A complex strengthening heat treatment system and a control method thereof

Abstract

A composite strengthening heat treatment system and a control method thereof, comprising: an induction preheating device, a laser heating device, a composite strengthening heat treatment clamp and a motion device. The composite strengthening heat treatment clamp is used for fixing the inductor of the induction preheating device and the laser quenching head of the laser heating device, so that the inductor emits an alternating magnetic field along the extension direction of a first straight line to preheat the surface of a workpiece, and the laser quenching head emits a laser beam along a second straight line to quench the surface of the workpiece, and the second straight line is parallel to the first straight line. The distance between the inductor and the laser quenching head is adjustable, and the inductor is provided with a bending part. When the distance between the inductor and the laser quenching head is adjusted so that the first straight line coincides with the second straight line, the laser quenching head is avoided. The composite strengthening heat treatment clamp is installed on the motion device, and the motion device drives the composite strengthening heat treatment clamp to move, so that the intersection of the first straight line and the second straight line moves along the same scanning track.

Description

Technical Field

[0001] This application relates to the field of surface modification technology for metallic materials, and in particular to a composite strengthening heat treatment system and its control method. Background Technology

[0002] Laser hardening, as an important method of laser surface modification technology, is widely used for surface strengthening of key components such as molds, gears, and bearings due to its advantages such as high energy density, small heat-affected zone, and small deformation. However, this technology also has inherent limitations: for high-carbon steel, high-alloy steel, or large and complex components, the concentrated heat input of a single laser and the steep temperature gradient can easily induce cracking, and the hardened layer depth obtained is usually shallow (generally less than 1 mm), which is difficult to meet the requirements for deep strengthening under heavy-load conditions.

[0003] To overcome the aforementioned limitations, the combined technology of induction preheating and laser hardening has gradually attracted attention. This technology typically involves first using induction heating to rapidly preheat the surface layer of the workpiece, followed by laser phase transformation hardening. This not only allows more heat to be transferred to the deeper parts of the material, increasing the depth of the hardened layer, but also helps reduce the structural stress and phase transformation inhomogeneity caused by rapid heating and cooling, thereby improving the uniformity of the hardened layer and reducing the tendency to crack. However, existing combined technologies mostly adopt a simple sequential mode of "induction first, then laser" or rely on two independent systems operating in steps, lacking active control over the precise coordination between the two in time and space. This is mainly manifested in low timing matching accuracy, with the delay between induction preheating and laser irradiation often relying on empirical settings or existing in an open-loop state, making it difficult to achieve precise linkage. This results in random fluctuations in the coupling timing of the preheating temperature field and the laser energy field, leading to uneven microstructure and properties of the hardened layer.

[0004] Therefore, the current technology still relies heavily on operator experience, and its controllability, repeatability, and adaptability are limited, restricting its large-scale and automated application in key components of high-end equipment. There is an urgent need to develop a composite strengthening heat treatment system and its control method that can achieve precise coordination between the induction field and the laser field in the spatiotemporal dimensions, thereby improving the stability of the composite strengthening process and the uniformity of the hardened layer. Summary of the Invention

[0005] In view of the above problems of the prior art, this application provides a composite strengthening heat treatment system and its control method, which can achieve precise coordination between the induction field and the laser field in the spatiotemporal dimension, so as to improve the stability of the composite strengthening process and the uniformity of the hardened layer.

[0006] To achieve the above objectives, a first aspect of this application provides a composite strengthening heat treatment system, comprising: an induction preheating device having an inductor; a laser heating device having a laser quenching head; a composite strengthening heat treatment fixture for fixing the inductor and the quenching head, wherein the inductor emits an alternating magnetic field along the extension direction of a first straight line to induction preheat a first area on the surface of a workpiece, and the laser quenching head emits a laser beam along a second straight line to laser quench a second area on the surface of the workpiece, the second straight line being parallel to the first straight line; the distance between the inductor and the laser quenching head is adjustable, and the inductor is provided with a bending portion to avoid the laser quenching head when the distance between the inductor and the laser quenching head is adjusted so that the first straight line coincides with the second straight line; and a motion device on which the composite strengthening heat treatment fixture is mounted, the motion device driving the composite strengthening heat treatment fixture to move such that the intersections of the first straight line, the second straight line, and the workpiece move sequentially along the same scanning trajectory.

[0007] As described above, by mounting the inductor and laser quenching head on the composite strengthening heat treatment fixture, the fixture can be moved at a uniform speed by the motion device. This allows the inductor and laser quenching head to collaboratively heat treat the workpiece along the same scanning trajectory. Consequently, the temperature field, heating width, and heating depth of the workpiece at different positions along this trajectory remain consistent between induction heating and laser heating. Furthermore, the time it takes for the workpiece to switch from induction heating to laser heating at different positions along the scanning trajectory remains consistent. Therefore, precise coordination between the induction field and the laser field in the spatiotemporal dimension can be achieved, improving the stability of the composite strengthening process and the uniformity of the hardened layer.

[0008] Furthermore, by making the distance between the sensor and the laser quenching head adjustable, the distance between the first and second straight lines can be adjusted, thereby adjusting the distance between the first and second regions. This allows for adjustment of the time when induction heating switches to laser heating, adapting to the heat treatment requirements of different workpieces. Simultaneously, by providing a bending portion on the sensor, when adjusting the distance between the sensor and the laser quenching head to make the first and second straight lines coincide, the laser quenching head is avoided. This allows the first and second regions to coincide, eliminating the minimum spacing limitation imposed by the structural body and enabling the adjustment range of the tracking spacing to cover zero values.

[0009] As one possible implementation of the first aspect, the composite reinforced heat treatment fixture includes: a fixed mounting plate detachably connected to the motion device; a first mounting mechanism mounted on the fixed mounting plate for fixing the sensor; and a second mounting mechanism including a first connector and a second connector, one end of the first connector being detachably connected to the laser quenching head and the other end being detachably connected to the fixed mounting plate; or, one end of the first connector being detachably connected to the laser quenching head, the second connector having a first end and a second end, the first end and the second end being perpendicularly arranged, the first end being detachably connected to the fixed mounting plate, and the other end of the first connector being detachably connected to the second end.

[0010] Therefore, when using induction heating and laser hardening for composite heat treatment of a workpiece surface, the first and second regions need to be aligned on both sides during the movement along the scanning trajectory. This ensures that the first region, which has undergone induction preheating, can be covered by the second region for laser hardening as it moves. Consequently, if the size of the first region changes, the size of the second region needs to be adjusted accordingly.

[0011] In this application, the laser quenching head can be directly mounted on the fixed mounting plate via the first connector, or it can be mounted on the second end of the second connector via the first connector after the second connector is mounted on the fixed mounting plate. Since the first and second ends are perpendicular, the laser quenching head can rotate 90° around the first straight line as its axis, compared to the other mounting method. Therefore, for example, when the second region is rectangular, rotating the laser quenching head 90° allows the second region to rotate 90°, thus changing the side of the second region parallel to the scanning trajectory. This allows the laser quenching head to accommodate two different sizes of the first region, thereby improving the adaptability of the laser quenching head.

[0012] As one possible implementation of the first aspect, the composite strengthening heat treatment system further includes a control device comprising: a closed-loop temperature control unit for detecting the temperatures of the first region and the second region; and a central control unit for adjusting at least one of a first power, a second power, a moving speed, and a tracking distance when the temperatures of the first region and / or the second region are outside the target temperature range. The first power is the power of the sensor for inductive preheating of the workpiece surface, the second power is the power of the laser quenching head for laser quenching of the workpiece surface, the moving speed is the speed at which the motion device drives the composite strengthening heat treatment fixture to move, and the tracking distance is the distance between the intersection points of the first straight line, the second straight line, and the workpiece.

[0013] Therefore, when the temperatures of the first and second regions are outside the target temperature range, the temperatures of the first and second regions can be brought back into the target temperature range by adjusting at least one of the first power, the second power, the moving speed, and the tracking distance, thereby achieving closed-loop adaptive temperature control. This improves the reliability and stability of composite heat treatment and enhances the composite heat treatment effect on the workpiece.

[0014] As one possible implementation of the first aspect, the priority of adjusting the first power, the second power, the moving speed and the tracking distance is gradually reduced.

[0015] The above clarifies the priority of adjusting each parameter, prioritizing parameters with fast response and low disturbance to ensure processing efficiency, adapting to complex working conditions through synchronous coordination of multiple parameters, and setting up an anomaly protection mechanism. This balances process flexibility, control precision, and operational safety, effectively solving the industry pain points of uneven temperature field superposition and uneven hardened layer microstructure and properties during induction laser composite strengthening processing, and providing core technical support for efficient and uniform composite strengthening processing.

[0016] As one possible implementation of the first aspect, the control device further includes: a timing control unit, which controls the laser quenching head to emit a laser beam when the first distance is equal to the tracking spacing, the first distance being the distance the motion device drives the composite strengthening heat treatment fixture to move after the sensor starts sensing preheating; and / or, the timing control unit controls the laser quenching head to stop emitting a laser beam when the second distance is equal to the tracking spacing, the second distance being the distance the motion device drives the composite strengthening heat treatment fixture to move after the sensor stops sensing preheating.

[0017] As described above, the automatic control of the laser quenching head can be achieved through the timing control unit, enabling precise coordination between induction preheating and laser quenching in both time and space. This allows the laser beam to precisely act on the surface area of ​​the workpiece that has been induction preheated to the target temperature at any given time, thereby achieving precise coupling of the energy field in the time and space dimensions.

[0018] A second aspect of this application provides a composite strengthening heat treatment control method, controlling the composite strengthening heat treatment system described in any one of the first aspects to perform heat treatment on a workpiece, comprising: acquiring first information, wherein the first information is at least one of the material property information of the workpiece, the shape information of the workpiece, and the target performance information of the workpiece; determining a first control command based on the first information, wherein the first control command includes at least one of a first power, a second power, a moving speed, and a tracking distance, for controlling the composite strengthening heat treatment system to perform heat treatment on the workpiece; wherein the first power is the power of the sensor to perform inductive preheating on the surface of the workpiece, the second power is the power of the laser quenching head to perform laser quenching on the surface of the workpiece, the moving speed is the speed at which the motion device drives the composite strengthening heat treatment fixture to move, and the tracking distance is the distance between the intersection points of the first straight line, the second straight line, and the workpiece.

[0019] As described above, by mounting the sensor and laser quenching head on the composite strengthening heat treatment fixture, the motion device can drive the fixture to move at a uniform speed. This allows the sensor and laser quenching head to collaboratively heat treat the workpiece along the same scanning trajectory. Consequently, the time, temperature, and depth of induction heating and laser heating on the workpiece remain consistent at different positions along the trajectory, and the time at which the workpiece switches from induction heating to laser heating at different positions along the trajectory remains consistent. Therefore, precise coordination between the induction field and the laser field in the spatiotemporal dimension can be achieved, improving the stability of the composite strengthening process and the uniformity of the hardened layer.

[0020] Furthermore, by making the distance between the sensor and the laser quenching head adjustable, the distance between the first and second straight lines can be adjusted, thereby adjusting the distance between the first and second regions. This allows for adjustment of the time when induction heating switches to laser heating, adapting to the heat treatment requirements of different workpieces. Simultaneously, by providing a bending portion on the sensor, when adjusting the distance between the sensor and the laser quenching head to make the first and second straight lines coincide, the laser quenching head is avoided. This allows the first and second regions to coincide, eliminating the minimum spacing limitation imposed by the structural body and enabling the adjustment range of the tracking spacing to cover zero values.

[0021] As a possible implementation of the second aspect, the composite strengthening heat treatment method further includes: acquiring second information, the second information being the temperature of the first region; acquiring a first temperature range, the first temperature range being a target temperature range for induction preheating of the workpiece surface; and issuing a second control command when the temperature in the second information is outside the first temperature range, the second control command being used to adjust at least one of the first power, the second power, the moving speed, and the tracking distance.

[0022] As stated above, when the temperature in the second information is outside the first temperature range, it indicates that the temperature after induction heating in the first region does not meet the process requirements. At this time, by issuing a second control command to adjust the parameters, real-time correction of the process can be achieved, realizing closed-loop adaptive control of the entire composite strengthening heat treatment process, thereby improving the accuracy and effect of heat treatment.

[0023] As a possible implementation of the second aspect, the composite strengthening heat treatment control method further includes: acquiring third information, the third information being the temperature of the second region; acquiring a second temperature range, the second temperature range being the target temperature range for laser quenching of the workpiece surface; and issuing a third control command when the temperature in the third information is outside the second temperature range, the third control command being used to adjust at least one of the first power, the second power, the moving speed, and the tracking distance.

[0024] As stated above, when the temperature in the third information is outside the second temperature range, it indicates that the temperature after laser quenching in the second region does not meet the process requirements. In this case, by issuing a third control command to adjust the parameters, real-time correction of the process can be achieved, realizing closed-loop adaptive control of the entire composite strengthening heat treatment process, thereby improving the accuracy and effect of the heat treatment.

[0025] As one possible implementation of the second aspect, the priority of adjusting the first power, the second power, the moving speed and the tracking distance is gradually reduced.

[0026] The above clarifies the priority of adjusting each parameter, prioritizing parameters with fast response and low disturbance to ensure processing efficiency, adapting to complex working conditions through synchronous coordination of multiple parameters, and setting up an anomaly protection mechanism. This balances process flexibility, control precision, and operational safety, effectively solving the industry pain points of uneven temperature field superposition and uneven hardened layer microstructure and properties during induction laser composite strengthening processing, and providing core technical support for efficient and uniform composite strengthening processing.

[0027] As a possible implementation of the second aspect, it further includes: acquiring fourth information, the fourth information being a first distance the motion device drives the composite-strengthened heat treatment fixture to move after the sensor starts sensing preheating; determining whether the first distance is equal to the tracking distance; when the determination result is yes, issuing a fourth control command, the fourth control command being used to control the laser quenching head to emit a laser beam; and / or,

[0028] The fifth piece of information is obtained, which is the second distance that the motion device drives the composite reinforced heat treatment fixture to move after the sensor is turned off and the induction preheating is completed; it is determined whether the second distance is equal to the tracking distance; when the determination result is yes, a fifth control command is issued, which is used to control the laser quenching head to stop emitting laser beam.

[0029] As described above, the automatic control of the laser quenching head can be achieved through the timing control unit, enabling precise coordination between induction preheating and laser quenching in both time and space. This allows the laser beam to precisely act on the surface area of ​​the workpiece that has been induction preheated to the target temperature at any given time, thereby achieving precise coupling of the energy field in the time and space dimensions.

[0030] These and other aspects of this application will become more apparent in the description of the following embodiments(s). Attached Figure Description

[0031] The following description, with reference to the accompanying drawings, further illustrates the various features of this application and the relationships between them. The drawings are exemplary; some features are not shown to scale, and some drawings may omit conventional features in the field of this application that are not essential to it, or additional features that are not essential to this application may be shown. The combination of features shown in the drawings is not intended to limit this application. Furthermore, throughout this specification, the same reference numerals refer to the same things. Specific descriptions of the drawings are as follows:

[0032] Figure 1 This is a schematic diagram showing the usage state of the composite-strengthened heat treatment fixture in this application;

[0033] Figure 2 This is a schematic diagram of the composite-strengthened heat treatment fixture in this application;

[0034] Figure 3 This is a schematic diagram of the composite strengthening heat treatment system in this application;

[0035] Figure 4 This is a flowchart of the composite strengthening heat treatment control method in this application;

[0036] Figure 5 This is a flowchart of the composite strengthening heat treatment control method in Example 2;

[0037] Figure 6 This is a schematic diagram of the timing coordination control logic in Example 2;

[0038] Figure 7 This is a schematic diagram of spatial coordination and tracking spacing in Example 2;

[0039] Figure 8This is a flowchart of the temperature closed-loop control in Example 2.

[0040] Explanation of reference numerals in the attached figures

[0041] 10 Composite strengthening heat treatment system; 100 Induction preheating device; 110 Induction heating power supply; 120 Coaxial transformer; 130 Inductor; 140 First cooling mechanism; 200 Laser heating device; 210 Laser; 220 Laser quenching head; 230 Second cooling mechanism; 300 Composite strengthening heat treatment fixture; 310 Fixed mounting plate; 320 First mounting mechanism; 321 Guide rail pair; 322 Sliding mounting plate; 323 Fixed base; 330 Second mounting mechanism; 331 Second connector; 331a First end; 331b Second end; 332 First connector; 340 Spacing adjustment mechanism; 400 Robot; 500 Worktable; 600 Control device; 610 Closed-loop temperature control unit; 620 Central control unit; 630 Timing control unit; 20 Workpiece. Detailed Implementation

[0042] The terms "first, second, third, etc." or similar terms such as module A, module B, module C, etc., used in the specification and claims are only used to distinguish similar objects and do not represent a specific ordering of objects. It is understood that a specific order or sequence may be interchanged where permitted so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0043] In the following description, the labels of the steps, such as S110, S120, etc., do not necessarily mean that the steps will be executed in this way. The order of the steps can be interchanged or executed simultaneously if permitted.

[0044] The term "comprising" as used in the specification and claims should not be construed as limiting itself to what follows; it does not exclude other elements or steps. Therefore, it should be interpreted as specifying the presence of the mentioned feature, integral, step, or component, but does not exclude the presence or addition of one or more other features, integrals, steps, or components, or groups thereof. Thus, the statement "device comprising means A and B" should not be limited to a device consisting solely of components A and B.

[0045] The terms "an embodiment" or "an embodiment" as used in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in at least one embodiment of this application. Therefore, the terms "in one embodiment" or "in an embodiment" appearing throughout this specification do not necessarily refer to the same embodiment, but may refer to the same embodiment. Furthermore, in one or more embodiments, the particular features, structures, or characteristics can be combined in any suitable manner, as will be apparent to those skilled in the art from this disclosure.

[0046] Below, with reference to the accompanying drawings, possible embodiments of the composite enhanced heat treatment system 10 of this application will be described by way of example.

[0047] This application provides a composite strengthening heat treatment system 10, including an induction preheating device 100, a laser heating device 200, a composite strengthening heat treatment fixture 300, and a motion device. The induction preheating device 100 has an inductor 130, and the laser heating device 200 has a laser quenching head 220. The composite strengthening heat treatment fixture 300 is used to fix the inductor 130 and the laser quenching head 220, so that the inductor 130 emits an alternating magnetic field along the extension direction of a first straight line to induction preheat a first area on the surface of the workpiece 20, and the laser quenching head 220 emits a laser beam along a second straight line to laser quench a second area on the surface of the workpiece 20, the second straight line being parallel to the first straight line. The distance between the inductor 130 and the laser quenching head 220 is adjustable, and the inductor 130 is provided with a bending portion to avoid the laser quenching head 220 when the distance between the inductor 130 and the laser quenching head 220 is adjusted so that the first and second straight lines coincide. The composite-strengthened heat treatment fixture 300 is mounted on a motion device, which drives the composite-strengthened heat treatment fixture 300 to move, so that the intersections of the first straight line, the second straight line and the workpiece 20 move sequentially along the same scanning trajectory.

[0048] As described above, by mounting the sensor 130 and the laser quenching head 220 on the composite strengthening heat treatment fixture 300, the motion device can drive the composite strengthening heat treatment fixture 300 to move at a uniform speed. This allows the sensor 130 and the laser quenching head 220 to collaboratively heat treat the workpiece 20 along the same scanning trajectory. Consequently, the temperature field, heating width, and heating depth of the workpiece 20 at different positions along the scanning trajectory remain consistent between induction heating and laser heating. Furthermore, the time it takes for the workpiece 20 to switch from induction heating to laser heating at different positions along the scanning trajectory remains consistent. Therefore, precise coordination between the induction field and the laser field in the spatiotemporal dimension can be achieved, improving the stability of the composite strengthening process and the uniformity of the hardened layer.

[0049] Furthermore, by making the distance between the sensor 130 and the laser quenching head 220 adjustable, the distance between the first and second straight lines can be adjusted, thereby adjusting the distance between the first and second regions. This allows for adjustment of the time between induction heating and laser heating, adapting to the heat treatment requirements of different workpieces 20. Simultaneously, by providing a bending portion on the sensor 130, when adjusting the distance between the sensor 130 and the laser quenching head 220 so that the first and second straight lines coincide, the bending portion avoids the laser quenching head 220. This allows the first and second regions to coincide, eliminating the minimum spacing limitation imposed by the structural body and enabling the adjustment range of the tracking spacing to cover zero values.

[0050] In some embodiments, the bend can be an L-shaped bend or a bend of other shapes, and there is no limitation thereto.

[0051] In some embodiments, the composite reinforced heat treatment fixture 300 includes a fixed mounting plate 310, a first mounting mechanism 320, and a second mounting mechanism 330. The fixed mounting plate 310 is detachably connected to the motion device. The first mounting mechanism 320 is mounted on the fixed mounting plate 310 and is used to fix the sensor 130. The second mounting mechanism 330 includes a first connector 332 and a second connector 331. One end of the first connector 332 is detachably connected to the sensor 130, and the other end is detachably connected to the fixed mounting plate 310. Alternatively, one end of the first connector 332 is detachably connected to the sensor 130, and the second connector 331 has a first end 331a and a second end 331b, which are perpendicularly arranged. The first end 331a is detachably connected to the fixed mounting plate 310, and the other end of the first connector 332 is detachably connected to the second end 331b.

[0052] Therefore, when using induction heating and laser hardening to perform a combined strengthening heat treatment on the surface of workpiece 20, the first and second regions need to be aligned on both sides during the movement along the scanning trajectory. This ensures that the first region, which has undergone induction preheating, can be covered by the second region for laser hardening as it moves. Consequently, when the size of the first region changes, the size of the second region needs to be adjusted accordingly.

[0053] In this application, the laser quenching head 220 can be directly mounted on the fixed mounting plate 310 via the first connector 332, or it can be mounted on the second end 331b of the second connector 331 via the first connector 332 after the second connector 331 is mounted on the fixed mounting plate 310. Since the first end 331a and the second end 331b are perpendicular, the laser quenching head 220 can rotate 90° about the first straight line as its axis, compared to the other mounting method. Therefore, for example, when the second region is rectangular, rotating the laser quenching head 220 by 90° can rotate the second region by 90°, thereby changing the side of the second region parallel to the scanning trajectory. This allows the laser quenching head 220 to match the size of first regions of different widths, thus improving the adaptability of the laser quenching head 220.

[0054] In some embodiments, such as Figure 1 , Figure 2 As shown, the first mounting mechanism 320 includes a guide rail, a sliding mounting plate 322, and a fixed base 323. The guide rail is fixed to the fixed mounting plate 310 and extends in the direction of approaching / moving away from the second mounting mechanism 330. The sliding mounting plate 322 is slidably connected to the guide rail, and the fixed base 323 is mounted on the sliding mounting plate 322 to fix the sensor 130. This makes the sensor 130 more stable when sliding along the guide rail with the sliding mounting plate 322. This improves the accuracy and stability when adjusting the distance.

[0055] In some embodiments, such as Figure 1 , Figure 2 As shown, the composite reinforced heat treatment fixture 300 also includes a spacing adjustment mechanism 340, which is connected between the fixed mounting plate 310 and the sliding mounting plate 322, and is used to drive the sliding mounting plate 322 to slide on the guide rail. Therefore, the position of the sliding mounting plate 322 on the guide rail can be adjusted by the spacing adjustment mechanism 340, thereby facilitating the adjustment of the distance between the first target area and the second target area.

[0056] In some embodiments, the composite strengthening heat treatment system 10 further includes a control device, which includes a closed-loop temperature control unit and a central control unit 620. The closed-loop temperature control unit is used to detect the temperatures of the first region and the second region. The central control unit 620 is used to adjust at least one of a first power, a second power, a moving speed, and a tracking distance when the temperature of the first region and / or the second region is outside the target temperature range. The first power is the power of the sensor 130 for inductive preheating of the workpiece 20 surface; the second power is the power of the laser quenching head 220 for laser quenching of the workpiece 20 surface; the moving speed is the speed at which the motion device drives the composite strengthening heat treatment fixture 300 to move; and the tracking distance is the distance between the intersection points of the first straight line, the second straight line, and the workpiece 20.

[0057] Therefore, when the temperatures of the first and second regions are outside the target temperature range, the temperatures of the first and second regions can be brought back into the target temperature range by adjusting at least one of the first power, the second power, the moving speed, and the tracking distance, thereby achieving closed-loop adaptive temperature control. This improves the reliability and stability of the composite heat treatment and enhances the composite heat treatment effect on workpiece 20.

[0058] In some embodiments, the priority of adjusting the first power, the second power, the moving speed, and the tracking distance gradually decreases. This clarifies the priority of adjusting each parameter, prioritizing parameters with fast response and minimal disturbance to ensure processing efficiency, while simultaneously adapting to complex working conditions through multi-parameter synchronous coordination. Furthermore, an anomaly protection mechanism is implemented, balancing process flexibility, control precision, and operational safety. This effectively addresses industry pain points such as uneven temperature field superposition and uneven hardened layer microstructure and properties during inductive laser composite strengthening processing, providing core technical support for efficient and uniform composite strengthening processing.

[0059] In some embodiments, the control device further includes a timing control unit, which controls the laser quenching head 220 to emit a laser beam when a first distance equals the tracking spacing, the first distance being the distance the motion device drives the composite strengthening heat treatment fixture 300 to move after the sensor 130 starts sensing preheating. And / or, the timing control unit controls the laser quenching head 220 to stop emitting a laser beam when a second distance equals the tracking spacing, the second distance being the distance the motion device drives the composite strengthening heat treatment fixture 300 to move after the sensor 130 stops sensing preheating.

[0060] As described above, the automatic control of the laser quenching head 220 can be achieved through the timing control unit, enabling precise coordination between induction preheating and laser quenching in both time and space. This allows the laser beam to precisely act on the surface area of ​​the workpiece 20, which has been induction preheated to the target temperature, at any given moment, thereby achieving precise coupling of the energy field in the time and space dimensions.

[0061] In some embodiments, whether the first distance and the second distance are equal to the tracking distance can be obtained, for example, by directly obtaining the distance that the motion device drives the composite strengthening heat treatment fixture 300 and the laser quenching head 220 to move and comparing it with the tracking distance; or it can be obtained, for example, by calculating the moving distance through the moving speed and time and comparing it with the tracking distance, and there is no limitation thereto.

[0062] In some embodiments, the motion device may be a robot 400 (e.g., an industrial robot) or a multi-axis CNC motion platform.

[0063] This application also provides a composite strengthening heat treatment control method 80, which controls the composite strengthening heat treatment system 10 in any of the above embodiments to perform heat treatment on the workpiece 20, wherein the workpiece 20 is preheated by induction by the sensor 130 and the workpiece 20 is heated by laser by the laser quenching head 220. Below, with reference to the accompanying drawings, possible embodiments of the composite strengthening heat treatment control method 80 of this application will be described by way of example.

[0064] This application provides a method for controlling composite strengthening heat treatment, the specific steps of which include:

[0065] Step S810: Obtain first information

[0066] In step S810, first information is obtained, which is at least one of the material property information of workpiece 20, shape information of workpiece 20, and target performance information of workpiece 20;

[0067] Step S820: Determine the first control command.

[0068] In step S820, a first control command is determined based on the first information. The first control command includes at least one of a first power, a second power, a moving speed, and a tracking distance, and is used to control the composite strengthening heat treatment system 10 to perform heat treatment on the workpiece 20. The first power is the power of the sensor 130 for induction preheating of the surface of the workpiece 20, the second power is the power of the laser quenching head 220 for laser quenching of the surface of the workpiece 20, the moving speed is the speed at which the motion device drives the composite strengthening heat treatment fixture 300 to move, and the tracking distance is the distance between the intersection points of the first straight line, the second straight line, and the workpiece 20.

[0069] As described above, by mounting the sensor 130 and the laser quenching head 220 on the composite strengthening heat treatment fixture 300, the motion device can drive the composite strengthening heat treatment fixture 300 to move at a uniform speed. This allows the sensor 130 and the laser quenching head 220 to collaboratively heat treat the workpiece 20 along the same scanning trajectory. Consequently, the temperature field, heating width, and heating depth of the workpiece 20 at different positions along the scanning trajectory remain consistent between induction heating and laser heating. Furthermore, the time it takes for the workpiece 20 to switch from induction heating to laser heating at different positions along the scanning trajectory remains consistent. Therefore, precise coordination between the induction field and the laser field in the spatiotemporal dimension can be achieved, improving the stability of the composite strengthening process and the uniformity of the hardened layer.

[0070] Furthermore, by making the distance between the sensor 130 and the laser quenching head 220 adjustable, the distance between the first and second straight lines can be adjusted, thereby adjusting the distance between the first and second regions. This allows for adjustment of the time between induction heating and laser heating, adapting to the heat treatment requirements of different workpieces 20. Simultaneously, by providing a bending portion on the sensor 130, when adjusting the distance between the sensor 130 and the laser quenching head 220 so that the first and second straight lines coincide, the bending portion avoids the laser quenching head 220. This allows the first and second regions to coincide, eliminating the minimum spacing limitation imposed by the structural body and enabling the adjustment range of the tracking spacing to cover zero values.

[0071] In some embodiments, the composite strengthening heat treatment method 80 further includes:

[0072] Step S830: Obtain the second information.

[0073] In step S830, second information is obtained, which is the temperature of the first region;

[0074] Step S840: Obtain the first temperature range.

[0075] In step S840, a first temperature range is obtained, which is the target temperature range for induction preheating of the surface of workpiece 20.

[0076] Step S850: Issue the second control command.

[0077] In step S850, when the temperature in the second information is outside the first temperature range, a second control command is issued. The second control command is used to adjust at least one of the first power, the second power, the moving speed, and the tracking distance.

[0078] As stated above, when the temperature in the second information is outside the first temperature range, it indicates that the temperature after induction heating in the first region does not meet the process requirements. At this time, by issuing a second control command to adjust the parameters, real-time correction of the process can be achieved, realizing closed-loop adaptive control of the entire composite strengthening heat treatment process, thereby improving the accuracy and effect of heat treatment.

[0079] In some embodiments, the composite strengthening heat treatment control method 80 further includes:

[0080] Step S860: Obtain third information.

[0081] In step S860, third information is obtained, which is the temperature of the second region.

[0082] Step S870: Obtain the second temperature range

[0083] In step S870, a second temperature range is obtained, which is the target temperature range for laser quenching the surface of workpiece 20.

[0084] Step S880: Issue the third control command.

[0085] In step S880, when the temperature in the third information is outside the second temperature range, a third control command is issued. The third control command is used to adjust at least one of the first power, the second power, the moving speed, and the tracking distance.

[0086] As stated above, when the temperature in the third information is outside the second temperature range, it indicates that the temperature after laser quenching in the second region does not meet the process requirements. In this case, by issuing a third control command to adjust the parameters, real-time correction of the process can be achieved, realizing closed-loop adaptive control of the entire composite strengthening heat treatment process, thereby improving the accuracy and effect of the heat treatment.

[0087] In some embodiments, the priority of adjusting the first power, the second power, the moving speed, and the tracking distance gradually decreases.

[0088] The above clarifies the priority of adjusting each parameter, prioritizing parameters with fast response and low disturbance to ensure processing efficiency, adapting to complex working conditions through synchronous coordination of multiple parameters, and setting up an anomaly protection mechanism. This balances process flexibility, control precision, and operational safety, effectively solving the industry pain points of uneven temperature field superposition and uneven hardened layer microstructure and properties during induction laser composite strengthening processing, and providing core technical support for efficient and uniform composite strengthening processing.

[0089] In some embodiments, the composite strengthening heat treatment control method 80 further includes:

[0090] Step S891: Obtain the fourth information.

[0091] In step S891, fourth information is obtained, which is the first distance that the motion device drives the composite reinforced heat treatment fixture 300 to move after the sensor 130 starts sensing preheating.

[0092] Step S892: Judgment.

[0093] In step S892, it is determined whether the first distance is equal to the tracking spacing.

[0094] Step S893: Issue the fourth control command.

[0095] In step S893, when the judgment result is yes, a fourth control command is issued, which is used to control the laser quenching head 220 to emit a laser beam.

[0096] In some embodiments, the composite strengthening heat treatment control method 80 further includes:

[0097] Step S894: Obtain the fifth piece of information.

[0098] In step S894, fifth information is obtained, which is the second distance that the motion device drives the composite reinforced heat treatment fixture 300 to move after the sensor 130 turns off the induction preheating.

[0099] Step S895: Judgment.

[0100] In step S895, it is determined whether the second distance is equal to the tracking spacing.

[0101] Step S896: Issue the fifth control command.

[0102] In step S896, when the judgment result is yes, a fifth control command is issued, which is used to control the laser quenching head 220 to stop emitting a laser beam.

[0103] As described above, the automatic control of the laser quenching head 220 can be achieved through the timing control unit, enabling precise coordination between induction preheating and laser quenching in both time and space. This allows the laser beam to precisely act on the surface area of ​​the workpiece 20, which has been induction preheated to the target temperature, at any given moment, thereby achieving precise coupling of the energy field in the time and space dimensions.

[0104] The above description provides an exemplary account of possible embodiments of the composite enhanced heat treatment system 10 and the composite enhanced heat treatment control method 80 in this application. Below, with reference to the accompanying drawings, a detailed description of the specific structure of the composite enhanced heat treatment system 10 and the specific steps of the composite enhanced heat treatment control method 80 will be provided in specific embodiments.

[0105] Example 1

[0106] like Figure 3As shown, the composite strengthening heat treatment system 10 includes an induction preheating device 100, a laser heating device 200, a composite strengthening heat treatment fixture 300, and a robot 400 (i.e., a motion device). The induction preheating device 100 has a sensor 130 (effective heating zone width 16mm × 4mm, 3mm gap from the workpiece 20 surface, equipped with a magnetic conductor) used to emit an alternating magnetic field to inductively preheat the surface of the workpiece 20. The laser heating device 200 has a laser quenching head 220 used to emit a laser beam to laser quench the workpiece 20. The composite strengthening heat treatment fixture 300 is detachably mounted on the robot 400 to fix the sensor 130 and the laser quenching head 220. The robot 400 drives the composite strengthening heat treatment fixture 300 to move, causing the sensor 130 and the laser quenching head 220 to perform induction laser composite strengthening heat treatment on the workpiece 20 along the same scanning trajectory.

[0107] like Figure 3 As shown, the induction preheating device 100 also includes an induction heating power supply 110 (power range 0-120kW, frequency 5-30kHz), a coaxial transformer 120 (500kVA), and a first cooling mechanism 140. The coaxial transformer 120 is the core power transmission component of the induction preheating device 100. Its input end is connected to the induction heating power supply 110 via a high-frequency cable, and its output end is directly and rigidly connected to the inductor 130 below. It converts the high-frequency, high-voltage AC power output from the induction heating power supply 110 into a low-voltage, high-current required for induction heating, driving the inductor 130 to generate an alternating magnetic field. Through electromagnetic induction, eddy currents are generated on the surface of the workpiece 20 to achieve non-contact preheating. The first cooling mechanism 140 is a closed-loop circulating water chiller (cooling water temperature 20±1℃). The inductor 130 is made of a rectangular copper tube and connected to the first cooling mechanism 140. Cooling water flows through the inductor 130 to cool it.

[0108] like Figure 1As shown, the coaxial transformer 120 adopts an integrated coaxial structure design, which has significant advantages such as low leakage inductance, high transmission efficiency, low high-frequency loss, and low electromagnetic radiation. It can stably output large current and adapt to the process requirements of high-speed continuous scanning. The sensor 130 adopts an L-shaped bent cantilever structure design. After bending, the propagation direction of the alternating magnetic field emitted by the working end of the sensor 130 is parallel to the axis of the coaxial transformer 120. The purpose of this bending configuration is that when the coaxial transformer 120 and the laser quenching head 220 are installed side by side, their cylindrical structures will cause physical interference, resulting in the tracking distance D not being able to reach zero. By designing the sensor 130 as a cantilever form bent towards the mounting side of the laser quenching head 220, its effective heating working end can extend into the area directly below the laser quenching head 220 in the top view (vertical projection plane), so that the induction preheating area coincides with the projection center of the laser spot in the vertical direction. This eliminates the minimum distance limitation imposed by the structure itself, allowing the adjustment range of the tracking distance D to cover zero. Furthermore, the effective heating area of ​​the sensor 130 is precisely matched with the width of the laser spot in the direction perpendicular to the scanning direction to ensure uniform spatial superposition of the two energy fields: induction preheating and laser heating. The sensor 130 and the coaxial transformer 120 adopt a quick-connect connection structure, which facilitates the rapid replacement of sensors 130 of different specifications according to the contour shape and process requirements of different workpieces 20.

[0109] like Figure 3 As shown, the laser heating device 200 also includes a laser 210 and a second cooling mechanism 230. The laser quenching head 220 (with a rectangular spot size of 16mm × 2mm, the 16mm width perpendicular to the scanning direction, and a flat-top energy distribution) is the core execution component of the laser heating device 200. Its input end is connected to the high-power laser 210 (a 6kW continuous fiber laser 210 with a wavelength of 1080±5nm) via a transmission optical fiber. Internally, it integrates collimating and focusing optical lenses and a protective gas channel, enabling it to focus the high-power laser beam into a spot (usually rectangular or circular; in this embodiment, the spot is rectangular) with the required size and energy distribution. This spot acts on the surface of the workpiece 20, which has been preheated to the target temperature, achieving rapid composite strengthening treatment. The second cooling mechanism 230 employs a high-precision laser water chiller, specifically designed to cool the laser 210's light-emitting module, the beam transmission optical fiber (if fiber optic transmission is used), and the internal optical components of the laser quenching head 220.

[0110] like Figure 1 , Figure 2As shown, the composite reinforced heat treatment fixture 300 includes a fixed mounting plate 310, a first mounting mechanism 320, and a second mounting mechanism 330. The fixed mounting plate 310 is detachably connected to the robot 400. The first mounting mechanism 320 is mounted on the fixed mounting plate 310 and is used to fix the sensor 130, causing the sensor 130 to emit an alternating magnetic field along a first straight line. The second mounting mechanism 330 is mounted on the fixed mounting plate 310 and is used to fix the laser quenching head 220, causing the laser beam emitted by the laser quenching head 220 to exit along a second straight line, which is parallel to the first straight line.

[0111] like Figure 1 , Figure 2 As shown, the fixed mounting plate 310 is a plate-shaped component. One side surface is provided with a standard mounting interface for rigid connection with the output end of the robot 400; the other side surface is used to mount the first mounting mechanism 320 and the second mounting mechanism 330.

[0112] like Figure 1 , Figure 2 As shown, the first mounting mechanism 320 includes a guide rail pair 321, a sliding mounting plate 322, and a fixing base 323. The guide rail pair 321 is mounted on the fixing mounting plate 310, and the sliding mounting plate 322 is slidably connected to the fixing mounting plate 310 via the guide rail pair 321. The fixing base 323 is mounted on the sliding mounting plate 322 and is used to fix the sensor 130.

[0113] Specifically, the guide rail pair 321 is a precision linear guide rail pair. Two sets of guide rail pairs 321 are installed parallel to each other along the scanning direction (feed direction of workpiece 20) to provide high-precision guidance for sliding adjustment. The guide rail pair 321 consists of two high-precision linear guide rails and matching ball bearing sliders. The parallelism and straightness of the guide rails are strictly calibrated to ensure positional accuracy and smooth movement during sliding adjustment, effectively avoiding vibration and positional drift during high-speed movement. The sliding mounting plate 322 is connected to the guide rails via the slider and can slide back and forth without gaps along the scanning direction. The fixed seat 323 is installed on the sliding mounting plate 322 and adopts an upper and lower split clamp structure. The coaxial transformer 120 is firmly clamped to the front of the sliding mounting plate 322 by bolt locking, effectively suppressing vibration during processing and ensuring the positional accuracy and heating stability of the sensor 130.

[0114] like Figure 1 , Figure 2 As shown, the second mounting mechanism 330 includes a second connector 331 and a first connector 332. The laser quenching head 220 can be directly mounted on the fixed mounting plate 310 through the first connector 332. Alternatively, the laser quenching head 220 can be mounted on the fixed mounting plate 310 through the second connector 331 and then mounted on the second connector 331 through the first connector 332.

[0115] Specifically, the second connector 331 is made of a plate material bent at 90°, and has a first end 331a and a second end 331b, which are perpendicularly positioned. The first end 331a is detachably connected to the fixed mounting plate 310, and the second end 331b is detachably connected to the laser quenching head 220 via the first connector 332. The first connector 332 is a quick-change module, detachably connected to the laser quenching head 220 on one side, and detachably connected directly to the fixed mounting plate 310 or to the second end 331b of the second connector 331 on the other side. The first connector 332 adopts a manual quick-change interface, which allows for quick disassembly and replacement of the laser quenching head 220 without additional tools. This facilitates switching between laser quenching heads 220 with different focal lengths and spot modes, as well as routine optical component maintenance, meeting the needs of rapid production changeover in industrial settings. The laser quenching head 220 is mounted on the second connector 331 via the first connector 332. Compared with being directly mounted on the fixed mounting plate 310, the laser quenching head 220 can be precisely rotated and positioned around its optical axis by 90°, thereby quickly adjusting the length and width of the rectangular laser spot to adapt to induction heating zones of different widths and scanning trajectories of different directions, greatly improving the process adaptability of the system.

[0116] like Figure 1 As shown, after the coaxial transformer 120 and the laser quenching head 220 are fixedly installed, the working end of the sensor 130 emits an alternating magnetic field perpendicularly toward the surface of the worktable 500 (along the direction of the first straight line extension) to preheat the surface of the workpiece 20 on the worktable 500. The laser quenching head 220 is set perpendicularly toward the surface of the worktable 500 to perform laser heating on the workpiece 20 on the worktable 500. The sensor 130, through the L-shaped bent cantilever structure design, allows the sensor 130 and the coaxial transformer 120 to avoid space from the laser quenching head 220. When the sensor 130 slides with the sliding mounting plate 322, the working end of the sensor 130 can move directly below the laser quenching head 220 (i.e., the first straight line coincides with the second straight line), so that the area of ​​induction heating can coincide with the laser spot, and the tracking distance can be zero.

[0117] like Figure 1 , Figure 2As shown, the composite-strengthened heat treatment fixture 300 also includes a spacing adjustment mechanism 340. The spacing adjustment mechanism 340 is connected between the fixed mounting plate 310 and the sliding mounting plate 322. By driving the sliding mounting plate 322 to slide along the guide rail pair 321, it causes the sensor 130 to move relative to the laser quenching head 220 along the scanning direction, thereby precisely adjusting the tracking spacing D between the effective heating area of ​​the sensor 130 and the laser spot in the scanning direction. After adjustment, the locking device of the spacing adjustment mechanism 340 can firmly lock the sliding mounting plate 322 onto the fixture fixed mounting plate 310, ensuring the stability of the tracking spacing D during processing.

[0118] like Figure 1 As shown, the composite strengthening heat treatment system 10 also includes a worktable 500. The worktable 500 serves as the mounting reference for the workpiece 20 to be treated, and is typically made of high-strength cast iron or welded steel, possessing sufficient rigidity, flatness, and stability. The surface of the worktable 500 is machined with uniformly distributed T-slots or threaded holes, facilitating the reliable fixing of the workpiece 20 to be treated using clamping plates, specialized fixtures, or other methods. During processing, the robot 400 drives the composite strengthening heat treatment fixture 300, sensor 130, and laser quenching head 220 to move relative to the worktable 500 along a pre-planned processing trajectory, achieving continuous scanning composite strengthening treatment of the workpiece 20 surface.

[0119] like Figure 3 As shown, the composite enhanced heat treatment system 10 also includes a control device 600. The control device 600 includes a closed-loop temperature control unit 610, a central control unit 620, and a timing control unit 630. The timing control unit 630 establishes real-time communication with the robot 400 controller, receives the robot 400 encoder position signal, and generates start / stop trigger signals for the induction preheating device 100 and the laser heating device 200 according to a preset tracking distance D. The closed-loop temperature control unit 610 has two infrared temperature sensors (temperature range 300–1800℃, response time 1ms, spectral range 1.45–1.8μm, measurement accuracy ±0.25% of measured value, repeatability ±0.1% of measured value), respectively aligned with the effective heating area of ​​the sensor 130 and the center area of ​​the laser spot. The closed-loop temperature control unit 610 also has a temperature signal processor, which linearizes the signal, compensates for emissivity, and outputs a 4-20mA standard signal.

[0120] The central control unit 620 is an industrial control computer, with a built-in energy field spatiotemporal coupling model and process database pre-trained based on the finite element method. Its main functions include storing and running the energy field spatiotemporal coupling model, storing and setting process parameters, receiving real-time temperature feedback signals from the closed-loop temperature control unit 610, and actual power feedback signals from the induction preheating device 100 and the laser heating device 200. It compares and analyzes this real-time data with a preset target process window and calculates parameter corrections based on preset adaptive control algorithms (such as PID, fuzzy logic, etc.). The central control unit 620 sends the generated parameter correction commands to the timing control unit 630 (for adjusting trigger timing), the robot 400 (for adjusting scanning speed V), the composite enhanced heat treatment fixture 300 (for adjusting tracking distance D), and the controller of the induction preheating device 100 / laser heating device (for adjusting output power P). i P l This enables closed-loop feedback regulation and adaptive optimization control of the entire composite strengthening process.

[0121] The central control unit 620 has a built-in or connected process database. This database stores a large number of optimized process parameter combinations that have been verified through preliminary process experiments, numerical simulations, or production practice. Each record is associated with a specific workpiece material (such as 45 steel, GCr15, etc.), surface hardness / hardened layer depth targets, and key geometric features of the workpiece (such as planes, outer circles, surfaces with specific curvatures, etc.). When the operator inputs or the system automatically identifies the workpiece information, the central control unit 620 can automatically match and call from the database, or, based on similar cases, use an interpolation algorithm to fit and generate the corresponding initial energy field spatiotemporal coupling model parameters and induction preheating power P. i Laser heating power P l Recommended process parameters such as scanning speed V and tracking spacing D are used as the initial parameter set for automatic process programming, thereby significantly shortening the process debugging cycle for new workpieces and new materials.

[0122] Example 2

[0123] like Figure 5 As shown, Embodiment 2 provides a composite strengthening heat treatment control method 90, which controls the composite strengthening heat treatment system 10 in Embodiment 1 to perform induction laser composite strengthening heat treatment on the workpiece 20, realizing intelligent control of the entire process from process planning to dynamic execution. The specific steps of the composite strengthening heat treatment control method 90 include:

[0124] Step S910: Establish a spatiotemporal coupling model of the energy field.

[0125] In step S910, the spatiotemporal coupling model of the energy field is established based on the principles of heat transfer and electromagnetic induction, by coupling the induction eddy current heat generation equation and the heat conduction equation of laser radiation transmission. For a specific workpiece 20, its material thermal conductivity, specific heat capacity, resistivity, relative magnetic permeability, and phase transition temperature (e.g., A) need to be comprehensively considered. c1 A c3 Material properties such as laser absorptivity are considered. Simultaneously, the three-dimensional geometric features of workpiece 20 (i.e., the shape information of workpiece 20), such as the curvature, contour direction, and cross-sectional changes of the surface to be strengthened, must be considered. Furthermore, the desired performance indicators of the hardened layer (i.e., the target performance information of workpiece 20), such as surface hardness and effective hardened layer depth, serve as constraints for model construction. Based on this, a coupled model is constructed to quantitatively describe the interaction between the induction preheating energy field and the laser heating energy field in the temporal and spatial dimensions. This model is the theoretical basis for achieving accurate process prediction and multi-parameter collaborative optimization in this method. It reveals and quantifies how the transient temperature field distribution formed during the induction preheating stage (including temperature peak, high-temperature zone width, and temperature attenuation in the depth direction) affects the absorptivity of subsequent laser energy at the same spatial location, the heat conduction process into the material interior, and the completion and uniformity of the final austenitizing phase transformation. In terms of implementation, the spatiotemporal coupling energy field model can be established through multiphysics simulation using finite element analysis software, or it can be obtained by training with regression analysis or machine learning methods based on a large amount of process experimental data. Based on the relationship between the above input parameters and the target, a coupling model suitable for the specific workpiece 20 can be constructed using appropriate methods, thereby providing a theoretical basis for subsequent time-series coordinated control.

[0126] Step S930: Set composite process parameters.

[0127] In step S930, calculations and optimizations are performed based on the established spatiotemporal coupling model of the energy field to determine a set of synergistic process parameters that can achieve the predetermined enhancement objectives. These mainly include: induction preheating power P. i Laser heating power P l The scanning speed V and the tracking distance D of the laser spot relative to the induction preheating zone. Induction preheating power P. i The frequency of the induced current and the scanning speed together determine the depth and temperature of the preheating layer. The tracking distance D of the laser spot relative to the induction preheating zone is the core parameter for realizing the "induction before laser" timing relationship. These parameters are not set independently, but are interconnected and mutually constrained through the model, jointly determining the energy intensity (by P) of the composite energy field applied to the surface of the workpiece 20. i and P l Definitions of action time (defined by V) and spatial matching relationship (defined by D).

[0128] Step S950: Perform timing coordination control.

[0129] In step S950, the preset process parameters are converted into actual equipment actions. Specifically, the robot 400, equipped with sensor 130 and laser hardening head 220, is driven to control the composite strengthening heat treatment fixture 300, sensor 130, and laser hardening head 220 to continuously scan along a pre-planned scanning trajectory (usually consistent with the contour path of the surface to be strengthened on the workpiece 20) at a set scanning speed V. During the movement, the timing control unit 630, acting as the synchronization and coordination module of the composite strengthening heat treatment system 10, generates timing trigger signals for the induction preheating device 100 and the laser heating device 200 based on the real-time position information of the robot 400 and a set tracking distance D.

[0130] Specifically, such as Figure 6 As shown, at the beginning of the processing stage, the timing control unit 630 first triggers the induction preheating device 100 to start. After the robot 400 moves a distance D along the scanning trajectory, the laser heating device 200 is triggered to emit light, so that the laser spot accurately acts on the induction preheated to the target temperature T. pre The surface area of ​​workpiece 20. At the end of the processing stage, the induction preheating device 100 is first triggered to shut down, and after the robot 400 continues to move a distance D, the laser heating device 200 is triggered to shut down. During continuous processing, the induction preheating zone and the laser quenching zone always maintain the preset distance D for synchronous movement, achieving precise coordination between induction preheating and laser quenching in time and space. Through the cooperation of the composite strengthening heat treatment fixture 300 and high-precision motion control, it is ensured that the effective heating area of ​​the sensor 130 and the light output focus of the laser quenching head 220 are always strictly aligned on the spatial trajectory, thereby achieving precise coordination in spatial position based on temporal synchronization.

[0131] like Figure 7 As shown, the sensor 130 and the laser quenching head 220 are fixed by a composite strengthening heat treatment fixture 300. The relative positions of the two in the direction of movement are maintained at a preset tracking distance D, and the width W of the effective heating area of ​​the sensor 130 is perpendicular to the scanning direction. i With the width W of the laser spot l Equal. Based on the above spatial relationship, the laser spot always acts entirely on the target temperature T, which has been preheated to the preheated temperature T, during the scanning process. pre The area is designed to achieve strict spatial alignment between the preheating zone and the quenching zone, avoiding problems such as insufficient preheating at the edge of the quenching zone or lack of preheating due to spatial misalignment, resulting in inconsistent hardened layer contours and varying depths, thus ensuring the uniformity and consistency of the hardened layer in the width direction.

[0132] Furthermore, the timing control unit 630 enables the sequential start and stop of induction preheating and laser emission, while the composite-strengthened heat treatment fixture 300 maintains the tracking distance D and width matching relationship between the effective heating area of ​​the sensor 130 and the laser spot in space. This dual coordination of timing and space ensures that the laser spot precisely acts on the surface area of ​​the workpiece 20, which has been preheated to the target temperature, at any given time, thereby achieving precise coupling of the energy field in both time and space dimensions.

[0133] Step S970 achieves closed-loop feedback regulation.

[0134] In step S970, during the processing, the closed-loop temperature control unit 610 collects temperature data of the processing area in real time and non-contactly, focusing on monitoring the temperature changes in the induction preheating zone and the laser quenching zone. The system simultaneously collects the actual output power data of the induction heating power supply 110 and the laser 210. The central control unit 620 quickly compares and calculates the received real-time temperature and power data with the target value or allowable range pre-calculated based on the model in step S910. Once a deviation is detected (such as the laser quenching zone temperature exceeding the upper limit of the target range, or the induction preheating zone temperature exceeding the preset preheating temperature T), the system will take corrective action. pre (Interval), the central control unit 620 will immediately generate parameter correction instructions to dynamically adjust the V, D, P i and / or P l One or more parameters are selected to perform real-time correction of the process, thereby achieving closed-loop adaptive control of the entire composite strengthening heat treatment process.

[0135] In addition, the closed-loop temperature control unit 610 is set with specific temperature control values ​​or allowable ranges. For the laser-quenched area, the temperature needs to be controlled above the austenitic phase transformation point and below the melting point of the material to ensure complete phase transformation hardening and avoid surface melting or overheating. For the induction preheating area, the preset preheating temperature T needs to be reached. pre The closed-loop temperature control unit 610 independently monitors the temperature of the two characteristic areas and feeds the data back to the central control unit 620 in real time, providing a basis for the closed-loop adjustment of process parameters.

[0136] Furthermore, such as Figure 8 As shown, the closed-loop control logic in step S970 adopts a hierarchical collaborative mechanism: adjusting the induction preheating power P i (i.e., first power), laser heating power P l The priorities of the second power (i.e., the scanning speed V, i.e., the moving speed) and the tracking distance D gradually decrease. Specifically, when a temperature deviation is detected, the induction preheating power P is adjusted first. i Or laser heating power P lThis allows for rapid response to temperature fluctuations and immediate compensation of energy input intensity. If power adjustment fails to restore the temperature to the target range, the scanning speed V is further adjusted to control heat accumulation by changing the energy input time. The tracking distance D, as a preset process parameter, is set and locked before processing primarily through the precision adjustment mechanism of the composite strengthening heat treatment fixture 300. Position correction is performed by the central control unit, driven by the actuator, only during process switching or significant drift in operating conditions when the first two adjustments are ineffective, serving as an auxiliary adjustment method. When multiple parameters need to be adjusted simultaneously, the central control unit, based on the aforementioned energy field spatiotemporal coupling model, outputs synchronous control commands to the induction preheating device 100, laser heating device 200, robot 400, and the spacing adjustment mechanism 340 of the composite strengthening heat treatment fixture 300, ensuring that the relative position of the laser spot and the induction preheating zone always meets process requirements during dynamic adjustment. This hierarchical collaborative control mechanism balances system response speed and process stability, forming the basis for adaptive control of the composite strengthening process.

[0137] like Figure 8 As shown, the specific process of hierarchical collaborative closed-loop control in Example 2 is as follows:

[0138] Step S971: Acquire temperature / power feedback signals.

[0139] In step S971, the central control unit 620 continuously acquires temperature and power feedback signals.

[0140] Step S972: Determine whether it deviates from the target range.

[0141] In step S972, it is determined whether the temperature of the processing area deviates from the preset target range. If it does not deviate, the process returns directly to the data acquisition stage in step S971 for continuous monitoring, forming a basic monitoring closed loop. If the monitored temperature deviates from the target range, the process proceeds to step S973.

[0142] Step S973: Startup parameter correction.

[0143] In step S973, the hierarchical collaborative control module in the central control device initiates parameter correction. The hierarchical collaborative control module strictly follows a logic of adjusting parameters sequentially from high to low priority, and a validity verification node is set after each adjustment to avoid invalid adjustments. The specific steps of step S973 are as follows:

[0144] Step S973a, First Priority: Adjust Power P i / P l .

[0145] In step S973a, the first priority is power adjustment, and the induction preheating power P is adjusted first. i Or laser heating power P lSince power is the parameter that has the most direct and fastest response to the temperature field, prioritizing its adjustment can quickly correct temperature deviations and minimize the impact on processing efficiency.

[0146] Step S973b: Determine whether the target range has been restored.

[0147] In step S973b, it is determined whether the adjusted verification temperature has recovered to the target range. If it has recovered, the parameter correction instruction generation step in step S974 is directly entered. If it has not recovered, the step S973c is entered.

[0148] Step S973c, Second Priority: Adjust speed V.

[0149] In step S973c, the second priority is scanning speed adjustment. By adjusting the scanning speed of induction and laser heating, the interaction time between the heat source and the workpiece 20 is changed to adjust the heat input and correct the temperature field deviation.

[0150] Step S973d: Determine whether the target range has been restored.

[0151] In step S973d, it is determined whether the adjusted verification temperature has recovered to the target range. If it has recovered, the parameter correction instruction generation step in step S974 is directly entered. If it has not recovered, the step S973e is entered.

[0152] Step S973e, Third Priority: Adjust tracking spacing D.

[0153] In step S973e, the third priority is tracking distance adjustment, which adjusts the tracking distance D between the induction preheating unit and the laser heating unit to optimize the thermal field coupling relationship between induction preheating and laser quenching, and adapt to the complex working conditions in the process.

[0154] Step S973f: Determine whether the target range has been restored.

[0155] In step S973f, it is determined whether the adjusted verification temperature has recovered to the target range. If it has recovered, the parameter correction instruction generation step in step S974 is directly entered. If it has not recovered, the step S973g is entered.

[0156] Step S973g, Fourth Priority: Multi-parameter Coordinated Adjustment.

[0157] In step S973g, the fourth priority is multi-parameter coordinated adjustment. When single-parameter hierarchical adjustment cannot effectively correct the deviation, P is synchronously optimized based on the energy field spatiotemporal coupling model. i / P l Multiple parameters in V and D are used to adapt to extreme operating conditions in the process.

[0158] Step S973h: Determine whether the target range has been restored.

[0159] In step S973h, it is determined whether the adjusted verification temperature has recovered to the target range. If it has recovered, the parameter correction instruction generation step in step S974 is directly entered. If it has not recovered, the step S973i is entered.

[0160] Step S973i: Alarm or shutdown.

[0161] In step S973i, if the problem is not resolved, an alarm or shutdown is triggered to ensure process and equipment safety.

[0162] Step S974: Generate parameter correction instructions.

[0163] In step S974, after the parameter verification is successful, the central control unit 620 generates a targeted parameter correction command and sends it to the execution unit module, which then transmits it to the controller (P) of the induction preheating device 100. i ), controller of laser heating device 200 (P) l The controller (V) and spacing adjustment mechanism 340 (D) of robot 400 complete the correction and execution of the corresponding process parameters. After execution, the command is returned to the initial acquisition stage in step S971 through the closed-loop feedback path, starting the next control cycle and realizing the full-process automation and adaptive closed-loop control of the composite enhancement process.

[0164] This hierarchical collaborative closed-loop control, through clear hierarchical priorities, a sound verification mechanism, and a multi-parameter synchronous coordination and supplementation scheme, prioritizes parameters with fast response and low disturbance to ensure processing efficiency, adapts to complex working conditions through multi-parameter synchronous coordination, and sets up an anomaly protection mechanism. It takes into account process flexibility, control precision, and operational safety, effectively solving the industry pain points of uneven temperature field superposition and uneven hardened layer microstructure and properties in inductive laser composite strengthening processing, and providing core technical support for efficient and uniform composite strengthening processing.

[0165] In summary, the composite strengthening heat treatment control method 90 provided in Example 2, through a systematic closed-loop technical path of "model construction - parameter setting - synchronous execution - feedback adjustment," optimizes the control of the two energy fields, induction and laser, from a simple sequential execution to a process capable of millisecond-level spatiotemporal coordination and multi-parameter closed-loop adaptive control. The system employs an adjustable-spacing integrated fixture to ensure accurate spatial positioning. In terms of control, precise timing synchronization and multi-source signal processing and instruction generation are achieved through a timing control unit 630 and a central control unit 620. An integrated closed-loop temperature control unit 610 enables process monitoring and closed-loop control. Example 2 effectively solves the problems of existing induction-laser composite strengthening technologies relying on experience and exhibiting poor process stability, providing a reliable method and system support for obtaining high-performance hardened layers with controllable depth, gentle gradient, and uniformity. It has significant technical advantages and application prospects, especially in the field of surface strengthening of key components such as linear guides for high-end CNC machine tools, heavy-duty shafts, and large molds.

[0166] Example 3

[0167] Example 3 provides a specific embodiment of heat treatment of a workpiece 20 made of GCr15 steel using the composite strengthening heat treatment control method 90 in Example 2.

[0168] In step S910, based on the thermal conductivity, specific heat capacity, resistivity, and relative magnetic permeability of GCr15 steel as a function of temperature, as well as material properties such as laser absorptivity and critical phase transition temperature, and given that the workpiece 20 has a planar geometry with a width of 140 mm, the effective heating zone of the inductor 130 has a width of 16 mm, and the laser spot is rectangular with dimensions of 16 mm × 2 mm, a spatiotemporal coupling model of the energy field is established. The model predicts that when the induction preheating power P... i At a power output of 25kW, a frequency of 20kHz, and a scanning speed of V=4mm / s, the surface of workpiece 20 is heated to approximately 550℃ within the effective heating zone of inductor 130 (target preheating temperature T is set). pre =550℃); at laser power P l At a power of 2.4 kW and a tracking distance of D=29 mm, the temperature of the laser spot area is approximately 1190 ℃, and the hardened layer depth is approximately 1.50 mm.

[0169] In step S930, based on the model optimization results, the initial process parameters are set: P i =25kW, P l=2.4kW, V=4mm / s, D=29mm. The central control unit 620 sends the above parameters to the induction heating power supply 110 of the induction preheating device 100, the laser 210 of the laser heating device 200, the controller of the robot 400, and the driver of the composite strengthening heat treatment fixture 300. According to the instructions, the composite strengthening heat treatment fixture 300 adjusts the distance between the center of the effective heating area of ​​the sensor 130 and the center of the laser spot (the distance between the first straight line and the second straight line) to 29mm and locks it.

[0170] In step S950, timing-coordinated control is executed: Before starting processing, the robot 400 moves the sensor 130 and the laser hardening head 220 to the outside of the starting end of the workpiece 20, aligning the front end of the effective heating zone of the sensor 130 with the edge of the workpiece 20. After the central control unit 620 issues a "start" command, the system proceeds as follows: Figure 6 The sequential logic execution is shown below:

[0171] At time t0: The controller of robot 400 drives the end effector to scan at a constant speed of V=4mm / s along the length of workpiece 20, and the timing control unit 630 synchronously receives the real-time position signal of robot 400.

[0172] At time t1: When the front end of the sensor 130 reaches the starting edge of the workpiece 20, the timing control unit 630 triggers the induction preheating device 100 to start, and the sensor 130 begins to continuously preheat the surface of the workpiece 20.

[0173] During the interval from t1 to t2 (the initial stage of interval I): Robot 400 continues to move, and the timing control unit 630 continuously monitors the moving distance. When the cumulative moving distance from t1 reaches D=29mm, that is, time t2.

[0174] At time t2: the timing control unit 630 triggers the laser heating device 200 to emit light. At this time, the center of the laser spot is exactly 29mm downstream of the induction preheating zone, and this area has been preheated.

[0175] Between t2 and t3 (interval II continuous processing stage): Induction preheating and laser emission are simultaneously activated, with a constant spatial distance of 29mm between them, and they scan forward synchronously. The closed-loop temperature control unit 610 monitors in real time, and the temperature in the preheating zone is stable at 540-560℃, and the temperature in the laser action zone is stable at 1180-1200℃, both within the allowable range.

[0176] At time t3: When the trailing edge of the effective heating zone of the sensor 130 reaches the end edge of the workpiece 20, the timing control unit 630 triggers the induction preheating device 100 to shut down.

[0177] In the t3 to t4 interval (end of interval III): the induction preheating device 100 is turned off, the laser continues to emit light, and the robot 400 continues to move the last 29mm. The laser spot still acts on the preheated area, completing the end hardening.

[0178] At time t4 (interval IV): Robot 400 has moved a cumulative distance of 29mm since t3, and the timing control unit 630 triggers the laser heating device 200 to shut down. At this point, single-pass surface composite strengthening is complete. Multi-pass machining repeats the above process according to the trajectory design.

[0179] Throughout the entire processing, the induction preheating zone and the laser quenching zone maintain a distance of D=29mm, achieving precise coordination of timing and space.

[0180] In step S970, the closed-loop feedback loop: During the processing, the closed-loop temperature control unit 610 collects the preheating zone temperature T in real time. pre and the quenching zone temperature T laser The central control unit 620 synchronously collects the actual output power P of the induction heating power supply 110 of the induction preheating device 100. i The actual output power P of the laser 210 in the laser heating device 200 l Compare the real-time value with the target window (T). pre =550±10℃, T laser =1190±10℃) Compare, and follow the instructions... Figure 8 The hierarchical collaborative control process shown is executed and adjusted.

[0181] First priority: When T laser When the temperature exceeds 1200℃, the central control unit 620 generates a parameter correction command to reduce the laser power P. l Or, at temperatures below 1180℃, increase the laser power P. l The adjustment step size is 0.1kW, and the adjustment period is 0.1s. If the temperature recovers, maintain it. Second priority: If adjusting the power to the upper and lower limits (1.8-4.4kW) still cannot recover the temperature, then adjust the scanning speed V with a step size of 0.5mm / s. Third priority: If adjusting the speed to the upper limit of the range (2-12mm / s) is still ineffective, then adjust the tracking spacing D with a step size of 1mm (within the 0-100mm travel range of the 300 composite strengthening heat treatment fixture adjustment mechanism). Fourth priority: If the above single parameter adjustments are ineffective, then adjust P simultaneously according to the energy field spatiotemporal coupling model. i P l Multiple parameters in V and D.

[0182] In this embodiment 3, the processing temperature remained stable within the target window (540-560℃ in the preheating zone and 1180-1200℃ in the laser treatment zone). Stability was maintained solely by adjusting the first priority level, without triggering subsequent priorities. The processed workpiece 20 was inspected and found to have a hardened layer depth of 1.49mm, essentially consistent with the model's predicted value of 1.50mm. The surface hardness was HRC 62-63, and the hardened layer depth and hardness distribution were uniform, with no cracks or overheating.

[0183] Example 4

[0184] Example 4 provides a specific embodiment of heat treatment of a workpiece 20 made of H13 hot work die steel using the composite strengthening heat treatment control method 90 in Example 2.

[0185] In Example 4, H13 hot work die steel (cavity curved surface, radius of curvature R24~R60mm) is used as the workpiece 20 to be processed, and the same composite strengthening heat treatment control method as in Example 3 is adopted. The motion execution device plans the three-dimensional curved surface scanning trajectory through teaching programming, so that the sensor 130 and the laser quenching head 220 always follow the normal direction of the curved surface during the scanning process, maintaining a constant gap between the induction coil and the surface of the workpiece 20 and a constant laser spot incident angle. The sensor 130 is a contour-following arc coil with an effective heating zone width of 16mm, and its curvature is designed according to the average radius of curvature of the cavity. The laser spot is rectangular (16mm×2mm). The initial process parameters are generated by matching the process database: P i =20kW, P l =2.9kW, V=6mm / s, D=14mm, composite reinforced heat treatment fixture 300, adjust the spacing to 14mm and lock. H13 steel preheating temperature T pre =390℃ (lower than A) c1 Phase transition point (primarily to reduce thermal stress and cracking tendency), laser quenching target temperature T laser =1440±10℃. During processing, the scanning speed dynamically changes within the range of 4~12mm / s due to the curved surface contour. The timing control unit 630 still triggers laser emission by cumulative displacement, and the spatial spacing D remains constant. At different curvature sections, the preheating temperature fluctuations caused by changes in the gap between the induction coil and the workpiece 20 surface are monitored in real time by the closed-loop temperature control unit 610 and compensated by adjusting the induction power. The closed-loop temperature control unit 610 detects T... laser The temperature fluctuates between 1430 and 1450°C, with the central control unit 620 prioritizing the adjustment of P. l(2.4~4.0kW) to stabilize the temperature at 1440±10℃. When the temperature fluctuation at the point of curvature change exceeds the power adjustment range, the central control unit 620 automatically reduces the scanning speed to 4mm / s (second priority). The hardened layer depth of the treated mold surface is 1.15~1.25mm, the surface hardness is HRC59~61, the hardened layer depth and hardness distribution are uniform, and there are no cracks or overheating.

[0186] Note that the above are merely preferred embodiments and the technical principles employed in this application. Those skilled in the art will understand that this application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments. Many other equivalent embodiments may be included without departing from the concept of this application, all of which fall within the scope of protection of this application.

Claims

1. A composite enhanced heat treatment system, characterized in that, include: An induction preheating device, wherein the induction preheating device has a sensor; A laser heating device, wherein the laser heating device has a laser quenching head; A composite-strengthened heat treatment fixture is provided to fix the inductor and the quenching head. The inductor emits an alternating magnetic field along the extension direction of a first straight line to preheat a first area on the surface of the workpiece. The laser quenching head emits a laser beam along a second straight line to quench a second area on the surface of the workpiece. The second straight line is parallel to the first straight line. The distance between the inductor and the laser quenching head is adjustable. The inductor is provided with a bending part to avoid the laser quenching head when the distance between the inductor and the laser quenching head is adjusted so that the first straight line coincides with the second straight line. The motion device is used to move the composite reinforced heat treatment fixture, which is then driven to move such that the intersections of the first straight line, the second straight line, and the workpiece move sequentially along the same scanning trajectory.

2. The composite enhanced heat treatment system according to claim 1, characterized in that, The composite reinforced heat treatment fixture includes: A fixed mounting plate, which is detachably connected to the motion device; A first mounting mechanism is mounted on the fixed mounting plate to fix the sensor. The second mounting mechanism includes a first connector and a second connector. One end of the first connector is detachably connected to the laser quenching head, and the other end is detachably connected to the fixed mounting plate. Alternatively, one end of the first connector is detachably connected to the laser quenching head, and the second connector has a first end and a second end, which are perpendicularly arranged. The first end is detachably connected to the fixed mounting plate, and the other end of the first connector is detachably connected to the second end.

3. The composite enhanced heat treatment system according to claim 1 or 2, characterized in that, It also includes a control device, which comprises: A closed-loop temperature control unit, wherein the closed-loop temperature control unit is used to detect the temperature of the first region and the second region; A central control unit is configured to adjust at least one of a first power, a second power, a moving speed, and a tracking distance when the temperature of the first region and / or the second region is outside the target temperature range. The first power is the power of the sensor to preheat the workpiece surface, the second power is the power of the laser quenching head to quench the workpiece surface with laser, the moving speed is the speed at which the motion device drives the composite strengthening heat treatment fixture to move, and the tracking distance is the distance between the intersection points of the first straight line, the second straight line, and the workpiece.

4. The composite enhanced heat treatment system according to claim 3, characterized in that, The priority of adjusting the first power, the second power, the moving speed, and the tracking distance gradually decreases.

5. The composite enhanced heat treatment system according to claim 3, characterized in that, The control device further includes: A timing control unit is configured to control the laser quenching head to emit a laser beam when the first distance is equal to the tracking spacing, wherein the first distance is the distance the motion device drives the composite strengthening heat treatment fixture to move after the sensor starts sensing preheating; and / or, the timing control unit is configured to control the laser quenching head to stop emitting a laser beam when the second distance is equal to the tracking spacing, wherein the second distance is the distance the motion device drives the composite strengthening heat treatment fixture to move after the sensor stops sensing preheating.

6. A method for controlling composite strengthening heat treatment, characterized in that, Controlling the composite strengthening heat treatment system according to any one of claims 1-5 to perform heat treatment on the workpiece includes: Obtain first information, wherein the first information is at least one of the material property information of the workpiece, the shape information of the workpiece, and the target performance information of the workpiece; Based on the first information, a first control command is determined. The first control command includes at least one of a first power, a second power, a moving speed, and a tracking distance, and is used to control the composite strengthening heat treatment system to perform heat treatment on the workpiece. The first power is the power of the sensor to perform inductive preheating on the surface of the workpiece, the second power is the power of the laser quenching head to perform laser quenching on the surface of the workpiece, the moving speed is the speed at which the motion device drives the composite strengthening heat treatment fixture to move, and the tracking distance is the distance between the intersection points of the first straight line, the second straight line, and the workpiece.

7. The composite strengthening heat treatment control method according to claim 6, characterized in that, Also includes: Obtain second information, which is the temperature of the first region; A first temperature range is obtained, which is the target temperature range for induction preheating of the workpiece surface. When the temperature in the second information is outside the first temperature range, a second control command is issued. The second control command is used to adjust at least one of the first power, the second power, the moving speed, and the tracking distance.

8. The composite strengthening heat treatment control method according to claim 6, characterized in that, Also includes: Obtain third information, wherein the third information is the temperature of the second region; A second temperature range is obtained, which is the target temperature range for laser hardening of the workpiece surface; When the temperature in the third information is outside the second temperature range, a third control command is issued. The third control command is used to adjust at least one of the first power, the second power, the moving speed, and the tracking distance.

9. The composite strengthening heat treatment control method according to claim 7 or 8, characterized in that, The priority of adjusting the first power, the second power, the moving speed, and the tracking distance gradually decreases.

10. The composite strengthening heat treatment control method according to claim 6, characterized in that, Also includes: The fourth information is the first distance that the motion device drives the composite reinforced heat treatment fixture to move after the sensor starts sensing preheating. Determine whether the first distance is equal to the tracking interval; When the judgment result is yes, a fourth control command is issued, which is used to control the laser quenching head to emit a laser beam; and / or, The fifth piece of information is the second distance that the motion device drives the composite reinforced heat treatment fixture to move after the sensor is turned off and the preheating is stopped. Determine whether the second distance is equal to the tracking interval; When the judgment result is yes, a fifth control command is issued, which is used to control the laser quenching head to stop emitting a laser beam.

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