Adsorption vehicle control device loaded with small laser cleaning head and working method of adsorption vehicle control device

Abstract

The invention discloses an adsorption vehicle control device loaded with a small laser cleaning head and a working method of the adsorption vehicle control device. The adsorption vehicle control device is composed of a vehicle frame, an adsorption device, wheels, a brake, a sensor for measuring the vehicle speed, a steering mechanism and a supporting rod, wherein the vehicle frame is provided with a clamping mechanism and can clamp the small laser cleaning head, and the supporting rod is used for supporting and pushing an adsorption vehicle to move. The clamping mechanism of the frame can clamp or disassemble the small laser cleaning head from the frame. The frame is provided with a plurality of wheels, so that a proper distance can be formed between the frame and the steel plate. In order to enable the vehicle to be parked on the steel plate, the vehicle is provided with a brake. The steering mechanism can control the direction of the vehicle, and the rotating direction and braking of the steering mechanism are controlled by a supporting rod which is attached to the vehicle and used for supporting and operating the direction of the adsorption vehicle. The supporting rod is held by an operator with a hand to push the adsorption vehicle loaded with the small laser cleaning head and the brake, so that the small laser cleaning head can be easily pushed to a place which cannot be reached by the hand and wants to be cleaned.

Description

Technical Field

[0001] The present invention belongs to the technical field of small laser cleaning head operation, and specifically relates to an adsorption vehicle operating device loaded with a small laser cleaning head and a working method thereof. The device can be used to increase the operating range of the small laser cleaning head, and the actuation mode of the small laser cleaning head can be mainly hand-held, mechanical arm or robot. Background Art

[0002] The principle of laser cleaning is to use laser energy to remove surface dirt (rust, paint or stains). The cleaning process is generally carried out by scanning the laser left and right through the laser cleaning head, and then moving the laser cleaning head forward and backward to form a cleaning plane. The operation mode of the small laser cleaning head can be performed by hand, mechanical arm or robot. The most common operation mode of the small laser cleaning head with low energy is to clean the object by hand to reduce costs and increase the convenience of use. However, due to the size of the human body, the operation range of the small laser cleaning head is limited. Therefore, it is often necessary to add some auxiliary devices to increase the operation range. For example, using facilities such as aerial operating vehicles and scaffolding to increase the range that people can reach, these equipment will increase the cost of use. Supporting the small laser cleaning head with a support rod becomes another optional method. The use of extension rods often appears in daily life, such as brooms, mops, paint rollers, etc. Some extension rods are made retractable to further increase its use range. The use range of the small laser cleaning head can also use similar concepts to increase the cleaning range. In order to solve this problem, the present invention discloses a new optical mechanism design device and its working method. Summary of the invention

[0003] Purpose of the invention: In order to solve the deficiencies of the prior art, the present invention provides an operating device for an adsorption vehicle loaded with a small laser cleaning head and a working method thereof.

[0004] Technical solution: A suction vehicle operating device loaded with a small laser cleaning head, including a frame with a clamping mechanism capable of clamping the laser cleaning head, a suction device, wheels, brakes, and a support rod for supporting and pushing the suction vehicle to move;

[0005] The laser cleaning head clamping mechanism of the frame can lock the laser cleaning head and can disassemble the laser cleaning head from the frame; the direction of the laser cleaning head clamping can scan the laser through the laser cleaning head light outlet of the adsorption vehicle to the working surface;

[0006] The adsorption device attached to the frame can make the frame stick to the erected work surface through the adsorption device, and a plurality of wheels are arranged on the frame so that the frame can be at an appropriate distance from the work surface, so that the laser cleaning head carried on the frame and the work surface are kept at a distance for the best cleaning effect; so that the frame can be adsorbed on the work surface through the adsorption device and can move freely on the work surface by using the wheels;

[0007] The support rod can be pushed by the operator holding the support rod to clean the steel plate with laser in a large range; in order to make the car stop on the working surface when the operator is resting or does not want to push, the suction car is equipped with brakes, which can make the suction car stop on the working surface at any time without moving. The brake action can be controlled by electric control, remote control or mechanical wire control;

[0008] The method for controlling the direction of the adsorption vehicle by the support rod is as follows: comprising an A support rod and a B coupling shaft, wherein the B coupling shaft is a X-shaped structure and is the coupling shaft of the coupling surface between the support rod and the adsorption vehicle (it can rotate on the y-axis), and β is the angle between the support rod and the central axis of the adsorption vehicle;

[0009] The A support rod is a T-shaped rod at the joint, supported by the B coupling shaft. The y-axis of the coordinate coincides with the central axis of B, and the central axis of the head of the T-shaped rod of the A support rod is the x-axis, and the z-axis is an axis perpendicular to both the x-axis and the y-axis. The head of the T-shaped rod of the A support rod is a X-shaped structure with the B coupling shaft, which can rotate relative to itself, that is, the A support rod can rotate freely in the direction of the x-axis rotation without generating force on the entire mechanism. If the A support rod rotates an angle of β, if the A support rod rotates an angle of θ, it can be obtained that there is a θ on the y-axis. y Angular rotation component, there is a θ on the z-axis z Angular rotation component, and:

[0010] θ y =θcosβ;

[0011] θ z =θsinβ;

[0012] Since the B-axis is designed so that the joint between the B-axis and the suction car can rotate freely on the y-axis, θ y The angular rotation component will not cause the posture of the adsorption vehicle to change, but θ z The angular rotation component will cause the suction vehicle to change direction, so that the suction vehicle can make a turn according to the size of the angle θ.

[0013] As an optimization: the adsorption vehicle operating device also includes a vehicle speed sensor, a controller, yellow, red and green speed display lights, and a steering mechanism, which increase convenience in use; when the vehicle speed sensor (in the adsorption vehicle) measures the vehicle speed, it connects the red, yellow, red and green lights through the controller (which can be attached to the vehicle frame or used alone), and uses the yellow, red and green lights to tell the operator whether the vehicle speed is too slow, too fast or within an appropriate range.

[0014] As an optimization: whether the speed of the adsorption vehicle operating device is within the appropriate range can be determined by the light spot and scanning speed of the laser cleaning machine. The appropriate speed can be set on the speed indicator when calibrating the laser cleaning head. The steering mechanism can control the direction of the vehicle, and its rotation direction and braking are controlled by a support rod attached to the vehicle to support and operate the direction of the adsorption vehicle; the support rod is held by the operator to push the magnetic adsorption vehicle loaded with the small laser cleaning head, thereby the small laser cleaning head can be easily pushed to a place that is out of reach of human hands and wants to be cleaned; the support rod is fixed in length or retractable in length.

[0015] As an optimization: the adsorption principle of the adsorption vehicle operating device can be magnetic force or vacuum, and any method that can adsorb the adsorption vehicle on the three-dimensional working surface can be used.

[0016] As an optimization: the controller of the adsorption vehicle operating device can be placed on the adsorption vehicle or can be set up separately from the adsorption vehicle, depending on the difficulty of control.

[0017] As an optimization: the brake can be a door brake, an in-wheel brake, an out-wheel brake or an electric wheel electromagnetic brake.

[0018] As an optimization: the adsorption vehicle operating device controls the speed of the adsorption vehicle in the following manner: the support rod is only responsible for direction control, and the speed of the adsorption vehicle is controlled by the wheels driven by the hub motor. By controlling the speed of the motor, the speed of the adsorption vehicle can meet the optimal conditions for laser cleaning, and the speed can be displayed on the controller.

[0019] As an optimization: the adsorption vehicle operating device controls the speed of the adsorption vehicle in the following way: the support rod is only a bridge for the operator to connect with the adsorption vehicle and is only responsible for quickly pushing the adsorption vehicle to the desired working surface. The speed and direction of the adsorption vehicle are controlled by the wheels driven by the hub motors. It only needs to control the speed of each wheel motor to make the speed of the adsorption vehicle go in the correct direction and its speed meets the optimal conditions for laser cleaning.

[0020] As an optimization: the controller for controlling the movement of the adsorption vehicle operating device can be placed on the adsorption vehicle or multiple controllers away from the adsorption vehicle, depending on the difficulty of control.

[0021] A working method of an adsorption vehicle operating device loaded with a small laser cleaning head comprises the following steps:

[0022] Step 1: Adsorb the loading and cleaning head adsorption vehicle onto the work surface;

[0023] Step 2: Turn on the power of the laser cleaning head, and adjust the power and scanning speed of the laser cleaning head to meet the working conditions;

[0024] Step 3: Use the support rod to push the adsorption vehicle on the work surface, just like a painter pushing a paint roller to start cleaning;

[0025] Step 4: If the operator needs to rest, he can release the brake, and the brake can make the suction vehicle stop on the working surface;

[0026] Step 5: The brake can be operated by using the brake switch;

[0027] Step 6: If you feel that the support rod is not long enough, and the support rod can be extended, use the brakes to adjust the length of the support rod;

[0028] Step 7: The length of the support rod can be determined by:

[0029] a. The length of the hand-held pole can be adjusted based on the telescopic principle of the pole of general cleaning tools;

[0030] b. It can be done by pulling ropes (such as cranes);

[0031] c. It can be extended and retracted by air and oil hydraulic cylinders;

[0032] Step 8. When the laser cleaning head has completed one stroke and needs to go to the second stroke, the adsorption vehicle must be able to turn when adjusting the new stroke. At this time, the turning system on the vehicle can be used to adjust the direction of the vehicle (for example, using the support rod turning system mentioned above) to allow the adsorption vehicle to go to the second stroke;

[0033] Step 9: Repeat this process to completely clean the work surface.

[0034] Beneficial effects: The specific advantages of the present invention are as follows:

[0035] 1. The clamping mechanism of the frame can clamp or disassemble the small laser cleaning head from the frame. The adsorption device attached to the frame enables the frame to be attached to the vertical work surface through the adsorption device.

[0036] 2. The frame is equipped with a plurality of wheels so that the frame can be kept at an appropriate distance from the steel plate. Therefore, the frame can be adsorbed on the work surface by the adsorption device and can move freely on the work surface by using the wheels.

[0037] 3. In order to stop the car on the steel plate, the car of the present invention is provided with brakes. When the speed sensor measures the speed, it can use yellow, red and green lights to tell the operator whether the speed is too slow, too fast or in an appropriate range.

[0038] 4. Whether the vehicle speed is within the appropriate range can be determined by the light spot and scanning speed of the small laser cleaning head. The appropriate vehicle speed can be set on the speed indicator when calibrating the laser cleaning head.

[0039] 5. The steering mechanism can control the direction of the car. Its rotation direction and brake are controlled by a support rod attached to the car to support and operate the direction of the adsorption car. The support rod is held by the operator to push the adsorption car loaded with the small laser cleaning head and brake, so that the laser cleaning head can be easily pushed to the place where the small laser cleaning head is out of reach and wants to be cleaned. The support rod can be fixed in length or retractable to adjust the length. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the three-dimensional structure of the adsorption vehicle of the present invention;

[0041] Figure 2 It is a schematic diagram of the side structure of the adsorption vehicle of the present invention;

[0042] Figure 3 It is a structural schematic diagram of the adsorption vehicle of the present invention when the direction is controlled by the multi-axis joint of the support rod;

[0043] Figure 4 It is a schematic diagram of the coordinate structure of the adsorption vehicle of the present invention when the direction is controlled by the multi-axis joint of the support rod;

[0044] Figure 5 It is a structural schematic diagram of the suction vehicle of the present invention when the direction of the universal wheel is controlled by the support rod. DETAILED DESCRIPTION

[0045] Here, exemplary embodiments will be described in detail. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are only examples of devices and products consistent with some aspects of the present disclosure as detailed in the attached claims.

[0046] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0047] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0048] The embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

[0049] The adsorption vehicle of the present invention is composed of a frame with a clamping mechanism capable of clamping a laser cleaning head, an adsorption device, wheels, brakes, and a support rod for supporting and pushing the adsorption vehicle to move. The laser cleaning head clamping mechanism of the frame can lock the laser cleaning head and can easily disassemble the laser cleaning head from the frame. The direction of the laser cleaning head clamping is to scan the laser through the laser cleaning head light outlet of the adsorption vehicle to the working surface. The adsorption device attached to the frame can make the frame attached to the erected working surface by the adsorption device, and the frame is also attached with a plurality of wheels so that the frame can have an appropriate distance from the working surface, so that the laser cleaning head carried on the frame and the working surface are kept at a distance for the best cleaning effect. Such a setting enables the frame to be adsorbed on the working surface by the adsorption device and can move freely on the working surface by using the wheels. The support rod can be pushed by the operator holding the support rod to use the laser to clean the steel plate in a large range. In order to allow the vehicle to stop on the working surface when the operator is resting or does not want to push, the adsorption vehicle of the present invention is equipped with a brake. The existence of the brake can make the adsorption vehicle stop on the working surface at any time without moving. The brake can be actuated by electric control, mechanical wire control or remote control. Figure 1 The suction vehicle in the invention has a frame with a clamping mechanism, suction device, wheels, brakes, and a support rod for supporting and pushing the suction vehicle. In addition, it has a speed sensor, a controller, a yellow, red and green speed display light, and a steering mechanism to increase the convenience of use. Figure 1 The original conception of the present invention is to remove the sensor, controller, yellow-red and green tricolor speed display lights for measuring vehicle speed. Figure 1The speed sensor (in the adsorption vehicle) in the mechanism measures the speed of the vehicle, and connects the red, yellow, and green lights through the controller (which can be attached to the frame or used separately), and uses the yellow, red, and green lights to tell the operator whether the speed is too slow, too fast, or in the appropriate range. Whether the speed is in the appropriate range can be determined by the spot and scanning speed of the laser cleaning machine. The appropriate speed can be set on the speed indicator when the laser cleaning head is calibrated. The steering mechanism can control the direction of the vehicle, and its rotation direction and braking are controlled by a support rod attached to the vehicle to support and operate the direction of the adsorption vehicle. This support rod is held by the operator to push the magnetic adsorption vehicle loaded with a small laser cleaning head, thereby easily pushing the small laser cleaning head to a place that is out of reach of human hands and wants to be cleaned. The support rod can be fixed in length or retractable in length. The adsorption principle of the adsorption device of the present invention can be magnetic force, vacuum, etc., and any method that can adsorb the adsorption vehicle on a three-dimensional working surface can be used. There are many possible locations for placing the controller. It can be placed on the adsorption vehicle or set up separately from the adsorption vehicle, depending on the difficulty of control.

[0050] As for the support rod, one of the methods to control the direction of the suction vehicle is Figure 3 shown. Figure 3 The yellow, red and green lights are speed indicators. A is the support rod, B is the X-shaped structure and is the joint axis of the joint surface between the support rod and the suction vehicle (it can rotate on the y-axis), and β is the angle between the support rod and the central axis of the suction vehicle. In order to explain the coordinates more clearly. Figure 3 The joint is simplified to Figure 4 Simple diagram. Figure 4 It can be clearly seen that the A support rod is a T-shaped rod at the joint, which is supported by the B coupling shaft. The y-axis of the coordinate coincides with the central axis of B, and the central axis of the head of the T-shaped rod of the A support rod is the x-axis, and the z-axis is the axis perpendicular to both the x-axis and the y-axis. The head of the T-shaped rod of the A support rod is a X-shaped structure with the B coupling shaft, which can rotate relative to itself, that is, the A support rod can rotate freely in the x-axis rotation direction without generating force on the entire mechanism. Figure 3 ,4, the support rod A rotates by an angle of β. Figure 4 If the support rod A rotates an angle of θ, we can get a θ on the y-axis. y Angular rotation component, there is a θ on the z-axis z angular rotation component.

[0051] θ y =θcosβ;

[0052] θ z =θsinβ;

[0053] Since we designed the B-axis and the suction car to be able to rotate freely on the y-axis, θy The angular rotation component will not cause the posture of the adsorption vehicle to change, but θ z The angular rotation component will cause the suction vehicle to change direction, so that the suction vehicle can make a turn according to the size of the angle θ.

[0054] In addition to the aforementioned method of steering with the support rod connector, all other currently known methods of turning a vehicle (including a toy car) can be used as candidate technologies of the present invention, such as Figure 5 The method of steering the universal wheel is shown.

[0055] There are many types of brakes, such as Figure 3 Doorstop brakes, in-wheel brakes, out-wheel brakes or electric wheel electromagnetic brakes, etc.

[0056] In order to describe the present invention more clearly, the execution process of the above-mentioned device is introduced in series below:

[0057] Step 1: Adsorb the loading and cleaning head adsorption vehicle onto the work surface;

[0058] Step 2: Turn on the power of the laser cleaning head, and adjust the power and scanning speed of the laser cleaning head to meet the working conditions;

[0059] Step 3: Use the support rod to push the adsorption vehicle on the work surface, just like a painter pushing a paint roller to start cleaning;

[0060] Step 4: If the operator needs to rest, he can release the brake, and the brake can make the suction vehicle stop on the working surface;

[0061] Step 5: The brake can be operated by using the brake switch;

[0062] Step 6: If you feel that the support rod is not long enough, and the support rod can be extended, use the brakes to adjust the length of the support rod;

[0063] Step 7: The length of the support rod can be determined by:

[0064] a. The length of the hand-held pole can be adjusted based on the telescopic principle of the pole of general cleaning tools;

[0065] b. It can be done by pulling ropes (such as cranes);

[0066] c. It can be extended and retracted by air and oil hydraulic cylinders;

[0067] Step 8. When the laser cleaning head has completed one stroke and needs to go to the second stroke, the adsorption vehicle must be able to turn when adjusting the new stroke. At this time, the turning system on the vehicle can be used to adjust the direction of the vehicle (for example, using the support rod turning system mentioned above) to allow the adsorption vehicle to go to the second stroke;

[0068] Step 9: Repeat this process to completely clean the work surface.

[0069] Another method of controlling the speed of the adsorption vehicle of the present invention is that the support rod is only responsible for direction control, and the speed of the adsorption vehicle is controlled by the wheels driven by the hub motor. In this design, the speed of the motor is controlled to make the speed of the adsorption vehicle meet the optimal conditions for laser cleaning. The speed can be displayed on the controller.

[0070] Another way to control the speed of the suction vehicle of the present invention is that the support rod is only a bridge for the operator to connect with the suction vehicle and is only responsible for quickly pushing the suction vehicle to the desired working surface, while the speed and direction of the suction vehicle are controlled by the wheels driven by the hub motors. Under this design, it is only necessary to control the speed of each wheel motor to make the suction vehicle go in the correct direction and its speed meets the optimal conditions for laser cleaning.

[0071] There are many possible locations for placing the controllers for controlling the above motion. They can be placed on the adsorption vehicle or multiple controllers can be placed away from the adsorption vehicle, depending on the difficulty of control. Specific embodiment 1

[0073] like Figure 1-5 As shown, the adsorption vehicle 1 is composed of a frame with a clamping mechanism to clamp the laser cleaning head, an adsorption device (made of a magnetic component), wheels 2, a door-type brake 3, a sensor for measuring the vehicle speed, a steering mechanism and a support rod 4 for supporting and pushing the adsorption vehicle to move. The adsorption vehicle 1 loaded with the cleaning head can be adsorbed on the steel plate working surface using the magnetic adsorption device 5. The wheels 3 of the adsorption vehicle can maintain an appropriate distance between the laser cleaning head and the steel plate working surface to maximize the cleaning efficiency of the laser cleaning head. The support rod 4 can be used to push the adsorption vehicle on the working surface like a painter pushing a paint roller. The speed can be displayed by yellow, red and green lights. The support rod turning system on the vehicle is used to adjust the direction of travel of the vehicle (its working principle can be seen from the Figure 3 ,4 is obtained); the brake switch (not shown in the figure) is used to operate the door-stop brake so that the suction vehicle can stop on the work surface. The use of this brake can be operated by the brake switch (electrically controlled or remotely controlled). If the support rod 4 is not long enough and the support rod 4 can be extended, the length of the support rod 4 can be adjusted when the brake is applied. Repeated operations like this can completely clean the work surface. Specific embodiment 2

[0075] like Figure 1-5As shown, the adsorption vehicle is composed of a frame with a clamping mechanism to clamp the laser cleaning head, an adsorption device (made of a magnetic component), wheels with hub motors, in-wheel brakes, sensors for measuring vehicle speed, a controller 6, a steering mechanism, and a support rod for supporting and pushing the adsorption vehicle to move. The adsorption vehicle loaded with the cleaning head can be adsorbed on the working surface of the steel plate using a magnetic adsorption device. The wheels of the adsorption vehicle can maintain an appropriate distance between the laser cleaning head and the working surface of the steel plate so that the cleaning efficiency of the laser cleaning head is maximized. The method of controlling the speed of the adsorption vehicle in this embodiment is that the support rod is only responsible for direction control, and the speed of the adsorption vehicle is controlled by the wheels driven by the hub motor. Under this design, it is only necessary to control the speed of each hub motor to make the speed of the adsorption vehicle meet the optimal conditions for laser cleaning. The speed can be displayed on the controller. The support rod turning system on the vehicle adjusts the direction of travel of the vehicle (its working principle can be shown by Figure 3 ,4 get); the support rod can be used to push the suction vehicle to the cleaning position on the work surface and control the cleaning direction. The brake switch (not shown in the figure) is used to operate the door brake to allow the suction vehicle to stop on the work surface. The use of this brake can be operated by the brake switch (electrically controlled or remotely controlled). If you feel that the support rod is not long enough and the support rod can be extended, you can use the brake to adjust the length of the support rod. Repeated operation in this way can completely clean the work surface.

[0076] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0077] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0078] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A suction vehicle operating device equipped with a small laser cleaning head, characterized in that: It includes a frame with a clamping mechanism capable of clamping the laser cleaning head, an adsorption device, wheels, brakes, and a support rod for supporting and pushing the adsorption vehicle to move; The laser cleaning head clamping mechanism of the frame can lock the laser cleaning head and can disassemble the laser cleaning head from the frame; the direction of the laser cleaning head clamping can scan the laser through the laser cleaning head light outlet of the adsorption vehicle to the working surface; The adsorption device attached to the frame can make the frame stick to the erected work surface through the adsorption device, and a plurality of wheels are arranged on the frame so that the frame can be at an appropriate distance from the work surface, so that the laser cleaning head carried on the frame and the work surface are kept at a distance for the best cleaning effect; so that the frame can be adsorbed on the work surface through the adsorption device and can move freely on the work surface by using the wheels; The support rod can be pushed by the operator holding the support rod to clean the steel plate with laser in a large range; in order to make the car stop on the working surface when the operator is resting or does not want to push, the suction car is equipped with brakes, which can make the suction car stop on the working surface at any time without moving. The brake action can be controlled by electric control, remote control or mechanical wire control; The method for controlling the direction of the adsorption vehicle by the support rod is as follows: comprising an A support rod and a B coupling shaft, wherein the B coupling shaft is a X-shaped structure and is the coupling shaft of the coupling surface between the support rod and the adsorption vehicle (it can rotate on the y-axis), and β is the angle between the support rod and the central axis of the adsorption vehicle; The A support rod is a T-shaped rod at the joint, supported by the B coupling shaft. The y-axis of the coordinate coincides with the central axis of B, and the central axis of the head of the T-shaped rod of the A support rod is the x-axis, and the z-axis is an axis perpendicular to both the x-axis and the y-axis. The head of the T-shaped rod of the A support rod is a X-shaped structure with the B coupling shaft, which can rotate relative to itself, that is, the A support rod can rotate freely in the direction of the x-axis rotation without generating force on the entire mechanism. If the A support rod rotates an angle of β, if the A support rod rotates an angle of θ, it can be obtained that there is a θ on the y-axis. y Angular rotation component, there is a θ on the z-axis z Angular rotation component, and: i y =θcosβ; i z =θsinβ; Since the B-axis is designed so that the joint between the B-axis and the suction car can rotate freely on the y-axis, θ y The angular rotation component will not cause the posture of the adsorption vehicle to change, but θ z The angular rotation component will cause the suction vehicle to change direction, so that the suction vehicle can make a turn according to the size of the angle θ.

2. The adsorption vehicle manipulator for loading a small laser cleaning head according to claim 1 is characterized in that: The adsorption vehicle operating device also includes a vehicle speed measuring sensor, a controller, yellow, red and green speed display lights, and a steering mechanism, which increase the convenience of use; when the vehicle speed measuring sensor (in the adsorption vehicle) measures the vehicle speed, it is connected to the red, yellow, red and green lights through the controller (which can be attached to the vehicle frame or used alone), and the yellow, red and green lights are used to tell the operator whether the vehicle speed is too slow, too fast or within an appropriate range.

3. The operating device of the adsorption vehicle loaded with a small laser cleaning head according to claim 2 is characterized in that: Whether the speed of the adsorption vehicle operating device is within the appropriate range can be determined by the spot and scanning speed of the laser cleaning machine. The appropriate speed can be set on the speed indicator when the laser cleaning head is calibrated. The steering mechanism can control the direction of the vehicle, and its rotation direction and braking are controlled by a support rod attached to the vehicle for supporting and operating the direction of the adsorption vehicle; the support rod is held by the operator to push the magnetic adsorption vehicle loaded with the small laser cleaning head, thereby the small laser cleaning head can be easily pushed to a place that is out of reach of human hands and wants to be cleaned; the support rod is fixed in length or retractable in length.

4. The operating device of the adsorption vehicle loaded with a small laser cleaning head according to claim 3 is characterized in that: The adsorption principle of the adsorption vehicle operating device can be magnetic force or vacuum, and any method can be used as long as the adsorption vehicle can be adsorbed on the three-dimensional working surface.

5. The operating device of the adsorption vehicle loaded with a small laser cleaning head according to claim 4 is characterized in that: The controller of the adsorption vehicle operating device can be placed on the adsorption vehicle or can be set up separately from the adsorption vehicle, depending on the difficulty of control.

6. The operating device of the adsorption vehicle loaded with a small laser cleaning head according to claim 5 is characterized in that: The brake can be a door brake, an inner wheel brake, an outer wheel brake or an electric wheel electromagnetic brake.

7. The operating device of the adsorption vehicle loaded with a small laser cleaning head according to claim 1 is characterized in that: The adsorption vehicle operating device controls the speed of the adsorption vehicle in the following manner: the support rod is only responsible for direction control, and the speed of the adsorption vehicle is controlled by the wheels driven by the hub motor. By controlling the speed of the motor, the speed of the adsorption vehicle can meet the optimal conditions for laser cleaning, and the speed can be displayed on the controller.

8. The operating device of the adsorption vehicle loaded with a small laser cleaning head according to claim 1 is characterized in that: The adsorption vehicle operating device controls the speed of the adsorption vehicle in the following manner: the support rod is only a bridge for the operator to connect with the adsorption vehicle and is only responsible for quickly pushing the adsorption vehicle to the desired working surface. The speed and direction of the adsorption vehicle are controlled by the wheels driven by the hub motors. The speed of the adsorption vehicle can be controlled in the correct direction and its speed meets the optimal conditions for laser cleaning by controlling the speed of each wheel motor.

9. The operating device for an adsorption vehicle loaded with a small laser cleaning head according to any one of claims 7 or 8, characterized in that: The controller for controlling the movement of the adsorption vehicle operating device can be placed on the adsorption vehicle or multiple controllers away from the adsorption vehicle, depending on the difficulty of control.

10. A method for operating the adsorption vehicle manipulator loaded with a small laser cleaning head according to claim 1, characterized in that: The steps include: Step 1: Adsorb the loading and cleaning head adsorption vehicle onto the work surface; Step 2: Turn on the power of the laser cleaning head, and adjust the power and scanning speed of the laser cleaning head to meet the working conditions; Step 3: Use the support rod to push the adsorption vehicle on the work surface, just like a painter pushing a paint roller to start cleaning; Step 4: If the operator needs to rest, he can release the brake, and the brake can make the suction vehicle stop on the working surface; Step 5: The brake can be operated by using the brake switch; Step 6: If you feel that the support rod is not long enough and the support rod can be extended, use the brakes to adjust the length of the support rod; Step 7: The length of the support rod can be determined by: a. The length of the hand-held pole can be adjusted based on the telescopic principle of the pole of general cleaning tools; b. It can be done by pulling ropes (such as cranes); c. It can be extended and retracted by air and oil hydraulic cylinders; Step 8. When the laser cleaning head has completed one stroke and needs to go to the second stroke, the adsorption vehicle must be able to turn when adjusting the new stroke. At this time, the turning system on the vehicle can be used to adjust the direction of the vehicle (for example, using the support rod turning system mentioned above) to allow the adsorption vehicle to go to the second stroke; Step 9: Repeat this process to completely clean the work surface.

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