expander, 4 is the linear focusing mechanism, 5 is the adjustment mechanism, 6 is the focusing lens, 7 is the centering deflection mechanism, 8 is the mirror adjustment mechanism, 1-1 is the outer shell bottom plate, 1-2 is the connection hole, 1-3 is the threaded hole, 2-1 is the fiber laser isolator, 2-2 is the upper cover, 2-3 is the lower cover, 4-1 is the sliding base, 4-2 is the magnetic axis linear motor, 4-3 is the focusing lens, 4-4 is the elastic rubber block, 5-1 is the adjustment screw, 5-2 is the sliding disk, 5-3 is the sliding table, 5-4 is the spring buffer, 7-1 is the motor cover, 7-2 is the servo motor, 7-3 is the turntable, 7-4 is the servo motor, 7-5 is the counterweight, 7-6 is the mirror fixing bracket, 7-7 is the fixing bracket, 7-8 is the bearing. Detailed Embodiments

[0047] The present application will be described in detail below in conjunction with embodiments, but the present application is not limited to these embodiments.

[0048] Embodiment 1

[0049] A dynamic engraving device for the complex surface of a large aerospace panel consists of a housing 1, a laser module 2, a beam expander 3, a linear focusing mechanism 4, an adjustment mechanism 5, a focusing lens 6, a centering and deflection mechanism 7, and a mirror adjustment mechanism 8;

[0050] The housing 1 includes a housing bottom plate 1-1, a connection hole 1-2, and a threaded hole 1-3;

[0051] The laser module 2 includes an optical fiber laser isolator 2-1, an upper cover 2-2, and a lower cover 2-3;

[0052] The linear focusing mechanism 4 includes a sliding base 4-1, a magnetic axis linear motor 4-2, a focusing lens 4-3, and an elastic rubber block 4-4;

[0053] The adjustment mechanism 5 includes an adjustment screw 5-1, a sliding disk 5-2, a sliding table 5-3, and a spring buffer 5-4;

[0054] The centering and deflection mechanism 7 includes a motor cover 7-1, a servo motor 7-2, a turntable 7-3, a servo motor 7-4, a counterweight 7-5, a mirror fixing frame 7-6, a fixing frame 7-7, and a bearing 7-8.

[0055] In the laser module 2, the optical fiber laser isolator 2-1 is fixedly connected and fixed to the housing bottom plate 1-1 through the upper cover 2-2 and the lower cover 2-3. The end of the optical fiber laser isolator 2-1 is in clearance fit with the connection hole 1-2 of the housing bottom plate 1-1, and the threaded hole 1-3 coaxial with the connection hole 1-2 is threadedly connected to the end of the beam expander 3.

[0056] The laser is connected to the optical fiber laser isolator 2-1 through an optical fiber and outputs laser light.

[0057] The linear focusing mechanism 4 uses a magnetic axis linear motor 4-2 as the power source, which is threadedly connected to a sliding base 4-1. A focusing lens 4-3 is fixed to the moving end of the magnetic axis linear motor 4-2. The lower surface of the sliding base 4-1 is machined with a stepped chute, which is in sliding contact with the sliding disc 5-2 and the sliding table 5-3 of the adjusting mechanism 5. The chute is closely fitted with the outer end of the sliding disc 5-2. There is a 2-mm gap on each side between the inner end of the sliding disc 5-2, the inner end of the chute step and the outer side of the upper part of the sliding table 5-3. One side of the sliding table 5-3 along the direction perpendicular to the movement direction of the linear focusing mechanism 4 and the sliding base 4-1 jointly abut against the side wall of the outer shell at one end. At the other end, the length of the sliding table 5-3 is longer than that of the sliding base 4-1, and the sliding table 5-3 closely abuts against the side wall of the other end of the outer shell. The side wall of the sliding base 4-1 is elastically connected to the side wall of the outer shell through a set of spring buffers 5-4. The sliding base 4-1 is adjusted to move along the Y direction on the sliding table 5-3 and the sliding disc 5-2 through the adjusting screw 5-1 on the other side, and the adjustment amount is 0-2 mm. At the same time, the sliding disc 5-2 can drive the sliding base 4-1 to rotate around the Z axis along the arc-shaped groove inside the sliding table 5-3, and the adjustment amount is ±1.6°. A set of screws at the bottom of the adjusting mechanism 5 push up the adjusting mechanism 5 and the linear focusing mechanism 4, pressing two elastic rubber blocks 4-4 for fixing the whole mechanism in the Z direction on the side wall of the outer shell, causing them to deform, so as to adjust the position of the focusing lens 4-3 in the Z direction and its rotation around the X axis.

[0058] The focusing lens 4-3 is installed on the moving end of the magnetic axis linear motor 4-2 through an optical adjustment base, and the central position of the focusing lens 4-3 in the optical system can be further adjusted on the basis of the adjusting mechanism 5, improving the adjustability of the linear focusing mechanism 4.

[0059] The linear focusing movement can be realized by high-response-speed drivers such as magnetic axis linear motors and rod-shaped motors, in combination with high-precision linear modules such as crossed roller guides.

[0060] The focusing lens 6 is a focusing system composed of a set of six lenses and an outer shell, which can effectively eliminate aberrations. Each optical lens is axially fixed in the lens barrel through retaining rings in sequence. The lens barrel is fixed to the inner end face of the outer shell through a lens flange. The focusing lens and the focusing mechanism jointly form a dynamic focusing system, which can adjust the focal length of the lens group according to the spatial position of the processing surface to achieve dynamic engraving on complex surfaces.

[0061] The movement of the centering and deflecting mechanism 7 consists of two mutually perpendicular rotational movements. The servo motor 7-2 is fixed on the outermost side in the Y-axis direction of the motor cover 7-1. The output shaft is connected to the inner hole of the turntable 7-3 through a D shaft and is tightened with a set screw, driving the whole turntable to rotate around the Y-axis direction. There is a 1-mm gap between the bottom surface of the turntable 7-3 and the motor cover 7-1 to prevent friction during rotation;

[0062] The servo motor 7-4 is fixed to the outer end of the frame on one side of the turntable 7-3. The output shaft is connected to the mirror fixing bracket 7-6 through a flange. The flange is 1 mm higher than the inner end face of the frame to prevent friction. The mirror fixing bracket 7-6 is fixed to the mirror adjustment base 8 through a threaded connection. The other end of the mirror adjustment base 8 is connected to the fixing bracket 7-7. The rotating shaft of the fixing bracket 7-7 is fixed to the frame of the turntable 7-3 through a bearing 7-8. The interference fit is adopted between this rotating shaft and the bearing, and between the bearing and the frame. A counterweight 7-5 symmetrically arranged with the servo motor 7-4 is installed on the outside of the frame of the turntable 7-3 to prevent the mechanism vibration caused by uneven load distribution during the rotation of the motor 7-2.

[0063] A centering and deflecting mirror is installed in the mirror adjustment mechanism 8;

[0064] The mirror adjustment mechanism 8 has two groups of adjustment screws that are perpendicular to each other and form a 45° angle with the vertical diameter of the mirror. By means of one screw on one side and one spring on the other side, the inner ring of the fixing seat is tightened to cross-adjust the center position of the mirror, so that the laser beam emitted by the focusing lens passes through the center of the mirror, effectively utilizing the space.

[0065] All the servo motors are selected with high-precision absolute encoders for auxiliary control, and the positioning accuracy can reach ±15 arcseconds.

[0066] Use the above-mentioned dynamic engraving device for the complex surface of the large-scale aircraft panel to perform dynamic engraving on the complex surface of the large-scale aircraft panel;

[0067] For removing the machining allowance and scribing on the edge of the aircraft panel, before starting the machining, it is determined that the required size of the converging light spot is 100 um. The diameter D of the beam emitted by the beam expander is obtained through formula (1), so as to determine the magnification and size of the beam expander, and install it into the device.

[0068] Use the fixing device to fix the dynamic engraving system directly above the workpiece. A low-power laser is generated by the laser module. The beam passes through the beam expander, the dynamic focusing lens, the focusing lens and the two-dimensional centering and rotating mirror and converges on the surface to be machined to form a light spot.

[0069] According to the machining allowance of 5 mm, the marking path is pre-determined. The focal length is calculated for different machining positions on the path with the light spot diameter as the minimum machining length. Using the least squares regression analysis polynomial fitting method (2), the complete adjustment position change of the linear focusing mechanism is obtained.

[0070] According to the spatial position of each machining position on the path relative to the center of the mirror, through the spherical coordinate calculation formula (3), the rotation angle changes of the centering and deflecting mechanism in the X and Y directions are obtained.

[0071] The linear motor and the servo motor control the movement of each axis along the pre-planned marking path according to the adjustment position and angle change and record the movement conditions of each axis.

[0072] Furthermore, an external sensor such as an infrared binocular system can be used to monitor and analyze the pre-planned path, optimize the path, and reduce errors.

[0073] Adjust the light spot to the initial machining position of the pre-planned marking path, adjust the laser power to the workable range, and execute the planned path of each axis recorded to complete the scribing on the workpiece surface.

[0074] The above is only a specific embodiment 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 make several modifications or substitutions, which should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A dynamic engraving device for the complex surface of a large-scale aerospace panel, characterized in that it is composed of a housing (1), a laser module (2), a beam expander (3), a linear focusing mechanism (4), an adjustment mechanism (5), a focusing lens (6), a centering and deflection mechanism (7), and a mirror adjustment mechanism (8); The housing (1) includes a housing bottom plate (1-1), a connection hole (1-2), and a threaded hole (1-3); The laser module (2) includes an optical fiber laser isolator (2-1), an upper cover (2-2), and a lower cover (2-3); The linear focusing mechanism (4) includes a sliding base (4-1), a magnetic axis linear motor (4-2), a focusing lens (4-3), and an elastic rubber block (4-4); The adjustment mechanism (5) includes an adjustment screw (5-1), a sliding disk (5-2), a sliding table (5-3), and a spring buffer (5-4); The centering and deflection mechanism (7) includes a motor cover (7-1), a servo motor (7-2), a turntable (7-3), a servo motor (7-4), a counterweight (7-5), a mirror fixing bracket (7-6), a fixing bracket (7-7), and a bearing (7-8).

2. The dynamic engraving device for the complex surface of a large-scale aerospace panel according to claim 1, characterized in that in the laser module (2), the optical fiber laser isolator (2-1) is fixedly connected to the housing bottom plate (1-1) through the combination of the upper cover (2-2) and the lower cover (2-3). The end of the optical fiber laser isolator (2-1) is in clearance fit with the connection hole (1-2) of the housing bottom plate (1-1), and the threaded hole (1-3) coaxial with the connection hole (1-2) is threadedly connected to the end of the beam expander (3).

3. The dynamic engraving device for the complex surface of a large-scale aerospace panel according to claim 1, characterized in that The linear focusing mechanism (4) uses a magnetic axis linear motor (4-2) as the power source, which is threadedly connected to the sliding base (4-1). The focusing lens (4-3) is fixed to the moving end of the magnetic axis linear motor (4-2). The lower surface of the sliding base (4-1) is machined with a stepped chute, which is in sliding contact with the sliding disc (5-2) and the sliding table (5-3) of the adjusting mechanism (5). The chute is in close fit with the outer end of the sliding disc (5-2). A 2-mm gap is left on each side between the inner end of the sliding disc (5-2), the inner end of the stepped chute, and the outer end of the upper part of the sliding table (5-3). One side of the sliding table (5-3) along the direction perpendicular to the movement direction of the linear focusing mechanism (4) and the sliding base (4-1) jointly abut against the side wall of the outer shell at one end. The length of the sliding table (5-3) at the other end is longer than that of the sliding base (4-1), and the sliding table (5-3) tightly abuts against the side wall of the outer shell at the other end. The side wall of the sliding base (4-1) is elastically connected to the side wall of the outer shell through a set of spring buffers (5-4). The sliding base (4-1) is adjusted to move along the Y direction on the sliding table (5-3) and the sliding disc (5-2) through the adjusting screw (5-1) on the other side, and the adjustment amount is 0 to 2 mm. At the same time, the sliding disc (5-2) can drive the sliding base (4-1) to rotate around the Z axis along the arc-shaped groove inside the sliding table (5-3), and the adjustment amount is ±1.6°. A set of screws at the bottom of the adjusting mechanism (5) jack up the adjusting mechanism (5) and the linear focusing mechanism (4) upward, pressing two elastic rubber blocks (4-4) for fixing the mechanism as a whole in the Z direction on the side wall of the outer shell, causing them to deform, so as to adjust the position of the focusing lens (4-3) in the Z direction and its rotation around the X axis.

4. The dynamic engraving device for the complex surface of a large aerospace panel according to claim 3, characterized in that The focusing lens (4-3) is installed at the moving end of the magnetic axis linear motor (4-2) through an optical adjustment base, and the central position of the focusing lens (4-3) in the optical system can be further adjusted on the basis of the adjusting mechanism (5), improving the adjustability of the linear focusing mechanism (4).

5. The dynamic engraving device for the complex surface of a large aerospace panel according to claim 1, characterized in that The focusing lens (6) is a focusing system composed of a set of six lenses and an outer shell, which can effectively eliminate aberration. Each optical lens is sequentially fixed in the lens barrel along the axis through a retaining ring, and the lens barrel is fixed to the inner end face of the outer shell through a lens flange. The focusing lens and the focusing mechanism jointly form a dynamic focusing system, and the focal length of the lens group can be adjusted according to the spatial position of the processing surface to achieve dynamic engraving of the complex surface.

6. The dynamic engraving device for the complex surface of a large aerospace panel according to claim 1, characterized in that The movement of the centering and deflection mechanism (7) consists of two perpendicular and intersecting rotational movements. The servo motor (7-2) is fixed on the outermost side in the Y-axis direction of the motor cover (7-1), and the output shaft is connected to the inner hole of the turntable (7-3) through the D-axis and tightened with a set screw, driving the entire turntable to rotate around the Y-axis direction. A 1-mm gap is left between the bottom surface of the turntable (7-3) and the motor cover (7-1) to prevent friction during rotation; The servo motor (7-4) is fixed at the outer end of the frame on one side of the turntable (7-3). The output shaft is connected to the mirror fixing bracket (7-6) through a flange. The flange is 1 mm higher than the inner end face of the frame to prevent friction. The mirror fixing bracket (7-6) is fixed to the mirror adjustment base 8 through a threaded connection. The other end of the mirror adjustment base 8 is connected to the fixing bracket (7-7). The rotating shaft of the fixing bracket (7-7) is fixed on the frame of the turntable (7-3) through a bearing (7-8). A counterweight (7-5) symmetrically arranged with the servo motor (7-4) is installed on the outer side of the frame of the turntable (7-3) to prevent the mechanism from vibrating due to uneven load distribution when the motor 7-2 rotates.

7. The dynamic engraving device for the complex surface of the large-scale aero wall panel according to claim 1, wherein a centering and deflecting mirror is installed in the mirror adjustment mechanism (8); The mirror adjustment mechanism (8) has two groups of adjustment screws that are perpendicular to each other and form a 45° angle with the vertical diameter of the mirror. By means of one screw on one side and one spring on the other side, the inner ring of the fixed seat is tightened to cross-adjust the center position of the mirror, so that the laser beam emitted by the focusing lens passes through the center of the mirror, effectively utilizing the space.

8. A method for dynamic engraving of the complex surface of the large-scale aero wall panel, characterized in that the dynamic engraving device for the complex surface of the large-scale aero wall panel described in any one of claims 1 to 7 is adopted; including the following steps: Step 1: According to the required spot diameter d, obtain the diameter D of the beam emitted by the beam expander (3) through formula (1), so as to determine the magnification and size of the beam expander (3); D = λ·f·APO·M 2 / d (1); wherein, λ is the laser wavelength, f is the equivalent focal length of the laser optical path, APO is the apodization factor, and M is the beam quality factor; Step 2: Fix the dynamic engraving device for the complex surface of the large-scale aero wall panel directly above the workpiece to be processed. Plan the scribing path according to the required processing conditions, and adjust the laser power to the range that does not damage the workpiece; Step 3: The laser output by the laser module (2) passes through the beam expander (3), the focusing lens (4-3), the focusing lens (6) and the centering and deflecting mirror and converges on the surface of the workpiece to be processed to form a processing spot; Step 4: Calculate the equivalent focal length according to different processing positions, use the least squares regression analysis polynomial (2) to fit the relationship between the equivalent focal length and the adjustment position of the linear focusing mechanism (4), and obtain the movement position; R = sqrt(∑(y - (a0 + a1·x + …… + a n ·x n ))) 2 )(R = 0.999) (2); Among them, R is the square root of the regression analysis residual, y is the equivalent focal length at different machining positions, a0 + a1·x + …… + a n ·x n is the polynomial relationship fitted according to the position quantity of different focusing mechanisms and the equivalent focal length value, where a0...a n are polynomial coefficients, and x is the position quantity of the linear focusing mechanism (4); Step 5: According to the spatial position (x, y, z) of the processing position relative to the center of the centering and deflecting mirror, obtain the rotation angles of the centering and deflecting mechanism (7) in the X and Y directions through the spherical coordinate calculation formula (3); where θ is the rotation angle of the centering deflection mechanism (7) in the Y direction, and is the rotation angle of the centering deflection mechanism (7) in the X direction; Step 6: The magnetic axis linear motor (4-2) and the servo motor (7-2) control the movement of each axis along the target path according to the adjustment position and angle changes, and then adjust the laser power to the processing range, and repeat the path at high speed for rapid scribing.

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