A handheld laser cleaning and marking gun head assembly and a laser cleaning and marking machine

Abstract

An embodiment of the present application provides a handheld laser cleaning and marking gun head assembly and a laser cleaning and marking machine, comprising: a gun head, the gun head having a laser emitting end and a rotating end; a holding structure, the rotating end of the gun head being rotatably connected to the holding structure; an inclination detection structure, the inclination detection structure being arranged in the gun head, the inclination detection structure being used to detect the inclination angle of the gun head; a control system, the control system being used to adjust the angle of the gun head according to the inclination angle detected by the inclination detection structure, so that the laser beam emitted from the laser emitting end of the gun head is perpendicular to the surface of the workpiece, the inclination angle of the gun head is detected in real time by the inclination detection structure, and the control system drives the angle adjustment mechanism to automatically correct it, ensuring that the laser beam always perpendicularly impinges on the surface of the workpiece, which has the advantages of eliminating manual operation errors and improving processing accuracy and stability.

Description

Technical Field

[0001] The present application relates to the technical field of laser processing equipment, and in particular to a handheld laser cleaning and marking gun head assembly. Background Art

[0002] Currently, handheld MOPA laser cleaning and marking machines are widely used in surface treatment of metals, plastics, and other materials, such as cleaning and marking, due to their portability. However, in actual handheld operation, there are many problems that need to be solved:

[0003] Angle deviation problem: It is difficult to always ensure that the gun head and the workpiece surface are perpendicular using manual gripping, which will cause the laser beam incident angle to tilt.

[0004] Working distance fluctuation: The angular deviation between the gun tip and the workpiece surface will cause the distance between the gun tip and different positions on the same processing surface to vary. Once this distance difference exceeds the laser focal depth range, it will cause uneven energy density distribution.

[0005] Inconsistent processing results: Changes in working distance and focus offsets can cause significant fluctuations in cleaning depth or marking clarity. This requires operators to repeatedly rework, significantly reducing work efficiency.

[0006] Therefore, there is an urgent need for a handheld laser cleaning and marking gun head assembly that can solve the problems of inconsistent processing distance and focus offset caused by angle deviation when handheld laser cleaning and marking equipment is operated, thereby improving the uniformity of the processing effect. Summary of the Invention

[0007] The embodiments of the present application provide a handheld laser cleaning and marking gun head assembly and a laser cleaning and marking machine, which aim to solve the problems of inconsistent processing distance and focus offset caused by angle deviation when handheld laser cleaning and marking equipment is operated, thereby improving the uniformity of the processing effect.

[0008] In a first aspect, an embodiment of the present application provides a handheld laser cleaning and marking gun head assembly, comprising:

[0009] A gun head, the gun head having a laser emitting end and a rotating end;

[0010] A gripping structure, wherein the rotating end of the gun head is rotatably connected to the gripping structure;

[0011] An inclination angle detection structure is provided in the gun head and is used to detect the inclination angle of the gun head;

[0012] A control system is used to adjust the angle of the gun head according to the tilt angle detected by the tilt detection structure so that the laser beam emitted by the laser emitting end of the gun head is perpendicular to the surface of the workpiece.

[0013] In a possible implementation, the device further includes a display structure, which displays the tilt state of the gun head according to the tilt angle of the gun head acquired by the control system.

[0014] In a possible embodiment, the display structure includes a plurality of indicator lights respectively arranged on the holding structure along a first direction and a second direction, and the control system controls the lighting areas corresponding to the indicator lights to indicate the tilting direction of the gun head.

[0015] In one possible embodiment, the multiple indicator lights include a central indicator light and at least four outer indicator lights, and the four outer indicator lights are respectively arranged on both sides of the central indicator light along the first direction and the second direction with the origin of the central indicator light. The control system controls the different colors of the indicator lights to indicate the tilt amplitude of the gun head. The control system is used to control the central indicator light to light up when the inclination detection structure detects that the gun head is not tilted. The control system is used to control the lighting area indication corresponding to the outer indicator lights when the inclination detection structure detects that the gun head is tilted.

[0016] In one possible embodiment, the inclination detection structure includes an inclination sensor, which is used to detect and output in real time the inclination angle θx and the inclination angle θy of the gun head around the first direction. The control system is preset with a first direction target angle θx0 and a second direction target angle θy0. The control system compares the received θx and θy with the corresponding θx0 and θy0.

[0017] In one possible embodiment, the tilt detection structure further includes a laser ranging sensor, which is used to obtain a distance value D between the gun head and the target plane in real time, and the control system derives focus offsets ΔX and ΔY based on the tilt angles θx, θy and the distance value D;

[0018] The relationship between the focus offset ΔX, ΔY, the tilt angle θx, θy and the distance value D is as follows:

[0019] ΔX=D*tan(θx-θx0), ΔY=D*tan(θy-θy0).

[0020] In one possible embodiment, a tilt adjustment mechanism is further included, the tilt adjustment mechanism including a servo motor. The control system reads the tilt angles θx, θy, and the distance value D in real time. The control system generates corresponding compensation instructions based on the focus offsets ΔX and ΔY to control the servo motor target displacement to perform offset compensation so that θx and θy are equal to corresponding θx0 and θy0. The relationship between the servo motor target displacement and the focus offset ΔX / ΔY is as follows:

[0021] Servo motor target displacement ΔX / ΔY = focus offset / K*2π / L+Δb;

[0022] Where Δb is the transmission backlash precompensation value, K is the ratio of the servo motor's input shaft speed to its output shaft speed, and L is the servo motor's lead screw.

[0023] In a possible implementation manner, a wireless transmission structure is further included, and the wireless transmission structure sends the tilt angle of the tilt sensor received by the control system to a terminal device.

[0024] In a possible implementation, a vibration structure is further included, wherein the vibration structure has a vibration source, and the control system controls the vibration intensity and / or vibration frequency corresponding to the vibration source according to the tilt angle received from the tilt sensor.

[0025] In a second aspect, an embodiment of the present application further provides a laser cleaning and marking machine, comprising:

[0026] body;

[0027] The handheld laser cleaning and marking gun head assembly according to any one of claims 1 to 9, wherein the handheld laser cleaning and marking gun head assembly is connected to the machine body.

[0028] The embodiments of the present application provide a handheld laser cleaning and marking gun head assembly and a laser cleaning and marking machine, which detect the inclination angle of the gun head in real time through an inclination detection structure, and the control system drives the angle adjustment mechanism to automatically correct it, ensuring that the laser beam always enters the workpiece surface perpendicularly, and has the advantages of eliminating manual operation errors and improving processing accuracy and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0030] Figure 1 A schematic diagram of the process of cleaning and marking the handheld laser marking gun head assembly provided for this application;

[0031] Figure 2 A schematic diagram of the structure of the handheld laser cleaning and marking gun head assembly provided for this application;

[0032] Figure 3 The intention of the tilt sensor for the handheld laser cleaning and marking gun head assembly provided in this application;

[0033] Figure 4 The display structure of the handheld laser cleaning and marking gun head assembly provided in this application is based on the display diagram of the gun head in the tilted state.

[0034] Figure numerals: 1. Tilt sensor; 2. Control system; 3. Tilt adjustment mechanism; 4. Display structure; 41. Central indicator light; 42. External indicator light; 5. Vibration structure; 6. Wireless transmission mechanism; 7. Gun head; 8. Holding structure; 9. Laser beam; 10. Workpiece.

[0035] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0036] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0037] In related technologies, during handheld laser cleaning and marking operations, the dynamic deviation between the incident angle of the laser beam and the normal to the workpiece surface causes the focus position to shift and the energy density distribution to become unstable. The real-time fluctuation of the gun head posture during manual gripping causes the laser beam propagation path to form a non-vertical angle with the workpiece surface. This angle change causes the projection deformation of the laser focal spot on the processing plane and a breakthrough of the critical threshold of the depth of focus. Among them, when the incident angle of the laser beam deviates from the vertical direction, the refraction effect of the light path causes the actual action area to deviate from the preset coordinates. At the same time, the change in the distance between the gun head and the workpiece causes the focal plane and the processing surface to have an axial offset. The coupling effect of the two causes an abnormal energy flux density gradient distribution.

[0038] For example, when cleaning the oxide layer on the surface of an aluminum alloy sheet, the operator moves the gun tip along a curved surface, tilting it 5° around the X-axis. This creates an elliptical focal spot on the workpiece surface, and the energy density along the long axis drops to 70% of the critical focal depth. When the gun tip is tilted 3° along the Y-axis and the distance from the workpiece increases by 2 mm, the focal spot diameter increases, causing the energy density per unit area to fall below the oxide layer ablation threshold, requiring secondary processing of the remaining areas.

[0039] These issues lead to nonlinear attenuation of the spatial distribution of laser energy at the processing interface, random fluctuations in material removal rate and heat-affected zone depth, and the appearance of streaky surface defects and microcrack propagation. Uncontrollable processing accuracy forces the equipment to reduce output power to avoid the risk of overburning, thereby extending the single operation cycle. Repeated processing also increases the thermal load on optical components and shortens the laser's lifespan. Operators must frequently adjust their grip and visually inspect processing quality, significantly increasing neuromuscular stress and limiting the technology's applicability in high-intensity, continuous operations.

[0040] When faced with the above problems, the present application first considers how to sense the posture deviation of the gun head in real time and dynamically compensate for the focus offset. Although the mechanical limit structure of the related technology can limit the tilt range, it cannot adapt to the continuously changing posture adjustment requirements during curved surface processing. If a passive feedback mechanism is adopted, such as using an elastic element to automatically return the gun head to the center, its response speed and reset accuracy are subject to mechanical damping and the operator's grip strength, and it is difficult to eliminate the instantaneous angle deviation caused by high-frequency micro-vibration. In this regard, the present application turns to active control ideas and explores the possibility of combining inclination detection with servo adjustment. Among them, the inclination detection structure needs to simultaneously obtain the angle data of the gun head rotating around multiple axes, and the control system calculates the focus offset based on the real-time angle deviation and drives the actuator to compensate. By comparing the combination of gravity sensor and laser ranging solution.

[0041] The handheld laser cleaning and marking gun head assembly provided in the present application includes: a gun head, a holding structure, an inclination detection structure and a control system. The gun head has a laser emitting end and a rotating end. The rotating end of the gun head is rotatably connected to the holding structure. The inclination detection structure is arranged in the gun head. The inclination detection structure is used to detect the inclination angle of the gun head. The control system is used to adjust the angle of the gun head according to the inclination angle detected by the inclination detection structure so that the laser beam emitted from the laser emitting end of the gun head is perpendicular to the workpiece surface. The inclination angle of the gun head is detected in real time by the inclination detection structure, and the control system drives the angle adjustment mechanism to automatically correct it to ensure that the laser beam always enters the workpiece surface perpendicularly. It has the advantages of eliminating manual operation errors and improving processing accuracy and stability.

[0042] The following specific embodiments describe in detail the technical solution of this application and how it solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The following embodiments of this application are described in conjunction with the accompanying drawings. Wherein, X is the first direction (the length direction of the gun tip 7), Y is the second direction (the width direction of the gun tip 7), and Z is the third direction (the height direction of the gun tip 7).

[0043] In this regard, the present application proposes a handheld laser cleaning and marking gun head assembly, including a gun head 7, a holding structure 8, an inclination detection structure and a control system 2.

[0044] Among them, the gun head 7 has a laser emitting end and a rotating end, which can be made of metal or high-strength plastic material. The laser generator and optical elements are integrated inside. The laser emitting end is used to directionally emit the laser beam 9. The rotating end cooperates with the holding structure 8 through a mechanical connector and can rotate relative to the X and Y directions of the holding structure 8. The structure realizes the angle adjustment of the gun head 7 through the connection between the rotating end and the holding structure 8 to ensure that the laser beam 9 is vertically incident on the surface of the workpiece 10.

[0045] Among them, the holding structure 8 refers to the component for the operator to hold and control the gun head 7. Specifically, an ergonomically designed handle can be adopted. A rotating structure such as a rotating bearing is arranged inside the handle and is connected to the rotating end of the gun head 7, so that the gun head 7 rotates around the X and Y axes. This structure realizes the relative movement between the gun head 7 and the holding part through the rotating connection, providing physical support for the adjustment of the tilt angle.

[0046] The tilt detection structure refers to a device used to measure the tilt angle of the gun tip 7. It can utilize a micromechanical gyroscope, accelerometer, or optical encoder to detect the tilt angle data of the gun tip 7 in real time about a first and second direction. This structure uses a sensor to convert angular deviations into electrical signals, providing feedback to the control system 2. Specifically, the tilt detection structure utilizes a dual-axis micromechanical gyroscope 1 (with a range of ±30° and an accuracy of ±0.1°) embedded within the gun tip 7 near the laser output end, with its X and Y axes perpendicular to the Z axis of the laser beam 9.

[0047] Control system 2 processes inclination data and adjusts the angle of the gun tip 7. Specifically, it can utilize a microcontroller or programmable logic controller (PLC). An internal algorithm compares the detected inclination angle with a preset angle and generates control instructions to drive the actuator. This system uses closed-loop control to adjust the gun tip 7's posture in real time, ensuring that the laser beam 9 is perpendicular to the surface of the workpiece 10. Specifically, control system 2 includes a microprocessor, memory, and actuator drive circuitry, housed within the gripping structure 8.

[0048] This application uses an inclination detection structure to monitor the inclination angle of the gun head 7 in real time, and dynamically adjusts the posture of the gun head 7 in combination with the control system 2, so that the laser beam 9 always vertically impinges on the surface of the workpiece 10, thereby eliminating the focus offset and working distance fluctuation problems caused by manual holding angle deviation, and improving the consistency of the processing effect.

[0049] During operation, the operator holds the gripping structure 8 and aligns the gun tip 7 with the surface of the workpiece 10. The tilt detection structure measures the tilt angle of the gun tip 7 in real time along both the X and Y axes and transmits this data to the control system 2. The microprocessor in the control system 2 calculates the required angle of the gun tip 7 based on a preset algorithm and then adjusts the angle to ensure that the laser beam 9 remains perpendicular to the surface of the workpiece 10 throughout the operation.

[0050] Through the above solution, this application solves the problem of laser beam 9 incident angle deviation caused by unstable hands during handheld laser cleaning and marking operations. By real-time detection of the tilt angle of the gun head 7 and dynamic adjustment, the laser beam 9 is ensured to always be perpendicular to the surface of the workpiece 10, thereby ensuring consistent processing quality. This solution improves the accuracy and efficiency of handheld laser cleaning and marking, reduces rework caused by angle deviation, and reduces the labor intensity of the operator.

[0051] In order to enable the operator to more intuitively obtain the real-time tilt status of the gun head 7 and ensure the efficiency of verticality calibration, the present application further proposes a solution including a display structure 4, which displays the tilt status based on the tilt angle of the gun head 7 obtained by the control system 2.

[0052] Specifically, the tilt detection structure outputs the tilt angle of the gun tip 7 about first and second directions in real time. The control system 2 compares the tilt angles with preset target angles and generates a control signal. The indicator light layout corresponds to the tilt direction, for example, the first direction corresponds to forward and backward tilt, and the second direction corresponds to left and right tilt. By observing the illuminated areas and color changes of the indicator lights on the grip structure 8, the operator can quickly determine the tilt direction and magnitude of the gun tip 7 and manually adjust the grip angle to restore the laser beam 9 to a vertical position.

[0053] Through the above technical solution, the present application realizes the visual display of the tilt state of the gun head 7. The operator can observe the tilt of the gun head 7 in real time, adjust the holding posture in time, and keep the gun head 7 perpendicular to the surface of the workpiece 10. This helps to improve the accuracy and uniformity of laser cleaning and marking, and reduce processing defects caused by angle deviation. At the same time, it also reduces the difficulty of operation, allowing the operator to more intuitively master the correct operation method and improve work efficiency. In addition, it can help the operator develop the habit of maintaining the correct posture and reduce the fatigue caused by long-term operation.

[0054] In some of the above-mentioned schemes of the present application, the display structure 4 assists the operator in adjusting the angle of the gun head 7 through tilt state feedback, in order to further intuitively distinguish the tilt directions of the gun head 7 in the first direction and the second direction, so as to facilitate the operator to quickly identify the specific tilt direction and make precise adjustments.

[0055] The present application further proposes that the display structure 4 includes a plurality of indicator lights respectively arranged on the grip structure 8 along the first direction and the second direction, and the control system 2 controls the lighting areas of the corresponding indicator lights to indicate the tilting direction of the gun head 7.

[0056] Among them, multiple indicator lights are distributed orthogonally along the first direction and the second direction to form a two-dimensional indicator array. The layout of the indicator lights on the surface of the gripping structure 8 forms a spatial correspondence with the tilt direction of the gun head 7. For example, a group of indicator lights arranged horizontally are set on both sides of the first direction, and a group of indicator lights arranged vertically are set on both sides of the second direction. The control system 2 determines the offset direction of the gun head 7 in the first direction or the second direction based on the tilt angle data output by the tilt detection structure, and activates the indicator light area in the corresponding direction. The indicator lights can use different colors to distinguish the tilt amplitude. For example, green indicates a slight offset and red indicates a serious offset. A central indicator light 41 is set as a reference in the indicator light array. When the gun head 7 is in a vertical state, the central indicator light 41 lights up. When tilted, the outer indicator lights in the corresponding direction light up step by step according to the offset amount.

[0057] Specifically, the inclination detection structure detects the inclination angle of the gun head 7 around the first direction and the second direction in real time, and transmits the data to the control system 2. The control system 2 calculates the direction and degree of deviation of the gun head 7 from the vertical state based on the inclination angle, and generates a control signal to drive the indicator light at the corresponding position to light up. For example, when the gun head 7 is tilted forward in the first direction, the control system 2 lights up the outer indicator light 42 on the positive side of the first direction; when the inclination angle increases, the color of the outer indicator light 42 changes from green to red. By observing the lighting area and color changes of the horizontal and vertical indicator lights on the surface of the gripping structure 8, the operator can quickly determine the tilt direction and amplitude of the gun head 7 in the horizontal plane, and then adjust the gripping angle to restore the central indicator light 41 to the lit state, ensuring that the laser beam 9 is perpendicular to the surface of the workpiece 10. This solution achieves dual indication of direction and amplitude through two-dimensionally distributed indicator lights, reducing operator misjudgment and improving adjustment efficiency and processing accuracy.

[0058] Multiple LED indicators are provided on the grip structure 8 along the first and second directions, respectively. Control system 2 controls the lighting of the corresponding LED indicators based on the tilt angle of the gun head 7 detected by the tilt detection structure. For example, when the gun head 7 is tilted to the left, control system 2 illuminates the left LED indicator; when the gun head 7 is tilted to the right, control system 2 illuminates the right LED indicator. By observing the lighting of the LED indicators, the operator can intuitively understand the tilt direction of the gun head 7 and adjust the gripping posture accordingly.

[0059] Through the above technical solution, the present application can intuitively display the tilt direction of the gun tip 7 to the operator, allowing the operator to quickly identify and correct the posture of the gun tip 7. This improves the accuracy of handheld operation and reduces the problem of uneven processing quality caused by the tilt of the gun tip 7. Furthermore, this solution eliminates the need for the operator to frequently check complex data, reducing operational difficulty and improving work efficiency.

[0060] Specifically, the multiple indicator lights include a central indicator light 41 and four outer indicator lights 42. The four outer indicator lights 42 are respectively arranged on both sides of the central indicator light 41 along the first direction and the second direction with the origin of the central indicator light 41. The control system 2 controls the different colors of the indicator lights to indicate the tilt amplitude of the gun head 7. The control system 2 is used to control the central indicator light 41 to light up when the inclination detection structure detects that the gun head 7 is not tilted. The control system 2 is used to control the lighting area indication of the corresponding outer indicator lights 42 when the inclination detection structure detects that the gun head 7 is tilted.

[0061] The central indicator light 41 is located at the center of the grip structure 8, and the four outer indicator lights 42 are symmetrically distributed around the central indicator light 41 along the horizontal and vertical axes, forming a cross-shaped layout. The indicator lights use a three-color LED module: red indicates a tilt exceeding 5°, yellow indicates a tilt between 2° and 5°, and green indicates a tilt less than 2°. The control system 2 has a built-in color-angle mapping table that matches the corresponding color code based on the real-time tilt angle.

[0062] Specifically, when the inclination sensor 1 detects that the gun head 7 is in a vertical state, the central indicator light 41 displays a green light. When the gun head 7 is tilted 3° around the horizontal axis, the outer indicator light 42 in the tilt direction switches to yellow, and the other outer indicator lights 42 go out. If the tilt angle increases to 6°, the corresponding outer indicator light 42 turns red. By observing the changes in light color, the operator can synchronously perceive the tilt direction and degree of deviation, and then adjust the grip angle in real time. For example, when tilted 4° in the horizontal direction, the outer indicator light 42 on the right displays yellow, prompting the operator to fine-tune the gun head 7 to the left; when the tilt angle is reduced to 1°, the central indicator light 41 returns to green, confirming that the angle calibration is complete. This solution achieves quantitative feedback on the tilt state through dual indication of spatial distribution and color coding.

[0063] Specifically, the central indicator light 41 can be set as a green LED light, and the four outer indicator lights 42 can be set as RGB three-color LED lights. When the gun head 7 is not tilted, the control system 2 controls the central green LED light to light up. When the gun head 7 is tilted, the control system 2 controls the corresponding outer RGB LED lights to light up and display different colors according to the tilt direction and angle. For example, when the tilt angle is less than 5°, it displays green, 5°-10° displays yellow, and greater than 10° displays red. In this way, the operator can intuitively judge the tilt state and degree of the gun head 7, and then adjust the operating posture in time.

[0064] Through the above technical solution, the present application realizes a visual display of the tilt state of the gun head 7. The operator can quickly determine the tilt direction and degree of the gun head 7 by observing the lighting of the indicator light, thereby adjusting the operating posture in a timely manner. This intuitive visual feedback mechanism helps to improve operational accuracy, reduce processing errors caused by the tilt of the gun head 7, and thus improve the quality and efficiency of laser cleaning and marking. At the same time, the design of different colors indicating different tilt degrees provides operators with more detailed reference information, which is conducive to more precise angle control.

[0065] The present application further proposes that the inclination detection structure includes an inclination sensor 1, which is used to detect and output in real time the inclination angle θx and the inclination angle θy of the gun head 7 around the first direction. The control system 2 is preset with a first direction target angle θx0 and a second direction target angle θy0. The control system 2 compares the received θx and θy with the corresponding θx0 and θy0.

[0066] The tilt sensor 1 utilizes a MEMS gyroscope, with its sensitive axes mounted parallel to the first and second axes of the gun head 7. The first and second target angles θx0 and θy0 are set to 0 degrees, corresponding to the baseline value when the gun head 7 is in a standard vertical position. A comparison process is performed by a digital signal processor, creating a two-dimensional angular deviation matrix consisting of θx-θx0 and θy-θy0.

[0067] Specifically, when the operator holds the gun head 7 to perform operations, the inclination sensor 1 continuously collects real-time inclination data around the X-axis and Y-axis. The collected θx and θy are transmitted to the control system 2 at a sampling frequency of 100 Hz, and the difference operation is performed with the preset θx0 and θy0. If it is detected that the deviation between θx and θx0 exceeds ±0.5 degrees or the deviation between θy and θy0 exceeds ±0.5 degrees, the control system 2 immediately generates a correction instruction including the XY plane vector direction. This instruction drives the inclination adjustment mechanism 3 through the servo motor to rotate the gun head 7 around the corresponding axis to compensate for the deviation angle, ensuring that the incident direction of the laser beam 9 always coincides with the surface normal of the workpiece 10. Through the independent comparison of dual-axis angle detection and dual-axis target values, accurate identification and rapid correction of compound tilt states are achieved.

[0068] As a preferred embodiment, the solution of this application is specifically implemented as follows:

[0069] The tilt detection structure includes a tilt sensor 1. Tilt sensor 1 detects and outputs in real time the tilt angle θx and the tilt angle θy of the gun head 7 about a first direction and a second direction. Control system 2, which has preset target angles θx0 and θy0 for the first and second directions, compares the received θx and θy values ​​with the corresponding θx0 and θy0 values.

[0070] The inclination sensor 1 is installed inside the gun head 7 near the laser emitting end. The inclination sensor 1 is arranged in the plane where the first direction and the second direction of the gun head 7 are located, and the gravity direction of the inclination sensor 1 is perpendicular to the third direction of the laser beam 9 emitted by the gun head 7. A mounting slot is provided on the gun head 7, and the inclination sensor 1 is installed in cooperation to achieve directional assembly. Specifically, the inclination sensor 1 is arranged in the plane where the first direction and the second direction of the gun head 7 are located, and the gravity direction of the inclination sensor 1 is perpendicular to the third direction of the laser beam 9 emitted by the gun head 7. A mounting slot is provided on the gun head 7, and the inclination sensor 1 is installed in cooperation to achieve directional assembly.

[0071] Control system 2 communicates with inclination sensor 1 via an I2C interface, reading angle data at a frequency of 100 Hz. The target angles θx0 and θy0 preset in control system 2 are both 0°, indicating that the gun tip 7 is ideally perpendicular to the surface of the workpiece 10. After receiving the real-time angles θx and θy output by inclination sensor 1, control system 2 calculates the deviation from the target angles: ΔX = D*tan(θx - θx0) and ΔY = D*tan(θy - θy0).

[0072] Furthermore, the control system 2 determines the tilt state of the gun tip based on the calculated deviation value. For example, when |Δθx| ≤ 1° and |Δθy| ≤ 1°, the gun tip 7 is considered vertical. When |Δθx| > 1° or |Δθy| > 1°, the gun tip is considered tilted. This allows for real-time monitoring of the gun tip 7's tilt, providing a basis for subsequent angle adjustments.

[0073] Through the above technical solution, the present application realizes real-time and accurate detection of the tilt angle of the gun head 7. The tilt sensor 1 can continuously monitor the tilt angle of the gun head 7 in two directions, and the control system 2 can accurately determine the tilt state of the gun head 7 by comparing it with the preset target angle. This provides a reliable data basis for subsequent angle adjustment and focus correction, helping to ensure that the laser beam 9 always remains perpendicular to the surface of the workpiece 10, thereby improving the uniformity and accuracy of cleaning and marking. At the same time, the solution has a simple structure and is easy to integrate into a handheld device. It does not significantly increase the weight and volume of the gun head 7, maintaining good operability.

[0074] The present application further proposes to add a laser ranging sensor to the inclination detection structure. The laser ranging sensor obtains the distance value D between the gun head 7 and the target plane in real time. The control system 2 calculates the focus offsets ΔX and ΔY based on the inclination angles θx, θy and the distance value D. The relationship between the focus offset and the inclination angle and distance value is as follows: ΔX=Dtan(θx-θx0), ΔY=Dtan(θy-θy0).

[0075] The laser rangefinder is mounted inside the gun head 7 and parallel to the laser output end, ensuring that the measurement direction aligns with the laser beam propagation direction. Control system 2 synchronously receives θx and θy from the tilt sensor 1 and D from the laser rangefinder. It then substitutes these three values ​​into a pre-set trigonometric equation and performs a real-time calculation to determine the lateral offset ΔX and longitudinal offset ΔY of the focus in the plane coordinate system.

[0076] Specifically, when the gun head 7 tilts, the laser ranging sensor continuously measures the vertical distance D between the gun head 7 and the surface of the workpiece 10, while the inclination sensor 1 detects the inclination angles θx and θy of the gun head 7 around the first direction and the second direction. The control system 2 performs difference calculations on the real-time θx and θy with the preset target angles θx0 and θx0, respectively, and substitutes the angle difference and the distance value D into the tan function to calculate the focus offsets ΔX and ΔY. For example, when the difference between θx and θx0 is 5° and D is 100mm, ΔX=100*tan(5°)≈8.75mm. At this time, the control system 2 generates a compensation instruction based on the offset, drives the inclination adjustment mechanism to correct the angle of the gun head 7, and returns the focus position to the theoretical coordinate origin, thereby eliminating the uneven energy density distribution problem caused by the tilt of the gun head 7 and distance fluctuations.

[0077] As a preferred embodiment, the solution of this application is specifically implemented as follows:

[0078] The tilt detection structure also includes a laser distance sensor. The laser distance sensor is used to obtain the distance value D between the gun head 7 and the target plane in real time. The control system 2 calculates the focus offsets ΔX and ΔY based on the tilt angles θx, θy and the distance value D.

[0079] The relationship between the focus offset ΔX, ΔY and the tilt angles θx, θy and the distance value D is as follows: ΔX=D*tan(θx-θx0), ΔY=D*tan(θy-θy0).

[0080] Specifically, the laser distance sensor can employ a triangulation-based sensor. This sensor transmits a laser beam onto the plane of the workpiece 10 and then receives the reflected light. By measuring the angle between the transmitted and received beams and combining this with a known baseline length, the distance D between the gun tip and the plane of the workpiece 10 is calculated using trigonometric functions.

[0081] Control system 2 receives the tilt angles θx and θy from inclination sensor 1, as well as the distance D measured by the laser ranging sensor. Furthermore, control system 2 compares the received θx and θy with the preset target angles θx0 and θy0 to determine the angle difference. Then, control system 2 calculates the focus offsets ΔX and ΔY in the X and Y directions based on the aforementioned equations.

[0082] Thus, the present invention can obtain the distance between the gun head 7 and the surface of the workpiece 10 in real time and calculate the focus offset in combination with the tilt angle, which provides an accurate data basis for subsequent angle adjustment and focus compensation.

[0083] Through the above technical solution, the present application can accurately calculate the focus offset caused by the tilt of the gun head 7. This provides an accurate data basis for subsequent angle adjustment and focus compensation, helping to improve the accuracy of laser cleaning and marking. At the same time, real-time distance measurement and offset calculation enable the system to quickly respond to posture changes during operation, ensuring the consistency of processing quality. In addition, this solution also simplifies the operating process, reduces the burden on operators, and improves work efficiency.

[0084] When the inclination adjustment mechanism 3 performs angle compensation according to the focus offset, in order to avoid the existence of transmission gap and the matching error between the servo motor parameters and the actual displacement, the compensation accuracy is insufficient and the influence of the angle deviation on the processing effect cannot be completely eliminated.

[0085] The present application further proposes that the tilt adjustment mechanism 3 includes a servo motor, a support frame and a mounting frame. Two servo motors are provided. The rotating end of the gun head 7 is provided on the mounting frame. A worm gear is provided between the mounting frame and the support frame. The mounting frame is rotated along the X-axis and is provided on the support frame through the worm gear. The support frame is rotated along the Y-axis and is provided on the holding structure 8. One of the servo motors is used to drive the support frame to rotate along the Y-axis, and the other servo motor drives the worm gear to rotate through the worm.

[0086] Control system 2 reads the inclination angles θx, θy and distance value D in real time, and generates corresponding compensation instructions based on the focus offsets ΔX and ΔY to control the servo motor target displacement for offset compensation so that θx and θy are equal to the corresponding θx0 and θy0. The relationship between the servo motor target displacement and the focus offsets ΔX and ΔY is as follows: Servo motor target displacement = focus offset / K*2π / L+Δb; where Δb is the transmission clearance pre-compensation value, K is the ratio of the servo motor input shaft speed to the output shaft speed, and L is the servo motor's screw lead.

[0087] The servo motor converts rotational motion into linear displacement through a screw drive. The screw lead determines the linear displacement per unit rotation angle. The speed ratio K between the input and output shafts is used to match the motor speed with the response speed of the mechanical transmission system. The transmission backlash pre-compensation value Δb is determined by pre-calibrating the backlash of the mechanical structure to eliminate backlash errors in the transmission chain. The focus offsets ΔX and ΔY are calculated from the difference between the tilt angles θx and θy and the target angles θx0 and θy0, as well as the distance value D. They reflect the deviation of the actual focus from the theoretical vertical position.

[0088] Specifically, after obtaining θx, θy, and D, the control system 2 first calculates the focus offset according to the formulas ΔX=D*tan(θx-θx0) and ΔY=D*tan(θy-θy0), and then substitutes ΔX and ΔY into the servo motor target displacement formula. By dividing the focus offset by the speed ratio K and multiplying it by 2π / L, the linear displacement requirement is converted into the motor rotation angle. The transmission clearance pre-compensation value Δb is superimposed on the calculation result to ensure that the mechanical clearance is compensated in advance when the motor is driven. The servo motor drives the tilt adjustment mechanism according to the target displacement, causing the gun head to rotate in the first direction and the second direction until θx and θy are equal to θx0 and θy0, respectively, at which point the laser beam is perpendicular to the workpiece surface.

[0089] As a preferred embodiment, the solution of this application is specifically implemented as follows:

[0090] The tilt adjustment mechanism includes a servo motor. The control system reads the tilt angles θx, θy, and the distance value D in real time. Based on the focus offsets ΔX and ΔY, the control system generates corresponding compensation instructions to control the servo motor's target displacement to compensate for the offset so that θx and θy are equal to the corresponding θx0 and θy0. The relationship between the servo motor's target displacement and the focus offsets ΔX and ΔY is as follows:

[0091] Servo motor target displacement = focus offset / K*2π / L+Δb.

[0092] Among them, Δb is the transmission gap pre-compensation value, K is the ratio of the servo motor input shaft speed to the output shaft speed, and L is the servo motor's screw lead.

[0093] Specifically, control system 2 uses inclination sensor 1 to obtain the real-time inclination angles θx and θy of the gun head 7 and uses a laser ranging sensor to obtain the distance D between the gun head 7 and the surface of the workpiece 10. Based on the preset target angles θx0 and θy0, it calculates the focus offsets ΔX and ΔY. Furthermore, control system 2 substitutes the focus offsets into the aforementioned equation to determine the target displacement required by the servo motor. This generates corresponding compensation instructions, driving the servo motor to adjust the angle to maintain the gun head in a vertical position.

[0094] Through the above technical solution, the present application achieves automatic compensation for the tilt angle of the gun head 7. As a result, the gun head 7 can always remain perpendicular to the surface of the workpiece 10, avoiding angular deviation caused by manual operation. Furthermore, by precisely controlling the displacement of the servo motor, the present application ensures that the laser focus always falls on the surface of the workpiece 10, effectively solving the problem of focus offset, improving the uniformity and accuracy of laser cleaning and marking, reducing rework operations, and improving processing efficiency.

[0095] The present application further proposes a wireless transmission structure, which transmits the tilt angle of the tilt detection structure received by the control system 2 to the terminal device.

[0096] The wireless transmission structure uses Bluetooth, Wireless Fidelity, or IoT protocols to establish a communication link, with a transmission frequency set to 10 times per second to ensure real-time data. The terminal device is installed with dedicated software to receive and analyze tilt angle data, generating visual charts or storing it in a local database. The wireless transmission module is integrated into the control system 2 circuit board and exchanges data with the main control chip through a serial communication protocol.

[0097] Specifically, the inclination detection structure collects the inclination angle of the gun head 7 in real time. The control system 2 converts the data into a standard format and then sends it to the terminal device via a wireless transmission structure. After receiving the data, the terminal device displays the current inclination angle change trend through the software interface. The operator can remotely monitor the processing status and adjust parameters or terminate the operation when necessary. For example, when using a Bluetooth module for transmission, the effective communication distance is 10 meters and the data packet loss rate is less than 0.1%. When using a Wi-Fi module, the data can be uploaded synchronously to the cloud server and support multi-terminal access. This process realizes the real-time recording and remote management of processing data, facilitating subsequent process optimization and quality traceability.

[0098] As a preferred embodiment, the solution of the present application is specifically implemented as follows: the wireless transmission structure is composed of a Bluetooth module integrated into the grip structure 8, and the serial communication interface of the Bluetooth module is connected to the data output terminal of the control system 2. When the tilt detection structure collects the tilt angle θx of the gun head 7 around the first direction and the tilt angle θy of the second direction in real time, the control system 2 packages the angle data into JSON format through the serial communication protocol, and the Bluetooth module sends the data packet to the smart terminal device worn by the operator in the 2.4GHz frequency band. On the operating interface of the terminal device, the posture angle data of the gun head 7 is displayed in real time through a three-dimensional coordinate system. When it is detected that θx or θy deviates from the preset threshold, the terminal device triggers a buzzer alarm to prompt the operator to adjust the grip angle.

[0099] Through the above technical solution, this application realizes remote real-time monitoring of the equipment posture during laser processing. The operator can obtain accurate posture deviation data through the terminal device without directly observing the gun head 7 body, effectively solving the focus offset problem caused by line of sight obstruction or angle misjudgment during manual grip. When the gun head 7 tilts unexpectedly, the terminal device can immediately issue an alarm signal, avoiding uneven cleaning depth or blurred marking caused by accumulated angle deviation, and ensuring the spatial consistency of energy density on the processing surface.

[0100] The present application further proposes a vibration structure 5, which includes an eccentric motor integrated inside the grip structure 8, and the eccentric motor is electrically connected to the control system 2 via a PWM signal. When the inclination sensor 1 detects that the tilt angle θx of the gun head 7 around the first direction exceeds a preset threshold, the control system 2 sends a PWM signal with a duty cycle of 65% to the eccentric motor, causing the motor to vibrate at a frequency of 200Hz; when θx and θy deviate from the target angle at the same time, the control system 2 switches to a dual-frequency vibration mode, causing the motor to simultaneously output superimposed vibration waveforms of 120Hz and 250Hz. The vibration intensity is controlled in stages by adjusting the motor input voltage. When the θx deviation reaches 5°, the first-level vibration is started, and the voltage is set to 3.3V; when the deviation exceeds 8°, it switches to the second-level vibration, and the voltage is increased to 5V.

[0101] Through the above technical solution, the present application can prompt the operator to adjust the gun holding posture in real time through tactile feedback. When the gun head 7 is tilted, the vibration intensity forms a positive correlation with the angular deviation. The high-frequency vibration pattern can effectively distinguish between single-axis tilt and compound tilt states. This tactile prompt mechanism and visual display form complementary feedback. In strong light environments or scenes with limited operator vision, it can ensure that the laser beam 9 always acts perpendicularly on the surface of the workpiece 10 during processing, avoiding focus shift problems caused by angular deviation.

[0102] Specifically, when the operator holds the device to perform operations, the inclination sensor 1 detects the inclination angle of the gun head 7 around the X-axis and Y-axis in real time. Since the sensor is installed in the working plane of the gun head 7 and the direction of gravity is perpendicular to the laser beam 9, its detection data directly reflects the actual inclination state of the gun head 7. The control system 2 drives the servo motor to adjust the posture of the gun head 7 by comparing the detection angle with the preset vertical angle. For example, when the sensor detects that the X-axis is tilted by 0.5°, the control system 2 calculates the focus offset ΔX=2mm, and then generates a pulse signal to control the servo motor of the X-axis to rotate 1.2 circles for compensation, so that the laser beam 9 is re-vertically aligned with the surface of the workpiece 10. This installation method eliminates the influence of sensor installation errors on detection accuracy, ensuring that the angle deviation can be accurately identified and corrected when the gun head 7 is tilted in any direction.

[0103] As a preferred embodiment, the solution of the present application is specifically implemented as follows: the laser cleaning and marking machine includes a gun head 7 and a handheld component connected thereto, and the gun head 7 has a built-in tilt sensor 1. The sensor is installed inside the gun head 7, and its installation plane is defined by the longitudinal axis and the transverse axis of the gun head 7, and the gravity sensing direction of the sensor is perpendicular to the emission axis of the laser beam 9. The Z axis of the sensor's coordinate system is parallel to the propagation direction of the laser beam 9, and the X axis and Y axis correspond to the tilt detection directions of the length and width directions of the gun head 7 respectively. A sensor fixing bracket is provided inside the outer shell of the gun head 7, and the bracket is rigidly connected to the inner wall of the gun head 7 by four sets of bolts to ensure that the sensor installation plane coincides with the reference plane of the axis of the gun head 7. The signal output end of the sensor is connected to the control system 2 through a shielded cable. The cable is arranged along the preset wire groove on the inner wall of the gun head 7 to avoid interfering with the freedom of movement of the rotating mechanism of the gun head 7.

[0104] Through the above-mentioned technical solution, the present application achieves precise alignment of the sensor mounting reference with the propagation direction of the laser beam 9, eliminating inclination measurement errors caused by deviations in the sensor mounting angle. The sensor's gravitational direction is perpendicular to the laser beam 9, so that when the gun head 7 is tilted, the angular data output by the sensor directly corresponds to the actual inclination of the laser beam 9 and the surface of the workpiece 10. This eliminates the need for coordinate conversion to generate adjustment instructions, reducing computational delays in the control system 2. This structure further improves the response speed of the vertical adjustment of the laser beam 9, ensuring the real-time and accuracy of focus offset compensation under different operating postures.

[0105] This application also discloses an alignment method based on a handheld laser cleaning marking gun head 7 assembly, comprising the following steps:

[0106] The tilt detection structure obtains the tilt angle of the gun head 7 , and the control system 2 controls the tilt adjustment mechanism 3 to adjust the tilt state of the gun head 7 according to the tilt angle and tilt direction obtained by the tilt detection structure.

[0107] The control system 2 also includes controlling the lighting areas and lighting colors of the corresponding central indicator light 41 and at least four outer indicator lights 42 according to the tilt angle and tilt direction, so as to indicate the tilt direction and amplitude of the gun head 7.

[0108] The present application also provides a laser cleaning and marking machine comprising a machine body and the aforementioned handheld laser cleaning and marking gun head 7 assembly, which is connected to the machine body. The machine body, serving as the core control and energy hub of the entire machine, includes a control center that sets parameters such as laser power, frequency, and scanning mode (point / line / surface), and synchronizes these parameters with the control system 2 of the handheld assembly to execute specific operations. The machine body also includes an energy system that provides the handheld assembly with regulated power supplies of 24V (for driving the air valve / motor) and 15V (for the control circuit).

[0109] The handheld laser cleaning and marking gun head 7 component is connected to the body through a hose. The body has a control line for controlling the handheld laser cleaning and marking gun head 7 component and a power line for powering the handheld laser cleaning and marking gun head 7 component. The control line and the power line are connected to the handheld laser cleaning and marking gun head 7 component through a hose.

[0110] Finally, it should be noted that those skilled in the art will readily identify other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. A handheld laser cleaning and marking gun head assembly, characterized by: include: A gun head (7), the gun head (7) having a laser emitting end and a rotating end; A gripping structure (8), wherein the rotating end of the gun head (7) is rotatably connected to the gripping structure (8); An inclination angle detection structure, the inclination angle detection structure is arranged in the gun head (7), and the inclination angle detection structure is used to detect the inclination angle of the gun head (7); A control system (2), the control system (2) being used to adjust the angle of the gun head (7) according to the tilt angle detected by the tilt angle detection structure, so that the laser beam (9) emitted from the laser output end of the gun head (7) is perpendicular to the surface of the workpiece (10); The tilt detection structure comprises a tilt sensor (1), the tilt sensor (1) being used to detect and output in real time a tilt angle θx of a gun head (7) around a first direction and a tilt angle θy of a second direction, the control system (2) being preset with a first direction target angle θx0 and a second direction target angle θy0, and the control system comparing received θx and θy with corresponding θx0 and θy0; The tilt angle detection structure further includes a laser distance sensor, which is used to obtain a distance value D between the gun head (7) and the target plane in real time, and the control system (2) obtains focus offsets ΔX and ΔY according to the tilt angles θx, θy and the distance value D; The relationship between the focus offset ΔX, ΔY, the tilt angle θx, θy and the distance value D is as follows: ； The invention also includes an inclination adjustment mechanism, the inclination adjustment mechanism includes a servo motor, the control system (2) reads the inclination angles θx, θy and the distance value D in real time, and the control system (2) generates corresponding compensation instructions based on the focus offsets ΔX and ΔY to control the servo motor target displacement to perform offset compensation so that θx and θy are equal to the corresponding θx0 and θy0. The relationship between the servo motor target displacement and the focus offset ΔX / ΔY is as follows: Servo motor target displacement ; Where Δb is the transmission backlash precompensation value, K is the ratio of the servo motor's input shaft speed to its output shaft speed, and L is the servo motor's lead screw.

2. The handheld laser cleaning and marking gun head assembly according to claim 1, characterized in that: It also includes a display structure (4), which displays the tilt state of the gun head (7) according to the tilt angle of the gun head (7) obtained by the control system (2).

3. The handheld laser cleaning and marking gun head assembly according to claim 2, characterized in that: The display structure (4) includes a plurality of indicator lights respectively arranged on the holding structure (8) along a first direction and a second direction, and the control system (2) controls the lighting areas corresponding to the indicator lights to indicate the tilting direction of the gun head (7).

4. The handheld laser cleaning and marking gun head assembly according to claim 3, characterized in that: The plurality of indicator lights include a central indicator light (41) and at least four outer indicator lights (42), the four outer indicator lights (42) being respectively arranged on both sides of the central indicator light (41) along a first direction and a second direction with the origin of the central indicator light (41), the control system (2) controlling the different colors of the indicator lights to indicate the tilt amplitude of the gun head (7), the control system (2) being used to control the central indicator light (41) to light up when the tilt detection structure detects that the gun head (7) is not tilted, and the control system (2) being used to control the light-up area indication of the outer indicator lights (42) when the tilt detection structure detects that the gun head (7) is tilted.

5. The handheld laser cleaning and marking gun head assembly according to claim 1, characterized in that: It also includes a wireless transmission structure, which transmits the tilt angle of the tilt sensor (1) received by the control system (2) to a terminal device.

6. The handheld laser cleaning and marking gun head assembly according to claim 1, characterized in that: It also includes a vibration structure having a vibration source, and the control system (2) controls the vibration intensity and / or vibration frequency corresponding to the vibration source according to the tilt angle received from the tilt sensor (1).

7. A laser cleaning and marking machine, characterized in that: include: body; The handheld laser cleaning and marking gun head assembly according to any one of claims 1 to 6, wherein the handheld laser cleaning and marking gun head assembly is connected to the machine body.

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