Laser cleaning device and method capable of automatically adjusting the position of laser cleaning head

Abstract

The present invention discloses a laser cleaning device and method capable of automatically adjusting the position of a laser cleaning head, which is used for cleaning impurities and pollutants on a cleaned work surface, and comprises a laser cleaning head and a mounting seat, wherein the mounting seat is provided with a rotating driving member for driving the laser cleaning head to rotate to adjust the angle of the laser cleaning head and a moving driving member for driving the rotating driving member to move laterally to adjust the distance between the laser cleaning head and the cleaned work surface, the laser cleaning head is fixedly connected to the rotating driving member, and the rotating driving member is also provided with a distance sensor for collecting distance data between the cleaned work surface and the laser cleaning device capable of automatically adjusting the position of the laser cleaning head, and two distance sensors are provided, and the two distance sensors are symmetrically arranged on both sides of the laser cleaning head. The automatic adjustment of the position of the laser cleaning head can be realized, so that the laser cleaning head is always perpendicular to the cleaned work surface during cleaning and the focus of the laser beam is always located on the cleaned plane, thereby improving work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of laser cleaning, and in particular to a laser cleaning device and method capable of automatically adjusting the position of a laser cleaning head. Background Art

[0002] There are various cleaning methods in the traditional cleaning industry, most of which are chemical agents and mechanical methods. However, with the increasing requirements for environmental protection and processing accuracy, traditional cleaning methods are gradually unable to meet the requirements. Laser cleaning has the characteristics of no grinding, no contact, no thermal effect, and is suitable for objects of various materials. It is considered to be the most reliable and effective solution. Its basic principle is that the focused laser beam can generate a high temperature of several thousand or even tens of thousands of degrees near the focus, causing the dirt to evaporate, gasify or decompose instantly. Therefore, during laser processing, it is often necessary to adjust the processing distance so that the focus of the laser beam is located on the surface of the workpiece being processed. At the same time, the laser cleaning head should be perpendicular to the work surface being cleaned to improve processing efficiency.

[0003] For example, the Chinese patent with publication number CN111760849B discloses a laser cleaning device and a focus maintaining method thereof, which can maintain the focus of laser cleaning on the surface of an object, thereby ensuring the cleaning effect and cleaning efficiency. However, when it is applied to the cleaning of some complex surfaces with large surface fluctuations and many processing dead angles, since it can only adjust the focus position, it cannot ensure that the laser cleaning head is always perpendicular to the cleaned work surface during cleaning, resulting in unsatisfactory cleaning effect and cleaning efficiency. Summary of the invention

[0004] The technical problem to be solved by the present invention is: to overcome the defects of the existing technical problems and provide a laser cleaning device and method that can automatically adjust the position of the laser cleaning head, which can realize automatic adjustment of the position of the laser cleaning head, so that the laser cleaning head is always perpendicular to the working surface to be cleaned during cleaning and the focus of the laser beam is always located on the plane to be cleaned, thereby improving work efficiency.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: a laser cleaning device that can automatically adjust the position of a laser cleaning head, comprising a laser cleaning head, wherein the laser cleaning head is used to clean impurities and contaminants on the working surface to be cleaned, and the laser cleaning device that can automatically adjust the position of the laser cleaning head also includes a mounting seat, and the mounting seat is provided with a rotating driving member for driving the laser cleaning head to rotate to adjust the angle of the laser cleaning head and a moving driving member for driving the rotating driving member to move laterally to adjust the distance between the laser cleaning head and the working surface to be cleaned. The laser cleaning head is fixedly connected to the rotating driving member, and the rotating driving member is also provided with a distance sensor for collecting distance data between the working surface to be cleaned and the laser cleaning device that can automatically adjust the position of the laser cleaning head, and two distance sensors are provided, and the two distance sensors are symmetrically arranged on both sides of the laser cleaning head.

[0006] Furthermore, the point where the laser beam of the laser cleaning head converges is a focus, and the two distance sensors are both arranged obliquely relative to the laser cleaning head, and the two distance sensors are both aligned with the focus.

[0007] Furthermore, a specific structure of a mobile driving component is provided, which includes a transmission motor, a screw rod and a slide plate, the screw rod is rotatably mounted on the mounting seat, the transmission motor is fixedly mounted on the mounting seat, the transmission motor is used to drive the screw rod to rotate, the slide plate is threadedly connected to the screw rod, and the slide plate is slidable relative to the mounting seat.

[0008] Furthermore, a specific structure of a rotating drive component is provided, wherein the rotating drive component is mounted on the skateboard, and the rotating drive component includes a steering motor and a rotating seat, wherein the rotating seat is fixedly connected to the output shaft of the steering motor, and the laser cleaning head and the distance sensor are fixedly mounted on the rotating seat.

[0009] Furthermore, a control box is provided on the mounting base, and a PLC controller and a drive module are arranged in the control box. The distance sensor feeds back the collected distance data to the PLC controller, and the PLC controller is electrically connected to the transmission motor and the steering motor through the drive module.

[0010] A method for automatically adjusting the position of a laser cleaning head, wherein the distances from the two distance sensors to the focal point are fixed values, the angle between the distance sensors and the laser cleaning head is fixed, the two distance sensors transmit the measured distances from the cleaned work surface to the PLC controller, and the PLC controller calculates the distance that the laser cleaning head needs to move relative to the cleaned work surface;

[0011] If the distance between the distance sensor and the cleaned work surface is greater than the distance between the distance sensor and the focus, the PLC controller controls the transmission motor through the drive module to drive the slide on the lead screw to move forward a required distance;

[0012] If the distance between the distance sensor and the cleaned work surface is smaller than the distance between the distance sensor and the focus, the PLC controller controls the transmission motor through the driving module to drive the slide on the lead screw to move backward a required distance.

[0013] Furthermore, the distance from the two distance sensors to the focus is a, the angle between the distance sensor and the laser cleaning head is α, the distances between the two distance sensors and the cleaned work surface are b and c respectively, and the distance that the laser cleaning head needs to move relative to the cleaned work surface is calculated as: .

[0014] Further, the distances from the two distance sensors to the focal point are fixed values, the angle between the distance sensor and the laser cleaning head is fixed, the two distance sensors transmit the measured distances from the cleaned work surface to the PLC controller, and the PLC controller can also calculate the angle between the laser cleaning head and the cleaned work surface and the angle at which the laser cleaning head needs to rotate relative to the cleaned work surface;

[0015] If the angle between the laser cleaning head and the cleaned work surface is less than 90 degrees, the PLC controller controls the steering motor through the driving module to drive the laser cleaning head on the rotating seat to rotate clockwise to a required angle;

[0016] If the angle between the laser cleaning head and the cleaned work surface is greater than 90 degrees, the PLC controller controls the steering motor through the driving module to drive the laser cleaning head on the rotating seat to rotate counterclockwise to a required angle.

[0017] Furthermore, the distance from the two distance sensors to the focus is a, the angle between the distance sensor and the laser cleaning head is α, the distances between the two distance sensors and the cleaned work surface are b and c respectively, and the angle between the laser cleaning head and the cleaned work surface is calculated as: ;

[0018] The angle at which the laser cleaning head needs to rotate relative to the cleaned working surface is: .

[0019] By adopting the above technical scheme, the present invention has the following beneficial effects: two distance sensors are symmetrically arranged on both sides of the laser cleaning head, and the two distance sensors transmit the collected distance signals to the PLC controller. After analyzing and processing the data, the PLC controller obtains the distance that the laser cleaning head needs to move relative to the work surface to be cleaned and the angle that needs to be rotated. Then, the PLC controller activates the mobile driving member and the rotating driving member through the driving module, thereby realizing automatic adjustment of the position of the laser cleaning head, so that the laser cleaning head is always perpendicular to the work surface to be cleaned during cleaning and the focus of the laser beam is always located on the plane to be cleaned, thereby effectively improving the cleaning efficiency and cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the laser cleaning device capable of automatically adjusting the position of the laser cleaning head of the present invention;

[0021] Figure 2 for Figure 1 A top view of

[0022] Figure 3 The positional relationship between the laser cleaning head and the cleaned work surface of the present invention is shown in FIG. Figure 1 ;

[0023] Figure 4 The positional relationship between the laser cleaning head and the cleaned work surface of the present invention is shown in FIG. Figure 2 ;

[0024] Figure 5 The positional relationship between the laser cleaning head and the cleaned work surface of the present invention is shown in FIG. Figure 3 ;

[0025] Figure 6 The positional relationship between the laser cleaning head and the cleaned work surface of the present invention is shown in FIG. Figure 4 .

[0026] Reference numerals: 1 mounting base, 2 laser cleaning head, 3 rotating driving member, 4 moving driving member, 5 distance sensor,

[0027] 6 control box, 10 working surface to be cleaned, 20 focus, 31 steering motor, 32 rotating seat, 41 screw rod,

[0028] 42 transmission motor, 43 slide plate, 44 slide rail DETAILED DESCRIPTION

[0029] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0030] Embodiment 1

[0031] like Figure 1-2 As shown, in the present embodiment, a laser cleaning device capable of automatically adjusting the position of a laser cleaning head is provided, comprising a mounting seat 1, a laser cleaning head 2, a rotating driving member 3 for driving the laser cleaning head 2 to rotate to adjust the angle of the laser cleaning head 2, a moving driving member 4 for driving the rotating driving member 3 to move laterally to adjust the distance between the laser cleaning head 2 and the working surface 10 to be cleaned, and a distance sensor 5 for collecting distance data between the laser cleaning device capable of automatically adjusting the position of the laser cleaning head described in the present embodiment and the working surface 10 to be cleaned. The rotating driving member 3 and the moving driving member 4 are both arranged on the mounting seat 1, the laser cleaning head 2 and the distance sensor 5 are both fixedly connected to the rotating driving member 3, two distance sensors 5 are provided, and the two distance sensors 5 are symmetrically arranged on both sides of the laser cleaning head 2.

[0032] The laser cleaning device that can automatically adjust the position of the laser cleaning head provided in this embodiment also includes a control box 6, which is fixedly mounted on the mounting base 1. A PLC controller and a drive module (not shown in the figure) are arranged in the control box 6. The PLC controller is electrically connected to the rotating drive member 3 and the moving drive member 4 through the drive module. At the same time, the distance sensor 5 feeds back the collected distance data to the PLC controller. The PLC controller processes the distance data collected by the distance sensor 5 to obtain the distance that the laser cleaning head 2 needs to move and the required rotation angle, and controls the actions of the rotating drive member 3 and the moving drive member 4 through the drive module to adjust the position of the laser cleaning head 2.

[0033] like Figure 1-2 As shown, the mobile driving member 4 includes: a transmission motor 42, a screw rod 41 and a slide plate 43. The screw rod 41 is rotatably mounted on the mounting seat 1. The transmission motor 42 is arranged on the mounting seat 1 to drive the screw rod 41 to rotate. The slide plate 43 is threadedly connected to the screw rod 41. The slide plate 43 is slidable relative to the mounting seat 1, and the rotating driving member 3 is installed on the slide plate 43.

[0034] Two slide rails 44 are provided on the mounting base 1, and the slider is slidably connected to the slide rails 44. The PLC controller is electrically connected to the transmission motor 42 through the driving module. The PLC controller controls the movement of the transmission motor 42 through the driving module. The transmission motor 42 drives the screw rod 41 to rotate, and the screw rod 41 drives the slide plate 43 to move relative to the mounting base 1.

[0035] like Figure 1-2As shown, the rotating drive component 3 includes a steering motor 31 and a rotating seat 32. The steering motor 31 is fixedly mounted on the slide plate 43. The rotating seat 32 is fixedly connected to the output shaft of the steering motor 31. The laser cleaning head 2 and the two distance sensors 5 are fixedly mounted on the rotating seat 32. The PLC controller is electrically connected to the steering motor 31 through the driving module. The PLC controller controls the movement of the steering motor 31 through the driving module. The steering motor 31 drives the rotating seat 32 to rotate relative to the mounting seat 1, thereby driving the laser cleaning head 2 to rotate.

[0036] like Figure 2 As shown, two distance sensors 5 are respectively arranged on both sides of the laser cleaning head 2, and the two distance sensors 5 are inclined relative to the laser cleaning head 2. The two distance sensors 5 and the laser cleaning head 2 are aligned with the optimal cleaning position, that is, the focus 20 formed by the convergence of the laser beam of the laser cleaning head 2. The distance from the focus 20 to the laser cleaning head 2 is the focal length, which is the optimal cleaning distance of the laser cleaning equipment. Therefore, the optimal cleaning distance needs to be maintained between the cleaned work surface 10 and the laser cleaning head 2, that is, the focus 20 needs to be on the cleaned work surface 10. Therefore, it is necessary to calculate the distance between the focus 20 and the cleaned work surface 10 based on the distance between the two distance sensors 5 and the cleaned work surface 10, that is, the distance that the laser cleaning head 2 needs to move relative to the cleaned work surface 10. At the same time, the angle between the laser cleaning head 2 and the cleaned work surface 10 can be calculated, thereby obtaining the angle that the laser cleaning head 2 needs to rotate, so that the laser cleaning head 2 is perpendicular to the cleaned work surface 10.

[0037] According to the above-mentioned laser cleaning equipment that can automatically adjust the position of the laser cleaning head, the present invention also provides a method for automatically adjusting the position of the laser cleaning head: during operation, the distance between the two distance sensors 5 and the work surface 10 to be cleaned is transmitted to the PLC controller, and the PLC controller calculates the distance that the laser cleaning head 2 needs to move relative to the work surface 10 to be cleaned and the angle that the laser cleaning head 2 needs to rotate. At the same time, the PLC controller drives the moving drive member 4 to move the laser cleaning head 2 forward or backward through the driving module based on whether the distance between the distance sensor 5 and the work surface 10 to be cleaned is greater than the distance between the distance sensor 5 and the focus 20. After moving into position, the PLC controller drives the rotating drive member 3 through the driving module to rotate the laser cleaning head 2 clockwise or counterclockwise by a corresponding angle based on whether the calculated angle between the laser cleaning head 2 and the work surface 10 to be cleaned is greater than 90 degrees.

[0038] Specifically, Figure 3As shown, when the distance from the cleaned working surface 10 to the laser cleaning head 2 is greater than the optimal cleaning distance, and the angle β between the cleaned working surface 10 and the laser cleaning head 2 is less than 90 degrees, the focus 20 is set to the origin O, the position of the laser cleaning head 2 is A, the positions of the two distance sensors 5 are B and C respectively, the distances from the two distance sensors 5 to the focus 20 are a, the distances from the cleaned working surface 10 detected by the two distance sensors 5 are b and c respectively, the points on the cleaned working surface 10 detected by the two distance sensors 5 are D and E respectively, the angles between the two distance sensors 5 and the laser cleaning head 2 are both α, the center point of the laser beam of the laser cleaning head 2 irradiated on the cleaned working surface 10 is F, then the distance from the focus 20 to the cleaned working surface 10, that is, the distance that the laser cleaning head 2 needs to move relative to the cleaned working surface 10 is the distance between the origin O and point F.

[0039] Known ,

[0040] but ①

[0041] Draw perpendicular lines from D and E to AF, with their feet marked as G and H respectively. Then

[0042] ②

[0043] ③

[0044] Since △DFG∽△EFH, then ④

[0045] ⑤

[0046] The distance between the origin O and point F is:

[0047] ⑥

[0048] Substituting formulas ①-⑤ into formula ⑥, we get: Since the distance between the cleaned work surface 10 and the laser cleaning head 2 is greater than the optimal cleaning distance, the laser cleaning head 2 needs to move forward. distance.

[0049] Angle between the cleaned work surface 10 and the laser cleaning head 2 , combined with formula ①-⑤, we can get:

[0050]

[0051] The angle that the laser cleaning head 2 needs to rotate is:

[0052] ,

[0053] Since β is less than 90 degrees, the laser cleaning head 2 moves forward After the distance, the laser cleaning head 2 needs to rotate clockwise .

[0054] Embodiment 2

[0055] like Figure 4 As shown, the difference between this embodiment and the first embodiment is that the distance between the cleaned working surface 10 and the laser cleaning head 2 is less than the optimal cleaning distance.

[0056] at this time, ⑦

[0057] Combining formulas ②-⑥, we can get: , that is, the laser cleaning head 2 needs to move backward distance.

[0058] Similarly, the angle between the cleaned working surface 10 and the laser cleaning head 2 is , combined with formula ②-⑦, we can get: .

[0059] Then the laser cleaning head 2 moves backward After the distance, the laser cleaning head 2 needs to rotate clockwise .

[0060] Embodiment 3

[0061] like Figure 5 As shown, the difference between this embodiment and the first embodiment is that the angle β between the cleaned working surface 10 and the laser cleaning head 2 is greater than 90 degrees.

[0062] at this time, , combined with formula ①-⑤, we can get:

[0063] ,

[0064] That is, the laser cleaning head 2 needs to move forward distance.

[0065] because , then the angle between the cleaned working surface 10 and the laser cleaning head 2 is: , combined with formula ①-⑤, we can get: .

[0066] Then the laser cleaning head 2 moves forward After the distance, the laser cleaning head 2 needs to rotate counterclockwise .

[0067] Embodiment 4

[0068] like Figure 6 As shown, the difference between this embodiment and the first embodiment is that the distance from the cleaned working surface 10 to the laser cleaning head 2 is less than the optimal cleaning distance, and the angle β between the cleaned working surface 10 and the laser cleaning head 2 is greater than 90 degrees. Combining the second embodiment and the third embodiment, it can be obtained that:

[0069] Laser cleaning head 2 moves backward After the distance, the laser cleaning head 2 needs to rotate counterclockwise .

[0070] The specific embodiments described above further illustrate the technical problems, technical solutions and beneficial effects solved by the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A laser cleaning device capable of automatically adjusting the position of a laser cleaning head, comprising a laser cleaning head (2), wherein the laser cleaning head (2) is used to clean impurities and contaminants on a work surface (10) to be cleaned, and characterized in that: The laser cleaning device capable of automatically adjusting the position of a laser cleaning head further comprises a mounting seat (1), the mounting seat (1) being provided with a rotating drive member (3) for driving the laser cleaning head (2) to rotate so as to adjust the angle of the laser cleaning head (2) and a moving drive member (4) for driving the rotating drive member (3) to move laterally so as to adjust the distance between the laser cleaning head (2) and the work surface (10) to be cleaned, the laser cleaning head (2) being fixedly connected to the rotating drive member (3), the rotating drive member (3) being provided with a distance sensor (5) for collecting distance data between the work surface (10) to be cleaned and the laser cleaning device capable of automatically adjusting the position of the laser cleaning head, the distance sensor (5) being arranged There are two distance sensors (5), the two distance sensors (5) are symmetrically arranged on both sides of the laser cleaning head (2), the point where the laser beam of the laser cleaning head (2) converges is the focus (20), the two distance sensors (5) are arranged tilted relative to the laser cleaning head (2), the two distance sensors (5) are aligned with the focus (20), the distance between the two distance sensors (5) and the focus (20) is a, the angle between the distance sensor (5) and the laser cleaning head (2) is α, the distances between the two distance sensors (5) and the cleaned working surface (10) are b and c respectively, and the distance that the laser cleaning head (2) needs to move relative to the cleaned working surface (10) is calculated as: , the angle between the laser cleaning head (2) and the cleaned working surface (10) is: , the angle that the laser cleaning head (2) needs to rotate relative to the working surface (10) to be cleaned is: .

2. The laser cleaning device capable of automatically adjusting the position of the laser cleaning head according to claim 1, characterized in that: The mobile driving member (4) comprises a transmission motor (42), a screw rod (41) and a slide plate (43); the screw rod (41) is rotatably mounted on the mounting seat (1); the transmission motor (42) is fixedly mounted on the mounting seat (1); the transmission motor (42) is used to drive the screw rod (41) to rotate; the slide plate (43) is threadedly connected to the screw rod (41); and the slide plate (43) is slidable relative to the mounting seat (1).

3. The laser cleaning device capable of automatically adjusting the position of the laser cleaning head according to claim 2, characterized in that: The rotary drive member (3) is mounted on the slide plate (43), the rotary drive member (3) comprising a steering motor (31) and a rotating seat (32), the rotating seat (32) being fixedly connected to an output shaft of the steering motor (31), and the laser cleaning head (2) and the distance sensor (5) being fixedly mounted on the rotating seat (32).

4. A laser cleaning device capable of automatically adjusting the position of a laser cleaning head according to claim 3, characterized in that: A control box (6) is also provided on the mounting seat (1), a PLC controller and a drive module are arranged in the control box (6), the distance sensor (5) feeds back the collected distance data to the PLC controller, and the PLC controller is electrically connected to the transmission motor (42) and the steering motor (31) through the drive module.

5. A method for automatically adjusting the position of a laser cleaning head, the method being applied to the laser cleaning device capable of automatically adjusting the position of a laser cleaning head as claimed in claim 4, characterized in that: The distances from the two distance sensors (5) to the focal point (20) are fixed values, the angle between the distance sensors (5) and the laser cleaning head (2) is fixed, the two distance sensors (5) transmit the measured distances from the cleaned work surface (10) to the PLC controller, and the PLC controller calculates the distance that the laser cleaning head (2) needs to move relative to the cleaned work surface (10); If the distance between the distance sensor (5) and the cleaned work surface (10) is greater than the distance between the distance sensor (5) and the focus (20), the PLC controller controls the transmission motor (42) through the drive module to drive the slide plate (43) on the screw rod (41) to move forward a required distance; If the distance between the distance sensor (5) and the cleaned work surface (10) is smaller than the distance between the distance sensor (5) and the focus (20), the PLC controller controls the transmission motor (42) through the drive module to drive the slide plate (43) on the lead screw (41) to move backwards a required distance.

6. A method for automatically adjusting the position of a laser cleaning head according to claim 5, characterized in that: The PLC controller can also calculate the angle between the laser cleaning head (2) and the work surface (10) to be cleaned, and the angle at which the laser cleaning head (2) needs to rotate relative to the work surface (10) to be cleaned; If the angle between the laser cleaning head (2) and the work surface (10) to be cleaned is less than 90 degrees, the PLC controller controls the steering motor (31) through the drive module to drive the laser cleaning head (2) on the rotating seat (32) to rotate clockwise to a required angle; If the angle between the laser cleaning head (2) and the cleaned work surface (10) is greater than 90 degrees, the PLC controller controls the steering motor (31) through the drive module to drive the laser cleaning head (2) on the rotating seat (32) to rotate counterclockwise to a required angle.

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