High-power wall-climbing robot laser cleaning machine and working method thereof

Abstract

The invention discloses a high-power wall-climbing robot laser cleaning machine and a working method thereof. The cleaning machine comprises a main machine, a wall-climbing robot and a laser cleaning head. The main machine comprises a container, an unmanned vehicle, a laser generating system, a circulating cooling system, a pneumatic system, a sensing system, a control system and a pressure stabilizing system. The laser generating system is connected with the laser cleaning head through an optical fiber; the circulating cooling system is connected with the laser generating system and the laser cleaning head; the pneumatic system is connected with the laser cleaning head; a sensor of the sensing system is installed on the wall-climbing robot, a sensing controller is installed in the container, and the sensing controller is electrically connected with the control system. The control system is installed in the container and electrically connected with the laser generating system, the circulating cooling system and the pneumatic system. The pressure stabilizing system is mounted in the container and is electrically connected with the control system; the container is in hard connection with the unmanned vehicle; the wall-climbing robot is in hard connection with the laser cleaning head. Through the content, the laser rust removal efficiency is improved, and the reliability of equipment is improved.

Description

Technical Field

[0001] The invention relates to a high-power wall-climbing robot laser cleaning machine and a working method thereof, belonging to the technical field of ship surface treatment equipment. Background Art

[0002] Surface treatment is an important business in the shipbuilding industry and an indispensable part of shipbuilding and ship repair. In the process of shipbuilding and repair, surface treatment mainly refers to the rust and paint removal of steel plates. Surface treatment (rust and paint removal) is of great significance to shipbuilding and shipbuilding, which can improve the strength of the hull, extend the service life of the ship, and ensure the safety of ship navigation. At present, the rust removal and cleaning of ship enterprises are mainly carried out by sandblasting, shot blasting and manual grinding. Sandblasting and shot blasting rust removal equipment are highly mechanical, but the noise, dust and waste in the working process pose a serious threat to the social environment and personnel health; the sandblasting process will inevitably damage the surface of the object, and the consumables cost of this process is high. At the same time, because the operating mechanism is contact cleaning, it leads to the characteristics of easy damage during the operation of the equipment. Sandblasting and shot blasting can only be completed in a confined space, so for rust and paint removal in outdoor environments, manual and small pneumatic or electric rust removal equipment such as polishing machines and wire brushes are still used. High-pressure water jet paint and rust removal can achieve dust-free outdoor cleaning operations. However, this cleaning method still has problems such as fragility and low mechanical life, as it uses a high-pressure pipe cleaning vehicle to pressurize the water source to hundreds or even thousands of atmospheres through a high-pressure pump, and then sprays it out at a very high speed through a special nozzle. At the same time, it has high energy consumption, frequent replacement of equipment and consumables, fast rusting of the substrate, and difficulty in handling the waste (paint, water-bound products) after cleaning.

[0003] The Chinese patent with application number CN201910412633.6 involves a combinable wall-climbing ship intelligent laser rust removal equipment, which is composed of multiple small wall-climbing rust removal equipment, which can be carried out in an array or individually, solving the problem that the current rust removal work is done manually and requires the construction of many auxiliary facilities, and using laser rust removal to reduce environmental pollution. However, the disadvantage is that the use of low-power lasers results in a single device rust removal efficiency far lower than the existing production means. Even if it is carried out in an array, it is difficult to synchronize the walking speed of each small wall-climbing rust removal equipment (the outermost rust removal equipment needs to walk several times faster than the central rust removal equipment when turning), and it is difficult to adapt to large curved surfaces. It is difficult to meet the actual production rhythm, and the system volume is too large. The machine vision is used to plan the path on the equipment body. Since the surface of the hull is a surface with variable curvature, the image collected from the plane cannot provide the real road conditions. At the same time, the patent uses a camera to find the position of the wall-climbing robot, which has obvious problems. Since the camera is installed on the wall-climbing robot, the field of view is narrow and it is disturbed by the strong light of the cleaning laser. It is impossible to make timely corrections to the upcoming danger outside the field of view, resulting in low system execution efficiency. For this reason, we designed the wall-climbing robot laser cleaning machine of the present invention. Summary of the invention

[0004] In view of the problems existing in the above-mentioned prior art, the present invention provides a high-power wall-climbing robot laser cleaning machine and a working method thereof, thereby solving the problems of low efficiency and poor reliability of existing laser rust removal equipment.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a high-power wall-climbing robot laser cleaning machine, comprising a host, a climbing arm robot and a laser cleaning head; the laser cleaning head is installed on the climbing arm robot; the climbing arm robot is connected to the host; The host includes a container, an unmanned vehicle, a laser generating system, a circulating cooling system, a pneumatic system, a sensor system, a control system and a voltage stabilizing system; The container is hard-connected to the unmanned vehicle via a code lock; The unmanned vehicle provides power to the host machine and transports it to the vicinity of the working area; The laser generating system comprises a high-power fiber laser and an optical fiber; the high-power fiber laser is connected to the laser cleaning head via the optical fiber; The circulating cooling system is connected to the high-power fiber laser and the laser cleaning head respectively; it removes the excess heat generated by the operation of the optical module of the high-power fiber laser by controlling the water temperature of the main circuit; and removes the excess heat generated by the operation of the optical lens of the laser cleaning head by controlling the water temperature of the secondary circuit; The pneumatic system includes a pressure sensor and an oil-water separation device, which feeds back the air pressure value monitored by the pressure sensor to the control system to determine the safe operating conditions of the system. If the conditions are not met, the system will shut down for protection; The sensing system includes a sensor controller and a sensor; the sensor is a photoelectric sensor and a proximity switch; the photoelectric sensor is installed on the arm-climbing robot, and is used to remotely measure surrounding obstacles and cleaning boundaries to plan paths in advance; the proximity switch is installed at the wheel position of the arm-climbing robot, and serves as a monitoring device for the wall-climbing robot to safely adsorb on the surface of the hull. If the distance is abnormal, it means that the robot may be at risk of falling. In order to avoid secondary damage to nearby workers and workpieces caused by the laser, the system forces the light to stop; The sensor is electrically connected to the sensor controller; the sensor collects and transmits the signal to the sensor controller, and the sensor controller feeds the collected signal back to the control system for processing; The control system is used to collect and process the signals of the above-mentioned subsystems; including but not limited to the temperature and humidity signals of the environment in the container, the working voltage and current signals of the unmanned vehicle, the input and output signals of the laser generating system, the temperature monitoring signals of the main and auxiliary circuits of the circulating cooling system, the detection signals of the pneumatic system and the telemetry signals of the sensor system; The voltage stabilization system is used to provide a stable power supply for a high-power wall-climbing robot laser cleaning machine, thereby preventing the cleaning effect from being affected or even the equipment from being damaged due to voltage fluctuations at the work site.

[0006] Furthermore, the power source of the unmanned vehicle may be a battery or may be directly powered by a voltage stabilization system.

[0007] Furthermore, the high-power fiber laser may be a continuous fiber laser, a pulsed fiber laser, a quasi-continuous fiber laser, or other forms of fiber transmission lasers.

[0008] Furthermore, the coolant in the circulating cooling system is any one or any combination of water, oil, or other solvents.

[0009] Furthermore, the oil-water separation device in the pneumatic system is any one or any combination of a refrigeration dryer, an adsorption dryer, and a precision filter.

[0010] Furthermore, the wall-climbing robot is the actuator of the device, which performs operations by being adsorbed on the surface of the hull through a laser cleaning head and a sensor; the wall-climbing robot includes multiple wheels, which are driving wheels and driven wheels directly driven by a motor; the driving wheels and driven wheels use rubber wheels, Mecanum wheels or other forms made of different materials; the wall-climbing robot is also provided with permanent magnet 1 and permanent magnet 2, which are used to provide adsorption force for the wall-climbing robot.

[0011] Furthermore, the laser cleaning head is a one-dimensional scanning head, a two-dimensional scanning head or a three-dimensional scanning head, and the scanning form is a galvanometer, a rotating mirror or a combination thereof.

[0012] A working method of a high-power wall-climbing robot laser cleaning machine comprises the following steps: Step 1: First, use the power provided by the unmanned vehicle to move the high-power wall-climbing robot laser cleaning machine to the vicinity of the ship that needs to be depainted and derusted; Step 2: Attach the wall-climbing robot carrying the laser cleaning head and sensor to the surface of the hull; Step 3: Start the high-power wall-climbing robot laser cleaning machine, control the system to self-check, and after the self-check is completed, input the execution cleaning operation area into the control system; Step 4: The wall-climbing robot starts to move. At the same time, the laser cleaning head emits laser to remove paint and rust, the sensor detects the surface condition of the hull, and the control system automatically plans the path of the wall-climbing robot. Step 5: After the paint and rust removal is completed, the wall-climbing robot carrying the laser cleaning head and sensor is removed from the hull surface, completing the operation.

[0013] The beneficial effects of the present invention are: The present invention adopts a high-power laser to significantly improve the cleaning efficiency. Compared with a low-power laser, it has higher energy and can obtain a higher energy density under the same optical configuration, and has a stronger ability and efficiency to remove the rust layer and paint on the surface of the hull.

[0014] The present invention uses optical fiber to transmit lasers to achieve split operations, that is, the wall-climbing robot carries a laser cleaning head and is adsorbed on the surface of the hull to perform operations, and the laser and other devices are installed in a container and placed on the ground. This method can reduce the load requirements for the wall-climbing robot. At the same time, the combination method is small in size, light and flexible during operation, and can improve the coverage of the entire ship.

[0015] 3. The present invention uses photoelectric sensors to detect positions. Compared with visual cameras, the detection distance can reach more than 10 meters, and there are fewer restrictions on the detected objects. Glass, wood, liquids, etc. can all be detected. At the same time, using this solution, the system response time is extremely short, the resolution is higher, and it avoids problems such as visual cameras being unable to recognize due to strong sunlight and lasers during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 This is a schematic diagram of the internal structure of a container of the present invention; Figure 3 It is a schematic diagram of the structure of the laser cleaning head of the present invention; Figure 4 A schematic diagram of the connection structure between the container and the unmanned vehicle of the present invention; Figure 5 It is a schematic diagram of the host structure of the present invention; Figure 6 It is a schematic diagram of the working principle of the present invention.

[0017] In the figure: 100, host, 110, container, 120, unmanned vehicle, 121, code lock, 130, laser generating system, 131, high power fiber laser, 132, optical fiber, 140, circulating cooling system, 150, circulating cooling system, 160, sensor system, 161, sensor controller, 162, sensor, 170, control system, 180, voltage stabilizing system, 200, host, 210, driving wheel, 220, permanent magnet 1, 230, driven wheel, 240, permanent magnet 2, 300, laser cleaning head. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention more clear, the present invention is further described in detail below through the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0020] Figures 1 to 5 As an embodiment of the present invention, Figure 1 The high-power wall-climbing robot laser cleaning machine is shown, including a host 100, a wall-climbing robot 200, and a laser cleaning head 300. Figure 2 The host 100 shown includes a container 110, an unmanned vehicle 120, a high-power fiber laser 131 of a laser generating system 130, a circulating cooling system 140, a pneumatic system 150, a sensor controller 161 of a sensor system 160, a control system 170, and a voltage stabilization system 180. Figure 3 As shown, the laser cleaning head 300 is installed on the wall-climbing robot 200 and connected to the high-power fiber laser 131 through the optical fiber 132; the sensor 162 of the sensor system 160 is installed on the wall-climbing robot 200 and electrically connected. Figure 4 The container 110 and the unmanned vehicle 120 are hard-connected via a code lock 121 .

[0021] In this embodiment, the container 110 is equipped with a built-in insulation board, air conditioner, and environmental sensor to ensure that the internal equipment has a suitable working environment.

[0022] In this embodiment, the unmanned vehicle 120 provides power for the host 100 and transports the host 100 to the vicinity of the working area. The power source can be a battery or directly supplied by the voltage stabilization system 180.

[0023] In this embodiment, the container 110 and the unmanned vehicle 120 are hard-connected via a code lock and can be forked and hoisted separately or together.

[0024] In this embodiment, the laser generating system 130 includes a high-power fiber laser 131 and an optical fiber 132. The high-power fiber laser 131 can be a continuous fiber laser, a pulsed fiber laser, a quasi-continuous fiber laser, or any other fiber transmission laser of any form and wavelength.

[0025] In this embodiment, the circulating cooling system 140 is connected to the high-power fiber laser 131 and the laser cleaning head 300 respectively, and the excess heat generated by the operation of the optical module of the high-power fiber laser 131 is removed by controlling the water temperature of the main circuit; the excess heat generated by the operation of the optical lens of the laser cleaning head 300 is removed by controlling the water temperature of the secondary circuit. The coolant can be any one or any combination of water, oil, or other solvents.

[0026] In this embodiment, the pneumatic system 150 mainly refers to a pressure sensor and an oil-water separation device. The air pressure value monitored by the pressure sensor is fed back to the control system to determine the safe operating conditions of the system. If it does not meet the conditions, the system will shut down for protection; the oil-water separation device can be any one or any combination of a refrigeration dryer, an adsorption dryer, and a precision filter.

[0027] In this embodiment, the sensor system 160 includes a sensor controller 161 and a sensor 162. The sensor 162 mainly refers to a photoelectric sensor and a proximity switch. A plurality of photoelectric sensors are installed on the wall-climbing robot 200 for remote sensing of surrounding obstacles and cleaning boundaries, and for early path planning. The proximity switch is installed at the wheel position of the wall-climbing robot as a monitoring device for the wall-climbing robot to safely adsorb on the surface of the hull. An abnormal distance indicates that the robot may be at risk of falling. In order to avoid secondary damage to nearby workers and workpieces caused by the laser, the system forces the light to stop. The sensor 162 is electrically connected to the sensor controller 161. The sensor 162 collects and transmits the signal to the sensor controller 161. The sensor controller 161 feeds back the collected signal to the control system 170 for processing.

[0028] In this embodiment, the control system 170 mainly collects and processes the signals of each subsystem of the present invention, including but not limited to the ambient temperature and humidity signals in the container 110, the working voltage and current signals of the unmanned vehicle 120, the input and output signals of the laser generation system 130, the main and auxiliary circuit temperature monitoring signals of the circulating cooling system 140, the detection signals of the pneumatic system 150, the telemetry signals of the sensor system 160, etc.

[0029] In this embodiment, the voltage stabilizing system 180 provides a stable power supply for the high-power wall-climbing robot laser cleaning machine to prevent the cleaning effect from being affected or even the equipment from being damaged due to voltage fluctuations at the work site.

[0030] In this embodiment, the wall-climbing robot 200 is used as the actuator of the present invention, carrying the laser cleaning head 300 and the sensor 162 to be adsorbed on the surface of the hull to perform the operation. Figure 5 The wall-climbing robot 200 shown has a total of 4 wheels (or 3 wheels), 2 (or 1 wheel) driving wheels 210 directly driven by a motor, and two (or 1 wheel) driven wheels 230. The driven wheels 230 can be unpowered universal wheels, or they can be connected to the driving wheels 210 on the same side through chains to follow the movement. The chain following method can improve the trajectory accuracy of the wall-climbing robot 200. The driving wheel 210 and the driven wheel 230 can use rubber wheels, Mecanum wheels or other forms of different materials. Permanent magnets 220 and permanent magnets 240 provide adsorption force for the wall-climbing robot 200.

[0031] In this embodiment, the laser cleaning head 300 can be a one-dimensional scanning head, a two-dimensional scanning head, or a three-dimensional scanning head, and the scanning form can be a galvanometer, a rotating mirror, or a combination thereof.

[0032] The working process of this system: Figure 6 As shown, the power provided by the unmanned vehicle 120 is used to move the high-power wall-climbing robot laser cleaning machine to the vicinity of the ship that needs to be depainted and rusted; the wall-climbing robot 200 carrying the laser cleaning head 300 and the sensor 162 is adsorbed on the surface of the hull; the high-power wall-climbing robot laser cleaning machine is started, and the control system self-checks. After the self-check is completed, the control system 170 inputs the cleaning operation area, and the wall-climbing robot 200 starts to move. At the same time, the laser cleaning head 300 emits a laser to perform paint and rust removal operations, the sensor 162 detects the surface condition of the hull, and the control system 170 automatically plans the travel path of the wall-climbing robot 200; after the paint and rust removal are completed, the wall-climbing robot 200 carrying the laser cleaning head 300 and the sensor 162 is removed from the surface of the hull to end the operation.

[0033] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent substitution or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-power wall-climbing robot laser cleaning machine, characterized in that: The invention comprises a host (100), an arm-climbing robot (200) and a laser cleaning head (300); the laser cleaning head (300) is mounted on the arm-climbing robot (200); and the arm-climbing robot (200) is connected to the host (100); The host (100) comprises a container (110), an unmanned vehicle (120), a laser generating system (130), a circulating cooling system (140), a sensor system (160), and a control system (170); The container (110) and the unmanned vehicle (120) are hard-connected via a code lock; The unmanned vehicle (120) provides power to the host machine (100) and transports it to the vicinity of the working area; The laser generating system (130) comprises a high-power fiber laser (131) and an optical fiber (132); the high-power fiber laser (131) is connected to the laser cleaning head (300) via the optical fiber (132); The circulating cooling system (140) is connected to the high-power fiber laser (131) and the laser cleaning head (300) respectively; It removes excess heat generated by the operation of the optical module of the high-power fiber laser (131) by controlling the water temperature of the main circuit; and removes excess heat generated by the operation of the optical lens of the laser cleaning head (300) by controlling the water temperature of the secondary circuit; The sensing system comprises a sensing controller (161) and a sensor (162); the sensor (162) is a photoelectric sensor and a proximity sensor; the photoelectric sensor is installed on the arm-climbing robot (200) and is used to remotely sense surrounding obstacles and cleaning boundaries to plan paths in advance; the proximity sensor is installed at the wheel position of the arm-climbing robot (200) and serves as a monitoring device for the wall-climbing robot to safely adhere to the surface of the ship; an abnormal distance indicates that the robot may be at risk of falling, and in order to avoid secondary damage to nearby workers and workpieces caused by the laser, the system forces the laser to stop; The sensor (162) is electrically connected to the sensor controller (161); the sensor (162) collects and transmits signals to the sensor controller 161, and the sensor controller 161 feeds back the collected signals to the control system 170 for processing; The control system (170) is used to collect and process signals from the above-mentioned subsystems, including but not limited to ambient temperature and humidity signals in the container (110), operating voltage and current signals of the unmanned vehicle (120), input and output signals of the laser generating system (130), temperature monitoring signals of the main and auxiliary circuits of the circulating cooling system (140), detection signals of the pneumatic system (150), and telemetry signals of the sensor system (160).

2. The high-power wall-climbing robot laser cleaning machine according to claim 1, characterized in that: The power source of the host (100) may be a battery or may be directly powered by a voltage stabilizing system (180); the power source of the unmanned vehicle (120) may be a battery or may be directly powered by a voltage stabilizing system (180); the voltage stabilizing system (180) may also be two power sources that respectively provide power to the host (100) and the unmanned vehicle (120).

3. The high-power wall-climbing robot laser cleaning machine according to claim 1, characterized in that: The high-power fiber laser (131) may be a continuous fiber laser, a pulsed fiber laser, a quasi-continuous fiber laser, or other forms of fiber transmission lasers.

4. The high-power wall-climbing robot laser cleaning machine according to claim 1, characterized in that: The coolant in the circulating cooling system (140) is water, oil, or other solvents in any one form or in any combination.

5. The high-power wall-climbing robot laser cleaning machine according to claim 1, characterized in that: The pneumatic system (150) comprises a pressure sensor and an oil-water separation device, which feeds back the air pressure value monitored by the pressure sensor to the control system (170) to determine the safe operating conditions of the system, and if the conditions are not met, the system is shut down for protection; the oil-water separation device is any one or any combination of a refrigeration dryer, an adsorption dryer, and a precision filter.

6. The high-power wall-climbing robot laser cleaning machine according to claim 1, characterized in that: The wall-climbing robot (200) is an actuator of the device, comprising a plurality of wheels, wherein the wheels are a driving wheel (210) and a driven wheel (230) directly driven by a motor; the driving wheel (210) and the driven wheel (230) are rubber wheels, Mecanum wheels or other forms made of different materials; the wall-climbing robot (200) is also provided with a permanent magnet 1 (220) and a permanent magnet 2 (240) for providing an adsorption force for the wall-climbing robot (200).

7. The high-power wall-climbing robot laser cleaning machine according to claim 1, characterized in that: The proximity sensor is a proximity switch.

8. The high-power wall-climbing robot laser cleaning machine according to claim 6, characterized in that: The laser cleaning head is a one-dimensional scanning head, a two-dimensional scanning head or a three-dimensional scanning head, and the scanning form is a galvanometer, a rotating mirror or a combination thereof.

9. The working method of a high-power wall-climbing robot laser cleaning machine according to claim 1, characterized in that: The following steps are involved: Step 1: First, the high-power wall-climbing robot laser cleaning machine is moved to the vicinity of the ship that needs to be depainted and derusted by using the power provided by the unmanned vehicle (120); Step 2: Adsorbing the wall-climbing robot (200) carrying the laser cleaning head (300) and the sensor (162) onto the surface of the hull; Step 3: Start the high-power wall-climbing robot laser cleaning machine, control the system to self-check, and after the self-check is completed, input the cleaning operation area into the control system (170). Step 4: the wall-climbing robot (200) starts to move, while the laser cleaning head (300) emits laser light to perform paint and rust removal operations, the sensor (162) detects the surface condition of the hull, and the control system (170) automatically plans the travel path of the wall-climbing robot (200); Step 5: After the paint and rust removal is completed, the wall-climbing robot (200) carrying the laser cleaning head (300) and the sensor (162) is removed from the surface of the hull, and the operation is completed.

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