Cylinder laser cleaning path planning system

Abstract

The invention discloses a cylinder laser cleaning path planning system, and belongs to the technical field of laser processing. A cylinder laser cleaning path planning system comprises a laser cleaning machine, a laser cleaning head, a smoke purifier, a YZ two-axis module, a rotating mechanism, a PLC control system, a datum point calibration module, a path planning module and a motion control module. The problems that in the prior art, only workpieces with single diameters can be cleaned, and reprogramming is needed after the workpieces are replaced every time are solved. Through an intelligent algorithm, automatic programming and planning can be performed according to the workpiece size input by a user, so that an automatic cleaning track is generated, and automatic path planning and cleaning parameter calling of workpieces with single diameters and workpieces with multiple sizes or multiple materials of the same workpiece are covered.

Description

Technical Field

[0001] The present invention relates to the field of laser processing technology, in particular to a cylindrical laser cleaning path planning system. Background Art

[0002] The laser cleaning control systems currently commonly used in the industry usually only support the cleaning of cylindrical workpieces with a fixed diameter. When the diameter of the workpiece changes, the system cannot automatically adapt to the cleaning path, resulting in a limited scope of application. Each time a cylindrical workpiece with a different diameter or step size is replaced, the operator must manually reprogram it, which not only increases the complexity of the operation, but also the programming process is time-consuming, seriously restricting the efficiency of the production line. Summary of the Invention

[0003] The purpose of the present invention is to provide a cylindrical laser cleaning path planning system, which can automatically program and plan according to the workpiece size input by the user through an intelligent algorithm, thereby generating an automatic cleaning trajectory, covering automatic path planning and cleaning parameter calling for workpieces with a single diameter, multiple sizes of the same workpiece, or multiple materials. The user only needs to input the graphic size of the cylinder in the operation interface, and the system automatically generates the cleaning path and calls the corresponding laser cleaning process data according to the algorithm, thereby achieving the purpose of fully automated cleaning and solving the problems raised in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A cylindrical laser cleaning path planning system, comprising:

[0006] Laser cleaning machine, integrating laser light source and light source control system, configured to adjust laser power, line width and frequency parameters, and output light source energy through optical fiber;

[0007] A laser cleaning head is connected to the laser cleaning machine via an optical fiber and is configured to output laser energy to the surface of the cylindrical workpiece;

[0008] The dust purifier is connected to the cleaning area through a negative pressure pipeline to absorb and filter the dust particles generated by cleaning;

[0009] The YZ two-axis module includes a Y-axis horizontal movement mechanism and a Z-axis vertical movement mechanism, which are driven by a servo motor with a precision screw and are configured to adjust the radial focal length and axial position of the cleaning head;

[0010] The rotating mechanism is provided with a workpiece clamping fixture and is configured to drive the cylindrical workpiece to perform circular motion by a servo motor;

[0011] PLC control system, connected to HMI touch screen, integrating the following modules:

[0012] The reference point calibration module is configured to manually align the center of the laser cleaning head's spot with the center of the workpiece clamping fixture by controlling the movement of the Y and Z axis modules, defining the reference point coordinates (Jy, Jz) and eliminating the influence of the workpiece clamping position deviation on the path;

[0013] The path planning module is configured to calculate the path parameters based on the input workpiece size data according to the following formula. The workpiece size data includes the number of steps n, the outer diameter of each layer ,length , laser line width Lw, focal length Lj:

[0014] Y-axis coordinate: , where x is the step number;

[0015] Z-axis starting coordinate: ;

[0016] Z-axis end coordinate: ;

[0017] Rotation Angle: , where Ls is the cleaning advance amount and Le is the compensation amount;

[0018] The motion control module is configured to synchronously drive the Y and Z axis modules to adjust the cleaning head position and the rotation mechanism to drive the workpiece to rotate according to the path planning data, and perform step switching judgment during axial movement: when the Z axis movement distance reaches the end point of the current step, the cleaning head is moved to the starting position of the next step, and the Y axis focal length is adjusted, and the cycle is repeated layer by layer until the cleaning is completed.

[0019] Preferably, the logic of the step switching executed by the path planning module is as follows: driving the rotating mechanism to rotate the angle Pr to complete a single-circle cleaning, and synchronously controlling the Z axis to move with a step length Lw; when the Z axis reaches Move the cleaning head to the starting position of the next step , if the outer diameter of the next step If the change is synchronous, adjust the Y axis to .

[0020] Preferably, the rotation mechanism is synchronously controlled with the movement of the YZ two-axis module. Every time the Z axis moves a line width Lw distance, the rotation mechanism drives the workpiece to rotate 360° to complete a single circle of cleaning; the moving step dynamically adapts to the line width with an accuracy of 0.02mm.

[0021] Preferably, when the motion control module performs Z-axis movement:

[0022] When the Z-axis moving distance does not exceed the current step end point , the moving step length is Lw;

[0023] If the movement exceeds , then only move to Location.

[0024] Preferably, the HMI touch screen includes:

[0025] Workpiece parameter input interface, used to input the number of steps, outer diameter, length, line width Lw, and focal length Lj;

[0026] Workpiece model library, used to store input workpiece parameters and support repeated calls;

[0027] Cleaning process parameter library, used to store power and frequency parameter combinations.

[0028] Preferably, the cleaning advance amount Ls and the compensation amount Le in the rotation angle Pr are adjustable parameters, which are used to control the timing synchronization of laser start and stop and the rotation action.

[0029] Preferably, the negative pressure suction port of the smoke purifier is located on the side of the laser cleaning head, and is configured to absorb particulate matter generated by cleaning in real time, and the filtered gas is directly discharged.

[0030] Preferably, the movement accuracy of the YZ two-axis module is 0.02mm, which eliminates the trajectory deviation caused by mechanical errors and solves the problems of missed washing or overlapping by driving the precision screw with a servo motor.

[0031] Preferably, the workpiece model library is automatically associated with the following process when performing cleaning: when the user calls the stored workpiece model on the HMI touch screen, the corresponding outer diameter sequence is automatically loaded and length sequence , triggering the path planning module to recalculate the Y-axis coordinates, Z-axis starting coordinates, and Z-axis ending coordinates of each step.

[0032] Preferably, the power and frequency parameters in the cleaning process parameter library are associated with the workpiece model library and are automatically called during cleaning.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. The system of the present invention automatically generates a cleaning path according to the algorithm. The user inputs the number of steps and outer diameter of the cylindrical workpiece. ,length , line width Lw, and focal length Lj, the Y-axis coordinate and Z-axis start / end coordinate are calculated according to the formula to realize automatic path planning for different diameters, solve the limitation of a single diameter, replace the manual programming link, greatly shorten the path generation time, and improve production efficiency.

[0035] 2. The present invention drives the rotating mechanism to rotate the Pr angle through the motion control module, and synchronizes the Z-axis movement step length Lw. When the steps are switched, if the outer diameter of the next layer changes, the Y-axis coordinate is adjusted synchronously. The Y-axis is adjusted in real time as the outer diameter of the workpiece changes to avoid laser defocusing due to diameter differences, ensuring a constant cleaning focal length. The Z-axis step movement accuracy is 0.02mm, and the rotation angle is dynamically compensated to solve the problems of missed washing or overlapping and improve the trajectory accuracy.

[0036] 3. The present invention establishes a cleaning process parameter library to store power, frequency, line width combinations, etc., and a workpiece model library to store parameters, which are automatically called during cleaning. The process library associates material parameters and automatically matches power frequency to achieve multi-material adaptation. The model library reuses historical parameters, and there is no need to re-enter when switching workpieces, supporting flexible production. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a system module structure diagram of the present invention;

[0038] Figure 2 It is a system workflow diagram of the present invention. DETAILED DESCRIPTION

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0040] In order to solve the problem that the existing technology can only clean workpieces with a single diameter and needs to be reprogrammed every time the workpiece is changed, please refer to Figure 1-2 , this embodiment provides the following technical solutions:

[0041] A cylindrical laser cleaning path planning system, consisting of the following components:

[0042] The laser cleaning machine integrates a laser light source and light source control system, and adjusts laser power, line width, and frequency parameters through internal circuits. The light source energy generated by the cleaning machine is transmitted to the laser cleaning head via optical fiber.

[0043] The laser cleaning head is connected to the laser cleaning machine through optical fiber and outputs laser energy to the workpiece surface.

[0044] The smoke purifier is connected to the cleaning area through a negative pressure pipeline. The dust and particulate pollutants generated during the laser cleaning process are absorbed by the negative pressure and filtered before being directly discharged.

[0045] The YZ two-axis module is driven by servo motors for the horizontal Y-axis and the vertical Z-axis. The controller calculates the axis position in real time to achieve cleaning focal length adjustment of cylindrical workpieces and axial movement along the cylinder.

[0046] The rotating mechanism is driven by a servo motor. The table is equipped with an adjustable cylindrical workpiece clamping fixture to clamp cylindrical workpieces of different sizes. During cleaning, the workpiece is driven to move in a circular motion by rotation to achieve cleaning of the entire surface.

[0047] The PLC control system is connected to the HMI touch screen and connected to the laser cleaning machine, smoke purifier, YZ axis module and rotating mechanism through control cables; the PLC control system includes:

[0048] The reference point calibration module is configured to control the movement of the Y and Z axis modules so that the center of the laser cleaning head spot coincides with the center of the workpiece clamping fixture to define the reference point coordinates (Jy, Jz);

[0049] The path planning module is configured to calculate the path parameters based on the input workpiece size data according to the following formula. The workpiece size data includes the number of steps n, the outer diameter of each layer ,length , laser line width Lw, focal length Lj;

[0050] Y-axis coordinate: , where x is the step number;

[0051] Z-axis starting coordinate: ;

[0052] Z-axis end coordinate: ;

[0053] Rotation Angle: , where Ls is the cleaning advance amount and Le is the compensation amount;

[0054] Y-axis coordinate with outer diameter Dynamically adjust the focal length to ensure that the laser focus is constant on the workpiece surface; the Z-axis accumulation formula automatically calculates the cumulative length of the steps, realizing continuous path planning for multi-layer workpieces, replacing manual layer-by-layer programming; the lead amount Ls compensates the acceleration segment trajectory, and the compensation amount Le covers the deceleration segment, solving the cleaning blind spot during rotation start and stop;

[0055] The motion control module is configured to synchronously drive the Y and Z axis modules to adjust the cleaning head position and the rotation mechanism to drive the workpiece to rotate according to the path planning data, and perform step switching judgment during axial movement: when the Z axis movement distance reaches the end point of the current step, the cleaning head is moved to the starting position of the next step, and the Y axis focal length is adjusted, and the cycle is repeated layer by layer until the cleaning is completed.

[0056] A cylindrical laser cleaning path planning method comprises the following steps:

[0057] Step 1. Define a center point, or reference point, at the workpiece clamping center. Manually operate the YZ axis module on the HMI touch screen to move the cleaning head to the center point of the cylindrical workpiece clamping fixture on the rotating mechanism. When the center point of the cleaning head's light spot coincides with the center point of the clamping fixture, it is defined as the reference point. The reference point serves as the basic coordinate point for the overall path planning, and all path calculations are based on this point.

[0058] Step 2: Automatically calculate the horizontal and vertical coordinates of the cleaning laser head based on the input workpiece size data and laser focal length data. When the user has a new cylindrical workpiece that needs to be cleaned, the user needs to enter the workpiece dimensions, such as the number of steps, outer diameter, inner diameter, length of each step, laser power, frequency, line width, and other data used for cleaning in the HMI workpiece data interface. The laser focal length is a fixed value and only needs to be entered once for all programs. Then click the Add button and the system will automatically calculate the axis position and action timing when the workpiece is completely cleaned.

[0059] definition:

[0060] First layer outer diameter: Pa1 First layer length: Pb1

[0061] The outer diameter of the second layer: Pa2 The length of the second layer: Pb2

[0062] The outer diameter of the third layer: Pa3 The length of the second layer: Pb3

[0063] Cleaning line width: Lw=50 Cleaning focal length: Lj

[0064] Y-axis reference point: Jy Y-axis reference point: Jz

[0065] Cleaning advance amount: Ls Cleaning compensation amount: Le

[0066] At this time, according to the formula, the first layer can be obtained:

[0067] The Y-axis coordinate is: Py = =Jy-1 / 2*Pa1-Lj

[0068] The starting coordinate of the Z axis is: Pz=Jz+1 / 2*Lw

[0069] The end coordinate of the Z axis is: Pz=Jz+Pb1-1 / 2*Lw

[0070] Similarly, the second layer can be obtained:

[0071] The Y-axis coordinate is: Py = =Jy-1 / 2*Pa2-Lj

[0072] The starting coordinate of the Z axis is: Pz=Jz+Pb1+1 / 2*Lw

[0073] The end coordinate of the Z axis is: Pz=Jz+Pb1+Pb2-1 / 2*Lw

[0074] Similarly, we can get the third layer:

[0075] The Y-axis coordinate is: Py = =Jy-1 / 2*Pa3-Lj

[0076] The starting coordinate of the Z axis is: Pz=Jz+Pb1+Pb2+1 / 2*Lw

[0077] The end coordinate of the Z axis is: Pz=Jz+Pb1+Pb2+Pb3-1 / 2*Lw

[0078] Calculation of the rotation position of the rotary tooling:

[0079] Pr=Ls+360+Le

[0080] According to the above calculation formula and the set number of workpiece steps, the system cyclically calculates the data that each axis needs to move when cleaning the cylindrical workpiece, thereby realizing fully automated cleaning path planning for the cylindrical workpiece.

[0081] Step 3: The module then drives the laser head to adjust the horizontal distance; the rotating mechanism drives the workpiece to clean the workpiece in one circumference.

[0082] The PLC controls the servo drive module screw to achieve axis position movement with an accuracy of up to 0.02mm, eliminating trajectory deviation caused by mechanical errors and solving problems such as missed washing or overlapping.

[0083] The rotary tooling is also driven by a servo. During cleaning, the workpiece is rotated according to the calculated data, and the laser is turned on synchronously to complete the surface cleaning of the workpiece.

[0084] Step 4: Automatically calculate the next vertical movement distance of the laser cleaning head based on the laser line width data input by the user. Before moving, determine the diameter of the workpiece corresponding to the next position. If adjustment is required, move horizontally at the same time to ensure the accuracy of the laser focal length.

[0085] According to the previously calculated data, starting from the Z-axis starting cleaning position of the first cylindrical step, each time the workpiece rotates one circle, one line width of cleaning is completed; the Z-axis then moves upward. Before moving, it is determined whether it exceeds the end position of the current step. If not, it moves one line width; if it exceeds, it only moves to the end position of the current stage; when cleaning the second step, first move the Z-axis to the starting position of the second layer, and then move the Y-axis so that the focal length meets the laser cleaning requirements; the third layer, fourth layer... move in this way in sequence until the entire workpiece is cleaned.

[0086] Working principle: The operator manually controls the YZ two-axis module through the HMI touch screen to move the laser cleaning head to the center position of the clamping tooling of the rotating mechanism. When the center of the cleaning head spot coincides with the center of the tooling, the system locks the coordinates of this point as the reference point (Jy, Jz). The path is then automatically generated, and the user inputs the number of steps of the cylindrical workpiece, the outer diameter of each layer, the length, the laser line width, the focal length, the cleaning advance amount and the compensation amount. The system calculates the cleaning parameters for each layer based on the reference point (Jy, Jz) and the formula. The system drives the YZ module to move the cleaning head to the starting position of the first layer ( ), turn on the laser and control the rotating mechanism to drive the workpiece to rotate Pr angle, after completing a single circle of cleaning, the Z axis moves upward by a line width Lw, and the cycle continues until it reaches When switching to the next layer, the system automatically determines the step boundary. If the Z-axis moves beyond the end of the existing step, it will jump directly to the starting position of the next layer. If the outer diameter of the next layer changes, the Y-axis will be adjusted to the new coordinate to maintain the focal length. All steps are cleaned in sequence. During the process, the smoke purifier absorbs pollutants in real time through negative pressure.

[0087] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0088] While the embodiments of the present invention have been shown and described, it will be apparent to those skilled in the art that various changes, modifications, substitutions, and alterations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. A cylindrical laser cleaning path planning system, characterized in that: It includes a laser cleaning machine, a laser cleaning head, a smoke purifier, a YZ axis module, a rotation mechanism and a PLC control system. The PLC control system is connected to the HMI touch screen and includes a reference point calibration module, a path planning module and a motion control module. The laser cleaning machine integrates a laser light source and a light source control system, configured to adjust laser power, line width and frequency parameters, and output light source energy through optical fiber; The laser cleaning head is connected to the laser cleaning machine via an optical fiber and is configured to output laser energy to the surface of the cylindrical workpiece; The smoke purifier is connected to the cleaning area through a negative pressure pipeline and is used to absorb and filter dust particles generated by cleaning; The YZ two-axis module includes a Y-axis horizontal movement mechanism and a Z-axis vertical movement mechanism, which are driven by a servo motor with a precision screw and are configured to adjust the radial focal length and axial position of the cleaning head; The rotating mechanism is provided with a workpiece clamping fixture, which is configured to drive the cylindrical workpiece to perform circular motion by a servo motor; The reference point calibration module is configured to control the movement of the YZ two-axis module so that the center of the laser cleaning head spot coincides with the center of the workpiece clamping fixture to define the reference point coordinates (Jy, Jz); The path planning module is configured to calculate the path parameters according to the following formula based on the input workpiece size data, the workpiece size data includes the number of steps n, the outer diameter of each layer ,length , laser line width Lw, focal length Lj: Y-axis coordinate: , where x is the step number; Z-axis starting coordinate: ; Z-axis end coordinate: ; Rotation Angle: , where Ls is the cleaning advance amount and Le is the compensation amount; The motion control module is configured to synchronously drive the YZ two-axis modules to adjust the position of the cleaning head and the rotation mechanism to drive the workpiece to rotate according to the path planning data, and perform step switching judgment during axial movement: when the Z-axis movement distance reaches the end point of the current step, the cleaning head is moved to the starting position of the next step, and the Y-axis focal length is adjusted, and the cycle is repeated layer by layer until the cleaning is completed.

2. A cylindrical laser cleaning path planning system according to claim 1, characterized in that: The logic of the path planning module to perform step switching is as follows: drive the rotating mechanism to rotate Pr angle to complete a single circle cleaning, and synchronously control the Z axis to move with a step length Lw; when the Z axis reaches Move the cleaning head to the starting position of the next step , if the outer diameter of the next step If the change is synchronous, adjust the Y axis to .

3. The cylindrical laser cleaning path planning system according to claim 1, characterized in that: The rotation mechanism is synchronously controlled with the motion of the YZ two-axis modules. Every time the Z axis moves a line width Lw distance, the rotation mechanism drives the workpiece to rotate 360° to complete a single circle of cleaning.

4. The cylindrical laser cleaning path planning system according to claim 1, characterized in that: When the motion control module performs Z-axis movement: When the Z-axis moving distance does not exceed the current step end point , the moving step length is Lw; If the movement exceeds , then only move to Location.

5. The cylindrical laser cleaning path planning system according to claim 1, characterized in that: The HMI touch screen includes: Workpiece parameter input interface, used to input the number of steps, outer diameter, length, line width Lw, and focal length Lj; Workpiece model library, used to store input workpiece parameters and support repeated calls; Cleaning process parameter library, used to store power and frequency parameter combinations.

6. The cylindrical laser cleaning path planning system according to claim 1, characterized in that: The cleaning advance amount Ls and the compensation amount Le in the rotation angle Pr are adjustable parameters, which are used to control the timing synchronization of the laser start and stop and the rotation action.

7. The cylindrical laser cleaning path planning system according to claim 1, characterized in that: The negative pressure suction port of the smoke purifier is located on the side of the laser cleaning head and is configured to absorb particulate matter generated by cleaning in real time, and the filtered gas is directly discharged.

8. The cylindrical laser cleaning path planning system according to claim 1, characterized in that: The YZ two-axis module is moved by a servo motor driving a precision screw rod with a movement accuracy of 0.02mm.

9. The cylindrical laser cleaning path planning system according to claim 1, characterized in that: The workpiece model library automatically associates the following processes when performing cleaning: When the user calls the stored workpiece model on the HMI touch screen, the corresponding outer diameter sequence is automatically loaded and length sequence , triggering the path planning module to recalculate the Y-axis coordinates, Z-axis starting coordinates, and Z-axis ending coordinates of each step.

10. The cylindrical laser cleaning path planning system according to claim 5, characterized in that: The power and frequency parameters in the cleaning process parameter library are associated with the workpiece model library and are automatically called during cleaning.

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