Automatic laser cleaning method and system for complex mold

Abstract

The invention discloses an automatic laser cleaning method and system for complex molds, and the system comprises the following terminals: a manual preprocessing terminal, a collaborative robot, an external shaft system, a force sensor, a laser cleaning head, a bottom cabinet body, a supporting frame and a control system. The collaborative robot is dragged through the manual preprocessing terminal in a manual handheld mode to conduct mold cleaning; the molds of the same type are automatically cleaned, that is, based on the stored primary cleaning path data of the molds, the collaborative robot is used for automatically cleaning the input molds; cleaning track optimization adjustment is conducted on the dies with unqualified cleaning track reproduction of the collaborative robot; according to the method, automatic cleaning is achieved through path reproduction and optimization of the collaborative robot, and the cleaning precision and efficiency of automatic cleaning of the complex mold are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of laser cleaning, and in particular to an automated laser cleaning method and system for complex molds. Background Art

[0002] The traditional cleaning industry has a variety of cleaning methods, most of which use chemical agents and mechanical methods for cleaning, while laser cleaning can solve problems that cannot be solved by traditional cleaning methods. Laser cleaning molds use the characteristics of high brightness and small divergence angle of lasers to focus a laser beam with sufficient power and irradiate it to the appropriate position. The material absorbs light energy and converts it into heat energy, causing the material to produce a series of physical and chemical processes, thereby removing surface dirt. Laser cleaning machines are suitable for cleaning various molds, such as tire molds, rubber molds, injection molds, glass bottle molds, shoe molds, perfume bottle molds, etc.

[0003] However, the existing mold laser cleaning is still mainly based on manual hand-held, and the molds that need to be cleaned have different shapes and sizes. Different cleaning trajectories need to be matched according to different shapes and sizes. At the same time, molds of different shapes and sizes need to clean different pollution positioning points. It is necessary to adjust and match the corresponding parameters according to the cleaning characteristics corresponding to different pollution positioning points. Based on the existing manual hand-held cleaning, the above-mentioned mold cleaning matching mainly relies on, making it difficult to achieve the ideal mold cleaning efficiency and cleaning accuracy. Therefore, it is necessary to improve the cleaning accuracy and cleaning efficiency based on the existing manual hand-held combined with machine collaborative cleaning.

[0004] In addition, there are some shortcomings in mold laser cleaning. For example, the laser cleaning machine has poor cleaning effect after using it for a period of time. This fault is not the mold laser cleaning machine itself. The reason is that the dust in the cleaning environment is heavy. Most of the dust comes from the grease, oxides, coatings, metal debris, polymer residues and other dirt on the mold surface. After heating, different types of smoke and dust are formed. These smoke and dust are very easy to adhere to the protective sheet of the laser cleaning head. Although a circular air curtain is set on the laser cleaning head to blow the outer surface of the protective sheet, it can only reduce the attached dust and cannot completely avoid dust. In the actual cleaning operation, the laser cleaning head needs to be replaced and disassembled and the protective sheet is replaced once every few hours. On the one hand, manual replacement of the protective sheet takes up labor costs and affects the efficiency of the cleaning operation. On the other hand, the replacement of the protective sheet needs to be carried out in a dust-free environment, but in fact, most of the replacement of the protective sheet is carried out illegally in the cleaning operation area. When the protective sheet is replaced in a dusty environment, dust is very easy to enter the inside of the laser cleaning head. Over time, the internal dust gradually increases until the laser cleaning head reports an error and cannot be used. Summary of the invention

[0005] The purpose of the present invention is to provide a method and system for automatic laser cleaning of complex molds to solve the problems raised in the above background technology.

[0006] To solve the above technical problems, the present invention provides the following technical solution: A complex mold automatic laser cleaning system includes the following terminals: a manual pretreatment terminal, a collaborative robot, an external axis system, a force sensor, a laser cleaning head, a bottom cabinet, a support frame, and a control system; Preferably, the manual pretreatment terminal is used to manually drag the collaborative robot to clean the mold in a handheld manner and record the path data of each type of mold cleaning in the handheld manner; the collaborative robot is used to record the dragging trajectory and edit the automatic process, receive the signal of the force sensor and communicate with the control system at the same time; the external axis system is used to provide additional motion functions required by the collaborative robot; the force sensor is used to sense the magnitude and direction of the force during dragging and transmit the force information to the robot; the laser cleaning head is used to control the laser parameter setting and turn on and off the laser; the bottom cabinet is used to support the working plane and the support frame; the support frame is used to support the collaborative robot and the external axis; the control system is used to integrate the robot and the external axis system and communicate externally.

[0007] According to the above technical solution, the complex mold automatic laser cleaning system executes a complex mold automatic laser cleaning method, and the method includes the following steps: Step S1: When initially cleaning different types of molds, the manual pretreatment terminal manually drags the collaborative robot to clean the mold in a handheld manner, and the collaborative robot records the cleaning path data of each type of mold in the handheld manner and stores it in the mold cleaning database; Preferably, the mold cleaning mode includes a non-automatic cleaning mode and an automatic cleaning mode. The non-automatic cleaning mode is a mold cleaning mode based on manually dragging the collaborative robot, and the automatic cleaning mode is a reproduction of the mold cleaning based on the cleaning path data of different types of molds stored in the non-automatic cleaning mode; Preferably, different types of molds have different types of mold coding type symbols. Each mold in the same type has a string code that contains the same type symbol but different identifiers. When performing the initial manual cleaning of each different type of mold, first input the corresponding string code of the mold. According to the shape and size of each type of mold, manually drag the collaborative robot to perform mold cleaning. The collaborative robot records the cleaning trajectory of the initial manual cleaning of each mold, marks the recorded cleaning trajectory, and outputs the marked cleaning trajectory mark code. Finally, associate and record the cleaning trajectory mark code of each mold with the string code initially input for the mold, and synchronously store the string code of each mold, the cleaning trajectory mark code corresponding to each mold output, and the association record that associates the cleaning trajectory mark code and the string code of each mold into the mold cleaning database for other terminals to call.

[0008] Step S2: Based on the initial cleaning path data of the stored molds, use the collaborative robot to perform automated cleaning on the input molds. Preferably, when the collaborative robot switches to the automated cleaning mode, the mold automated laser cleaning system is initialized to ensure that all devices are in a ready state. After the initialization is completed, move the mold to be cleaned to the cleaning positioning point, and use the PLC code scanner to scan and identify the string code of the mold to be cleaned. Identify the string code of the mold to be cleaned, and perform judgment, identification, and matching on this string code based on the mold cleaning database. First, judge whether the string code exists in the mold cleaning database. When it does not exist, mark the mold as in the non-automated cleaning mode. When it exists, match the cleaning trajectory mark code corresponding to the string code in the mold cleaning database. After successful matching, trigger the automated cleaning signal for the mold, that is, the collaborative robot calls the corresponding cleaning subroutine based on the matched cleaning trajectory to start the automated cleaning of the mold.

[0009] Step S3: Optimize and adjust the cleaning trajectory of the molds with unqualified reproduction of the collaborative robot's cleaning trajectory. Preferably, divide the cleaning trajectory of the mold into smooth cleaning trajectories and cleaning trajectories with multiple inflection points. At the same time, there are also mutual transition trajectories between the smooth cleaning trajectory and the cleaning trajectory with multiple inflection points. When the collaborative robot transitions from a smooth cleaning trajectory to a cleaning trajectory with multiple inflection points, or from a cleaning trajectory with multiple inflection points to a smooth cleaning trajectory, the corresponding cleaning trajectory is an arc cleaning trajectory, and use Cartesian space to perform interpolation calculation on the arc cleaning trajectory.

[0010] Step S4: Synchronously adjust and optimize the incident angle of the laser beam in the arc cleaning trajectory.

[0011] Preferably, after interpolation calculation based on the circular arc cleaning trajectory, all the obtained interpolation points are inversely solved into the incident angles of the laser beam in the circular arc cleaning trajectory, and the collaborative robot adjusts the output using the inversely solved incident angles of the laser beam, that is, the initial cleaning angle of the laser cleaning head is set based on the circular arc cleaning trajectory as , and the termination cleaning angle is , based on the number of interpolation points of the calculated cleaning angle, calculate each interpolation point 's cleaning angle , and the calculation formula is: . In the circular arc cleaning trajectory, the incident angle of the laser beam is adjusted based on each calculated cleaning angle, so that the laser cleaning head is tangent to the mold cleaning surface.

[0012] Compared with the prior art, the beneficial effects achieved by the present invention are: 1. The present invention uses the collaborative robot path to drag and reproduce the path, that is, manually drag the robot to clean the mold in advance in a handheld manner, record the mold cleaning path through the collaborative robot, and can trigger automatic cleaning during the same mold cleaning, and optimize and adjust the cleaning trajectory of the mold with unqualified collaborative robot cleaning trajectory reproduction; and optimize and adjust the incident angle of the laser beam in the circular arc cleaning trajectory to achieve the reproduction and processing of complex paths, ensure the quality and consistency of mold cleaning, and improve the cleaning accuracy of the system for automatic cleaning of complex molds.

[0013] 2. Both the storage roller and the waste roller are provided with stepping motors, and both stepping motors are electrically connected to the control system. When a certain amount of dust adheres to the protective film in the camera hole, the control system regularly drives the stepping motors to rotate synchronously in the same direction, releases a part of the new protective film from the storage roller while the waste roller recovers an equal amount of the old protective film, updates the protective film in the camera hole, and keeps the protective film in the camera hole in good light transmission, thereby effectively maintaining the cleaning effect of the laser cleaning head.

[0014] 3. The protective film is automatically updated by a program preset by the control system, replacing the existing manual operation of replacing the protective sheet, realizing maintenance without stopping the machine, and the cleaning operation is not affected, solving the problem that it is difficult to meet the requirement of replacing the protective sheet in a dust-free environment.

[0015] 4. The dust-proof component replaces the existing purging structure on the laser cleaning head and the supporting air supply system, reducing the manufacturing cost and use cost of the laser cleaning head. Description of the Drawings

[0016] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention. In the drawings: Figure numerals: collaborative robot 1, external axis system 2, force sensor 3, laser cleaning head 4, housing 401, camera hole 402, storage box 403, waste box 404, storage roller 405, waste roller 406, protective sheet 407, protective film 408, bottom cabinet 5, support frame 6.

[0017] Figure 1 It is a schematic diagram of the terminal components of the complex mold automatic laser cleaning system in the present invention.

[0018] Figure 2 It is a schematic flow chart of the steps of the automated laser cleaning method for complex molds in the present invention.

[0019] Figure 3 It is a schematic diagram of the terminal structures of the complex mold automatic laser cleaning system in the present invention.

[0020] Figure 4 This is a schematic diagram of the structure of the laser cleaning head of the complex mold automatic laser cleaning system of the present invention. Figure 1 .

[0021] Figure 5 This is a schematic diagram of the structure of the laser cleaning head of the complex mold automatic laser cleaning system of the present invention. Figure 2 .

[0022] Figure 6 yes Figure 5 Diagram showing the storage and waste boxes hidden in the image. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] like Figure 1 As shown, this embodiment provides a complex mold automated laser cleaning system, including the following terminals: a manual pre-processing terminal, a collaborative robot, an external axis system, a force sensor, a laser cleaning head, a bottom cabinet, a support frame and a control system; The manual pre-treatment terminal is used for the initial cleaning of different types of molds. The collaborative robot is dragged by hand to clean the molds and the cleaning path data of each type of mold is recorded in the handheld mode. The collaborative robot is mainly used for recording the dragged trajectory and editing the automatic process, receiving the signal of the force sensor while communicating with the control system; specifically, the number of axes of the collaborative robot is not less than 4 axes, the load is greater than 2 kG, and the corresponding bottom can be fixed on the external axis system or can be directly fixed on the base without matching the external axis. It has the function of teaching by dragging and can record the dragged trajectory; it can install a force sensor at the end to receive the signal of the force sensor, or can communicate with the force sensor and the control system; The external axis system is used to provide the additional motion functions required by the collaborative robot, which can break through the working radius and pose limitations of the collaborative robot, and can also be allocated according to the shape and size of the cleaning mold. It can be a single linear axis, a single rotating axis, or a composite axis; The force sensor is used to sense the magnitude and direction of the force during dragging and transmit the force information to the robot. Specifically, the force sensor is fixed at the end of the collaborative robot and fixed together with the laser cleaning head, which can sense the magnitude and direction of the force during dragging and transmit the force information to the robot; As Figures 3 to 6 shown, the laser cleaning head in this embodiment includes a housing, a laser head assembly, and a dust-proof assembly. The laser head assembly is used to control the laser parameter settings and turn on and off the laser. The laser head assembly is installed inside the housing, and the camera of the laser head assembly faces the camera hole of the housing. To solve the problem that dust easily enters the camera hole during the cleaning operation, resulting in frequent replacement of the protective sheet, the dust-proof assembly in this embodiment includes a storage box and a waste box installed on both sides of the housing. The storage box and the waste box are connected through a gap that horizontally penetrates the camera hole; the protective film wound around the storage roller inside the storage box passes through the gap and is then wound around the waste roller inside the waste box. By synchronously rotating the storage roller and the waste roller, the protective film located in the camera hole is updated. Of course, the housing is also provided with a protective sheet, which is horizontally inserted into the camera hole, and the protective sheet is located between the protective film and the laser head assembly to play a secondary protection role.

[0025] Furthermore, as Figure 3 shown, the laser cleaning head fixed on the force sensor can be connected to the laser. The type of the laser cleaning head can be one-dimensional or two-dimensional. The laser it is paired with: the pulsed laser outputs laser with a wavelength of 300 - 1100 nm, a laser power greater than 5 W, and a pulse width of 300 fs - 1 us. Its control system can communicate with the overall machine control system; The bottom cabinet is used to support the working plane and the support frame; the support frame is used to support the collaborative robot and the external axis; the control system is used to integrate the robot and the external axis system and communicate externally; In this embodiment, as combined with Figure 2 shown, this embodiment also provides a complex mold automated laser cleaning method, including the following steps: Step S1: When initially cleaning different types of molds, the collaborative robot is dragged manually by hand through the manual preprocessing terminal for mold cleaning. The collaborative robot records the cleaning path data of each type of mold in the manually held mode and stores it in the mold cleaning database; In this embodiment, different types of molds have different types of mold coding type symbols. Each mold in the same type has a string code that contains the same type symbol but different identifiers. When initially manually cleaning each different type of mold, first input the corresponding string code of the mold. Based on the shape and size of each type of mold, the collaborative robot is dragged manually for mold cleaning. The collaborative robot uses an infrared thermal imager to collect thermodynamic field data, uses an eddy current sensor to collect electromagnetic field data, and uses a confocal microscope to collect surface topography data to construct a three-dimensional dynamic cleaning model , The three-dimensional model is expressed as: Among them, is the absorption amount of laser energy per unit volume, is the time variable, is the laser absorption coefficient, that is, the absorption efficiency of the material surface to laser energy, is the instantaneous power output by the laser cleaning head, is the density of the base material of the mold to be cleaned, represents the energy required for the temperature change per unit mass of the base material, is the thermal diffusion coefficient characterizing the heat conduction ability within the material, represents the second-order change rate of temperature in space, is the contribution degree of the unit pollutant mass to the energy distribution, is the mass of the residual pollutants on the mold surface at the current moment, is the standardized parameter of the base material per unit area, is to describe the non-linear effect of the pollutant cleaning process. The three-dimensional dynamic cleaning model is updated in real time to achieve adaptive adjustment of cleaning parameters and predict the mold cleaning quality index CQI based on the model output; Exemplarily, the cleaning trajectory of each mold during the initial manual cleaning is recorded at the same time, that is, the original continuous cleaning trajectory is discretized into N key points. Each point includes the position coordinates ( ), Euler angle attitude ( ), and each parameter is normalized. The normalization formula is , where is the j-th dimension of the -th trajectory point, and are the global minimum and maximum values of parameter j, , and are the normalized parameter values; convert the normalized values into the joint motion qubit phase angles and the end pose qubit phase angles , generate quantum chromosomes , obtain the quantum chromosome sequence , use the quantum entanglement compression algorithm to compress the quantum chromosome sequence, and output the compressed cleaning trajectory feature code , finally associate and record the cleaning trajectory feature code of each mold with the string code initially input for the mold, and synchronously store the association records of the string code of each mold, the cleaning trajectory corresponding to each mold output, the mold cleaning quality index predicted by the model output, and the cleaning trajectory feature code of each mold associated with the string code into the mold cleaning database for other terminals to call.

[0026] Step S2: Based on the initial cleaning path data of the stored molds, use a collaborative robot to automatically clean the input molds; In this embodiment, the collaborative robot includes two operating modes: a non-automatic cleaning mode and an automatic cleaning mode. The non-automatic cleaning mode is a mold cleaning mode based on manually dragging the collaborative robot, and the automatic cleaning mode is a reproduction of the mold cleaning based on the cleaning path data of different types of molds stored in the non-automatic cleaning mode; Exemplarily, when the collaborative robot switches to the automatic cleaning mode, the mold automatic laser cleaning system is initialized to ensure that all devices are in a ready state. After the initialization is completed, the mold to be cleaned is moved to the cleaning positioning point, and the string code of the mold to be cleaned is scanned and recognized by a PLC code scanner. The string code of the mold to be cleaned is obtained, and based on the mold cleaning database, the string code is judged, recognized, and matched. First, it is judged whether the string code exists in the mold cleaning database. When it does not exist, the mold is marked with the non-automatic cleaning mode. When it exists, the cleaning trajectory marker code corresponding to the string code in the mold cleaning database is matched. After the matching is successful, the automatic cleaning signal of the mold is triggered, that is, the collaborative robot calls the corresponding cleaning subroutine based on the matched cleaning trajectory to start the automatic cleaning of the mold; Specifically, the process of automatic mold cleaning includes: Step S21: After triggering the automatic cleaning signal of the mold, the positioning cylinder and the collaborative robot move to the working position and the cleaning starting point respectively. After the system receives the signal of the collaborative robot at the cleaning starting point, the laser is turned on and an allow cleaning signal is sent to the collaborative robot; Step S22: The collaborative robot uses a Savitzky-Golay filter to smooth the matched cleaning trajectory, outputs the filtered trajectory point cloud, dynamically optimizes the cleaning trajectory using the quantum evolution trajectory, and reproduces the dragging trajectory according to the optimized trajectory to perform the cleaning action; Exemplarily, the calculation formula for smoothing and filtering the matched cleaning trajectory using a Savitzky-Golay filter is: , where is the trajectory point cloud after smoothing and filtering, is the half-width of the filtering window, is the filtering coefficient, is the coordinate of the th point in the matched cleaning trajectory, which is mainly determined by least squares fitting of local polynomials. The formula for dynamically optimizing the cleaning trajectory is: , where , , are the defined weights, is the total cleaning time in the matched cleaning trajectory, is the maximum offset of the cleaning trajectory, is the mold cleaning quality index, and the quantum evolution updates by using a quantum rotation gate. The specific update formula is: where is the phase angle of the th qubit of the th individual in the th generation, representing the optimized qubit state and used to optimize the trajectory of the next generation; is the phase angle of the th qubit of the th individual in the th generation, that is, the state value of the current qubit, which is used as the basis for updating, is the defined basic rotation step size, is the sine function, which maps the input parameter to the range [-1, 1] to dynamically adjust the rotation amplitude, is the radian scaling factor, is the th individual 's fitness ranking, representing the quality order of individuals in the population. The smaller the ranking, the better the fitness, is the population size, that is, the total number of individuals participating in the evolution.

[0027] Step S23: After the collaborative robot completes the cleaning action according to the matched cleaning trajectory, it sends a cleaning completion signal to the PLC. After receiving the cleaning completion signal, the PLC calculates the reproduction rate of the reproduction cleaning trajectory performed by the collaborative robot and the matched cleaning trajectory in the mold cleaning database, and at the same time, based on the set threshold of the cleanliness of the mold cleaning, calculates the cleanliness of the mold after cleaning; judgment; Exemplarily, the formula for calculating the reproduction rate is: wherein, is the total number of trajectory points in the reproduction cleaning trajectory performed by the collaborative robot, is the total length of the trajectory based on the matched cleaning trajectory in the mold cleaning database, that is, the total length of the preset cleaning trajectory, which is the cumulative length from the starting point to the ending point of the cleaning trajectory in the matched cleaning trajectory, is the actual trajectory coordinate of the th point in the reproduction cleaning trajectory performed by the collaborative robot, is the preset trajectory coordinate of the th point of the matched cleaning trajectory in the mold cleaning database, represents the deviation between the actual trajectory and the preset trajectory at the th point. The higher the reproduction rate , the closer the reproduction cleaning trajectory performed by the collaborative robot is to the preset trajectory. When the reproduction rate is less than the set reproduction rate threshold , it is marked as unqualified for the reproduction of the cleaning trajectory. When the reproduction rate is greater than or equal to the set reproduction rate threshold , it is marked as qualified for the reproduction of the cleaning trajectory. Exemplarily, the formula for calculating the cleanliness is:

[0028] wherein, is the area of the detected pollution area on the surface of the mold that needs to be cleaned initially recorded for the mold, is the total area of the mold surface. When the cleanliness of the mold cleaning is greater than or equal to the set threshold of the cleanliness of the mold cleaning , it is determined and marked as qualified for cleaning. When the cleanliness of the mold cleaning is less than the set threshold of the cleanliness of the mold cleaning , it is determined and marked as unqualified for cleaning.

[0029] ​​​Step S24: The system determines whether all cleaning tasks have been completed according to the mold cleaning sequence list. When not completed, the above operations are repeated until all cleaning tasks are completed. After cleaning, the servo motor moves to the standby position, the collaborative robot moves to the working origin, and at the same time, the blanking light is allowed to light up, that is, for the reproduction rate and the degree of cleaning are both marked as qualified, and the corresponding molds are output for blanking. For the reproduction rate and the degree of cleaning are marked as unqualified, and the corresponding molds are cleaned and adjusted, and so on in a cycle; Step S3: Optimize and adjust the cleaning trajectory of the molds with unqualified reproduction of the cleaning trajectory of the collaborative robot; In this embodiment, due to the diverse shape and size of the molds, there are many inflection points in the cleaning trajectory. When the collaborative robot is dragged by hand through the manual preprocessing terminal to clean the molds, the smoothness during cleaning and the incident angle of the laser beam will be ensured based on human operation habits. When the collaborative robot cleans the molds in an automated mode, when there are many inflection points in the matching mold cleaning trajectory, the operation time of the collaborative robot at the inflection points will be longer than that at the same distance in the straight line segment. That is, when cleaning the corner points of the mold, the collaborative robot needs to decelerate and adjust the direction, which will cause the cleaning trajectory and the incident angle of the laser beam to deviate, resulting in unqualified reproduction of the cleaning trajectory of the collaborative robot. Therefore, the problem that the incident angle of the laser beam and the cleaning trajectory deviate due to many inflection points in the cleaning trajectory is optimized; Exemplarily, the smooth cleaning trajectory and the cleaning trajectory with many inflection points in the mold cleaning trajectory are divided, and there are also mutual transition trajectories between the smooth cleaning trajectory and the cleaning trajectory with many inflection points. The problems generated by the collaborative robot in the mutual transition trajectory and in the cleaning trajectory with many inflection points are optimized. When the collaborative robot transitions from the smooth cleaning trajectory to the cleaning trajectory with many inflection points, or from the cleaning trajectory with many inflection points to the smooth cleaning trajectory, the corresponding cleaning trajectory is an arc cleaning trajectory. The arc cleaning trajectory is interpolated and calculated using the Cartesian space, that is, one of the points in the arc cleaning trajectory is selected as the center of the circle, and a space circle is determined by any three non-collinear points in the corresponding space. The interpolation of the arc curve is performed, a coordinate system is established in the plane where the arc cleaning trajectory is located, the three-dimensional arc in space is converted to a two-dimensional arc in the established coordinate system through coordinate transformation, the two-dimensional arc in the plane is interpolated, and then the interpolated points are converted back to the Cartesian space through coordinate transformation; Specifically, the running steps for interpolating the arc cleaning trajectory using the Cartesian space are as follows: Step S31: Based on the fact that the space circle determined by three points is equivalent to the plane circle on the plane corresponding to the three points, any three points in the space circle are set as , , , the plane determined by three points is , the line segment and formed by points has a perpendicular bisecting plane , the line segment and formed by points has a perpendicular bisecting plane of ; Step S32: The intersection point of plane and perpendicular bisecting plane , perpendicular bisecting plane is the center of the circle , calculate the distance from the center of the circle to any one of the three points as the radius of the space circle , for example, when calculating the distance from the center of the circle to point to calculate , the calculation formula is: ; Step S33: Using the center of the circle as the origin of the coordinate system of the plane where the arc cleaning trajectory is located , the direction is the positive direction of the axis, and cross product direction is the positive direction of the axis, perpendicular to the arc plane, based on the determined positive direction axis and axis, obtain the positive direction of the axis in this coordinate system; Step S34: After performing rotation and translation transformation on the coordinate system of the plane where the arc cleaning trajectory is located and the original coordinate system, to obtain a series of point coordinates in the coordinate system of the plane where the arc cleaning trajectory is located, then perform interpolation on the arc formed by the converted point coordinates. The arc length between any two points on the arc curve can be converted into the corresponding central angle increment; Step S35: Set the interpolation speed to , the interpolation period is T, the central angle corresponding to the arc is , obtain the total time consumption of the space arc interpolation, the number of interpolation points , so based on the obtained radius and the number of interpolation points , use the calculation formula: , , Calculate the th interpolation point in the coordinate system coordinates . Based on this coordinate, perform interpolation. After the interpolation is completed, the coordinates of the interpolation point are converted back to the original coordinate system through the rotation and translation transformation matrix.

[0030] Step S4: Synchronously optimize and adjust the incident angle of the laser beam in the arc cleaning trajectory; In this embodiment, since it is necessary to control the laser cleaning head to be tangent to the mold cleaning surface in the arc cleaning trajectory to ensure that the incident angle of the laser beam does not deviate, it is necessary to adjust the cleaning angle of the laser cleaning head, and the axis corresponding to the laser cleaning head is always perpendicular to the tangent of the arc cleaning trajectory. Set the interpolation time from the initial cleaning angle to the termination cleaning angle and the interpolation period T, and calculate the corresponding number of cleaning angle interpolation points . Combine the angle matrix of the th cleaning angle interpolation point with the coordinates of the th arc cleaning trajectory interpolation point to form the th rotation transformation matrix. Perform inverse kinematics solution on each rotation transformation matrix to obtain the cleaning angle value corresponding to each interpolation point; Exemplarily, based on the arc cleaning trajectory, set the initial cleaning angle of the laser cleaning head to , and the termination cleaning angle to . Based on the calculated number of interpolation points of the cleaning angle, calculate the cleaning angle of each interpolation point . The calculation formula is: . Adjust based on each calculated cleaning angle in the arc cleaning trajectory to make the laser cleaning head tangent to the mold cleaning surface.

[0031] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0032] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automated laser cleaning system for complex molds, characterized in that: It includes the following terminals: manual preprocessing terminal, collaborative robot, external axis system, force sensor, laser cleaning head, bottom cabinet, support frame, and control system; the manual preprocessing terminal is used to manually drag the collaborative robot to clean the mold in a handheld manner and record the path data of each type of mold cleaning in the handheld manner; the collaborative robot is used to record the dragging trajectory and edit the automatic process, receive the signal of the force sensor and communicate with the control system at the same time; the external axis system is used to provide additional motion functions required by the collaborative robot; the force sensor is used to sense the magnitude and direction of the force during dragging and transmit the force information to the robot; The laser cleaning head includes a housing, a laser head assembly, and a dust-proof assembly. The laser head assembly is used to control the laser parameter setting and turn on and off the laser; the laser head assembly is installed inside the housing, and the camera of the laser head assembly faces the camera hole of the housing; the dust-proof assembly includes a storage box and a waste box installed on both sides of the housing, and the storage box and the waste box are connected through a gap that runs horizontally through the camera hole; the protective film wound around the storage roller inside the storage box passes through the gap and then winds around the waste roller inside the waste box, and the storage roller and the waste roller rotate synchronously to update the protective film located in the camera hole; The bottom cabinet is used to support the working plane and the support frame; the support frame is used to support the collaborative robot and the external axis; the control system is used to integrate the robot and the external axis system and communicate externally.

2. The automated laser cleaning system for complex molds according to claim 1, characterized in that: Execute a complex mold automated laser cleaning method, including the following steps: Step S1: When initially cleaning different types of molds, manually drag the collaborative robot to clean the mold in a handheld manner through the manual preprocessing terminal. The collaborative robot records the cleaning path data of each type of mold in the handheld manner and stores it in the mold cleaning database; Step S2: Based on the initially recorded cleaning path data of the mold, use the quantum evolution trajectory to dynamically optimize the cleaning trajectory, and use the collaborative robot to perform automated cleaning by replicating the drag according to the optimized trajectory; the quantum evolution trajectory is to compress the high-dimensional trajectory data through quantization encoding, and combine the multi-objective evolutionary algorithm to dynamically optimize the cleaning trajectory based on the stored path, that is, an optimized motion path generated by combining the quantum computing principle and the evolutionary algorithm, using the superposition and parallelism of quantum states to optimize the high-dimensional search space and achieve multi-objective dynamic balance on the basis of traditional trajectory optimization; Step S3: Optimize and adjust the cleaning trajectory of the mold for which the replication of the cleaning trajectory by the collaborative robot is unqualified; Step S4: Synchronously adjust and optimize the incident angle of the laser beam in the circular arc cleaning trajectory.

3. The automated laser cleaning method for a complex mold according to claim 2, wherein: The step S1 further includes: the mold cleaning mode includes a non-automated cleaning mode and an automated cleaning mode. The non-automated cleaning mode is a mold cleaning mode based on manually dragging the collaborative robot, and the automated cleaning mode is a replication of the mold cleaning based on the cleaning path data of different types of molds stored in the non-automated cleaning mode.

4. A method for automatic laser cleaning of complex molds according to claim 3, characterized in that: The data stored in the mold cleaning database includes: Different types of molds have different types of mold coding type symbols. Each mold in the same type has a string code that contains the same type symbol but different identifiers. When performing the initial manual cleaning of each different type of mold, first input the corresponding string code of the mold. According to the shape and size of each type of mold, the collaborative robot is manually dragged based on the manual operation to clean the mold. The collaborative robot uses an infrared thermal imager to collect thermodynamic field data, uses an eddy current sensor to collect electromagnetic field data, and uses a confocal microscope to collect surface topography data to construct a three-dimensional dynamic cleaning model , The three-dimensional model is represented as: Among them, is the absorption amount of laser energy per unit volume, is the time variable, is the laser absorption coefficient, that is, the absorption efficiency of the material surface to laser energy, is the instantaneous power output by the laser cleaning head, is the density of the base material of the mold to be cleaned, represents the energy required for the temperature change per unit mass of the base material, is the thermal diffusion coefficient characterizing the heat conduction ability within the material, represents the second-order change rate of temperature in space, is the contribution degree of the unit pollutant mass to the energy distribution, is the mass of the residual pollutants on the mold surface at the current moment, is the standardized parameter of the base material per unit area, is to describe the non-linear effect of the pollutant cleaning process. The three-dimensional dynamic cleaning model updates in real time to achieve adaptive adjustment of cleaning parameters and predict the mold cleaning quality index CQI based on the model output; Record the cleaning trajectory of each mold during the first manual cleaning, that is, discretize the original continuous cleaning trajectory into N key points, and each point includes position coordinates ( ), Euler angle attitude ( ). Normalize each parameter, and the normalization formula is , where is the j-th dimension of the i-th trajectory point, and and are the global minimum and maximum values of parameter j, , is the normalized parameter value; convert the normalized value to the joint motion qubit phase angle and the end attitude qubit phase angle , generate the quantum chromosome , obtain the quantum chromosome sequence , use the quantum entanglement compression algorithm to compress the quantum chromosome sequence, and output the compressed cleaning trajectory feature code . Finally, associate and record the cleaning trajectory feature code of each mold with the string code initially input for the mold, and synchronously associate and record the string code of each mold, the cleaning trajectory corresponding to each mold output, the mold cleaning quality index predicted by the model output , and the cleaning trajectory feature code of each mold associated with the string code into the mold cleaning database for other terminals to call.

5. A method for automatic laser cleaning of complex molds according to claim 4, characterized in that: The specific steps of step S2 are as follows: When the collaborative robot switches to the automatic cleaning mode, the mold automatic laser cleaning system is initialized to ensure that all devices are in a ready state. After the initialization is completed, the mold to be cleaned is moved to the cleaning positioning point, and the string code of the mold to be cleaned is scanned and recognized by using a PLC code scanner. The string code of the mold to be cleaned is obtained through recognition. Based on the mold cleaning database, the string code is judged, recognized, and matched. First, it is judged whether the string code exists in the mold cleaning database. When it does not exist, the mold is marked with a non-automatic cleaning mode. When it exists, the cleaning trajectory marker code corresponding to the string code in the mold cleaning database is matched. After the matching is successful, the automatic cleaning signal of the mold is triggered, that is, the collaborative robot calls the corresponding cleaning subroutine based on the matched cleaning trajectory to start the automatic cleaning of the mold.

6. A complex mold automated laser cleaning method according to claim 5, characterized in that: The process of performing the automatic cleaning of the mold includes: Step S21: After the automatic cleaning signal of the mold is triggered, the positioning cylinder and the collaborative robot move to the working position and the cleaning starting point respectively. After the system receives the signal of the collaborative robot at the cleaning starting point, the laser is turned on and the cleaning permission signal is sent to the collaborative robot. The collaborative robot starts to reproduce the dragging trajectory based on the matched cleaning trajectory and performs the cleaning action; Step S22: The collaborative robot uses the Savitzky-Golay filter to smooth the matched cleaning trajectory, outputs the filtered trajectory point cloud, dynamically optimizes the cleaning trajectory by using the quantum evolution trajectory, and reproduces the dragging trajectory according to the optimized trajectory to perform the cleaning action; Step S23: After the collaborative robot completes the cleaning action according to the matched cleaning trajectory, it sends a cleaning completion signal to the PLC. After receiving the cleaning completion signal, the PLC calculates the reproduction rate of the reproduced cleaning trajectory performed by the collaborative robot and the matched cleaning trajectory in the mold cleaning database, and simultaneously calculates and judges the cleaning degree of the mold that has completed cleaning based on the set threshold of the mold cleaning degree. ​​​ Step S24: The system determines whether all cleaning tasks have been completed according to the mold cleaning sequence list. When not completed, the above operations are repeated until all cleaning tasks are completed. After cleaning, the servo motor moves to the standby position, the collaborative robot moves to the working origin, and at the same time, the blanking light is allowed to light up, that is, for the reproduction rate and the degree of cleaning Both are marked as qualified corresponding molds for blanking output. For the reproduction rate and the degree of cleaning The corresponding molds marked as unqualified are cleaned and adjusted, and this cycle continues.

7. A method for automatic laser cleaning of complex molds according to claim 6, characterized in that: The specific implementation of the cleaning action in step S22 includes: smoothing the matched cleaning trajectory using a Savitzky-Golay filter, and the calculation formula for smoothing filtering is: , where is the point cloud of the trajectory after smoothing filtering, is the half-width of the filtering window, is the filtering coefficient, is the coordinate of the th point in the matched cleaning trajectory, which is mainly determined by least-squares fitting of local polynomials. The formula for dynamic optimization of the cleaning trajectory is: , where , , are the defined weights, is the total cleaning time in the matched cleaning trajectory, is the maximum offset of the cleaning trajectory, is the die cleaning quality index, which is updated using quantum rotation gates through quantum evolution. The specific update formula is: Among them, is the phase angle of the th qubit of the th individual in the th generation, representing the optimized qubit state, which is used to optimize the trajectory of the next generation; is the phase angle of the th qubit of the th individual in the th generation, that is, the state value of the current qubit, which is used as the basis for updating. is the defined basic rotation step size. is the sine function, which maps the input parameter to the range of [-1, 1] to dynamically adjust the rotation amplitude. is the radian scaling factor. is the fitness ranking of the th individual , representing the quality order of the individual in the population. The smaller the ranking, the better the fitness. is the population size, that is, the total number of individuals participating in the evolution.

8. A method for automatic laser cleaning of complex molds according to claim 7, characterized in that: The reproducibility rate to be reproduced The calculation formula is as follows: Wherein, is the total number of trajectory points in the reproduced cleaning trajectory performed by the collaborative robot, is the total length of the cleaning trajectory matched in the mold cleaning database, that is, the total length of the preset cleaning trajectory, which is the cumulative length from the starting point to the ending point of the cleaning trajectory in the matched cleaning trajectory, is the actual trajectory coordinate of the th point in the reproduced cleaning trajectory performed by the collaborative robot, is the preset trajectory coordinate of the th point in the cleaning trajectory matched in the mold cleaning database, represents the deviation between the actual trajectory and the preset trajectory at the th point. The higher the reproduction rate , the closer the reproduced cleaning trajectory performed by the collaborative robot is to the preset trajectory. When the reproduction rate is less than the set reproduction rate threshold , it is marked as unqualified for the reproduction of the cleaning trajectory. When the reproduction rate is greater than or equal to the set reproduction rate threshold , it is marked as qualified for the reproduction of the cleaning trajectory; The degree of cleaning The calculation formula is as follows: Among them, is the area of the contaminated area detected on the surface of the mold that needs to be cleaned for the initial record of the mold, is the total area of the mold surface. When the cleanliness of the mold is greater than or equal to the set threshold of the cleanliness of the mold , it is determined that the marking is qualified for cleaning. When the cleanliness of the mold is less than the set threshold of the cleanliness of the mold , it is determined that the marking is unqualified for cleaning.

9. A method for automated laser cleaning of complex molds according to claim 8, characterized in that: The running steps of interpolating and calculating the arc cleaning trajectory by using the Cartesian space are as follows: Step S31: The space circle determined by three points is equivalent to the plane circle on the plane corresponding to the three points. Assume that any three points in the space circle are respectively , , . The plane determined by the three points is . The perpendicular bisecting plane of the line segment formed by the points and . The perpendicular bisecting plane of the line segment formed by the points and is . Step S32: Plane and the perpendicular bisecting plane , the perpendicular bisecting plane The intersection point of the intersections is the center of the circle , calculate the center of the circle The distance from the center to any one of the three points is the radius of the space circle ; Step S33: With the center of the circle as the origin of the coordinate system of the plane where the arc cleaning trajectory is located , the direction is the positive direction of the axis, the cross product direction with is the positive direction of the axis, perpendicular to the arc plane. Based on the determined positive directions of the axis and axis, the positive direction of the axis in this coordinate system is obtained; Step S34: The coordinate system of the plane where the arc cleaning trajectory is located is subjected to rotation and translation transformation with the original coordinate system to obtain the coordinate system of the plane where the arc cleaning trajectory is located After a series of point coordinates in, interpolation is performed on the arc formed by the transformed point coordinates, and the arc length between any two points on the arc curve can be converted into the corresponding central angle increment; Step S35: Set the interpolation speed to , the interpolation period is T, and the central angle corresponding to the arc is , obtain the total time-consuming of the spatial arc interpolation , the number of interpolation points , so based on the obtained radius and the number of interpolation points , use the calculation formula: , , Calculate the -th interpolation point in the arc cleaning trajectory in the coordinate system of the coordinates , perform interpolation based on this coordinate. After interpolation is completed, the coordinates of the interpolation point are transformed back to the original coordinate system through the rotation and translation transformation matrix.

10. A method for automatic laser cleaning of a complex mold according to claim 9, characterized in that: The specific steps of step S4 include: after performing interpolation calculation based on the arc cleaning trajectory, inverse-solving all the obtained interpolation points into the incident angles of the laser beam in the arc cleaning trajectory, and the collaborative robot adjusts and outputs using the inverse-solved incident angles of the laser beam, that is, setting the initial cleaning angle of the laser cleaning head based on the arc cleaning trajectory as , and the termination cleaning angle is , based on the number of interpolation points of the calculated cleaning angle , calculate each interpolation point 's cleaning angle , and the calculation formula is: , in the arc cleaning trajectory, adjust the incident angle of the laser beam based on each calculated cleaning angle, so that the laser cleaning head is tangent to the mold cleaning surface.

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