摘要
针对工程应用中大型曲面工件的低成本、实时随形清洗的难题,以STM32为主控芯片设计了机器人激光清洗控制系统。机器人末端安装有二维扫描式激光清洗头用以实现激光扫描,STM32与机器人控制器通过以太网实现通信,并借助激光测距仪实现两者的协同工作,完成了曲面随形聚焦和分块扫描清洗的功能。将一大型曲面工件按S形进行分块扫描清洗的路径规划,并对其进行激光清洗测试,结果表明该控制系统具有分块拼接完整、清洗效果好的特点,清洗效率可达0.396 m^(2)/h。
Aiming at the problem of low cost and real-time shape-follow cleaning of large freeform surface workpiece in engineering application,a robotic laser cleaning control system was designed with STM32 as the main control chip.A two-dimensional scanning laser cleaning head is installed at the end of the robot to realize laser scanning.STM32 communicates with the robot controller through Ethernet,and cooperates with the robot controller by means of a laser rangefinder.The functions of focusing the freeform surface with shape and scanning and cleaning in blocks are completed.Finally,a large freeform surface workpiece is scanned and cleaned according to a S-path planning strategy,and the laser cleaning test is carried out.The results show that the control system has the characteristics of complete block splicing and good cleaning effect,and the cleaning efficiency can reach 0.396 m^(2)/h.
作者
潘长青
朱小伟
杨文锋
李绍龙
曹宇
Pan Changqing;Zhu Xiaowei;Yang Wenfeng;Li Shaolong;Cao Yu(College of Mechanical and Electrical Engineering,Wenzhou University,Wenzhou,Zhejiang 325035,China;Aviation Engineering Institute,Civil Aviation Flight University of China,Guanghan,Sichuan 618307,China)
出处
《应用激光》
CSCD
北大核心
2021年第6期1280-1286,共7页
Applied Laser
基金
浙江省自然科学基金重点项目(LZ20E050003)
四川省科技厅重点研发项目(2021YFSY0025)
温州市重大科技计划项目(ZG2020038)。
关键词
激光清洗
大型曲面工件
机器人控制
嵌入式系统
laser cleaning
large freeform surface workpiece
robot control
embedded system
