A laser shock peening device and method for a rotating blisk

Abstract

The application provides a laser shock peening device and method for a dynamic overall blade, the laser shock peening device comprising: a laser assembly, a rotary table assembly, a light guide arm, a final focusing assembly and a robot; the laser assembly is used for outputting a laser beam; the rotary table assembly is used for mounting and driving the overall blade to rotate; the light guide arm comprises a first light inlet end and a first light outlet end, the first light inlet end is in optical communication with the laser assembly to transmit the laser beam of the laser assembly; the final focusing assembly is connected with the first light outlet end and used for focusing the laser beam to the overall blade; the end of the robot is connected with the final focusing assembly to drive the final focusing assembly to move; wherein, the rotary table assembly and the robot act in concert, the laser shock peening is implemented on the overall blade through the rotation of the overall blade and the movement of the laser beam, and the technical problem that the existing device is difficult to implement the laser shock peening on the overall blade with large size, large quality and complex surface structure can be solved.

Description

Technical Field

[0001] This invention relates to the field of laser shock peening equipment technology, and in particular to a dynamic light-type integral bladed disk laser shock peening equipment and shock peening method. Background Technology

[0002] Laser shock peening utilizes high-energy short-pulse lasers to generate shock waves on the surface of metallic materials, causing plastic deformation of the material surface and forming residual compressive stress to improve the fatigue resistance and other properties of the parts. Integral bladed disks, which are made of blades and disk as a single unit, are characterized by a large number of blades, small spacing, large surface curvature variations, and mutual occlusion in some areas, making laser shock peening a challenging process.

[0003] Most existing laser shock peening equipment adopts a "fixed beam, moving workpiece" processing method, in which a robot drives the workpiece to move relative to a fixed laser beam. For large-diameter, large-mass integral bladed disks, the robot is limited by rated load, wrist torque and movement space. In addition, the motion envelope of the integral bladed disk is large, which can easily cause interference with the robot and optical path components, making it difficult to carry out laser shock peening on areas with complex structures, overlapping positions or obstructions. Summary of the Invention

[0004] This invention provides a dynamic light-driven integral bladed disk laser shock strengthening device and shock strengthening method to improve the technical problem that existing equipment is limited by the robot's load capacity and movement space when the integral bladed disk is driven by a robot, making it difficult to carry out laser shock strengthening on large-sized, high-mass integral bladed disks with complex surface structures.

[0005] This invention provides a dynamic optical laser shock blasting device for integral bladed disks. The device includes a laser component, a turntable component, a light guide arm, a final-stage focusing component, and a robot. The laser component outputs a laser beam. The turntable component mounts and drives the integral bladed disk to rotate. The light guide arm includes a first light-inlet end and a first light-outlet end. The first light-inlet end is connected to the optical path of the laser component to transmit the laser beam. The final-stage focusing component is connected to the first light-outlet end and focuses the laser beam onto the integral bladed disk. The end effector of the robot is connected to the final-stage focusing component to drive its movement. The turntable component and the robot work together to perform laser shock blasting on the integral bladed disk through the rotation of the integral bladed disk and the movement of the laser beam.

[0006] In one embodiment of the present invention, the laser component turntable assembly includes a turntable support, an electric rotary table, and a turntable adapter flange; the laser component integral bladed disk is connected to the laser component turntable adapter flange via a support flange, and the laser component integral bladed disk and the laser component support flange, as well as the laser component support flange and the laser component turntable adapter flange, are positioned by radial stops and connected by a first fastener.

[0007] In one embodiment of the present invention, the system further includes a bracket and a reflective box mounted on the laser component bracket. The laser component reflective box includes a second light-incident end and a second light-outcident end. The second light-incident end of the laser component is connected to the optical path of the laser component through a light guide tube. The second light-outcident end of the laser component is connected to the first light-incident end of the laser component. The laser component reflective box and the first light-incident end of the laser component are fixed relative to the laser component bracket. The laser component bracket is provided with a mounting plate having multiple sets of mounting holes. The base of the laser component robot can selectively connect to different sets of laser component mounting holes to adjust the installation position of the laser component robot.

[0008] In one embodiment of the present invention, a clamping seat is installed at the end of the laser component robot. The laser component clamping seat has an open annular clamping part adapted to the outer peripheral surface of the final stage focusing component of the laser component. The open annular clamping part clamps the final stage focusing component of the laser component. The laser shock intensification equipment also includes a water supply pipeline and an air supply pipeline. Both the water supply pipeline and the air supply pipeline are fixed to the clamping seat and move synchronously with the final stage focusing component. An air pipe connector is installed on the final stage focusing component. The air pipe connector is used to connect to the air outlet of the air supply pipeline.

[0009] In one embodiment of the present invention, a control device is further included, which is connected to the laser component turntable assembly, the laser component robot, and the laser component laser component respectively. The laser component control device is used to control the laser component equipment to perform at least one of the following processing modes: indexing processing mode, in which the laser component turntable assembly rotates the blade to be processed to the processing station and keeps it in position, and the laser component robot drives the laser component final stage focusing assembly to move along the predetermined trajectory of the laser component blade to be processed; continuous linkage mode, in which the laser component turntable assembly drives the entire laser component blade disk to rotate continuously, and the laser component robot synchronously adjusts the position and light emission posture of the laser component final stage focusing assembly.

[0010] This invention also provides a method for dynamic laser shock peening of an integral bladed disk, comprising the following steps: The integral bladed disk is installed on the turntable assembly, and the laser beam output by the laser assembly is transmitted to the final stage focusing assembly via the light guide arm; The laser assembly's turntable drives the entire impeller of the laser assembly to rotate, and the robot drives the final focusing component of the laser assembly to move, so that the laser beam output by the final focusing component moves relative to the entire impeller of the laser assembly. The rotation of the overall bladed disk of the laser assembly is coordinated with the movement of the laser beam of the laser assembly, and the laser beam of the laser assembly is used to perform laser shock enhancement on a predetermined area of ​​the overall bladed disk of the laser assembly.

[0011] In one embodiment of the present invention, a three-dimensional model of the overall bladed disk of the laser component is obtained, the area to be strengthened is determined in the three-dimensional model of the laser component, the surface of the area to be strengthened of the laser component is discretized to obtain multiple laser impact processing points including three-dimensional coordinates and surface normal vectors; the rotation angle of the laser component turntable component, the motion pose of the laser component robot, and the distance between adjacent laser impact processing points are determined according to the laser impact processing points of the laser component.

[0012] In one embodiment of the present invention, a coordinate transformation relationship is established between the robot base coordinate system, the turntable coordinate system, the impeller workpiece coordinate system and the laser tool coordinate system. The focal point of the laser beam output by the final focusing component of the laser assembly is set as the tool center point of the laser tool coordinate system of the laser assembly. The position of the impeller workpiece coordinate system of the laser assembly relative to the robot base coordinate system of the laser assembly is updated according to the rotation angle of the turntable component of the laser assembly.

[0013] In one embodiment of the present invention, the laser shock strengthening connection adopts at least one of the following processing methods: In the indexing process, when strengthening the blade surface, the connecting turntable assembly rotates the blade to be processed to the processing station and keeps it in position. The connecting robot drives the connecting final stage focusing assembly to move along the surface of the blade to be processed. After strengthening one blade, the connecting robot exits the blade channel, and the connecting turntable assembly rotates the next blade to the processing station. In the continuous linkage mode, when strengthening the area continuously distributed along the circumference of the connecting integral impeller, the connecting turntable component drives the connecting integral impeller to rotate continuously, and the connecting robot synchronously adjusts the position and light emission posture of the connecting final stage focusing component.

[0014] In one embodiment of the present invention, the actual position of the laser focus relative to the overall bladed disk of the laser component is determined based on the position feedback of the laser component robot and the laser component turntable component; when the actual position of the laser component, the laser focal length, and the laser incident angle are within the corresponding preset range, a laser pulse is triggered; when position deviation, defocusing, motion interference, or water supply abnormality occurs, subsequent laser pulses are prohibited from being triggered.

[0015] The beneficial effects of this invention: This invention proposes a dynamic-light-driven laser shock blasting device for integral bladed disks. The integral bladed disk is mounted on a turntable assembly, which bears the weight of the disk and drives its rotation. A robot drives the final-stage focusing assembly, coordinating the rotation of the bladed disk with the movement of the laser beam to achieve laser shock blasting. The robot only drives the final-stage focusing assembly, eliminating the need to directly hold the bladed disk, thus reducing the limitations imposed by the weight of the bladed disk and the eccentric torque on the robot's load-bearing capacity. It also improves the reachability of the laser beam to complex surfaces of the bladed disk. This invention is suitable for laser shock blasting of large-size, high-mass, and structurally complex integral bladed disks. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0017] In the attached diagram: Figure 1 This is a schematic diagram of the overall structure of a dynamic-light integral bladed disk laser shock strengthening device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the installation structure of the integral bladed disk and the supporting flange provided in one embodiment of the present invention; Figure 3 This is a partially enlarged view of the connection position between the integral bladed disk and the supporting flange in one embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a turntable assembly provided in one embodiment of the present invention; Figure 5 This is a schematic diagram of the installation structure of the light guide arm, the final focusing component, and the robot provided in one embodiment of the present invention; Figure 6 A schematic diagram of the clamping seat provided in one embodiment of the present invention.

[0018] The attached figures are labeled as follows: 1. Laser shock peening equipment; 2. Integral impeller; 10. Laser assembly; 11. Laser chamber; 12. Light guide tube; 20. Turntable assembly; 21. Turntable support; 22. Electric rotary table; 23. Turntable adapter flange; 24. Support flange; 25. First fastener; 30. Light guide arm; 31. First light input end; 32. First light output end; 40. Final stage focusing assembly; 41. Adjustable water nozzle; 42. Air pipe connector; 50. Robot; 51. Clamping seat; 511. Open-type annular clamping part; 512. Second fastener; 513. Air supply pipe fixing hole; 514. Water supply pipe fixing hole; 60. Bracket; 61. Mounting plate; 70. Reflector box; 71. Second light input end; 72. Second light output end; 80. Control device; 81. Host computer; 90. Accessory compartment. Detailed Implementation

[0019] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0020] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0021] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0022] Please see Figures 1 to 6 This invention provides a laser shock blasting device 1 and a shock blasting method for integral bladed disks driven by a moving light. The laser shock blasting device 1 includes a laser assembly 10, a turntable assembly 20, a light guide arm 30, a final focusing assembly 40, and a robot 50. It can improve upon the technical problem of existing equipment, where the robot's load capacity and movement space limit its ability to perform laser shock blasting on large-sized, high-mass, and complex-surface-structure integral bladed disks.

[0023] Laser assembly 10 is used to output a laser beam. In a specific example, laser assembly 10 includes a laser chamber 11 and a laser, an optical path system, and a temperature control system disposed within the laser chamber 11. The laser is used to generate the pulsed laser beam required for laser shock enhancement, the optical path system is used to transmit or adjust the laser beam, and the temperature control system is used to regulate the operating temperature of the laser and the optical path system. Laser assembly 10 can also be an integrated laser device capable of independently outputting a laser beam.

[0024] The turntable assembly 20 is used to mount the integral impeller 2 and drive the integral impeller 2 to rotate around its central axis. The integral impeller 2 and the turntable assembly 20 can be connected by a flange, chuck, or other mounting structure that can achieve positioning and fixation.

[0025] The light guide arm 30 includes a first light input end 31 and a first light output end 32. The first light input end 31 is connected to the optical path of the laser component 10 and is used to receive the laser beam output by the laser component 10; the first light output end 32 is connected to the final focusing component 40 and is used to transmit the laser beam to the final focusing component 40.

[0026] The first light-inlet end 31 can be directly optically connected to the laser component 10, or indirectly optically connected through the light guide tube 12, the reflector box 70, or other optical transmission components. The first light-outlet end 32 and the final focusing component 40 can be connected by threads, flanges, sleeves, or other connection structures that can maintain optical path continuity.

[0027] The final-stage focusing assembly 40 receives the laser beam output from the light guide arm 30 and focuses the laser beam onto the integral bladed disk 2. The final-stage focusing assembly 40 may include a focusing lens, a lens mounting base, and a protective lens. The focusing lens is used to form a light spot that meets the requirements of laser shock peening, and the protective lens is used to reduce contamination of the focusing lens by water mist and processing debris.

[0028] The end effector of robot 50 is connected to final focusing assembly 40. Robot 50 can be directly connected to final focusing assembly 40, or it can be connected to final focusing assembly 40 through clamping base 51, connecting flange or other connecting parts. When robot 50 moves, it drives final focusing assembly 40 to change its spatial position and light emission posture, and final focusing assembly 40 drives the first light emission end 32 of light guide arm 30 to follow.

[0029] During the processing, the turntable assembly 20 drives the integral impeller 2 to rotate, and the robot 50 drives the final stage focusing assembly 40 to move. The rotation of the integral impeller 2 is used to change the circumferential position of the area to be strengthened, and the movement of the final stage focusing assembly 40 is used to change the position and incident attitude of the laser beam on the integral impeller 2. The two work together to form the processing trajectory between the laser beam and the integral impeller 2.

[0030] In this embodiment, the turntable assembly 20 supports the weight of the integral impeller 2 and drives its rotation, eliminating the need for the robot 50 to directly grip the integral impeller 2. This reduces the limitations imposed by the weight of the integral impeller 2 and the eccentric torque on the robot 50's load-bearing capacity. Simultaneously, the coordination between the rotation of the integral impeller 2 and the movement of the laser beam reduces the motion envelope generated during multi-degree-of-freedom motion of the integral impeller 2, improving the laser beam's accessibility to the complex surfaces of the integral impeller 2.

[0031] Please see Figures 1 to 4In one embodiment of the present invention, the turntable assembly 20 includes a turntable support 21, an electric rotary table 22, and a turntable adapter flange 23. The turntable support 21 adopts a welded or cast structure, and its bottom is fixed to the ground or a fixed base by bolts. The electric rotary table 22 is mounted on the upper part of the turntable support 21, and the turntable adapter flange 23 is mounted on the output end of the electric rotary table 22, so that the turntable adapter flange 23 can rotate with the output end of the electric rotary table 22.

[0032] The integral impeller 2 is connected to the turntable transition flange 23 via a support flange 24. A radial stop is provided between the integral impeller 2 and the support flange 24, and a radial stop is also provided between the support flange 24 and the turntable transition flange 23. The integral impeller 2 and the support flange 24, as well as the support flange 24 and the turntable transition flange 23, are respectively fixed by first fasteners 25, which can be screws or bolts, etc.

[0033] During installation, first align the radial positioning surface of the integral impeller 2 with the radial stop of the support flange 24, then axially fix the integral impeller 2 to the support flange 24 using the first fastener 25; subsequently, align the radial stop of the support flange 24 with the turntable transition flange 23, and fix the support flange 24 to the turntable transition flange 23 using the first fastener 25. After installation, the central axis of the integral impeller 2 is substantially coincident with the rotation axis of the electric rotary table 22.

[0034] The support flange 24 can be replaced according to the center hole size, end face size or mounting hole position of the integral bladed disk 2, thereby installing different models of integral bladed disks 2 on the same turntable assembly 20 through support flanges 24 of different specifications.

[0035] In this embodiment, the turntable bracket 21 directly bears the weight of the integral impeller 2 and the electric rotary table 22, transferring the load to the ground or a fixed base, thereby improving the support stability of the integral impeller 2 during rotation. Two-stage radial stops radially position the integral impeller 2 and the support flange 24, reducing the cumulative radial deviation caused by multi-stage flange connections and improving the coaxiality between the integral impeller 2 and the electric rotary table 22. The replaceable support flange 24 also enhances the compatibility of the turntable assembly 20 with integral impellers of different specifications.

[0036] Please see Figure 1 and Figure 5 In one embodiment of the present invention, the laser shock peening device 1 further includes a support 60 and a reflective box 70 mounted on the support 60. The support 60 can be a welded frame, a profile frame, or other fixed support structure, and its bottom is fixed to the ground or a fixed base.

[0037] The reflector box 70 includes a second light-incident end 71 and a second light-outcident end 72. The second light-incident end 71 is connected to the optical path of the laser assembly 10 through the light guide tube 12, and the second light-outcident end 72 is connected to the first light-incident end 31 of the light guide arm 30. Therefore, the laser assembly 10, the light guide tube 12, the reflector box 70, the light guide arm 30, and the final focusing assembly 40 sequentially form a laser transmission path.

[0038] One or more reflective optical elements can be installed inside the reflector box 70 to change the propagation direction of the laser beam. The laser beam output from the laser assembly 10 enters the second light-inlet end 71 through the light guide tube 12, and after the propagation direction is changed by the reflector box 70, it enters the first light-inlet end 31 through the second light-outlet end 72.

[0039] The reflector box 70 is fixedly mounted on the bracket 60, and the first light-incident end 31 of the light guide arm 30 is connected to the reflector box 70, thereby fixing the reflector box 70 and the first light-incident end 31 relative to the bracket 60. The first light-exit end 32 of the light guide arm 30 can move with the final focusing assembly 40 under the drive of the robot 50.

[0040] The bracket 60 is equipped with a mounting plate 61, which has multiple sets of mounting holes. These mounting holes can be spaced apart along the length, width, or both directions of the mounting plate 61. The base of the robot 50 can selectively connect to different sets of mounting holes to change the robot 50's mounting position on the mounting plate 61.

[0041] For example, when the diameter of the integral impeller 2 is small, the robot 50 can be installed at a set of mounting holes close to the turntable assembly 20; when the diameter of the integral impeller 2 is large, the robot 50 can be installed at a set of mounting holes far away from the turntable assembly 20 or other suitable locations, depending on the working range of the robot 50.

[0042] In this embodiment, by fixing the reflector box 70 and the first light-incident end 31 to the bracket 60, the pre-stage optical path between the laser component 10 and the first light-incident end 31 remains relatively stable during the processing. The robot 50 only drives the final focusing component 40 and the first light-out end 32 to move, thereby reducing the impact of the robot 50's movement on the position of the pre-stage optical path.

[0043] Multiple sets of mounting holes on the mounting plate 61 provide multiple optional mounting positions for the robot 50, enabling the robot 50's workspace to match the processing area of ​​the integral bladed disk 2 of different sizes, reducing the situation where the robot 50 is in the joint limit position or strange posture for a long time, and reducing the possibility of motion interference between the robot 50, the light guide arm 30 and the integral bladed disk 2.

[0044] Please see Figure 1 , Figure 5 and Figure 6In one embodiment of the present invention, a clamping seat 51 is installed at the end of the robot 50. One end of the clamping seat 51 is connected to the end of the robot 50 via a flange or fastener, and the other end is provided with an open annular clamping part 511.

[0045] The inner circumferential surface of the open-type annular clamping part 511 is adapted to the outer circumferential surface of the final focusing assembly 40. The open-type annular clamping part 511 has a clamping opening that penetrates its annular wall. The two sides of the clamping opening are connected by a second fastener 512, which can be a screw, bolt, or rivet. When the second fastener 512 is tightened, the width of the clamping opening decreases, and the open-type annular clamping part 511 clamps the final focusing assembly 40; when the second fastener 512 is loosened, the open-type annular clamping part 511 releases the final focusing assembly 40.

[0046] When the second fastener 512 is in the loosened state, the final focusing assembly 40 can move along the axis of the open annular clamping part 511 to adjust the extension length of the final focusing assembly 40 relative to the end of the robot 50; the final focusing assembly 40 can also rotate around its own axis to adjust its circumferential mounting angle. After adjustment, the final focusing assembly 40 is locked by the second fastener 512.

[0047] In this embodiment, an open-type annular clamping part 511 is used to circumferentially clamp the final focusing component 40. Compared with the single-point clamping method, the clamping force can be distributed along the outer peripheral surface of the final focusing component 40, reducing the possibility of excessive local force causing the final focusing component 40 to shift position or the shell to deform.

[0048] The open-type annular clamping part 511 also enables the final focusing assembly 40 to have the ability to adjust its axial position and circumferential angle. It can adjust the extension distance of the final focusing assembly 40 and the direction of the auxiliary pipeline without changing the installation position of the robot 50, which is convenient for optical path calibration and for adapting the final focusing assembly 40 with different focal lengths or shapes.

[0049] Please see Figure 1 , Figure 5 and Figure 6 In one embodiment of the present invention, the laser shock peening device 1 further includes a water supply pipe (not shown in the figure) and an air supply pipe (not shown in the figure). The water supply pipe and the air supply pipe are respectively fixed to the clamping base 51, so that the water supply pipe and the air supply pipe can move synchronously with the clamping base 51 and the final focusing assembly 40.

[0050] Specifically, the clamping base 51 is provided with an air supply pipe fixing hole 513 and a water supply pipe fixing hole 514. The air supply pipe passes through the air supply pipe fixing hole 513 and is fixed to the clamping base 51, and the water supply pipe passes through the water supply pipe fixing hole 514 and is fixed to the clamping base 51.

[0051] The method of fixing the water supply pipe and the gas supply pipe to the clamping seat 51 is not limited to the above-mentioned through-hole fixing. For example, the water supply pipe and the gas supply pipe can also be installed on the clamping seat 51 by pipe clamps, pressure plates, buckles, threaded sleeves or other fixing structures that can restrict the movement of the pipes relative to the clamping seat 51.

[0052] The inlet end of the water supply pipeline is connected to the water treatment system or other water supply device in the accessory compartment 90, and the outlet end of the water supply pipeline is connected to an adjustable faucet 41. The adjustable faucet 41 has an inlet end connected to the water supply pipeline and an outlet for discharging water. The adjustable faucet 41 can be a bamboo-joint faucet, a universal nozzle, a flexible spray pipe, a ball joint nozzle, or other structures with adjustable water outlet direction. The adjustable faucet 41 can be directly inserted into the outlet end of the water supply pipeline, or it can be connected to the outlet end of the water supply pipeline through a threaded joint, an adapter sleeve, or a hose joint.

[0053] The installation orientation of the adjustable water nozzle 41 can be adjusted relative to the water supply pipeline so that the outlet of the adjustable water nozzle 41 faces the machined surface of the integral bladed disk 2. During the processing, water is sprayed through the water supply pipeline and the adjustable water nozzle 41 to the laser beam action position or the adjacent area of ​​the laser beam action position to form a water confinement layer required for laser shock strengthening on the machined surface of the integral bladed disk 2.

[0054] A gas connector 42 is installed on the final focusing assembly 40. The inlet end of the gas supply line is connected to the pneumatic system or other gas supply device in the accessory compartment 90, and the outlet end of the gas supply line is connected to the gas connector 42 installed on the final focusing assembly 40. The gas connector 42 can be installed on the housing of the final focusing assembly 40 by means of threaded connection, plug-in connection, welding, or sealed press fitting. The hollow channel of the gas connector 42 communicates with the internal space of the final focusing assembly 40, thereby supplying gas to the front end of the final focusing assembly 40, the surface of the protective mirror, or the laser beam emission area.

[0055] In this embodiment, fixing the water supply pipeline and the air supply pipeline to the clamping seat 51 can restrict the free swing of the two pipelines relative to the end of the robot 50, so that the movement trajectory of the water supply pipeline and the air supply pipeline is consistent with the movement trajectory of the final stage focusing component 40, reducing the risk of the pipeline pulling the final stage focusing component 40 and the pipeline getting entangled and interfering with the overall impeller 2, the robot 50 or the light guide arm 30.

[0056] Please see Figure 1 In one embodiment of the present invention, the laser shock peening device 1 further includes a control device 80. The control device 80 is connected to the turntable assembly 20, the robot 50, and the laser assembly 10, respectively. The connection can be an electrical connection, a communication connection, or both.

[0057] The control device 80 includes a host computer 81. The host computer 81 can be an industrial computer, an industrial control computer, or a computer with control software installed. The electric rotary table 22 can have a rotary table controller, the robot 50 can have a robot controller, and the laser component 10 can have a laser control interface. The host computer 81 is communicatively connected to the rotary table controller, the robot controller, and the laser control interface, respectively.

[0058] In the indexing processing mode, the host computer 81 controls the turntable assembly 20 to rotate the blade to be processed to the processing station and maintain its position, and then controls the robot 50 to drive the final focusing assembly 40 to move along the predetermined trajectory of the blade to be processed. After the strengthening of one blade is completed, the robot 50 drives the final focusing assembly 40 to exit the blade channel, and the turntable assembly 20 rotates the next blade to the processing station.

[0059] In continuous linkage mode, the host computer 81 controls the turntable assembly 20 to drive the overall bladed disk 2 to rotate continuously, and simultaneously controls the robot 50 to adjust the position and light emission posture of the final focusing assembly 40, so that the laser beam moves along the area to be strengthened continuously distributed around the overall bladed disk 2.

[0060] The control device 80 can control the laser shock strengthening equipment 1 to perform indexing processing mode only, or it can control the laser shock strengthening equipment 1 to perform continuous linkage mode only, and it can also switch between the two modes according to the structure of the area to be strengthened.

[0061] In this embodiment, the control device 80 coordinates the actions of the turntable assembly 20, the robot 50, and the laser assembly 10, so that the rotation of the overall impeller 2, the movement of the final stage focusing assembly 40, and the output of the laser beam can be carried out in a predetermined sequence, reducing the processing position deviation caused by the independent action of each component.

[0062] The indexing machining mode assigns the circumferential positioning between different blades to the turntable assembly 20 and the trajectory motion of a single blade surface to the robot 50, which helps to simplify the motion trajectory of the robot 50; the continuous linkage mode forms a machining trajectory together through the turntable assembly 20 and the robot 50, which can improve the machining adaptability of the continuous circumferential area of ​​the whole bladed disk 2.

[0063] The present invention also provides a method for dynamic laser shock peening of integral bladed disks, which is implemented using a dynamic laser shock peening device 1 for integral bladed disks, and includes the following steps: The integral bladed disk 2 is mounted on the turntable assembly 20, allowing it to rotate around its central axis under the drive of the turntable assembly 20. The laser assembly 10 is optically connected to the first light-inlet end 31 of the light guide arm 30, and the first light-outlet end 32 of the light guide arm 30 is connected to the final focusing assembly 40, so that the laser beam output by the laser assembly 10 is transmitted to the final focusing assembly 40 via the light guide arm 30.

[0064] The end of robot 50 is connected to the final focusing assembly 40. After the turntable assembly 20 and robot 50 are started, the turntable assembly 20 drives the overall impeller 2 to rotate, and the robot 50 drives the final focusing assembly 40 to move, so that the laser beam output by the final focusing assembly 40 moves relative to the overall impeller 2.

[0065] During processing, the circumferential position of the integral bladed disk 2 is adjusted by the turntable assembly 20, the spatial position and light output posture of the final focusing assembly 40 are adjusted by the robot 50, and the laser beam output by the laser assembly 10 is applied to a predetermined area of ​​the integral bladed disk 2 to implement laser shock enhancement.

[0066] In one specific embodiment, a blade is first rotated to a position facing the robot 50 via the turntable assembly 20, and then the robot 50 drives the final focusing assembly 40 to move along the blade's base, back, or edge. After the blade is strengthened, the entire bladed disk 2 is rotated via the turntable assembly 20 to process other blades.

[0067] In this embodiment, by distributing the rotation of the integral impeller 2 and the movement of the laser beam to the turntable assembly 20 and the robot 50, the robot 50 does not need to drive the integral impeller 2 to perform multi-degree-of-freedom spatial movements, thereby reducing the limitation of the weight of the integral impeller 2 on the load capacity of the robot 50 and reducing the motion envelope of the integral impeller 2.

[0068] In one embodiment of the present invention, a three-dimensional model of the integral bladed disk 2 is first obtained. The three-dimensional model can be obtained directly from the design model of the integral bladed disk 2, or it can be established through three-dimensional scanning, coordinate measurement or other detection methods.

[0069] In the 3D model, determine the areas to be strengthened. These areas may include the blade base area, blade back area, inlet edge area, exhaust edge area, blade tip area, blade root transition area, or impeller surface area.

[0070] The surface of the region to be reinforced is discretized to obtain multiple laser shock processing points. Each laser shock processing point includes at least the three-dimensional coordinates of the point in the overall bladed disk coordinate system and the surface normal vector at that point.

[0071] The rotation angle of the turntable assembly 20 and the motion pose of the robot 50 are determined based on the three-dimensional coordinates of the laser shock processing point and the surface normal vector. The rotation angle of the turntable assembly 20 is used to bring the area to be processed into the reachable range of the robot 50 and the final focusing assembly 40; the motion pose of the robot 50 is used to ensure that the focal point of the final focusing assembly 40 reaches the corresponding laser shock processing point and that the laser beam has an incident direction that matches the surface normal vector.

[0072] The distance between adjacent laser shock processing points is determined based on the laser spot size and the preset overlap rate. For areas with significant curvature changes, the distance between adjacent processing points can be redefined according to the arc length of the curved surface to reduce the deviation between the planar projected distance and the actual distance on the curved surface.

[0073] This embodiment generates laser shock processing points using a 3D model, enabling the target motion of the turntable assembly 20 and the robot 50 to correspond to the actual curved surface of the overall bladed disk 2, reducing the workload of point-by-point manual teaching. Using the surface normal vector to determine the light output posture of the final focusing assembly 40 helps maintain the incident state of the laser beam on the complex curved surface; determining the spacing between processing points based on the spot size helps improve the uniformity of coverage in the enhanced area.

[0074] In one embodiment of the present invention, in order to enable the laser impact processing points in the three-dimensional model to be converted into motion commands for the turntable assembly 20 and the robot 50, this embodiment establishes coordinate transformation relationships between the robot base coordinate system, the turntable coordinate system, the impeller workpiece coordinate system and the laser tool coordinate system.

[0075] The robot's base coordinate system is set at the base of the robot 50 or at a reference position specified by the robot control system. The rotary table coordinate system is set on the electric rotary table 22, with one of its coordinate axes coinciding with the rotation axis of the electric rotary table 22. The impeller workpiece coordinate system is set on the integral impeller 2, with its origin located at the center of the integral impeller 2, and its coordinate axis being the central axis of the integral impeller 2. The laser tool coordinate system is set on the final stage focusing assembly 40.

[0076] The focal point of the laser beam output by the final focusing assembly 40 is determined using a calibration target, calibration ball, or other calibration component, and this focal point is set as the tool center point in the laser tool coordinate system. By changing the posture of the robot 50 while keeping the laser focal point aligned with the same calibration position, the pose relationship between the tool center point and the end effector of the robot 50 can be determined.

[0077] The electric rotary table 22 is rotated to multiple angles, and the position of the calibration component installed on the electric rotary table 22 is measured at each angle. Based on the multiple measurement positions, the rotation center and rotation axis of the electric rotary table 22 are determined, thereby establishing the transformation relationship between the rotary table coordinate system and the robot base coordinate system.

[0078] After the integral impeller 2 is installed on the turntable assembly 20 via the support flange 24, the transformation relationship between the impeller workpiece coordinate system and the turntable coordinate system is determined based on the center positioning surface, end face, and circumferential reference of the integral impeller 2. During the machining process, the position of the impeller workpiece coordinate system relative to the robot base coordinate system is updated in real time according to the rotation angle of the turntable assembly 20.

[0079] This embodiment establishes a unified transformation relationship between four coordinate systems, enabling machining points in the 3D model of the integral impeller 2 to be converted into the target pose of the robot 50 and the target angle of the turntable assembly 20. This reduces positional deviations caused by the robot 50, turntable assembly 20, and integral impeller 2 using different coordinate references. Setting the laser focus as the tool center point also facilitates direct control of the laser focus position without having to substitute the actual machining position with the mechanical flange position of the robot 50.

[0080] In one embodiment of the present invention, the laser shock strengthening is performed using at least one of the following processing methods.

[0081] When using the indexing processing method, the control device 80 controls the turntable assembly 20 via the host computer 81 to rotate the blade to be processed to the processing station and maintain its position. Then, the control device 50 controls the robot 50 to drive the final focusing assembly 40 to move along the surface of the blade to be processed. After the strengthening of one blade is completed, the robot 50 drives the final focusing assembly 40 to exit the blade channel along a predetermined exit trajectory, and then the turntable assembly 20 rotates the next blade to the processing station.

[0082] Indexing processing can be used to strengthen the surface of individual blades, such as the blade base, blade back, blade edge, and blade root transition area. The turntable assembly 20 is mainly responsible for the circumferential indexing between different blades, while the robot 50 is mainly responsible for the trajectory movement of individual blade surfaces.

[0083] When using the continuous linkage method, the turntable assembly 20 drives the overall bladed disk 2 to rotate continuously, and the robot 50 synchronously adjusts the position and light emission posture of the final stage focusing assembly 40. The continuous linkage method can be used for annular areas continuously distributed along the circumference on the overall bladed disk 2 or areas to be strengthened that can be formed by the continuous rotation of the turntable assembly 20.

[0084] In a single processing step, one can use only the indexing processing method, or only the continuous linkage method, or one can first use the indexing processing method to complete the blade area strengthening, and then use the continuous linkage method to complete the circumferential continuous area strengthening.

[0085] In this embodiment, the indexing method reduces the amount of motion required for the robot 50 to switch between different blades over a wide range of orientations. By having the robot 50 exit the blade channel before the turntable indexes, the possibility of collision between the overall bladed disk 2 and the final stage focusing assembly 40 is reduced. When using a continuous linkage method, the turntable assembly 20 and the robot 50 jointly form the processing trajectory, which reduces frequent starts and stops during the processing of circumferential continuous areas and improves the adaptability to areas requiring reinforcement of different shapes.

[0086] In one embodiment of the present invention, position feedback of the robot 50 and the turntable assembly 20 is obtained by the control device 80. The position feedback of the robot 50 can be obtained by the encoders of each joint of the robot 50, the robot controller, or the end-effector position detection device; the position feedback of the turntable assembly 20 can be obtained by the encoder of the electric rotary table 22, the turntable controller, or the angle detection device.

[0087] The control device 80 determines the actual position of the laser focus relative to the integral bladed disk 2 based on the position feedback of the robot 50, the position feedback of the turntable assembly 20, and the pre-established coordinate transformation relationship. The control device 80 can also determine the actual incident direction of the laser beam based on the actual pose of the robot 50, and determine the actual laser focal length based on the distance between the final stage focusing assembly 40 and the surface of the integral bladed disk 2.

[0088] When the actual position of the laser focus, the laser focal length, and the laser incident angle are all within their respective preset ranges, the control device 80 sends a pulse trigger signal to the laser component 10, causing the laser component 10 to output a laser pulse.

[0089] Water is supplied to the laser-affected area via an adjustable water nozzle 41. The control device 80 can determine the water supply status through flow or pressure sensors. If the laser focus position is out of tolerance, the laser focal length is out of tolerance, the laser incident angle is out of tolerance, there is a risk of motion interference between the robot 50 and the integral impeller 2, or the water supply is abnormal, the control device 80 will prevent the triggering of subsequent laser pulses.

[0090] The control device 80 can also record the robot 50 pose, turntable component 20 angle and laser impact processing point number corresponding to each triggered laser pulse to form a processing record.

[0091] Since the duration of a single laser pulse is short, this embodiment primarily disables the next laser pulse when an abnormal state is detected, rather than interrupting the single laser pulse that has already been emitted.

[0092] This embodiment triggers laser pulses based on the actual positions of the robot 50 and the turntable assembly 20, which reduces the deviation in the laser spot position caused by changes in movement speed when triggering only at fixed time intervals. By judging the actual position, laser focal length, laser incident angle, movement interference, and water supply status, the possibility of continuing processing when the laser pulse acts on a non-target position or the water constraint status does not meet the requirements can be reduced, thereby improving the stability and traceability of the processing process.

[0093] This invention proposes a dynamic-light laser shock blasting device for integral bladed disks. The integral bladed disk is mounted on a turntable assembly, which bears the weight of the disk and drives its rotation. A robot drives the final-stage focusing assembly, coordinating the rotation of the bladed disk with the movement of the laser beam to achieve laser shock blasting. The robot only drives the final-stage focusing assembly, eliminating the need to directly hold the bladed disk, thus reducing the limitations imposed by the weight of the bladed disk and eccentric torque on the robot's load-bearing capacity. It also improves the laser beam's accessibility to complex surfaces of the bladed disk. This device is suitable for laser shock blasting of large-size, high-mass, and structurally complex integral bladed disks.

[0094] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A dynamic-light integral bladed disk laser shock peening device, characterized in that, include: Laser assembly, used to output a laser beam; Turntable assembly, used to mount and drive the overall impeller to rotate; The light guide arm includes a first light-inlet end and a first light-outlet end, wherein the first light-inlet end is connected to the optical path of the laser component to transmit the laser beam; The final focusing assembly, connected to the first light-emitting end, is used to focus the laser beam onto the integral bladed disk; A robot, the end effector of which is connected to the final focusing assembly to drive the final focusing assembly to move; The turntable assembly works in coordination with the robot to perform laser shock strengthening on the integral bladed disk through the rotation of the integral bladed disk and the movement of the laser beam.

2. The laser shock peening device according to claim 1, characterized in that, The turntable assembly includes a turntable support, an electric rotary table, and a turntable transition flange; the integral impeller is connected to the turntable transition flange via a support flange, and the integral impeller and the support flange, as well as the support flange and the turntable transition flange, are positioned by radial stops and connected by a first fastener.

3. The laser shock peening device according to claim 1, characterized in that, It also includes a bracket and a reflective box mounted on the bracket. The reflective box includes a second light-incident end and a second light-outcident end. The second light-incident end is connected to the optical path of the laser component through a light guide tube, and the second light-outcident end is connected to the first light-incident end. The reflective box and the first light-incident end are fixed relative to the bracket. The bracket is provided with a mounting plate having multiple sets of mounting holes. The robot's base can selectively connect to different sets of mounting holes to adjust the robot's installation position.

4. The laser shock peening device according to claim 1, characterized in that, The robot is equipped with a gripper at its end, and the gripper has an open annular gripping part that is adapted to the outer peripheral surface of the final focusing component. The open annular gripping part grips the final focusing component. The laser shock peening equipment also includes a water supply pipeline and a gas supply pipeline, both of which are fixed to the clamping base. The water supply pipeline and the gas supply pipeline move synchronously with the final focusing assembly. A gas pipe connector is installed on the final focusing assembly, and the gas pipe connector is used to connect to the gas outlet end of the gas supply pipeline.

5. The laser shock peening device according to claim 1, characterized in that, It also includes a control device connected to the turntable assembly, the robot, and the laser assembly, respectively, the control device being used to control the equipment to perform at least one of the following processing modes: In the indexing processing mode, the turntable assembly rotates the blade to be processed to the processing station and keeps it in position, and the robot drives the final focusing assembly to move along the predetermined trajectory of the blade to be processed. In the continuous linkage mode, the turntable assembly drives the overall impeller to rotate continuously, and the robot synchronously adjusts the position and light emission posture of the final stage focusing assembly.

6. A method for dynamic laser shock peening of an integral bladed disk, characterized in that, Includes the following steps: The integral bladed disk is installed on the turntable assembly, and the laser beam output by the laser assembly is transmitted to the final stage focusing assembly via the light guide arm; The turntable assembly drives the overall impeller to rotate, and the robot drives the final stage focusing assembly to move, so that the laser beam output by the final stage focusing assembly moves relative to the overall impeller. The rotation of the integral bladed disk is coordinated with the movement of the laser beam, and the laser beam is used to perform laser shock enhancement on a predetermined area of ​​the integral bladed disk.

7. The laser shock peening method according to claim 6, characterized in that, A three-dimensional model of the overall bladed disk is obtained, and the area to be strengthened is determined in the three-dimensional model. The surface of the area to be strengthened is discretized to obtain multiple laser shock processing points including three-dimensional coordinates and surface normal vectors. The rotation angle of the turntable assembly, the motion pose of the robot, and the distance between adjacent laser shock processing points are determined based on the laser shock processing points.

8. The laser shock peening method according to claim 6, characterized in that, Establish coordinate transformation relationships between the robot base coordinate system, the turntable coordinate system, the impeller workpiece coordinate system, and the laser tool coordinate system. Set the focal point of the laser beam output by the final stage focusing component as the tool center point of the laser tool coordinate system, and update the position of the impeller workpiece coordinate system relative to the robot base coordinate system according to the rotation angle of the turntable component.

9. The laser shock peening method according to claim 6, characterized in that, The laser shock strengthening process employs at least one of the following methods: In the indexing process, when strengthening the blade surface, the turntable assembly rotates the blade to be processed to the processing station and keeps it in position. The robot drives the final focusing assembly to move along the surface of the blade to be processed. After strengthening one blade, the robot exits the blade channel, and the turntable assembly rotates the next blade to the processing station. In the continuous linkage mode, when strengthening the area continuously distributed along the circumference of the overall impeller, the turntable assembly drives the overall impeller to rotate continuously, and the robot synchronously adjusts the position and light emission posture of the final stage focusing assembly.

10. The laser shock peening method according to claim 6, characterized in that, The actual position of the laser focus relative to the overall impeller is determined based on the position feedback of the robot and the turntable assembly; a laser pulse is triggered when the actual position, laser focal length, and laser incident angle are within the corresponding preset range; subsequent laser pulses are prohibited from being triggered when position deviation, defocusing, motion interference, or water supply abnormality occurs.

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