Laser cleaning rope-driven robot and cleaning method thereof

Abstract

The invention discloses a laser cleaning rope-driven robot and a cleaning method thereof.The rope-driven robot comprises an intelligent trolley, a control system, a mechanical arm, a rope-driven system and a cleaning system, the mechanical arm comprises a shoulder joint, a large arm, a small arm and a wrist joint which are sequentially connected, and the cleaning system is connected to the end of the wrist joint; the shoulder joint is rotationally connected to the upper side of the intelligent trolley through a first driving mechanism, the rope driving system is installed on the upper side of the intelligent trolley and connected with the shoulder joint, the large arm, the small arm and the wrist joint, and the cleaning system is rotationally connected to the upper side of the wrist joint through a second driving mechanism. The control system is connected with the cleaning system, the intelligent trolley, the rope driving system, the first driving mechanism and the second driving mechanism. According to the design, online cleaning of workpieces can be achieved through the control system, the rope-driven mechanical arm design is adopted, multiple degrees of freedom and high flexibility are achieved, the robot can adapt to cleaning tasks in complex and narrow spaces, the possibility of interference with equipment can be reduced, and the precision and efficiency of cleaning operation are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of laser cleaning, and in particular to a laser cleaning rope-driven robot and a cleaning method thereof. Background Art

[0002] During workpiece production and processing, dirt inevitably forms on the workpiece surface, affecting the assembly precision of components. Therefore, cleaning the workpiece surface has a significant impact on production quality and efficiency. Traditional workpiece cleaning methods typically involve manual or chemical cleaning. Manual cleaning is inefficient and difficult to guarantee cleaning quality, while chemical cleaning can damage the workpiece, shortening its service life.

[0003] In the existing technology, there are also some laser cleaning methods for workpieces. As a non-contact, environmentally friendly cleaning method, laser cleaning technology has the advantages of high efficiency and low damage. However, due to the poor flexibility and complex operation of traditional laser cleaning equipment, it is difficult to meet the requirements of high precision and high flexibility in the workpiece cleaning process. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defects and problems of poor cleaning quality and poor flexibility in the prior art, and to provide a laser cleaning rope-driven robot with better cleaning quality and better flexibility and a cleaning method thereof.

[0005] To achieve the above objectives, the technical solution of the present invention is: a laser cleaning rope-driven robot, comprising an intelligent vehicle, a control system, a robotic arm, a rope-driven system, and a cleaning system, wherein the robotic arm comprises a shoulder joint, an upper arm, a lower arm, and a wrist joint connected in sequence, the cleaning system is connected to the end of the wrist joint, the shoulder joint is rotatably connected to the upper side of the intelligent vehicle via a first drive mechanism, the rope-driven system is installed on the upper side of the intelligent vehicle and is connected to the shoulder joint, upper arm, lower arm, and wrist joint, the cleaning system is rotatably connected to the upper side of the wrist joint via a second drive mechanism, and the control system is connected to the cleaning system, intelligent vehicle, rope-driven system, first drive mechanism, and second drive mechanism;

[0006] The rope drive system is used to control the shoulder joint to rotate within a hemispherical surface, the forearm to rotate on the upper arm, and the wrist joint to rotate within a hemispherical surface through the rope;

[0007] The first driving mechanism is used to control the shoulder joint to rotate in the horizontal direction;

[0008] The second driving mechanism is used to control the cleaning system to rotate in the horizontal direction;

[0009] The cleaning system is used to clean the object to be cleaned by laser;

[0010] The control system is used to control the intelligent vehicle to move to a designated cleaning area, control the first drive mechanism and the rope drive system to operate so that the robotic arm is aligned with the object to be cleaned, control the second drive mechanism to operate so that the cleaning system is aligned with the object to be cleaned and controls the cleaning system to perform cleaning.

[0011] The first driving mechanism includes a bottom cover, a first motor seat, a bearing seat, a spherical roller bearing, and a servo motor. The bottom cover is connected to the lower side of the shoulder joint. The first motor seat, bearing seat, spherical roller bearing, and servo motor are all located inside the bottom cover. The bearing seat is installed on the upper side of the smart car, the spherical roller bearing is connected to the upper side of the bearing seat, the first motor seat is connected to the inner ring of the spherical roller bearing, the servo motor is installed on the upper side of the first motor seat and the output shaft passes through the first motor seat and the spherical roller bearing and is connected to the upper side of the bearing seat. The bottom cover is connected to the first motor seat.

[0012] The rope drive system includes multiple drive motors, which are installed on the upper side of the smart car. The output end of the drive motor is connected to a winding wheel, and a rope is wound around the winding wheel. One end of the multiple ropes passes through the tensioner and is connected to the shoulder joint, upper arm, forearm, and wrist joint respectively.

[0013] The tensioner includes a tensioning seat, a tensioning block and a guide rod. The tensioning seat is installed on the upper side of the smart car. A slide groove is provided on the upper side of the tensioning seat. The tensioning block is arranged in the slide groove. The tensioning block is connected to the tensioning seat by bolts. The guide rod is curved and connected to the upper side of the tensioning block. A through hole is provided in the guide rod for the rope to pass through.

[0014] The shoulder joint includes multiple columns, a routing disk, a first joint disk, a second joint disk, multiple first rope seats, multiple second rope seats and three first connecting rods. The multiple columns are arranged vertically and connected to the upper side of the first driving mechanism, the routing disk is arranged horizontally and connected to the middle parts of the multiple columns, the first joint disk is connected to the upper ends of the multiple columns, the three first connecting rods are arranged in a curved and staggered manner and are evenly arranged along the circumference of the first joint disk, one end of the three first connecting rods is hinged to the first joint disk, and the other end of the three first connecting rods is hinged to the second joint disk, the second joint disk is connected to one end of the upper arm, multiple first rope seats are connected to the upper side of the first joint disk, multiple second rope seats are connected to the lower side of the second joint disk and are arranged one-to-one with respect to the multiple first rope seats, and the rope is connected to the second rope seat after passing through the first rope seat.

[0015] The upper arm includes a first frame, two first connecting plates, two first locking screws, two first locking nuts, and two first positioning gears. The first frame is in the shape of a rectangular parallelepiped. The two first connecting plates are symmetrically arranged and respectively connected to the upper side of the first frame. The upper side of the first connecting plate is arc-shaped. The outer side of the first connecting plate is threadedly connected to the first locking screw. The bottom end of the first locking screw passes through the first connecting plate and is threadedly connected to the fixing plate. The first locking nut is threadedly connected to the first connecting plate and abuts against one side of the fixing plate. The first positioning gear is sleeved on the first locking screw and is located on the outer side of the first connecting plate.

[0016] The forearm includes a second frame, two second connecting plates, two second locking screws, two second locking nuts, and two second positioning gears, the second frame is in the shape of a rectangular parallelepiped and is located on the upper side of the first frame, the two second connecting plates are symmetrically arranged and respectively connected to the lower side of the second frame, the lower side of the second connecting plate is in the shape of an arc, the outer side of the second connecting plate is threadedly connected to the second locking screw, the bottom end of the second locking screw passes through the second connecting plate and is threadedly connected to the fixing plate, the second locking nut is threadedly connected to the second connecting plate and abuts against one side of the fixing plate, the second positioning gear is sleeved on the second locking screw and is located on the outer side of the second connecting plate, and the second positioning gear is meshed and connected to the first positioning gear;

[0017] The first connecting plate is connected to a small winding wheel, a first fixed pulley, and a second fixed pulley, and the second connecting plate is connected to a first movable pulley and a second movable pulley. One end of the rope is wound around the winding wheel, and the other end of the rope is sequentially wound around the first fixed pulley, the first movable pulley, the small winding wheel, the second movable pulley, and the second fixed pulley and then connected to one end of the rope.

[0018] The wrist joint includes multiple support columns, a third joint disc, a fourth joint disc, multiple third rope seats, multiple fourth rope seats and three second connecting rods. The multiple support columns are arranged vertically and connected to the upper end of the forearm. The third joint disc is connected to the upper ends of the multiple support columns. The three second connecting rods are arranged in a curved and staggered manner and are evenly arranged along the circumference of the third joint disc. One end of the three second connecting rods is hinged to the third joint disc, and the other end of the three second connecting rods is hinged to the fourth joint disc. The fourth joint disc is connected to one side of the second driving mechanism. The multiple third rope seats are connected to the upper side of the third joint disc. The multiple fourth rope seats are connected to the lower side of the fourth joint disc and are arranged one-to-one with respect to the multiple third rope seats. The ropes are respectively connected to the third rope seat and the fourth rope seat.

[0019] The second driving mechanism includes a base, a second motor base, a thrust ball bearing, a stepper motor and multiple connecting columns. The base is connected to the upper side of the wrist joint, the multiple connecting columns are connected to the upper side of the base, the second motor base is connected to the upper ends of the multiple connecting columns, the stepper motor is installed on the lower side of the second motor base, the output shaft of the stepper motor passes through the second motor base and is connected to one side of the cleaning system, and the thrust ball bearing is connected between the second motor base and the cleaning system.

[0020] The cleaning system includes a laser and a laser tool head. The laser tool head is equipped with a galvanometer, a camera, an infrared rangefinder, and a vision system. The laser is connected to the laser tool head via an optical fiber. The output end of the optical fiber is arranged relative to the galvanometer. The control system is connected to the laser, camera, infrared rangefinder, and vision system.

[0021] The laser is used to send a laser beam to the galvanometer through an optical fiber;

[0022] The galvanometer is used to adjust the angle and position of the laser beam;

[0023] The camera is used to capture images of the objects to be cleaned and send the images to the control system;

[0024] The infrared rangefinder is used to measure the distance between the laser tool head and the object to be cleaned and send the distance to the control system;

[0025] The visual system is used to identify the surface finish of the object to be cleaned;

[0026] The control system is used to control the operation of the laser, locate the object to be cleaned according to the image and distance, and determine whether to continue cleaning according to the situation recognized by the visual system.

[0027] A cleaning method for a laser-driven rope-driven robot, comprising the following steps:

[0028] Step 1: The control system controls the intelligent vehicle to move to the designated cleaning area, and then controls the rope drive system to operate so that the robotic arm is in a folded state. The control system then controls the first drive mechanism to operate so that the robotic arm is aligned with the object to be cleaned. The rope drive system then controls the forearm to move on the upper arm to roughly adjust the position of the cleaning system. At the same time, the rope drive system controls the shoulder joint to move and roughly adjust the angle of the cleaning system. Finally, the rope drive system controls the wrist joint to fine-tune the position and angle of the cleaning system, and controls the second drive mechanism to operate so that the position and angle of the cleaning system are aligned with the object to be cleaned.

[0029] Step 2: The control system controls the camera's aperture to open, and the infrared rangefinder measures the distance between the laser tool head and the object to be cleaned. The control system controls the movement of the robotic arm so that the distance between the laser tool head and the surface of the object to be cleaned is within the set working range. At this time, the camera captures the image of the object to be cleaned, and then closes the aperture. The control system controls the laser to emit laser light, which is transmitted to the laser tool head through the optical fiber. At the same time, the laser beam is adjusted in angle and position by the galvanometer to accurately clean the surface of the object to be cleaned.

[0030] Step 3: After cleaning is completed, the control system controls the camera's aperture to open again, and uses the visual system to identify the surface finish of the object to be cleaned. If the surface finish of the object to be cleaned meets the standard, the cleaning effect meets the requirements. If the surface finish of the object to be cleaned does not meet the standard, the control system controls the laser to emit the laser again until the surface finish of the object to be cleaned meets the standard.

[0031] Step 4: Repeat steps 2 and 3 to clean multiple objects to be cleaned. After cleaning, the control system controls the smart car to return to the starting position.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. The present invention provides a rope-driven laser cleaning robot and a cleaning method thereof, which adopts a rope-driven robotic arm design with multiple degrees of freedom and high flexibility, and can adapt to cleaning tasks in complex and confined spaces. Compared with traditional three-axis robotic arms, the robotic arm in the present invention can provide higher degrees of freedom during the workpiece cleaning process, which can reduce the possibility of interference with equipment, thereby significantly improving the accuracy and efficiency of cleaning operations; the workpiece can be cleaned online through the control system and the intelligent vehicle, so that the production line can continue to perform cleaning tasks without stopping production. This online cleaning method not only avoids the production interruption problem that requires shutdown for cleaning in traditional cleaning methods, but also improves production efficiency and ensures the continuity and stability of the production process. Therefore, the present invention has better cleaning quality and flexibility.

[0034] 2. In the present invention's rope-driven laser cleaning robot and cleaning method, both the first and second drive mechanisms are driven by motors, providing stable and precise power output, ensuring precise control of the robot arm during laser cleaning. Furthermore, the connection points are connected via bearings, ensuring smoother movement of the robot arm. Therefore, the present invention offers stable operation and excellent reliability.

[0035] 3. In the present invention, a rope-driven laser cleaning robot and its cleaning method, the rope-driven system uses multiple motors to drive each joint of the robot arm separately. At the same time, the power module of the rope-driven system is installed on the intelligent vehicle, so that the center of gravity is concentrated at the bottom, thereby significantly improving the stability of the robot arm. At the same time, because most of the power module is installed on the bottom plate, the robot arm body can be designed to be lighter, and the use of a smaller power motor can effectively reduce the overall weight of the robot arm and reduce manufacturing costs. Compared with the traditional robot arm structure, the present invention can effectively reduce the error caused by the unstable center of gravity and ensure a smoother cleaning process. By providing a tensioner for adjusting and maintaining the tension of the rope, the rope's telescopic movement is ensured to be smooth, avoiding errors or failures caused by uneven tension, and improving the stability and accuracy of the robot arm. Therefore, the cleaning process of the present invention is stable, low-cost, and high-precision.

[0036] 4. In the present invention, a rope-driven laser cleaning robot and its cleaning method utilize ropes to control the movement of each joint of the robot arm. The shoulder and wrist are controlled by two pairs of ropes. The upper and lower arms are precisely controlled by a system consisting of a small winding wheel, a fixed pulley, and a movable pulley. The ropes are retracted and extended by a motor, ensuring high-precision movement of the robot arm. The upper and lower arms are connected by meshing gears, ensuring precise alignment of the fixed plate during movement and preventing motion errors caused by loosening or slipping. Consequently, the present invention achieves high cleaning accuracy and minimizes errors.

[0037] 5. In the present invention, a rope-driven laser cleaning robot and its cleaning method utilize optical fiber to transmit laser light to the laser tool head, and a galvanometer is used to adjust the laser angle, enabling efficient and precise cleaning operations. This design not only improves laser cleaning accuracy but also simplifies the laser transmission path, reduces energy loss, and further enhances cleaning efficiency. Furthermore, in conjunction with a visual system and infrared rangefinder, the robot can monitor and assess the cleaning effect in real time during the cleaning process. After the cleaning operation is completed, the system automatically executes the next task, significantly increasing the degree of automation, reducing manual operations, and improving work efficiency. Therefore, the present invention offers a high degree of automation and cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural schematic diagram of the present invention.

[0039] Figure 2 It is a structural schematic diagram of the first driving mechanism in the present invention.

[0040] Figure 3 It is a structural schematic diagram of the rope drive system in the present invention.

[0041] Figure 4 It is a structural schematic diagram of the tensioner in the present invention.

[0042] Figure 5 It is a structural schematic diagram of the shoulder joint in the present invention.

[0043] Figure 6 It is a structural schematic diagram of the upper arm and the lower arm in the present invention.

[0044] Figure 7 It is a cross-sectional schematic diagram of the upper arm and the lower arm in the present invention.

[0045] Figure 8 It is a structural schematic diagram of the wrist joint in the present invention.

[0046] Figure 9 It is a structural schematic diagram of the second driving mechanism in the present invention.

[0047] Figure 10 It is a structural diagram of the cleaning system of the present invention.

[0048] In the figure: intelligent car 1, robotic arm 2, shoulder joint 21, column 211, wiring disk 212, first joint disk 213, second joint disk 214, first rope seat 215, second rope seat 216, first connecting rod 217, first rotating seat 218, upper arm 22, first frame 221, first connecting plate 222, first locking screw 223, first locking nut 224, first positioning gear 225, fixing plate 226, small winding wheel 227, first fixed pulley 228, second fixed pulley 229, lower arm 23, second frame 231, second connecting plate 232, second locking screw 233, second locking nut 234, second positioning gear 235, first movable pulley 236, second movable pulley 237, wrist joint 24, supporting column 241, first Three joint discs 242, fourth joint discs 243, third rope seat 244, fourth rope seat 245, second connecting rod 246, second rotating seat 247, rope drive system 3, drive motor 31, winding wheel 32, rope 33, tensioner 34, tensioning seat 341, tensioning block 342, guide rod 343, slide groove 344, through hole 345, cleaning system 4, laser 41, laser tool head 42, galvanometer 43, camera 44, infrared rangefinder 45, vision system 46, optical fiber 47, first drive mechanism 5, bottom cover 51, first motor seat 52, bearing seat 53, spherical roller bearing 54, servo motor 55, second drive mechanism 6, base 61, second motor seat 62, thrust ball bearing 63, stepper motor 64, connecting column 65, control system 7. DETAILED DESCRIPTION

[0049] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0050] Example 1:

[0051] See also Figure 1 A laser cleaning rope-driven robot includes an intelligent vehicle 1, a control system 7, a robotic arm 2, a rope-driven system 3, and a cleaning system 4. The robotic arm 2 includes a shoulder joint 21, an upper arm 22, a lower arm 23, and a wrist joint 24 connected in sequence. The cleaning system 4 is connected to the end of the wrist joint 24. The shoulder joint 21 is rotatably connected to the upper side of the intelligent vehicle 1 through a first drive mechanism 5. The rope-driven system 3 is installed on the upper side of the intelligent vehicle 1 and is connected to the shoulder joint 21, upper arm 22, lower arm 23, and wrist joint 24. The cleaning system 4 is rotatably connected to the upper side of the wrist joint 24 through a second drive mechanism 6. The control system 7 is connected to the cleaning system 4, the intelligent vehicle 1, the rope-driven system 3, the first drive mechanism 5, and the second drive mechanism 6.

[0052] The rope drive system 3 is used to control the shoulder joint 21 to rotate within a hemispherical surface, the forearm 23 to rotate on the upper arm 22, and the wrist joint 24 to rotate within a hemispherical surface through the rope 33;

[0053] The first driving mechanism 5 is used to control the shoulder joint 21 to rotate in the horizontal direction;

[0054] The second driving mechanism 6 is used to control the cleaning system 4 to rotate in the horizontal direction;

[0055] The cleaning system 4 is used to clean the object to be cleaned by laser;

[0056] The control system 7 is used to control the intelligent vehicle 1 to move to the designated cleaning area, control the first drive mechanism 5 and the rope drive system 3 to operate so that the robot arm 2 is aligned with the object to be cleaned, control the second drive mechanism 6 to operate so that the cleaning system 4 is aligned with the object to be cleaned and control the cleaning system 4 to perform cleaning.

[0057] In this embodiment, the robot is rope-driven. Its four-joint, seven-degree-of-freedom design provides high flexibility and adaptability, enabling laser cleaning of workpieces in confined spaces. The intelligent vehicle 1 comprises a frame, Mecanum wheels, a motor, a main control unit (a microcomputer), and a navigation system. The main control unit is responsible for task planning, navigation, and motor control. The Mecanum wheels, as wheels, offer excellent flexibility, enabling lateral translation, in-place turns, and other flexible movements. The navigation system creates a map of the workshop, allowing the vehicle to navigate along a defined route and avoid obstacles.

[0058] Example 2:

[0059] The basic content is the same as Example 1, except that:

[0060] See also Figure 2The first driving mechanism 5 includes a bottom cover 51, a first motor seat 52, a bearing seat 53, a spherical roller bearing 54, and a servo motor 55. The bottom cover 51 is connected to the lower side of the shoulder joint 21. The first motor seat 52, the bearing seat 53, the spherical roller bearing 54, and the servo motor 55 are all located in the bottom cover 51. The bearing seat 53 is installed on the upper side of the intelligent car 1. The spherical roller bearing 54 is connected to the upper side of the bearing seat 53. The first motor seat 52 is connected to the inner ring of the spherical roller bearing 54. The servo motor 55 is installed on the upper side of the first motor seat 52 and the output shaft passes through the first motor seat 52 and the spherical roller bearing 54 and is connected to the upper side of the bearing seat 53. The bottom cover 51 is connected to the first motor seat 52.

[0061] In this embodiment, the first driving mechanism 5 is driven by a motor, which can provide stable and accurate power output, ensuring that the robot arm 2 can be precisely controlled during laser cleaning. At the same time, the connection parts are connected through spherical roller bearings 54, which can ensure that the movement process of the robot arm 2 is smoother.

[0062] Example 3:

[0063] The basic content is the same as Example 1, except that:

[0064] See also Figure 3 and Figure 4 The rope drive system 3 includes multiple drive motors 31 mounted on the upper side of the intelligent vehicle 1. The output end of the drive motor 31 is connected to a reel 32, around which a rope 33 is wound. One end of each rope 33 passes through a tensioner 34 and is connected to the shoulder joint 21, upper arm 22, lower arm 23, and wrist joint 24, respectively. The tensioner 34 includes a tensioning seat 341, a tensioning block 342, and a guide rod 343. The tensioning seat 341 is mounted on the upper side of the intelligent vehicle 1. A slot 344 is defined on the upper side of the tensioning seat 341. The tensioning block 342 is disposed within the slot 344 and is connected to the tensioning seat 341 via bolts. The guide rod 343 is curved and connected to the upper side of the tensioning block 342. A through hole 345 is defined within the guide rod 343 for the rope 33 to pass through.

[0065] In this embodiment, the rope 33 is made of basalt fiber material. Basalt fiber has excellent properties such as high strength, wear resistance, and corrosion resistance, so that the rope 33 can withstand large tension and load during long-term use, and at the same time has a long service life. A threaded hole is provided on the tensioning seat 341, and a slot is provided on the tensioning block 342. The slot is located directly above the threaded hole. The tensioning block 342 is moved to slide in the slide groove 344. After sliding, the bolt is passed through the slot from top to bottom and into the threaded hole. The tensioning block 342 is fixed to the tensioning seat 341 by tightening the bolt.

[0066] Example 4:

[0067] The basic content is the same as Example 1, except that:

[0068] See also Figure 5 The shoulder joint 21 includes a plurality of columns 211, a wiring disk 212, a first joint disk 213, a second joint disk 214, a plurality of first rope seats 215, a plurality of second rope seats 216 and three first connecting rods 217. The plurality of columns 211 are arranged vertically and connected to the upper side of the first driving mechanism 5. The wiring disk 212 is arranged horizontally and connected to the middle of the plurality of columns 211. The first joint disk 213 is connected to the upper ends of the plurality of columns 211. The three first connecting rods 217 are arranged in a staggered manner and are evenly arranged along the circumference of the first joint disk 213. One end of the three first connecting rods 217 is hinged to the first joint disc 213, the other end of the three first connecting rods 217 is hinged to the second joint disc 214, the second joint disc 214 is connected to one end of the upper arm 22, a plurality of first rope seats 215 are connected to the upper side of the first joint disc 213, a plurality of second rope seats 216 are connected to the lower side of the second joint disc 214 and are arranged one-to-one corresponding to the plurality of first rope seats 215, and the rope 33 passes through the first rope seat 215 and is connected to the second rope seat 216.

[0069] In this embodiment, the shoulder joint 21 adopts a virtual ball joint design, which can move freely within a hemisphere and provide a wide range of motion. A first rotating seat 218 is provided at both ends of the first connecting rod 217. Rotation holes are provided at both ends of the first connecting rod 217, and the rotation holes are arranged longitudinally. A transverse rotation hole and a longitudinal rotation hole are provided on the first rotating seat 218. The longitudinal rotation hole is aligned with the rotation hole on the first connecting rod 217 to drive the first connecting rod 217 to rotate longitudinally. The transverse rotation hole is aligned with the connecting seat on the first joint disc 213 and the second joint disc 214 to drive the first connecting rod 217 to rotate transversely, so that the first connecting rod 217 can move flexibly on the hemisphere. The shoulder joint 21 is controlled by two pairs of ropes 33, and each pair of ropes 33 is controlled by a pair of winding wheels 32. The two pairs of winding wheels 32 are respectively arranged in the front and rear directions and left and right directions of the robotic arm 2, so that the extension and retraction distances of the ropes 33 are consistent.

[0070] Example 5:

[0071] The basic content is the same as Example 1, except that:

[0072] See also Figure 6 and Figure 7 The upper arm 22 includes a first frame 221, two first connecting plates 222, two first locking screws 223, two first locking nuts 224, and two first positioning gears 225. The first frame 221 is in the shape of a rectangular parallelepiped. The two first connecting plates 222 are symmetrically arranged and respectively connected to the upper side of the first frame 221. The upper side of the first connecting plate 222 is arc-shaped. The outer side of the first connecting plate 222 is threadedly connected with the first locking screw 223. The bottom end of the first locking screw 223 passes through the first connecting plate 222 and is threadedly connected to the fixing plate 226. The first locking nut 224 is threadedly connected to the first connecting plate 222 and abuts against one side of the fixing plate 226. The first positioning gear 225 is sleeved on the first locking screw 223 and is located on the outer side of the first connecting plate 222.

[0073] The forearm 23 includes a second frame 231, two second connecting plates 232, two second locking screws 233, two second locking nuts 234, and two second positioning gears 235. The second frame 231 is in the shape of a rectangular parallelepiped and is located on the upper side of the first frame 221. The two second connecting plates 232 are symmetrically arranged and are respectively connected to the lower side of the second frame 231. The lower side of the second connecting plate 232 is arc-shaped. The outer side of the second connecting plate 232 is threadedly connected with the second locking screw 233. The bottom end of the second locking screw 233 passes through the second connecting plate 232 and is threadedly connected to the fixing plate 226. The second locking nut 234 is threadedly connected to the second connecting plate 232 and abuts against one side of the fixing plate 226. The second positioning gear 235 is sleeved on the second locking screw 233 and is located on the outer side of the second connecting plate 232. The second positioning gear 235 is meshed and connected to the first positioning gear 225.

[0074] The first connecting plate 222 is connected to a small winding wheel 227, a first fixed pulley 228, and a second fixed pulley 229, and the second connecting plate 232 is connected to a first movable pulley 236 and a second movable pulley 237. One end of the rope 33 is wound around the winding wheel 32, and the other end of the rope 33 is wound around the first fixed pulley 228, the first movable pulley 236, the small winding wheel 227, the second movable pulley 237, and the second fixed pulley 229 in sequence and then connected to one end of the rope 33.

[0075] In this embodiment, the upper arm 22 and the lower arm 23 adopt a connecting rod pulley group structure, which provides greater precision and higher load-bearing capacity to adapt to the forces generated during the laser cleaning process. When in use, the winding wheel 32 is driven to rotate by the driving motor 31, and the rope 33 toward the first fixed pulley 228 is tightened, driving the first fixed pulley 228 to rotate. The rotation of the first fixed pulley 228 drives the first movable pulley 236 to move, so that the lower arm 23 rotates on the upper arm 22, and at the same time, the rope 33 toward the second fixed pulley 229 is released. The rope of the first movable pulley 236 passes through the small winding wheel 227 and drives the second movable pulley 237 to move.

[0076] Example 6:

[0077] The basic content is the same as Example 1, except that:

[0078] See also Figure 8The wrist joint 24 includes a plurality of support columns 241, a third joint disc 242, a fourth joint disc 243, a plurality of third rope seats 244, a plurality of fourth rope seats 245 and three second connecting rods 246. The plurality of support columns 241 are arranged vertically and connected to the upper end of the forearm 23. The third joint disc 242 is connected to the upper ends of the plurality of support columns 241. The three second connecting rods 246 are arranged in a staggered manner and are evenly arranged along the circumference of the third joint disc 242. One end of the three second connecting rods 246 is hinged. Connected to the third joint disc 242, the other ends of the three second connecting rods 246 are hinged to the fourth joint disc 243, and the fourth joint disc 243 is connected to one side of the second driving mechanism 6. Multiple third rope seats 244 are connected to the upper side of the third joint disc 242, and multiple fourth rope seats 245 are connected to the lower side of the fourth joint disc 243 and are arranged one by one corresponding to the multiple third rope seats 244. The ropes 33 are respectively connected to the third rope seat 244 and the fourth rope seat 245.

[0079] In this embodiment, the wrist joint 24 adopts a virtual ball joint design, which can move freely within a hemisphere and provide a wide range of motion. A second rotating seat 247 is provided at both ends of the second connecting rod 246. Rotating holes are provided at both ends of the second connecting rod 246. The rotating holes are arranged longitudinally. A transverse rotating hole and a longitudinal rotating hole are provided on the second rotating seat 247. The longitudinal rotating hole is aligned with the rotating hole on the second connecting rod 246 to drive the second connecting rod 246 to rotate longitudinally. The transverse rotating hole is aligned with the connecting seat of the third joint disc 242 and the fourth joint disc 243 to drive the second connecting rod 246 to rotate transversely, so that the second connecting rod 246 can move flexibly on the hemisphere. The wrist joint 24 is controlled by two pairs of ropes 33, and the two pairs of winding wheels 32 are respectively arranged in the front and rear directions and left and right directions of the second driving mechanism 6. Each pair of ropes 33 is controlled by a pair of winding wheels 32, so that the extension and retraction distances of the ropes 33 are consistent.

[0080] Example 7:

[0081] The basic content is the same as Example 1, except that:

[0082] See also Figure 9 and Figure 10The second driving mechanism 6 includes a base 61, a second motor base 62, a thrust ball bearing 63, a stepper motor 64 and a plurality of connecting columns 65. The base 61 is connected to the upper side of the wrist joint 24, and the plurality of connecting columns 65 are connected to the upper side of the base 61. The second motor base 62 is connected to the upper ends of the plurality of connecting columns 65. The stepper motor 64 is installed on the lower side of the second motor base 62. The output shaft of the stepper motor 64 passes through the second motor base 62 and is connected to one side of the cleaning system 4. The thrust ball bearing 63 is connected between the second motor base 62 and the cleaning system 4.

[0083] The cleaning system 4 includes a laser 41 and a laser tool head 42. The laser tool head 42 is equipped with a galvanometer 43, a camera 44, an infrared rangefinder 45, and a visual system 46. The laser 41 is connected to the laser tool head 42 via an optical fiber 47. The output end of the optical fiber 47 is arranged relative to the galvanometer 43. The control system 7 is connected to the laser 41, the camera 44, the infrared rangefinder 45, and the visual system 46.

[0084] The laser 41 is used to send a laser beam to the galvanometer 43 through an optical fiber 47;

[0085] The galvanometer 43 is used to adjust the angle and position of the laser beam;

[0086] The camera 44 is used to capture images of the objects to be cleaned and send the images to the control system 7;

[0087] The infrared rangefinder 45 is used to measure the distance between the laser tool head 42 and the object to be cleaned, and send the distance to the control system 7;

[0088] The visual system 46 is used to identify the surface finish of the object to be cleaned;

[0089] The control system 7 is used to control the operation of the laser 41, locate the object to be cleaned according to the image and distance, and determine whether to continue cleaning based on the recognition of the visual system 46.

[0090] In this embodiment, laser 41 transmits laser light to laser tool head 42 via optical fiber 47, and galvanometer 43 adjusts the laser angle, achieving efficient and precise cleaning operations. Furthermore, vision system 46 and infrared rangefinder 45 are used to monitor and assess cleaning results in real time during the cleaning process. After the cleaning operation is completed, control system 7 automatically executes the next task, significantly improving the level of automation.

[0091] Example 8:

[0092] A cleaning method for a laser-driven rope-driven robot, comprising the following steps:

[0093] Step 1: The control system 7 controls the intelligent vehicle 1 to move to the designated cleaning area. The control system 7 then controls the rope drive system 3 to operate so that the robotic arm 2 is in a folded state. The control system 7 then controls the first drive mechanism 5 to operate so that the robotic arm 2 is aligned with the object to be cleaned. The rope drive system 3 then controls the forearm 23 to move on the upper arm 22 to roughly adjust the position of the cleaning system 4. At the same time, the rope drive system 3 controls the shoulder joint 21 to move to roughly adjust the angle of the cleaning system 4. Finally, the rope drive system 3 controls the wrist joint 24 to move to fine-tune the position and angle of the cleaning system 4. The second drive mechanism 6 is controlled to operate so that the position and angle of the cleaning system 4 are aligned with the object to be cleaned.

[0094] Step 2: The control system 7 controls the aperture of the camera 44 to open, and the infrared rangefinder 45 measures the distance between the laser tool head 42 and the object to be cleaned. The control system 7 controls the movement of the robotic arm 2 so that the distance between the laser tool head 42 and the surface of the object to be cleaned is within the set working range. At this time, the camera 44 captures the image of the object to be cleaned, and then closes the aperture. The control system 7 controls the laser 41 to emit laser light. The laser 41 transmits the laser light to the laser tool head 42 through the optical fiber 47. At the same time, the laser beam is adjusted in angle and position by the galvanometer 43 to accurately clean the surface of the object to be cleaned.

[0095] Step 3: After cleaning is completed, the control system 7 controls the aperture of the camera 44 to open again, and the surface finish of the object to be cleaned is identified by the visual system 46. If the surface finish of the object to be cleaned meets the standard, the cleaning effect meets the requirements. If the surface finish of the object to be cleaned does not meet the standard, the control system 7 controls the laser 41 to emit the laser again until the surface finish of the object to be cleaned meets the standard.

[0096] Step 4: Repeat steps 2 and 3 to clean multiple objects to be cleaned. After cleaning, the control system 7 controls the smart car 1 to return to the starting position.

[0097] In this embodiment, the rope-driven laser cleaning robot can be applied to various fields, specifically spinnerets. Before cleaning, commands are input through the control system 7, causing the intelligent vehicle 1 to autonomously navigate to the designated cleaning area via its internal navigation system. During cleaning, the distance between the laser tool head 42 and the spinneret surface is 200-300 mm. The visual system 46 performs the following recognition process: spinnerets that cannot be used normally before cleaning are classified into one category, and spinnerets that can be used normally after cleaning are classified into another category. The characteristics of the images of both are used for AI training, so that the visual system 46 can determine whether the spinneret cleaning is qualified. After all cleaning tasks are completed, the intelligent vehicle 1 automatically navigates back to the charging position to prepare for the next round of tasks. The entire cleaning process achieves online cleaning, greatly improving production efficiency and avoiding the downtime and waiting problems common in traditional manual cleaning or chemical cleaning.

Claims

1. A laser cleaning rope-driven robot, characterized by: The invention comprises an intelligent trolley (1), a control system (7), a mechanical arm (2), a rope drive system (3) and a cleaning system (4), wherein the mechanical arm (2) comprises a shoulder joint (21), an upper arm (22), a lower arm (23) and a wrist joint (24) connected in sequence, the cleaning system (4) is connected to the end of the wrist joint (24), the shoulder joint (21) is rotatably connected to the upper side of the intelligent trolley (1) through a first drive mechanism (5), the rope drive system (3) is installed on the upper side of the intelligent trolley (1) and is connected to the shoulder joint (21), the upper arm (22), the lower arm (23) and the wrist joint (24), the cleaning system (4) is rotatably connected to the upper side of the wrist joint (24) through a second drive mechanism (6), and the control system (7) is connected to the cleaning system (4), the intelligent trolley (1), the rope drive system (3), the first drive mechanism (5) and the second drive mechanism (6); The rope drive system (3) is used to control the shoulder joint (21) to rotate within a hemispherical surface, control the forearm (23) to rotate on the upper arm (22), and control the wrist joint (24) to rotate within a hemispherical surface through a rope (33); The first driving mechanism (5) is used to control the shoulder joint (21) to rotate in a horizontal direction; The second driving mechanism (6) is used to control the cleaning system (4) to rotate in a horizontal direction; The cleaning system (4) is used to clean the object to be cleaned by laser; The control system (7) is used to control the intelligent vehicle (1) to move to a designated cleaning area, control the first drive mechanism (5) and the rope drive system (3) to operate so that the mechanical arm (2) is aligned with the object to be cleaned, and control the second drive mechanism (6) to operate so that the cleaning system (4) is aligned with the object to be cleaned and controls the cleaning system (4) to perform cleaning.

2. The laser cleaning rope-driven robot according to claim 1, characterized in that: The first driving mechanism (5) includes a bottom cover (51), a first motor seat (52), a bearing seat (53), a spherical roller bearing (54), and a servo motor (55). The bottom cover (51) is connected to the lower side of the shoulder joint (21). The first motor seat (52), the bearing seat (53), the spherical roller bearing (54), and the servo motor (55) are all located in the bottom cover (51). The bearing seat (53) is installed on the upper side of the intelligent vehicle (1). The spherical roller bearing (54) is connected to the upper side of the bearing seat (53). The first motor seat (52) is connected to the inner ring of the spherical roller bearing (54). The servo motor (55) is installed on the upper side of the first motor seat (52) and the output shaft passes through the first motor seat (52) and the spherical roller bearing (54) and is connected to the upper side of the bearing seat (53). The bottom cover (51) is connected to the first motor seat (52).

3. The laser cleaning rope-driven robot according to claim 1, characterized in that: The rope drive system (3) includes a plurality of drive motors (31), the drive motors (31) being mounted on the upper side of the intelligent vehicle (1), the output end of the drive motor (31) being connected to a winding wheel (32), a rope (33) being wound around the winding wheel (32), and one end of the plurality of ropes (33) passing through a tensioner (34) and being connected to the shoulder joint (21), the upper arm (22), the lower arm (23), and the wrist joint (24) respectively.

4. The laser cleaning rope-driven robot according to claim 3, characterized in that: The tensioner (34) includes a tensioning seat (341), a tensioning block (342) and a guide rod (343). The tensioning seat (341) is installed on the upper side of the intelligent vehicle (1). A slide groove (344) is provided on the upper side of the tensioning seat (341). The tensioning block (342) is arranged in the slide groove (344). The tensioning block (342) is connected to the tensioning seat (341) by bolts. The guide rod (343) is curved and connected to the upper side of the tensioning block (342). A through hole (345) for the rope (33) to pass through is provided in the guide rod (343).

5. The laser cleaning rope-driven robot according to claim 3, characterized in that: The shoulder joint (21) includes a plurality of columns (211), a wiring disk (212), a first joint disk (213), a second joint disk (214), a plurality of first rope seats (215), a plurality of second rope seats (216) and three first connecting rods (217), wherein the plurality of columns (211) are arranged vertically and connected to the upper side of the first driving mechanism (5), the wiring disk (212) is arranged horizontally and connected to the middle of the plurality of columns (211), the first joint disk (213) is connected to the upper ends of the plurality of columns (211), and the three first connecting rods (217) are arranged in a curved and staggered manner and are uniformly spaced along the circumference of the first joint disk (213). The first connecting rods (217) are evenly arranged, one end of the three first connecting rods (217) is hinged to the first joint disc (213), the other end of the three first connecting rods (217) is hinged to the second joint disc (214), the second joint disc (214) is connected to one end of the upper arm (22), a plurality of the first rope seats (215) are connected to the upper side of the first joint disc (213), a plurality of the second rope seats (216) are connected to the lower side of the second joint disc (214) and are arranged one-to-one with respect to the plurality of the first rope seats (215), and the rope (33) passes through the first rope seat (215) and is connected to the second rope seat (216).

6. The laser cleaning rope-driven robot according to claim 3, characterized in that: The upper arm (22) includes a first frame (221), two first connecting plates (222), two first locking screws (223), two first locking nuts (224), and two first positioning gears (225). The first frame (221) is in the shape of a rectangular parallelepiped. The two first connecting plates (222) are symmetrically arranged and respectively connected to the upper side of the first frame (221). The upper side of the first connecting plate (222) is in the shape of an arc. The outer side of the first connecting plate (222) is threadedly connected to the first locking screw (223). The bottom end of the first locking screw (223) passes through the first connecting plate (222) and is threadedly connected to the fixing plate (226). The first locking nut (224) is threadedly connected to the first connecting plate (222) and abuts against one side of the fixing plate (226). The first positioning gear (225) is sleeved on the first locking screw (223) and is located on the outer side of the first connecting plate (222). The forearm (23) includes a second frame (231), two second connecting plates (232), two second locking screws (233), two second locking nuts (234), and two second positioning gears (235). The second frame (231) is in the shape of a rectangular parallelepiped and is located on the upper side of the first frame (221). The two second connecting plates (232) are symmetrically arranged and respectively connected to the lower side of the second frame (231). The lower side of the second connecting plate (232) is in the shape of an arc. The outer side of the second connecting plate (232) is threadedly connected to the There is a second locking screw (233), the bottom end of the second locking screw (233) passes through the second connecting plate (232) and is threadedly connected to the fixing plate (226), the second locking nut (234) is threadedly connected to the second connecting plate (232) and abuts against one side of the fixing plate (226), the second positioning gear (235) is sleeved on the second locking screw (233) and is located on the outer side of the second connecting plate (232), and the second positioning gear (235) is meshedly connected to the first positioning gear (225); The first connecting plate (222) is connected to a small winding wheel (227), a first fixed pulley (228), and a second fixed pulley (229); the second connecting plate (232) is connected to a first movable pulley (236) and a second movable pulley (237); one end of the rope (33) is wound around the winding wheel (32); the other end of the rope (33) is wound around the first fixed pulley (228), the first movable pulley (236), the small winding wheel (227), the second movable pulley (237), and the second fixed pulley (229) in sequence and then connected to one end of the rope (33).

7. The laser cleaning rope-driven robot according to claim 3, characterized in that: The wrist joint (24) includes a plurality of support columns (241), a third joint disc (242), a fourth joint disc (243), a plurality of third rope seats (244), a plurality of fourth rope seats (245) and three second connecting rods (246), wherein the plurality of support columns (241) are arranged vertically and connected to the upper end of the forearm (23), the third joint disc (242) is connected to the upper end of the plurality of support columns (241), the three second connecting rods (246) are arranged in a staggered manner and are evenly arranged along the circumference of the third joint disc (242), and one end of the three second connecting rods (246) is hinged. Connected to the third joint disc (242), the other ends of the three second connecting rods (246) are hinged to the fourth joint disc (243), the fourth joint disc (243) is connected to one side of the second driving mechanism (6), a plurality of the third rope seats (244) are connected to the upper side of the third joint disc (242), a plurality of the fourth rope seats (245) are connected to the lower side of the fourth joint disc (243) and are arranged one-to-one corresponding to the plurality of the third rope seats (244), and the ropes (33) are respectively connected to the third rope seat (244) and the fourth rope seat (245).

8. The laser cleaning rope-driven robot according to claim 1, characterized in that: The second driving mechanism (6) includes a base (61), a second motor base (62), a thrust ball bearing (63), a stepper motor (64) and a plurality of connecting columns (65), wherein the base (61) is connected to the upper side of the wrist joint (24), the plurality of connecting columns (65) are connected to the upper side of the base (61), the second motor base (62) is connected to the upper ends of the plurality of connecting columns (65), the stepper motor (64) is installed on the lower side of the second motor base (62), the output shaft of the stepper motor (64) passes through the second motor base (62) and is connected to one side of the cleaning system (4), and the thrust ball bearing (63) is connected between the second motor base (62) and the cleaning system (4).

9. The laser cleaning rope-driven robot according to claim 1, characterized in that: The cleaning system (4) comprises a laser (41) and a laser tool head (42); the laser tool head (42) is equipped with a galvanometer (43), a camera (44), an infrared rangefinder (45), and a visual system (46); the laser (41) is connected to the laser tool head (42) via an optical fiber (47); the output end of the optical fiber (47) is arranged relative to the galvanometer (43); and the control system (7) is connected to the laser (41), the camera (44), the infrared rangefinder (45), and the visual system (46); The laser (41) is used to send a laser beam to the galvanometer (43) through an optical fiber (47); The galvanometer (43) is used to adjust the angle and position of the laser beam; The camera (44) is used to capture an image of the object to be cleaned and send the image to the control system (7); The infrared rangefinder (45) is used to measure the distance between the laser tool head (42) and the object to be cleaned, and send the distance to the control system (7); The visual system (46) is used to identify the surface finish of the object to be cleaned; The control system (7) is used to control the operation of the laser (41), locate the object to be cleaned according to the image and distance, and determine whether to continue cleaning according to the situation recognized by the visual system (46).

10. A cleaning method for a laser cleaning rope-driven robot according to claim 9, characterized in that: The cleaning method comprises the following steps: Step 1: The control system (7) controls the intelligent vehicle (1) to move to the designated cleaning area, and then the control system (7) controls the rope drive system (3) to operate so that the mechanical arm (2) is in a folded state, and the control system (7) controls the first drive mechanism (5) to operate so that the mechanical arm (2) is aligned with the object to be cleaned; then the rope drive system (3) controls the small arm (23) to move on the large arm (22) to roughly adjust the position of the cleaning system (4), and at the same time the rope drive system (3) controls the shoulder joint (21) to move to roughly adjust the angle of the cleaning system (4); finally, the rope drive system (3) controls the wrist joint (24) to move to fine-tune the position and angle of the cleaning system (4), and at the same time controls the second drive mechanism (6) to operate so that the position and angle of the cleaning system (4) are aligned with the object to be cleaned; Step 2: The control system (7) controls the aperture of the camera (44) to open, the infrared rangefinder (45) measures the distance between the laser tool head (42) and the object to be cleaned, and the control system (7) controls the robot arm (2) to move so that the distance between the laser tool head (42) and the surface of the object to be cleaned is within a set working range. At this time, the camera (44) captures the image of the object to be cleaned, and then closes the aperture. The control system (7) controls the laser (41) to emit laser light, and the laser (41) transmits the laser light to the laser tool head (42) through the optical fiber (47). At the same time, the laser beam adjusts its angle and position through the galvanometer (43) to accurately clean the surface of the object to be cleaned. Step 3: After the cleaning is completed, the control system (7) controls the aperture of the camera (44) to open again, and the surface finish of the object to be cleaned is identified through the visual system (46). If the surface finish of the object to be cleaned meets the standard, the cleaning effect meets the requirements. If the surface finish of the object to be cleaned does not meet the standard, the control system (7) controls the laser (41) to emit the laser again until the surface finish of the object to be cleaned meets the standard. Step 4: Repeat steps 2 and 3 to clean multiple objects to be cleaned. After cleaning, the control system (7) controls the intelligent vehicle (1) to return to the starting position.

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