In-situ laser shock peening system and method for hidden part

Abstract

The invention provides an in-situ laser shock peening system and method for a hidden part. The in-situ laser shock peening system comprises a high-energy pulse laser, a snake-shaped robot, a peening device, a movable base and the like. The strengthening device is composed of a water-light coaxial head, a structured light sensor, an optical camera, an LED light source and the like. The optical fiber is connected to the water-light coaxial head of the strengthening device from the high-energy pulse laser through the interior of the snake-shaped robot. The movable base firstly moves the snake-shaped robot to a proper position in front of an opening of a hidden part, the snake-shaped robot enables the strengthening device to go deep into a proper position in front of a structure to be strengthened, and the strengthening device intelligently recognizes a strengthening area and carries out laser shock strengthening according to data in a model library. According to the invention, the in-situ laser shock peening rapid processing of the hidden part can be realized, the efficiency of on-site laser shock peening processing is greatly improved, and the method has the advantages of rapidness, intelligence, convenience and flexibility.

Description

Technical Field

[0001] This invention relates to the field of laser processing technology, and in particular to an in-situ laser shock enhancement system and method for concealed locations. Background Technology

[0002] Laser shock peening (LSP) is a surface fatigue-resistant manufacturing technique that utilizes high power density (GW / cm²). 2 A short-pulse (nanoscale) laser penetrates a transparent confinement layer and irradiates the surface of a metallic material. This causes the protective absorbing layer (such as black tape or aluminum foil) coated on the surface to absorb the laser energy in a very short time, generating a high-pressure (GPa scale) plasma shock wave that propagates into the interior of the metallic material. 6 Dynamic plastic deformation occurs, altering the microstructure of the material surface and creating residual compressive stress at a depth of millimeters. This significantly improves the fatigue resistance, wear resistance, and stress corrosion cracking resistance of metallic materials, and has been widely applied in equipment such as aero engines, gas turbines, and aircraft.

[0003] When applying laser shock peening technology to concealed areas of large components such as aircraft beams and frames, the difficulty in disassembling and moving these components necessitates a "beam movement, component fixation" approach. Existing high-energy laser shock peening equipment uses a rigid optical path composed of mirrors, lenses, and prisms. This rigid optical path is inflexible, requires a long preparation time for deployment, and cannot be moved freely. Therefore, it is only suitable for moving the component to be strengthened to the equipment for treatment. Strengthening concealed areas of large components requires a certain degree of disassembly of the original structure. Furthermore, existing strengthening equipment relies on the motion coupling of a robotic arm and a multi-jointed light guide arm, making it difficult to deliver the laser to concealed areas and non-visual areas of large components, hindering in-situ strengthening operations. Summary of the Invention

[0004] This invention provides an in-situ laser shock blasting system and method for concealed parts, in order to solve the technical problem that it is difficult to carry out in-situ strengthening processing of concealed parts of large components using existing high-energy laser shock blasting technology.

[0005] The in-situ laser shock peening system for concealed locations provided by this invention includes: A mobile base with a mobile support mechanism at its bottom, the mobile support mechanism being able to support the mobile base to move within the workspace; A position adjustment component includes a fixed end and a mounting end, wherein the fixed end is mounted on the movable base, and the mounting end is capable of positional changes in the circumferential and longitudinal directions of the fixed end. A strengthening device is installed on the mounting end of the position adjustment component and can move to a non-visual area as the position of the mounting end of the position adjustment component changes. The strengthening device includes an identification module and a processing module. The identification module is used to identify the area to be strengthened, and the processing module is used to process the area to be strengthened according to the identification result of the identification module.

[0006] In one embodiment of the present invention, the processing module includes a water-optical coaxial head, which is provided with a laser light output port and a water constraint layer outlet. The laser light output port is connected to an optical fiber, and the optical fiber is coupled to a laser. The water constraint layer outlet is connected to a water pipe, and the water pipe is connected to a water constraint layer application device.

[0007] In one embodiment of the present invention, the identification module includes a structured light sensor, which is used to acquire three-dimensional structural information of the target to be enhanced. The structured light sensor is connected to a data cable, which is connected to a computer.

[0008] In one embodiment of the present invention, the identification module further includes a light source and an optical camera. The light source is used to illuminate non-visual areas and is connected to a data cable connected to a computer. The optical camera is used to acquire images of the processing process and is connected to a data cable connected to the computer.

[0009] In one embodiment of the present invention, the snake robot includes a plurality of arm segments, and an extension member is connected axially between adjacent arm segments, the extension member causing two adjacent arm segments to be in a parallel state or an angled state.

[0010] In one embodiment of the present invention, the telescopic member is a linear telescopic member, and at least four linear telescopic members are uniformly arranged in a ring between adjacent arm segments.

[0011] In one embodiment of the present invention, the arm segment unit is an annular component, and the optical fiber, water pipe, data cable and data line are all inserted through the inner hole of the annular component.

[0012] In one embodiment of the present invention, at least four of the linear telescopic members are evenly distributed around the axis of the annular member.

[0013] In one embodiment of the present invention, a multi-joint robotic arm is provided on the mobile base, and the snake robot is installed at the end of the multi-joint robotic arm. Both the multi-joint robotic arm and the mobile support mechanism are connected to the computer.

[0014] This invention also provides an in-situ laser shock peening method for concealed locations, applied to the in-situ laser shock peening system for concealed locations as described above, the method comprising: The mobile base is moved to a specific position in front of the opening of the concealed part using a mobile support mechanism; The snake-like robot is moved to a specific position in front of the opening of the concealed part by using a multi-jointed robotic arm on the base. The reinforcement device is inserted into the appropriate position in front of the area to be reinforced using a snake-like robot. The strengthening device identifies the three-dimensional structural information of the area to be strengthened and matches the corresponding strengthening process data in the computer. Then, the area to be strengthened is subjected to laser shock strengthening according to the strengthening process data. After the laser shock enhancement is completed, the snake robot, multi-joint robotic arm, and mobile base are withdrawn in sequence. The beneficial effects of this invention: This invention proposes an in-situ laser shock blasting system and implementation method for concealed parts. A snake-like robot is supported by a movable base, and the snake-like robot supports the blasting device. The entire system can be flexibly moved and repositioned via the movable support mechanism, allowing it to be moved entirely to the location of the large component to be blasted. This eliminates the need to move the large component itself or disassemble its complex structure to move it to the blasting equipment, making operation more convenient and labor-saving. Using a snake-like robot to support the blasting device allows for rapid deployment and flexible movement to non-visual / concealed areas of large components. The blasting device uses preset blasting data to identify and match features of the concealed area to be blasted, thereby performing laser blasting processing. This significantly improves the efficiency of in-situ laser shock blasting processing and offers advantages such as speed, convenience, and flexibility. Attached Figure Description

[0015] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0016] In the attached diagram: Figure 1 This is a schematic diagram of an in-situ laser shock peening system for strengthening concealed parts, provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the snake robot's movement mode provided in one embodiment of the present invention; Figure 3 This is a schematic diagram of the end effector structure of a snake-shaped robot provided in one embodiment of the present invention; Figure 4 This is a top view of the strengthening device provided in one embodiment of the present invention; Figure 5 This is a flowchart of an in-situ laser shock blasting method for concealed locations provided in one embodiment of the present invention.

[0017] The attached figures are labeled as follows: Support block 1, snake robot 2, mobile base 3-1, multi-joint robotic arm 3-2, computer 4, water constraint layer application device 5, high-energy pulse laser 6, optical fiber 7, structure to be reinforced 8, water pipe 9, telescopic component 10, arm segment unit 11, data cable 12, water-light coaxial head 13, LED light source 14, optical camera 15, structured light sensor 16. Detailed Implementation

[0018] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0019] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0020] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0021] Please see Figure 1 , Figure 1 An in-situ laser shock peening system for concealed locations, provided in an embodiment of the present invention, includes: The mobile base 3-1 has a mobile support mechanism at its bottom, which can support the mobile base 3-1 to move in the workspace. The position adjustment component, preferably in this embodiment, is a snake robot 2. The snake robot 2 includes a fixed end installed on the mobile base 3-1, and an installation end that can change position in the circumferential and longitudinal directions of the fixed end. The reinforcement device is installed on the mounting end of the snake robot 2 and can move to a non-visual area as the mounting end of the snake robot 2 changes position. The reinforcement device includes an identification module and a processing module. The identification module is used to identify the area to be reinforced, and the processing module is used to process the area to be reinforced according to the identification result of the identification module.

[0022] In this embodiment, a snake-like robot 2 is supported by a movable base 3-1, and the snake-like robot 2 supports the reinforcement device. Preferably, the movable support mechanism is an electric vehicle wheel installed at the bottom of the movable base 3-1. The movable base 3-1 and the snake-like robot 2 on it can be flexibly moved and repositioned as a whole via the electric vehicle wheel. It can be moved to the location of the large component to be reinforced without moving the large component itself or disassembling its complex structure, making the operation more convenient and labor-saving. The snake-like robot 2 is used to support the reinforcement device, such as... Figure 2 As shown, the snake-like robot 2 can flexibly bend and move in space, quickly deploying and flexibly moving the end-mounted reinforcement device to the non-visual area / hidden part of a large component. The reinforcement device identifies the structural information of the area to be reinforced in the hidden part through the recognition module, and matches the structural features of the area to be reinforced in the hidden part with preset reinforcement data. Then, the processing module executes the matched reinforcement data to perform laser reinforcement processing, which greatly improves the efficiency of in-situ laser shock reinforcement processing and has the advantages of being fast, convenient and flexible.

[0023] For example, in this embodiment, combined with Figure 4 As shown, the strengthening device includes a support block 1, on which a water-optical coaxial head 13 is mounted as a processing module. The water-optical coaxial head 13 has a laser output port and a water confinement layer output port. The water-optical coaxial head 13 adopts existing technology, and its specific structure is not described in detail here. The laser output port is connected to an optical fiber 7, and a high-energy pulsed laser 6 is coupled to the optical fiber 7. The high-energy pulsed laser 6 is connected to a computer 4 via a data cable 12. The water confinement layer output port is connected to a water pipe 9, and the water pipe 9 is connected to a water confinement layer application device 5. The water confinement layer application device 5 is connected to the computer 4 via the data cable 12. The computer 4 controls the operation of the high-energy pulsed laser 6 and the water confinement layer application device 5.

[0024] In this embodiment, the support block 1 serves as a support structure, on which the water-optical coaxial head 13 integrates laser light output and water confinement layer water output. The high-energy pulsed laser 6 transmits the laser to the laser output port through the coupled optical fiber 7, and the water confinement layer application device 5 transmits water to the water confinement layer outlet through the water pipe 9. The laser and water confinement layer outlets are integrated into one unit and their spatial positions are adjusted by a snake-like robot 2. Compared with the existing technology where the laser position is adjusted separately by a multi-joint light guide arm and the water confinement layer position is adjusted separately by a robotic arm, this embodiment has a higher degree of integration, more precise spatial positioning operation control, and more accurate coordination between the laser and the water confinement layer.

[0025] For example, in this embodiment, such as Figure 4 As shown, the identification module includes a structured light sensor 16 mounted on the support block 1. The structured light sensor 16 is used to acquire the three-dimensional structural information of the target to be strengthened. The structured light sensor 16 is connected to a data line 12, which is connected to a computer 4. The structured light sensor 16 transmits the acquired three-dimensional structural information of the target to be strengthened to the computer 4. The computer 4 processes the three-dimensional structural information and then matches it with a preset strengthening database. After matching, it outputs strengthening data to control the laser output and the water constraint layer output to perform laser shock strengthening on the target to be strengthened.

[0026] For example, in this embodiment, such as Figure 4 As shown, the identification module also includes an LED light source 14 and an optical camera 15 mounted on the support block 1. The LED light source 14 is used to illuminate non-visual areas. The LED light source 14 is connected to a data cable 12, which is connected to a computer 4. The computer 4 shares a power supply with the LED light source 14 and controls the start and stop of the LED light source 14. The optical camera 15 is used to acquire images of the processing process. The optical camera 15 is connected to the data cable 12, which is connected to the computer 4. The computer 4 displays the images acquired by the optical camera 15 to facilitate real-time dynamic monitoring of the processing process.

[0027] For example, in this embodiment, such as Figure 2 , Figure 3 As shown, the snake robot 2 includes several arm segments 11. Adjacent arm segments 11 are connected axially by telescopic members 10. The telescopic members 10 are connected to data cables 12, which in turn connect to a computer 4. The telescopic members 10 allow adjacent arm segments 11 to be in a parallel or angled state. In this embodiment, the computer 4 controls the telescopic movement of the telescopic members 10, enabling adjacent arm segments 11 to swing relative to each other. This allows the snake robot 2, with its multiple arm segments 11, to move flexibly in three-dimensional space, flexibly adjust the position of its mounting end, and extend into the non-visual / hidden areas of large components without disassembling them.

[0028] For example, in this embodiment, the telescopic member 10 is a linear telescopic member. Preferably, the linear telescopic member in this embodiment is an electric telescopic rod, but it is not limited to this; it can also be a pneumatic telescopic rod, a hydraulic telescopic rod, a linear motor, an electric actuator, or other structures capable of linear telescopic movement. At least two telescopic members 10 are evenly arranged in a ring between adjacent arm segment units 11. This allows at least two telescopic members 10 to stably support two adjacent arm segment units 11 and supports swinging in at least two directions between the two adjacent arm segment units 11, thereby enabling flexible movement within three-dimensional space among the several arm segment units 11.

[0029] For example, in this embodiment, such as Figure 3 As shown, the arm segment unit 11 is a ring-shaped component, preferably a circular ring in this embodiment. The optical fiber 7, water pipe 9, and data cable 12 are all inserted through the inner hole of the ring-shaped component. The ring-shaped component can provide centralized management and protection for the light beam, water pipe 9, and data cable 12 inserted inside, avoiding wire bundle tangling, knotting, and wear with other structures. Using a circular ring makes the snake robot 2 more regular and smooth in shape, making it easier to extend into non-visual areas and helping to avoid collisions and wear on other structures.

[0030] For example, in this embodiment, at least two linear telescopic members 10 are evenly distributed around the axis of the annular member. This ensures that two adjacent annular members can have similar swing amplitudes in multiple swing directions supported by the telescopic members 10, thereby ensuring that the snake robot 2 moves more smoothly.

[0031] For example, in this embodiment, a multi-joint robotic arm 3-2 is provided on the mobile base 3-1, and the snake robot 2 is installed at the end of the multi-joint robotic arm 3-2. The multi-joint robotic arm 3-2 is connected to the computer 4. In this embodiment, by setting the multi-joint robotic arm 3-2 on the mobile base 3-1 to support the snake robot 2, the multi-joint robotic arm 3-2 can adjust the macroscopic position of the snake robot 2 within a large spatial range, moving the snake robot 2 to a visible area outside the concealed part of the large component to be reinforced. Then, the snake robot 2 can be controlled to perform relatively precise spatial movements to extend into the non-visual area to reach the concealed part to be reinforced. In this way, the snake robot 2 only needs to achieve flexible movement within a small spatial range, which is more conducive to reducing the size of the snake robot 2, reducing the control difficulty of the snake robot 2, and reducing the risk of malfunction during operation of the snake robot 2.

[0032] This embodiment takes the structure to be strengthened (8) as the object of implementation and provides an in-situ laser shock blasting strengthening method for concealed parts. This method is based on the aforementioned in-situ laser shock blasting strengthening system for concealed parts. The upper corner structure of the large main load-bearing bulkhead of an aircraft is prone to fatigue crack failure. This location is inside the aircraft and is concealed. The raw material of the structure to be strengthened (8) is TC4 titanium alloy, and the radius of curvature R of the corner structure is 5mm. The above is the background of this embodiment.

[0033] The in-situ laser shock peening method for concealed areas has the following process: Figure 5 As shown, the specific steps include: S1: Open the cover in front of the structure to be reinforced 8, and use the computer 4 to control the moving base 3-1 to move horizontally, moving the multi-joint robotic arm 3-2 and the snake robot 2 to the appropriate position in front of the opening of the concealed part. S2: The computer 4 controls the multi-joint robotic arm 3-2 to perform horizontal and vertical displacement, moving the snake robot 2 to a specific position in front of the opening of the concealed part; S3: The computer 4 controls the linear telescopic component 10 to move, so that the snake robot 2 moves in three-dimensional space to extend the reinforcement device to the appropriate position in front of the corner structure to be reinforced. S4: The structured light sensor 16 of the strengthening device identifies the three-dimensional structural information of the corner structure to be strengthened, and matches the corresponding strengthening process data in the strengthening database preset by the computer 4. The low-energy laser shock strengthening process parameters are set as follows: wavelength 532nm, pulse width 10ns, pulse energy 100mJ, spot size 0.5mm, and laser power density 5.09GW / cm². 2 According to the strengthening process data, the fiber-coupled high-energy pulsed laser 6 is activated, and the water confinement layer application device 5 is activated to perform laser shock strengthening on the corner structure to be strengthened. S5: After the laser shock enhancement is completed, turn off the high-energy pulsed laser 6 and the water constraint layer application device 5 in sequence, and exit the snake robot 2, the multi-joint robotic arm 3-2 and the mobile base 3-1.

[0034] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. In-situ laser shock peening system of hidden parts, characterized in that, The application relates to a mobile base provided with a mobile supporting mechanism capable of supporting the mobile base to move in a working space; a position adjusting assembly comprising a fixed end and a mounting end, the fixed end being mounted on the mobile base, and the mounting end being capable of position transformation in the circumferential direction and the longitudinal direction of the fixed end; and a reinforcing device mounted on the mounting end of the position adjusting assembly and capable of moving to a non-visual area with the position transformation of the mounting end of the position adjusting assembly, the reinforcing device comprising an identification module and a processing module, the identification module being used for identifying a region to be reinforced, and the processing module being used for processing the region to be reinforced according to the identification result of the identification module. The processing module comprises a water-light coaxial head provided with a laser light outlet and a water-restricting layer water outlet, the laser light outlet is connected with an optical fiber, the optical fiber is coupled with a laser, and the water-restricting layer water outlet is connected with a water pipe, and the water pipe is connected with a water-restricting layer applying device. The identification module comprises a structured light sensor used for acquiring three-dimensional structure information of a target to be reinforced, the structured light sensor is connected with a data line, and the data line is connected with a computer. The identification module further comprises a light source and an optical camera, the light source is used for illuminating a non-visual area, the light source is connected with a data line, the data line is connected with a power supply, the optical camera is used for acquiring processing process images, the optical camera is connected with a data line, and the data line is connected with the computer.

2. The in-situ laser shock peening system of concealed locations according to claim 1, characterized in that: The snake-shaped robot comprises a plurality of arm segment units, and a telescopic piece is connected between adjacent arm segment units in the axial direction, and the telescopic piece makes the adjacent two arm segment units in a parallel state or an angle state.

3. The in situ laser shock peening system of concealed locations according to claim 2, characterized in that: The telescopic piece is a linear telescopic piece, and the linear telescopic piece between adjacent arm segment units is annularly and uniformly provided with at least four.

4. The in situ laser shock peening system of concealed locations according to claim 3, characterized in that: The arm segment unit is an annular piece, and the optical fiber, the water pipe, the data line and the data line are all arranged in the inner hole of the annular piece.

5. The in situ laser shock peening system of concealed locations according to claim 4, characterized in that: At least four linear telescopic pieces are uniformly distributed around the axis of the annular piece.

6. The in situ laser shock peening system of concealed locations according to claim 5, characterized in that: A multi-joint mechanical arm is arranged on the mobile base, the snake-shaped robot is mounted at the tail end of the multi-joint mechanical arm, and the multi-joint mechanical arm and the mobile supporting mechanism are both connected with the computer.

7. The in situ laser shock peening system of concealed locations according to claim 6, characterized in that: The application is applied to a hidden part in-situ laser shock peening system, and the method comprises the following steps:

8. The in situ laser shock peening system of concealed locations according to claim 7, characterized in that: The mobile base is moved to a specific position in front of the opening of the hidden part through the mobile supporting mechanism; 9. The in situ laser shock peening system of concealed locations according to claim 8, characterized in that: The snake-shaped robot is moved to a specific position in front of the opening of the hidden part through the multi-joint mechanical arm on the mobile base; 10. A method of in-situ laser shock peening of a concealed site, characterized in that, The reinforcing device is extended into the appropriate position in front of the region to be reinforced through the snake-shaped robot; Three-dimensional structure information of the region to be reinforced is identified through the reinforcing device, corresponding reinforcing process data is matched in the computer, and laser shock peening is carried out on the region to be reinforced according to the reinforcing process data; After the laser shock peening is completed, the snake-shaped robot, the multi-joint mechanical arm and the mobile base are sequentially withdrawn. ​ ​ ​

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