Six-dimensional intelligent control robot laser cleaning platform device and method

Abstract

The invention relates to the technical field of laser cleaning, in particular to a six-dimensional intelligent control robot laser cleaning platform device and method.The six-dimensional intelligent control robot laser cleaning platform device comprises an intelligent transfer trolley and an industrial robot, the fixed end of the industrial robot is installed on the intelligent transfer trolley, and the movable end of the industrial robot is connected with a cleaning executing mechanism; the cleaning executing mechanism comprises a support mechanism, a control button is installed on the top face of the support mechanism, a 3D camera is installed on one side face of the support mechanism, a 6D mouse is installed on the other side face of the support mechanism, and the support mechanism is connected with a laser cleaning gun head assembly through a quick release assembly. The intelligent transfer trolley comprises a frame, trundles with supporting bases are installed at the bottom of the frame, a workpiece containing plate is installed on the top face of the frame, a control cabinet and a laser controller are further installed on the frame, and the control cabinet is electrically connected with the 3D camera, the industrial robot, the 6D mouse and the laser controller. The flexible laser cleaning device can meet the requirements for small-batch, multi-variety and high-mixing flexible laser cleaning and can be applied to narrow spaces or complex scenes needing man-machine cooperation.

Description

Technical Field

[0001] This invention relates to the field of laser cleaning technology, specifically to a six-dimensional intelligent control robot laser cleaning platform device and method. Background Technology

[0002] Traditional cleaning methods (such as sandblasting and chemical cleaning) suffer from increasingly prominent drawbacks, including high pollution, high material consumption, and damage to the substrate. Laser cleaning, as a "green" non-contact cleaning technology, has become an ideal alternative to traditional processes.

[0003] However, existing laser cleaning equipment mostly adopts traditional industrial robots or gantry structures, which have problems such as bulky deployment, complex programming, and difficulty in coordinating with humans. They cannot meet the flexible production needs of small batches, multiple varieties, and high mixing, as well as applications in narrow spaces or complex scenarios requiring human-machine collaboration (such as local repair of large components and online cleaning of production lines). Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a six-dimensional intelligent control robot laser cleaning platform device and method, which can effectively solve the needs of flexible laser cleaning for small batches, multiple varieties, and high mixing, as well as the application needs in narrow spaces or complex scenarios requiring human-machine cooperation (such as local repair of large components and online cleaning of production lines).

[0005] This invention is achieved through the following technical solution: We provide a six-dimensional intelligent control robot laser cleaning platform device, which includes an intelligent transfer vehicle and an industrial robot. The fixed end of the industrial robot is installed on the intelligent transfer vehicle, and the movable end of the industrial robot is connected to the cleaning actuator. The cleaning actuator includes a support mechanism, with control buttons mounted on the top surface of the support mechanism, a 3D camera mounted on one side of the support mechanism, and a 6D mouse mounted on the other side of the support mechanism. The support mechanism is detachably connected to the laser cleaning gun head assembly via a quick-release component. The intelligent transfer vehicle includes a frame, with casters with support seats installed at the four corners of the frame's bottom. A workpiece placement plate is installed on the top of the frame. A control cabinet and a laser controller are also installed on the frame. The control cabinet is electrically connected to control buttons, a 3D camera, an industrial robot, a 6D mouse, and the laser controller via cables. An operation panel and a debugging panel are also installed on the frame. The operation panel is electrically connected to the control cabinet and is used to operate the control cabinet. The debugging panel is electrically connected to the laser controller and is used to adjust the laser parameters of the laser controller during handheld operation.

[0006] Furthermore, the laser cleaning gun head assembly includes a light guide base with a cross-shaped light guide cavity inside. One lateral end of the light guide base is connected to an optical fiber output head via a connecting pipe, and a light output button I, electrically connected to the control cabinet, is installed on the connecting pipe. A Y-axis galvanometer is installed at the other lateral end of the light guide cavity and covered with a Y-axis galvanometer cover. An X-axis galvanometer is installed at the vertical end of the light guide cavity and covered with an X-axis galvanometer cover. A smart screen for displaying parameters is installed on the upper end of the X-axis galvanometer cover. A field lens is installed at the vertical end of the light guide cavity. A connecting and fixing sleeve is fitted onto the field lens. An openable flip cover is hinged to the side of the fixing sleeve. A multispectral sensor for detecting the window distance is installed on the bottom surface of the light guide base on one side of the field lens. A light-blocking plate protrudes from the edge of the flip cover and faces the multispectral sensor after the flip cover is fastened to the field lens.

[0007] Furthermore, the control buttons include a record point button, a focus lock button, a Z-axis lock button, an R-angle lock button, an X-axis lock button, a Y-axis lock button, a light output button II, and two shortcut I / O buttons. Specifically: the record point button is used to add program trajectories during dragging, instantly saving the spatial coordinates and posture of the industrial robot's moving end; the focus lock button is used to fix the position and posture of the industrial robot's moving end in space; the X-axis lock button is used to fix the translational degree of freedom of the industrial robot in the X-axis direction of the Cartesian coordinate system; the Y-axis lock button is used to fix the translational degree of freedom of the industrial robot in the Y-axis direction of the Cartesian coordinate system; the Z-axis lock button is used to fix the translational degree of freedom of the industrial robot in the Z-axis direction of the Cartesian coordinate system; the R-angle lock button is used to fix the rotational degree of freedom of the industrial robot about a specific axis, allowing it to move only along the remaining degrees of freedom during teaching; the light output button II is used to control light output during handheld operation; and the shortcut I / O buttons are used to quickly trigger digital input / output signals in the industrial robot control system, enabling real-time control and status monitoring of external devices.

[0008] Furthermore, the end of the fixed sleeve is formed with a trumpet-shaped flared part, the flared part has a cavity and is connected to an air outlet pipe, and the flared part has air outlet holes that communicate with the cavity at intervals along the circumferential direction on the inner circumferential surface of the flared part, and the air outlet of each air outlet hole forms a conical sealed air curtain on the end face of the field mirror.

[0009] Furthermore, LED boundary warning lights and audible and visual alarms are installed on the frame of the intelligent transfer vehicle.

[0010] Furthermore, the frame is surrounded by baffles to form a closed mounting cavity, and a refrigeration device electrically connected to the control cabinet is also installed in the mounting cavity.

[0011] Furthermore, the top surface of the vehicle frame is vertically connected to a laser protective plate forming a protective barrier around the workpiece placement plate, and an avoidance opening is provided on the side of the protective barrier facing the industrial robot.

[0012] Preferably, the workpiece placement plate is a screw hole plate.

[0013] A cleaning method using a six-dimensional intelligent control robot laser cleaning platform includes automatic cleaning with automatically generated cleaning paths and automatic cleaning with manually generated cleaning paths, wherein: Automatic cleaning, which automatically generates cleaning paths, includes the following steps: S1. Push the device to the work area, unscrew the caster support, support it on the ground, plug in the external power supply of the device, and turn on the device power switch; S2. Place and fix the workpiece on the workpiece placement plate; S3. Drag the cleaning actuator to position the 3D camera to the imaging area and capture images of the cleaning area through the 3D camera. S4. The control cabinet automatically matches laser cleaning parameters through built-in algorithm point cloud preprocessing; S5. Simultaneously, the control cabinet extracts features, generates real-time motion commands based on the features, forms path planning, and calculates the angles of each joint of the industrial robot in real time using the surface normal vector as a constraint to form a motion trajectory. S6. Once all data is prepared and the process parameters are confirmed to be appropriate, proceed with execution. S7. The industrial robot controls the cleaning actuator to complete automatic laser cleaning according to the generated motion instructions; The automatic cleaning process, which involves manually generating cleaning paths, includes the following steps: A1. Push the device to the work area, unscrew the support base of the casters, support it on the ground, plug in the external power supply of the device, and turn on the power switch of the device. A2. Place and fix the workpiece on the workpiece placement plate; A3. Select the laser cleaning process through the control cabinet, start laser preparation, and display the red light cleaning pattern; A4. The smart screen displays the distance value to the workpiece through a multispectral sensor. Based on the working surface of the workpiece, select the control button to enable the motion axis of the industrial robot, operate the 6D mouse, and drive the red light cleaning pattern to sweep across the cleaning area. A5. Confirm the industrial robot cleaning path through the central controller, check whether the laser cleaning process parameters are appropriate, and confirm the start of execution. A6. The industrial robot controls the cleaning actuator to complete the automatic laser cleaning.

[0014] The beneficial effects of this invention are: This invention is a smart laser cleaning platform based on 3D camera vision. It combines the advantages of robots (safety, flexibility, and ease of deployment) with the advantages of laser cleaning (precision and environmental friendliness). Furthermore, by utilizing the intelligent recognition of workpiece contours by a 3D camera, it will greatly expand the application boundaries of laser cleaning technology and provide a solution for high-end manufacturing, production line maintenance, and special fields.

[0015] This invention integrates an intelligent transfer vehicle, an industrial robot, and a cleaning actuator, along with a whole-machine control system, to achieve integrated equipment control, visual processing, process management, and status monitoring. It combines the collaborative control of industrial robot motion trajectory, 3D camera data processing, laser parameter adjustment, and air blowing dust removal to solve the flexible laser cleaning needs of small batches, multiple varieties, and high mixing, as well as applications in narrow spaces or complex scenarios requiring human-machine cooperation (such as local repair of large components and online cleaning of production lines).

[0016] I. Extremely high flexibility and rapid deployment capability By integrating industrial robots with intelligent transfer vehicles, the equipment achieves mobility. The unit can be easily pushed to the required work area and quickly secured via casters with support bases. This design transforms the laser cleaning equipment from a traditional fixed deployment into a mobile workstation that finds workpieces, perfectly adapting to the needs of small-batch, multi-variety production rhythms and operations in confined spaces.

[0017] Second, its high degree of intelligence and automation significantly reduces the operational threshold. Dual path generation mode: Provides two methods: automatic path generation (based on 3D camera vision recognition) and manual path generation (based on 6D mouse drag-and-drop teaching).

[0018] Automatic mode: The 3D camera collects point cloud data of the workpiece, and the control cabinet automatically performs feature extraction, path planning and parameter matching to achieve intelligent cleaning, which is especially suitable for complex curved surfaces and batch operations.

[0019] Manual mode: Utilizing a 6D mouse and a set of precise degree-of-freedom locking buttons (such as X / Y / Z direction locking, R-angle locking, etc.), operators can intuitively and accurately guide the robot, greatly simplifying the tedious programming and teaching process of traditional robots, and is very suitable for repair work that requires human experience.

[0020] III. Safe and efficient human-machine collaborative operation Safe interactive design: The 6D mouse supports force and vibration feedback, allowing operators to perceive the robot's interaction with the environment. Combined with laser protective panels, LED boundary warning lights, and audible and visual alarms, multiple layers of safety protection are constructed to ensure the safety of human-robot collaborative operations.

[0021] Efficient collaborative control: Through the linkage between control buttons (such as the record point button and the shortcut IO button) and the 6D mouse, the operator can quickly record the trajectory and trigger external devices, realizing efficient teaching and execution of complex tasks.

[0022] IV. The cleaning process is precise, reliable, and the equipment has a long service life. Precise control and quality assurance: The laser cleaning gun head assembly integrates a multispectral sensor for real-time distance and temperature measurement. This sensor, in conjunction with the air blowing system and light emission control, ensures operation within safe distances and temperatures, improving cleaning quality and preventing workpiece damage.

[0023] A unique openable flip cover and sealed air curtain system were designed. The flip cover closes when not in use, preventing dust and triggering a safety interlock via a light-blocking plate (blocking the sensor prevents light emission). The air curtain is formed through the vents in the flared section, effectively protecting the field lenses from contamination.

[0024] V. Modular design and easy maintenance The quick-release assembly connects the laser cleaning gun head assembly, making gun head replacement and maintenance very convenient and expanding the equipment's application capabilities in special scenarios.

[0025] This application, through the systematic integration of mobile platforms, robots, vision systems, intelligent control, and safety design, has successfully created a highly flexible, intelligent, easy-to-use, safe, and reliable laser cleaning solution, effectively expanding the application boundaries of laser cleaning technology. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0027] Figure 2 This is a schematic diagram of the intelligent transfer vehicle in this invention.

[0028] Figure 3 This is a schematic diagram of the vehicle frame structure in this invention.

[0029] Figure 4 This is a schematic diagram of the bottom of the vehicle frame in this invention.

[0030] Figure 5 This is a schematic diagram of the cleaning actuator in this invention.

[0031] Figure 6 This is a schematic diagram of the structure of the laser cleaning gun head assembly in this invention.

[0032] Figure 7 This is a schematic diagram of the flip-top installation in the laser cleaning gun head assembly of the present invention.

[0033] Figure 8 This is a schematic diagram of the control button in this invention.

[0034] Figure 9 This is an exploded view of the laser cleaning gun head assembly in this invention.

[0035] As shown in the figure: 1-Intelligent transfer vehicle, 2-Industrial robot, 3-Cleaning actuator, 10-Control cabinet, 11-Laser protective plate, 12-Debugging panel, 13-Frame, 14-Operation panel, 132-Workpiece placement plate, 133-LED boundary warning light, 134-Refrigeration equipment, 135-Cast, 136-Laser controller, 137-Audio and visual alarm, 31-3D camera, 32-Support mechanism, 33-Laser cleaning gun head assembly, 322-6D mouse, 323-Control button, 324-Quick release assembly, 332-Intelligent screen, 333-Multispectral sensor, 334-Flip cover, 3341-Light shield, 335-Ventilation vent, 336-Light emission button I, 337-Quick IO button, 338-Record point button, 339-Focus lock button, 340-Z-direction lock button, 341-R-angle lock button, 342-X-direction lock button, 343- Y-direction locking button, 344-Light output button II, 345-X-axis galvanometer cover, 346-X-axis galvanometer, 347-Light guide base, 348-Y-axis galvanometer, 349-Y-axis galvanometer cover, 350-Fiber optic output head, 351-Field lens. Detailed Implementation

[0036] To clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution. Example 1

[0037] A six-dimensional intelligent control robot laser cleaning platform device includes an intelligent transfer vehicle 1 and an industrial robot 2. The fixed end of the industrial robot 2 is installed on the intelligent transfer vehicle 1, and the movable end of the industrial robot 2 is connected to a cleaning execution mechanism 3. The cleaning execution mechanism 3 includes a support mechanism 32, a control button 323 is installed on the top surface of the support mechanism 32, a 3D camera 31 is installed on one side of the support mechanism 32, and a 6D mouse 322 is installed on the other side of the support mechanism 32. The support mechanism 32 is connected to a laser cleaning gun head assembly 33 through a quick-release component 324. The quick-release component 324 can easily and quickly remove the laser cleaning gun head assembly 33 for application in special scenarios where the industrial robot 2 cannot reach.

[0038] The 6D mouse 322 integrates force and vibration feedback, enabling the operator to "sense" the interaction between the industrial robot 2 and the environment, achieving more precise operation; the control button 323 can be used to selectively control the six axes of the industrial robot 2, enabling more convenient and precise control of planes and vertical surfaces, making the focal length control of laser cleaning more stable and the operation more efficient.

[0039] like Figure 8 As shown, the control button 323 includes: The record point button 338 allows for the rapid addition of program trajectories during drag-and-drop operation. This means that during drag-and-drop teaching, the operator can press the record point button 338 at any time to instantly save the spatial coordinates and orientation of the robot's end effector as a key point in the program path. This function, combined with a motion locking mechanism, can accurately capture the required trajectory after locking certain degrees of freedom, effectively avoiding positional deviations caused by manual intervention. All recorded points are automatically generated into editable motion instructions in a time sequence, significantly shortening the programming cycle and improving teaching efficiency.

[0040] The focus lock button 339 is used to fix the position and posture of the moving end of the industrial robot 2 in space, ensuring a stable viewing angle or working distance relative to the work object during teaching. This function is commonly used in vision guidance or precision assembly tasks to ensure that the sensor acquisition area or tool application point does not shift due to manual dragging. Combined with motion locking in the world coordinate system, it can maintain the consistency of key process parameters during multi-axis linkage debugging, improving teaching accuracy and repeatability.

[0041] The I2344 light emission button is used to quickly start and stop external devices such as lasers, lights, or sensors mounted on the robot, enabling instant response during teaching or debugging. This button can be linked with motion control to ensure precise triggering of external devices at specific points, facilitating verification of process parameters or adjustment of work sequences. Combined with the point recording function, operators can mark the light emission status while saving the trajectory, generating a complete program snippet including enable controls, further improving programming efficiency and process reproducibility.

[0042] The quick I / O button 337 is used to quickly trigger digital input / output signals in the robot control system, enabling real-time control and status monitoring of external devices. This button can be preset with various I / O combination modes, such as welding start / stop, laser on / off, and fixture clamping / releasing, facilitating simultaneous debugging of peripheral device action timing during teaching. By linking with the record point function, specific I / O states can be precisely bound to trajectory nodes, generating a complete process flow including logical control. This function significantly improves the efficiency of collaborative debugging between the robot and peripheral devices, and is particularly suitable for complex process scenarios such as welding, assembly, and inspection, ensuring the consistency of actions of each execution unit when the program is reproduced.

[0043] The X-direction locking button 342 can fix the robot's translational degree of freedom in the X-axis direction of the Cartesian coordinate system, allowing it to move only along the Y and Z axes or rotate about the rotational axes during teaching or manual operation. This constraint is suitable for operation scenarios that require maintaining specific straight-line alignment, such as workpiece insertion, guide rail assembly, or boundary alignment.

[0044] The Y-axis locking button 343 can fix the robot's translational degree of freedom in the Cartesian coordinate system along the Y-axis, allowing it to move only along the X and Z axes or rotate around the rotational axes during teaching or manual operation. This constraint is suitable for assembly tasks that require maintaining lateral positioning accuracy, such as sheet metal mating and hole-shaft mating. Combined with the X-axis locking function, directional guidance can be achieved in a plane, avoiding misalignment caused by human operation and ensuring the accuracy of trajectory planning and process stability.

[0045] The Z-axis locking button 340 can fix the robot's translational degree of freedom in the Cartesian coordinate system along the Z-axis, allowing it to move only along the X and Y axes or rotate around the rotational axes during teaching or manual operation. This function is suitable for scenarios requiring precise control of the working height, such as surface grinding, gluing, or spot welding, to avoid processing errors caused by vertical jitter. Combined with the X and Y-axis locking function, it can achieve omnidirectional freedom constraint in a plane, ensuring that the tool end is always in contact with the predetermined working plane, improving the consistency of the teaching path and the process accuracy.

[0046] The R-angle locking button 341 can fix the robot's rotational degree of freedom around a specific axis, allowing it to move only along the remaining degrees of freedom during teaching. This function is suitable for operation scenarios with high requirements for posture accuracy, such as tool insertion assembly, precision welding, or optical focusing, effectively preventing posture deviations introduced by manual operation. Combined with X, Y, and Z direction locking functions, multi-dimensional collaborative constraints can be achieved, ensuring dual stability of the tool end effector in both spatial position and posture, improving the repeatability and operational safety of complex processes.

[0047] The intelligent transfer vehicle 1 includes a frame 13. Casters 135 with support seats are mounted at the four corners of the bottom of the frame 13. A workpiece placement plate 132, which is a screw hole plate, is mounted on the top surface of the frame 13 for easy workpiece positioning and fixing. A control cabinet 10 and a laser controller 136 are also mounted on the frame 13. The control cabinet 10 is electrically connected to control buttons 323, a 3D camera 31, an industrial robot 2, a 6D mouse 322, and the laser controller 136 via cables. An operation panel 14 and a debugging panel 12 are also mounted on the frame 13. The operation panel 14 is electrically connected to the control cabinet 10 and used to operate the control cabinet 10. The debugging panel 12 is electrically connected to the laser controller 136 and used to adjust the laser parameters of the laser controller 136 during handheld cleaning.

[0048] The 3D camera 31 is used for data acquisition and positioning of the cleaning work surface of complex structural parts, and feeds the data back to the control cabinet 10 to plan the cleaning path, which can realize constant distance fine cleaning of this complex cleaning surface.

[0049] The 6D Mouse 322 supports six degrees of freedom (DOF) manipulation in three-dimensional space, enabling translation along the X, Y, and Z axes and rotation around the A, B, and C axes in the robot tool coordinate system. Through real-time transmission of pose commands via high-precision sensors, users can perform precise teaching or path fine-tuning from a safe location away from hazardous areas, significantly improving operational safety and flexibility. This device is suitable for complex trajectory adjustments in confined spaces, exhibiting excellent control performance, particularly in mold repair and free-form surface machining. Combined with the aforementioned locking functions, it allows for independent adjustment in a single dimension or collaborative constraints across multiple DDFs, ensuring precise and controllable operation. This function, in conjunction with quick I / O and point recording functions, enables rapid state switching and saving of key postures during teaching. By using the 6D Mouse 322 with DDF locking, operators can precisely control the robot's end effector trajectory in three-dimensional space, while simultaneously triggering external device actions using shortcut buttons, improving teaching efficiency and system response speed. When performing multi-process integrated tasks, the 6D Mouse 322's pose adjustment function can be linked with point recording to achieve segmented teaching and accurate reproduction of complex paths. By triggering preset commands via quick I / O, operators can complete auxiliary actions such as fixture switching and sensor calibration without interrupting the process, further reducing non-operation time.

[0050] The laser cleaning gun head assembly 33 includes a light guide base 347, which has a cross-shaped light guide cavity inside. One lateral end of the light guide base 347 is connected to an optical fiber output head 350 via a connecting tube, and a light output button I336 is installed on the connecting tube. A Y-axis galvanometer 348 is installed at the other lateral end of the light guide cavity and covered with a Y-axis galvanometer cover 349. An X-axis galvanometer 346 is installed at the vertical end of the light guide cavity and covered with an X-axis galvanometer cover 345. The upper end of the light guide is equipped with a smart screen 332 that can display laser parameters and temperature; a field lens 351 is installed on the vertical lower end of the light guide cavity of the light guide base 347, and a connecting and fixing sleeve is fitted on the field lens 351. A hinged flip cover 334 is installed on the side of the fixing sleeve. A multispectral sensor 333 for detecting the window distance is installed on the bottom surface of the light guide base 347 on one side of the field lens 351. A light-blocking plate 3341 protrudes from the edge of the flip cover 334 and faces the multispectral sensor 333 after the flip cover 334 is fastened to the field lens 351. When the flip cover 334 is closed, it blocks the sensor, causing the measurement distance to exceed the set window range. At this time, the system prohibits light emission; when the flip cover 334 is open, the sensor is not blocked, and if the measurement distance is within the set window, light emission is allowed.

[0051] The laser emitted by the laser controller 136 is collimated by the fiber optic output head 350, and then reflected by the lenses of the X-axis galvanometer 346 and the Y-axis galvanometer 348 before being projected into the field lens 351. After being focused by the field lens 351, it forms a high-energy line bundle or pattern.

[0052] The end of the fixed sleeve is formed with a flared part in the shape of a trumpet. The flared part has a cavity and is connected to an air outlet pipe. The flared part has air outlet holes 335 that are circumferentially spaced on the inner circumferential surface of the flared part and communicate with the cavity. The air outlet of each air outlet hole 335 forms a conical sealed air curtain on the end face of the field mirror 351.

[0053] The multispectral sensor 333 can be used to measure the distance from the laser cleaning gun head assembly 33 to the cleaning work surface and display it in real time on the smart screen 332. It can also be set to emit light within a specific distance range to prevent accidental light emission and injury. Simultaneously, it can measure the surface temperature of the laser cleaning gun head assembly 33 and the workpiece in real time. The temperature data is also linked to the air blowing system control, adjusting the air volume according to the internal temperature of the laser cleaning gun head assembly 33. This also prevents high-temperature damage to workpieces made of special materials during cleaning. When the equipment is not in operation, the flip cover 334 is closed to prevent dust from entering and to cover the multispectral sensor 333, causing it to exceed the set light emission range. Even if the light emission button I336 is triggered, no light will be emitted.

[0054] LED boundary warning lights 133 and audible and visual alarms 137 are installed on the frame 13 of the intelligent transfer vehicle 1. A closed mounting cavity is formed around the frame 13 by baffles. A refrigeration unit 134, electrically connected to the control cabinet 10, is also installed inside the mounting cavity. In this embodiment, the refrigeration unit 134 is an air-cooled unit that blows cold air for cooling. Three audible and visual alarms 137 are installed, located on the top and bottom sides of the frame 13. The LED boundary warning lights 133 can simultaneously emit red boundary light and an alarm sound, providing excellent audible and visual warnings during equipment transfer and laser cleaning, preventing accidental entry by personnel.

[0055] The top surface of the frame 13 is vertically connected to the laser protective plate 11 around the workpiece placement plate 132 to form a protective barrier. The side of the protective barrier facing the industrial robot 2 has an opening for avoidance. The laser protective plate 11 adopts a mesh structure, which allows the operator to conveniently and in real time observe the cleaning process. Example 2

[0056] A cleaning method using a six-dimensional intelligent control robot laser cleaning platform device, wherein: Automatic cleaning, which automatically generates cleaning paths, includes the following steps: S1. Push the device to the work area, unscrew the support base of caster 135, support it on the ground, plug in the external power supply of the device, and turn on the power switch of the device. S2. Place and fix the workpiece on the workpiece placement plate 132; S3. Drag the cleaning actuator 3 to position the 3D camera 31 to the imaging area, and collect images of the cleaning area through the 3D camera 31. S4 and control cabinet 10 automatically match laser cleaning parameters through built-in algorithm point cloud preprocessing. S5. Simultaneously, the control cabinet 10 extracts features, generates real-time motion commands based on the features, forms path planning, and calculates the angles of each joint of the industrial robot 2 in real time using the surface normal vector as a constraint to form a motion trajectory. S6. Once all data is prepared and the process parameters are confirmed to be appropriate, proceed with execution. S7. Industrial robot 2 controls cleaning actuator 3 to complete automatic laser cleaning according to the generated action instructions. Example 3

[0057] A cleaning method using a six-dimensional intelligent control robot laser cleaning platform device, wherein: The automatic cleaning process, which involves manually generating cleaning paths, includes the following steps: A1. Push the device to the work area, unscrew the support base of caster 135, support it on the ground, plug in the external power supply of the device, and turn on the power switch of the device. A2. Place and fix the workpiece on the workpiece placement plate 132; A3. Select the laser cleaning process through control cabinet 10, start laser preparation, and display red light cleaning pattern; A4. The intelligent screen 332 displays the distance value to the workpiece through the multispectral sensor 333. According to the working surface of the workpiece, the control button 323 is selected to enable the motion axis of the industrial robot 2. The 6D mouse 322 is operated to drive the red light cleaning pattern to sweep across the cleaning area. A5. Confirm the cleaning path of industrial robot 2 through the central controller, check whether the laser cleaning process parameters are appropriate, and confirm the start of execution. A6. Industrial robot 2 controls cleaning actuator 3 to complete automatic laser cleaning.

[0058] Of course, the above description is not limited to the examples above. Technical features not described in this invention can be implemented by or using existing technology, and will not be repeated here. The above embodiments and drawings are only used to illustrate the technical solutions of this invention and are not intended to limit this invention. This invention has been described in detail with reference to preferred embodiments. Those skilled in the art should understand that any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this invention do not depart from the spirit of this invention and should also fall within the scope of protection of the claims of this invention.

Claims

1. A six-dimensional intelligent robot laser cleaning platform device, comprising an intelligent transfer trolley and an industrial robot, the fixed end of the industrial robot being installed on the intelligent transfer trolley, and the movable end of the industrial robot being connected to a cleaning execution mechanism; characterized in that: the cleaning execution mechanism comprises a support mechanism, the top surface of the support mechanism is provided with a control button, one side surface of the support mechanism is provided with a 3D camera, and the other side surface of the support mechanism is provided with a 6D mouse, and the support mechanism is detachably connected to a laser cleaning gun head assembly through a quick release assembly; the intelligent transfer trolley comprises a trolley frame, four corners of the bottom of the trolley frame are respectively provided with casters with support seats, the top surface of the trolley frame is provided with a workpiece placing plate, and a control cabinet and a laser controller are further respectively installed on the trolley frame, the control cabinet is electrically connected to the control button, the 3D camera, the industrial robot, the 6D mouse and the laser controller through cables, and an operation panel and a debugging panel are further respectively installed on the trolley frame, the operation panel is electrically connected to the control cabinet and is used for operating the control cabinet, and the debugging panel is electrically connected to the laser controller and is used for adjusting the laser parameters of the laser controller when handheld operation is performed.

2. The six-axis robotic laser cleaning platform apparatus of claim 1, wherein: the laser cleaning gun head assembly comprises a light guide seat, a cross-shaped light guide cavity is formed in the light guide seat, a fiber output head is connected to the light guide seat through a connecting pipe at one transverse end of the light guide cavity, and an out-light button I electrically connected to the control cabinet is installed on the connecting pipe; a Y-axis galvanometer is installed on the light guide seat at the other transverse end of the light guide cavity and is covered with a Y-axis galvanometer cover; an X-axis galvanometer is installed on the light guide seat at the upper end of the light guide cavity in the vertical direction and is covered with an X-axis galvanometer cover, the upper end of the X-axis galvanometer cover is provided with an intelligent screen for displaying parameters; a field mirror is installed on the light guide seat at the lower end of the light guide cavity in the vertical direction, a connecting fixing sleeve is sleeved on the field mirror, a flip cover that can be opened and closed is hingedly installed on the side surface of the fixing sleeve, a multi-spectrum sensor for detecting the distance of a window is installed on the bottom surface of the light guide seat on the side of the field mirror, and a light shield is protruded on the edge of the flip cover and faces the multi-spectrum sensor after the flip cover is buckled with the field mirror.

3. The six-axis robotic laser cleaning platform apparatus of claim 1, wherein: the control button comprises a record point button, a focus locking button, a Z direction locking button, an R angle locking button, an X direction locking button, a Y direction locking button, an out-light button II and two quick IO buttons, wherein: the record point button is used to increase program tracks in dragging and instantly saves the spatial coordinates and attitude of the movable end of the industrial robot; the focus locking button is used to fix the position and attitude of the movable end of the industrial robot in space; the X direction locking button is used to fix the translational freedom degree of the industrial robot in the X axis direction of the Cartesian coordinate system; the Y direction locking button is used to fix the translational freedom degree of the industrial robot in the Y axis direction of the Cartesian coordinate system; the Z direction locking button is used to fix the translational freedom degree of the industrial robot in the Z axis direction of the Cartesian coordinate system; the R angle locking button is used to fix the rotational freedom degree of the industrial robot around a specific axis, so that it is only allowed to move along the remaining freedom degrees in the teaching process; the out-light button II is used to control light emission during handheld operation; and the quick IO button is used to quickly trigger the digital input and output signals in the industrial robot control system, so as to realize instant control and state monitoring of external equipment.

4. The six-axis robotic laser cleaning platform of claim 1, wherein: The end of the fixed sleeve is formed with a flared portion, the flared portion is provided with a cavity and is connected with an air outlet pipe, air outlet holes are arranged on the inner circumferential surface of the flared portion and are in communication with the cavity, and air outlet of each air outlet hole forms a conical closed air curtain on the end surface of the field lens.

5. The six-axis robotic laser cleaning platform of claim 1, wherein: The frame of the intelligent transfer trolley is respectively provided with an LED boundary warning light and an audible and visual alarm.

6. The six-axis robotic laser cleaning platform apparatus of claim 1, wherein: The frame is surrounded by a baffle to form a closed mounting cavity, and the frame is also provided with a refrigeration device which is electrically connected with the control cabinet.

7. The six-axis robotically controlled laser cleaning platform apparatus of claim 1, wherein: The top surface of the frame is vertically connected with a laser protection plate to form a protection fence around the workpiece placing plate, and the protection fence is provided with an avoiding opening opposite to the industrial robot.

8. The six-axis robotic laser cleaning platform of claim 1, wherein: The workpiece placing plate is a screw hole plate.

9. A cleaning method using the six-dimensional intelligent robot laser cleaning platform device according to any one of claims 1-8, characterized in that: The automatic cleaning includes automatically generating a cleaning path and manually generating a cleaning path. The automatic cleaning of automatically generating a cleaning path includes the following steps. S1, pushing the device to the working area, rotating the support seat of the castor out to support on the ground, plugging in the external power supply of the device, and turning on the power switch of the device; S2, placing and fixing the workpiece on the workpiece placing plate; S3, dragging the cleaning execution mechanism to position the 3D camera to the shooting area, and collecting the image of the cleaning area through the 3D camera; S4, the control cabinet automatically matches the laser cleaning parameters through the built-in algorithm point cloud preprocessing; S5, the control cabinet extracts features and generates real-time action instructions according to the features, forms path planning, takes the surface normal vector as a constraint, and calculates the joint angles of the industrial robot in real time to form a motion trajectory; S6, after all data is prepared, it is confirmed whether the process parameters are suitable, and it is confirmed to start execution; S7, the industrial robot controls the cleaning execution mechanism to complete the automatic laser cleaning according to the generated action instructions; The automatic cleaning of manually generating a cleaning path includes the following steps. A1, pushing the device to the working area, rotating the support seat of the castor out to support on the ground, plugging in the external power supply of the device, and turning on the power switch of the device; A2, placing and fixing the workpiece on the workpiece placing plate; A3, selecting the laser cleaning process through the control cabinet, starting the laser preparation, and displaying the red light cleaning pattern; A4, the intelligent screen displays the distance value from the workpiece through the multispectral sensor, selects the control button according to the work surface plane of the workpiece, enables the motion axis of the industrial robot, and operates the 6D mouse to drive the red light cleaning pattern to sweep through the cleaning area; A5, confirming the cleaning path of the industrial robot through the master controller, checking whether the laser cleaning process parameters are suitable, and confirming to start execution; A6, the industrial robot controls the cleaning execution mechanism to complete the automatic laser cleaning.

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