Laser paint removal processing head device, system, and method with adjustable radius of curvature

Abstract

The application discloses a laser paint removal processing head device with adjustable curvature radius, a system and a method. The laser paint removal processing head device with adjustable curvature radius comprises a laser system, an adjustable curvature radius mirror, a one-dimensional galvanometer, a field lens and a control system; the curvature of the adjustable curvature radius mirror is adjustable; the one-dimensional galvanometer and the field lens are arranged in the transmission path of the laser beam and are used for focusing the laser beam on the paint layer surface of a paint removal workpiece and moving along a preset scanning path; the control system is connected with the one-dimensional galvanometer and the adjustable curvature radius mirror and outputs driving signals to the one-dimensional galvanometer and the adjustable curvature radius mirror, so that the laser beam is defocused at the two ends of the direction transformation of the scanning path through adjusting the frequency of the driving signals. The laser paint removal processing head device with adjustable curvature radius can avoid the ablation of the end points of the scanning track and improve the paint removal quality.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of laser surface treatment, and particularly relates to a laser paint removal processing head device with adjustable curvature radius, a system and a method. BACKGROUND

[0002] The laser paint removal technology mainly makes the coating evaporate or ablate instantaneously by the high power density of the laser beam. However, in the laser paint removal process, the speed of the end point of the linear scanning track is reduced to 0 due to the change of direction in the oscillation process of the galvanometer. Since the laser power is unchanged, the laser power density is concentrated, which easily causes excessive ablation of the end point of the linear scanning track, resulting in damage to the underlying material or uneven removal of the coating. The related technology mainly adjusts the repetition frequency and laser power of the laser at the end point of the linear scanning track to suppress the ablation phenomenon, but still has problems such as uneven energy and inconsistent paint removal effect.

[0003] Therefore, how to accurately control the laser power density at the end point position of the linear scanning track in the laser paint removal process to avoid the negative effects caused by the concentration of the laser beam has become a technical problem to be solved. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the related art to some extent.

[0005] To this end, an embodiment of the present application proposes a laser paint removal processing head device with adjustable curvature radius, which can avoid ablation at the end point of the scanning track and improve the paint removal quality.

[0006] An embodiment of the present application proposes a laser paint removal system.

[0007] An embodiment of the present application proposes a laser paint removal method.

[0008] The laser paint removal processing head device with adjustable curvature radius according to an embodiment of the present application comprises:

[0009] A laser system for outputting a laser beam;

[0010] An adjustable curvature radius mirror arranged in the transmission path of the laser beam to adjust the optical path direction of the laser beam, the curvature of the adjustable curvature radius mirror being adjustable;

[0011] A one-dimensional galvanometer and a field lens arranged in the transmission path of the laser beam to receive the laser beam reflected by the adjustable curvature radius mirror, so as to focus the laser beam on the paint layer surface of the paint removal workpiece and move along a preset scanning path;

[0012] A control system connected with the one-dimensional galvanometer and the adjustable curvature radius mirror and outputting driving signals to the one-dimensional galvanometer and the adjustable curvature radius mirror, the control system drives the one-dimensional galvanometer to reciprocate to control the scanning path of the laser beam, and the control system drives the adjustable curvature radius mirror to change the curvature to defocus the laser beam at both ends of the direction transformation of the scanning path of the laser beam by adjusting the frequency of the driving signals.

[0013] The curvature radius adjustable laser paint removal processing head device can adjust the focusing curvature of the laser beam through the adjustable curvature radius mirror, and further change the focal point depth and power density of the laser beam, and defocus the laser beam at both ends of the direction transformation of the scanning path of the laser beam by adjusting the frequency of the driving signals of the one-dimensional galvanometer and the adjustable curvature radius mirror, so as to avoid the ablation of the end points of the scanning track and improve the paint removal quality.

[0014] In some embodiments, the control system comprises:

[0015] A galvanometer driving control card connected with the one-dimensional galvanometer;

[0016] A signal delay device connected with the adjustable curvature radius mirror and the galvanometer driving control card, the signal delay device being configured to output a first driving signal and a second driving signal, the first driving signal being configured to drive the galvanometer driving control card to control the one-dimensional galvanometer to reciprocate, and the second driving signal being configured to drive the adjustable curvature radius mirror to adjust the focusing curvature of the laser beam at both ends of the direction transformation of the scanning path of the laser beam.

[0017] A controller connected with the signal delay device, the controller being configured to control the start and stop of the signal delay device.

[0018] In some embodiments, the frequency of the second driving signal is twice the frequency of the first driving signal.

[0019] In some embodiments, the second driving signal is a pulse signal, the peak time of the second driving signal corresponds to the time when the amplitude of the first driving signal is 0, and the pulse width of the second driving signal is 0.01 / 2 / f to 0.5 / 2 / f, where f is the frequency of the first driving signal.

[0020] And / or, the first driving signal is a triangular wave signal or a sinusoidal wave signal.

[0021] And / or, the curvature adjustment range of the adjustable curvature radius mirror is 5 to 50 mm.

[0022] In some embodiments, the frequency of the first driving signal is adjustable, and the first driving signal f is adjustable in the range of 10 Hz to 200 Hz.

[0023] In some embodiments, a 45-degree mirror is further included, which is arranged in the transmission path of the laser beam for adjusting the direction of the laser beam.

[0024] In some embodiments, a cooling water circuit is further included, which is connected with the adjustable radius-of-curvature mirror and the 45-degree mirror to cool the adjustable radius-of-curvature mirror and the 45-degree mirror, and the cooling water circuit connected with the adjustable radius-of-curvature mirror and the cooling water circuit connected with the 45-degree mirror are connected in series or in parallel.

[0025] In some embodiments, a housing is further included, and the laser system, the adjustable radius-of-curvature mirror, the one-dimensional galvanometer, the field lens and the control system are arranged in the housing, and a connection interface is arranged on the housing.

[0026] The laser paint removal system of the embodiment of the present application comprises a support table and the radius-of-curvature adjustable laser paint removal machining head device according to any one of the above embodiments, and the support table is a machine tool or a robot.

[0027] The laser paint removal method of the embodiment of the present application uses the radius-of-curvature adjustable laser paint removal machining head device according to any one of the above embodiments or the laser paint removal system according to the above embodiments to remove paint from a workpiece, which comprises the following steps:

[0028] Setting the parameters of the laser beam;

[0029] Starting the laser paint removal machining head device, and the cooling water circuit provides cooling for the adjustable radius-of-curvature mirror and the 45-degree mirror in the radius-of-curvature adjustable laser paint removal machining head device;

[0030] In the control system, the first driving signal frequency for driving the one-dimensional galvanometer and the second driving signal for driving the adjustable radius-of-curvature mirror are respectively set on the signal delay unit, the frequency of the second driving signal is twice the frequency of the first driving signal, the second driving signal is a pulse signal, the first driving signal is a sine signal or a triangular wave signal, the peak time of the second driving signal corresponds to the time when the amplitude of the first driving signal is 0, and the pulse width of the second driving signal is 0.01 / 2 / f to 0.5 / 2 / f.

[0031] Starting the controller in the control system to control the radius-of-curvature adjustable laser paint removal machining head device to start working, and starting the laser at the same time to focus the laser beam to the paint layer surface of the workpiece and start scanning paint removal.

[0032] After the laser paint removal is finished, the controller and the laser are turned off, and the laser paint removal processing head device with adjustable radius of curvature stops working.

[0033] The operation of the cold water path is stopped, and the power supply is turned off. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is a schematic diagram of the laser paint removal processing head device of the embodiment of the present application.

[0035] Figure 2 is a schematic diagram of the laser paint removal processing head device of the embodiment of the present application in the direction transformation of the scanning path.

[0036] Figure 3 is a schematic diagram of the driving signal of the embodiment of the present application.

[0037] LIST OF REFERENCE NUMERALS

[0038] 100, laser paint removal processing head device;

[0039] 1, laser system; 11, laser beam;

[0040] 2, adjustable radius of curvature mirror;

[0041] 3, 45-degree mirror;

[0042] 4, one-dimensional galvanometer;

[0043] 5, field lens;

[0044] 61, galvanometer drive control card; 62, signal delay device; 63, controller; 64, first driving signal; 65, second driving signal;

[0045] 7, housing;

[0046] 8, paint removal workpiece; 81, coating layer. DETAILED DESCRIPTION

[0047] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0048] As Figure 1 shown, the laser paint removal processing head device 100 with adjustable radius of curvature of the embodiment of the present application includes a laser system 1, an adjustable radius of curvature mirror 2, a one-dimensional galvanometer 4, a field lens 5, and a control system.

[0049] The laser system 1 is used for outputting the laser beam 11, and the laser system 1 can deliver the external laser beam 11 along a transmission path to the adjustable curvature radius mirror 2 and other devices in the laser paint removal machining head device 100. Optionally, the laser system 1 comprises a laser light source, and the laser system 1 can generate and transmit the laser beam 11.

[0050] The adjustable curvature radius mirror 2 is arranged in the transmission path of the laser beam 11, and is used for adjusting the light path direction of the laser beam 11. The curvature of the adjustable curvature radius mirror 2 is adjustable, and the focusing curvature in the laser scanning process can be adjusted, so as to change the focal depth and power density of the laser beam 11.

[0051] In order to control the path of the laser beam 11 and facilitate the reasonable arrangement of the spatial positions of the components in the laser paint removal machining head device 100, a 45-degree mirror 3 can also be arranged in the transmission path of the laser beam 11 to adjust the direction of the laser beam 11. Optionally, the number of the 45-degree mirror 3 can be one or more.

[0052] The one-dimensional galvanometer 4 and the field lens 5 are arranged in the transmission path of the laser beam 11, and are used for receiving the laser beam 11 reflected by the adjustable curvature radius mirror 2 and the 45-degree mirror 3. The one-dimensional galvanometer 4 can control the relationship between the scanning angle and the focal point position through reciprocating swing, and the field lens 5 can further make the laser beam 11 focus on the paint layer surface of the paint removal workpiece and move along the preset scanning path.

[0053] The control system is connected with the one-dimensional galvanometer 4 and the adjustable curvature radius mirror 2 and outputs driving signals to the one-dimensional galvanometer 4 and the adjustable curvature radius mirror 2. The control system drives the one-dimensional galvanometer 4 to reciprocate to control the scanning path of the laser beam 11, and drives the adjustable curvature radius mirror 2 to change the curvature.

[0054] In order to avoid the ablation phenomenon of the paint removal workpiece at both ends of the direction transformation of the scanning path of the laser beam 11, the embodiment of the present application adjusts the frequency of the two driving signals. When the laser beam 11 scans at a normal speed in the scanning path, the focal point of the laser beam 11 can focus on the paint layer surface in the coating 81 of the paint removal workpiece 8. When the laser beam 11 is at both ends of the direction transformation of the scanning path, the defocusing operation of the laser beam 11 can be performed by changing the focusing curvature of the laser beam 11 through the adjustable curvature radius mirror 2, as shown in Figure 2 .

[0055] The curvature radius adjustable laser paint removal processing head device 100 of the embodiment of the present application can be widely applied to paint removal in the fields of automobiles, aviation, aerospace, ships and the like, and surface treatment of complex surfaces and precision parts, has a wide market application prospect, can adjust the focusing curvature of the laser beam 11 through the adjustable curvature radius mirror 2, and then change the focal point depth and power density of the laser beam 11, and at the same time, by adjusting the frequency of the driving signals of the one-dimensional galvanometer 4 and the adjustable curvature radius mirror 2, the laser beam 11 is defocused at the two ends of the direction transformation of the scanning path, the ablation at the end points of the scanning track is avoided, and the paint removal quality is improved.

[0056] The curvature radius adjustable laser paint removal processing head device 100 in another specific embodiment of the present application is described below.

[0057] The curvature radius adjustable laser paint removal processing head device 100 of the embodiment of the present application comprises a shell 7, a laser system 1, a control system, a cooling water circuit, and an adjustable curvature radius mirror 2, a 45-degree mirror 3, a one-dimensional galvanometer 4 and a field lens 5 arranged in the transmission path of the laser beam 11.

[0058] The laser system 1, the adjustable curvature radius mirror 2, the one-dimensional galvanometer 4, the field lens 5 and the cooling water circuit are arranged in the shell 7, and a connecting interface is arranged on the shell 7, which can be connected with an industrial robot or a machine tool to support the laser paint removal processing head device 100 or drive the laser paint removal processing head device 100 to move, of course, the connecting interface can also be used as an operating handle and held by an operator for operation.

[0059] The cooling water circuit is connected with the adjustable curvature radius mirror 2 and the 45-degree mirror 3, and is used for cooling the adjustable curvature radius mirror 2 and the 45-degree mirror 3 during work, and the cooling water circuit connected with the adjustable curvature radius mirror 2 and the cooling water circuit connected with the 45-degree mirror 3 are connected in series or in parallel.

[0060] The laser system 1 is used for outputting the laser beam 11, the laser system 1 can deliver the external laser beam 11 along the transmission path to the adjustable curvature radius mirror 2 and other devices in the laser paint removal processing head device 100, and optionally, the laser system 1 comprises a laser light source, the laser system 1 can generate and transmit the laser beam 11, or the laser light source is arranged independently of the laser paint removal processing head device 100 as a separate component.

[0061] The laser light source is used to generate a laser beam. The laser light source can select a pulsed laser or a continuous laser source, the wavelength of the pulsed laser source is generally a Nd:YAG laser with a wavelength of 1064 nm, or a fiber laser with a wavelength of 1060-1070 nm. The duration of the laser pulse (pulse width) can be set to nanoseconds, and the pulse width is usually selected to be 30-500 ns, so as to effectively heat and remove the coating; the laser pulse energy: 5-50 mJ (adjust according to the coating thickness and type); the laser pulse frequency: 10 kHz-200 kHz, the transmission part in the laser system is composed of a fiber QBH plug or a standard isolator, which is used to transmit the laser beam from the laser light source to the laser paint removal processing head device. During transmission, the quality of the light beam remains unchanged, ensuring that the laser beam can still maintain high energy density and focusing quality after being scanned by the galvanometer.

[0062] The adjustable curvature radius mirror and the 45-degree mirror are arranged to adjust the direction of the light path of the laser beam. The curvature of the adjustable curvature radius mirror can be adjusted, and the focusing curvature during laser scanning can be adjusted, so as to change the focal point depth and power density of the laser beam.

[0063] The one-dimensional galvanometer receives the laser beam reflected by the adjustable curvature radius mirror and the 45-degree mirror. The one-dimensional galvanometer forms a linear scanning path on the target coating surface by reciprocating swing. The field lens can control the relationship between the scanning angle and the focal point position, so as to focus the laser beam on the paint layer surface of the paint removal workpiece and move along the preset scanning path. The scanning frequency of the galvanometer is usually 10-200 Hz, and the embodiment of the present application selects 80 Hz. The deflection angle of the one-dimensional galvanometer can be accurately set by the control system, and the deflection angle range is ±25°.

[0064] The control system includes a galvanometer drive control card 61, a signal delay timer 62 and a controller 63. The controller 63 is connected with the signal delay timer 62, and the galvanometer drive control card 61 is connected with the one-dimensional galvanometer 4. The controller 63 is used to control the start and stop of the signal delay timer 62, and can communicate with other devices in the laser paint removal system, such as controlling the start or stop of the laser light source and the cooling water circuit. The signal delay timer 62 is connected with the adjustable curvature radius mirror 2 and the galvanometer drive control card 61. The signal delay timer 62 is used to output a first drive signal 64 and a second drive signal 65. The first drive signal 64 is used to drive the galvanometer drive control card 61 to control the one-dimensional galvanometer 4 to reciprocate to control the scanning path of the laser beam 11. During scanning, the adjustable curvature radius mirror 2 adjusts the focal point depth of the laser beam 11 as needed, so as to adjust the power density of the laser beam 11. The second drive signal 65 is used to drive the adjustable curvature radius mirror 2 to adjust the focusing curvature of the laser beam 11 at the two ends of the direction transformation of the scanning path of the laser beam 11.

[0065] That is, in order to avoid the ablation phenomenon of the paint removal workpiece at both ends of the direction transformation of the scanning path of the laser beam 11, the embodiment of the present application adjusts the frequency of the two driving signals, when the laser beam 11 scans at a normal speed in the scanning path, the focal point of the laser beam 11 can be focused to the paint layer surface of the paint removal workpiece, when the laser beam 11 is transformed at both ends of the direction of the scanning path, the defocusing operation of the laser beam 11 can be performed by changing the focusing curvature of the laser beam 11 through the adjustable curvature radius mirror 2.

[0066] Specifically, as shown in the figure, Figure 3 The first driving signal 64 in the embodiment of the present application is a triangular wave signal or a sine wave signal, and the second driving signal 65 is a pulse signal. Figure 3 As shown in the figure, the peak time of the second driving signal 65 corresponds to the time when the amplitude of the first driving signal 64 is 0, and the pulse width of the second driving signal 65 is 0.01 / 2 / f to 0.5 / 2 / f, where f is the frequency of the first driving signal 64; the frequency of this embodiment is selected as 160Hz, and the pulse width is 0.2 / 2 / f=1.25ms. The focusing curvature adjustment range of the adjustable curvature radius mirror 2 is 5 to 50mm. The adjustable curvature radius mirror 2 can effectively defocus at the starting end and the ending end of the scanning path of the laser beam 11, thereby reducing the power density of this part and avoiding the excessive ablation phenomenon caused by the excessive concentration of the laser beam 11.

[0067] The embodiment of the present application can accurately adjust the power density and focal depth of the laser beam 11 by combining the adjustable curvature radius mirror 2 with the one-dimensional galvanometer 4, and realize uniform paint layer removal. In the scanning process, the defocusing treatment of the laser beam 11 is performed through the electrically adjustable curvature radius mirror 2, which effectively avoids the local ablation phenomenon caused by the excessive laser power density and reduces the damage to the underlying material.

[0068] The laser paint removal system of the embodiment of the present application comprises a support table and a curvature radius adjustable laser paint removal machining head device 100 according to any one of the above embodiments, and the support table is a machine tool or a robot. The beneficial effects achieved by the laser paint removal system in the embodiment of the present application are the same as those achieved by the curvature radius adjustable laser paint removal machining head device 100 in the above embodiments, and therefore will not be described again.

[0069] The laser paint removal method of the embodiment of the present application uses the curvature radius adjustable laser paint removal machining head device 100 according to any one of the above embodiments or the laser paint removal system of the above embodiments to remove paint from a workpiece, comprising:

[0070] S101, set the parameters of the laser beam 11 according to the properties of the surface soil layer of the paint removal workpiece, for example, the target coating is 50μm thick polyurethane.

[0071] S102, start the laser paint removal processing head device 100 for system power on, and start the water cooler, and the water cooler sends circulating cooling liquid to the cooling water circuit to provide cooling for the adjustable curvature radius mirror 2 and the 45-degree mirror 3 in the curvature radius adjustable laser paint removal processing head device 100.

[0072] S103, set the frequency of the first drive signal 64 driving the one-dimensional galvanometer 4 and the second drive signal 65 driving the adjustable curvature radius mirror 2 on the signal delay 62 in the control system respectively, wherein the frequency of the second drive signal 65 is twice the frequency of the first drive signal 64, the frequency of the first drive signal 64 is f=50Hz, that is, the scanning frequency of the one-dimensional galvanometer 4, the first drive signal 64 is a sine signal, the frequency of the second drive signal 65 is 2*f=100Hz, the second drive signal 65 is a pulse signal, the peak time of the second drive signal 65 corresponds to the time when the amplitude of the first drive signal 64 is 0, the pulse width of the second drive signal 65 is 0.01 / 2 / f to 0.5 / 2 / f, preferably, the pulse width is 2ms.

[0073] The embodiment has strong adaptability and can be adjusted according to different types of coatings, coating thicknesses and material properties to ensure the stability and consistency of the laser paint removal effect.

[0074] S104, start the controller 63 in the control system to control the curvature radius adjustable laser paint removal processing head device 100 to start working, and start the laser at the same time to focus the laser beam 11 to the paint layer surface of the workpiece and start scanning paint removal. At the same time, the laser paint removal processing head device 100 is driven by the industrial robot and the machine tool to move in a direction perpendicular to the scanning direction of the one-dimensional galvanometer 4 of the laser paint removal processing head, so as to realize laser paint removal.

[0075] During the laser paint removal process, the adjustable curvature radius mirror 2 performs defocusing operation of the laser beam 11 at the two ends of the scanning path under the control of the drive signal, so as to avoid edge over-erosion, as shown in Figure 2 .

[0076] S105, after the laser paint removal is completed, the controller 63 and the laser are turned off, the laser output is stopped, and the action of the adjustable curvature radius mirror and the one-dimensional galvanometer 4 is stopped, and the curvature radius adjustable laser paint removal processing head device 100 stops working.

[0077] S106, turn off the water cooler, stop the operation of the cooling water circuit, and turn off the system power.

[0078] In the description of the present application, it is to be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the devices or elements indicated thereby must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0079] In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated thereby. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0080] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication or interaction relationship of two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0081] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or it can only mean that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or it can only mean that the horizontal height of the first feature is less than that of the second feature.

[0082] In this disclosure, the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" mean that a particular feature, structure, material, or characteristic is included in at least one embodiment or example of the present disclosure. The illustrative appearances of the above-mentioned terms in various places in the specification are not necessarily referred to the same embodiment or example. Moreover, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Furthermore, the terminology "comprising" is used in the disclosure as comprising but not limited to, that is, it is open-ended and does not exclude the presence of additional features, structures, materials, or characteristics.

[0083] Although the embodiments of the present disclosure have been shown and described above, it is understood that the above-described embodiments are exemplary, and are not to be interpreted as limiting the present disclosure, and the ordinary skilled in the art can make changes, modifications, replacements, and variations to the above-described embodiments within the scope of the present disclosure.

Claims

1. A laser paint removal head device with adjustable radius of curvature, characterized in that, include: A laser system for outputting a laser beam; An adjustable radius of curvature reflector is arranged in the transmission path of a laser beam to adjust the optical path direction of the laser beam, and the curvature of the adjustable radius of curvature reflector is adjustable. A one-dimensional galvanometer and a field mirror are arranged in the transmission path of the laser beam to receive the laser beam reflected by the adjustable radius of curvature mirror, so that the laser beam is focused on the paint layer surface of the workpiece to be de-painted and moves along a preset scanning path. The control system includes: A galvanometer drive control card, which is connected to the one-dimensional galvanometer; A signal delay unit is connected to the adjustable radius of curvature reflector and the galvanometer drive control card. The signal delay unit outputs a first drive signal and a second drive signal. The first drive signal drives the galvanometer drive control card to control the reciprocating oscillation of the one-dimensional galvanometer, thereby controlling the scanning path of the laser beam. The second drive signal drives the adjustable radius of curvature reflector to adjust the focusing curvature of the laser beam at both ends of the direction change of the laser beam scanning path. The frequency of the second drive signal is twice the frequency of the first drive signal. The peak time of the second drive signal corresponds to the moment when the amplitude of the first drive signal is 0, so that the laser beam can be defocused at both ends of the direction change of its scanning path by adjusting the frequency of the second drive signal.

2. The laser paint removal head device with adjustable radius of curvature according to claim 1, characterized in that, A controller is connected to the signal delay unit and is used to control the start and stop of the signal delay unit.

3. The laser paint removal head device with adjustable radius of curvature according to claim 2, characterized in that, The second driving signal is a pulse signal, and the pulse width of the second driving signal is from 0.01 / 2 / f to 0.5 / 2 / f, where f is the frequency of the first driving signal; And / or, the first driving signal is a triangular wave signal or a sine wave signal; And / or, the curvature adjustment range of the adjustable curvature radius reflector is 5 to 50 mm.

4. The laser paint removal head device with adjustable radius of curvature according to any one of claims 2 to 3, characterized in that, The frequency of the first driving signal is adjustable, and the adjustable range of the first driving signal f is from 10Hz to 200Hz.

5. The laser paint removal head device with adjustable radius of curvature according to claim 1, characterized in that, It also includes a 45-degree reflector, which is arranged in the transmission path of the laser beam to adjust the direction of the laser beam.

6. The laser paint removal head device with adjustable radius of curvature according to claim 5, characterized in that, It also includes a cooling water circuit, which is connected to the adjustable radius of curvature reflector and the 45-degree reflector to cool the adjustable radius of curvature reflector and the 45-degree reflector. The cooling water circuit connected to the adjustable radius of curvature reflector and the cooling water circuit connected to the 45-degree reflector are connected in series or in parallel.

7. The laser paint removal head device with adjustable radius of curvature according to claim 1, characterized in that, It also includes a housing, in which the laser system, the adjustable radius of curvature mirror, the one-dimensional galvanometer, the field mirror, and the control system are all arranged. The housing is provided with a connection interface.

8. A laser paint removal system, characterized in that, The device includes a support platform and a laser paint removal head with an adjustable radius of curvature as described in any one of claims 1 to 7, wherein the support platform is a machine tool or a robot.

9. A laser paint removal method, characterized in that, Removing paint from a workpiece using a laser paint removal head device with an adjustable radius of curvature as described in any one of claims 1-7 or a laser paint removal system as described in claim 8 includes: Set the laser beam parameters; Start the laser paint removal head device, and the cooling water circuit provides cooling to the adjustable curvature radius reflector and the 45-degree reflector in the laser paint removal head device with adjustable curvature radius; In the control system, a first driving signal frequency for driving the one-dimensional galvanometer and a second driving signal for driving the adjustable radius of curvature mirror are respectively set on the signal delay device. The frequency of the second driving signal is twice the frequency of the first driving signal. The second driving signal is a pulse signal, and the first driving signal is a sine wave signal or a triangular wave signal. The peak time of the second driving signal corresponds to the time when the amplitude of the first driving signal is 0. The pulse width of the second driving signal is 0.01 / 2 / f to 0.5 / 2 / f. The controller in the control system is activated to start the laser paint removal head device with adjustable curvature radius. At the same time, the laser is activated so that the laser beam is focused on the paint surface of the workpiece to start scanning and removing the paint. After the laser paint removal is completed, the controller and laser are turned off, and the laser paint removal head device with adjustable curvature radius stops working; Stop the operation of the cold water circuit and turn off the power.

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