Six-clawed crawling robot laser cleaning device and method thereof

Abstract

The application provides a six-claw crawling robot laser cleaning device and a method thereof, which comprises a robot main body, a cleaning device, a light path adjusting device and a control system; the robot main body comprises three layers of substrates; the cleaning device comprises a first laser device and a second laser device; the first laser device and the second laser device are installed at the same end of the third layer of substrates; the second laser device is made to rotate in all directions through a holder device; the light path adjusting device can change the focal point position of the first laser beam; the control system is used for the first laser device and the second laser device to emit laser to clean stains and control the light path adjusting device to change the focal point position of the first laser beam. The device increases the stability of the robot on the curved surface by arranging the suction cup; meanwhile, the device realizes the dead angle-free cleaning of the curved surface under the joint action of the two laser cleaning devices, the two laser cleaning devices work at the same time, and the working efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of robotics and laser cleaning, and more particularly to a laser cleaning device and method for a six-clawed crawling robot. Background Technology

[0002] Laser cleaning technology refers to the process of using a high-energy laser beam to irradiate the surface of a workpiece, causing the surface dirt, rust, or coating to evaporate or peel off instantly, thereby achieving cleanliness. Lasers are not much different from the light around us (visible and invisible light), except that lasers use a resonant cavity to focus light in one direction and have a more homogeneous wavelength, resulting in better coordination and other properties. Therefore, theoretically, light of all wavelengths can be used to form a laser. However, in practice, due to the limited number of excitation media, the number of stable laser sources suitable for industrial production is quite limited. Nd, YAG lasers, carbon dioxide lasers, and excimer lasers are widely used.

[0003] Currently, cleaning large workpieces remains a challenge in applications such as aircraft paint removal, ship rust removal, and mold degreasing. Because the workpiece surface is not flat, cleaning these workpieces is often done manually, using methods such as mechanical friction cleaning, chemical corrosion cleaning, and high-impact cleaning. However, manual cleaning is not only expensive and environmentally unfriendly, but also yields less than ideal cleaning results. While the United States has adopted 3D laser scanning technology to obtain point cloud information of the workpiece surface and then plan a path for laser cleaning, this method requires significant investment, has a long equipment development cycle, and cannot follow curved surfaces in real time. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a six-clawed crawling robot laser cleaning device and method. This invention comprises two laser cleaning devices. By setting an optical path adjustment device, the focal position of the first laser beam emitted by the first laser device can be changed, increasing the applicability of the first laser device. The second laser device, under the action of a gimbal device, can perform omnidirectional laser cleaning. By adjusting the laser process parameters, contaminants can be effectively removed without damaging the substrate surface, restoring the surface to its original condition. Laser cleaning can be easily automated and has the advantages of low cost and high reliability. During the cleaning process, a laser rangefinder collects data, and the control system controls the distance between the laser device and the surface to be cleaned in real time, ensuring that the intersection point is always focused on the surface to be cleaned, maximizing efficiency.

[0005] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0006] A laser cleaning device for a six-clawed crawling robot includes a robot body, a cleaning device, an optical path adjustment device, and a control system;

[0007] The robot body includes a first substrate, a second substrate, and a third substrate; the first substrate and the second substrate are connected by a fixing block; the second substrate and the third substrate are connected by a telescopic block to change the distance between the second substrate and the third substrate.

[0008] The cleaning device includes a first laser device and a second laser device. Both the first laser device and the second laser device are mounted on one end of the third substrate. The second laser device is connected to the third substrate via a gimbal device, which rotates the second laser device. The first laser beam emitted by the first laser device is focused on the surface to be cleaned under the action of an optical path adjustment device. The optical path adjustment device is used to adjust the focal position of the first laser beam.

[0009] The optical path adjustment device includes an electric slide bar and a reflector. The reflector is mounted on the electric slide bar and is connected to an angle servo motor via a transmission shaft. The angle servo motor is used to adjust the rotation angle of the reflector. The electric slide bar is movably mounted at the other end of the third substrate. Under the drive of the electric slide bar drive system, the electric slide bar makes a reciprocating linear motion along the length of the third substrate.

[0010] The control system controls the first laser device to generate a first laser beam and the second laser device to generate a second laser beam; the control system controls the optical path adjustment device to change the focal position of the first laser beam.

[0011] Furthermore, several hydraulic support rod devices are provided along both sides of the robot body. The hydraulic support rod devices include hydraulic telescopic rods and suction cups. The hydraulic telescopic rods are used to adjust the distance between the robot body and the surface to be cleaned. The suction cups are used to adhere to the surface to be cleaned.

[0012] Furthermore, a laser rangefinder is provided at one end of the first substrate layer, and the laser rangefinder is used to measure the distance between the laser rangefinder and the surface to be cleaned.

[0013] Furthermore, a laser cleaning range positioning post is provided in the middle of the first substrate layer to determine the laser cleaning position.

[0014] Furthermore, a radiographic testing system and a high-speed camera are also provided on the third substrate, with the radiographic testing system and the high-speed camera located on both sides of the second laser device; the radiographic testing system is used to detect whether there is damage on the cleaned surface; the high-speed camera is used to acquire images of the morphology of the cleaned surface.

[0015] A method for manufacturing a laser cleaning device for a six-clawed crawling robot includes the following steps:

[0016] Adjust the extension of the hydraulic telescopic rod and telescopic block according to the measurement value of the laser rangefinder, so that the first laser beam is focused on the surface area to be processed;

[0017] The thickness of the stain in the area of ​​the surface to be processed is determined by a laser rangefinder;

[0018] When the thickness of the stain is less than or equal to the first set value, the control system controls the optical path adjustment device to enable the first laser device to perform laser cleaning on the stain in the area of ​​the surface to be processed.

[0019] When the stain thickness is greater than the first set value, the control system controls the optical path adjustment device to pre-clean the stain in the area to be processed by the first laser device to remove half of the stain thickness; the control system controls the second laser device to expand the cleaning area outward from the pre-cleaned area.

[0020] Furthermore, when the thickness of the area to be cleaned is greater than the first set value and less than or equal to the second set value, after the first laser device pre-cleans the surface to be cleaned, the first laser device and the second laser device clean the stains simultaneously, and the focal distance between the focal point of the first laser beam and the focal point of the second laser beam is 150μm.

[0021] When the thickness of the area to be cleaned is greater than the second set value and less than or equal to the third set value, after the first laser device pre-cleans the surface to be cleaned, the first laser device and the second laser device clean the stains simultaneously, and the focal distance between the focal point of the first laser beam and the focal point of the second laser beam is 100μm.

[0022] When the thickness of the area to be cleaned is greater than the third set value and less than or equal to the fourth set value, after the first laser device pre-cleans the surface to be cleaned, the first laser device and the second laser device clean the stains simultaneously, and the focal distance between the focal point of the first laser beam and the focal point of the second laser beam is 50μm.

[0023] When the thickness of the area to be cleaned is greater than the fourth set value, after the first laser device pre-cleans the surface to be cleaned, the first laser device and the second laser device clean the stains simultaneously. The focal point of the first laser beam coincides with the focal point of the second laser beam, thus cleaning the stain surface in combination.

[0024] Furthermore, the curvature of the surface area to be processed is identified using a high-speed camera.

[0025] When the curvature of the surface area to be processed is less than or equal to the fifth set value, the control system controls the optical path adjustment device to enable the first laser device to perform laser cleaning on the stains in the surface area to be processed.

[0026] When the curvature of the surface area to be processed is greater than the fifth set value, the control system controls the gimbal device so that the second laser beam generated by the second laser device can clean the stains in the surface area to be processed from any angle.

[0027] Furthermore, the processed surface area is scanned using a radiographic testing system, and the control system determines whether the cleaned surface damages the curved substrate based on the scanning results.

[0028] The beneficial effects of this invention are as follows:

[0029] 1. The laser cleaning device and method for a six-clawed crawling robot described in this invention, by setting suction cups below the robotic claws and hydraulic telescopic rods, enables the six-clawed robot to adhere well to curved surfaces, ensuring excellent stability during the cleaning process.

[0030] 2. The six-clawed crawling robot laser cleaning device and method of the present invention, by setting up two laser cleaning devices, one of which is set on a gimbal, can achieve cleaning of curved surfaces without dead angles. At the same time, the two laser cleaning devices act on the surface of the stains simultaneously, which improves the work efficiency.

[0031] 3. The laser cleaning device and method for a six-clawed crawling robot described in this invention can adjust the distance between the third substrate and the surface to be cleaned by setting hydraulic strut devices on both sides of the robot body and setting telescopic blocks between the second and third substrates, thereby achieving zoom operation.

[0032] 4. The six-clawed crawling robot laser cleaning device and method of the present invention, by setting an electric slide bar that can move along an electric guide rail, allows a reflector on the electric slide bar to move back and forth with the electric slide bar, thereby increasing the cleaning range of the laser reflected by the reflector to a certain extent. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are some embodiments of the present invention. For those skilled in the art, it is obvious that other drawings can be obtained from these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the overall structure of the six-clawed crawling robot described in this invention;

[0035] Figure 2 This is a schematic diagram of the cleaning section of the six-clawed crawling robot described in this invention;

[0036] Figure 3This is a schematic diagram of the laser rangefinder structure described in this invention;

[0037] Figure 4 This is a schematic diagram of the hydraulic strut structure described in this invention;

[0038] Figure 5 This is a schematic diagram of the main structure of the six-clawed crawling robot described in this invention;

[0039] Figure 6 This is a schematic diagram of the gimbal structure described in this invention;

[0040] Figure 7 This is a schematic diagram of the cleaning process for large, thick curved surfaces as described in this invention;

[0041] Figure 8 This is a schematic diagram of the working process of the cleaning curvature variation surface described in this invention;

[0042] Figure 9 This is a flowchart of the cleaning steps of the six-clawed crawling robot described in this invention;

[0043] Figure 10 Figure 1 shows a simulation diagram of laser cleaning using a six-clawed crawling robot according to the present invention; Figure 2 shows a simulation diagram of single-laser processing; Figure 3 shows a simulation diagram of processing with double laser focal points overlapping; Figure 4 shows a simulation diagram of processing with double laser focal points 50 μm apart; Figure 5 shows a simulation diagram of processing with double laser focal points 100 μm apart.

[0044] In the picture:

[0045] 1-Laser cleaning range positioning post; 2-First substrate; 3-Laser rangefinder; 4-Electric slide bar; 5-Electric slide bar drive system; 6-Hydraulic strut device; 7-Second substrate; 8-Third base plate; 9-Radiation flaw detection system; 10-Second laser device; 11-High-speed camera; 12-Dovetail groove guide rail; 13-Laser generator; 14-Electric guide rail; 15-Reflector; 16-Laser rangefinder mounting base; 17-Hydraulic telescopic rod; 18-Suction cup; 19-Telescopic block; 20-Gimbal arm; 21-Rotation servo motor; 22-Gimbal turntable; 23-Lens. Detailed Implementation

[0046] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0047] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0048] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0049] like Figure 1 As shown, the six-clawed crawling robot laser cleaning device of the present invention includes a robot body, a moving mechanism, and a laser generating device. Several moving mechanisms are provided on both sides of the robot body. Driven by a driving device, the moving mechanism allows the robot to move on the surface to be cleaned. Each moving mechanism has a suction cup at its contact point with the surface to be cleaned. The suction cup adheres to the surface of the object to be cleaned, maintaining the stability of the robot body during the laser cleaning process and preventing tipping. A laser cleaning range positioning post 1 is provided in the middle of the first substrate 2 to determine the laser cleaning position. A laser rangefinder 3 is provided at one end of the first substrate 2. Figure 3 As shown, the laser rangefinder 3 is fixed on the first substrate 2 by the laser rangefinder mounting base 16. The laser rangefinder 3 is used to collect the focal length between the laser rangefinder 3 and the surface to be cleaned, and feed this data back to the computer. During the laser cleaning process, the laser rangefinder 3 still collects the focal length change and feeds it back to the control system, so that the control system controls the distance between the laser cleaning device and the surface to be cleaned in real time, so that the laser focus is always focused on the surface to be cleaned, thereby improving work efficiency.

[0050] Hydraulic strut devices 6 are also installed on both sides of the robot's main body, such as... Figure 4As shown, the hydraulic support device 6 includes a hydraulic telescopic rod 17 and a suction cup 18. The hydraulic support device 6 is attached to the surface to be cleaned by the suction cup 18. The hydraulic telescopic rod 17 adjusts the distance between the robot body and the cleaning surface by extending or shortening, thereby realizing the up-and-down movement of the focal point.

[0051] like Figure 5 As shown, the robot body is composed of three substrates, namely, a first substrate 2, a second substrate 7, and a third substrate 8 from top to bottom. The first substrate 2 and the second substrate 7 are connected by a fixing block, and there is a hollow space between the first substrate 2 and the second substrate 7. The second substrate 7 and the third substrate 8 are connected by a telescopic block 19, which is used to change the distance between the second substrate 11 and the third substrate 12. A first laser device 13 and a second laser device 10 are provided at one end of the third substrate 8, and an electric slide bar 4 is provided at the other end. The electric slide bar 4 can reciprocate along the electric guide rail 14 on the cleaning table under the action of the electric slide bar drive system 5.

[0052] On both sides of the second laser device 10, a radiographic testing system 9 and a high-speed camera 11 are also provided. The high-speed camera 11 is used to acquire images of the cleaned surface morphology and feed them back to the control system; the radiographic testing system 9 is used to detect whether there is damage on the cleaned surface; the second laser device 10 is located on a pan-tilt unit, such as... Figure 6 As shown, the gimbal device includes a base, a gimbal turntable 22, a rotating servo motor 21, and a gimbal arm 20. The gimbal turntable 22 is located on the base and can rotate 360° horizontally around the base. The rotating servo motor 21 is provided on the gimbal turntable 22. One end of the gimbal arm 20 is connected to the rotating servo motor 21, and the other end is connected to the second laser device 10 through a transmission device. Driven by the rotating servo motor 21, the gimbal arm 20 can rotate. The second laser device 10 can rotate 360° vertically around the transmission device. With the combined rotation of the gimbal turntable 22, the gimbal arm 20, and the second laser device 10, the laser emitted by the second laser device 10 can reach any part of the cleaned surface.

[0053] like Figure 2As shown, one end of the electric slide bar 4 is connected to the electric slide bar drive system 5, and the other end is equipped with an angle servo motor. The electric slide bar drive system 5 drives the electric slide bar 4 to reciprocate linearly along the electric guide rail 14. A reflector 15 is provided on the electric slide bar 4, and the base of the reflector 15 is fixedly connected to the electric slide bar 4. The reflector 15 is connected to the angle servo motor through a transmission device, and the angle servo motor is used to adjust the rotation angle of the reflector 15. With the vertical direction as the 0° line, the rotation angle of the reflector 15 is -30° to 30°. The laser emitted by the first laser device 13 is reflected by the reflector 15 and finally focused on the surface of the cleaning curved surface after passing through the transparent 23. At the same time, under the action of the hydraulic strut device 6 and the telescopic block 26, the robot body can move up and down, changing the distance between the robot body and the cleaning surface, which can meet the needs of different focal lengths between cleaning areas.

[0054] Work process:

[0055] like Figure 9 As shown, the specific processing method of the six-clawed crawling robot laser cleaning device of the present invention is as follows:

[0056] The system divides the large curved surface scanned by the 3D scanner into several cleaning areas, each no larger than the six-claw robot. The control system controls the six-claw robot to move to the designated position. The laser rangefinder 3 collects data on the surface to be cleaned at regular intervals. This data is the distance between the laser rangefinder 3 and the stains on the surface to be cleaned. This time interval is 10-30ms. After each data collection, the computer processor compares the distance data measured at this moment with the distance measured at the default focal length or at a previous moment to determine the thickness of the dirt on the large curved surface. The high-speed camera 11 captures images of the curved surface, and the image processing technology is used to identify the stains on the large curved surface.

[0057] Once the computer determines the laser cleaning focal length, the control system controls the third substrate 8 of the robot body to reach the appropriate height, extends the hydraulic telescopic rod 24 of the hydraulic support rod device 6, and causes the suction cup 25 to adhere to the curved surface to maintain the stability of the six-claw robot during the cleaning process and prevent it from tipping over during operation.

[0058] The control system controls the first laser device 13 and the second laser device 10 to emit lasers to clean the surface to be cleaned. When the thickness of the identified stain is less than or equal to a first set value (in Embodiment 1, the first set value is 200 μm), the control system controls the optical path adjustment device to enable the first laser device 13 to perform laser cleaning on the stains in the area to be processed. When the thickness of the identified large curved surface stain is greater than the first set value, the control system controls the optical path adjustment device to enable the first laser device 13 to perform a first cleaning of the stain. The first cleaning is a pre-cleaning, used to remove half of the stain thickness. The first laser device 13 and the second laser device 10 simultaneously perform a second cleaning of the stained area. The initial position of the second cleaning coincides with the initial position of the first cleaning. The cleaning area gradually expands outwards from the initial cleaning area until the cleaning is complete. When the curvature of the surface area to be processed is less than or equal to a fifth preset value, the control system controls the optical path adjustment device to enable the first laser device 13 to perform laser cleaning of the stains in the surface area to be processed. When the identified curvature of the surface to be cleaned is greater than the fifth preset value, the first laser device 13, limited by its structure and the rotation angle of the reflector 15, only... It can clean the surface, but only within a certain range and cannot perform deep cleaning. The second laser device 10, under the action of the gimbal device, can clean stains from any angle. With the combined action of the first laser device 13 and the second laser device 10, the stains are thoroughly cleaned. When the identified surface stain area has multiple curved surfaces and the maximum focal length difference between two adjacent curved surfaces is large, the rotation angle of the reflector 15 is adjusted by the angle servo motor, and the extension and retraction of the hydraulic telescopic rod 17 and the telescopic block 19 are adjusted to change the distance between the third substrate 8 and the surface to be cleaned. The distance can, to a certain extent, change the focus of the first laser beam. Since the rotation angle of the reflector 15 is limited, with the vertical direction as the 0° line, the maximum rotation angle of the reflector 15 to the left or right is 30°, which cannot clean the stains in all directions without dead angles. The control system controls the first laser device 13 to clean the stains within its processing range, and the second laser device 10 cleans the areas that the first laser device 13 cannot effectively clean. For the key stain areas within the processing range of the first laser device 13, the dual laser focus superposition processing is used until all the stains are cleaned.

[0059] High-speed camera 11 captures images of the cleaned curved surface and sends them back to the control system. The control system identifies and judges the surface morphology of the curved surface to confirm whether the laser cleaning effect is qualified. If the inspection is qualified, the next step is carried out; if it is not qualified, the cleaning needs to be repeated.

[0060] The radiographic testing system 9 scans the curved surface with qualified surface morphology and feeds the scanning results back to the control system. The control system determines whether the surface being cleaned damages the curved substrate. If there is no damage, it controls the six-claw robot cleaning device to enter the next cleaning area to work. If there is damage, it is necessary to modify the laser parameters so that the next cleaning will not damage the curved surface.

[0061] Example 1:

[0062] like Figure 7 As shown, when there are large stains on the surface to be cleaned that exceed the first set value in thickness, the control system controls the optical path adjustment device to pre-clean the stains with the first laser device 13 to remove half of the stain thickness. Then, the second laser device 10 and the first laser device 13 use dual laser processing to perform secondary cleaning on the stain area, gradually expanding the cleaning range until the cleaning is completed. In this embodiment, there are four set values: the first set value is 200μm, the second set value is 500μm, the third set value is 800μm, and the fourth set value is 1000μm.

[0063] Figure 10The simulation diagrams for cleaning surfaces of different thicknesses using a laser with a power of 50W, a pulse frequency of 50kHz, a scanning speed of 100mm / s, a laser pulse width of 100ns, and a spot diameter of 200μm are shown in Figure (a). When the thickness of the area to be cleaned is less than 200μm, a single laser head is used for processing. The control system controls the optical path adjustment device to enable the first laser device 13 to clean the surface of the stain. When cleaning with a single laser head, the highest temperature of the cleaned surface is 3299K. As shown in Figure (b), when the thickness of the area to be cleaned is greater than 1000μm, the control system controls the first laser device 13 and the second laser device 10 to simultaneously clean the surface of the stain. The first laser beam emitted by laser device 3 and the second laser beam emitted by laser device 10 have their focal points overlapped, performing dual-laser-focus superposition cleaning on the stained area. At this time, the highest surface temperature of the cleaning area is 3597K, which is 9.0% higher than that of single-laser processing. When the thickness of the area to be cleaned is greater than 200μm and less than or equal to 500μm, the control system controls the optical path adjustment device to pre-clean the stains using laser device 13, removing half of the stain thickness. Subsequently, laser device 13 and laser device 10 simultaneously clean the stains, continuously expanding the cleaning area until the stains are completely removed. During the cleaning process, the focal point of the first laser beam emitted by laser device 13 coincides with that of the second laser beam emitted by laser device 10. The focal distance between the two laser beams emitted by laser device 10 and laser device 10 is 150 μm. As shown in Figure (d), when the thickness of the area to be cleaned is greater than 500 μm and less than or equal to 800 μm, the control system controls the optical path adjustment device to pre-clean the stains using the first laser device 13, removing half of the stain thickness. Subsequently, the first laser device 13 and the second laser device 10 simultaneously clean the stains. The focal distance between the focal point of the first laser beam emitted by the first laser device 13 and the focal point of the second laser beam emitted by the second laser device 10 is 100 μm. The dual laser devices simultaneously clean the stain surface and continuously expand the cleaning range until the stains are completely removed. During this process, the highest surface temperature is 3493 K, which is higher than that of a single laser. The cleaning efficiency was improved by 5.9%; as shown in Figure (c), when the thickness of the area to be cleaned is greater than 800 μm and less than or equal to 1000 μm, the control system controls the optical path adjustment device to pre-clean the stains with the first laser device 13 to remove half of the stain thickness. Subsequently, the first laser device 13 and the second laser device 10 clean the stains simultaneously. The focal distance between the focal point of the first laser beam emitted by the first laser device 13 and the focal point of the second laser beam emitted by the second laser device 10 is 50 μm. The dual laser devices clean the stain surface simultaneously and continuously expand the cleaning range until the stains are completely removed. During this process, the highest temperature of the cleaned surface is 3560 K, which is 7% higher than that of single laser processing and cleaning.9%; The temperature field data shows that simultaneous cleaning with dual laser heads, compared to single-laser-head cleaning, effectively increases the maximum temperature and area of ​​the high-temperature region in the cleaning area. Furthermore, the closer the focal points of the two lasers are, the higher the maximum surface temperature of the cleaning area, and the better the cleaning effect.

[0064] Example 2:

[0065] like Figure 8 As shown, when the surface to be cleaned has multiple curved surfaces and the maximum focal length difference between the curved surfaces is large, the control system controls the optical path adjustment device to change the focal position of the first laser device 13, adjusts the rotation angle of the reflector 15 through the angle servo motor, and drives the electric slide bar 4 to move on the electric guide rail 14 through the electric slide bar drive system 5, thereby changing the position of the electric slide bar 4 on the electric guide rail 14 to change the horizontal position of the reflector 15. The extension and retraction of the hydraulic telescopic rod 17 and the extension and retraction of the telescopic block 19 of the hydraulic support device 6 are adjusted to change the distance between the third substrate 8 and the surface to be cleaned. Through the above method, the focal position of the first laser beam emitted by the first laser device 13 can be changed to a certain extent, thereby enhancing the cleaning applicability of the first laser device 13. However, the reflector 15 is always limited by the rotation angle, and the first laser beam cannot clean the stains completely. For areas that the first laser device 13 cannot clean, the control system gimbal device enables the second laser device 10 to effectively clean the stains from any angle.

[0066] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0067] The detailed descriptions listed above are merely specific illustrations of feasible embodiments of the present invention and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A six-pawed crawling robot laser cleaning device, characterized in that, The robot body, the cleaning device, the light path adjusting device and the control system are included. The robot body includes a first layer substrate (2), a second layer substrate (7) and a third layer substrate (8); the first layer substrate (2) and the second layer substrate (7) are connected through a fixed block; the second layer substrate (7) and the third layer substrate (8) are connected through a telescopic block (19) to change the distance between the second layer substrate (7) and the third layer substrate (8). The cleaning device includes a first laser device (13) and a second laser device (10); the first laser device (13) and the second laser device (10) are both installed at one end of the third layer substrate (8); the second laser device (10) is connected with the third layer substrate (8) through a cloud platform device to make the second laser device (10) rotate through the cloud platform device; the first laser beam emitted by the first laser device (13) is focused on the surface to be cleaned under the action of the light path adjusting device; the light path adjusting device is used for adjusting the focal point position of the first laser beam. The light path adjusting device includes a motorized slide rod (4) and a mirror (15); the mirror (15) is installed on the motorized slide rod (4); the mirror (15) is connected with an angle rudder through a transmission shaft; the angle rudder is used for adjusting the rotation angle of the mirror (15); the motorized slide rod (4) is movably installed at the other end of the third layer substrate (8); under the driving of a motorized slide rod driving system (5), the motorized slide rod (4) makes reciprocating linear motion along the length direction of the third layer substrate (8). The control system controls the first laser device (13) to generate the first laser beam and the second laser device (10) to generate the second laser beam respectively; the control system controls the light path adjusting device to change the focal point position of the first laser beam. When the thickness of the area to be cleaned is greater than a first set value and less than or equal to a second set value, the first laser device pre-cleans the surface to be cleaned, and then the first laser device and the second laser device clean the stains simultaneously; the focal point of the first laser beam is 150 μm away from the focal point of the second laser beam. When the thickness of the area to be cleaned is greater than the second set value and less than or equal to a third set value, the first laser device pre-cleans the surface to be cleaned, and then the first laser device and the second laser device clean the stains simultaneously; the focal point of the first laser beam is 100 μm away from the focal point of the second laser beam. When the thickness of the area to be cleaned is greater than the third set value and less than or equal to a fourth set value, the first laser device pre-cleans the surface to be cleaned, and then the first laser device and the second laser device clean the stains simultaneously; the focal point of the first laser beam is 50 μm away from the focal point of the second laser beam. When the thickness of the area to be cleaned is greater than the fourth set value, the first laser device pre-cleans the surface to be cleaned, and then the first laser device and the second laser device clean the stains simultaneously; the focal point of the first laser beam is superimposed on the focal point of the second laser beam to clean the stain surface.

2. The six-clawed, crawling robot laser cleaning apparatus according to claim 1, characterized in that, A plurality of hydraulic support rod devices (6) are arranged on both sides of the robot body, the hydraulic support rod devices (6) comprising a hydraulic telescopic rod (17) and a suction cup (18); the hydraulic telescopic rod (17) is used to adjust the distance between the robot body and the surface to be cleaned; the suction cup (18) is used to be adsorbed on the surface to be cleaned.

3. The six-clawed, crawling robot laser cleaning device of claim 1, wherein, A laser range finder (3) is arranged at one end of the first layer substrate (2), and the laser range finder (3) is used to measure the distance between the laser range finder (3) and the surface to be cleaned.

4. The six-clawed, crawling robot laser cleaning apparatus of claim 1, wherein, A laser cleaning range positioning column (1) is further arranged in the middle of the first layer substrate (2), which is used to determine the laser cleaning position.

5. The six-pawed reptile robot laser cleaning device according to claim 1, wherein, A radiation flaw detection system (9) and a high-speed camera (11) are further arranged on the third layer substrate (8), and the radiation flaw detection system (9) and the high-speed camera (11) are respectively located on both sides of the second laser device (10); the radiation flaw detection system (9) is used to detect whether there is damage on the cleaned surface; the high-speed camera (11) is used to obtain the topographic image of the cleaned surface.

6. A method of processing a six-pawed crawling robot laser cleaning device according to any one of claims 1-5, characterized in that, The method comprises the following steps: The length of the hydraulic telescopic rod (17) and the telescopic block (19) is adjusted according to the measurement value of the laser range finder (3), so that the first laser beam is focused on the surface area to be processed; The thickness of the stain in the surface area to be processed is determined by the laser range finder (3); When the thickness of the stain is less than or equal to the first set value, the control system controls the light path adjusting device to make the first laser device (13) perform laser cleaning on the stain in the surface area to be processed; When the thickness of the stain is greater than the first set value, the control system controls the light path adjusting device to make the first laser device (13) perform pre-cleaning on the stain in the surface area to be processed, so as to remove half of the thickness of the stain; the control system simultaneously controls the first laser device (13) and the second laser device (10) to expand the cleaning area around the pre-cleaning area.

7. The method of claim 6, wherein the six-clawed, inchworm robot laser cleaning apparatus is characterized by, The curvature of the surface area to be processed is identified by the high-speed camera (11), When the curvature of the surface area to be processed is less than or equal to the fifth set value, the control system controls the light path adjusting device to make the first laser device (13) perform laser cleaning on the stain in the surface area to be processed; When the curvature of the surface area to be processed is greater than the fifth set value, the control system controls the gimbal device to make the second laser beam generated by the second laser device (10) can clean the stain in the surface area to be processed from any angle.

8. The method of claim 6, wherein the six-clawed, crawling robot laser cleaning apparatus is characterized by, The surface area after processing is scanned by the radiation flaw detection system (9), and the control system judges whether the cleaned surface is damaged or not according to the scanning result.

Images