A cylindrical laser cleaning path planning system

Abstract

The application discloses a kind of cylinder laser cleaning path planning systems, belong to laser processing technical field.A kind of cylinder laser cleaning path planning system, including laser cleaning machine, laser cleaning head, smoke dust purifier, YZ two-axis module, rotating mechanism, PLC control system, reference point calibration module, path planning module, motion control module.The application solves the problem that only single-diameter workpiece can be cleaned in the prior art, and reprogramming is required after each workpiece change.The application can automatically program planning according to the workpiece size input by the user, thereby generating an automatic cleaning trajectory, covering single-diameter workpiece, same workpiece multi-size or multi-material workpiece automatic path planning and cleaning parameter calling.

Description

TECHNICAL FIELD

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

[0002] The laser cleaning control system commonly used in the current industry usually only supports cleaning of cylindrical workpieces with a fixed diameter. When the diameter of the workpiece changes, the system cannot automatically adapt the cleaning path, resulting in limited application scope. After replacing cylindrical workpieces of different diameters or step sizes each time, the operator must manually reprogram, which not only increases the operation complexity, but also consumes time in the programming process, seriously restricting the production line efficiency. SUMMARY

[0003] The present application aims to provide a cylindrical laser cleaning path planning system. Through intelligent algorithms, the system can automatically program and plan according to the user input workpiece size, thereby generating an automatic cleaning trajectory. It covers automatic path planning and cleaning parameter calling for single-diameter workpieces, multiple sizes or multiple materials of the same workpiece. The user only needs to input the graphical size of the cylindrical workpiece on 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 automatic cleaning and solving the problems raised in the background technology.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

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

[0006] A laser cleaning machine integrated with 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 an optical fiber;

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

[0008] A smoke purifier connected to the cleaning area through a negative pressure pipeline, used to suck and filter dust particles generated during cleaning;

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

[0010] A rotating mechanism provided with a workpiece clamping tool, configured to drive the cylindrical workpiece to move in a circular motion by a servo motor;

[0011] A PLC control system connected to an HMI touch screen, integrated with 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 Position.

[0024] Preferably, the HMI touch screen comprises:

[0025] A workpiece parameter input interface for inputting the number of steps, the outer diameter, the length, the line width Lw and the focal length Lj.

[0026] A workpiece model library for storing the input workpiece parameters and supporting repeated calls.

[0027] A cleaning process parameter library for storing power and frequency parameter combinations.

[0028] Preferably, the cleaning advance Ls and the compensation Le in the rotation angle Pr are adjustable parameters for controlling the timing synchronization of the laser start-stop and 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 adsorb the particulate matter generated during cleaning in real time, and the filtered gas is directly discharged.

[0030] Preferably, the moving accuracy of the YZ two-axis module is 0.02 mm, which eliminates the trajectory deviation caused by mechanical errors and solves the problem of missing cleaning or overlapping through the precise lead screw driven by a servo motor.

[0031] Preferably, the workpiece model library automatically associates the following processes when cleaning is performed: when the user calls the stored workpiece model on the HMI touch screen, the corresponding outer diameter sequence and length sequence are automatically loaded, 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 application has the following advantages:

[0034] 1. In the present application, the system automatically generates a cleaning path according to an algorithm. After the user inputs the number of steps, the outer diameter , the length , the line width Lw and the focal length Lj of the cylindrical workpiece, the Y-axis coordinates and the Z-axis starting / ending coordinates are calculated according to the formula, realizing automatic path planning for different diameters, solving the limitation of a single diameter, replacing the manual programming link, greatly shortening the path generation time and improving the production efficiency.

[0035] 2、The application drives the rotating mechanism to rotate by Pr angle through the motion control module, synchronously moves the step length Lw of Z axis, if the outer diameter of the next layer changes when the step switches, synchronously adjusts the Y axis coordinate, the Y axis adjusts in real time with the change of the outer diameter of the workpiece, avoids the laser defocus caused by the diameter difference, guarantees the constant cleaning focal length, the Z axis step moving precision is 0.02mm, the rotating angle is dynamically compensated, solves the problems of missing washing or overlapping, and improves the trajectory precision.

[0036] 3、The application stores power, frequency, line width combination and the like by establishing a cleaning process parameter library, stores parameters in a workpiece model library, automatically calls during cleaning, matches power and frequency automatically by associating material parameters in the process library, realizes multi-material adaptation, reuses historical parameters in the model library, does not need to input again when switching workpieces, and supports flexible production. BRIEF DESCRIPTION OF DRAWINGS

[0037] Fig. 1 It is a system module structure diagram of the application;

[0038] Fig. 2 It is a system working flow chart of the application. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0040] In order to solve the problem that only a single diameter workpiece can be cleaned in the prior art, and reprogramming is needed after replacing the workpiece each time, please refer to Figs. 1-2 The embodiment provides the following technical solutions:

[0041] A cylindrical laser cleaning path planning system is composed of the following components:

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

[0043] A laser cleaning head is connected with the laser cleaning machine through an optical fiber, and outputs laser energy to the surface of the workpiece.

[0044] A smoke purifier is connected with the cleaning area through a negative pressure pipeline, and the dust and particulate pollutants generated during the laser cleaning process are directly discharged after being sucked and filtered by negative pressure.

[0045] YZ two-axis module, driven by servo motors in horizontal direction Y-axis and vertical direction Z-axis, real-time calculation of axis position through controller, to achieve cleaning focal length adjustment and axial movement of cylindrical workpiece.

[0046] Rotary mechanism, driven by servo motor, the table is provided with adjustable cylindrical workpiece clamping tooling, clamping cylindrical workpieces of different sizes, and the workpiece is driven to move in a circle during cleaning to realize cleaning of the surface of a circle.

[0047] PLC control system, connected with HMI touch screen, connected with laser cleaning machine, smoke purifier, YZ two-axis module and rotary mechanism through control cable; the PLC control system comprises:

[0048] Reference point calibration module, configured to move the YZ two-axis module to make the center of the laser cleaning head coincide with the center of the workpiece clamping tooling, and define the reference point coordinates (Jy, Jz);

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

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

[0051] Z-axis starting coordinate: ;

[0052] Z-axis end coordinate: ;

[0053] Rotary angle: , wherein Ls is the cleaning advance amount, and Le is the compensation amount;

[0054] The Y-axis coordinate is dynamically adjusted according to the change of the outer diameter , so as to ensure that the laser focal point is constant on the workpiece surface; the Z-axis cumulative formula automatically calculates the cumulative length of the steps to realize continuous path planning of multi-layer workpieces, replacing manual layer-by-layer programming; the advance amount Ls compensates for the acceleration section trajectory, and the compensation amount Le covers the deceleration section to solve the cleaning blind area when rotating starts and stops;

[0055] Motion control module, configured to drive the YZ two-axis module to adjust the cleaning head position, the rotary mechanism to drive the workpiece to rotate, and execute step switching judgment when moving axially according to the path planning data: when the Z-axis moving distance reaches the current step end point, the cleaning head is moved to the next step starting position, and the Y-axis focal length is adjusted, and the layers are cycled until the cleaning is completed.

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

[0057] Step 1, define a center point, i.e. reference point, at the center position of the workpiece clamping; manually operate the YZ two-axis module on the HMI touch screen, move the cleaning head to the center point of the cylindrical workpiece clamping tool on the rotating mechanism, and define the reference point when the cleaning head spot center point coincides with the center point of the clamping tool; the reference point is used as the basic coordinate point of the overall path planning, and all path calculations are based on this point.

[0058] Step 2, automatically calculate the position coordinates of the cleaning laser head in the horizontal and vertical directions through the input workpiece size data and laser focal length data; when a new cylindrical workpiece needs to be cleaned, the user needs to input the size of the workpiece, such as the number of steps of the cylindrical workpiece, the outer diameter of the workpiece, the inner diameter of the workpiece, the length of each step corresponding to the workpiece, the laser power, frequency, line width and other data used for cleaning, wherein the laser focal length is a fixed value, all programs only need to be input once, and then click the new button, the system automatically calculates the position of the workpiece running and the timing of the action.

[0059] Definition:

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

[0061] Second layer outer diameter: Pa2 Second layer length: Pb2

[0062] Third layer outer diameter: Pa3 Second layer length: 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: Ls Cleaning compensation: Le

[0066] At this time, according to the formula, the first layer is:

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

[0068] Z-axis coordinate starting coordinate: Pz=Jz+1 / 2*Lw

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

[0070] Similarly, the second layer is:

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

[0072] Z-axis coordinate start coordinate: Pz = Jz + Pb1 + 1 / 2 * Lw

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

[0074] Similarly, when the third layer is obtained:

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

[0076] Z-axis coordinate start coordinate: Pz = Jz + Pb1 + Pb2 + 1 / 2 * Lw

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

[0078] Rotary tool rotation position calculation:

[0079] Pr = Ls + 360 + Le

[0080] According to the above calculation formula, and according to the set number of workpiece steps, the system cyclically calculates the data required for each axis to move to achieve full-automatic cleaning path planning of the cylindrical workpiece.

[0081] Step 3, then the module drives the laser head to realize horizontal distance adjustment; the rotating mechanism drives the workpiece to realize one-week position cleaning of the workpiece;

[0082] The servo drive module screw realizes the position movement of the shaft controlled by the PLC, and the precision can reach 0.02mm, eliminating the trajectory deviation caused by mechanical error and solving the problem of missing cleaning or overlapping;

[0083] The rotating tool is also driven by a servo, and the workpiece is rotated according to the calculated data during cleaning, and the laser is opened synchronously to complete the cleaning of the surface of the workpiece.

[0084] Step 4, automatically calculate the next laser cleaning head vertical movement distance according to the user input laser line width data, judge the diameter of the workpiece corresponding to the next position before moving, and move horizontally at the same time if adjustment is needed, to ensure the accuracy of the laser focal length;

[0085] According to the previous calculation data, from the Z-axis starting cleaning position of the first layer of cylindrical steps, a line width of cleaning is completed when the workpiece rotates one round; then the Z-axis moves upward, and it is determined whether it exceeds the end position of the current step before moving, if not, it moves a line width, if it exceeds, it only moves to the end position of the current step; when cleaning the second layer of steps, the Z-axis is moved to the starting position of the second layer first, and then the Y-axis is moved, so that the focal length meets the laser cleaning requirements; the third layer, the fourth layer… are moved in turn, until the entire workpiece cleaning action is completed.

[0086] Working principle: The operator manually controls the YZ two-axis module through the HMI touch screen, moves the laser cleaning head to the center position of the clamping tool of the rotating mechanism, and when the center of the cleaning head spot coincides with the center of the tool, the system locks the point coordinates as the reference point (Jy, Jz). Then the path is automatically generated, 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 and the compensation. The system calculates the cleaning parameters of 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 (Jy1, Jz1) ), turns on the laser and controls the rotating mechanism to drive the workpiece to rotate by an angle Pr, and after completing a single 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 will exceed the end of the existing step, it directly jumps to the starting position of the next layer; if the outer diameter of the next layer changes, the Y-axis is adjusted to the new coordinates to maintain the focal length, and all steps are completed in turn. During the process, the smoke purifier absorbs pollutants in real time through negative pressure.

[0087] It should be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0088] While embodiments of the present application have been shown and described with reference to certain explanations, it is understood that those skilled in the art can make various changes, modifications, replacements and variations to these embodiments without departing from the principles and spirit of the present application.

Claims

1. A cylindrical laser cleaning path planning system, characterized by, The laser cleaning machine comprises a laser cleaning machine, a laser cleaning head, a smoke purifier, a YZ two-axis module, a rotating mechanism and a PLC control system, the PLC control system is connected with an HMI touch screen, and the PLC control system comprises 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, is configured to adjust laser power, line width and frequency parameters, and outputs light source energy through an optical fiber; The laser cleaning head is connected with the laser cleaning machine through an optical fiber, and is configured to output laser energy to the surface of the cylindrical workpiece; The smoke purifier is connected with the cleaning area through a negative pressure pipeline, and is used for sucking and filtering dust particles generated in cleaning; The YZ two-axis module comprises a Y-axis horizontal moving mechanism and a Z-axis vertical moving mechanism, is driven by a servo motor and a precision screw rod, and is configured to adjust the Y-axis focal length and axial position of the laser cleaning head; The rotating mechanism is provided with a workpiece clamping tool, is configured to drive the cylindrical workpiece to perform circular motion by a servo motor, and is configured to drive the cylindrical workpiece to perform circular motion by a servo motor; The reference point calibration module is configured to make the center of the laser cleaning head and the center of the workpiece clamping tool coincide by controlling the movement of the YZ two-axis module, and 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 including the number of steps n, the outer diameter of each layer , the length , the laser line width Lw, and the focal length Lj: Y-axis coordinate: where x is the step number; Z axis start coordinate: ; Z axis end coordinates: ; Rotation angle: where Ls is the wash advance, and Le is the compensation. The motion control module is configured to drive the YZ two-axis module to adjust the position of the laser cleaning head, drive the workpiece to rotate by the rotating mechanism, and execute step switching judgment when moving in the axial direction: when the laser cleaning head moves along the Z-axis to reach the current step end point, the laser cleaning head is moved to the next step starting position, and the Y-axis focal length is adjusted, and the cleaning is circularly performed layer by layer until the cleaning is completed; 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 of cleaning, and synchronously control the Z axis coordinate of the laser cleaning head to move with a step length Lw; when the Z axis coordinate of the laser cleaning head reaches When the laser cleaning head is moved to the starting position of the next step , if the outer diameter of the next step If the Y-axis coordinate of the laser cleaning head changes, it will be adjusted to ; When the motion control module executes Z-axis movement: when the laser cleaning head moves along the Z-axis but does not exceed the current step end point , the moving step length is Lw, if the moving step exceeds , then only move to Location.

2. The cylindrical laser cleaning path planning system of claim 1, wherein, The rotating mechanism and the YZ two-axis module are synchronously controlled, the Z-axis coordinates of the laser cleaning head are moved by one line width Lw distance, the rotating mechanism drives the workpiece to rotate by 360° to complete single-circle cleaning, the moving step length is dynamically adapted to the line width, and the precision is 0.02 mm.

3. The cylindrical laser cleaning path planning system of claim 1, wherein, The HMI touch screen comprises: A workpiece parameter input interface for inputting the number of steps, the outer diameter, the length, the line width Lw and the focal length Lj; A workpiece model library for storing the input workpiece parameters and supporting repeated calling; A cleaning process parameter library for storing power and frequency parameter combinations.

4. The cylindrical laser cleaning path planning system of claim 1, wherein, The cleaning advance Ls and the compensation Le in the rotating angle Pr are adjustable parameters, and are used for controlling the timing synchronization of laser starting and stopping and rotating action.

5. The cylindrical laser cleaning path planning system of claim 1, wherein, The negative pressure suction port of the smoke purifier is located on the side of the laser cleaning head, and is configured to adsorb the particulate matter generated in cleaning in real time, and the filtered gas is directly discharged.

6. The cylindrical laser cleaning path planning system of claim 1, wherein, The moving precision of the YZ two-axis module is 0.02 mm, and is realized by a servo motor and a precision screw rod.

7. The cylindrical laser cleaning path planning system of claim 3, wherein, 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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