Rail transit vehicle rod piece depainting laser cleaning system

Abstract

The invention relates to the technical field of laser cleaning, and discloses a rail transit vehicle rod piece depainting laser cleaning system which is provided with a laser cleaning device, and the laser cleaning device comprises a laser device and a robot driving mechanism used for driving the laser device to move. The system can intelligently adjust cleaning parameters according to the specific conditions of the rod pieces, and efficient and accurate depainting cleaning is achieved; and a laser cleaning technology is adopted, so that the use of a chemical solvent and dust pollution caused by mechanical polishing are avoided, and the harm to the environment is reduced. Meanwhile, by optimizing cleaning parameters, the energy consumption of the laser is reduced, and the purposes of environmental protection and energy conservation are achieved; the cleaning database records a large amount of historical cleaning data, the system can continuously optimize cleaning parameters and strategies and improve the cleaning effect and efficiency by analyzing and mining the data, and the cleaning performance of the system is continuously improved along with the increase of the use time.

Description

Technical Field

[0001] The invention relates to the technical field of laser cleaning, and in particular to a rail transit vehicle rod component paint stripping laser cleaning system. Background Art

[0002] Laser cleaning removes materials from solid surfaces by irradiating a laser beam. At low laser flux, the material is heated by the absorbed laser energy and evaporates or sublimates. At high laser flux, the material is usually converted into plasma. Laser cleaning is widely used in surface cleaning, paint removal and other fields due to its fast cleaning speed, low cleaning cost and environmental protection. The intelligent inspection and maintenance system for bogie rods mainly consists of main process modules such as automatic laser stripping of rods, automatic press-fitting of rod joints, and robot-assisted handling. Various rod joints and press-fitting positioning fixtures can be identified through a visual system. The use of laser paint stripping equipment replaces the traditional paint stripping method using paint strippers. The rod joint automatic press-fitting module can realize the automatic disassembly and press-fitting of different types of rod joints. The robot-assisted handling module uses a handling robot to realize the handling of rods between the paint stripping station, the flaw detection station, and the press-fitting station.

[0003] In the paint stripping and cleaning process, the visual module obtains the shape of the rod to be processed and calls the pre-set paint stripping path to remove the paint layer on the surface of the rod according to the preset laser parameters. However, in actual applications, the surface of the rod will be affected by the use environment, coating differences, etc. Different rods require different laser parameters. If the laser power is too small, it is easy to have problems with incomplete coating removal. If the laser power is too large, it is easy to cause laser burns on the surface of the cleaned workpiece, affecting the reuse of the workpiece. Summary of the invention

[0004] In view of the deficiencies in the prior art, an object of the present invention is to provide a rail transit vehicle rod paint stripping laser cleaning system for improving the laser cleaning efficiency and improving the cleaning effect.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: a rail transit vehicle rod stripping laser cleaning system, equipped with a laser cleaning device, the laser cleaning device includes a laser, a robot driving mechanism for driving the laser to move, and a fume treatment mechanism, A laser cleaning device is provided, which includes a laser, a robot driving mechanism for driving the laser to move, and a fume treatment mechanism. The rail transit vehicle rod stripping laser cleaning system comprises A visual recognition module, wherein the visual recognition module is used to recognize the rod model; An image acquisition module, the image acquisition module is used to acquire a cleaning image of the rod member to define as cleaning image information; An information input module, the information input module is used to input the pole information, the pole information includes the working vehicle and pole parameters; A cleaning database, wherein the cleaning database records the rod model, working vehicle, quantity and historical cleaning data corresponding to each working vehicle; A processing module, wherein the processing module calls corresponding historical cleaning data based on the rod model and rod information, and generates cleaning parameters to the laser according to the parameter pre-adjustment strategy to perform preliminary cleaning on the rod; A cleaning planning module, after the initial cleaning is completed, regenerates the cleaning execution parameters according to the cleaning degree of the rod to control the laser cleaning device to repeatedly clean until the surface cleanliness of the rod meets the preset cleaning requirements, and records the number of cleanings, cleaning parameters and the surface cleanliness of the rod as historical cleaning data in the cleaning database.

[0006] Furthermore, the parameter pre-adjustment strategy includes , , , Where T represents the time span from the last cleaning to the present. represents the preset member foundation power, represents the rod aging correction power, Indicates the duration of the aging rate inflection point, They represent the growth coefficient, E represents the environmental corrosion coefficient, V represents the laser scanning speed, F represents the laser pulse frequency, Indicates the basic scanning speed of the laser, represents the basic pulse frequency of the laser, Indicates the enhancement factor from the last cleaning to the current time span.

[0007] Furthermore, the cleaning planning module is configured with a cleaning degree judgment strategy, and the cleaning degree judgment strategy includes The image acquisition module acquires the surface image of the rod after preliminary cleaning to define it as preliminary cleaning image information, acquires the cleaning surface of the rod in the preliminary cleaning image information to define it as a cleaning area, divides the cleaning area into a number of cleaning sub-areas, calculates the RGB color value of each cleaning sub-area to define it as a regional color value, compares the regional color value with a preset reference color value, and generates an uncleaned signal if the difference is greater than a preset difference threshold, and executes a preset repeated cleaning strategy.

[0008] Furthermore, the repeated cleaning strategy includes obtaining a cleaning sub-area corresponding to a difference greater than a preset difference threshold and defining it as an area to be cleaned, re-planning a number of pending cleaning paths based on the position of the area to be cleaned, selecting the shortest pending cleaning path as the re-cleaning path to the robot drive mechanism, and repeatedly cleaning until the difference between the color value of each cleaning sub-area and the preset reference color value meets the preset difference threshold.

[0009] Furthermore, the cleaning planning module is configured with an over-cleaning adjustment strategy, including When multiple cleaning sub-areas are still defined as areas to be cleaned after continuous cleaning, they are defined as abnormal areas, and the abnormal color value changes of each abnormal area in each cleaning are determined. If the color value of each abnormal area gradually increases with the increase in the number of cleaning times, it is determined to be over-cleaned and the cleaning pulse speed of the abnormal area is increased.

[0010] Furthermore, the cleaning planning module is configured with an environmental factor calculation strategy, and the environmental factor calculation strategy includes Obtaining the use environment parameters, ambient temperature parameters and ambient humidity parameters of the rod, wherein the use environment parameters are used to represent the use environment of the rod, including full tunnel use, partial elevated use and full elevated use. The size of the environmental corrosion coefficient is adjusted according to the use environment parameters, the environmental temperature parameters and the environmental humidity parameters. The formula of the environmental factor calculation strategy is specifically as follows: , in Indicates basic environment parameter items. Indicates the ambient temperature parameter item, Represents the ambient humidity parameter item.

[0011] Furthermore, the cleaning planning module is configured with a basic frequency correction strategy, including The historical cleaning data of the same model of rods is obtained, including the number of cleanings, cleaning parameters and the cleanliness of the rod surface. If the overlap of the area to be cleaned in multiple cleanings is greater than the preset cleaning overlap threshold, the basic pulse frequency of the corresponding cleaning sub-area is increased.

[0012] Furthermore, the cleaning planning module is configured with a basic speed correction strategy, including The historical cleaning data of the same model of rods is obtained, including the number of cleanings, cleaning parameters and the cleanliness of the rod surface. If the overlap of abnormal areas in multiple cleanings is greater than the preset abnormal overlap threshold, the basic scanning speed of the corresponding cleaning sub-area is increased.

[0013] Beneficial effects of the present invention: Through the coordinated work of the visual recognition module, processing module and cleaning planning module, the system can intelligently adjust the cleaning parameters according to the specific conditions of the rods to achieve efficient and accurate paint stripping and cleaning; the use of laser cleaning technology avoids the use of chemical solvents and dust pollution caused by mechanical grinding, reducing harm to the environment. At the same time, by optimizing the cleaning parameters, the energy consumption of the laser is reduced, and the goal of environmental protection and energy saving is achieved; the cleaning database records a large amount of historical cleaning data. Through the analysis and mining of these data, the system can continuously optimize the cleaning parameters and strategies, improve the cleaning effect and efficiency, and the cleaning performance of the system will continue to improve with the increase of usage time; the over-cleaning adjustment strategy and the basic frequency and speed correction strategy can avoid excessive cleaning and damage to the surface of the rod, protect the original material and performance of the rod, and extend the service life of the rod; the environmental factor calculation strategy fully considers the use environment of the rod and the influence of environmental parameters on the cleaning effect, so that the system can maintain good cleaning performance under different environmental conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the system architecture of a rail transit vehicle pole stripping laser cleaning system in the present invention. DETAILED DESCRIPTION

[0015] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0017] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein 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. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0018] like Figure 1 As shown, in this embodiment, a complete set of maintenance and cleaning solutions are configured for the rods. The intelligent maintenance system for bogie rods is mainly composed of main process modules such as automatic laser stripping of rods, automatic press-fitting of rod joints, and robot-assisted handling, and various rod joints and press-fitting positioning fixtures can be identified through a visual system. By adopting laser stripping equipment, the traditional paint stripping method using paint strippers is replaced. The automatic press-fitting module for rod joints can realize the automatic disassembly and press-fitting operations of rod joints of different models. The robot-assisted handling module uses a handling robot to realize the handling of rods between the stripping station, the flaw detection station, and the press-fitting station. The intelligent maintenance system for bogie rods adopts a mechatronics design, and realizes the human-machine collaborative operation mode through protection measures such as safety gratings, making the rod maintenance operation more orderly and efficient. This application is mainly an improvement on paint stripping and cleaning. A rail transit vehicle rod stripping laser cleaning system in this embodiment is equipped with a laser cleaning device, which includes a laser, a robot driving mechanism for driving the laser to move, and a flue gas treatment mechanism.

[0019] The rail transit vehicle rod stripping laser cleaning system comprises A visual recognition module, wherein the visual recognition module is used to recognize the rod model; An image acquisition module, the image acquisition module is used to acquire a cleaning image of the rod member to define as cleaning image information; An information input module, the information input module is used to input the pole information, the pole information includes the working vehicle and pole parameters; A cleaning database, wherein the cleaning database records the rod model, working vehicle, quantity and historical cleaning data corresponding to each working vehicle; A processing module, wherein the processing module calls corresponding historical cleaning data based on the rod model and rod information, and generates cleaning parameters to the laser according to the parameter pre-adjustment strategy to perform preliminary cleaning on the rod; A cleaning planning module, after the initial cleaning is completed, regenerates the cleaning execution parameters according to the cleaning degree of the rod to control the laser cleaning device to repeatedly clean until the surface cleanliness of the rod meets the preset cleaning requirements, and records the number of cleanings, cleaning parameters and the surface cleanliness of the rod as historical cleaning data in the cleaning database.

[0020] Through the collaborative work of the visual recognition module and the image acquisition module, the system can automatically identify the rod model and establish a digital cleaning file; the historical data accumulation of the cleaning database realizes the intelligent iterative optimization of the cleaning parameters; the hierarchical control strategy of the processing module and the cleaning planning module enables the system to have autonomous decision-making capabilities, which can improve the cleaning efficiency by 30%-50% compared with traditional manual cleaning, while ensuring that the cleanliness consistency reaches more than 98%.

[0021] Furthermore, the parameter pre-adjustment strategy includes , , , Where T represents the time span from the last cleaning to the present. represents the preset member foundation power, represents the rod aging correction power, Indicates the duration of the aging rate inflection point, They represent the growth coefficient, E represents the environmental corrosion coefficient, V represents the laser scanning speed, F represents the laser pulse frequency, Indicates the basic scanning speed of the laser, represents the basic pulse frequency of the laser, Indicates the enhancement factor from the last cleaning to the current time span.

[0022] The parameter adjustment strategy is set mainly to take into account the correlation between the surface paint and rust conditions of the rods in the same use environment and the same model. The parameter adjustment strategy takes into account the impact of the time span from the last cleaning to the current time on the paint layer, and sets the aging rate inflection point duration. This is based on the consideration that, for example, if the aging rate inflection point duration is set to 12 months, the impact of the 0-12 month environment on the paint layer may be different from that of more than 12 months. and This can be obtained through experiments. For example, for rod samples with different time intervals such as 6 / 12 / 24 months, the paint thickness, adhesion and hardness are measured, and the best value is determined through orthogonal experiments. and .

[0023] Furthermore, the cleaning planning module is configured with a cleaning degree judgment strategy, and the cleaning degree judgment strategy includes The image acquisition module acquires the surface image of the rod after preliminary cleaning to define it as preliminary cleaning image information, acquires the cleaning surface of the rod in the preliminary cleaning image information to define it as a cleaning area, divides the cleaning area into a number of cleaning sub-areas, calculates the RGB color value of each cleaning sub-area to define it as a regional color value, compares the regional color value with a preset reference color value, and generates an uncleaned signal if the difference is greater than a preset difference threshold, and executes a preset repeated cleaning strategy.

[0024] Furthermore, the repeated cleaning strategy includes obtaining a cleaning sub-area corresponding to a difference greater than a preset difference threshold and defining it as an area to be cleaned, re-planning a number of pending cleaning paths based on the position of the area to be cleaned, selecting the shortest pending cleaning path as the re-cleaning path to the robot drive mechanism, and repeatedly cleaning until the difference between the color value of each cleaning sub-area and the preset reference color value meets the preset difference threshold.

[0025] Furthermore, the cleaning planning module is configured with an over-cleaning adjustment strategy, including When multiple cleaning sub-areas are still defined as areas to be cleaned after continuous cleaning, they are defined as abnormal areas, and the abnormal color value changes of each abnormal area in each cleaning are determined. If the color value of each abnormal area gradually increases with the increase in the number of cleaning times, it is determined to be over-cleaned and the cleaning pulse speed of the abnormal area is increased.

[0026] Furthermore, the cleaning planning module is configured with an environmental factor calculation strategy, and the environmental factor calculation strategy includes Obtaining the use environment parameters, ambient temperature parameters and ambient humidity parameters of the rod, wherein the use environment parameters are used to represent the use environment of the rod, including full tunnel use, partial elevated use and full elevated use. The size of the environmental corrosion coefficient is adjusted according to the use environment parameters, the environmental temperature parameters and the environmental humidity parameters. The formula of the environmental factor calculation strategy is specifically as follows: , in Indicates basic environment parameter items. Indicates the ambient temperature parameter item, Represents the ambient humidity parameter item.

[0027] Furthermore, the cleaning planning module is configured with a basic frequency correction strategy, including The historical cleaning data of the same model of rods is obtained, including the number of cleanings, cleaning parameters and the cleanliness of the rod surface. If the overlap of the area to be cleaned in multiple cleanings is greater than the preset cleaning overlap threshold, the basic pulse frequency of the corresponding cleaning sub-area is increased.

[0028] Furthermore, the cleaning planning module is configured with a basic speed correction strategy, including The historical cleaning data of the same model of rods is obtained, including the number of cleanings, cleaning parameters and the cleanliness of the rod surface. If the overlap of abnormal areas in multiple cleanings is greater than the preset abnormal overlap threshold, the basic scanning speed of the corresponding cleaning sub-area is increased.

[0029] The above are only preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A rail transit vehicle rod paint removal laser cleaning system, characterized in that: A laser cleaning device is provided, which includes a laser, a robot driving mechanism for driving the laser to move, and a fume treatment mechanism. The rail transit vehicle rod stripping laser cleaning system comprises A visual recognition module, wherein the visual recognition module is used to recognize the rod model; An image acquisition module, the image acquisition module is used to acquire a cleaning image of the rod member to define as cleaning image information; An information input module, the information input module is used to input the pole information, the pole information includes the working vehicle and pole parameters; A cleaning database, wherein the cleaning database records the rod model, working vehicle, quantity and historical cleaning data corresponding to each working vehicle; A processing module, wherein the processing module calls corresponding historical cleaning data based on the rod model and rod information, and generates cleaning parameters to the laser according to the parameter pre-adjustment strategy to perform preliminary cleaning on the rod; A cleaning planning module, after the initial cleaning is completed, regenerates the cleaning execution parameters according to the cleaning degree of the rod to control the laser cleaning device to repeatedly clean until the surface cleanliness of the rod meets the preset cleaning requirements, and records the number of cleanings, cleaning parameters and the surface cleanliness of the rod as historical cleaning data in the cleaning database.

2. The rail transit vehicle rod paint stripping laser cleaning system according to claim 1 is characterized in that: The parameter pre-adjustment strategy includes ， ， ， Where T represents the time span from the last cleaning to the present. represents the preset member foundation power, represents the rod aging correction power, Indicates the duration of the aging rate inflection point, They represent the growth coefficient, E represents the environmental corrosion coefficient, V represents the laser scanning speed, F represents the laser pulse frequency, Indicates the basic scanning speed of the laser, represents the basic pulse frequency of the laser, Indicates the enhancement factor from the last cleaning to the current time span.

3. The rail transit vehicle rod paint stripping laser cleaning system according to claim 2 is characterized in that: The cleaning planning module is configured with a cleaning degree judgment strategy, and the cleaning degree judgment strategy includes The image acquisition module acquires the surface image of the rod after preliminary cleaning to define it as preliminary cleaning image information, acquires the cleaning surface of the rod in the preliminary cleaning image information to define it as a cleaning area, divides the cleaning area into a number of cleaning sub-areas, calculates the RGB color value of each cleaning sub-area to define it as a regional color value, compares the regional color value with a preset reference color value, and generates an uncleaned signal if the difference is greater than a preset difference threshold, and executes a preset repeated cleaning strategy.

4. The rail transit vehicle rod paint stripping laser cleaning system according to claim 2, characterized in that: The repeated cleaning strategy includes obtaining a cleaning sub-area corresponding to a difference greater than a preset difference threshold and defining it as an area to be cleaned, re-planning a number of pending cleaning paths based on the position of the area to be cleaned, selecting the shortest pending cleaning path as the re-cleaning path to the robot drive mechanism, and repeatedly cleaning until the difference between the color value of each cleaning sub-area and the preset reference color value meets the preset difference threshold.

5. The rail transit vehicle rod paint stripping laser cleaning system according to claim 4, characterized in that: The cleaning planning module is configured with an over-cleaning adjustment strategy, including When multiple cleaning sub-areas are still defined as areas to be cleaned after continuous cleaning, they are defined as abnormal areas, and the abnormal color value changes of each abnormal area in each cleaning are determined. If the color value of each abnormal area gradually increases with the increase of the number of cleaning times, it is determined to be over-cleaned and the cleaning pulse speed of the abnormal area is increased.

6. The rail transit vehicle rod paint stripping laser cleaning system according to claim 4, characterized in that: The cleaning planning module is configured with an environmental factor calculation strategy, which includes Obtaining the use environment parameters, ambient temperature parameters and ambient humidity parameters of the rod, wherein the use environment parameters are used to represent the use environment of the rod, including full tunnel use, partial elevated use and full elevated use. The size of the environmental corrosion coefficient is adjusted according to the use environment parameters, the environmental temperature parameters and the environmental humidity parameters. The formula of the environmental factor calculation strategy is specifically as follows: ， in Indicates basic environment parameter items. Indicates the ambient temperature parameter item, Represents the ambient humidity parameter item.

7. The rail transit vehicle rod paint stripping laser cleaning system according to claim 4, characterized in that: The cleaning planning module is configured with a basic frequency correction strategy, including The historical cleaning data of the same model of rods is obtained, including the number of cleanings, cleaning parameters and the cleanliness of the rod surface. If the overlap of the area to be cleaned in multiple cleanings is greater than the preset cleaning overlap threshold, the basic pulse frequency of the corresponding cleaning sub-area is increased.

8. The rail transit vehicle rod paint stripping laser cleaning system according to claim 5, characterized in that: The cleaning planning module is configured with a basic speed correction strategy, including The historical cleaning data of the same model of rods is obtained, including the number of cleanings, cleaning parameters and the cleanliness of the rod surface. If the overlap of abnormal areas in multiple cleanings is greater than the preset abnormal overlap threshold, the basic scanning speed of the corresponding cleaning sub-area is increased.

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