Multi-robot dieless forming and laser shock peening combined machining system and method

Abstract

The invention provides a multi-robot dieless forming and laser shock peening combined machining system and method, and relates to the technical field of manufacturing and machining. A thin-wall workpiece to be machined is placed on a workpiece clamping platform, a central control system controls a vacuum chuck array to generate negative pressure of a corresponding area according to the size and the shape of the workpiece, the central control system introduces a three-dimensional model of the workpiece, the motion trails of a forming robot and a forming and strengthening robot are planned based on the technological requirements of forming and strengthening, and the forming and strengthening process is completed. Determining a sequence area of dieless forming and a corresponding area of laser shock peening; then collaborative processing is carried out, the collaborative processing comprises a forming stage and a strengthening stage, that is, every time a forming robot completes forming of one sub-area, a forming strengthening robot immediately strengthens the sub-area, and the central control system carries out collaborative processing according to the forming precision and strengthening effect fed back by the visual positioning module; and parameters of the subsequent forming area and laser energy of the strengthening area are dynamically corrected till machining of the whole workpiece is completed.

Description

Technical Field

[0001] This invention relates to the field of manufacturing and processing technology, and in particular to a multi-robot moldless forming and laser shock strengthening composite processing system and method. Background Technology

[0002] In high-end equipment fields such as aerospace and automotive manufacturing, a large number of complex curved thin-walled components are widely used due to their advantages such as lightweight and high strength. The manufacturing of these components often faces two core challenges: first, the precise forming of complex curved surfaces. Traditional die forming methods are costly and time-consuming, making them difficult to adapt to the production needs of multiple varieties and small batches; second, the strengthening of the mechanical properties of the components after forming. Conventional heat treatment or mechanical strengthening methods are prone to component deformation, especially for thin-walled and weakly rigid structures, where the strengthening effect is limited.

[0003] Moldless forming technology uses flexible tools to plastically deform workpieces point-by-point or area-by-area without the need for dedicated molds, offering high flexibility and economy. However, uneven stress distribution during the forming process can easily lead to springback or local instability in the components. Laser shock peening technology uses high-intensity laser-induced shock waves to strengthen the material surface, significantly improving the fatigue strength and hardness of components. However, it requires extremely high clamping stability and positioning accuracy, and cannot solve the forming problems of complex curved surfaces when used alone.

[0004] Currently, moldless forming and laser shock peening are mostly performed independently in separate steps, lacking an effective synergistic mechanism. Secondary clamping of the formed component easily introduces positioning errors, affecting the strengthening accuracy. Simultaneously, residual stress generated during forming reduces the laser strengthening effect, and the thermal effects during strengthening may also lead to the degradation of the accuracy of the formed curved surface. Therefore, there is an urgent need for a composite processing system and method that can achieve coordinated operation of moldless forming and laser shock peening to meet the demands for efficient, high-precision, and high-performance manufacturing of complex curved thin-walled components. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a multi-robot moldless forming and laser shock strengthening composite processing system and method. Through the collaborative operation of two robots, moldless forming technology and laser shock strengthening technology are organically integrated to achieve integrated forming and strengthening of complex curved thin-walled components, reducing the number of clamping operations, improving processing accuracy and efficiency, and ensuring the mechanical properties of the components.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] On one hand, the present invention provides a multi-robot moldless forming and laser shock strengthening composite processing system, including: a dual robot unit, a moldless forming module, a laser shock strengthening module, a vision positioning module, a central control system, and a workpiece clamping platform;

[0008] The dual-robot unit includes a forming robot and a forming reinforcement robot, which are respectively located on both sides of the workpiece clamping platform and achieve coordinated motion control through the central control system.

[0009] The workpiece clamping platform is used to fix the thin-walled workpiece to be processed. The surface of the workpiece clamping platform is provided with an adjustable vacuum suction cup array, which stably holds the thin-walled workpiece by vacuum negative pressure.

[0010] The moldless forming module is installed on the end effector of the forming robot and the forming reinforcement robot, and is used to perform flexible forming processing on thin-walled workpieces;

[0011] The laser shock strengthening module is installed on the end effector of the forming strengthening robot to perform laser shock strengthening on the formed workpiece area.

[0012] The visual positioning module includes a binocular vision camera and a laser contour sensor. The binocular vision camera and the laser contour sensor are respectively fixed to the end of the forming robot and the strengthening robot, and collect the forming status and position information of the workpiece in real time, and feed it back to the central control system.

[0013] The central control system is connected to the dual robot unit, the moldless forming module, the laser shock strengthening module, the vision positioning module, and the workpiece clamping platform, respectively, and is used to receive feedback information and issue control commands to realize the collaborative operation of forming and strengthening.

[0014] The moldless forming module includes: a servo pressure cylinder, a spherical forming head, and a force sensor; the cylinder body of the servo pressure cylinder is connected to the end effector of the forming robot to provide forming driving force; the spherical forming head is located at the end of the piston rod of the servo pressure cylinder to contact the workpiece surface and apply forming force; the force sensor is located between the servo pressure cylinder and the spherical forming head to detect the magnitude of the forming force in real time and feed it back to the central control system.

[0015] The laser shock enhancement module includes: a Q-switched laser, a beam shaper, a laser focusing head, and a constraint layer spraying device; the Q-switched laser is used to generate high-energy laser pulses; the beam shaper is used to adjust the high-energy laser pulses into a light spot of a preset shape; the laser focusing head is used to focus the shaped light spot onto the surface of the workpiece; the constraint layer spraying device is located next to the laser focusing head and is used to spray constraint layer liquid into the laser action area to enhance the shock wave effect.

[0016] The binocular vision camera is used to acquire three-dimensional topographic information of the workpiece surface with an accuracy of not less than 0.01 mm; the laser contour sensor is used to track the positional changes of the workpiece edge and forming area in real time with a sampling frequency of not less than 100 Hz.

[0017] The central control system includes a motion control card, a data acquisition card, and an industrial computer. The motion control card is used to control the motion trajectory and posture of the two robots, realizing path planning and coordination for forming and strengthening operations. The data acquisition card is used to receive feedback data from force sensors and vision positioning modules. The industrial computer has built-in collaborative control algorithms and a processing technology database, and dynamically adjusts forming parameters and laser strengthening parameters based on feedback data.

[0018] The vacuum suction cup array consists of multiple independently controlled miniature vacuum suction cups, each equipped with a pressure sensor and a solenoid valve. The central control system adjusts the negative pressure value of each suction cup in real time according to the shape of the workpiece and the processing area.

[0019] On the other hand, the present invention provides a multi-robot moldless forming and laser shock strengthening composite processing method, which is implemented by the aforementioned multi-robot moldless forming and laser shock strengthening composite processing system, and includes the following steps:

[0020] Step 1: Workpiece clamping: Place the thin-walled workpiece to be processed on the workpiece clamping platform. The central control system controls the vacuum chuck array to generate negative pressure in the corresponding area according to the size and shape of the workpiece, so as to stably hold the workpiece.

[0021] Step 2: Path planning: The central control system imports the 3D model of the workpiece, plans the motion trajectories of the forming robot and the forming and strengthening robot based on the forming and strengthening process requirements, and determines the sequential area of ​​moldless forming and the corresponding area of ​​laser shock strengthening.

[0022] Step 3: Collaborative processing;

[0023] The collaborative processing includes a forming stage and a strengthening stage, specifically adopting a "forming-strengthening" alternating mode. That is, after the forming robot completes the forming of a sub-region, the forming strengthening robot immediately strengthens the sub-region, and the time interval between the two does not exceed 5 seconds, so as to utilize the residual stress state after forming to improve the strengthening effect.

[0024] Step S1: Forming stage: The forming robot drives the moldless forming module to form the workpiece area by area according to the planned path. The force sensor detects the forming force in real time, and the vision positioning module collects the real-time shape of the workpiece and feeds it back to the central control system. The system dynamically adjusts the output force of the servo pressure cylinder and the forming path according to the forming error.

[0025] Step S2: Strengthening stage: After the forming robot completes the forming operation in a region, the forming strengthening robot moves the laser shock strengthening module to the region according to the position calibration of the vision positioning module. The Q-switched laser emits high-energy laser pulses, which are applied to the workpiece surface through the beam shaper and laser focusing head. At the same time, the constraint layer spraying device sprays constraint layer liquid to achieve instant strengthening of the forming area.

[0026] The process parameters of the strengthening stage are dynamically adjusted according to the deformation of the moldless forming area: when the deformation is greater than 0.5 mm, the laser energy density is set to 2 GW / cm²-3 GW / cm², and the spot overlap rate is 50%-60%; when the deformation is less than 0.5 mm, the laser energy density is set to 1 GW / cm²-2 GW / cm², and the spot overlap rate is 30%-40%.

[0027] Step 4: Dynamic Correction: Based on the forming accuracy and strengthening effect feedback from the vision positioning module, the central control system dynamically corrects the parameters of the subsequent forming area and the laser energy of the strengthening area until the processing of the entire workpiece is completed.

[0028] The basis for the dynamic correction includes: the deviation between the shaped surface detected by the visual positioning module and the theoretical model, and the surface hardness detection results after laser impact.

[0029] If the deviation exceeds the preset threshold of 0.1 mm, the forming force is adjusted.

[0030] Specifically, if the surface hardness test result does not reach the preset threshold, the laser energy density is increased.

[0031] Step 5: Processing complete: The forming robot and the forming and strengthening robot return to their initial positions, the vacuum suction cup array releases negative pressure, and the processed workpiece is removed.

[0032] The beneficial effects of adopting the above technical solution are as follows:

[0033] This invention provides a multi-robot moldless forming and laser shock strengthening composite processing system and method. By using two robots working together, this invention organically integrates moldless forming and laser shock strengthening technologies, realizing the integrated manufacturing of complex curved thin-walled components, reducing positioning errors caused by secondary clamping, and improving processing accuracy.

[0034] By adopting an alternating "forming-strengthening" mode, the residual stress state after forming is utilized to enhance the laser shock strengthening effect, while the springback after forming is suppressed by instant strengthening, which significantly improves the dimensional stability and mechanical properties of the component.

[0035] The closed-loop control of the vision positioning module and the central control system can dynamically adjust the processing parameters in real time to adapt to the uncertainties in the workpiece deformation process and ensure the consistency of forming accuracy and strengthening effect.

[0036] The adjustable vacuum chuck array of the workpiece clamping platform can flexibly adjust the holding force according to the shape of the workpiece and the processing area, avoiding the workpiece deformation problem caused by traditional rigid clamping, and is especially suitable for processing thin-walled and weakly rigid components.

[0037] The system is highly flexible and scalable. By changing the forming tools and adjusting the laser parameters, it can adapt to the processing needs of components made of different materials (such as aluminum alloys and titanium alloys) and with different levels of complexity, thus reducing the equipment investment cost for multi-variety production. Attached Figure Description

[0038] Figure 1 This is a structural diagram of the multi-robot collaborative moldless forming and laser shock strengthening composite processing system according to an embodiment of the present invention;

[0039] Figure 2 This is an overall structural diagram of the multi-robot collaborative moldless forming and laser shock strengthening composite processing system according to an embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram of the structure of the moldless forming module according to an embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram of the structure of the laser shock strengthening module according to an embodiment of the present invention;

[0042] Among them, 1-forming robot, 2-forming and strengthening robot, 3-moldless forming module, 4-laser shock strengthening module, 5-vision positioning module, 6-central control system, 7-workpiece clamping platform, 8-thin-walled workpiece, 9-servo pressure cylinder, 10-spherical forming head, 11-force sensor, 12-Q-switched laser, 13-beam shaper, 14-laser focusing head, 15-constraint layer spraying device, 16-binocular vision camera, 17-laser contour sensor, 18-vacuum chuck array. Detailed Implementation

[0043] The specific implementation methods of this application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0044] On the one hand, this invention provides a multi-robot moldless forming and laser shock strengthening composite processing system, such as... Figure 1 , Figure 2 As shown, the system in this embodiment includes: a dual robot unit, a moldless forming module 3, a laser shock strengthening module 4, a vision positioning module 5, a central control system 6, and a workpiece clamping platform 7.

[0045] The dual-robot unit includes a forming robot 1 and a forming reinforcement robot 2. Both the forming robot 1 and the forming reinforcement robot 2 are six-degree-of-freedom industrial robots with a repeatability accuracy of ±0.06mm. They communicate with the central control system 6 via an EtherCAT bus to achieve millisecond-level collaborative control. They are respectively located on both sides of the workpiece clamping platform and achieve collaborative motion control through the central control system.

[0046] The workpiece clamping platform 7 is used to fix the thin-walled workpiece to be processed. The surface of the workpiece clamping platform 7 is distributed with a 20×20 vacuum suction cup array 18, which stably holds the thin-walled workpiece by vacuum negative pressure. Each suction cup has a diameter of 10mm and a maximum negative pressure of -0.08MPa. It is independently controlled by the central control system 6 through a solenoid valve and can generate an adaptive holding area according to the shape of the thin-walled workpiece 8.

[0047] The moldless forming module is installed on the end effector of the forming robot and the forming reinforcement robot, and is used to perform flexible forming processing on thin-walled workpieces;

[0048] The laser shock strengthening module is installed on the end effector of the forming strengthening robot to perform laser shock strengthening on the formed workpiece area.

[0049] The visual positioning module includes a binocular vision camera and a laser contour sensor. The binocular vision camera and the laser contour sensor are respectively fixed to the end of the forming robot and the strengthening robot, and collect the forming status and position information of the workpiece in real time, and feed it back to the central control system.

[0050] In this embodiment, the binocular vision camera 16 of the vision positioning module 5 has a resolution of 5 million pixels and a frame rate of 30fps. Together with the laser contour sensor 17 (measurement range 0-500mm, accuracy ±0.005mm), it realizes real-time three-dimensional reconstruction and position tracking of the workpiece forming process.

[0051] The central control system is connected to the dual robot unit, the moldless forming module, the laser shock strengthening module, the vision positioning module, and the workpiece clamping platform, respectively, and is used to receive feedback information and issue control commands to realize the collaborative operation of forming and strengthening.

[0052] The moldless forming module includes: a servo pressure cylinder, a spherical forming head, and a force sensor; the cylinder body of the servo pressure cylinder is connected to the end effector of the forming robot to provide forming driving force; the spherical forming head is located at the end of the piston rod of the servo pressure cylinder to contact the workpiece surface and apply forming force; the force sensor is located between the servo pressure cylinder and the spherical forming head to detect the magnitude of the forming force in real time and feed it back to the central control system.

[0053] In this embodiment, as Figure 3 As shown, the moldless forming module 3 is installed at the end of the forming robot 1 and the forming reinforcement robot 2. The servo pressure cylinder 9 has a maximum output force of 5000N and a stroke of 0-100mm. The force sensor 11 has a measurement accuracy of ±1N and provides real-time feedback of the forming force to the central control system 6 to ensure the force control accuracy of the forming process. The spherical forming head 10 is made of high-strength alloy material and has a diameter of 20mm. Forming heads of different radii can be replaced according to the curvature of the workpiece.

[0054] The laser shock enhancement module includes: a Q-switched laser, a beam shaper, a laser focusing head, and a constraint layer spraying device; the Q-switched laser is used to generate high-energy laser pulses; the beam shaper is used to adjust the high-energy laser pulses into a light spot of a preset shape; the laser focusing head is used to focus the shaped light spot onto the surface of the workpiece; the constraint layer spraying device is located next to the laser focusing head and is used to spray a constraint layer liquid (such as water or transparent tape) into the laser action area to enhance the shock wave effect.

[0055] like Figure 4 As shown, the Q-switched laser 12 in the laser shock enhancement module 4 has an output wavelength of 1064nm, a pulse width of 10-50ns, and a maximum single pulse energy of 20J; the beam shaper 13 can adjust the laser spot to be circular or rectangular (0.5-5mm in size); the constraint layer spraying device 15 adopts a high-pressure spraying method with a spraying pressure of 0.3MPa to ensure that the uniformity of the constraint layer thickness is within ±0.1mm.

[0056] The binocular vision camera is used to acquire three-dimensional topographic information of the workpiece surface with an accuracy of not less than 0.01 mm; the laser contour sensor is used to track the positional changes of the workpiece edge and forming area in real time with a sampling frequency of not less than 100 Hz to ensure the positioning accuracy of the robot end effector.

[0057] The central control system includes a motion control card, a data acquisition card, and an industrial computer. The motion control card is used to control the motion trajectory and posture of the two robots, realizing path planning and coordination for forming and strengthening operations. The data acquisition card is used to receive feedback data from force sensors and vision positioning modules. The industrial computer has built-in collaborative control algorithms and a processing technology database, and dynamically adjusts forming parameters and laser strengthening parameters based on feedback data.

[0058] The vacuum suction cup array consists of multiple independently controlled miniature vacuum suction cups. Each suction cup is equipped with a pressure sensor and a solenoid valve. The central control system adjusts the negative pressure value of each suction cup in real time according to the shape of the workpiece and the processing area to prevent the workpiece from deforming or displacing during processing.

[0059] On the other hand, the present invention provides a multi-robot moldless forming and laser shock strengthening composite processing method, which is implemented by the aforementioned multi-robot moldless forming and laser shock strengthening composite processing system, and includes the following steps:

[0060] Step 1: Workpiece clamping: Place the thin-walled workpiece to be processed on the workpiece clamping platform. The central control system controls the vacuum chuck array to generate negative pressure in the corresponding area according to the size and shape of the workpiece, so as to stably hold the workpiece.

[0061] Step 2: Path planning: The central control system imports the 3D model of the workpiece, plans the motion trajectories of the forming robot and the forming and strengthening robot based on the forming and strengthening process requirements, and determines the sequential area of ​​moldless forming and the corresponding area of ​​laser shock strengthening.

[0062] Step 3: Collaborative processing;

[0063] The collaborative processing includes a forming stage and a strengthening stage, specifically adopting a "forming-strengthening" alternating mode. That is, after the forming robot completes the forming of a sub-region, the forming strengthening robot immediately strengthens the sub-region, and the time interval between the two does not exceed 5 seconds, so as to utilize the residual stress state after forming to improve the strengthening effect.

[0064] Step S1: Forming stage: The forming robot drives the moldless forming module to form the workpiece area by area according to the planned path. The force sensor detects the forming force in real time, and the vision positioning module collects the real-time shape of the workpiece and feeds it back to the central control system. The system dynamically adjusts the output force of the servo pressure cylinder and the forming path according to the forming error.

[0065] Step S2: Strengthening stage: After the forming robot completes the forming operation in a region, the forming strengthening robot moves the laser shock strengthening module to the region according to the position calibration of the vision positioning module. The Q-switched laser emits high-energy laser pulses, which are applied to the workpiece surface through the beam shaper and laser focusing head 14. At the same time, the constraint layer spraying device sprays constraint layer liquid to achieve instant strengthening of the forming area.

[0066] The process parameters of the strengthening stage are dynamically adjusted according to the deformation of the moldless forming area: when the deformation is greater than 0.5 mm, the laser energy density is set to 2 GW / cm²-3 GW / cm², and the spot overlap rate is 50%-60%; when the deformation is less than 0.5 mm, the laser energy density is set to 1 GW / cm²-2 GW / cm², and the spot overlap rate is 30%-40%.

[0067] Step 4: Dynamic Correction: Based on the forming accuracy and strengthening effect feedback from the vision positioning module, the central control system dynamically corrects the parameters of the subsequent forming area and the laser energy of the strengthening area until the processing of the entire workpiece is completed.

[0068] The basis for the dynamic correction includes: the deviation between the shaped surface detected by the visual positioning module and the theoretical model, and the surface hardness detection results after laser impact.

[0069] If the deviation exceeds the preset threshold of 0.1 mm, the forming force is adjusted.

[0070] Specifically, if the surface hardness test result does not reach the preset threshold, the laser energy density is increased.

[0071] Step 5: Processing complete: The forming robot and the forming and strengthening robot return to their initial positions, the vacuum suction cup array releases negative pressure, and the processed workpiece is removed.

[0072] During the machining process, the industrial computer in the central control system 6 runs a collaborative algorithm based on model predictive control, updating the motion commands and process parameters of the dual robots every 10ms based on feedback data from the vision positioning module 5. The specific steps for machining a titanium alloy thin-walled casing component (2mm thickness, 500mm diameter) for a certain aero-engine are as follows:

[0073] The casing workpiece is hoisted onto the workpiece clamping platform 7. The central control system 6 controls the vacuum suction cup array 18 to generate negative pressure in the non-processing area of ​​the workpiece based on the three-dimensional model of the casing, with the holding force evenly distributed between 0.05 MPa and 0.06 MPa.

[0074] Import the forming trajectory planning file of the casing, divide it into 20 forming sub-regions, each with an area of ​​100 mm × 100 mm, and set the forming sequence to symmetrical forming from both ends to the middle.

[0075] The forming robot 1 drives the moldless forming module 3 to move along the planned path. The initial output force of the servo pressure cylinder 9 is set to 1000N, and is gradually adjusted to 1500N-2000N according to the feedback of the force sensor 11. The vision positioning module 5 monitors the surface accuracy after forming in real time. If the deviation exceeds 0.1mm, the forming depth of the next point is automatically corrected.

[0076] After the forming robot 1 completes the forming of the first sub-region, the forming and strengthening robot 2 moves to the region within 2 seconds. The Q-switched laser 12 of the laser shock strengthening module 4 scans and strengthens the region with an energy density of 2.5 GW / cm² and a spot overlap rate of 50%. The constraint layer spraying device 15 simultaneously sprays a water constraint layer with a thickness of 1 mm.

[0077] After processing five areas, the central control system 6 performs a global accuracy check through the vision positioning module 5. Based on the check results, it dynamically corrects the forming force and laser energy of subsequent areas to ensure that the final forming accuracy reaches ±0.15mm and the surface hardness is improved by ≥20%.

[0078] After all processing is completed, the vacuum suction cup array 18 is depressurized, the robot returns to its original position, and the processed casing component is removed.

[0079] This invention effectively solves the problems of low forming accuracy and difficulty in performance enhancement of complex curved thin-walled components by using precise collaboration between two robots and dynamic optimization of process parameters, providing a new technical solution for the efficient manufacturing of key components for high-end equipment.

[0080] The various embodiments in this application are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0081] The scope of protection of this application is not limited to the embodiments described above. Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from the scope and spirit of this disclosure. If such modifications and variations fall within the scope of the disclosed solution and its equivalents, then the intent of this disclosure also includes these modifications and variations.

Claims

1. A multi-robot moldless forming and laser shock peening composite processing system, characterized in that, include: Dual robot units, moldless forming module, laser shock strengthening module, vision positioning module, central control system, and workpiece clamping platform; The dual-robot unit includes a forming robot and a forming reinforcement robot, which are respectively located on both sides of the workpiece clamping platform and achieve coordinated motion control through the central control system. The workpiece clamping platform is used to fix the thin-walled workpiece to be processed. The surface of the workpiece clamping platform is provided with an adjustable vacuum suction cup array, which stably holds the thin-walled workpiece by vacuum negative pressure. The moldless forming module is installed on the end effector of the forming robot and the forming reinforcement robot, and is used to perform flexible forming processing on thin-walled workpieces; The laser shock strengthening module is installed on the end effector of the forming strengthening robot to perform laser shock strengthening on the formed workpiece area. The visual positioning module includes a binocular vision camera and a laser contour sensor. The binocular vision camera and the laser contour sensor are respectively fixed to the end of the forming robot and the strengthening robot, and collect the forming status and position information of the workpiece in real time, and feed it back to the central control system. The central control system is connected to the dual robot unit, the moldless forming module, the laser shock strengthening module, the vision positioning module, and the workpiece clamping platform, respectively, and is used to receive feedback information and issue control commands to realize the collaborative operation of forming and strengthening.

2. The multi-robot moldless forming and laser shock strengthening composite processing system according to claim 1, characterized in that, The moldless forming module includes: a servo pressure cylinder, a spherical forming head, and a force sensor; the cylinder body of the servo pressure cylinder is connected to the end effector of the forming robot to provide forming driving force; the spherical forming head is located at the end of the piston rod of the servo pressure cylinder to contact the workpiece surface and apply forming force; the force sensor is located between the servo pressure cylinder and the spherical forming head to detect the magnitude of the forming force in real time and feed it back to the central control system.

3. The multi-robot moldless forming and laser shock strengthening composite processing system according to claim 1, characterized in that, The laser shock enhancement module includes: a Q-switched laser, a beam shaper, a laser focusing head, and a constraint layer spraying device; the Q-switched laser is used to generate high-energy laser pulses; the beam shaper is used to adjust the high-energy laser pulses into a light spot of a preset shape; the laser focusing head is used to focus the shaped light spot onto the surface of the workpiece; the constraint layer spraying device is located next to the laser focusing head and is used to spray constraint layer liquid into the laser action area to enhance the shock wave effect.

4. The multi-robot moldless forming and laser shock strengthening composite processing system according to claim 1, characterized in that, The binocular vision camera is used to acquire three-dimensional topographic information of the workpiece surface with an accuracy of not less than 0.01 mm; the laser contour sensor is used to track the positional changes of the workpiece edge and forming area in real time with a sampling frequency of not less than 100 Hz.

5. The multi-robot moldless forming and laser shock strengthening composite processing system according to claim 1, characterized in that, The central control system includes a motion control card, a data acquisition card, and an industrial computer. The motion control card is used to control the motion trajectory and posture of the two robots, realizing path planning and coordination for forming and strengthening operations. The data acquisition card is used to receive feedback data from force sensors and vision positioning modules. The industrial computer has built-in collaborative control algorithms and a processing technology database, and dynamically adjusts forming parameters and laser strengthening parameters based on feedback data.

6. The multi-robot moldless forming and laser shock strengthening composite processing system according to claim 1, characterized in that, The vacuum suction cup array consists of multiple independently controlled miniature vacuum suction cups, each equipped with a pressure sensor and a solenoid valve. The central control system adjusts the negative pressure value of each suction cup in real time according to the shape of the workpiece and the processing area.

7. A multi-robot moldless forming and laser shock peening composite processing method, implemented by the multi-robot moldless forming and laser shock peening composite processing system as described in claim 1, characterized in that, Includes the following steps: Step 1: Workpiece clamping: Place the thin-walled workpiece to be processed on the workpiece clamping platform. The central control system controls the vacuum chuck array to generate negative pressure in the corresponding area according to the size and shape of the workpiece, so as to stably hold the workpiece. Step 2: Path planning: The central control system imports the 3D model of the workpiece, plans the motion trajectories of the forming robot and the forming and strengthening robot based on the forming and strengthening process requirements, and determines the sequential area of ​​moldless forming and the corresponding area of ​​laser shock strengthening. Step 3: Collaborative processing; The collaborative processing includes a forming stage and a strengthening stage, specifically adopting a "forming-strengthening" alternating mode. That is, after the forming robot completes the forming of a sub-region, the forming strengthening robot immediately strengthens the sub-region, and the time interval between the two does not exceed 5 seconds, so as to utilize the residual stress state after forming to improve the strengthening effect. Step S1: Forming stage: The forming robot drives the moldless forming module to form the workpiece area by area according to the planned path. The force sensor detects the forming force in real time, and the vision positioning module collects the real-time shape of the workpiece and feeds it back to the central control system. The system dynamically adjusts the output force of the servo pressure cylinder and the forming path according to the forming error. Step S2: Strengthening stage: After the forming robot completes the forming operation in a region, the forming strengthening robot moves the laser shock strengthening module to the region according to the position calibration of the vision positioning module. The Q-switched laser emits high-energy laser pulses, which are applied to the workpiece surface through the beam shaper and laser focusing head. At the same time, the constraint layer spraying device sprays constraint layer liquid to achieve instant strengthening of the forming area. Step 4: Dynamic Correction: Based on the forming accuracy and strengthening effect feedback from the vision positioning module, the central control system dynamically corrects the parameters of the subsequent forming area and the laser energy of the strengthening area until the processing of the entire workpiece is completed. Step 5: Processing complete: The forming robot and the forming and strengthening robot return to their initial positions, the vacuum suction cup array releases negative pressure, and the processed workpiece is removed.

8. The multi-robot moldless forming and laser shock strengthening composite processing method according to claim 7, characterized in that, The process parameters of the strengthening stage described in step 3 are dynamically adjusted according to the deformation amount of the moldless forming area: when the deformation amount is greater than 0.5 mm, the laser energy density is set to 2 GW / cm²-3 GW / cm², and the spot overlap rate is 50%-60%; when the deformation amount is less than 0.5 mm, the laser energy density is set to 1 GW / cm²-2 GW / cm², and the spot overlap rate is 30%-40%.

9. The multi-robot moldless forming and laser shock strengthening composite processing method according to claim 7, characterized in that, The basis for the dynamic correction in step 4 includes: the deviation between the shaped surface detected by the visual positioning module and the theoretical model, and the surface hardness detection results after laser impact. If the deviation exceeds the preset threshold of 0.1 mm, the forming force is adjusted. Specifically, if the surface hardness test result does not reach the preset threshold, the laser energy density is increased.

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