Intelligent laser-dry ice combined cleaning method and device

Abstract

The application discloses an intelligent laser-dry ice composite cleaning method and device, and belongs to the field of stain cleaning. The application is used to solve the problem of unsatisfactory cleaning effect of the prior art on stains with large thickness. The method comprises the following steps: performing visual scanning on a workpiece to be cleaned, obtaining stain thickness distribution on the surface of the workpiece to be cleaned through three-dimensional surface morphology reconstruction, and dividing the surface of the workpiece to be cleaned into multiple sub-regions according to the stain thickness; the sub-regions include three types: an extremely thin sub-region, a medium-thickness sub-region and a large-thickness sub-region; performing cleaning path planning to form three cleaning paths; the cleaning process of the cleaning path of the extremely thin sub-region is laser cleaning; the cleaning process of the cleaning path of the medium-thickness sub-region is laser-dry ice composite cleaning; and the cleaning process of the cleaning path of the large-thickness sub-region is laser-dry ice composite cleaning. The cleaning device comprises a ground rail gantry motion system, a first mechanical arm, a second mechanical arm, a dry ice cleaning system, a visual identification system and a pulse laser cleaning system.

Description

TECHNICAL FIELD

[0001] The present application relates to a steel plate stain cleaning technology, belonging to the field of stain cleaning. BACKGROUND

[0002] Traditional coating and surface stain cleaning methods are various, mainly relying on chemical agents and mechanical means. Mechanical means is usually contact type, removing stains by applying mechanical force to the surface of the object, which may damage the surface or cause cleaning medium residue, making it impossible to completely remove and further causing secondary pollution. Chemical cleaning requires a large amount of chemical agents, and with the increasingly stringent environmental protection regulations in China and the enhancement of people's environmental protection and safety awareness, the types of chemical agents that can be used in industrial production will gradually decrease.

[0003] In the prior art, laser cleaning technology uses a high-energy laser beam to irradiate the surface of a workpiece, causing surface stains, rust spots or coatings to evaporate or peel off instantaneously, quickly and efficiently removing surface attachments or coatings, thereby achieving cleaning. Laser cleaning is based on the interaction of laser and matter, which is different from traditional mechanical, chemical and ultrasonic cleaning methods. It does not require the use of CFC organic solvents that destroy the ozone layer, is pollution-free, noiseless, harmless to the human body and the environment, and is a "green" cleaning technology. Although laser cleaning technology performs well in many applications, its cleaning effect is not ideal for large thickness of organic adhesive residue. Laser cleaning mainly relies on the instantaneous evaporation or peeling effect of high-energy laser beams, and large thickness of organic adhesive is difficult to achieve good cleaning effect due to the inability to be completely penetrated by laser, poor heat transfer and carbonization of organic matter.

[0004] Another "green" cleaning technology is dry ice cleaning. Dry ice cleaning sprays dry ice particles onto the surface of the object to be cleaned by high-pressure air to cool it, and uses the temperature difference to cause different substances to separate at different shrinkage speeds. Dry ice cleaning does not cause any damage to the surface of the cleaned object, especially metal surfaces. Similarly, its disadvantage is that the cleaning thickness is limited, and dry ice cleaning is good for cleaning organic adhesive residue on the surface, but has very limited effect on cleaning oil stains, rust marks and the like on the surface.

[0005] In view of the advantages and disadvantages of laser cleaning and dry ice cleaning, the prior art combines the two to achieve better cleaning effect. For example, patent CN215997900U provides a cleaning equipment that carries the workpiece to be cleaned to different process points for multiple cleaning, and performs dry ice cleaning and laser cleaning twice in turn. This cleaning method can meet most stain cleaning tasks, but regardless of the thickness of the stain, the same processing steps are used, which is obviously not energy-saving. Moreover, this cleaning method still has unsatisfactory cleaning effect for large thickness of organic adhesive residue. SUMMARY

[0006] In view of the problem that the prior art has an unsatisfactory cleaning effect on large-thickness stains, the application provides a smart laser-dry ice combined cleaning method and device.

[0007] In one aspect of the application, a smart laser-dry ice combined cleaning method is provided, which comprises the following steps:

[0008] S1, performing visual scanning on a workpiece to be cleaned, obtaining the stain thickness distribution of the surface of the workpiece to be cleaned through three-dimensional surface morphology reconstruction, and dividing the surface of the workpiece to be cleaned into a plurality of sub-regions according to the stain thickness;

[0009] The sub-regions include three types: an extremely thin sub-region, a medium-thickness sub-region and a large-thickness sub-region;

[0010] S2, performing cleaning path planning, sub-regions of the same type are divided into the same cleaning path, and the three types of sub-regions form three cleaning paths, i.e., an extremely thin sub-region cleaning path, a medium-thickness sub-region cleaning path and a large-thickness sub-region cleaning path, and the three cleaning paths are connected in series;

[0011] S3, sequentially cleaning each extremely thin sub-region on the path along the extremely thin sub-region cleaning path, and the cleaning process is laser cleaning;

[0012] S4, sequentially cleaning each medium-thickness sub-region along the medium-thickness sub-region cleaning path, and the cleaning process is laser-dry ice combined cleaning, specifically, first performing dry ice cleaning to peel off surface contaminants, and then performing laser cleaning to clean the surface residual oil stains and plating layer again;

[0013] S5, sequentially cleaning each large-thickness sub-region along the large-thickness sub-region cleaning path, and the cleaning process is laser-dry ice combined cleaning, specifically, first using laser to preheat for 1-3 seconds, then using dry ice cleaning to peel off surface contaminants, and then performing laser cleaning to clean the surface residual oil stains and plating layer again.

[0014] Preferably, the following steps are further included:

[0015] S6, performing visual scanning on the workpiece to be cleaned again to determine whether the surface of the workpiece to be cleaned is clean, and if so, the workpiece is exited; if not, steps S1 to S5 are repeatedly executed.

[0016] Preferably, the division criteria of the three types of sub-regions are as follows:

[0017] The region with a stain thickness less than 0.5 mm is divided into the extremely thin sub-region;

[0018] The region with a stain thickness between 0.5 mm and 5 mm is divided into the medium-thickness sub-region;

[0019] The area with a stain thickness greater than 5 mm is divided into a large thickness sub-area.

[0020] In another aspect of the present application, a smart laser-dry ice combined cleaning device is provided for implementing the above method, and the cleaning device comprises a ground rail gantry motion system 1, a first mechanical arm 2, a second mechanical arm 6, a dry ice cleaning system 3, a visual recognition system 4 and a pulsed laser cleaning system 5.

[0021] The visual recognition system 4 is fixed to the central gantry of the ground rail gantry motion system 1, the bases of the first mechanical arm 2 and the second mechanical arm 6 are arranged side by side on the gantry of the ground rail gantry motion system 1 and are located on the two sides of the visual recognition system 4, the dry ice cleaning system 3 is connected to the tool head position of the first mechanical arm 2, the pulsed laser cleaning system 5 is connected to the tool head position of the second mechanical arm 6, and the workpiece 7 to be cleaned is located directly below the gantry of the ground rail gantry motion system 1.

[0022] The visual recognition system 4 is used for visual scanning of the workpiece 7 to be cleaned, and the surface stain thickness distribution of the workpiece to be cleaned is obtained through three-dimensional surface morphology reconstruction in a computer system.

[0023] The first mechanical arm 2 drives the dry ice cleaning system 3 to perform dry ice cleaning on the workpiece 7 to be cleaned, and the second mechanical arm 6 drives the laser cleaning system 5 to perform laser cleaning on the workpiece 7 to be cleaned.

[0024] Preferably, the laser light source of the pulsed laser cleaning system 5 adopts a fiber laser, a disc laser, a YAG laser or a CO2 laser.

[0025] Preferably, the first mechanical arm 2 and the second mechanical arm 6 have the same structure and are implemented by a six-axis robot system or a three-axis linkage machining tool.

[0026] The present application has the following beneficial effects:

[0027] 1. The present application utilizes the synergistic effect of laser and dry ice to achieve a greater temperature difference, further enhances the application effect of the difference in thermophysical properties of different substances, and breaks through the thickness limit of the existing method for cleaning large-thickness organic pollutants.

[0028] 2、The laser-dry ice composite cleaning system adopted by the present application can intelligently select different cleaning mode combinations according to the thickness and form of the pollutants through visual recognition system and path planning, ensure the cleaning effect, realize the automation of the cleaning process, and improve the cleaning efficiency and precision. At the same time, the highly integrated system is simple to operate and intelligent to control, and the required labor cost and time cost are reduced, which helps to reduce the production cost and promote efficient and intelligent production. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a structural schematic diagram of the intelligent laser-dry ice composite cleaning device described in the present application. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0031] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0032] The present application will be further described below with reference to the drawings and specific embodiments, but is not limited by the present application.

[0033] Specific implementation method one: the present embodiment will be described below, and the intelligent laser-dry ice composite cleaning method described in the present embodiment includes the following steps: Figure 1

[0034] S1, visually scanning the workpiece to be cleaned, acquiring the thickness distribution of the surface stains of the workpiece to be cleaned through three-dimensional surface topography reconstruction, and dividing the surface of the workpiece to be cleaned into a plurality of sub-regions according to the stain thickness;

[0035] The sub-regions include three types: extremely thin sub-regions, medium thickness sub-regions and large thickness sub-regions;

[0036] The division criteria of the three types of sub-regions are:

[0037] The region with a stain thickness less than 0.5mm is divided into an extremely thin sub-region;

[0038] The region with a stain thickness between 0.5mm and 5mm is divided into a medium thickness sub-region;

[0039] The region with a stain thickness greater than 5mm is divided into a large thickness sub-region.

[0040] ​S2, cleaning path planning is performed, the same type of sub-regions are divided into the same cleaning path, three types of sub-regions form three cleaning paths, which are respectively an extremely thin sub-region cleaning path, a medium thickness sub-region cleaning path and a large thickness sub-region cleaning path, and the three cleaning paths are connected in series;

[0041] S3, each extremely thin sub-region on the path is sequentially cleaned along the extremely thin sub-region cleaning path, and the cleaning process is laser cleaning;

[0042] S4, each medium thickness sub-region is sequentially cleaned along the medium thickness sub-region cleaning path, and the cleaning process is laser-dry ice composite cleaning, specifically, dry ice cleaning is first performed to peel off surface contaminants, and then laser cleaning is used to clean the surface residual oil stains and plating for the second time;

[0043] S5, each large thickness sub-region is sequentially cleaned along the large thickness sub-region cleaning path, and the cleaning process is laser-dry ice composite cleaning, specifically, laser is used for preheating for 1-3 seconds, then dry ice cleaning is used to peel off surface contaminants, and then laser cleaning is used to clean the surface residual oil stains and plating for the second time.

[0044] S6, the workpiece to be cleaned is scanned again to determine whether the surface of the workpiece to be cleaned is clean, if yes, the workpiece is exited; if not, steps S1-S5 are repeatedly executed.

[0045] Specific implementation method two: the following is combined Figure 1 The embodiment is described, and the embodiment further describes the embodiment one. The cleaning device comprises a ground rail gantry motion system 1, a first mechanical arm 2, a second mechanical arm 6, a dry ice cleaning system 3, a visual identification system 4 and a pulse laser cleaning system 5.

[0046] The visual identification system 4 is fixed to the central gantry of the ground rail gantry motion system 1, the bases of the first mechanical arm 2 and the second mechanical arm 6 are arranged side by side on the gantry of the ground rail gantry motion system 1 and are located on the two sides of the visual identification system 4, the dry ice cleaning system 3 is connected to the tool head position of the first mechanical arm 2, the pulse laser cleaning system 5 is connected to the tool head position of the second mechanical arm 6, and the workpiece to be cleaned 7 is located directly below the gantry of the ground rail gantry motion system 1.

[0047] The visual identification system 4 is used for visual scanning of the workpiece to be cleaned 7, and the surface stain thickness distribution of the workpiece to be cleaned is obtained through three-dimensional surface topography reconstruction in the computer system.

[0048] The first mechanical arm 2 drives the dry ice cleaning system 3 to clean the workpiece 7, in the dry ice cleaning system 3, the high-pressure air flow mixed with dry ice particles is emitted from the dry ice cleaning machine, conducted to the dry ice cleaning gun head through the hose, and the equipment execution unit is the first mechanical arm 2.

[0049] The second mechanical arm 6 drives the laser cleaning system 5 to clean the workpiece 7, in the pulsed laser cleaning system 5, the laser is generated by the fiber laser, conducted to the welding gun head through the operation optical fiber, and the equipment execution unit is the second mechanical arm 6.

[0050] The first mechanical arm 2 and the second mechanical arm 6 are the same structure, which is realized by a six-axis robot system or a three-axis linkage machining tool.

[0051] The workpiece 7 to be cleaned is a stainless steel plate with oil stains, plating and resin coating of different thicknesses attached to the surface. In addition, the device is suitable for any size and any material workpiece within the allowable size range.

[0052] Before welding, the workpiece 7 to be cleaned is fixed in the internal space of the ground rail gantry motion system 1. The gantry is moved, the workpiece 7 to be cleaned is scanned by the visual recognition system 4, and the three-dimensional surface morphology is reconstructed in the computer system. The three-dimensional reconstructed surface morphology is compared with the digital model of the standard shape without stains, and the path planning is performed. Different cleaning methods are used according to different thicknesses and different forms of pollutants. The digital model of the standard shape without stains is a three-dimensional digital model of the standard part without stains made by modeling software in the computer system.

[0053] For very thin (0.5mm below) pollutants, laser cleaning is used, which uses pulsed laser to scan and heat the surface to be cleaned, and realizes cleaning based on the instantaneous evaporation or peeling effect of high-energy laser beam. For medium-thickness (5mm below) pollutants, laser-dry ice composite cleaning is used, which uses high-pressure air mixed with dry ice particles to blow, uses the difference in shrinkage rate of different materials during cooling to peel off the surface pollutants, and then uses laser cleaning to clean the residual oil stains, plating and other surface pollutants. For large thickness (5mm above) pollutants, laser-dry ice composite cleaning is used, which first uses laser to preheat, then uses dry ice cleaning to blow, uses larger instantaneous temperature difference to strengthen the surface peeling effect, and then realizes the cleaning of larger thickness pollutants, and then uses laser cleaning to clean the residual oil stains, plating and other surface pollutants.

[0054] After completing the path planning, the dry ice cleaning system 3 emits high-pressure air mixed with dry ice particles, and the pulsed laser cleaning system 5 emits high-power pulsed laser, which cleans different sub-regions of the workpiece 7 to be cleaned according to the above different processes. After cleaning, scanning and reconstruction are performed again, and the workpiece is exited after verifying the cleaning effect.

[0055] The laser light source of the pulse laser cleaning system 5 can be, but is not limited to, a fiber laser, a disc laser, a YAG laser, and a CO2 laser. The dry ice cleaning system 3 and the pulse laser cleaning system 5 execution unit can be, but is not limited to, a six-axis robot and a three-axis linkage machine tool. The cleaning gun head of the pulse laser cleaning system 5 is a laser collimation system, a focusing system, and a galvanometer system, and the focusing focal length is greater than the sealed cavity space height. The cleaning gun head includes, but is not limited to, a water cooling module, a transverse air curtain, a protective gas path, a protective window, a CCD, a guide red light system, and the like.

[0056] While the application has been described with reference to particular embodiments, it will be understood that the examples are merely illustrative of the principles and applications of the present application. It will be understood that various modifications can be made to the illustrative embodiments, and other arrangements can be devised without departing from the spirit and scope of the present application as defined by the appended claims. It will be understood that the features of the various embodiments can be combined with each other, in different ways than as described herein. It will be understood that features described with reference to separate embodiments can be used in other described embodiments.

Claims

1. An intelligent laser-dry ice hybrid cleaning method, characterized in that, The method comprises the following steps: S1, visual scanning is performed on the workpiece to be cleaned, the thickness distribution of the surface stains of the workpiece to be cleaned is obtained through three-dimensional surface morphology reconstruction, and the surface of the workpiece to be cleaned is divided into a plurality of sub-regions according to the stain thickness; The sub-regions include three types: extremely thin sub-regions, medium-thickness sub-regions and large-thickness sub-regions; the division criteria of the three types of sub-regions are: The regions with a stain thickness less than 0.5 mm are divided into extremely thin sub-regions; The regions with a stain thickness between 0.5 mm and 5 mm are divided into medium-thickness sub-regions; The regions with a stain thickness greater than 5 mm are divided into large-thickness sub-regions; S2, cleaning path planning is performed, sub-regions of the same type are divided into the same cleaning path, and three cleaning paths are formed for the three types of sub-regions, namely, an extremely thin sub-region cleaning path, a medium-thickness sub-region cleaning path and a large-thickness sub-region cleaning path, and the three cleaning paths are connected in series; S3, each extremely thin sub-region on the path is sequentially cleaned along the extremely thin sub-region cleaning path, and the cleaning process is laser cleaning; S4, each medium-thickness sub-region is sequentially cleaned along the medium-thickness sub-region cleaning path, and the cleaning process is laser-dry ice composite cleaning, specifically, dry ice cleaning is first performed to peel off the surface contaminants, and then laser cleaning is used for secondary cleaning of the residual oil stains and plating layers on the surface; S5, each large-thickness sub-region is sequentially cleaned along the large-thickness sub-region cleaning path, and the cleaning process is laser-dry ice composite cleaning, specifically, laser is used for preheating for 1-3 seconds, then dry ice cleaning is used to peel off the surface contaminants, and then laser cleaning is used for re-cleaning of the residual oil stains and plating layers on the surface.

2. The intelligent laser-dry ice hybrid cleaning method of claim 1, wherein, Further comprising the following steps: S6, the workpiece to be cleaned is scanned again for visual scanning to determine whether the surface of the workpiece to be cleaned is clean, and if not, the workpiece is cleaned again; If not, steps S1 to S5 are repeated.

3. An intelligent laser-dry ice combined cleaning device for implementing the intelligent laser-dry ice combined cleaning method of claim 1 or 2, characterized in that, The cleaning device comprises a ground rail gantry motion system (1), a first mechanical arm (2), a second mechanical arm (6), a dry ice cleaning system (3), a visual recognition system (4) and a pulse laser cleaning system (5); The visual recognition system (4) is fixed to the central gantry of the ground rail gantry motion system (1), the bases of the first mechanical arm (2) and the second mechanical arm (6) are arranged side by side on the gantry of the ground rail gantry motion system (1), and are located on the two sides of the visual recognition system (4), the dry ice cleaning system (3) is connected to the tool head position of the first mechanical arm (2), the pulse laser cleaning system (5) is connected to the tool head position of the second mechanical arm (6), and the workpiece to be cleaned (7) is located directly below the gantry of the ground rail gantry motion system (1); The visual recognition system (4) is used for visual scanning of the workpiece to be cleaned (7), and the thickness distribution of the surface stains of the workpiece to be cleaned is obtained through three-dimensional surface morphology reconstruction in the computer system; The first mechanical arm (2) drives the dry ice cleaning system (3) to perform dry ice cleaning on the workpiece to be cleaned (7), and the second mechanical arm (6) drives the laser cleaning system (5) to perform laser cleaning on the workpiece to be cleaned (7).

4. The intelligent laser-dry ice composite cleaning device according to claim 3, wherein, The laser light source of the pulse laser cleaning system (5) is a fiber laser, a disc laser, a YAG laser or a CO2 laser.

5. The intelligent laser-dry ice composite cleaning device according to claim 3, wherein, The first mechanical arm (2) and the second mechanical arm (6) are of the same structure, and a six-axis robot system or a three-axis linkage machining tool is used to realize.

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