Online mold laser cleaning equipment

Abstract

The invention relates to online mold laser cleaning equipment which comprises a movable base, a mechanical arm module and a laser head, the mechanical arm module comprises an X-axis movable module, a Z-axis lifting module, a telescopic cantilever and an angle adjusting module, the X-axis movable module is arranged on the movable base, the Z-axis lifting module is arranged on the X-axis movable module to be driven to move along the X axis, and the angle adjusting module is arranged on the X-axis movable module to be driven to move along the Z axis. The telescopic cantilever is arranged on the Z-axis lifting module to be driven to move along the Z axis, the angle adjusting module is arranged at the end, away from the Z-axis lifting module, of the telescopic cantilever, and the laser head is rotationally connected with the angle adjusting module. Compared with traditional cleaning equipment, the online mold laser cleaning equipment provided by the invention has the advantages that the X-axis moving module, the Z-axis lifting module, the telescopic cantilever and the angle adjusting module cooperate with one another, so that multi-angle and multi-direction movement of the laser head can be realized, and the laser head can clean an object to be cleaned at different angles; the cleaning efficiency of the equipment is improved.

Description

Technical Field

[0001] The invention relates to the field of cleaning equipment, in particular to an online mold laser cleaning equipment. Background Art

[0002] Laser cleaning technology is an advanced cleaning technology that uses a high-energy laser beam to irradiate the surface of an object, causing the rust, paint or stain layer on the surface to undergo physical and chemical reactions such as instant peeling or vaporization, thereby achieving the purpose of non-contact cleaning. At present, laser cleaning technology is widely used in tire mold cleaning. The existing tire mold online mold laser cleaning equipment is to clean the tire mold offline. During the processing, the tire mold needs to be disassembled and the disassembled parts are placed on the equipment for positioning and laser cleaning. This method requires additional manual disassembly process and has low cleaning efficiency. Summary of the invention

[0003] Based on this, the present application provides an online mold laser cleaning device that can improve the cleaning efficiency of the equipment.

[0004] An online mold laser cleaning device, comprising:

[0005] Mobile base;

[0006] A robot module, comprising an X-axis moving module, a Z-axis lifting module, a telescopic cantilever and an angle adjustment module, wherein the X-axis moving module is arranged on the moving base; the Z-axis lifting module is arranged on the X-axis moving module to be driven to move along the X-axis; the telescopic cantilever is arranged on the Z-axis lifting module to be driven to move along the Z-axis, and the angle adjustment module is arranged at one end of the telescopic cantilever away from the Z-axis lifting module; and

[0007] The laser head is rotatably connected to the angle adjustment module.

[0008] The above online mold laser cleaning equipment has a movable base that can move, an X-axis movable module that can drive the laser head to move along the X-axis, a Z-axis lifting module that can drive the laser head to move along the Z-axis, and a telescopic cantilever and an angle adjustment module that can adjust the telescopic length and angle of the laser head respectively. The cooperation between the X-axis movable module, the Z-axis lifting module, the telescopic cantilever and the angle adjustment module can realize the multi-angle and multi-directional movement of the laser head, thereby realizing the cleaning of the laser head at different angles of the object to be cleaned, thereby improving the cleaning efficiency of the equipment.

[0009] In one embodiment, the telescopic cantilever includes a linear guide rail, a primary telescopic arm and a secondary telescopic arm, the primary telescopic arm is arranged on the linear guide rail and can move relative to the linear guide rail, the secondary telescopic arm is arranged on the primary telescopic arm and can move relative to the primary telescopic arm, and the angle adjustment module is arranged at one end of the second telescopic arm away from the first telescopic arm.

[0010] In one embodiment, the angle adjustment module includes a first rotating member and a first movable member, the first rotating member is arranged at one end of the telescopic cantilever away from the Z-axis lifting module, the first movable member is arranged on the first rotating member, the first rotating member is used to drive the first movable member to rotate around a first rotation axis, and the first rotation axis is parallel to the Y-axis; the laser head is arranged on the first movable member, and the first movable member is used to drive the laser head to move relative to the angle adjustment module.

[0011] In one embodiment, the angle adjustment module also includes a second movable member, which is connected between the laser head and the first movable member, and the moving directions of the second movable member and the first movable member are perpendicular to each other. The second movable member is used to drive the laser head to move relative to the first movable member.

[0012] In one embodiment, the angle adjustment module further includes a second rotating member, the second rotating member is connected between the first movable member and the second movable member, the second rotating member is used to drive the second movable member to rotate around a second rotation axis, and the second rotation axis is perpendicular to the first rotation axis.

[0013] In one embodiment, the laser head is connected to the second moving member via a third rotating member, and the third rotating member is used to drive the laser head to rotate around a third rotating axis, and the third rotating axis is parallel to the first rotating axis.

[0014] In one embodiment, the first movable member is provided with an obstacle avoidance sensor at one end close to the laser head.

[0015] In one of the embodiments, a rotation angle limit sensor is provided on the first rotating member.

[0016] In one of the embodiments, the laser head is also provided with a 3D scanner.

[0017] In one of the embodiments, the laser head is connected to the angle adjustment module via a third rotating member, and the third rotating member is used to drive the laser head to rotate between ±90°. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0019] Figure 1 A schematic diagram of an online mold laser cleaning device according to an embodiment;

[0020] Figure 2 for Figure 1 An enlarged view of the dashed area in the schematic diagram of the online mold laser cleaning equipment.

[0021] Reference numerals: online mold laser cleaning device 10; mobile base 20; robot module 30; X-axis mobile module 31; Z-axis lifting module 32; telescopic cantilever 33; linear guide 330; primary telescopic arm 331; secondary telescopic arm 332; angle adjustment module 34; first rotating member 341; first moving member 342; second moving member 343; second rotating member 344; third rotating member 345; laser head 40 DETAILED DESCRIPTION

[0022] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0023] In the description of the present invention, the meaning of "above", "below", "exceed", etc. is not inclusive of the number itself, and the meaning of "above", "below", "within", etc. is inclusive of the number itself. If there is a description of "first" or "second", it is only used to distinguish the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0024] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, 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 higher in 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 lower in level than the second feature.

[0025] In the present invention, unless otherwise clearly defined, the words "set", "install", "connect" and the like should be understood in a broad sense, for example, they can be directly connected or indirectly connected through an intermediate medium; they can be fixedly connected or detachably connected or integrally formed; they can be mechanically connected; they can be the internal connection of two elements or the interaction relationship between two elements. Those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0026] Laser cleaning technology refers to the use of high-energy laser beams to irradiate the surface of the workpiece, causing the dirt, rust or coating on the surface to evaporate or peel off instantly, and quickly and effectively remove the surface attachments or surface coatings of the cleaning object, thereby achieving a clean process. It is a new technology based on the interaction effect of laser and matter. Compared with traditional cleaning methods such as mechanical cleaning, chemical corrosion cleaning, liquid solid strong impact cleaning, and high-frequency ultrasonic cleaning, it has the advantages of obvious high efficiency, speed and low cost. The heat load and mechanical load on the substrate are small, and the cleaning is non-damaging. At the same time, the waste can be recycled, there are no environmental pollutants, it is safe and reliable, and it does not harm the health of the operator. It can remove coatings of various thicknesses and different compositions. The cleaning process is easy to realize automatic control and remote remote cleaning. The tire mold laser processing equipment on the market is usually offline cleaning of tire molds. During the processing, the tire mold needs to be disassembled, divided into 8-9 pieces, and placed on the equipment for positioning and laser cleaning. The method of disassembling the tire mold first and then cleaning is inefficient and requires additional manual disassembly procedures. It can be seen from this that in the prior art, the online mold laser cleaning equipment 10 needs to first perform a manual disassembly process, which makes the cleaning process complicated, increases labor costs, and has the problem of low cleaning efficiency.

[0027] refer to Figure 1 and Figure 2 In order to solve the above problems, the embodiment of the present application provides an online mold laser cleaning device 10, including: a mobile base 20; a manipulator module 30, including an X-axis mobile module 31, a Z-axis lifting module 32, a telescopic cantilever 33 and an angle adjustment module 34, wherein the X-axis mobile module 31 is arranged on the mobile base 20; the Z-axis lifting module 32 is arranged on the X-axis mobile module 31 to be driven to move along the X-axis; the telescopic cantilever 33 is arranged on the Z-axis lifting module 32 to be driven to move along the Z-axis, and the angle adjustment module 34 is arranged at one end of the telescopic cantilever 33 away from the Z-axis lifting module 32; and a laser head 40, which is rotatably connected to the angle adjustment module 34. The following embodiment is introduced by taking a tire mold as the object to be cleaned.

[0028] In the online mold laser cleaning device 10, the online mold laser cleaning device 10 includes a mobile base 20, a manipulator module 30 and a laser head 40. The laser head 40 can clean the tire mold. The manipulator module 30 includes an X-axis moving module 31, a Z-axis lifting module 32, a telescopic cantilever 33 and an angle adjustment module 34. The manipulator module 30 can adjust the orientation of the laser head 40, thereby realizing cleaning of different positions of the tire mold. Specifically, the X-axis moving module 31 is arranged on the mobile base 20, the Z-axis lifting module 32 is arranged on the X-axis moving module 31 to be driven to move along the X-axis, the telescopic cantilever 33 is arranged on the Z-axis lifting module 32 to be driven to move along the Z-axis, the angle adjustment module 34 is arranged at one end of the telescopic cantilever 33 away from the Z-axis lifting module 32, and the laser head 40 is rotatably connected to the angle adjustment module 34. The mobile base 20 can use an electric forklift as an installation reference base. The electric forklift refers to a forklift that operates with electricity, and most of them work with batteries. The storage battery is a kind of battery, and its function is to store limited electrical energy and use it in a suitable place. Its working principle is to convert chemical energy into electrical energy. The manipulator module 30 can move the position, the X-axis moving module 31 can drive the laser head 40 to move the X-axis, and the Z-axis lifting module 32 can drive the laser head 40 to move up and down the Z-axis. The X-axis moving module 31 and the Z-axis lifting module 32 are driven by servo motors. In order to ensure the accuracy and stability during movement, a servo motor lead screw transmission is adopted. A 1.5KW servo motor and a reducer are adopted to ensure the stability and accuracy of the rise. The telescopic cantilever 33 and the angle adjustment module 34 can adjust the telescopic length and angle orientation of the laser head 40 respectively. The cooperation between the X-axis moving module 31, the Z-axis lifting module 32, the telescopic cantilever 33 and the angle adjustment module 34 can realize the multi-angle and multi-directional movement of the laser head 40, thereby realizing the laser head 40 cleaning the object to be cleaned at different angles, thereby improving the cleaning efficiency of the equipment.

[0029] See also Figure 1The telescopic cantilever 33 includes a linear guide rail 330, a first telescopic arm 331 and a second telescopic arm 332. The telescopic cantilever 33 is composed of a fixed body and a moving body. The moving body is extended or retracted through the action of a telescopic cylinder, thereby achieving a larger moving stroke. The telescopic cantilever 33 can be driven by a servo motor. The first telescopic arm 331 and the second telescopic arm 332 form a double-section cantilever telescopic. The telescopic length of the double-section cantilever can reach 2 meters. Six guide rails are shared internally. Square tube supports are used to ensure stability and translation accuracy during translation, so as to ensure that the tire mold can adapt to molds of various specifications and sizes during processing. The telescopic cantilever 33 can adjust the position of the angle adjustment module 34 by extending or shortening the primary telescopic arm 331 and the secondary telescopic arm 332. The primary telescopic arm 331 is arranged on the linear guide rail 330 and can move relative to the linear guide rail 330. The secondary telescopic arm 332 is arranged on the primary telescopic arm 331 and can move relative to the primary telescopic arm 331. The angle adjustment module 34 is arranged at one end of the second telescopic arm away from the first telescopic arm. The orientation of the angle adjustment module 34 can be adjusted by the mutual cooperation of the primary telescopic arm 331 and the secondary telescopic arm 332. Since the angle adjustment module 34 is connected to the laser head 40, the orientation of the angle module can be adjusted by the telescopic cantilever 33, and the horizontal position of the laser head 40 can also be further adjusted, thereby improving the cleaning effect of the online mold laser cleaning equipment 10 on the tire mold. Figure 2 The angle adjustment module 34 includes a first rotating member 341 and a first movable member 342. The first rotating member 341 is arranged at one end of the telescopic cantilever 33 away from the Z-axis lifting module 32. The first movable member 342 is arranged on the first rotating member 341. The first rotating member 341 is used to drive the first movable member 342 to rotate around the first rotation axis. The first rotation axis is parallel to the Y-axis. The laser head 40 is arranged on the first movable member 342. The first movable member 342 is used to drive the laser head 40 to move relative to the angle adjustment module 34. Under the cooperation of the first rotating member 341 and the first movable member 342, the laser head 40 can move relative to the angle adjustment module 34, and the pitch angle of the laser head 40 can be adjusted, so that the online mold laser cleaning equipment 10 can adapt to tire molds of multiple diameters, heights and thicknesses, and can improve the cleaning efficiency of the equipment.

[0030] See also Figure 1 and Figure 2, the angle adjustment module 34 also includes a second moving member 343, which is connected between the laser head 40 and the first moving member 342, and the moving directions of the second moving member 343 and the first moving member 342 are perpendicular to each other. The second moving member 343 is used to drive the laser head 40 to move relative to the first moving member 342. Under the cooperation of the second moving member 343 and the first moving member 342, the laser head 40 can move relative to the angle adjustment module 34, and the pitch angle of the laser head 40 can be adjusted, so that the online mold laser cleaning device 10 can adapt to tire molds of multiple diameters, heights and thicknesses. In some embodiments, the angle adjustment module 34 also includes a second rotating member 344, which is connected between the first moving member 342 and the second moving member 343, and the second rotating member 344 can drive the second moving member 343 to rotate. The second rotating member 344 is used to drive the second moving member 343 to rotate around the second rotation axis, thereby driving the rotation and movement of the laser head 40, wherein the second rotation axis is perpendicular to the first rotation axis. In some embodiments, the laser head 40 is connected to the second moving member 343 through the third rotating member 345, and the third rotating member 345 is used to drive the laser head 40 to rotate around the third rotation axis, and the third rotation axis is parallel to the first rotation axis. In some embodiments, the first moving member 342 is provided with an obstacle avoidance sensor at one end close to the laser head 40. The obstacle avoidance sensor can prevent the laser head 40 from hitting obstacles during movement and affecting the operation of the device. Specifically, an infrared obstacle avoidance sensor can be used. The infrared obstacle avoidance sensor usually has two infrared tubes, namely a transmitting tube and a receiving tube. The characteristics are strong adaptability to ambient light, less interference, and easy installation. The infrared obstacle avoidance sensor is composed of a pair of infrared light emitting tubes, an infrared light receiving tube, and a sensor circuit. The obstacle avoidance sensor also includes a detection distance adjuster. When the measurement distance needs to be changed, only the knob of the adjuster needs to be changed. The adjuster can adjust the detection distance of the sensor. In some embodiments, a rotation angle limit sensor is provided on the first rotating member 341. The rotation angle limit sensor is a device for measuring the rotation angle of an object. By accurately measuring the rotation action, a signal can be sent when the rotation reaches a set position to achieve control and limitation of the rotation angle. The rotation angle limit sensor usually includes a sensor, a guide mechanism, a signal processing, a control circuit, etc. Specifically, the rotation angle limit sensor is equipped with sensors such as triggers, photoelectric sensors or magnetic sensors. These sensors can sense the rotation action of the object and convert it into an electrical signal. The guide mechanism is used to guide the rotation axis of the object, and usually uses structures such as gears and guide rails to ensure the smooth and accurate rotation of the object. After the sensor senses that the object has rotated to a preset position, the internal signal processing circuit will interpret and process the sensor signal, and convert the sensor signal into a control signal through a set signal processing algorithm.The control circuit of the rotation angle limit sensor receives the control signal after signal processing and controls the output action, which is usually used to activate other devices or provide control feedback. Users can set the limit value of the rotation limiter according to their needs. Once the object rotates to the set position, the limiter will trigger the corresponding signal to indicate that the limit has been reached.

[0031] See also Figure 2 , using the laser head 40 to clean the tire mold is an advanced cleaning technology that uses a high-energy laser beam to irradiate the surface of the object, causing the rust, paint layer or stain layer on the surface to undergo physical and chemical reactions such as instant peeling or vaporization, thereby achieving the purpose of non-contact cleaning. The laser head 40 contains a visible indicator light indicating the laser focus point, which is convenient for pre-identifying the specific position of the workpiece, programming each translation and rotation axis, and other operations. The optical fiber guides the laser beam into the laser head 40 through the optical fiber connector, and the laser spot is focused on the working point by the galvanometer reflection and the focusing field lens to realize laser processing. The laser head 40 integrates the main components of the visual sensor, the red light projector and the visual camera, and provides image data to the visual system. The laser head 40 is connected to the angle adjustment module 34 through the third rotating member 345, and the third rotating member 345 is used to drive the laser head 40 to rotate between ±90°. In some embodiments, the laser head 40 is also provided with a 3D scanner, which can detect and analyze the shape and appearance data of an object or environment. When the online mold laser cleaning device 10 cleans the tire mold, the 3D scanner can perform a 3D scan of the tire mold, which is beneficial to improve the cleaning efficiency of the tire mold. A rotating mechanism is designed inside the laser head 40, which allows the laser emission port to swing at any angle of plus or minus 90°, so that the laser scanning line fits the inner wall of the tire mold more closely, greatly improving the cleaning effect. In some embodiments, the pitch drive structure of the laser head 40 is driven by a servo motor and driven by a synchronous belt. The rotation axis of the transmission structure is coaxial with the axis of the optical path, so that the laser head 40 can achieve the rotation of the pitch angle without affecting the transmission of the optical path, and can better process the shadow surface and dead angle area of ​​the workpiece surface. The laser cleaning device also includes a vacuum cleaner and a vacuum tube, which is installed on the laser head 40 and connected to the vacuum cleaner. When the laser head 40 cleans the tire mold, rust spots, paint layers or stain layers on the surface of the tire mold are instantly peeled off or vaporized, which will produce smoke. At this time, the smoke will enter the vacuum cleaner through the dust suction pipe to prevent the smoke from adhering to the tire mold again, thereby improving the cleaning efficiency of the equipment.

[0032] See also Figure 1 and Figure 2When using the online mold laser cleaning device 10, the X-axis moving module 31 is arranged on the moving base 20, and the Z-axis lifting module 32 is arranged on the X-axis moving module 31 to be driven to move along the X-axis. The moving base 20 can use an electric forklift as an installation reference base, and the moving base 20 can move to drive the movement of the laser head 40. The X-axis moving module 31 and the Z-axis lifting module 32 can adjust the position of the laser head 40 under the drive of the servo motor lead screw. Furthermore, the telescopic cantilever 33 can adjust the position of the angle adjustment module 34 by extending or shortening the primary telescopic arm 331 and the secondary telescopic arm 332. The primary telescopic arm 331 and the secondary telescopic arm 332 can adjust the position of the angle adjustment module 34 by extending or shortening the primary telescopic arm 331 and the secondary telescopic arm 332. The retractable arm 331 is arranged on the linear guide rail 330 and can move relative to the linear guide rail 330. The secondary telescopic arm 332 is arranged on the primary telescopic arm 331 and can move relative to the primary telescopic arm 331. The angle adjustment module 34 is arranged at one end of the second telescopic arm away from the first telescopic arm. Through the mutual cooperation of the primary telescopic arm 331 and the secondary telescopic arm 332, the orientation of the angle adjustment module 34 can be adjusted. Since the angle adjustment module 34 is connected to the laser head 40, the orientation of the angle module is adjusted by the telescopic cantilever 33, and the horizontal position of the laser head 40 can also be further adjusted, thereby improving the cleaning effect of the online mold laser cleaning equipment 10 on the tire mold. Further, under the cooperation of the second moving member 343 and the first moving member 342, the laser head 40 can move relative to the angle adjustment module 34, and the pitch angle of the laser head 40 can be adjusted, so that the online mold laser cleaning device 10 can adapt to tire molds of multiple diameters, heights and thicknesses. Further, the second rotating member 344 is connected between the first moving member 342 and the second moving member 343, and the second rotating member 344 can drive the second moving member 343 to rotate. The second rotating member 344 is used to drive the second moving member 343 to rotate around the second rotation axis, thereby driving the rotation and movement of the laser head 40, wherein the second rotation axis is perpendicular to the first rotation axis. Further, the laser head 40 is connected to the second moving member 343 through the third rotating member 345, and the third rotating member 345 is used to drive the laser head 40 to rotate around the third rotation axis, and the third rotation axis is parallel to the first rotation axis. In some embodiments, a rotation angle limit sensor is provided on the first rotating member 341. The rotation angle limit sensor is a device for measuring the rotation angle of an object. By accurately measuring the rotation movement, a signal can be sent when the rotation reaches the set position to achieve control and limitation of the rotation angle. In some embodiments, the first movable member 342 is provided with an obstacle avoidance sensor at one end close to the laser head 40. The obstacle avoidance sensor can prevent the laser head 40 from hitting obstacles during movement and affecting the operation of the equipment. The cooperation between the X-axis moving module 31, the Z-axis lifting module 32, the telescopic cantilever 33 and the angle adjustment module 34 can realize multi-angle and multi-directional movement of the laser head 40, thereby realizing the cleaning of the laser head 40 at different angles of the object to be cleaned, thereby improving the cleaning efficiency of the equipment.

[0033] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0034] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. An online mold laser cleaning device, characterized in that: include: Mobile base; A manipulator module, comprising an X-axis moving module, a Z-axis lifting module, a telescopic cantilever, and an angle adjustment module, wherein the X-axis moving module is disposed on the moving base; the Z-axis lifting module is disposed on the X-axis moving module to be driven to move along the X-axis; the telescopic cantilever is disposed on the Z-axis lifting module to be driven to move along the Z-axis, and the angle adjustment module is disposed at one end of the telescopic cantilever away from the Z-axis lifting module; and The laser head is rotatably connected to the angle adjustment module.

2. The online mold laser cleaning equipment according to claim 1, characterized in that: The telescopic cantilever includes a linear guide rail, a first-level telescopic arm and a second-level telescopic arm. The first-level telescopic arm is arranged on the linear guide rail and can move relative to the linear guide rail. The second-level telescopic arm is arranged on the first-level telescopic arm and can move relative to the first-level telescopic arm. The angle adjustment module is arranged at an end of the second telescopic arm away from the first telescopic arm.

3. The online mold laser cleaning equipment according to claim 1, characterized in that: The angle adjustment module includes a first rotating member and a first movable member. The first rotating member is arranged at one end of the telescopic cantilever away from the Z-axis lifting module. The first movable member is arranged on the first rotating member. The first rotating member is used to drive the first movable member to rotate around a first rotation axis, and the first rotation axis is parallel to the Y-axis; the laser head is arranged on the first movable member, and the first movable member is used to drive the laser head to move relative to the angle adjustment module.

4. The online mold laser cleaning equipment according to claim 3, characterized in that: The angle adjustment module also includes a second movable member, which is connected between the laser head and the first movable member. The moving directions of the second movable member and the first movable member are perpendicular to each other. The second movable member is used to drive the laser head to move relative to the first movable member.

5. The online mold laser cleaning equipment according to claim 4, characterized in that: The angle adjustment module further includes a second rotating member connected between the first moving member and the second moving member. The second rotating member is used to drive the second moving member to rotate around a second rotation axis, and the second rotation axis is perpendicular to the first rotation axis.

6. The online mold laser cleaning equipment according to claim 5, characterized in that: The laser head is connected to the second moving member via a third rotating member. The third rotating member is used to drive the laser head to rotate around a third rotating axis. The third rotating axis is parallel to the first rotating axis.

7. The online mold laser cleaning equipment according to claim 3, characterized in that: The first moving member is provided with an obstacle avoidance sensor at one end close to the laser head.

8. The online mold laser cleaning equipment according to claim 3, characterized in that: A rotation angle limit sensor is provided on the first rotating member.

9. The online mold laser cleaning equipment according to claim 1, characterized in that: The laser head is also provided with a 3D scanner.

10. The online mold laser cleaning equipment according to claim 1, characterized in that: The laser head is connected to the angle adjustment module via a third rotating member, and the third rotating member is used to drive the laser head to rotate between ±90°.

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