A surface laser rust removal device for tubular steel structures

Abstract

The present invention discloses a surface laser rust removal device for tubular steel structures; a surface laser rust removal device for tubular steel structures, comprising a coating assembly, a ring drive mechanism, and a laser rust removal assembly; the coating assembly is arranged along the central axis of the rusted part as a reference, and a plurality of atomizers are arranged in a ring array for water mist coating; a plurality of the laser rust removal assemblies are arranged in a ring array along the central axis of the rusted part as a reference, and a laser rust removal assembly is provided at the angle between each two atomizers in a straight view; by combining laser irradiation with water mist coating, rust and dirt on the surface of the tubular steel structure can be removed more comprehensively and efficiently. Laser irradiation has high energy density and precise positioning characteristics. At the same time, combined with the special arrangement mode of the present invention, the water mist coating enhances the local gasification effect, forming a regional pressurized rust removal technology that can remove rust blocks more effectively and more powerfully.

Description

Technical Field

[0001] The invention relates to the technical field of laser rust removal, in particular to a surface laser rust removal device for a tubular steel structure. Background Art

[0002] Tubular steel structures are a commonly used type of steel structure, made of steel and featuring a tubular shape. They have a strong load-bearing capacity and compressive strength, and are often used to support and transport various loads while maintaining high strength and stability.

[0003] Tubular steel structures require rust removal primarily to maintain and extend their service life. Rust is a common problem with tubular steel structures, especially when exposed to the atmosphere or in humid environments. Rust not only affects the appearance but also reduces the strength and corrosion resistance of the steel, thereby affecting the stability and safety of the structure. Rust removal removes rust, restores the steel's surface, and reduces the damage caused by rust. After rust removal, further coating can be applied to form a protective layer, extending the service life of the tubular steel structure and reducing maintenance costs. Laser rust removal technology is an advanced non-destructive rust removal method. Utilizing the high energy density and controllable properties of lasers, it concentrates laser energy on the rusted surface, causing the rust to heat up, vaporize, and fall off, achieving the desired rust removal effect. Traditional laser rust removal of tubular steel structures typically involves using a fixed laser device to irradiate the entire surface of the tubular steel structure to remove rust and dirt.

[0004] However, after long-term work and research, the inventors found that the following technical problems exist in the traditional technology and need to be solved urgently:

[0005] (1) Lack of comprehensiveness: Traditional technologies generally use fixed laser devices, which cannot well cover the complex surface of the entire tubular steel structure, which may result in insufficient rust removal in some areas.

[0006] (2) Poor adaptability: Since fixed laser devices are difficult to adapt to tubular steel structures of different shapes and sizes, the effect may not be satisfactory when dealing with diverse structures.

[0007] (3) Low efficiency: Traditional technologies may have low rust removal efficiency and require longer processing time because they cannot fully cover the surface or are not adaptable to specific shapes.

[0008] Therefore, a surface laser rust removal device for tubular steel structure is proposed. Summary of the Invention

[0009] In view of this, the embodiment of the present invention hopes to provide a surface laser rust removal device for tubular steel structures to solve or alleviate the technical problems existing in the prior art, namely, insufficient comprehensiveness, poor adaptability and low efficiency, and at least provide a beneficial option;

[0010] The technical solution of the embodiment of the present invention is achieved as follows:

[0011] A surface laser rust removal device for tubular steel structures comprises a coating assembly, a ring drive mechanism, and a laser rust removal assembly. The coating assembly comprises a plurality of atomizers arranged in a circular array along the central axis of the workpiece to be rusted, for water mist coating. The laser rust removal assemblies are arranged in a circular array along the central axis of the workpiece to be rusted, with one laser rust removal assembly positioned at the angle between each two atomizers when viewed from the front. The ring drive mechanism carries the laser rust removal assembly and comprises two staggered axially arranged first and second rotational degrees of freedom. The rotation axis of the second rotational degree of freedom is initially coaxial with the central axis of the workpiece to be rusted, and is used to drive each ring drive mechanism to adjust the rust removal angle along the outer surface of the workpiece to be rusted. The first rotational degree of freedom drives the rotation axis of the second rotational degree of freedom to tilt relative to the central axis of the workpiece to expand the laser irradiation area of ​​the laser rust removal assembly.

[0012] In the above-described embodiment, the laser rust removal device for tubular steel structures includes a coating assembly, a ring drive mechanism, and a laser rust removal assembly. The coating assembly comprises multiple atomizers arranged in a circular array along the central axis of the workpiece to be rusted, for water mist coating. Multiple laser rust removal assemblies are arranged in a circular array along the central axis of the workpiece to be rusted, with one laser rust removal assembly located between each two atomizers. The laser rust removal assembly is mounted on the ring drive mechanism and includes a first rotational degree of freedom and a second rotational degree of freedom for adjusting the laser irradiation angle. This device is designed to expand the irradiation area of ​​the laser rust removal assembly.

[0013] In one embodiment, the device further comprises a frame and a carrier mounted below the frame, wherein the carrier is a powered vehicle, a remote-controlled vehicle, a trailer, a wheel frame, or a tracked vehicle, and the coating assembly and the ring drive mechanism are mounted on the frame. During use, the fixing device at one end of the piece to be rusted, i.e., the tubular steel structure, is removed, and the device is driven into the frame by the carrier, and the piece to be rusted is placed at the center axis of the coating assembly and the ring drive mechanism. During rust removal, the carrier is driven along the length of the piece to be rusted by active control or passive pulling, and the coating assembly, the ring drive mechanism, and the laser rust removal assembly operate continuously to achieve uniform rust removal.

[0014] In the above-mentioned embodiment, a frame and a carrier vehicle mounted beneath the frame are introduced. The carrier vehicle can be a powered vehicle, a remote-controlled vehicle, a trailer, a wheeled vehicle, or a tracked vehicle. A coating assembly and a ring drive mechanism are mounted on the frame. During use, the fixture at one end of the tubular steel structure, which is the part to be derusted, is removed, and the carrier vehicle is driven into the part to be derusted. The part to be derusted is then placed on the center axis of the coating assembly and the ring drive mechanism.

[0015] In one embodiment, the coating assembly includes an annular frame, which is fixed on the frame, and the three atomizers are installed on the annular frame in the form of an annular array.

[0016] In the above-mentioned embodiment, the coating assembly utilizes a ring-shaped frame fixed to the machine frame. Three atomizers are mounted on the ring-shaped frame, forming a circular array. Similar to the atomizers, the laser rust removal assembly also utilizes the same circular array, with three laser rust removal assemblies selected. This layout follows the circular pattern of "atomizer-laser rust removal assembly-atomizer-laser rust removal assembly-atomizer-laser rust removal assembly," with a 60-degree angle between adjacent components.

[0017] In one embodiment, the ring drive mechanism includes a first ring frame and a second ring frame rotatably engaged with its inner side wall, the first ring frame is hinged to the frame in the form of a vertical intersection with the central axis of the rust-removed part, and a first rotating module for outputting the first rotational degree of freedom is provided on the outside of the first ring frame and on the frame, the first rotating module drives the first ring frame to rotate along the central axis vertically intersecting the rust-removed part; a second rotating module for outputting the second rotational degree of freedom is provided on the rotating surface between the first ring frame and the second ring frame, and the second rotating module is used to drive the second rotating module to rotate along the central axis of the rust-removed part in the initial state; the surface of the second rotating module is connected to the three laser rust removal components in the form of a ring array through an adjustment component.

[0018] In the above-mentioned embodiment: the ring drive mechanism is composed of a first ring frame and a second ring frame that is rotatably matched to its inner side wall. The first ring frame is connected to the frame in an articulated manner along the central axis of the rust-removed part that is perpendicular to the center axis. The frame is provided with a first rotating module for outputting the first rotational degree of freedom, which is located outside the first ring frame and drives the first ring frame to rotate along the central axis of the rust-removed part that is perpendicular to the center axis. A second rotating module is installed on the rotating surface between the first ring frame and the second ring frame for outputting the second rotational degree of freedom. In the initial state, the second rotating module drives the second rotating module to rotate along the central axis of the rust-removed part. The surface of the second rotating module is connected to three laser rust removal assemblies through an adjusting assembly to form an annular array.

[0019] In one embodiment, the first rotating module includes a first motor, a first driving wheel driven by the first motor, and a first transmission belt meshing with the first driving wheel and a first driven wheel. The first driven wheel is fixed to the top of the first ring frame. The first motor is fixed to the frame, and the first driven wheel is rotatably engaged with the frame.

[0020] In the above embodiment, the first rotating module comprises a first motor, a first driving pulley, a first transmission belt, and a first driven pulley. The first motor is fixed to the frame and is used to drive the rotation. The first driving pulley is driven by the first motor and meshes with the first driven pulley via the first transmission belt. The first driven pulley is fixed to the top of the first ring frame and rotates in conjunction with the first driven pulley on the frame.

[0021] In one embodiment, the second rotating module includes a second motor, a second driving wheel driven by the second motor, and a second transmission belt meshed with the second driving wheel and a second driven wheel, wherein the second driven wheel is fixed to the annular outer edge of the second ring frame. The second motor is fixed to the first ring frame, and the second driving wheel is rotatably engaged with the first ring frame.

[0022] In the above embodiment, the second rotating module includes a second motor, a second driving wheel, a second transmission belt, and a second driven wheel. The second motor is fixed to the first ring frame to provide rotational power. The second driving wheel is driven by the second motor and engages with the second driven wheel via the second transmission belt. The second driven wheel is fixed to the annular outer edge of the second ring frame.

[0023] In one embodiment, the adjustment assembly includes a connecting frame on which at least two actuator cylinders are mounted in an array. The piston rods of the actuator cylinders are universally connected to a receiving frame via a spherical coupling. The receiving frame houses the laser rust removal assembly. The adjustment assembly provides relative pitch adjustment for the laser rust removal assembly by controlling the relative pitch angle of the receiving frame and the laser rust removal assembly via the output difference between the two actuator cylinders.

[0024] In the above embodiment, the adjustment assembly comprises a connecting frame, at least two actuator cylinders, and a spherical coupling. The connecting frame is equipped with at least two actuator cylinders in an array. The piston rod of each actuator cylinder is connected to a receiving frame via a spherical coupling. A laser rust removal assembly is mounted on the receiving frame.

[0025] In one embodiment, the laser rust removal assembly includes at least three linear degrees of freedom arranged in a coaxial annular array, and the linear degrees of freedom are connected to act on the laser emitter for universal angle adjustment; the laser emitter is used for laser rust removal.

[0026] In the above embodiment, the laser rust removal assembly consists of at least three linear degrees of freedom arranged in a coaxial annular array. Each linear degree of freedom is connected to and acts on a laser emitter, enabling universal angle adjustment. The laser emitter is a key component for laser rust removal.

[0027] In one embodiment, the laser rust removal assembly includes a first frame and a second frame, the first frame is fixed in the accommodating frame, six servo electric cylinders for outputting the linear degrees of freedom are evenly installed in a circular array between the first frame and the second frame, and the cylinder body and piston rod of the servo electric cylinder are respectively universally hinged on the respective opposite sides of the first frame and the second frame through a universal joint coupling; the laser emitter is installed on the second frame.

[0028] In the above embodiment, the laser rust removal assembly comprises a first frame and a second frame. The first frame is fixed to a receiving frame. Six servo cylinders are mounted in a circular array between the first and second frames to output linear degrees of freedom. The cylinder body and piston rod of each servo cylinder are connected to opposing sides of the first and second frames via a universal joint coupling.

[0029] In one embodiment, every three adjacent two servo electric cylinders are arranged in an N-shape or a mirror image N-shape.

[0030] In the above embodiment: this arrangement pattern is to allow each linear degree of freedom to be intertwined with each other, thereby expanding the stroke and increasing control accuracy.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] (1) Comprehensive and efficient rust removal: Laser irradiation combined with water mist coating can more comprehensively and efficiently remove rust and dirt from the surface of tubular steel structures. Laser irradiation has high energy density and precise positioning characteristics. Combined with the unique arrangement pattern of the present invention, water mist coating enhances the localized vaporization effect, forming a regional pressurized rust removal technology that can more effectively and powerfully remove rust blocks.

[0033] (2) Strong multi-dimensional adaptability: The use of circularly arranged laser rust removal components and atomizers, as well as servo cylinders with multiple linear degrees of freedom, allows the laser to adapt to tubular steel structures of different shapes, sizes, and curves, thereby increasing the scope of application and flexibility of the technology. The use of racks, carriers, and flexibly arranged atomizers and laser rust removal components allows the entire device to be flexibly adjusted and controlled to adapt to different work scenarios and the processing requirements of tubular steel structures.

[0034] (3) Energy saving and environmental protection: Compared with traditional high-energy laser rust removal technology, this technology is more precise in design and avoids unnecessary energy waste. At the same time, by using water as an auxiliary source in the rust removal process, it also reduces the possible negative impact on the environment.

[0035] (4) Improve the precision and quality of rust removal: Servo electric cylinders with multiple linear degrees of freedom can accurately adjust the laser emitter to achieve multi-directional laser irradiation, thereby improving the precision and quality of rust removal. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 It is a perspective schematic diagram of the present invention;

[0038] Figure 2 It is a three-dimensional schematic diagram from another perspective of the present invention;

[0039] Figure 3 It is a three-dimensional schematic diagram of the ring drive mechanism of the present invention;

[0040] Figure 4 A schematic perspective view of a first ring frame and a second ring frame of the present invention;

[0041] Figure 5 It is a three-dimensional schematic diagram of the adjustment component of the present invention;

[0042] Figure 6 This is a three-dimensional schematic diagram of the laser rust removal assembly of the present invention;

[0043] Figure 7 This is a three-dimensional schematic diagram of the laser rust removal assembly and the atomizer of the present invention from a main viewing angle;

[0044] Figure 8 This is a schematic diagram of the local gasification effect of the present invention (shown from the main perspective of the rust-removed part);

[0045] Figure numerals: 1. Carrier; 2. Frame; 3. Coating assembly; 301. Ring frame; 302. Atomizer; 4. Ring drive mechanism; 401. First ring frame; 402. First rotating module; 403. Second ring frame; 404. Second rotating module; 405. Adjustment assembly; 4051. Connecting frame; 4052. Actuator; 4053. Spherical coupling; 4054. Accommodation frame; 5. Laser rust removal assembly; 501. First frame; 502. Second frame; 503. Servo cylinder; 504. Universal joint coupling; 505. Laser emitter. DETAILED DESCRIPTION

[0046] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the following detailed description of the specific embodiments of the present invention is given in conjunction with the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0047] It should be noted that the terms "first," "second," "symmetrical," "array," etc. are used only to distinguish descriptions from positional descriptions and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, limitations on features such as "first" and "symmetrical" may explicitly or implicitly include one or more of these features; similarly, when the number of certain features is not limited in the form of words such as "two" or "three," it should be noted that these features also explicitly or implicitly include one or more of the number of features.

[0048] It should be pointed out that terms in the "degree of freedom" category all refer to the connection relationship and the relationship of applying force to at least one component. For example, "linear degree of freedom" refers to a component being connected to one or more other components through this linear degree of freedom and applying force to them, so that they can slide or apply force in a straight line direction; "rotational degree of freedom" refers to a component being able to rotate freely around at least one rotation axis and can apply torque or withstand torque.

[0049] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature. At the same time, all axial descriptions, such as the X-axis, Y-axis, Z-axis, one end of the X-axis, the other end of the Y-axis, or the other end of the Z-axis, are based on a Cartesian coordinate system.

[0050] In the present invention, unless otherwise expressly specified or limited, terms such as "installation," "connection," and "fixation" should be understood broadly; for example, they may refer to fixed connection, detachable connection, or integral molding; they may refer to mechanical connection, direct connection, welding, or indirect connection through an intermediate medium; they may refer to internal communication between two components or interaction between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on the specification and drawings in conjunction with specific circumstances.

[0051] Example 1

[0052] In the early 1990s, a research team led by Susan Allen (from the University of Iowa, USA) conducted research on laser-assisted cleaning technology (JH Rannon. AC Tam, A R Kurth. Pulsed laser stripping of polyurethane-coated wires: A comparison of KrF and CO2 lasers [J]. Journal of Applied Physics. 1991, 70 (7): 3881-3886). This technology uses water as an auxiliary source to achieve cleaning and decontamination. The basic principle of this technology is to coat a thin layer of water on the surface of the sample and then irradiate it with a continuous carbon dioxide laser. The water layer has a strong absorption capacity for laser energy, and the laser energy is converted into heat energy, causing the temperature of the water to quickly rise to above the boiling point. Because the water layer is very thin, the water heating process is very rapid, resulting in explosive vaporization of the water layer. This vaporization process will carry away the pollutants in the water layer, achieving an efficient cleaning effect. Based on this, this embodiment aims to further apply its technology to practical use based on its principle, and provide a device to enhance its rust removal effect, and apply it to the surface rust removal of tubular steel structures. Figure 1-7 :

[0053] A surface laser rust removal device for tubular steel structures comprises a coating assembly 3, a ring drive mechanism 4, and a laser rust removal assembly 5. The coating assembly 3 comprises a plurality of atomizers 302 arranged in a circular array along the central axis of the workpiece to be rusted, for water mist coating. The laser rust removal assemblies 5 are arranged in a circular array along the central axis of the workpiece to be rusted. When viewed from the front, a laser rust removal assembly 5 is located at the angle between every two atomizers 302. The ring drive mechanism 4 carries the laser rust removal assembly 5 and comprises two staggered axially arranged first and second rotational degrees of freedom. The rotation axis of the second rotational degree of freedom is initially coaxial with the central axis of the workpiece to be rusted, driving each ring drive mechanism 4 to adjust the rust removal angle along the outer surface of the workpiece to be rusted. The first rotational degree of freedom drives the rotation axis of the second rotational degree of freedom to tilt relative to the central axis of the workpiece to expand the laser irradiation area of ​​the laser rust removal assembly 5.

[0054] In this solution: when in use, the rust-removed part, i.e., the tubular steel structure, is placed in the coating assembly 3 and the ring drive mechanism 4. First, the coating assembly 3 coats the corresponding area of ​​the outer surface of the rust-removed part with a water layer of about 10 μm, and then the laser rust removal assembly 5 works. However, in the initial state, the laser of the laser rust removal assembly 5 can only irradiate the outer edge of each water layer because of the layout feature of "a laser rust removal assembly 5 is provided at the angle between every two atomizers 302". At this time, the outer edges of the two adjacent water layers produce a local vaporization effect under laser irradiation, forming local pressure, which helps to push the surrounding rusted materials outward and increase the rust removal efficiency. After this part of the process is completed, based on the above-mentioned "second rotational degree of freedom" operation, each laser rust removal component 5 is rotated to the area directly corresponding to each water layer for irradiation, and the rust area in the water layer is directly removed; then, through the operation between the "first rotational degree of freedom", the laser rust removal component 5 is tilted relative to the surface of the rusted part, and the original irradiation blind spot in the "water layer-edge-edge-water layer" area is exposed, so that the laser rust removal component 5 can further remove rust.

[0055] In this embodiment, the laser rust removal device for tubular steel structures comprises a coating assembly 3, a ring drive mechanism 4, and a laser rust removal assembly 5. The coating assembly 3 comprises multiple atomizers 302 arranged in a circular array along the central axis of the workpiece being rusted, for use in water mist coating operations. Multiple laser rust removal assemblies 5 are arranged in a circular array along the central axis of the workpiece being rusted, with one laser rust removal assembly 5 located between each two atomizers 302. The ring drive mechanism 4 carries the laser rust removal assembly 5, which has a first rotational degree of freedom and a second rotational degree of freedom for adjusting the laser irradiation angle. This device is designed to expand the irradiation area of ​​the laser rust removal assembly 5.

[0056] Specifically: The principle of the laser rust removal device is to remove rust on the surface of the tubular steel structure through the action of laser and water layer. First, the coating component 3 coats a thin layer of water on the surface of the rusted part. Then, the laser rust removal component 5 irradiates the outer edge of each water layer according to the setting, generating a local vaporization effect to push the surrounding rusted materials outward, thereby increasing the rust removal efficiency. Then, through the second rotational degree of freedom of the ring drive mechanism 4, the laser irradiation position is adjusted to directly irradiate each water layer to remove rust. Finally, the laser rust removal component 5 is tilted through the first rotational degree of freedom to solve the original irradiation blind spot and further realize the rust removal operation.

[0057] It can be understood that in this embodiment, the device achieves efficient and precise laser rust removal. By applying a thin layer of water, the localized vaporization effect of the laser increases rust removal efficiency. Adjustable laser irradiation angle ensures comprehensive removal of each water layer and edge. The entire device combines coating, laser rust removal, and irradiation angle adjustment to adapt to different rust locations and ensure thorough rust removal on the surface of tubular steel structures.

[0058] In some specific embodiments of this application, please refer to Figures 1-2 : It also includes a frame 2 and a carrier 1 carried under the frame 2, the carrier 1 is one of a power vehicle, a remote-controlled vehicle, a trailer, a wheel frame or a tracked vehicle, and the coating assembly 3 and the ring drive mechanism 4 are installed on the frame 2. When in use, the fixing device at one end of the rust-removed part, that is, the tubular steel structure, is removed, and the device is driven into the part via the carrier 1, and the rust-removed part is placed on the central axis of the coating assembly 3 and the ring drive mechanism 4; when rusting, the carrier 1 is driven along the length direction of the rust-removed part by active control or passive pulling, and the coating assembly 3, the ring drive mechanism 4 and the laser rust removal assembly 5 are continuously operated to achieve uniform rust removal.

[0059] This embodiment incorporates a frame 2 and a carrier vehicle 1 mounted beneath it. The carrier vehicle 1 can be a powered vehicle, remote-controlled vehicle, trailer, wheeled vehicle, or tracked vehicle. A coating assembly 3 and a circular drive mechanism 4 are mounted on the frame 2. During use, the component to be derusted, i.e., the tubular steel structure, is secured at one end with its fixture removed. The carrier vehicle 1 is then driven in and the component to be derusted is placed at the center axis of the coating assembly 3 and circular drive mechanism 4.

[0060] In this solution, all electrical components of the device are powered by the battery carried by the carrier 1; specifically, the electrical components of the device are conventionally electrically connected to the battery output port through relays, transformers, button panels and other devices to meet the energy supply requirements of all electrical components of the device.

[0061] Specifically, the carrier vehicle 1 of the present device is also provided with a controller, which is used to connect and control all the electrical components of the present device as a whole to be driven according to a pre-set program as a preset value and a driving mode; it should be noted that the above-mentioned driving mode corresponds to the corresponding start-stop time interval, speed, power and other output parameters between the relevant electrical components below, that is, it meets the requirements of the relevant electrical components described below to drive the relevant mechanical devices to operate according to the functions described. It can be understood that the relevant spatial adjustment elements in this embodiment, such as the adjustment component 405, the laser rust removal component 5 and the ring drive mechanism 4, can be controlled in the form of a PID controller to adjust their spatial position. Those skilled in the art can make a conventional design of the specific form of the PID controller based on the operating mode provided in this embodiment and the second embodiment.

[0062] Specifically, the device utilizes a vehicle 1 to drive the laser rust removal process on tubular steel structures. First, after removing the fixtures, vehicle 1 positions the component to be rusted at the center of the device. Vehicle 1 then travels along the length of the component, while the coating assembly 3, ring drive mechanism 4, and laser rust removal assembly 5 continuously operate to remove the rust. The ring drive mechanism 4's second degree of freedom adjusts the laser irradiation position, ensuring thorough removal of every water layer and edge.

[0063] It will be appreciated that in this embodiment, driven by the carrier 1, the device can achieve uniform and continuous rust removal of tubular steel structures. This automated laser rust removal device can adapt to tubular steel structures of varying lengths and shapes, improving rust removal efficiency and ensuring quality. Furthermore, the device is adaptable to a variety of carrier types, allowing the appropriate carrier to be selected based on actual conditions, enhancing the device's flexibility and applicability.

[0064] In some specific embodiments of this application, please refer to Figure 3 The coating assembly 3 includes an annular frame 301, which is fixed on the frame 2, and three atomizers 302 are installed on the annular frame 301 in the form of an annular array.

[0065] In this solution, the coating assembly 3 utilizes a ring-shaped frame 301, secured to the machine frame 2. Three atomizers 302 are mounted on the frame 301, forming a circular array. Similar to the atomizers, the laser rust removal assembly 5 utilizes the same circular array, with three laser rust removal assemblies 5 arranged in a circular pattern: "atomizer 302 - laser rust removal assembly 5 - atomizer 302 - laser rust removal assembly 5 - atomizer 302 - laser rust removal assembly 5 -," with a 60-degree angle between adjacent components.

[0066] In this solution, the atomizer 302 of the entire device relies on an external water tank and its water pump for power supply; specifically, the atomizer 302 of the entire device is conventionally pneumatically connected to the water pump output port of the water tank through devices such as a solenoid valve, a reversing valve and a pipe body.

[0067] Preferably, the driving synchronization of the atomizer 302 is controlled by a controller.

[0068] Specifically, the ring frame 301, atomizer 302, and laser rust removal components 5 are arranged in a circular array, achieving uniform coverage and irradiation. This circular arrangement ensures that the surface of the rusted object is evenly covered with a layer of water, and that the laser irradiation reaches all of the water layer. The 60-degree intervals ensure that the irradiation range and angle of each laser rust removal component 5 complement each other, ensuring comprehensive rust removal results.

[0069] As can be understood, in this embodiment, the annular layout of the coating and laser rust removal components achieves comprehensive, uniform coverage and illumination. This layout ensures uniform coverage of the water layer on the surface of the tubular steel structure while also ensuring that the laser irradiates the entire covered water layer, improving the efficiency and quality of laser rust removal. This annular layout offers excellent operational stability and is suitable for efficient, large-scale rust removal of tubular steel structures.

[0070] In some specific embodiments of this application, please refer to Figures 3-5 : The ring drive mechanism 4 includes a first ring frame 401 and a second ring frame 403 that is rotatably matched to its inner side wall, the first ring frame 401 is hinged on the frame 2 in the form of a central axis perpendicular to the rust-removed part, and a first rotating module 402 for outputting the first rotational degree of freedom is provided on the outside of the first ring frame 401 and the frame 2, the first rotating module 402 drives the first ring frame 401 to rotate along the central axis perpendicular to the rust-removed part; the rotating surface between the first ring frame 401 and the second ring frame 403 is provided with a second rotating module 404 for outputting the second rotational degree of freedom, the second rotating module 404 is used to drive the second rotating module 404 to rotate along the central axis of the rust-removed part in the initial state; the surface of the second rotating module 404 is connected with three said laser rust removal assemblies 5 in the form of an annular array through an adjusting assembly 405.

[0071] In this scheme: ring drive mechanism 4 is made up of the first ring frame 401 and the second ring frame 403 that is rotated and matched to its inner side wall. The first ring frame 401 is connected to the frame 2 in an articulated manner along the central axis that vertically intersects the rust-removed part. The frame 2 is provided with the first rotating module 402 that is used to output the first rotational degree of freedom. This module is located at the first ring frame 401 outside, drives the first ring frame 401 to rotate along the central axis that vertically intersects the rust-removed part. The second rotating module 404 is installed on the rotating surface between the first ring frame 401 and the second ring frame 403, for outputting the second rotational degree of freedom. The second rotating module 404 is driven to rotate along the central axis of the rust-removed part in the initial state. The surface of the second rotating module 404 is connected to three laser rust removal assemblies 5 by adjusting assembly 405, forming an annular array.

[0072] Specifically, the ring drive mechanism 4 achieves precise control of the laser rust removal assembly 5 through the coordination of the first ring frame 401 and the second ring frame 403, and the drive of the rotation module. The first rotational degree of freedom is driven by the first rotation module 402 to rotate the first ring frame 401, allowing the laser rust removal assembly 5 to flip perpendicular to the central axis of the workpiece being rusted. The second rotational degree of freedom is controlled by the second rotation module 404, allowing the laser rust removal assembly 5 to rotate along the central axis of the workpiece being rusted.

[0073] Furthermore, first, in the initial state, the laser irradiation of the laser rust removal component can only irradiate the outer edge of each water layer. This design causes the outer edges of two adjacent water layers to produce a local vaporization effect under laser irradiation, forming local pressure, pushing the surrounding rust materials to move outward, thereby increasing the rust removal efficiency. Next, through the action of the ring drive mechanism, the laser rust removal component can perform more precise irradiation. The second rotational degree of freedom (second rotation module 404) allows the laser rust removal component to rotate to the area directly corresponding to each water layer so as to directly irradiate the rust area at the water layer and remove it. Subsequently, the adjustment of the first rotational degree of freedom (first rotation module 402) causes the laser rust removal component to be tilted relative to the surface of the rusted part, so that the "water layer-edge-edge-water layer" area that may have previously had a blind spot for irradiation is exposed for further irradiation and rust removal. Therefore, by cleverly designing the laser irradiation method and coordinating the ring drive mechanism, a more comprehensive, efficient and precise laser rust removal of the surface of the tubular steel structure is achieved, which maximizes the rust removal efficiency and quality.

[0074] It will be appreciated that in this embodiment, the design of the ring drive mechanism provides dual rotational degrees of freedom, allowing the laser rust removal assembly 5 to be flexibly adjusted in multiple directions. This mechanism ensures precise control of the irradiation angle and position of the laser rust removal assembly 5 to accommodate tubular steel structures of varying shapes and sizes. By connecting three laser rust removal assemblies 5 via an adjustment assembly, a circular array of laser irradiation is achieved, improving both rust removal efficiency and quality.

[0075] In some specific embodiments of this application, please refer to Figures 3-5 The first rotating module 402 includes a first motor, a first driving wheel driven by the first motor, and a first transmission belt meshing with the first driving wheel and a first driven wheel. The first driven wheel is fixed to the top of the first ring frame 401. The first motor is fixed to the frame 2, and the first driven wheel is rotatably engaged with the frame 2.

[0076] In this embodiment, the first rotating module 402 comprises a first motor, a first driving pulley, a first transmission belt, and a first driven pulley. The first motor is fixed to the frame 2 and is used to drive the rotation. The first driving pulley is driven by the first motor and engages with the first driven pulley via the first transmission belt. The first driven pulley is fixed to the top of the first ring frame 401 and rotates in conjunction with the first driven pulley on the frame 2.

[0077] Specifically, the first rotating module 402 rotates via a first motor. This first motor drives a first driving wheel, which, through the transmission of a first transmission belt, rotates a first driven wheel. The rotation of the first driven wheel coordinates with the first driven wheel on the frame 2, rotating the first ring frame 401 and adjusting the position and illumination angle of the laser rust removal assembly 5.

[0078] As will be appreciated, in this embodiment, the first rotating module 402 provides rotational control for the first ring frame 401, enabling the laser rust removal assembly 5 to be rotated and adjusted perpendicular to the central axis of the object being rusted. This mechanism ensures comprehensive coverage and uniform illumination of the laser rust removal process, improving rust removal efficiency. Driven by the first motor, the laser rust removal assembly 5 can be precisely adjusted to accommodate tubular steel structures of varying shapes and sizes.

[0079] In some specific embodiments of this application, please refer to Figures 3-5 The second rotating module 404 includes a second motor, a second driving wheel driven by the second motor, and a second transmission belt meshed with the second driving wheel and a second driven wheel. The second driven wheel is fixed to the annular outer edge of the second ring frame 403. The second motor is fixed to the first ring frame 401, and the second driving wheel is rotatably engaged with the first ring frame 401.

[0080] In this solution, the second rotating module 404 comprises a second motor, a second driving wheel, a second transmission belt and a second driven wheel. The second motor is fixed on the first ring frame 401 for providing rotational power. The second driving wheel is driven by the second motor and engages with the second driven wheel through the second transmission belt. The second driven wheel is fixed to the annular outer edge of the second ring frame 403.

[0081] Specifically, the second rotating module 404 is driven by a second motor to rotate. The second motor drives the second driving wheel, which, through the transmission action of the second transmission belt, rotates the second driven wheel. The rotation of the second driven wheel cooperates with the annular outer edge of the second ring frame 403, thereby rotating the second ring frame 403. This rotation mechanism is achieved by a fixing device on the second ring frame 403, thereby adjusting the illumination angle of the laser rust removal assembly 5.

[0082] It will be appreciated that in this embodiment, the second rotary module 404, driven by a second motor, enables the laser rust removal assembly 5 to rotate and adjust along the central axis of the workpiece being rusted. This rotational mechanism ensures omnidirectional laser irradiation and coverage, effectively improving rust removal efficiency. The second rotary module 404 offers high precision and reliability, adapting to the shapes and sizes of various tubular steel structures, enabling more precise rust removal.

[0083] In some specific embodiments of this application, please refer to Figures 4-5 The adjustment assembly 405 includes a connecting frame 4051, on which at least two actuator cylinders 4052 are mounted in an array. The piston rods of the actuator cylinders 4052 are universally connected to a receiving frame 4054 via a spherical coupling 4053. The receiving frame 4054 houses the laser rust removal assembly 5. The adjustment assembly 405 provides relative pitch adjustment for the laser rust removal assembly 5. The relative pitch angle of the receiving frame 4054 and the laser rust removal assembly 5 is controlled by the output difference between the two actuator cylinders 4052.

[0084] In this embodiment, the adjustment assembly 405 consists of a connecting frame 4051, at least two actuator cylinders 4052, and a spherical coupling 4053. The connecting frame 4051 is equipped with at least two actuator cylinders 4052 in an array. The piston rod of each actuator cylinder 4052 is connected to a receiving frame 4054 via a spherical coupling 4053. The receiving frame 4054 is equipped with a laser rust removal assembly 5.

[0085] Specifically, the adjustment assembly 405 provides relative pitch adjustment for the laser rust removal assembly 5. The relative pitch angles of the receiving frame 4054 and the laser rust removal assembly 5 are controlled by the output difference between the two actuator cylinders 4052. The piston rod is connected to the receiving frame 4054 via a spherical coupling 4053. This connection allows the laser rust removal assembly 5 to be adjusted in pitch to accommodate the varying shapes and heights of the rust removal components.

[0086] As will be appreciated, in this embodiment, the design of adjustment assembly 405 allows the laser rust removal assembly 5 to achieve precise pitch adjustment perpendicular to the workpiece. This adjustment allows the laser irradiation to adapt to the varying shapes and heights of the workpiece, ensuring effective laser irradiation and efficient rust removal. The output difference of the actuator cylinder allows for real-time adjustment of the position of the laser rust removal assembly 5, maintaining the optimal pitch angle relative to the workpiece for optimal rust removal results.

[0087] In some specific embodiments of this application, please refer to Figure 6 : The laser rust removal component 5 includes at least three linear degrees of freedom arranged in a coaxial annular array, and the linear degrees of freedom are connected to the laser emitter 505 for universal angle adjustment; the laser emitter 505 is used for laser rust removal.

[0088] In this solution, the laser rust removal assembly 5 consists of at least three linear degrees of freedom arranged in a coaxial annular array. Each linear degree of freedom is connected to and acts on a laser emitter 505, enabling universal angle adjustment. The laser emitter 505 is a key component for laser rust removal.

[0089] Specifically, the laser rust removal assembly 5 achieves multi-directional angle adjustment of the laser emitter 505 through linear degree of freedom adjustment. This multi-directional angle adjustment allows for precise laser irradiation in three dimensions to accommodate rust removal targets of varying shapes and heights. Laser emitter 505 is the primary tool for laser rust removal, and its angle adjustment directly impacts the laser irradiation effect and rust removal efficiency.

[0090] Furthermore, the present embodiment also provides a comprehensive operation mode of the "macro adjustment" of the adjustment component 405 combined with the "micro universal angle adjustment" of the laser rust removal component 5 itself, which includes:

[0091] (1) Macro-adjustment: This refers to the overall adjustment function of the adjustment assembly 405. Through the coordinated action of the two actuators 4052, the relative pitch angle of the receiving frame 4054 and the laser rust removal assembly 5 can be changed. This macro-adjustment can be used to adjust the overall angle of the laser rust removal assembly to adapt to different working scenarios or different degrees of inclination of the tubular steel structure.

[0092] (2) Micro-motion universal angle adjustment: The micro-motion capability of the laser rust removal component 5 itself refers to the linear degree of freedom on the laser emitter 505. By connecting the servo cylinder 503, small adjustments to the laser emitter can be made to fine-tune the laser irradiation angle and position.

[0093] The principle behind the combination of these two adjustment modes is that, based on macro adjustment, micro adjustment can make subtle corrections to the macro adjustment results to ensure that the laser's illumination point is precisely positioned on the desired area. This combined adjustment makes the entire system more flexible and adaptable to a variety of complex tubular steel surface conditions, including irregular curves and angles.

[0094] Furthermore, the combination of macro and micro adjustments enables highly precise positioning of the laser irradiation point, ensuring that the laser accurately illuminates the desired area, improving the accuracy and quality of rust removal. This adjustment mode makes the system more adaptable, capable of handling tubular steel structures of various shapes and angles, reducing the need for manual intervention and improving operational convenience. Precise positioning and adjustment reduces unnecessary re-irradiation, thereby improving rust removal efficiency and saving time and energy. Automated macro and micro adjustments reduce operator errors and improve the stability and reliability of the entire system.

[0095] It will be appreciated that in this embodiment, since laser rust removal is achieved by irradiating the surface of the workpiece to be rusted, the angle adjustment of the laser emitter 505 is crucial. The laser rust removal assembly 5 utilizes linear degrees of freedom to achieve multi-directional adjustment of the laser emitter, enabling precise irradiation along different axial directions. This feature ensures that the laser fully and evenly illuminates the surface of the workpiece to be rusted, improving rust removal efficiency and quality. By precisely adjusting the angle of the laser emitter, optimal laser rust removal results can be achieved.

[0096] In some specific embodiments of this application, please refer to Figure 6 : The laser rust removal component 5 includes a first frame 501 and a second frame 502, the first frame 501 is fixed in the accommodating frame 4054, and six servo electric cylinders 503 for outputting the linear degrees of freedom are evenly installed in the form of a circular array between the first frame 501 and the second frame 502, and the cylinder body and piston rod of the servo electric cylinder 503 are respectively universally hinged on the respective opposite sides of the first frame 501 and the second frame 502 through a universal joint coupling 504; the laser emitter 505 is installed on the second frame 502.

[0097] In this embodiment, the laser rust removal assembly 5 consists of a first frame 501 and a second frame 502. The first frame 501 is fixed to the accommodating frame 4054. Six servo cylinders 503 are mounted in a circular array between the first and second frames 501, 502, to output linear degrees of freedom. The cylinder body and piston rod of each servo cylinder 503 are connected to the opposing sides of the first and second frames 501, 502 via a universal joint 504.

[0098] Specifically, the laser rust removal assembly utilizes multiple servo cylinders 503 arranged in a circular array, enabling multi-directional linear control of a laser emitter 505. The servo cylinders 503, articulated via a universal joint 504, allow for flexible adjustment of the laser emitter 505 to accommodate varying shapes and heights of the surface being rusted.

[0099] Preferably, the model of the laser emitter 505 is a carbon dioxide laser emitting device / apparatus / component such as DIAMOND C / CX, J.

[0100] It will be appreciated that in this embodiment, the structural design of the first frame 501 and the second frame 502 enables the laser rust removal assembly 5 to achieve linear adjustment in multiple directions. Controlled by the servo cylinder 503, the laser emitters 505 can precisely illuminate the rust removal target in a circular array. This design ensures that the laser reaches different locations on the rust removal target, improving the comprehensiveness and efficiency of rust removal. The coordinated control of the servo cylinder 503 allows for precise adjustment of the laser to accommodate rust removal targets of varying shapes and heights.

[0101] In some specific embodiments of this application, please refer to Figure 6 : Every three adjacent two servo electric cylinders 503 are arranged in an N shape or a mirror image N shape.

[0102] In this solution: This arrangement is designed to allow each linear degree of freedom to be intertwined with each other, thereby expanding the stroke and increasing control accuracy.

[0103] Specifically, the N-shaped or mirrored N-shaped arrangement of servo cylinders 503 allows adjacent cylinders to form a staggered relationship, achieving interlaced linear degrees of freedom. This design increases the travel range, allowing the laser rust removal assembly 5 to more extensively cover the surface of the object being rusted in multiple directions. Furthermore, the staggered arrangement improves control accuracy, enabling more precise control of the laser emitter 505 through the coordinated movement of the cylinders.

[0104] It will be appreciated that in this embodiment, the use of an N-shaped or mirrored N-shaped arrangement allows for the rational placement of multiple servo cylinders 503 within a limited space, fully utilizing the available space and achieving a staggered arrangement of linear degrees of freedom. This arrangement maximizes the travel between each linear degree of freedom, enabling more flexible and comprehensive control of the laser emitter's motion. Furthermore, it increases control precision. Through the synergistic action of the cylinders, the laser's irradiation position and angle can be more precisely adjusted, improving the efficiency and quality of laser rust removal.

[0105] In summary, in response to the related problems in traditional technologies, this specific embodiment, based on the above-mentioned surface laser rust removal device for tubular steel structures, adopts the following technical means or features to achieve solutions:

[0106] (1) Comprehensive Improvement: The technology of this embodiment utilizes a circular arrangement of laser rust removal components and atomizers, as well as servo cylinders with multiple linear degrees of freedom, allowing the laser to more comprehensively cover the surface of the rusted part. The combination of laser irradiation and water mist coating can more thoroughly and comprehensively remove rust and dirt.

[0107] (2) Improved adaptability: The laser rust removal components and atomizers are arranged in a circular array. This design allows the laser to adapt to tubular steel structures of different shapes and sizes because the position and angle of each laser point can be adjusted according to the specific shape.

[0108] (3) Efficiency optimization: The application of water mist through the atomizer and the localized vaporization effect produced by the laser increase the driving force on rust and improve the efficiency of rust removal. In addition, the staggered arrangement of multiple servo electric cylinders can fully accommodate multiple electric cylinders in a limited space, achieving a wider range of linear freedom of movement, thereby accelerating the rust removal speed and improving efficiency.

[0109] The above-described embodiments merely represent implementation methods of the present invention in practical applications. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the scope of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

[0110] Example 2

[0111] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the following detailed description of the specific embodiments of the present invention is given in conjunction with the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0112] This embodiment will further disclose the localized gasification effect in the first embodiment and the resulting regional pressurization rust removal technology. The steps in the actual application of this embodiment and the first embodiment are as follows:

[0113] S1. Applying a Water Layer: First, the tubular steel structure is placed in the coating assembly 3 and the ring drive mechanism 4. The coating assembly 3 applies a water layer approximately 10 μm thick to the corresponding area on the outer surface of the rust-removed component. This water layer absorbs laser energy during irradiation, creating a localized vaporization effect that pushes surrounding rusted material outward, thereby increasing rust removal efficiency.

[0114] S2, laser irradiation: Subsequently, the laser rust removal component 5 starts to work. Due to the specific design features, please refer to Figure 8 "A laser rust removal component 5 is provided at the angle between each two atomizers 302", which results in the laser only being able to irradiate the outer edge of each water layer. Figure 8 A local gasification effect is formed in the pure black area of ​​the paint, which generates local pressure and helps to push the surrounding rust materials outward, thereby increasing the rust removal efficiency.

[0115] S3. Laser irradiation adjustment: After completing the above steps, use the "second rotational degree of freedom" to rotate each laser rust removal component 5 to the area directly corresponding to each water layer for irradiation, so as to directly remove the rust area in the water layer.

[0116] S4. Adjust the irradiation angle: Then, by adjusting the "first rotational degree of freedom", the laser rust removal component 5 is tilted relative to the surface of the rust-removed part, exposing the original irradiation blind spot in the "water layer-edge-edge-water layer" area, and further allowing the laser rust removal component 5 to perform more thorough rust removal.

[0117] Specifically, the principle behind the localized vaporization effect in the aforementioned process is that, under laser irradiation, the water layer is locally heated and vaporized. This phenomenon can be explained by the effect of laser energy on water molecules. When the laser strikes the coated water layer, the laser energy is absorbed by the water molecules. Laser light is high-energy light, and this absorption causes a rapid increase in the energy within the water molecules. After absorbing this energy, the water molecules begin to heat up. Due to the high thermal conductivity of water, this increased energy is quickly transferred to the surrounding water molecules, causing a sharp increase in the local temperature. When the local temperature rises above the boiling point of water, the water in that area boils, forming bubbles. If the laser intensity is high enough, these bubbles will instantly expand and quickly rise to the surface of the water layer. The gas generated in this process pushes the surrounding rust outward, increasing rust removal efficiency.

[0118] Furthermore, in the above process, the mechanism for generating the localized vaporization effect in this embodiment is based on the specific design feature of the laser rust removal assembly 5, namely, the presence of a laser rust removal assembly 5 at the angle between each two atomizers 302. This design allows the laser to irradiate only the outer edge of each water layer, namely, the interface between the water layer and the non-water layer (the rusted material). This is due to the specific positioning of the laser rust removal assembly. The laser energy is absorbed by the localized water, causing the temperature of this area to rise. This localized temperature may rise above the boiling point of water, causing the water molecules to boil and vaporize. This generates bubbles and a localized vaporization effect. As the gas expands due to vaporization, the bubbles increase local pressure. This localized pressure helps to push the surrounding rusted material outward. The localized vaporization effect causes bubbles to form locally within the rusted material, creating localized pressure, which propels the rusted material outward. This significantly improves rust removal efficiency. At the same time, the laser only irradiates the outer edge of the water layer, subjecting the rust to the high temperature and pressure in a localized area. This localized treatment method is more precise and efficient. By concentrating the laser on a specific area, it saves energy and laser resources, reduces energy consumption, and promotes energy conservation and environmental protection.

[0119] In this embodiment, when the "local gasification effect" occurs, the following damage will occur to other rust objects without water layers:

[0120] (1) Physical destruction and peeling: Laser energy causes localized heating and expansion of the rust, generating internal stress, leading to physical destruction and peeling. This peeling can completely separate the rust from the metal surface.

[0121] (2) Thermal stress damage: The laser energy causes the local temperature of the rust to rise rapidly, forming thermal stress, which leads to uneven thermal expansion of the rust, and then cracks and breakage.

[0122] (3) Vaporization and expansion: The laser energy vaporizes the rust locally, forming bubbles and gas, which causes the volume of the rust to increase sharply, resulting in rupture and expansion.

[0123] Furthermore, these damages will have the following beneficial effects on the subsequent laser rust removal effect:

[0124] (1) Improved rust removal efficiency: After the rust is damaged, its structure becomes fragile and easier to be completely removed under laser irradiation. This improves the rust removal efficiency and makes laser rust removal more thorough and efficient.

[0125] (2) Accelerate rust removal: The local structure of the rust after destruction is loose and can be irradiated by the laser more quickly, thus accelerating the rust removal speed.

[0126] (3) Reduce the number of repeated rust removals: The damaged rust is easier to remove in one go, reducing the need for repeated rust removal and saving time and resources.

[0127] (4) Reduce secondary pollution: The rust after destruction is easier to remove completely, reducing the possibility of secondary pollution and maintaining the cleanliness of the metal surface.

[0128] It should be pointed out that the local structure of the rust after destruction is loose, and both ends of the rust without water layer will experience "local gasification effect" due to the arrangement mechanism of this device. This arrangement and superposition mechanism enables the overall structure of the rust without water layer to be destroyed.

[0129] Specifically, the gas generated by the localized vaporization effect exerts mechanical stress on the interior of the rust, especially at its ends. This mechanical stress can cause the structure of the rust to be deformed, twisted, stretched, and squeezed, making the overall structure more fragile and unstable. The gas generated by the localized vaporization effect at both ends creates internal pressure. Due to the uneven internal and external structure of the rust, this uneven pressure can damage the overall structure, especially at the ends. Once localized vaporization occurs at both ends, the local structure becomes fragile, causing the localized damage to spread and affect the overall structural integrity. Furthermore, the localized vaporization effect at both ends can severely damage the overall structure of the rust without a water layer in a short period of time, accelerating the rust removal process.

[0130] The above-described embodiments merely represent implementation methods of the present invention in practical applications. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the scope of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A surface laser rust removal device for tubular steel structures, characterized in that: It comprises a coating component (3), a ring drive mechanism (4) and a laser rust removal component (5); The coating assembly (3) is provided with a plurality of atomizers (302) arranged in a circular array along the central axis of the rust-removed part for water mist coating. A plurality of the laser rust removal components (5) are arranged in a circular array along the central axis of the rust-removed part as a reference, and in a frontal viewing angle, a laser rust removal component (5) is provided at the angle between every two atomizers (302); The ring drive mechanism (4) is equipped with the laser rust removal assembly (5), and includes two first rotational degrees of freedom and a second rotational degree of freedom arranged in an interlaced axial direction, wherein the rotation axis of the second rotational degree of freedom is coaxial with the central axis of the rust removal part in an initial state, and is used to drive each of the laser rust removal assemblies (5) to adjust the rust removal angle along the outer surface of the rust removal part, and the first rotational degree of freedom drives the rotation axis of the second rotational degree of freedom to perform an inclined motion with respect to the central axis of the rust removal part; The ring drive mechanism (4) comprises a first ring frame (401) and a second ring frame (403) rotatably engaged with the inner side wall thereof, a first rotation module (402) for outputting the first rotational degree of freedom is provided on the outside of the first ring frame (401), and the first rotation module (402) drives the first ring frame (401) to rotate along the central axis perpendicularly intersecting the rust-removed part; A second rotating module (404) for outputting the second rotational degree of freedom is provided on the rotating surface between the first ring frame (401) and the second ring frame (403); the second rotating module (404) is used to drive the laser rust removal component (5) to rotate along the central axis of the rust-removed part in the initial state; The surface of the second rotating module (404) is connected to three laser rust removal components (5) in the form of a ring array via an adjustment component (405).

2. The surface laser rust removal device for tubular steel structures according to claim 1, characterized in that: It also includes a frame (2) and a carrier vehicle (1) mounted under the frame (2), wherein the carrier vehicle (1) is a power vehicle, a remote-controlled vehicle, a trailer, a wheel frame, or a tracked vehicle, and the coating assembly (3) and the ring drive mechanism (4) are mounted on the frame (2).

3. The surface laser rust removal device for tubular steel structures according to claim 1, characterized in that: The coating assembly (3) comprises an annular frame (301), and the three atomizers (302) are mounted on the annular frame (301) in the form of an annular array.

4. The surface laser rust removal device for tubular steel structures according to claim 1, characterized in that: The first rotating module (402) comprises a first motor, a first driving wheel driven by the first motor, and a first transmission belt engaged with the first driving wheel and a first driven wheel, wherein the first driven wheel is fixed to the top of the first ring frame (401).

5. The surface laser rust removal device for tubular steel structures according to claim 1, characterized in that: The second rotating module (404) comprises a second motor, a second driving wheel driven by the second motor, and a second transmission belt engaged with the second driving wheel and a second driven wheel, wherein the second driven wheel is fixed to the annular outer edge of the second ring frame (403).

6. The surface laser rust removal device for tubular steel structures according to claim 4 or 5, characterized in that: The adjustment assembly (405) comprises a connecting frame (4051), on which at least two actuating electric cylinders (4052) are mounted in an array, and the piston rods of the actuating electric cylinders (4052) are universally hinged to a receiving frame (4054) via a spherical coupling (4053), and the laser rust removal assembly (5) is mounted in the receiving frame (4054).

7. The surface laser rust removal device for tubular steel structures according to any one of claims 1, 4 or 5, characterized in that: The laser rust removal assembly (5) comprises at least three linear degrees of freedom arranged in a coaxial annular array, the linear degrees of freedom being connected to act on the laser emitter (505) for universal angle adjustment; The laser emitter (505) is used for laser rust removal.

8. The surface laser rust removal device for tubular steel structures according to claim 7, characterized in that: The laser rust removal assembly (5) comprises a first frame (501) and a second frame (502), six servo electric cylinders (503) for outputting the linear degree of freedom are evenly installed in a ring array between the first frame (501) and the second frame (502), and the cylinder body and piston rod of the servo electric cylinder (503) are universally hinged to the respective opposite sides of the first frame (501) and the second frame (502) through a universal joint coupling (504); and the laser emitter (505) is installed on the second frame (502).

9. The surface laser rust removal device for tubular steel structures according to claim 8, characterized in that: Every three adjacent two servo electric cylinders (503) are arranged in an N-shape or a mirror image N-shape.

Images