Laser cleaning device for locomotive bagpipe and laser cleaning method for locomotive bagpipe

Abstract

The present invention provides a laser cleaning device for a locomotive bagpipe and a laser cleaning method for a locomotive bagpipe, wherein the laser cleaning device for a locomotive bagpipe comprises: a workbench; a first mechanical arm, which is arranged on the workbench, and the first mechanical arm is provided with a clamping claw for grabbing the locomotive bagpipe; a second mechanical arm, which is arranged on the workbench and spaced apart from the first mechanical arm; a laser cleaning structure, which is arranged on the second mechanical arm; and a control device, which controls the movement of the first mechanical arm and the second mechanical arm. The technical solution of the present application effectively solves the problem that the cleaning of the locomotive bagpipe is difficult in the related art.

Description

Technical Field

[0001] The present invention relates to the technical field of laser cleaning, and in particular to a laser cleaning device and a laser cleaning method for a locomotive bagpipe. Background Art

[0002] Laser cleaning equipment is used in the maintenance industry of rail transportation vehicles such as subways, EMUs, and locomotives. It performs automated and intelligent cleaning of stains on the surface of workpieces. It comprehensively uses machine vision technology, robot intelligent control technology, and laser cleaning technology to achieve good cleaning effects and highly intelligent operating capabilities.

[0003] With the rapid development of China's rail transit, more and more rail vehicle maintenance sections are being built and put into use in various places, and various intelligent vehicle maintenance equipment in the sections are also being put into use. At present, in most vehicle sections, the cleaning of vehicle parts is still based on manual work, using chemical cleaning, liquid solid spray cleaning, mechanical grinding cleaning and other methods. The labor intensity is high, the cleaning effect is poor, the working environment is harsh, and it causes varying degrees of damage to the environment and the workers' bodies. In addition, when the locomotive bagpipe is cleaned by the above cleaning methods, the cleaning effect is poor. Summary of the invention

[0004] The main purpose of the present invention is to provide a laser cleaning device and a laser cleaning method for a locomotive bagpipe, so as to solve the problem that the cleaning of a locomotive bagpipe is difficult in the related art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, there is provided a laser cleaning device for a motorcycle bagpipe, comprising: a workbench; a first robotic arm, which is arranged on the workbench and is provided with a clamp for grabbing the motorcycle bagpipe; a second robotic arm, which is arranged on the workbench and spaced apart from the first robotic arm; a laser cleaning structure, which is arranged on the second robotic arm; and a control device, which controls the movement of the first robotic arm and the second robotic arm.

[0006] Furthermore, the laser cleaning device for a motorcycle bagpipe also includes a dust cover, which is disposed on the workbench, and the second mechanical arm is located inside the dust cover.

[0007] Furthermore, the laser cleaning structure includes a laser light source and an adjustment unit, and the adjustment unit includes at least one of an amplifying optical unit, an adjusting optical unit and a focusing optical unit.

[0008] Furthermore, the laser cleaning structure includes a laser light source and an adjustment optical unit, the adjustment optical unit includes a laser absorption mask, an opening for determining the shape of the laser beam is formed in the laser absorption mask, the laser cleaning structure also includes a laser light source and a focusing optical unit, the focusing optical unit includes a convex lens and a lens moving unit for changing the position of the convex lens.

[0009] Furthermore, the diameter of the laser emitted by the laser light source is d, wherein 1 cm ≤ d ≤ 12 cm.

[0010] Furthermore, the laser cleaning device for the locomotive bagpipe also includes a waste collection device, which is arranged on the dust cover, and the waste collection device is arranged at the bottom of the side wall of the dust cover. The waste collection device includes a collection cover and a suction fan, and the suction fan is located between the collection cover and the dust cover.

[0011] Furthermore, a first slide rail is arranged between the first robotic arm and the workbench, a second slide rail is arranged between the second robotic arm and the workbench, the first robotic arm moves along the first slide rail, the first slide rail extends along the length direction of the workbench, the second slide rail is located on the side of the first slide rail, the second slide rail surrounds the outer periphery of the locomotive bagpipe, and the second robotic arm moves along the second slide rail.

[0012] According to another aspect of the present invention, a laser cleaning method for a locomotive bagpipe is provided. The laser cleaning device for a locomotive bagpipe described above is used, and the laser cleaning method for a locomotive bagpipe comprises the following steps: Step S10: grabbing a locomotive bagpipe onto a workbench by a first robotic arm; Step S20: repeating Step S10 to place a plurality of locomotive bagpipes on the workbench along the length direction of the workbench by multiple grabbing; Step S30: closing the dust cover so that the dust cover covers the second robotic arm and the plurality of locomotive bagpipes; Step S40: starting the laser cleaning structure, and driving the laser cleaning structure by the second robotic arm to clean each bagpipe; Step S50: starting the waste collection device.

[0013] Further, step S40 includes the following steps: step S41: the second robotic arm moves along the arrangement direction of the locomotive bagpipe so that the laser cleaning device cleans the outer wall of the locomotive bagpipe; step S42: after completing the cleaning of the outer wall of the locomotive bagpipe, the second robotic arm moves to the top of the locomotive bagpipe so that the laser cleaning structure faces the interior of the locomotive bagpipe; step S43: clean the interior of multiple locomotive bagpipes in turn.

[0014] Further, the laser light emitted by the laser cleaning structure in step S42 is coplanar with the inner wall of the motorcycle bagpipe, or the laser light emitted by the laser cleaning structure and the inner wall of the motorcycle bagpipe have an angle a, 0°<a≤15°.

[0015] According to the technical solution of the present invention, the first robot arm and the second robot arm are both arranged on the workbench, the first robot arm and the second robot arm are arranged at an interval, the laser cleaning structure is arranged on the second robot arm, and the first robot arm is provided with a clamp for grabbing the motorcycle bagpipe. The control device can control the movement of the first robot arm and the second robot arm. The above-mentioned laser cleaning structure can effectively clean the motorcycle bagpipe, and the cleaning effect can be effectively improved by the laser cleaning structure. Therefore, the technical solution of the present application effectively solves the problem of the difficulty of cleaning the motorcycle bagpipe in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 A schematic diagram of the three-dimensional structure of an embodiment of a laser cleaning device for a motorcycle bagpipe according to the present invention is shown;

[0018] Figure 2 Shows Figure 1 A schematic side view of a laser cleaning device for a locomotive bagpipe;

[0019] Figure 3 Shows Figure 1 A perspective schematic diagram of a laser cleaning device for a locomotive bagpipe;

[0020] Figure 4 Shows Figure 3 A perspective schematic diagram of another perspective of the laser cleaning device for a locomotive bagpipe;

[0021] Figure 5 Shows Figure 3 A perspective schematic diagram of a laser cleaning device for a motorcycle bagpipe from a front view perspective;

[0022] Figure 6 A flow chart showing an embodiment of a method for laser cleaning of a motorcycle bagpipe according to the present invention; and

[0023] Figure 7 Shows Figure 6 Detailed flow chart of step S40 of the method for laser cleaning of a locomotive bagpipe.

[0024] The above drawings include the following reference numerals:

[0025] 10. Workbench; 20. First robotic arm; 30. Second robotic arm; 40. Laser cleaning structure; 50. Dust cover; 60. Waste collection device; 61. Collection cover; 62. Suction fan. DETAILED DESCRIPTION

[0026] 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, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. 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.

[0027] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0028] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0029] During locomotive maintenance, it is almost inevitable to remove stains and rust from locomotive parts due to maintenance operations and process flow. While doing a good job of surface protection, using new cleaning methods has also become a development trend in locomotive maintenance operations.

[0030] Traditional cleaning methods all have their own limitations: Ultrasonic waves cannot effectively remove nano-scale particles; mechanical cleaning cannot avoid damage to the substrate, and is labor-intensive and has serious noise pollution; chemical cleaning often introduces toxic chemicals, and the cleanliness obtained is also very limited. Studies have shown that when the particle size (0.5μm) decreases, the force required to remove it from the substrate surface increases rapidly, and it is difficult to obtain satisfactory cleaning results using conventional cleaning methods. For example, grinding cleaning is mainly used for cleaning small parts and local cleaning, such as local rust on the mating surface of the axle box body, cleaning the inside of the wheel spoke plate, etc. The labor conditions are poor, and there is a lot of dust during the grinding process, and the efficiency is average. It is mostly handheld, so it is not suitable for large-scale cleaning in batches.

[0031] In order to solve the above problems, Figures 1 to 5 As shown, in this embodiment, the laser cleaning device for a motorcycle bagpipe comprises: a workbench 10, a first mechanical arm 20, a second mechanical arm 30, a laser cleaning structure 40 and a control device. The first mechanical arm 20 is arranged on the workbench 10, and a clamp for grabbing the motorcycle bagpipe is arranged on the first mechanical arm 20. The second mechanical arm 30 is arranged on the workbench 10 and spaced apart from the first mechanical arm 20. The laser cleaning structure 40 is arranged on the second mechanical arm 30. The control device controls the movement of the first mechanical arm 20 and the second mechanical arm 30.

[0032] By applying the technical solution of this embodiment, the first mechanical arm 20 and the second mechanical arm 30 are both arranged on the workbench 10, the first mechanical arm 20 and the second mechanical arm 30 are arranged at intervals, the laser cleaning structure 40 is arranged on the second mechanical arm 30, and the first mechanical arm 20 is provided with a clamp for grabbing the locomotive bagpipe. The control device can control the movement of the first mechanical arm 20 and the second mechanical arm 30. The above-mentioned laser cleaning structure can effectively clean the locomotive bagpipe, and the cleaning effect can be effectively improved by the laser cleaning structure. Therefore, the technical solution of this embodiment effectively solves the problem of the difficulty of cleaning the locomotive bagpipe in the related art.

[0033] Laser cleaning structure 40 Cleaning the locomotive bagpipe is a specific application of laser cleaning technology. It mainly uses a pulsed high-energy laser beam to directly act on the surface of the bagpipe, causing the stains on the surface of the bagpipe to vibrate and peel off instantly, thereby achieving a surface cleaning process. Laser cleaning is highly efficient and will not damage the surface of the workpiece. It does not require the assistance of any solvent and is pollution-free. The transmitter does not generate noise or low-frequency sound waves that are harmful to the human body. It is harmless to the human body and the environment and is a green and environmentally friendly cleaning technology. Compared with traditional cleaning methods, laser cleaning technology has the advantages of high energy density, low thermal distortion, and strong heat input control. It has the strength to replace traditional cleaning processes in many fields such as rail transit.

[0034] The short pulse, high energy density beam emitted by the laser is absorbed by the stain layer on the bagpipe surface, generating a large temperature gradient. The expanding plasma forms a shock wave, which turns the stains into tiny particles and is ejected by vibration, thus achieving a cleaning effect. The laser pulse width must be short enough to ensure that its heat-affected zone is small to prevent heat accumulation on the workpiece surface due to excessive heat input, causing surface damage.

[0035] The locomotive bagpipe is mainly used for warning and communication in rail transit locomotives and traction equipment. It mainly includes the following aspects: using compressed air to drive the bagpipe to make sound to achieve the purpose of warning and communication.

[0036] To improve the cleaning effect, Figures 1 to 5 As shown, in this embodiment, a blower is provided on the second mechanical arm 30, and the blower can blow off the waste deposited on the locomotive bagpipe.

[0037] In order to avoid waste pollution of the environment, such as Figures 1 to 5 As shown, in this embodiment, the laser cleaning device for a motorcycle bagpipe further comprises a dust cover 50, which is disposed on the workbench 10, and the second mechanical arm 30 is located in the dust cover 50. The dust cover 50 can effectively prevent the cleaned waste from scattering, which can effectively improve the overall environmental hygiene and further ensure the safety of the overall structure.

[0038] like Figures 1 to 5 As shown, in this embodiment, the laser cleaning structure 40 includes a laser light source and an adjustment unit, and the adjustment unit includes at least one of an amplifying optical unit, an adjusting optical unit and a focusing optical unit. The above device can effectively improve the effect of laser cleaning.

[0039] like Figures 1 to 5 As shown, in this embodiment, the laser cleaning structure 40 includes a laser light source and an adjustment optical unit, the adjustment optical unit includes a laser absorption mask, and an opening for determining the shape of the laser beam is formed in the laser absorption mask. The above device can also improve the effect of laser cleaning.

[0040] like Figures 1 to 5 As shown, in this embodiment, the laser cleaning structure 40 includes a laser light source and a focusing optical unit, and the focusing optical unit includes a convex lens and a lens moving unit for changing the position of the convex lens. The above device can change the angle of the laser, which can effectively improve the effect of laser cleaning, and thus all the details of the motorcycle bagpipe can be cleaned.

[0041] like Figures 1 to 5As shown, in this embodiment, the diameter of the laser emitted by the laser light source is d, where 1 cm ≤ d ≤ 12 cm. The above diameter can ensure that every position of the motorcycle bagpipe is cleaned and can take into account the cleaning area. This can effectively improve the cleaning efficiency. Specifically, in this embodiment, the diameter d is 3 cm.

[0042] The most important factor affecting the laser cleaning effect is the power density of the laser. When performing laser cleaning, the power density should be selected within a certain range, with the upper limit being the damage threshold of the substrate and the lower limit being the damage threshold of the contaminant. Within this range, as the power density increases, the cleaning effect increases. If the number of pulses is increased at the same time, the cleaning effect will be further improved. Another important factor affecting the cleaning effect is the incident angle of the laser beam. When incident vertically, the surface directly below the particle is blocked and cannot be directly irradiated by the laser. When incident at an oblique angle, the laser beam can directly irradiate directly below the particle, acting at the interface between the particle and the substrate. The cleaning efficiency is much higher than when incident directly, and the damage to the substrate is greatly reduced, or even no damage. The wavelength of the laser is also a factor that affects the cleaning effect. Generally speaking, the shorter the wavelength of the laser, the better the cleaning effect.

[0043] In the laser cleaning device of this embodiment, the laser source generates pulsed laser light, and the energy of each pulse of the pulsed laser light is 50 J to 100 J.

[0044] To facilitate waste collection, such as Figures 1 to 5 As shown, in this embodiment, the laser cleaning device for the motorcycle bagpipe further includes a waste collection device 60, which is disposed on the dust cover 50. The waste collection device 60 can collect all the waste generated by the motorcycle bagpipe, which further ensures the cleanliness of the overall environment and reduces the difficulty of waste collection.

[0045] To improve the efficiency of waste collection, such as Figures 1 to 5 As shown, in this embodiment, the waste collection device 60 is disposed at the bottom of the side wall of the dust cover 50, and the waste collection device 60 includes a collection cover 61 and a suction fan 62, and the suction fan 62 is located between the collection cover 61 and the dust cover 50. The above waste collection device 60 is simple and efficient.

[0046] In this embodiment, an industrial camera is also provided on the second robotic arm. The industrial camera can scan the locomotive bagpipe and detect the type (for example, preliminary judgment by color) or size of the stains on the locomotive bagpipe.

[0047] To ensure the efficiency of the cleaning operation, the parameters of the laser cleaning machine are as follows: maximum laser power 200W, laser frequency between 100kHz and 200kHz, pulse width between 60ns and 100ns, the distance between the scanning head and the joint surface is kept between 30cm and 35cm, and the working area is 100 to 110cm 2 The overall cleaning speed is 0.3m 2 / min.

[0048] like Figures 1 to 5 As shown, in this embodiment, a first slide rail is provided between the first mechanical arm 20 and the workbench 10, a second slide rail is provided between the second mechanical arm 30 and the workbench 10, the first mechanical arm 20 moves along the first slide rail, the first slide rail extends along the length direction of the workbench 10, the second slide rail is located at the side of the first slide rail, the second slide rail surrounds the outer periphery of the locomotive bagpipe, and the second mechanical arm 30 moves along the second slide rail. The above-mentioned first slide rail is provided to facilitate the first mechanical arm 20 to place the locomotive bagpipe after grabbing it, the second slide rail surrounds the outer periphery of the arranged locomotive bagpipe, and the second mechanical arm 30 can move along the second slide rail, so that the laser cleaning structure 40 can clean the locomotive bagpipe more thoroughly, further ensuring the cleaning effect.

[0049] like Figure 6 As shown, according to another aspect of the present application, a laser cleaning method for a locomotive bagpipe is provided. The laser cleaning method for a locomotive bagpipe according to this embodiment adopts the above-mentioned laser cleaning device for a locomotive bagpipe, and the laser cleaning method for a locomotive bagpipe comprises the following steps: Step S10: Grab a locomotive bagpipe onto the workbench 10 by the first robotic arm 20; Step S20: Repeat step S10 to place multiple locomotive bagpipes on the workbench 10 along the length direction of the workbench 10 by multiple grabbing; Step S30: Close the dust cover 50 so that the dust cover 50 covers the second robotic arm 30 and multiple locomotive bagpipes; Step S40: Start the laser cleaning structure 40, and drive the laser cleaning structure 40 to clean each bagpipe through the second robotic arm 30; Step S50: Start the waste collection device 60. According to the above method, the first robot arm 20 first grabs the motorcycle bagpipe and places it on the workbench 10, grabs it multiple times, and places multiple motorcycle bagpipes along the length direction of the workbench 10, so that every position of the motorcycle bagpipe can be cleaned. Then the dust cover 50 is closed, and then the laser cleaning structure 40 is started to clean the motorcycle bagpipe. After the cleaning is completed, the waste collection device 60 is started to collect the waste.

[0050] like Figure 7As shown, in this embodiment, step S40 includes the following steps: step S41: the second mechanical arm 30 moves along the arrangement direction of the locomotive bagpipe so that the laser cleaning device cleans the outer wall of the locomotive bagpipe; step S42: after the outer wall of the locomotive bagpipe is cleaned, the second mechanical arm 30 moves to the top of the locomotive bagpipe so that the laser cleaning structure 40 faces the inside of the locomotive bagpipe. Step S43: the inside of multiple locomotive bagpipes are cleaned in sequence. In the above steps, the outer surface of the locomotive bagpipe is cleaned first, and then the inside of the locomotive bagpipe is cleaned. When cleaning the outer surface of the locomotive bagpipe, the outer surfaces of multiple locomotive bagpipes are cleaned at the same time, and the second mechanical arm 30 moves around the multiple locomotive bagpipes. When cleaning the inside of the locomotive bagpipe, it is necessary to clean the inside of each locomotive bagpipe separately, which can effectively ensure the cleanliness of the cleaning.

[0051] like Figure 7 As shown, in this embodiment, the laser emitted by the laser cleaning structure 40 in step S42 is coplanar with the inner wall of the motorcycle bagpipe, or the laser emitted by the laser cleaning structure 40 and the inner wall of the motorcycle bagpipe have an angle a, 0°<a≤15°. The above angle can ensure that the inside of the motorcycle bagpipe is clean. Specifically, in this embodiment, a=8°.

[0052] The technical solution of this embodiment also includes the following steps: taking a photo of the bagpipe through an industrial camera, and transmitting the photo information to the processor for three-dimensional modeling, and the processor determines the motion trajectory through cloud computing, and performs laser cleaning. The above steps can effectively improve the cleaning efficiency and ensure that the cleaning is sufficiently clean. According to the motion trajectory determined by cloud computing, the second robot arm 30 can move along the above motion trajectory, and irradiate the surface of the locomotive bagpipe through the laser cleaning structure 40 to remove stains such as dust and rust adhering to the surface.

[0053] The technical solution of this embodiment has the following advantages: no chemical reagents are used in the cleaning process, so no environmental pollution is caused; there is no mechanical contact, which reduces the possibility of damaging the substrate, and can clean the inside and outside surfaces of the bagpipe. It has good controllability and three-dimensional intelligent cleaning. Integration with robot technology can realize the automation and intelligence of the cleaning process.

[0054] The bagpipe laser cleaning application involved in the technical solution of this embodiment is an important link in the field of industrial production. It changes the defects of mechanical cleaning, chemical cleaning and ultrasonic cleaning in terms of environmental pollution and high precision requirements. It is a new cleaning technology developed in the past decade. It has been well applied with its own characteristics and advantages, showing a broad application development prospect.

[0055] The promotion and application of Bagpipe laser intelligent cleaning application technology will further improve the automation level of vehicle depot maintenance equipment, improve the actual effect of locomotive parts cleaning, and will produce huge economic and social benefits.

[0056] The technical solution of this embodiment also has the following advantages:

[0057] 1. The technical solution of this embodiment is a green, energy-saving and efficient industrial intelligent product, which has obvious advantages compared with traditional cleaning methods such as chemical cleaning, liquid and solid strong impact cleaning.

[0058] 2. The technical solution of this embodiment has a high degree of automation and belongs to a fully automatic working mode, which can be used for large-scale operations. After the bagpipe is in place, the parameters can be set through the software interface, and the whole cleaning process can be automatically completed by one-click start. The equipment is equipped with an indicator light to indicate the operating status of the equipment. Each system of the equipment has a completely reliable safety protection device, insurance measures, obvious warning signs, alarm function and power-off protection function, and is equipped with an emergency cut-off switch. In an emergency, the equipment can be stopped in time to ensure that no harm is caused to the equipment and operators.

[0059] 3. The technical solution of this embodiment has a good human-machine communication interface, and the laser cleaner path can be selected to adapt to bagpipes of various sizes. It can also independently select the working range for local cleaning, with a flexible working method and great time saving.

[0060] 4. The technical solution of this embodiment adopts row-by-row and column-by-column scanning cleaning, and there are overlapping areas between rows and columns. The equipment uses machine vision technology to self-check the degree of cleaning and adjust the laser intensity and cleaning time in real time. The cleaning accuracy is high, no omissions, good effect, and short time consumption.

[0061] 5. The technical solution of this embodiment is equipped with a laser shielding device, which can eliminate the harm of laser to operators and nearby personnel to the greatest extent.

[0062] 6. The technical solution of this embodiment is simple to operate manually, easy to use, and has low technical requirements for operators, which greatly improves work efficiency and reduces the intensity of manual work.

[0063] 7. The technical solution of this embodiment has a simple structure, and the mechanical, electrical, and electronic components used have stable and reliable performance. The core laser adopts a fully enclosed external optical path system, which can achieve lifetime maintenance-free and high cost performance. The equipment adopts forced air cooling, can be used continuously, has high stability, low energy consumption, and is energy-saving and environmentally friendly.

[0064] 8. Laser cleaning can also change the structure of the micron-thick surface of the metal, just like covering it with a protective layer, which helps prevent the formation of rust. Even for metal components placed in the open air, laser cleaning can reduce the number of times they need to be painted.

[0065] 9. Laser cleaning technology is to use high-brightness and good-directional lasers to form a laser beam with a specific spot shape and energy distribution through optical focusing and spot shaping, and irradiate the stains or rusted positions. After absorbing the laser energy, it will vibrate, melt or even vaporize, so that the stains or rust layers will be separated from the locomotive bagpipe, but it will hardly damage the locomotive bagpipe.

[0066] The laser cleaning structure 40 in the technical solution of this embodiment is mainly used to remove adsorbed substances on the surface layer, such as harmful oxides, salts, polymer materials, absorbing particles, mold, other organic and inorganic stains. For metal surfaces, it is mainly used to remove corrosion rust, castings, surface paint layers and stain layers. For the surface of microcircuit substrates, it is mainly used to remove micron-level foreign particles, dust, and submicron pollution. For stone objects such as marble, limestone, marble, murals, etc., it is mainly used to remove the black surface covering the stone patterns.

[0067] The technical solution of this embodiment has been experimentally studied for cleaning the surface attachments of locomotive bagpipes and contactors. Preliminary test results show that laser cleaning is one of the more effective surface cleaning methods and also one of the methods with less damage to the surface. In addition to the properties of the material itself, laser wavelength and pulse width are important parameters for surface cleaning. A lower laser pulse repetition frequency and a larger beam diameter can be selected for processing fragile and hard surfaces. Pulsed lasers are more effective than short-wavelength lasers for surface removal of metals, various types of stones, glass, paper, leather, skin, textiles, bones, etc., and shorter laser pulses can avoid surface thermal damage. The use of wavelength-adjustable lasers may be more helpful in improving the cleaning efficiency of surface attachments and minimizing the harm to the surface matrix material. According to experimental studies, there is a large difference in the absorption of lasers by the sample surface before and after cleaning, and this difference can be used to control the processing process online. Once the attachments are removed, most of the subsequent pulse energy will be reflected, and the processing process will automatically stop.

[0068] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0069] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0070] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0071] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A laser cleaning device for a motorcycle bagpipe, characterized in that: include: Workbench (10); A first mechanical arm (20) is arranged on the workbench (10), wherein the first mechanical arm (20) is provided with a clamp for grabbing a motorcycle bagpipe; a second mechanical arm (30), the second mechanical arm (30) being arranged on the workbench (10) and spaced apart from the first mechanical arm (20); A laser cleaning structure (40) is arranged on the second mechanical arm (30); A control device for controlling the movement of the first mechanical arm (20) and the second mechanical arm (30); A first slide rail is provided between the first mechanical arm (20) and the workbench (10), a second slide rail is provided between the second mechanical arm (30) and the workbench (10), the first mechanical arm (20) moves along the first slide rail, the first slide rail extends along the length direction of the workbench (10), the second slide rail is located on the side of the first slide rail, the second slide rail surrounds the outer periphery of the locomotive bagpipe, and the second mechanical arm (30) moves along the second slide rail; The second mechanical arm (30) is provided with a hair dryer.

2. The laser cleaning device for a motorcycle bagpipe according to claim 1, characterized in that: The laser cleaning device for a motorcycle bagpipe also includes a dust cover (50), wherein the dust cover (50) is disposed on the workbench (10), and the second mechanical arm (30) is located inside the dust cover (50).

3. The laser cleaning device for a motorcycle bagpipe according to claim 1, characterized in that: The laser cleaning structure (40) comprises a laser light source and an adjustment unit, wherein the adjustment unit comprises at least one of an amplifying optical unit, an adjusting optical unit and a focusing optical unit.

4. The laser cleaning device for a motorcycle bagpipe according to claim 1, characterized in that: The laser cleaning structure (40) comprises a laser light source and an adjustment optical unit, wherein the adjustment optical unit comprises a laser absorption mask in which an opening for determining the shape of a laser beam is formed, and the laser cleaning structure (40) further comprises a laser light source and a focusing optical unit, wherein the focusing optical unit comprises a convex lens and a lens moving unit for changing the position of the convex lens.

5. The laser cleaning device for a motorcycle bagpipe according to claim 3, characterized in that: The diameter of the laser emitted by the laser light source is d, wherein 1 cm≤d≤12 cm.

6. The laser cleaning device for a motorcycle bagpipe according to claim 2, characterized in that: The laser cleaning device for the motorcycle bagpipe also includes a waste collection device (60), wherein the waste collection device (60) is arranged on the dust cover (50), wherein the waste collection device (60) is arranged at the bottom of the side wall of the dust cover (50), wherein the waste collection device (60) includes a collection cover (61) and an air suction fan (62), wherein the air suction fan (62) is located between the collection cover (61) and the dust cover (50).

7. A laser cleaning method for a motorcycle bagpipe, characterized in that: The laser cleaning device for a locomotive bagpipe according to any one of claims 1 to 6 is used, and the laser cleaning method for a locomotive bagpipe comprises the following steps: Step S10: grabbing a motorcycle bagpipe onto the workbench (10) by the first mechanical arm (20); Step S20: repeating step S10, so as to place a plurality of the locomotive bagpipes on the workbench (10) along the length direction of the workbench (10) by grabbing them multiple times; Step S30: closing the dust cover (50) so that the dust cover (50) covers the second mechanical arm (30) and the plurality of locomotive bagpipes; Step S40: starting the laser cleaning structure (40), and driving the laser cleaning structure (40) to clean each bagpipe through the second mechanical arm (30); Step S50: Start the waste collection device (60).

8. The laser cleaning method for a motorcycle bagpipe according to claim 7, characterized in that: The step S40 comprises the following steps: Step S41: the second mechanical arm (30) moves along the arrangement direction of the locomotive bagpipe, so that the laser cleaning device cleans the outer wall of the locomotive bagpipe; Step S42: After the outer wall of the motorcycle bagpipe is cleaned, the second mechanical arm (30) moves to the top of the motorcycle bagpipe so that the laser cleaning structure (40) faces the inside of the motorcycle bagpipe; Step S43: Cleaning the interior of the plurality of locomotive bagpipes in sequence.

9. The laser cleaning method for a motorcycle bagpipe according to claim 8, characterized in that: The laser light emitted by the laser cleaning structure (40) in step S42 is coplanar with the inner wall of the motorcycle bagpipe, or the laser light emitted by the laser cleaning structure (40) and the inner wall of the motorcycle bagpipe have an angle a, 0°<a≤15°.

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