A combined laser cleaning apparatus

Abstract

The application provides a combined laser cleaning device, which comprises a tooling table, a laser cleaning part and a tooling clamping seat arranged on the tooling table, a containing groove arranged on the tooling table, the tooling clamping seat being capable of moving in the containing groove so that a tooling part on the tooling clamping seat is hidden in the containing groove or exposed outside the containing groove, the tooling clamping seat being capable of driving the tooling part to rotate, and the laser cleaning part comprising a laser cleaning head, the laser cleaning head being capable of moving in a three-dimensional space to clean the surface of the tooling part; the application has the advantages that the machining and cleaning are realized through sinking pushing, and the occupied space is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser cleaning, and more particularly to a combined laser cleaning device. BACKGROUND

[0002] A metal cylinder will form an oxide layer after long-term placement. Currently, the cleaning work of the metal cylinder is completed by manual operation. The operator uses a grinding wheel or abrasive belt to polish the inner and outer surfaces of the stainless steel cylinder to remove the oxide layer. However, the manual polishing method is low in efficiency, especially for large-diameter metal cylinders, the polishing operation is extremely inconvenient. The use of chemical cleaning is not environmentally friendly, low in efficiency, and the use of dry ice cleaning requires consumables, high in cost and low in efficiency. Moreover, the flat parts and tubular parts cleaning devices on the market are mostly special machines, and cannot clean flat parts and tubular parts on the same device.

[0003] In view of the above problems, laser cleaning devices appear on the market. However, the current laser cleaning device needs to install a cleaning head on a multi-action mechanical arm for large-size workpieces, and it is difficult to adapt to a workbench, resulting in a large occupied space of the cleaning device, high equipment cost, and more dependence on high-precision and high-complexity program control. SUMMARY

[0004] In view of the deficiencies of the prior art, the purpose of the present application is to provide a combined laser cleaning device, which realizes machining and cleaning through sinking pushing, thereby reducing the occupied space.

[0005] To achieve the above purpose, the present application provides the following technical scheme:

[0006] A combined laser cleaning device comprises a tooling table, a laser cleaning part and a tooling clamp seat arranged on the tooling table, a containing groove arranged on the tooling table, the tooling clamp seat being capable of moving in the containing groove to make the tooling part on the tooling clamp seat hide in the containing groove or be exposed outside the containing groove, the tooling clamp seat also being capable of driving the tooling part to rotate, the laser cleaning part comprising a laser cleaning head, the laser cleaning head being capable of moving in a three-dimensional space to clean the surface of the tooling part.

[0007] Further, the tooling clamp seat comprises an elevator, a lifting platform, a rotating platform and a three-jaw chuck, the elevator being located in the containing groove, the lifting platform being located on the elevator, the rotating platform being located on the lifting platform, and the three-jaw chuck being located on the rotating platform.

[0008] Further, the laser cleaning part further comprises a vision camera, and the tooling table further comprises a controller, the controller comprising an image acquisition module, a boundary analysis module and a tooling control module.

[0009] The image acquisition module acquires an image of the outer surface of the workpiece taken by the visual camera as an image to be analyzed.

[0010] The boundary analysis module searches for a cleaning boundary of the outer surface of the workpiece according to the image to be analyzed.

[0011] The workpiece control module takes the cleaning boundary as a starting position and an ending position of cleaning by the laser cleaning head.

[0012] Further, the boundary analysis module intercepts two side regions of the image to be analyzed containing edges of the workpiece as analysis images respectively, and performs boundary division according to color depth as an analysis feature in the analysis images. If a boundary is obtained by the division, the boundary is taken as the cleaning boundary. If no boundary is obtained by the division, the edge of the workpiece is taken as the cleaning boundary.

[0013] Further, the controller further includes a coincidence processing module. The coincidence processing module judges a position of a clamping jaw of a three-jaw chuck according to the image to be analyzed. If the clamping jaw clamps on an inner side surface of the workpiece, the coincidence processing module outputs an ignoring instruction to the workpiece control module. If the clamping jaw clamps on the outer surface of the workpiece, the coincidence processing module outputs a coincidence instruction to the workpiece control module.

[0014] The workpiece control module controls the clamping jaw of the three-jaw chuck to loosen the workpiece and controls the rotating platform to rotate the workpiece by a certain angle when the coincidence instruction is received.

[0015] Further, the controller further includes a cleaning calculation module. The cleaning calculation module acquires an inputted workpiece type. The workpiece type includes an irregular workpiece and a regular cylindrical workpiece. When the workpiece type is the irregular workpiece, a laser cleaning head avoidance distance is obtained by a distance measurement strategy.

[0016] Further, the distance measurement strategy includes a search point step, a point distance measurement step, and an avoidance point step.

[0017] The search point step divides an outer side surface of the workpiece into a plurality of cleaning surfaces, searches for a plurality of calculation points arranged side by side on a cleaning surface facing the laser cleaning head, and includes two boundary points of the cleaning surface in the plurality of calculation points.

[0018] The point distance measurement step measures a straight line distance between each point and a center rotating point of the workpiece, and selects a maximum straight line distance as a radius value of the workpiece rotation.

[0019] The avoidance point step acquires a straight line distance between a calculation point of the laser cleaning head on the cleaning surface and the center rotating point of the workpiece, and calculates the avoidance distance of the laser cleaning head according to the radius value and the straight line distance.

[0020] Further, the laser cleaning device further comprises a plurality of gantry frames, and the laser cleaning head is capable of moving in three-dimensional space on the gantry frames.

[0021] Further, the accommodating groove is further provided with an automatic opening and closing plate and a driving source for driving the automatic opening and closing plate to move.

[0022] The present application has the following beneficial effects: 1. By arranging the accommodating groove for accommodating the tooling part on the tooling table, the laser cleaning head can avoid occupying too much space when cleaning the tooling part, so as to avoid setting the height of the laser cleaning head too high, that is, the machining and cleaning are realized by sinking type pushing, and the occupied space is reduced.

[0023] 2. The condition of the tooling part is judged in real time through vision, so as to give efficient and reasonable cleaning logic subsequently, avoid collision between the laser cleaning head and the tooling part in the cleaning process, and avoid partial missed cleaning caused by the clamping jaw of the three-jaw chuck. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is the overall structure diagram of the present application;

[0025] Figure 2 is a side view of the present application;

[0026] Figure 3 is a control part diagram of the present application;

[0027] Figure 4 is a distance measuring strategy corresponding diagram in the present application.

[0028] Reference signs: 1, tooling table; 2, laser cleaning head; 3, accommodating groove; 4, elevator; 5, lifting platform; 6, rotating platform; 7, three-jaw chuck; 8, automatic opening and closing plate; 101, image acquisition module; 102, boundary analysis module; 103, tooling control module; 104, coincidence processing module; 105, cleaning calculation module. DETAILED DESCRIPTION

[0029] The present application will be further described in detail below in combination with the drawings and embodiments. Identical parts are denoted by identical reference signs in the following description. It should be noted that the words "front", "back", "left", "right", "up" and "down" used in the following description refer to the directions in the drawings, and the words "bottom surface" and "top surface", "inner" and "outer" refer to the directions towards or away from the geometric center of a particular part.

[0030] Since the current laser cleaning equipment needs to install the cleaning head on a multi-action mechanical arm for large-size workpieces, and it is difficult to adapt to the workbench, the cleaning equipment occupies a large space, the equipment cost is high, and it is more dependent on high-precision and high-complexity program control, therefore, the present application designs such a combined laser cleaning equipment, as shown in Figures 1-2 The laser cleaning equipment includes a tooling table 1, a laser cleaning part and a tooling clamp seat are arranged on the tooling table 1, the tooling table 1 is provided with a containing groove 3, the containing groove 3 is further provided with an automatic opening and closing plate 8 and a driving cylinder for driving the automatic opening and closing plate 8 to move, when the cleaning of the tooling part is not performed, the automatic opening and closing plate 8 is in a closed state, at this time, the external dust or foreign matter can be prevented from falling onto the tooling clamp seat in the containing groove 3, the tooling clamp seat can move in the containing groove 3 to make the tooling part on the tooling clamp seat hide in the containing groove 3 or be exposed outside the containing groove 3, the tooling clamp seat can also drive the tooling part to rotate, the laser cleaning part includes a laser cleaning head 2, the laser cleaning head 2 can move in a three-dimensional space to clean the surface of the tooling part, the tooling clamp seat includes an elevator 4, a lifting platform 5, a rotating platform 6 and a three-jaw chuck 7, the elevator 4 is located in the containing groove 3, the lifting platform 5 is located on the elevator 4, the rotating platform 6 is located on the lifting platform 5, and the three-jaw chuck 7 is located on the rotating platform 6, the laser cleaning part further includes a plurality of gantry frames, the laser cleaning head 2 can move in a three-dimensional space on the gantry frame, by arranging the containing groove 3 for containing the tooling part on the tooling table 1, the laser cleaning head 2 can avoid occupying a too large space when cleaning the tooling part, so that the setting height of the laser cleaning head 2 is too high, that is, the machining and cleaning are realized by sinking type pushing, and the occupied space is reduced.

[0031] There are two working conditions, one for a planar tooling part and the other for other tooling parts, for the first planar tooling part, the driving cylinder drives the automatic opening and closing plate 8 to automatically close, the planar tooling part to be cleaned is placed on the automatic opening and closing plate 8, the planar area to be cleaned is set, the equipment automatically drives the electric linear film group, the rotating shaft carries the laser cleaning head 2 to automatically focus and then performs trajectory scanning cleaning from the starting position, the rotating shaft can automatically adjust the cleaning angle of the laser cleaning head 2 and automatically reverse during the cleaning process, for the second other tooling part, the driving cylinder drives the automatic opening and closing plate 8 to open, the elevator 4 drives the lifting platform 5 to automatically rise, the tooling part is clamped by the three-jaw chuck 7, the height to be cleaned is set, the equipment automatically drives the electric linear film group, the rotating shaft carries the laser cleaning head 2 to automatically focus, and the rotating table drives the three-jaw chuck 7 to rotate the tooling part by 360 degrees for cleaning, after each 360-degree trajectory cleaning is completed, the elevator 4 automatically descends by a cleaning width, and the rotating table continues 360-degree cleaning of the next trajectory until the set pipe height trajectory is completed.

[0032] Due to the type of tooling and cleaning cases are different, in order to improve the accuracy and efficiency of cleaning, the laser cleaning part includes a vision camera, the tooling table 1 is also provided with a controller, as shown in Figure 3 The controller includes an image acquisition module 101, a boundary analysis module 102 and a tooling control module 103.

[0033] First, the image acquisition module 101 obtains the overall image of the tooling taken by the vision camera, which is defined as the image to be analyzed, and then the boundary analysis module 102 searches and judges whether there is a boundary during cleaning of the tooling according to the image to be analyzed, which is defined as the cleaning boundary, and then the tooling control module 103 defines the starting position and the ending position of the laser cleaning head 2 according to the cleaning boundary.

[0034] The other tooling in the second case contains a variety of different types of tooling, including tubular tooling, square tooling or irregular tooling, which has a height, so it is necessary to judge whether the tooling has a cleaning boundary. If there is, the laser cleaning head 2 needs to move to the cleaning boundary as the initial position, and some positions do not need to be cleaned. In order to analyze whether the tooling has a cleaning boundary, the boundary analysis module 102 specifically intercepts the two sides of the image containing the edge of the tooling in the image to be analyzed, that is, the image of the upper part of the tooling close to the edge and the image of the lower part close to the edge, which is defined as the analysis image, and then judges whether there is a boundary according to the analysis image. The judgment method includes color depth or image comparison, etc. If the judgment result has a boundary and is close to the edge of the tooling, the boundary can be identified as the cleaning boundary. If the judgment result has no boundary, the edge of the tooling is identified as the cleaning boundary, which can avoid unnecessary cleaning of the tooling by the laser cleaning head 2.

[0035] In addition, when the clamping jaw of the three-jaw chuck 7 clamps the tooling, if it is clamped on the outer surface of the tooling, it is easy to block part of the area to be cleaned. Therefore, it is necessary to first judge the position of the clamping jaw of the three-jaw chuck 7 according to the image to be analyzed by the coincidence processing module 104 in the controller, and then analyze the cleaning boundary obtained by the above judgment and the position of the clamping jaw. If the clamping jaw blocks the outer surface of the tooling above the cleaning boundary, it means that there is a coincidence, which will output a coincidence instruction to the tooling control module. If the clamping jaw does not block the outer surface of the tooling above the cleaning boundary, it means that there is no coincidence, which will output an ignore instruction to the tooling control module.

[0036] When the tooling control module receives the coincidence instruction, it controls the clamping jaw of the three-jaw chuck 7 to loosen the tooling, and controls the rotating platform 6 to rotate the tooling by a certain angle.

[0037] Since the laser cleaning head 2 needs to clean the outer surface of the tooling, multiple surfaces need to be cleaned. Traditionally, the laser cleaning head 2 is controlled to plan and move its path. However, for irregular tooling, the path planning of the laser cleaning head 2 is relatively complex. Therefore, this solution only needs to drive the tooling to rotate. When cleaning one surface, only the movement of the laser cleaning head 2 in one dimension needs to be controlled. When cleaning the second surface, only the movement in that dimension is needed, and then the rotation of the tooling is controlled to avoid the laser cleaning head 2 obstructing the rotation of the tooling. Specifically, the controller also includes a cleaning calculation module 105 to obtain the type of tooling input from the outside. The tooling type includes irregular parts and regular cylindrical parts. When the tooling type is an irregular part, the avoidance distance of the laser cleaning head 2 when the tooling rotates and changes surfaces is obtained through a ranging strategy. Specifically, the ranging strategy includes a search point step, a point ranging step, and an avoidance point step.

[0038] The search point process involves dividing the outer surface of the tooling into multiple cleaning surfaces. Several parallel measurement points are searched on the cleaning surface facing the laser cleaning head 2, including the boundary points on both sides of the cleaning surface. Figure 4 As shown, the figure includes point AE;

[0039] The point distance measurement step involves calculating the straight-line distance between each point and the center rotation point of the tooling, and selecting the largest straight-line distance as the radius value of the tooling rotation. It is necessary to calculate the distance between point A and point O, the distance between point B and point O, the distance between point C and point O, ... the distance between point E and point O, that is, the distance between each point and point O is the maximum distance that the tooling may touch the laser cleaning head 2 when rotating.

[0040] The avoidance point step involves obtaining the straight-line distance between the measured point of the laser cleaning head 2 on the cleaning surface and the center rotation point of the tooling. The avoidance distance of the laser cleaning head 2 is calculated based on the radius value and the straight-line distance. The laser cleaning head 2 avoids collisions with the laser cleaning head 2 when rotating the tooling.

[0041] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A combined laser cleaning apparatus, characterized by: The tooling table (1) is provided with a laser cleaning device and a tooling holder, the tooling table (1) is provided with a containing groove (3), the tooling holder can move in the containing groove (3) to hide the tooling device in the containing groove (3) or expose the tooling device outside the containing groove (3), and the tooling holder can also drive the tooling device to rotate; the laser cleaning device comprises a laser cleaning head (2), and the laser cleaning head (2) can move in a three-dimensional space to clean the surface of the tooling device; The tooling holder comprises a lifting machine (4), a lifting platform (5), a rotating platform (6) and a three-jaw chuck (7), the lifting machine (4) is located in the containing groove (3), the lifting platform (5) is located on the lifting machine (4), the rotating platform (6) is located on the lifting platform (5), and the three-jaw chuck (7) is located on the rotating platform (6); The laser cleaning device further comprises a visual camera, and the tooling table (1) is also provided with a controller, the controller comprises an image acquisition module (101), a boundary analysis module (102) and a tooling control module (103); The image acquisition module (101) acquires an image of the outer surface of the tooling device shot by the visual camera as an image to be analyzed; The boundary analysis module (102) searches for a cleaning boundary of the outer surface of the tooling device according to the image to be analyzed; The tooling control module (103) takes the cleaning boundary as a starting position and an ending position of the laser cleaning head (2) for cleaning; The boundary analysis module (102) takes two side regions of the tooling device edge in the image to be analyzed as analysis images respectively, divides the boundary according to the analysis images taking color depth as an analysis feature, takes the boundary as the cleaning boundary if the boundary is divided, and takes the edge of the tooling device as the cleaning boundary if the boundary is not divided; The controller further comprises a coincidence processing module (104), which judges the position of the clamping jaw of the three-jaw chuck (7) according to the image to be analyzed, outputs an ignoring instruction to the tooling control module if the clamping jaw clamps the inner side of the tooling device, and outputs a coincidence instruction to the tooling control module if the clamping jaw clamps the outer surface of the tooling device; When the tooling control module receives the coincidence instruction, the clamping jaw of the three-jaw chuck (7) is controlled to release the tooling device, and the rotating platform (6) is controlled to rotate to drive the tooling device to rotate by a certain angle.

2. The combined laser cleaning apparatus according to claim 1, characterized in that: The controller further comprises a cleaning calculation module (105), which acquires an externally input tooling device type, the tooling device type comprises an irregular device and a regular cylindrical device, and when the tooling device type is the irregular device, the avoidance distance of the laser cleaning head (2) when the tooling device rotates to change the surface is obtained through a distance measurement strategy.

3. The combined laser cleaning apparatus according to claim 2, wherein: The distance measurement strategy comprises a search point step, a point distance measurement step and an avoidance point step; In the search point step, the outer side of the tooling device is divided into a plurality of cleaning surfaces, a plurality of measurement points on the cleaning surface parallel to the laser cleaning head (2) are searched, and the plurality of measurement points comprise two boundary points of the cleaning surface. The point ranging step measures the straight-line distance between each point and the center rotating point of the tooling piece, and selects the largest straight-line distance as the radius value of the tooling piece rotation; The avoidance point step obtains the straight-line distance between the measuring point of the laser cleaning head (2) on the cleaning surface and the center rotating point of the tooling piece, and calculates the avoidance distance of the laser cleaning head (2) according to the radius value and the straight-line distance.

4. The combined laser cleaning apparatus according to claim 1 or 3, characterized in that: The laser cleaning piece further comprises a plurality of gantry frames, and the laser cleaning head (2) can move in three-dimensional space on the gantry frame.

5. The combined laser cleaning apparatus according to claim 4, wherein: The accommodating groove (3) is further provided with an automatic opening and closing plate (8) and a driving source for driving the movement of the automatic opening and closing plate (8).

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