Miniaturized laser cleaning device suitable for operation in narrow space and cleaning method

Abstract

The invention discloses a miniaturized laser cleaning device suitable for operation in a narrow space and a cleaning method. The laser cleaning device comprises a laser cleaning head, a lens protection device, a fixed-focus moving device, an external moving device, a sensor assembly and an intelligent control system. The laser cleaning head is connected with the laser light source device through the standard connecting interface; the lens protection device is connected with the laser cleaning head; the fixed-focus moving device is arranged on the lens protection device; the external moving device is connected with the laser cleaning head; the sensor assembly is arranged on the laser cleaning head; the intelligent control system is connected with the laser cleaning head, the laser light source device, the lens protection device and the sensor assembly. The device has the advantages that the structure is compact, operation is flexible, the cleaning effect is not affected by experience of operators and working condition environmental factors, and the efficient and stable cleaning requirement in a narrow space is met.

Description

Technical Field

[0001] The present invention relates to the technical field of laser cleaning, and in particular to a miniaturized laser cleaning device and a cleaning method suitable for operations in narrow spaces. Background Art

[0002] Most common laser cleaning heads on the market are designed for open spaces, have large volumes and high power output, and are suitable for cleaning large areas or easily accessible surfaces. The following problems exist:

[0003] 1. Poor adaptability to narrow spaces: Unable to flexibly adapt to the working conditions in narrow spaces to perform cleaning operations.

[0004] 2. Difficulty in operation: Due to space limitations, the operator's line of sight and operating space are limited, which increases the complexity and risk of operation.

[0005] 3. It is easily affected by the operating experience of the personnel, and the cleaning effect cannot be guaranteed: in a narrow space, the focusing and positioning accuracy of the laser beam are easily disturbed when the operator is working, and the cleaning process is different, which affects the cleaning effect.

[0006] 4. The lens protection method is limited and the service life of wearing parts is reduced: Compressed air is usually used as the lens protection gas, but due to the operating conditions, it is impossible to provide an air source that meets the requirements. The cleaning effect cannot be guaranteed during operation and the service life of consumables is affected.

[0007] 5. Occupational health and safety hazards for operators: When working at close range in a narrow space, the concentration of pollutant solids floating in the air after cleaning increases, which may affect the health of operators and pollute the environment. Laser beams may cause potential harm to operators or the surrounding environment due to improper irradiation.

[0008] 6. One device cannot take into account both large-surface cleaning in open spaces and cleaning in narrow spaces: In current laser cleaning machines, one laser source is equipped with a set of cleaning heads. If the structure of the cleaned parts is complex and requires both large-surface cleaning and narrow-space cleaning, only the cleaning head for the narrow space can be used, which reduces the overall cleaning efficiency. Alternatively, an additional set of large-surface conventional laser cleaning machines can be equipped, which greatly increases the operation and maintenance costs of the cleaning operation. Summary of the invention

[0009] The object of the present invention is to provide a miniaturized laser cleaning device and a cleaning method suitable for narrow space operations, thereby solving the above-mentioned problems existing in the prior art.

[0010] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0011] A miniaturized laser cleaning device adapted for operation in narrow spaces, comprising a laser cleaning head, a lens protection device, a fixed-focus moving device, an external moving device, a sensor assembly, and an intelligent control system;

[0012] The laser cleaning head is connected to the laser light source device through a standard connection interface, and is used to change the laser light path so that the laser irradiates the surface of the workpiece to be cleaned to achieve laser cleaning;

[0013] The lens protection device is connected to the laser cleaning head, and is used to remove the soot generated during the laser cleaning process, avoiding blocking the cleaning light path and polluting the lens and the environment;

[0014] The fixed-focus moving device is arranged on the lens protection device, and is used to move closely along the surface of the workpiece to be cleaned to ensure that the distance between the laser cleaning head and the surface of the workpiece to be cleaned remains unchanged during the cleaning process;

[0015] The external moving device is connected to the laser cleaning head, and is used to change the cleaning height and angle of the laser cleaning head;

[0016] The sensor assembly is arranged on the laser cleaning head, and is used to monitor the position and attitude of the laser cleaning head in the narrow space in real time, as well as the temperature during the cleaning process, and is also used to monitor the irradiation range of the laser in real time;

[0017] The intelligent control system is connected to the laser cleaning head, the laser light source device, the lens protection device, and the sensor assembly, and is used to provide clear visual feedback and accurate navigation information for the operator according to the cleaning state of the laser cleaning head in the narrow space, the material of the workpiece to be cleaned, and the type of surface contaminants, and intelligently plan the cleaning process strategy to adaptively adjust the cleaning process parameters.

[0018] Preferably, the laser cleaning head includes a housing and an optical path adjustment mechanism; the optical path adjustment mechanism includes a galvanometer assembly and a focusing lens; an L-shaped installation channel with both ends communicating with the outside is arranged inside the housing, the galvanometer assembly and the focusing lens are respectively installed in the vertical part and the horizontal part of the L-shaped installation channel, and a standard connection interface is connected to the lower end of the vertical part of the L-shaped installation channel; the laser cleaning head is connected to the standard connection interface, the standard connection interface is connected to the laser light source device, and the laser emitted by the laser light source device is irradiated onto the surface of the workpiece to be cleaned through the optical path adjustment mechanism.

[0019] Preferably, the galvanometer motor in the galvanometer assembly is controlled by a closed-loop control algorithm based on real-time feedback; the closed-loop control algorithm based on real-time feedback introduces a high-precision position feedback mechanism, and dynamically adjusts the control signal according to the actual position and speed of the galvanometer motor, so that the galvanometer motor can quickly and accurately reach the target position; a vibration suppression strategy is introduced in the closed-loop control algorithm based on real-time feedback, which can dynamically adjust the control parameters according to the vibration condition of the galvanometer motor to suppress vibration and improve the motion stability.

[0020] Preferably, the standard connection interface integrates a standard optical fiber interface, a standard electrical interface and a standard mechanical interface, and corresponding interface transmission protocols are customized for different laser cleaning heads in the standard connection interface, so that the laser light source device can adapt to different types of laser cleaning heads through the standard connection interface.

[0021] Preferably, the lens protection device includes an installation main body, a splash isolation plate, a lens protection power mechanism and an air duct; the installation main body is connected to the laser emission side of the laser cleaning head; a splash isolation plate protrudes upward from one side of the installation main body away from the laser cleaning head, and the splash isolation plate extends on the laser emission optical path of the laser cleaning head, and a narrow slit for the laser to pass through is arranged at a position of the splash isolation plate facing the laser emission optical path; two air ducts penetrating through the upper and lower ends thereof are vertically arranged in parallel in the installation main body, and a lens protection power mechanism is arranged in the air ducts.

[0022] Preferably, the lens protection device further includes a soot diversion plate, a smoke purifier and a two-in-one dust collection port; the soot diversion plate is arranged between the splash isolation plate and the laser cleaning head, the upper end of the soot diversion plate is fixedly connected to the splash isolation plate, and the lower end of the soot diversion plate is arranged to incline downward and extend to the upper end of the air duct; the lower end of at least one air duct is connected with a two-in-one dust collection port, and the two-in-one dust collection port is connected to the smoke purifier through a dust collection pipe.

[0023] Preferably, the fixed-focus moving device includes a moving mechanism and a moving connection tooling; the installation main body is detachably connected to the laser emission side of the laser cleaning head through the moving connection tooling, and the moving connection tooling can change the distance between the installation main body and the laser cleaning head; a moving mechanism is arranged on the surface of one side of the installation main body away from the laser cleaning head, and the moving mechanism is arranged to avoid the narrow slit on the splash isolation plate; the moving side of the moving mechanism contacts the surface of the workpiece to be cleaned, so that the distance between the laser cleaning head and the surface of the workpiece to be cleaned remains unchanged during the operation of the laser cleaning device.

[0024] Preferably, the external mobile device includes a telescopic mobile base and a telescopic connection tooling. The laser cleaning head is connected to the telescopic connection tooling, and the telescopic connection tooling is detachably and rotatably connected to the telescopic mobile base, enabling the telescopic connection tooling to achieve relative rotation in the X plane and the Y plane with respect to the telescopic mobile base; when the telescopic connection tooling and the telescopic mobile base are used in combination, the operator holds the telescopic connection tooling to drive the laser cleaning head to clean a large-range cleaning work surface with good accessibility to the workpiece to be cleaned; when the telescopic connection tooling is used alone, the operator holds the telescopic connection tooling to drive the laser cleaning head to clean a small-range cleaning work surface with poor accessibility to the workpiece to be cleaned.

[0025] Preferably, the intelligent control system includes a laser cleaning head identification and control module, a cleaning process strategy customization module, a laser light source control module, a laser light path control module, a visual feedback display module, and a safety protection control module;

[0026] When the laser cleaning head identification and control module is plugged into different types of laser cleaning heads through a standard connection interface, it can automatically identify the category of the laser cleaning head;

[0027] The cleaning process strategy customization module integrates a cleaning process parameter library suitable for workpieces to be cleaned with different materials and different types of pollutants, and is used to formulate corresponding cleaning process strategies according to the workpieces to be cleaned with different materials and the types of surface pollutants;

[0028] The laser light source control module adaptively adjusts the process parameters of the laser light source device according to the corresponding cleaning process strategy and the on-site cleaning effect;

[0029] The laser light path control module adaptively adjusts the process parameters of the light path adjustment mechanism according to the corresponding cleaning process strategy and the on-site cleaning effect;

[0030] The visual feedback display module receives the information feedback of the visual sensor, position sensor, and temperature sensor in the sensor assembly in real time, and displays the cleaning effect information of the laser cleaning head in a narrow space on the user side, facilitating the user to adjust the laser cleaning process parameters in a timely manner;

[0031] The safety protection control module receives the information feedback of the photosensitive sensor in the sensor assembly in real time. When the photosensitive sensor detects that the laser exceeds the working range or the laser approaches the operator, it sends an instruction to cut off the signal source to the laser light source control module.

[0032] The object of the present invention also lies in providing a cleaning method suitable for working in a narrow space. The cleaning method is realized by using the miniaturized laser cleaning device described above. The method includes the following steps:

[0033] S1. After connecting the laser cleaning device to the power supply, enter the intelligent navigation control mode;

[0034] S2. Press the fixed-focus moving device tightly against the surface of the workpiece to be cleaned;

[0035] S3. The intelligent control system determines the substrate and contaminant types on the surface of the workpiece to be cleaned according to the relevant data transmitted by the vision sensor in the sensor assembly;

[0036] S4. The intelligent control system calls the pre-established cleaning process parameter library and automatically matches the optimal cleaning process strategy;

[0037] S5. The intelligent control system transfers the customized process parameters in the matched cleaning process strategy to the laser light source device and the laser cleaning head, and controls the output of the laser light source and the parameter adjustment of the optical path according to the established process parameters;

[0038] S6. The laser light source device and the laser cleaning head are started, and the laser light source emitted by the laser light source device is irradiated onto the surface of the workpiece to be cleaned after the optical path is adjusted by the laser cleaning head for cleaning work;

[0039] S7. The lens protection device collects the soot generated during the laser cleaning process;

[0040] S8. The vision sensor, position sensor and temperature sensor in the sensor assembly continuously transmit the scene of the cleaning operation surface to the intelligent control system and display the working state of the laser cleaning head for the user; if there is uncleaned or over-oxidized phenomenon on the surface of the workpiece to be cleaned, the intelligent control system rematches the corresponding cleaning process strategy, adaptively adjusts the process parameters of the laser light source device and the laser cleaning head, and then tries again.

[0041] The beneficial effects of the present invention are as follows: 1. Significantly improve spatial adaptability: Through miniaturized design, the size and working focal length of the laser cleaning head are compressed to the extreme. The size of the laser cleaning head + the working distance of the cleaning head < 125 mm, enabling the laser cleaning head to easily handle various narrow spaces and broaden the application range. 2. Significantly improve adaptability to working conditions: The laser cleaning head is equipped with a lens protection power mechanism, eliminating the need for a qualified gas source in the working environment and enabling it to be applicable to more working conditions. 3. Reduce the difficulty of operating in narrow spaces: Through the intelligent control system, clear visual feedback and accurate navigation information are provided to the operator, facilitating the operator to promptly grasp the cleaning effect and greatly reducing the operation complexity and risk. 4. Enhance the ease of use of cleaning: Through the intelligent control system, the appropriate cleaning process is intelligently selected for operation, reducing the dependence on the operator's experience, and assisting the fixed-focus moving device, thus greatly improving the cleaning efficiency and the stability of the cleaning effect. 5. Enhance operation safety: The lens protection device and sensors designed on the laser cleaning head effectively reduce the safety hazards and environmental impact during the laser cleaning process, protecting the safety of the operator and the surrounding environment. 6. Reduce the user's usage cost: The laser cleaning head adopts a standard connection interface, which is plug-and-play. For working conditions that previously required purchasing two sets of cleaning equipment to meet the cleaning requirements, now only one set of cleaning equipment can be equipped with different cleaning heads to meet the requirements, greatly reducing the user's usage and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is the assembly drawing of the laser cleaning head, lens protection device, fixed-focus moving device and standard connection interface in the embodiment of the present invention;

[0043] Figure 2 is the assembly drawing of the laser cleaning head, lens protection device, fixed-focus moving device and standard connection interface from another perspective in the embodiment of the present invention;

[0044] Figure 3 is the cross-sectional view of the laser cleaning head in the embodiment of the present invention;

[0045] Figure 4 is the cross-sectional view of the lens protection device in the embodiment of the present invention;

[0046] Figure 5 is the side view of the lens protection device in the embodiment of the present invention;

[0047] Figure 6 is the structural diagram of the fixed-focus moving device in the embodiment of the present invention;

[0048] Figure 7 is the assembly process drawing of the laser cleaning head and the fixed-focus moving device in the embodiment of the present invention;

[0049] Figure 8 is the assembly drawing of the laser cleaning head and the fixed-focus moving device in the embodiment of the present invention;

[0050] Figure 9 It is a schematic diagram of the lens protection device and the fixed-focus moving device during the cleaning process in the embodiment of the present invention;

[0051] Figure 10 It is a schematic diagram of the operation of the laser cleaning device in the embodiment of the present invention;

[0052] Figure 11 It is an assembly process diagram of the laser cleaning head and the external moving device in the embodiment of the present invention;

[0053] Figure 12 It is an assembly process diagram of the external moving device in the embodiment of the present invention;

[0054] Figure 13 It is an assembly process diagram of the rotary connection tooling in the embodiment of the present invention;

[0055] Figure 14 It is a schematic diagram of the control of each component during the operation of the laser cleaning device in the embodiment of the present invention.

[0056] 1. Laser cleaning head; 11. Housing; 12. Installation channel; 13. Reflecting mirror; 14. Focusing lens;

[0057] 2. Standard connection interface;

[0058] 3. Lens protection device; 31. Installation main body; 311. Air duct; 312. Lens protection power mechanism; 32. Splash isolation plate; 321. Narrow slit; 33. Smoke and dust diversion plate; 34. Two-in-one dust collection port;

[0059] 4. Fixed-focus moving device; 41. Moving mechanism; 411. Wheel seat; 412. Ball; 42. Moving connection tooling; 421. Tooling main body; 422. Long strip hole; 423. First connection hole; 424. Second connection hole;

[0060] 5. External moving device; 51. Telescopic moving base; 511. Triangular moving bracket; 512. Visual feedback bracket; 513. Telescopic extension rod; 514. Rotary connection tooling; 5141. Connection pin; 5142. Y-plane rotary connecting piece; 5143. XY-plane rotary connecting piece; 5144. X-plane rotary connection base; 52. Telescopic connection tooling; 521. Handle; 522. Telescopic connecting rod; 523. Connecting plate;

[0061] 6. Workpiece to be cleaned; 61. Cleaning working surface;

[0062] 7. Potential smoke and dust aggregation area; 8. Potential smoke and dust diffusion area; 9. Laser cleaning action area; A. Small surface; B. Large surface. Detailed implementation manners

[0063] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0064] Embodiment 1

[0065] As Figure 1 and Figure 2 shown, in this embodiment, in order to solve the problems encountered by existing laser cleaning equipment during close-range operation in narrow spaces, a miniaturized laser cleaning device with a compact structure, flexible operation, and cleaning effects not affected by the operation experience of personnel and working condition environmental factors is provided to meet the high-efficiency and stable cleaning requirements in narrow spaces. The laser cleaning device includes seven core components: a laser cleaning head 1, a standard connection interface 2, a lens protection device 3, a fixed-focus moving device 4, an external moving device 5, a sensor assembly, and an intelligent control system. The following will separately describe these core components:

[0066] I. Laser cleaning head 1

[0067] The laser cleaning head 1 is connected to the laser light source device through the standard connection interface 2 and is used to change the laser light path so that the laser irradiates the surface of the workpiece 6 to be cleaned to achieve laser cleaning.

[0068] As Figure 3 shown, the laser cleaning head 1 includes a housing 11 and an optical path adjustment mechanism; the optical path adjustment mechanism includes a galvanometer assembly and a focusing lens 14; an L-shaped installation channel 12 with both ends communicating with the outside is provided inside the housing 11, and the galvanometer assembly and the focusing lens 14 are respectively installed in the vertical part and the horizontal part of the L-shaped installation channel 12, and the lower end of the vertical part of the L-shaped installation channel 12 is connected to the standard connection interface 2; the laser cleaning head 1 is connected to the standard connection interface 2, the standard connection interface 2 is connected to the laser light source device, and the laser emitted by the laser light source device is irradiated onto the surface of the workpiece 6 to be cleaned through the optical path adjustment mechanism.

[0069] The optical path adjustment mechanism includes a galvanometer assembly and a focusing lens 14. The galvanometer assembly includes a collimating lens, a reflecting mirror 13, a galvanometer, and a galvanometer motor. The collimating lens is arranged in the vertical part of the installation channel 12, the reflecting mirror 13 is arranged at the turning point of the installation channel 12, the galvanometer and the focusing lens 14 are arranged in the horizontal part of the installation channel 12, and the galvanometer motor is connected to the galvanometer. The collimating lens converts the laser beam emitted by the laser light source device into a parallel beam to improve the beam quality, and then changes the propagation direction of the laser beam through the reflecting mirror 13. After that, the beam realizes the fast and accurate scanning of the laser through the deflection of the galvanometer driven by the galvanometer motor. Finally, the laser beam is focused by the focusing lens 14 and irradiated onto the surface of the workpiece 6 to be cleaned in the horizontal direction.

[0070] In this embodiment, the galvanometer assembly adopts a simplified structure, reducing the number of reflections and refractions in the optical path, thereby reducing light loss and improving working stability. By reducing the redundant parts in the optical path, the overall size and weight of the laser cleaning head 1 are further reduced. The galvanometer motor in the galvanometer assembly uses an electromagnetic drive motor. By optimizing the control algorithm of the motor, more precise angle control and faster response speed are achieved. The motor control algorithm adopts a closed-loop control algorithm based on real-time feedback, introducing a high-precision position feedback mechanism. According to the actual position and speed of the galvanometer motor, the control signal is dynamically adjusted to enable the galvanometer motor to quickly and accurately reach the target position. In addition, a vibration suppression strategy is added to the control algorithm. According to the vibration situation of the galvanometer motor, the control parameters are dynamically adjusted to suppress vibration and improve motion stability. At the same time, in order to ensure the stability of the optical path, high-precision processing and assembly technologies are used to ensure the position accuracy of the lens and the galvanometer.

[0071] In this embodiment, the galvanometer assembly and other optical elements and mechanical structures are integratedly designed to form a compact module. Through modular design, the galvanometer assembly can be conveniently replaced and upgraded, improving the flexibility and scalability of the laser cleaning head 1.

[0072] II. Standard connection interface 2

[0073] The standard connection interface 2 integrates a standard optical fiber interface, a standard electrical interface, and a standard mechanical interface. In the standard connection interface 2, corresponding interface transmission protocols are customized for different laser cleaning heads 1, enabling the laser light source device to adapt to different types of laser cleaning heads 1 through the standard connection interface 2.

[0074] The laser cleaning head 1 uses the standard connection interface 2 to achieve plug-and-play with the laser light source device. The standard connection interface 2 minimizes the connection cables of the laser cleaning head 1, only including optical fibers, electrical control cables, etc. For different laser cleaning heads 1, the standard connection interface 2 is designed with standardized optical fiber interfaces, electrical interfaces, and mechanical interfaces, and a unified interface transmission protocol is formulated. In the intelligent control system, in addition to customizing standard interfaces and data transmission protocol designs for each laser cleaning head 1, a cleaning head identification and control module is also developed. After the laser cleaning head 1 is replaced, the type of the laser cleaning head 1 is automatically identified, and the matching control program is automatically adapted and called to achieve plug-and-play. Under this condition, users can only purchase 1 set of cleaning equipment, replace the conventional laser cleaning head 1 when cleaning a large area in an open space, and replace the small-sized laser cleaning head when operating in a narrow space, thereby reducing the equipment purchase cost for users while maintaining the best cleaning efficiency.

[0075] III. Lens protection device 3

[0076] The lens protection device 3 is connected to the laser cleaning head 1 and is used to remove the soot generated during the laser cleaning process, avoiding blocking the cleaning optical path and contaminating the lens and the environment.

[0077] As Figure 4 and Figure 5 shown, the lens protection device 3 includes an installation main body 31, a splash isolation plate 32, a lens protection power mechanism 312 and an air duct 311; the installation main body 31 is connected to the laser emission side of the laser cleaning head 1; one side of the installation main body 31 away from the laser cleaning head 1 protrudes upward and extends to form a splash isolation plate 32, the splash isolation plate 32 extends on the laser emission optical path of the laser cleaning head 1, and a narrow slit 321 for the laser to pass through is provided at the position of the splash isolation plate 32 facing the laser emission optical path; two air ducts 311 penetrating through the upper and lower ends thereof are vertically arranged in parallel in the installation main body 31, and a lens protection power mechanism 312 (such as a fan) is provided in the air duct 311.

[0078] The lens protection device 3 further includes a soot diversion plate 33, a smoke purifier and a two-in-one dust collection port 34; the soot diversion plate 33 is arranged between the splash isolation plate 32 and the laser cleaning head 1, the upper end of the soot diversion plate 33 is fixedly connected to the splash isolation plate 32, the lower end of the soot diversion plate 33 is inclined downward and extends to the upper end of the air duct 311; the lower end of at least one air duct 311 is connected to the two-in-one dust collection port 34, and the two-in-one dust collection port 34 is connected to the smoke purifier through a dust collection pipe.

[0079] When the laser cleaning head 1 emits laser to clean the workpiece 6 to be cleaned, a large amount of soot will be generated. These soot will not only pollute the environment and the workpiece 6 to be cleaned, but also contaminate the lens of the laser cleaning head 1, thus affecting the cleaning effect of the laser cleaning head 1. Therefore, in actual use, two air ducts 311 can be set according to actual needs, and at least one air duct 311 is connected to the soot purifier through the two-in-one dust collection port 34. For the conventional paint removal and rust removal treatment of the workpiece to be processed, a combination method of the air duct 311, the lens protection power mechanism 312 and the dust collection and smoke purification can be adopted. For the occasions where the viscosity is large and the splash kinetic energy is large after the degreasing cleaning of the workpiece to be processed, two air ducts 311 can be combined with the lens protection power mechanism 312 to act simultaneously to strengthen the lens protection effect.

[0080] See appendix Figure 9, a splash isolation plate 32 is provided between the installation main body 31 and the laser cleaning head 1. The splash isolation plate 32 is located between the workpiece 6 to be cleaned and the laser cleaning head 1. A narrow slit 321 in the shape of a long and narrow ellipse is provided on the splash isolation plate 32, so as to ensure that the laser emitted by the laser cleaning head 1 can pass through the narrow slit 321 and reach the position to be cleaned of the workpiece 6 to be cleaned smoothly (i.e., the laser cleaning action area 9 in the figure). When the laser cleaning head 1 cleans the workpiece 6 to be cleaned, most of the generated soot can be blocked outside by the splash isolation plate 32 (the potential soot accumulation area 7 in the figure), and a small amount of soot will enter between the splash isolation plate 32 and the laser cleaning head 1 through the narrow slit 321 (the potential soot diffusion area 8 in the figure). In order to prevent the small amount of soot that enters between the splash isolation plate 32 and the laser cleaning head 1 through the narrow slit 321 from contaminating the lens, an air duct 311 and a lens protection power mechanism 312 are provided in the installation main body 31. The lens protection power mechanism 312 introduces the soot into the air duct 311 for discharge, or is supplemented by a two-in-one dust collection port 34 to connect to a smoke purifier to collect and purify the soot, thereby preventing the soot from filling between the splash isolation plate 32 and the laser cleaning head 1. The blocked soot sinks under the action of its own gravity and moves towards the two-in-one dust collection port 34, is collected by the huge suction force generated by the smoke purifier, and is discharged after filtration to reduce environmental pollution.

[0081] In order to ensure that the soot that enters between the splash isolation plate 32 and the laser cleaning head 1 through the narrow slit 321 can smoothly enter the air duct 311, a soot diversion plate 33 is provided between the splash isolation plate 32 and the laser cleaning head 1. The soot diversion plate 33 is inclined, and its lower end extends to the upper end of the air duct 311. When the lens protection power mechanism 312 works, the wind force acts concentratedly, cuts off the movement of the soot, and directly sucks the soot into the air duct 311 to prevent it from moving to the lens and contaminating the lens.

[0082] In this embodiment, in order to protect the components in the optical path from contamination and damage, two lens protection power devices are installed on the laser cleaning head 1 through the installation main body 31, which can replace an external large air compressor or a gas source with a pressure of 0.6 Mpa. Combined with the design of the splash isolation plate 32, the laser cleaning head 1 can be not affected by the on-site working environment conditions, and always stably isolate the direct contact between the cleaning pollutants and the lens during operation, enabling the user to work with confidence under the condition of no gas source, and effectively ensuring the cleaning effect and the service life of the lens.

[0083] The lens protection power device in the air duct 311 sucks and discharges the soot that enters between the splash isolation plate 32 and the laser cleaning head 1 from the narrow slit 321 during the cleaning process. A two-in-one dust collection port 34 can be installed at the lower end of the air duct 311. The soot above the air duct 311 can be discharged into the air duct 311 through the diversion air duct of the lens protection power mechanism 312. For the soot that settles to the lower part of the air duct 311 due to gravity, it is directly collected by the two-in-one dust collection port 34 and discharged into the soot purifier for purification. Thus, the soot generated during the cleaning process is prevented from harming the on-site environment and operators.

[0084] IV. Fixed-focus moving device 4

[0085] The fixed-focus moving device 4 is arranged on the lens protection device 3 and is used to move closely along the surface of the workpiece 6 to be cleaned to ensure that the distance between the laser cleaning head 1 and the surface of the workpiece 6 to be cleaned remains constant during the cleaning process.

[0086] As Figures 6 to 9 shown, the fixed-focus moving device 4 includes a moving mechanism 41 and a moving connection tooling 42; the installation main body 31 is detachably connected to the laser emission side of the laser cleaning head 1 through the moving connection tooling 42, and the moving connection tooling 42 can change the distance between the installation main body 31 and the laser cleaning head 1; a moving mechanism 41 is arranged on the surface of the installation main body 31 away from the laser cleaning head 1, and the moving mechanism 41 is arranged avoiding the narrow slit 321 on the splash isolation plate 32; the moving side of the moving mechanism 41 contacts the surface of the workpiece 6 to be cleaned, so that the distance between the laser cleaning head 1 and the surface of the workpiece 6 to be cleaned remains constant during the operation of the laser cleaning device.

[0087] The moving connection tooling 42 includes a tooling main body 421 and fasteners. Multiple long holes 422 penetrating its opposite sides are respectively arranged at both ends of the tooling main body 421; multiple groups of first connection hole groups are evenly spaced along the vertical direction on the outer wall of one side of the installation main body 31, and each first connection hole group includes multiple first connection holes 423 evenly spaced along the horizontal direction. The fasteners sequentially pass through the long holes 422 at one end of the tooling main body 421 and the corresponding first connection holes 423 to fixedly connect the installation main body 31 and the tooling main body 421; multiple groups of second connection hole groups are evenly spaced along the vertical direction on the outer wall of the housing 11 of the laser cleaning head 1, and each second connection hole group includes multiple second connection holes 424 evenly spaced along the horizontal direction. The fasteners sequentially pass through the long holes 422 at the other end of the tooling main body 421 and the corresponding second connection holes 424 to fixedly connect the laser cleaning head 1 and the tooling main body 421.

[0088] During installation, press the tooling main body 421 tightly against the outer walls of the laser cleaning head 1 and the installation main body 31. Adjust the distance and vertical height between the laser cleaning head 1 and the installation main body 31 according to actual requirements, so as to align the long strip hole 422 with the appropriate first connection hole 423 and second connection hole 424. Then, pass the fastener through the connection holes and the long strip hole 422 to fixedly connect the laser cleaning head 1 and the installation main body 31 to the tooling main body 421 respectively, thus realizing the connection between the laser cleaning head 1 and the installation main body 31. When it is necessary to adjust the installation distance and / or installation height between the laser cleaning head 1 and the installation main body 31, remove the fastener, re-align the long strip hole 422 with the appropriate connection hole and then fasten it with the fastener. Specifically, the number of the long strip hole 422, the first connection hole group, the first connection hole 423, the second connection hole group and the second connection hole 424 can be selected according to the actual situation to better meet the actual requirements.

[0089] In order to reduce the friction between the installation main body 31 and the surface of the workpiece 6 to be cleaned and avoid damaging the surface of the workpiece 6 to be cleaned by the installation main body 31, and at the same time to ensure that the laser cleaning head 1 always maintains a certain distance from the workpiece 6 to be cleaned during the cleaning process to achieve the best cleaning effect, a moving mechanism 41 is provided on the side of the installation main body 31 away from the laser cleaning head 1.

[0090] The moving mechanism 41 includes three rolling wheels, which are arranged at intervals and staggered on the surface of the installation main body 31 close to the workpiece 6 to be cleaned, and the rolling surfaces of the rolling wheels are in contact with the surface of the workpiece 6 to be cleaned. The rolling wheel includes a wheel seat 411 and a ball 412. The wheel seat 411 is fixed on the surface of the installation main body 31 close to the workpiece 6 to be cleaned. Part of the ball 412 extends into the wheel seat 411 and is in contact connection with the wheel seat 411, and the other part of the ball 412 protrudes from the wheel seat 411 and is in contact with the surface of the workpiece 6 to be cleaned.

[0091] By contacting the surface of the workpiece 6 to be cleaned through the ball 412, the contact area between the installation main body 31 and the surface of the workpiece 6 to be cleaned is reduced, ensuring a smoother cleaning process and ensuring that the focal length (i.e., the Figure 2 lateral distance d) of the laser cleaning head 1 remains unchanged during the cleaning process, and achieving a stable cleaning effect.

[0092] In this embodiment, a fixed-focus moving device 4 is installed on the laser cleaning head 1. During laser cleaning, the fixed-focus moving device 4 is always in contact with the surface of the workpiece 6 to be cleaned, so as to ensure that the distance between the focusing lens 14 and the working surface remains at the focal distance during the process of moving along the surface of the workpiece 6 to be cleaned to change the cleaning position. Moreover, since the fixed-focus moving device 4 can move along the surface of the workpiece 6 to be cleaned, the operator can easily and conveniently push the laser cleaning device to fit the surface of the workpiece 6 to be cleaned, maintaining a stable cleaning effect.

[0093] The fixed-focus moving device 4 utilizes the space-saving design of the lens protection device 3 to always maintain a stable working distance during the operation of the cleaning device. The size of the laser cleaning head 1 + the working distance of the cleaning head < 125 mm, and it can move flexibly in a narrow space to maintain the cleaning effect.

[0094] V. External moving device 5

[0095] The external moving device 5 is connected to the laser cleaning head 1 and is used to change the cleaning height and angle of the laser cleaning head 1.

[0096] As Figure 10 shown, the external moving device 5 includes a telescopic moving base 51 and a telescopic connecting tooling 52. The laser cleaning head 1 is connected to the telescopic connecting tooling 52, and the telescopic connecting tooling 52 is detachably and rotatably connected to the telescopic moving base 51, enabling the telescopic connecting tooling 52 to achieve relative rotation in the X plane and the Y plane with respect to the telescopic moving base 51; when the telescopic connecting tooling 52 and the telescopic moving base 51 are used in combination, the operator holds the telescopic connecting tooling 52 to drive the laser cleaning head 1 to achieve a large-range cleaning working surface 61 with good accessibility to the workpiece 6 to be cleaned (i.e., the inner and outer side walls similar to a cylinder or an ellipsoid, abbreviated as large surface B) for cleaning; when the telescopic connecting tooling 52 is used alone, the operator holds the telescopic connecting tooling 52 to drive the laser cleaning head 1 to achieve a small-range cleaning working surface 61 with poor accessibility to the workpiece to be cleaned (i.e., the top annular surface similar to a cylinder or an ellipsoid, abbreviated as small surface A) for cleaning.

[0097] As Figure 11As shown, the telescopic connection tooling 52 includes a handle 521, a telescopic connecting rod 522, and a connecting plate 523. The handle 521 and the connecting plate 523 are respectively installed at both ends of the telescopic connecting rod 522. The handle 521 is detachably and rotatably connected to the upper end of the telescopic moving base 51. The connecting plate 523 is detachably connected to the laser cleaning head 1. The handle 521 is for the staff to hold the telescopic connection tooling 52 to change the position and angle of the laser cleaning head 1 to achieve cleaning of the corresponding area. The telescopic connecting rod 522 can change its length according to the actual situation to adapt to different cleaning areas. The connecting plate 523 is for installing the laser cleaning head 1 on the telescopic connection tooling 52.

[0098] Specifically: At least one installation hole group is arranged along the width direction of the connecting plate 523. Each installation hole group includes at least two first installation holes spaced along the length direction of the connecting plate 523. Second installation holes are provided on the laser cleaning head 1 corresponding to each of the first installation holes. Fasteners sequentially pass through the first installation holes and the second installation holes to fixedly connect the connecting plate 523 and the laser cleaning head 1. The number of the installation hole groups and the installation holes can be selected according to the actual situation to better meet the actual needs.

[0099] As Figure 12 As shown, the telescopic moving base 51 includes a triangular moving bracket 511, a telescopic extension rod 513, and a rotary connection tooling 514. The upper end of the triangular moving bracket 511 is connected to the lower end of the telescopic extension rod 513. The upper end of the telescopic extension rod 513 is connected to the lower end of the rotary connection tooling 514. The upper end of the rotary connection tooling 514 is detachably connected to the lower side of the handle 521. The triangular moving bracket 511 is the support of the entire moving mechanism 41, which can drive the telescopic connection tooling 52 to move and thus change the distance between the laser cleaning head 1 and the workpiece 6 to be cleaned. The telescopic extension rod 513 can change the height of the telescopic connection tooling 52, and further adjust the height difference between the laser cleaning head 1 and the workpiece 6 to be cleaned, facilitating the cleaning by the laser cleaning head 1. The length of the telescopic extension rod 513 can be adjusted according to the actual situation to adapt to different cleaning requirements. The rotary connection tooling 514 can realize the angle change between the telescopic moving base 51 and the telescopic connection tooling 52. The staff rotates the handle 521 relative to the telescopic moving base 51 in the X plane and / or the Y plane, thereby driving the angle and distance between the laser cleaning head 1 and the workpiece 6 to be cleaned to achieve a better cleaning effect.

[0100] The telescopic moving base 51 further includes a visual feedback bracket 512 and a reflector disposed on the visual feedback bracket 512. The visual feedback bracket 512 is horizontally fixed on the telescopic extension rod 513. By using the visual feedback bracket 512 to mount the reflector on the telescopic extension rod 513, the reflector can reflect the angular and positional relationship between the laser cleaning head 1 and the workpiece 6 to be cleaned, so that it is convenient for the staff to adjust the angular and positional relationship between the laser cleaning head 1 and the workpiece 6 to be cleaned by operating the telescopic moving base 51 and the telescopic connection tooling 52 according to the actual situation, thereby achieving a better cleaning effect.

[0101] As Figure 13 shown, the rotary connection tooling 514 includes an X-plane rotary connection base 5144, a Y-plane rotary connector 5142, an XY-plane rotary adapter 5143, and a connection pin 5141; the lower end of the X-plane rotary connection base 5144 is connected to the telescopic extension rod 513, and a connection hole is provided at the upper end of the X-plane rotary connection base 5144; the Y-plane rotary connector 5142 is U-shaped, and a connecting shaft protruding downward is provided at its bottom, and the connecting shaft correspondingly extends into the connection hole, so that the Y-plane rotary connector 5142 is rotatably connected to the X-plane rotary connection base 5144; outer connection holes penetrating through the front and rear sides are respectively provided on the two extending arms of the Y-plane rotary connector 5142, inner connection holes penetrating through the front and rear sides are provided on the XY-plane rotary adapter 5143, the XY-plane rotary adapter 5143 extends between the two extending arms of the Y-plane rotary connector 5142, and the connection pin 5141 sequentially passes through the outer connection hole and the inner connection hole, so that the XY-plane rotary adapter 5143 is rotatably connected to the Y-plane rotary connector 5142; the upper end of the Y-plane rotary connector 5142 is connected to the handle 521.

[0102] The X-plane rotary connection base 5144 is cylindrical, the XY-plane rotary adapter 5143 is symmetrically U-shaped, the upper part of the Y-plane rotary connector 5142 is cylindrical, and the lower part is hemispherical; the connection pin 5141 is cylindrical. Such a setting can ensure the coaxiality of the connection of the three components, thereby ensuring the accuracy of the rotation of relevant components and improving the accuracy of laser cleaning. The lower part of the Y-plane rotary connector 5142 is set to be spherical, and the surface is smoother, which can be closer to the bottom of the XY-plane rotary adapter 5143, avoiding any object getting stuck between the two and affecting the rotation accuracy of relevant components.

[0103] The lower end of the X-plane rotary connection base 5144 is provided with a lower connection hole, and the upper end of the telescopic extension rod 513 is provided with a lower connection head. The lower connection head is correspondingly and fittingly inserted into the lower connection hole, so that the telescopic extension rod 513 is connected to the X-plane rotary connection base 5144. The upper end of the XY-plane rotary connection member 5143 is provided with an upper connection head, and the lower side of the handle 521 is provided with an upper connection hole. The upper connection head is correspondingly and fittingly inserted into the upper connection hole, so that the XY-plane rotary connection member 5143 is connected to the handle 521.

[0104] In the rotary connection tooling 514, the lower end of the X-plane rotary connection base 5144 is fixedly connected to the telescopic extension rod 513, and the upper end is rotatably connected to the XY-plane rotary connection member 5143. The rotational connection between the X-plane rotary connection base 5144 and the XY-plane rotary connection member 5143 can achieve the relative rotation of the two in the horizontal direction, thereby realizing the relative rotation of the telescopic connection tooling 52 relative to the telescopic moving base 51 in the X plane. The middle part of the XY-plane rotary connection member 5143 is rotatably connected to the Y-plane rotary connection member 5142, and the upper end is connected to the handle 521. The rotational connection between the XY-plane rotary connection member 5143 and the Y-plane rotary connection member 5142 can achieve the relative rotation of the two in the vertical direction, thereby realizing the relative rotation of the telescopic connection tooling 52 relative to the telescopic moving base 51 in the Y plane.

[0105] In this embodiment, the external moving mechanism 41 is connected to the laser cleaning head 1, and is used to support the weights of the laser cleaning head 1, the lens protection device 3, and the focusing moving device 4, and drive these devices to move in a narrow space, change the cleaning height and cleaning angle of the laser cleaning head 1, and achieve a better cleaning effect.

[0106] VI. Sensor Assembly

[0107] The sensor assembly is arranged on the laser cleaning head 1, and is used to monitor the position and posture of the laser cleaning head 1 in a narrow space and the temperature during the cleaning process in real time, and is also used to monitor the irradiation range of the laser in real time.

[0108] The sensor assembly includes a vision sensor, a position sensor, a temperature sensor, and a photosensitive sensor. These sensors are mounted on the laser cleaning head 1. When using the laser cleaning device to clean the surface of the workpiece 6 to be cleaned, the vision sensor and the position sensor feedback the position and posture of the laser cleaning head 1 in a narrow space and whether the surface of the workpiece 6 to be cleaned is cleaned or there is over-oxidation and other cleaning effects in real time, and the temperature sensor feeds back the temperature data of the cleaning process in real time; it is convenient for the user to adjust the process parameters of the relevant devices in time. The photosensitive sensor monitors whether the laser beam deviates from the working range in real time, and when defocusing (beyond the working range) or the laser beam approaches the operator, it sends an instruction to cut off the signal source to the laser light source device.

[0109] VII. Intelligent Control System

[0110] The intelligent control system is the control center of the laser cleaning device. It is connected to the laser cleaning head 1, the laser light source device, the lens protection device 3, and the sensor assembly. It is used to provide clear visual feedback and accurate navigation information for the operator according to the cleaning state of the laser cleaning head 1 in a narrow space and the material and surface pollutant type of the workpiece 6 to be cleaned, and intelligently plan the cleaning process strategy to adaptively adjust the cleaning process parameters. As Figure 14 shown, the intelligent control system includes

[0111] (1) Laser cleaning head 1 recognition module: When the laser cleaning head 1 recognition and control module is plugged into different types of the laser cleaning head 1 at the standard connection interface 2, it can automatically recognize the category of the laser cleaning head 1.

[0112] (2) Cleaning process strategy customization module: The cleaning process strategy customization module integrates a cleaning process parameter library suitable for workpieces 6 to be cleaned with different materials and different pollutant types, and is used to formulate corresponding cleaning process strategies according to the workpieces 6 to be cleaned with different materials and surface pollutant types.

[0113] (3) Laser light source control module: The laser light source control module adaptively adjusts the process parameters of the laser light source device according to the corresponding cleaning process strategy and the on-site cleaning effect (including the position and posture of the laser cleaning head 1 in a narrow space, and the temperature, whether it is cleaned once or over-oxidized, etc. during the cleaning process).

[0114] (4) Laser optical path control module: The laser optical path control module adaptively adjusts the process parameters of the optical path adjustment mechanism according to the corresponding cleaning process strategy and the on-site cleaning effect.

[0115] (5) Visual feedback display module: The visual feedback display module receives the information feedback of the visual sensor, position sensor, and temperature sensor in the sensor assembly in real time, and displays the cleaning effect information of the laser cleaning head 1 in a narrow space on the user side, so as to facilitate the user to adjust the laser cleaning process parameters in time (such as laser output power, repetition frequency, pulse width, scanning speed, scanning width, line spacing, cleaning mode, etc.).

[0116] (6) Safety protection control module: The safety protection control module receives the information feedback of the photosensitive sensor in the sensor assembly in real time. When the photosensitive sensor detects that the laser exceeds the working range or the laser approaches the operator, it sends an instruction to cut off the signal source to the laser light source control module.

[0117] Embodiment 2

[0118] In this embodiment, a cleaning method applicable to working in narrow spaces is provided. The cleaning method is implemented using a laser cleaning device and includes the following steps:

[0119] S1. After connecting the laser cleaning device to the power supply, enter the intelligent navigation control mode;

[0120] S2. Press the fixed-focus moving device 4 tightly against the surface of the workpiece 6 to be cleaned;

[0121] S3. The intelligent control system determines the substrate and contaminant types on the surface of the workpiece 6 to be cleaned according to the relevant data transmitted by the vision sensor in the sensor assembly;

[0122] S4. The intelligent control system calls the pre-established cleaning process parameter library and automatically matches the optimal cleaning process strategy;

[0123] S5. The intelligent control system transfers the customized process parameters in the matched cleaning process strategy to the laser light source device and the laser cleaning head 1, and controls the output of the laser light source and the parameter adjustment of the optical path according to the established process parameters;

[0124] S6. The laser light source device and the laser cleaning head 1 are started. The laser light source emitted by the laser light source device is irradiated onto the surface of the workpiece 6 to be cleaned after the optical path is adjusted by the laser cleaning head 1 for cleaning work;

[0125] S7. The lens protection device 3 collects the soot generated during the laser cleaning process;

[0126] S8. The vision sensor, position sensor, and temperature sensor in the sensor assembly continuously transmit the scene of the cleaning operation surface to the intelligent control system and display the working state of the laser cleaning head 1 for the user. If there is an uncleaned area (the metal base color is not exposed) or overoxidation (excessive energy) on the surface of the workpiece 6 to be cleaned, the intelligent control system re-matches the corresponding cleaning process strategy, adaptively adjusts the process parameters of the laser light source device and the laser cleaning head 1, and then tries again.

[0127] In this embodiment, before implementing the cleaning method, it is necessary to first select a suitable laser cleaning device according to the working surface 61 to be cleaned. A conventional large cleaning device can be used for cleaning in an open space, and a miniaturized laser cleaning device can be used for cleaning in a narrow space. When using a miniaturized laser cleaning device, it is necessary to install and connect the laser cleaning head 1, the lens protection power device, the fixed-focus moving device 4, the standard connection interface 2, and the laser light source device in place, and then install the laser cleaning head 1 on the external moving device 5, and use the external moving device 5 to drive the laser cleaning head 1 to move to a position close to the cleaning surface in the narrow space.

[0128] In this embodiment, the scanning width during each cleaning operation output by the laser cleaning device is a fixed value, such as 50 mm. If the cleaning effect corresponding to the cleaning process parameters is correct, at this time, the operator manually controls the external moving mechanism 41 to reciprocate in the narrow gap 321, so that the working surface of the laser cleaning device moves along the X-axis of the cleaning surface in the narrow space. After completing the cleaning of a line on the X-axis, control the external moving mechanism 41 to move up or down a certain distance (not greater than the scanning width), and repeat the above operations until the cleaning of the working surface in the narrow area is gradually completed. During the entire cleaning operation process, the photosensitive sensor always remains in a monitoring state. When the laser beam approaches the operator or exceeds the set range, the safety protection module is called to automatically cut off the laser output to protect the personal safety of the operator.

[0129] When performing cleaning operations in an open space, disassemble the miniaturized laser cleaning device and replace it with a conventional laser cleaning device connected to a laser light source to form a laser cleaning machine suitable for large-area cleaning. Operate according to conventional operations. At this time, the scanning width can be increased to more than 100 mm, which can greatly increase the overall laser cleaning efficiency of the workpiece.

[0130] By adopting the above technical solutions disclosed in the present invention, the following beneficial effects are obtained:

[0131] The present invention provides a miniaturized laser cleaning device and a cleaning method suitable for working in narrow spaces, which significantly improve the space adaptability: through miniaturized design, the size of the laser cleaning head and the working focal length are compressed to the extreme, and the size of the laser cleaning head + the working distance of the cleaning head < 125 mm, enabling the laser cleaning head to easily handle various narrow spaces and broaden the application range. It significantly improves the adaptability to working conditions: the laser cleaning head is equipped with a lens protection power mechanism, eliminating the need for a qualified gas source in the working environment and being applicable to more working conditions. It reduces the difficulty of working in narrow spaces: through the intelligent control system, clear visual feedback and accurate navigation information are provided to the operator, facilitating the operator to grasp the cleaning effect in real time and greatly reducing the operation complexity and risk. It enhances the cleaning ease of use: through the intelligent control system, the appropriate cleaning process is intelligently selected for operation, reducing the dependence on the operator's operation experience, and assisting the fixed-focus moving device, greatly improving the cleaning efficiency and the stability of the cleaning effect. It enhances the operation safety: the lens protection device and sensor designed on the laser cleaning head effectively reduce the safety hazards and environmental impact during the laser cleaning process, protecting the safety of the operator and the surrounding environment. It reduces the user's usage cost: the laser cleaning head adopts a standard connection interface, which is plug-and-play, enabling a working condition that requires purchasing 2 sets of cleaning equipment to meet the cleaning requirements to be satisfied with only 1 set of cleaning equipment equipped with different cleaning heads, greatly reducing the user's usage and maintenance costs.

[0132] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A miniaturized laser cleaning device adapted for operation in narrow spaces, characterized in that: It includes a laser cleaning head, a lens protection device, a focusing movement device, an external movement device, a sensor assembly and an intelligent control system; The laser cleaning head is connected to a laser light source device through a standard connection interface, and is used to change the laser light path so that the laser irradiates the surface of the workpiece to be cleaned to achieve laser cleaning; The lens protection device is connected to the laser cleaning head, and is used to remove the soot generated during the laser cleaning process, avoiding blocking the cleaning light path and polluting the lens and the environment; The focusing movement device is arranged on the lens protection device, and is used to move closely along the surface of the workpiece to be cleaned to ensure that the distance between the laser cleaning head and the surface of the workpiece to be cleaned remains unchanged during the cleaning process; The external movement device is connected to the laser cleaning head, and is used to change the cleaning height and angle of the laser cleaning head; The sensor assembly is arranged on the laser cleaning head, and is used to monitor the position and posture of the laser cleaning head in a narrow space and the temperature during the cleaning process in real time, and is also used to monitor the irradiation range of the laser in real time; The intelligent control system is connected to the laser cleaning head, the laser light source device, the lens protection device and the sensor assembly, and is used to provide clear visual feedback and accurate navigation information for the operator according to the cleaning state of the laser cleaning head in a narrow space and the material and surface pollutant type of the workpiece to be cleaned, and intelligently plan the cleaning process strategy to adaptively adjust the cleaning process parameters.

2. The miniaturized laser cleaning device adapted for operation in a narrow space according to claim 1, wherein: The laser cleaning head includes a housing and an optical path adjustment mechanism; the optical path adjustment mechanism includes a galvanometer assembly and a focusing lens; an L-shaped installation channel with both ends communicating with the outside is arranged inside the housing, and the galvanometer assembly and the focusing lens are respectively installed in the vertical part and the horizontal part of the L-shaped installation channel, and a standard connection interface is connected to the lower end of the vertical part of the L-shaped installation channel; the laser cleaning head is connected to the standard connection interface, the standard connection interface is connected to the laser light source device, and the laser emitted by the laser light source device is irradiated onto the surface of the workpiece to be cleaned through the optical path adjustment mechanism.

3. The miniaturized laser cleaning device adapted for operation in a narrow space according to claim 2, characterized in that: The galvanometer motor in the galvanometer assembly is controlled by a closed-loop control algorithm based on real-time feedback; the closed-loop control algorithm based on real-time feedback introduces a high-precision position feedback mechanism, and dynamically adjusts the control signal according to the actual position and speed of the galvanometer motor, so that the galvanometer motor can quickly and accurately reach the target position; a vibration suppression strategy is introduced in the closed-loop control algorithm based on real-time feedback, and the control parameters can be dynamically adjusted according to the vibration situation of the galvanometer motor to suppress vibration and improve the movement stability.

4. The miniaturized laser cleaning device adapted for operation in narrow spaces according to claim 1, characterized in that: The standard connection interface integrates a standard optical fiber interface, a standard electrical interface and a standard mechanical interface, and corresponding interface transmission protocols are customized for different laser cleaning heads in the standard connection interface, so that the laser light source device can be adapted to different types of laser cleaning heads through the standard connection interface.

5. The miniaturized laser cleaning device adapted for operation in narrow spaces according to claim 1, characterized in that: The lens protection device includes an installation main body, a splash isolation plate, a lens protection power mechanism, and an air duct; the installation main body is connected to the laser emission side of the laser cleaning head; one side of the installation main body away from the laser cleaning head protrudes upward to form a splash isolation plate, and the splash isolation plate extends on the laser emission optical path of the laser cleaning head. A narrow slit for the laser to pass through is provided at the position of the splash isolation plate facing the laser emission optical path; two air ducts penetrating through the upper and lower ends of the installation main body are vertically arranged in parallel in the installation main body, and a lens protection power mechanism is arranged in the air ducts.

6. The miniaturized laser cleaning device adapted for operation in a narrow space according to claim 5, wherein: The lens protection device further includes a soot diversion plate, a smoke purifier, and a two-in-one dust collection port; the soot diversion plate is arranged between the splash isolation plate and the laser cleaning head. The upper end of the soot diversion plate is fixedly connected to the splash isolation plate, and the lower end of the soot diversion plate is inclined downward and extends to the upper end of the air duct; the lower end of at least one air duct is connected to a two-in-one dust collection port, and the two-in-one dust collection port is connected to the smoke purifier through a dust collection pipe.

7. The miniaturized laser cleaning device adapted for operation in a narrow space according to claim 5, wherein: The fixed-focus moving device includes a moving mechanism and a moving connection tooling; the installation main body is detachably connected to the laser emission side of the laser cleaning head through the moving connection tooling, and the moving connection tooling can change the distance between the installation main body and the laser cleaning head; a moving mechanism is arranged on the surface of one side of the installation main body away from the laser cleaning head, and the moving mechanism is arranged to avoid the narrow slit on the splash isolation plate; the moving side of the moving mechanism contacts the surface of the workpiece to be cleaned, so that the distance between the laser cleaning head and the surface of the workpiece to be cleaned remains unchanged during the operation of the laser cleaning device.

8. The miniaturized laser cleaning device adapted for operation in narrow spaces according to claim 1, wherein: The external moving device includes a telescopic moving base and a telescopic connection tooling. The laser cleaning head is connected to the telescopic connection tooling, and the telescopic connection tooling is detachably and rotatably connected to the telescopic moving base, so that the telescopic connection tooling can relatively rotate in the X plane and the Y plane with respect to the telescopic moving base; when the telescopic connection tooling and the telescopic moving base are used in combination, the operator holds the telescopic connection tooling to drive the laser cleaning head to clean a large-range cleaning working surface with good accessibility to the workpiece to be cleaned; when the telescopic connection tooling is used alone, the operator holds the telescopic connection tooling to drive the laser cleaning head to clean a small-range cleaning working surface with poor accessibility to the workpiece to be cleaned.

9. The miniaturized laser cleaning device adapted for operation in a narrow space according to claim 1, wherein: The intelligent control system includes a laser cleaning head identification and control module, a cleaning process strategy customization module, a laser light source control module, a laser optical path control module, a visual feedback display module, and a safety protection control module; The laser cleaning head identification and control module can automatically identify the type of the laser cleaning head when it is plugged and connected to different types of laser cleaning heads through a standard connection interface; The cleaning process strategy customization module integrates a cleaning process parameter library adapted to workpieces to be cleaned of different materials and different types of pollutants, and is used to formulate corresponding cleaning process strategies according to workpieces to be cleaned of different materials and the types of surface pollutants; The laser light source control module adaptively adjusts the process parameters of the laser light source device according to the corresponding cleaning process strategy and the on-site cleaning effect; The laser optical path control module adaptively adjusts the process parameters of the optical path adjustment mechanism according to the corresponding cleaning process strategy and the on-site cleaning effect; The visual feedback display module receives the information feedback of the visual sensor, position sensor and temperature sensor in the sensor component in real time, and displays the cleaning effect information of the laser cleaning head in a narrow space on the user side, so as to facilitate the user to adjust the laser cleaning process parameters in time; The safety protection control module receives the information feedback of the photosensitive sensor in the sensor component in real time. When the photosensitive sensor detects that the laser exceeds the working range or the laser approaches the operator, it sends an instruction to cut off the signal source to the laser light source control module.

10. A cleaning method applicable to operations in narrow spaces, characterized in that: The cleaning method is implemented by using the miniaturized laser cleaning device according to any one of claims 1 to 9. The method includes the following steps: S1. After connecting the laser cleaning device to the power supply, enter the intelligent navigation control mode; S2. Press the fixed-focus moving device tightly against the surface of the workpiece to be cleaned; S3. The intelligent control system judges the substrate and pollutant types on the surface of the workpiece to be cleaned according to the relevant data transmitted by the visual sensor in the sensor component; S4. The intelligent control system calls the pre-established cleaning process parameter library and automatically matches the optimal cleaning process strategy; S5. The intelligent control system transmits the customized process parameters in the matched cleaning process strategy to the laser light source device and the laser cleaning head, and controls the output of the laser light source and the parameter adjustment of the optical path according to the established process parameters; S6. The laser light source device and the laser cleaning head are started. The laser light source emitted by the laser light source device is irradiated onto the surface of the workpiece to be cleaned after the optical path is adjusted by the laser cleaning head for cleaning work; S7. The lens protection device collects the soot generated during the laser cleaning process; S8. The visual sensor, position sensor and temperature sensor in the sensor component transmit the scene of the cleaning operation surface to the intelligent control system in real time and display the working state of the laser cleaning head for the user; if there is uncleaned or over-oxidized phenomenon on the surface of the workpiece to be cleaned, the intelligent control system re-matches the corresponding cleaning process strategy, adaptively adjusts the process parameters of the laser light source device and the laser cleaning head, and then tries again.

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