Combined type laser cleaning device for ship segmented large plane and using method of combined type laser cleaning device

Abstract

The invention relates to a combined type laser cleaning device for a ship segmented large plane and a using method thereof.The combined type laser cleaning device comprises a wall-climbing robot and a main supporting arm, the wall-climbing robot and the main supporting arm are rotatably connected through an integrated platform, and a side supporting arm capable of moving up and down along the main supporting arm is arranged on the main supporting arm; a rotatable laser cleaning head is arranged at the end of one side of the side supporting arm and provided with continuous laser and pulse laser. The integrated platform is connected with the wall-climbing robot through a wall-climbing robot disc, the main supporting arm is sleeved with the side supporting arm, and a control device is arranged at the other end of the side supporting arm. Under the driving of the wall-climbing robot, the combined type laser cleaning device can quickly and effectively move on a ship section large plane, then the laser cleaning head quickly and effectively cleans the plane needing to be cleaned through continuous laser and pulse laser, combined pollutants on the large plane can be treated at a time, the cleaning efficiency is improved, and the labor intensity of workers is reduced. And the cleaning cost is reduced.

Description

Technical Field

[0001] This invention relates to the technical field of metal surface treatment, specifically to a composite laser cleaning device and its application method for large flat surfaces of ship sections, and more particularly to a composite laser cleaning device and its application method for efficient cleaning of ultra-large flat surfaces during the secondary rust removal process in ship section manufacturing. Background Technology

[0002] The modular shipbuilding system is the core unit of modern shipbuilding, and its manufacturing quality directly determines the construction cycle and final quality of the entire ship. Before applying primer after manufacturing, ship sections require surface treatment to achieve the specified rust removal grade and roughness. The main targets of surface treatment before painting are: loose rust on the section surfaces, shop primer, oxide scale around welds, and other contaminants such as rust.

[0003] Currently, in the shipbuilding industry, surface treatment of large flat sections mainly relies on several traditional processes: Abrasive jet treatment: mainly includes dry sandblasting and wet sandblasting. Although this method can effectively clean surfaces, it has significant drawbacks: ① It causes serious environmental pollution, generating large amounts of dust (dry sandblasting) and wastewater containing heavy metals (wet sandblasting), which seriously endangers the health of workers and the factory environment. For sandblasting, the degree of automation is low, and it relies heavily on manual operation, which increases the risk of occupational diseases for operators; ② The post-processing cost is high. Cleaning up and recycling tons of waste abrasive and dust requires huge human and financial resources.

[0004] Mechanical power tool processing: Grinding is performed using tools such as angle grinders and disc wire brushes. This method is only suitable for small-area localized processing. When using large flat surfaces, ① the consistency is poor, and the cleaning effect depends entirely on the operator's skill, resulting in large quality fluctuations; ② it cannot completely remove oxide scale, especially for dense rolled oxide scale, often only removing the raised parts and failing to reach the concave areas; ③ the production efficiency is low and cannot meet the pace requirements of modern shipbuilding.

[0005] In recent years, laser cleaning technology, as a "green" and consumable-free surface treatment technology, has seen initial applications in the industrial field. However, directly applying existing single-mode laser cleaning technology to large flat surfaces of ship sections exposes its inherent limitations and new technical challenges: For cleaning thick layers of contaminants, efficiency is low and economic efficiency is poor: the oxide scale and thick rust layers on the surface of ship sections have a large heat capacity and are firmly attached. When using a single laser parameter for treatment, the laser cleaning head often needs to perform multiple, low-speed repeated scans in the same area to remove them completely. This "one-size-fits-all" cleaning method results in low efficiency per pass, low energy utilization, and high overall cost when dealing with large cleaning areas.

[0006] Insufficient adaptability to complex contaminants: Surface contaminants on different sections are not isolated; they often present a complex state of "coexisting paint and rust, mixed with splatter and oxide scale." Single-source laser cleaning equipment struggles to simultaneously treat all contaminants. In certain areas, using high-energy laser beams may generate a carbonized layer, increasing the difficulty of cleaning.

[0007] Therefore, for secondary rust removal of large flat surfaces in ship sections, there is a need for a new, efficient, and intelligent laser cleaning solution that can overcome the shortcomings of a single light source and is specifically designed for large flat surfaces. Summary of the Invention

[0008] The purpose of this invention is to provide an improved composite laser cleaning device for large flat surfaces of ship sections and its method of use. Through improvements in structure and method, it can be used to clean complex pollutants on large flat surfaces, thereby improving cleaning efficiency.

[0009] To achieve the above objectives, the technical solution of the present invention is: a composite laser cleaning device for large flat surfaces of ship sections, characterized in that: the composite laser cleaning device includes a wall-climbing robot and a main support arm, the wall-climbing robot and the main support arm are rotatably connected by an integrated platform, the main support arm is provided with a side support arm that can move up and down along the main support arm, one side end of the side support arm is provided with a rotatable laser cleaning head, the laser cleaning head is provided with continuous laser and pulsed laser; the integrated platform is connected to the wall-climbing robot by a wall-climbing robot disk, the side support arm is sleeved on the main support arm, and the other end of the side support arm is provided with a control device.

[0010] Preferably, the main support arm is provided with a track, the side support arm is provided with a sliding column that cooperates with the track, the side support arm can move within a range of 400-600mm along the main support arm, and the side of the track is provided with a limiting groove.

[0011] Furthermore, the laser cleaning head is connected to the side support arm via a connecting device. The connecting device includes a spur gear located at the end of the side support arm and an internal meshing gear located on one side of the laser cleaning head. The internal meshing gear and the spur gear are engaged, and the two can rotate at an angle of ±10°.

[0012] Furthermore, the integrated platform is equipped with a set of mutually cooperating transmission gears, and the bottom of the main support arm is equipped with a rotating structure that cooperates with the transmission gears, so that the main support arm can rotate 360 ​​degrees around the wall-climbing robot.

[0013] The method of use includes the following steps: a) Preparation: First, assemble and debug the wall-climbing laser cleaning equipment, then clean the iron filings and dust from the bottom of the wall-climbing robot, then move the wall-climbing robot to the segmented large plane, move the wall-climbing robot to the starting point on the plane, and adjust the position of the laser cleaning head at the starting point; b) At the starting point, manually adjust the working distance of the laser to obtain the optimal working distance of the laser spot, and then set the relevant laser parameters; c) The wall-climbing robot drives the laser cleaning head to perform laser cleaning on the plane according to the set path. During the laser cleaning operation, it is necessary to ensure that the continuous laser is in front and the pulsed laser is behind. After the cleaning is completed, immediately turn off the continuous light and the pulsed light.

[0014] Furthermore, in step c, ensuring that the laser cleaning head emits light in a direction where the continuous laser beam precedes the pulse beam is mainly achieved through the following methods: c1: Steps to obtain environment parameters: The robot's normal vector N, motion direction vector V, and current pose data are acquired in real time. c2: Steps to establish the coordinate system: Establish a multi-level coordinate system, including the world coordinate system W(X_w,Y_w,Z_w), the robot base coordinate system R(X_r,Y_r,Z_r), the tooling base coordinate system B(X_b,Y_b,Z_b), and the cleaning head end coordinate system C(X_c,Y_c,Z_c). c3: Parallel constraint solution steps: Based on the normal vector N of the working surface, the joint angles [θ1, θ3] of the three-degree-of-freedom tooling are calculated using the inverse kinematics algorithm, so that the laser cleaning head lens plane is parallel to the working surface; c4: Steps for applying directional constraints: Based on the motion direction vector V, adjust the rotation joint angle θ1 to ensure that the laser emission direction satisfies the spatial relationship of continuous laser in front and pulsed laser behind. c5: Distance control steps: Based on the preset working distance d_dcsircd, calculate the translational joint displacement d2 to maintain a constant distance between the laser cleaning head and the working surface; c6: Real-time correction steps: The actual light output direction is monitored in real time by sensor feedback. When the detected direction deviation exceeds the preset threshold, the direction correction algorithm is executed.

[0015] Furthermore, in the c3 parallel constraint solution step, the constraint condition that the lens is parallel to the working surface is mathematically expressed as: Z_c = -k · N; where Z_c is the Z-axis direction vector of the end coordinate system, N is the normal vector of the working surface, and k is a coefficient greater than zero; the end Z-axis direction vector Z_c is calculated by the kinematic model as: Z_c = [sinθ1·sinθ3, -cosθ1·sinθ3, cosθ3]^T.

[0016] In the c4 direction constraint application step, the constraint condition for continuous preceding pulses is: X_c · V > 0; where X_c is the X-axis direction vector of the end coordinate system, calculated as: X_c = [cosθ1, sinθ1, 0]^T; When |sinθ3| < ε is detected, it is determined to be a singular configuration. In this case, the mirror parallel constraint is maintained first, and the orientation constraint is satisfied by adjusting the robot body pose. Here, ε = 1~0.1 (corresponding to a sine value of 0.57°~5.7°).

[0017] Furthermore, in step b, during adjustment, turn on the laser cleaning equipment, adjust the continuous laser power to 20%P and the pulsed laser power to 20%P, and manually adjust the laser working distance so that the laser spot is brightest at a certain position, which is the optimal working distance.

[0018] Furthermore, in step b, the parameters of the continuous laser section are mainly: power p concentrated in 3000~5400W, and laser cleaning head scanning rate concentrated in 15000~2000mm / s; the pulsed laser section adopts a Gaussian distribution of laser waveform, power p concentrated in 950~1000W, and scanning rate concentrated in 40000~45000mm / s.

[0019] Furthermore, in step c, during laser cleaning, the wall-climbing robot cleans in a straight back-and-forth motion. When the direction of movement of the wall-climbing robot changes, the robot's disc rotates 180° synchronously to ensure that during the cleaning operation, the continuous laser is in front and the pulsed laser is behind, with the working distance between the two lasers ranging from 3 to 5 mm.

[0020] Furthermore, in step c, during the laser cleaning surface treatment process, it is necessary to always maintain the perpendicular relationship between the laser cleaning head field lens and the working surface being cleaned, and to always maintain the working distance of the laser.

[0021] Furthermore, in step c, the laser cleaning head is equipped with dual-path light, namely a continuous laser and a pulsed laser. The core diameter of the continuous laser is 50~200μm and the maximum power is 6000W. The maximum power of the pulsed laser is 1000W. The laser waveform in the pulsed laser conforms to a Gaussian distribution, and the fiber length of the dual lasers is 20m.

[0022] Furthermore, in step c, during the cleaning process, the maximum width of the laser cleaning is 220mm, and the automatic cleaning adopts a method of automatic straight-line travel and manual control of lane changing, and the lane changing distance of the robot is set to 0.92~0.96 times the cleaning width.

[0023] Compared with the prior art, the technical solution of the present invention not only improves the overall technical solution, but also includes many improvements in details. Specifically, it has the following beneficial effects: 1. The improved solution of the present invention includes a composite laser cleaning device comprising a wall-climbing robot and a main support arm. The wall-climbing robot and the main support arm are rotatably connected by an integrated platform. The main support arm is provided with a side support arm that can move up and down along the main support arm. A rotatable laser cleaning head is provided at one end of the side support arm. The laser cleaning head is provided with continuous laser and pulsed laser. By using two types of lasers in combination, composite contaminants on a large surface can be treated at once, thereby improving cleaning efficiency. 2. In the technical solution of the present invention, the integrated platform and the wall-climbing robot are rotatably connected through the wall-climbing robot disk. The side arm is sleeved on the main arm, and the other end of the side arm is provided with a control device. Through the above device, the working path and working position of the laser cleaning head can be precisely controlled to achieve the purpose of precise and efficient cleaning. 3. In the method of using the present invention, the working distance of the laser is first manually adjusted to obtain the optimal working distance of the laser spot. Then, the relevant laser parameters are set. Then, the wall-climbing robot drives the laser cleaning head to perform laser cleaning on the plane according to the set path. During the laser cleaning operation, it is necessary to ensure that the continuous laser is in front and the pulsed laser is behind. This not only overcomes the defects of a single laser, but also allows the two lasers to complement each other and work together to achieve the same effect. This can efficiently complete the cleaning task and meet various complex cleaning requirements such as paint removal, rust removal, and paint-rust removal on large flat surfaces of ship sections, thereby reducing the cost of use. 4. The present invention has a reduced structure, reasonable layout, and simple operation, which improves cleaning efficiency and can meet various complex cleaning requirements of large flat surfaces of ship sections, making it easy to promote and utilize. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the present invention.

[0025] Figure 2 This is a schematic diagram of the main support arm connection integration platform of the present invention.

[0026] Figure 3 This is a partial structural schematic diagram of a laser cleaning head according to an embodiment of the present invention.

[0027] Figure 4 This is another partial structural schematic diagram of a laser cleaning head according to an embodiment of the present invention.

[0028] Figure 5 This is a schematic diagram of the cleaning path during the operation of the present invention.

[0029] Figure 6 This is a schematic diagram of the integrated platform of the present invention.

[0030] Figure 7 This is a schematic diagram of the internal structure of the integrated platform of the present invention.

[0031] Figure label: 1 Main support arm, 2 Track, 3 Limiting groove, 4 Side support arm, 5 Connecting mechanism, 6 Laser cleaning head, 7 Wall-climbing robot disc, 8 Control device cable outlet, 9 Control device, 10 Side support arm cable outlet, 11 Integrated platform, 12 Wall-climbing robot. 111 Transmission gear. Detailed Implementation

[0032] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] This invention provides a composite laser cleaning device for large flat surfaces of ship sections, see details below. Figure 1 The difference between this and the existing technology is that the composite laser cleaning device includes a wall-climbing robot 12 and a main support arm 1. The wall-climbing robot 12 and the main support arm 1 are rotatably connected by an integrated platform 11. The main support arm 1 is provided with a side support arm 4 that can move up and down along the main support arm. One side end of the side support arm 4 is provided with a rotatable laser cleaning head 6, which is provided with continuous laser and pulsed laser. The integrated platform 11 and the wall-climbing robot 12 are connected by a wall-climbing robot disk 7. The side support arm is sleeved on the main support arm, and the other end of the side support arm is provided with a control device 9.

[0034] When in use, driven by the wall-climbing robot, the composite laser cleaning device can move quickly and effectively on the large flat surface of the ship section. Then, the laser cleaning head uses continuous laser and pulsed laser to quickly and effectively clean the surface that needs to be cleaned. It can handle composite pollutants on a large flat surface in one go, improving cleaning efficiency and reducing cleaning costs.

[0035] Example 1 This embodiment describes a composite laser cleaning device for large flat surfaces of ship sections. The composite laser cleaning device includes a wall-climbing robot 12 and a main support arm 1. The wall-climbing robot 12 and the main support arm 1 are rotatably connected by an integrated platform 11. The main support arm 1 is provided with a side support arm 4 that can move up and down along the main support arm. One side end of the side support arm 4 is provided with a rotatable laser cleaning head 6, which is provided with continuous laser and pulsed laser. The integrated platform 11 and the wall-climbing robot 12 are connected by a wall-climbing robot disk 7. The side support arm is sleeved on the main support arm, and the other end of the side support arm is provided with a control device 9.

[0036] The control device is mainly used in path planning. It identifies the relationship between the direction of continuous and pulsed lasers during laser cleaning and the direction of movement of the wall-climbing robot in advance, thereby enabling the robot to autonomously plan the corresponding route during movement.

[0037] Specifically, the main support arm is provided with a track 2, the side support arm is provided with a sliding column that cooperates with the track, the side support arm can move within a range of 400-600mm along the main support arm, and the side of the track is provided with a limiting groove.

[0038] Furthermore, the laser cleaning head is connected to the side support arm via a connecting device. This device includes a spur gear at the end of the side support arm and an internal meshing gear on one side of the laser cleaning head. The internal meshing gear engages with the spur gear, and the two can rotate at an angle of ±10°. The integrated platform contains a set of cooperating transmission gears 111, and the bottom of the main support arm has a rotating structure that meshes with the transmission gears, allowing the main support arm to rotate 360 ​​degrees around the wall-climbing robot. The centralized platform drives the transmission gears to rotate via a servo motor, thereby rotating the main support arm. The wall-climbing robot has wall-climbing casters at its bottom and a set of symmetrically arranged rollers on both sides. Through the combined action of the wall-climbing casters and rollers, the wall-climbing robot can move stably on a large surface, maintaining the stability of the entire machine during the cleaning process and facilitating effective cleaning operations.

[0039] Furthermore, the main support arm and the side support arm are made of different materials. The side support arm is made of 10mm thick A356 aluminum alloy and is made of hollow tube, while the main support arm is made of No. 45 steel.

[0040] The laser cleaning head employs a dual-path composite laser cleaning system, consisting of a continuous laser and a pulsed laser. The continuous laser has a core diameter of 50-200 μm and a maximum power of 6000 W, while the pulsed laser has a maximum power of 1000 W. The pulsed laser waveform conforms to a Gaussian distribution, and the fiber length for both lasers is 20 m. During cleaning, the continuous and pulsed laser process parameters are set. The main parameters for the continuous laser are a power (p) of 3000-5400 W and a laser cleaning head scanning rate of 15000-2000 mm / s. The pulsed laser portion uses a Gaussian laser waveform distribution, with a power (p) of 950-1000 W and a scanning rate of 40000-45000 mm / s.

[0041] During the cleaning process of ship sections, the maximum width (hmx) of laser cleaning is set at 220mm. In automatic cleaning, the method of automatic straight-line travel and manual control of lane changing is adopted, and the lane changing distance of the robot is set at 0.92~0.96 times the cleaning width (h).

[0042] During laser cleaning operations, it is essential to ensure that the continuous laser is used first, followed by the pulsed laser, with a spacing of 3-5mm between the two lasers. The combined action of the continuous and pulsed lasers not only overcomes the limitations of a single laser but also works synergistically to efficiently complete the cleaning task. This approach simultaneously meets various complex cleaning requirements, such as paint and rust removal from large flat surfaces of ship sections and the addition of rust to existing paint, thus reducing operating costs.

[0043] Example 2 This embodiment describes a method for using a composite laser cleaning device for large flat surfaces of ship sections, including the following steps: a) Preparation: First, assemble and debug the wall-climbing laser cleaning equipment, then clean the iron filings and dust from the bottom of the wall-climbing robot, then move the wall-climbing robot onto the large flat surface of the section, move the wall-climbing robot to the starting point on the flat surface, and adjust the position of the laser cleaning head at the starting point; b) At the starting point, manually adjust the working distance of the laser to obtain the optimal working distance of the laser spot, and then set the relevant laser parameters; c) The wall-climbing robot drives the laser cleaning head to perform laser cleaning on the flat surface according to the set path. During the laser cleaning operation, it is necessary to ensure that the continuous laser is in front and the pulsed laser is behind, and the light-emitting mirror of the laser cleaning head is always perpendicular to the surface to be treated. After cleaning, immediately turn off the continuous light and the pulsed light.

[0044] Specifically, in step c, ensuring that the laser cleaning head emits light in a direction where the continuous laser beam precedes the pulse beam is mainly achieved through the following methods: c1: Steps to obtain environment parameters: The robot's normal vector N, motion direction vector V, and current pose data are acquired in real time. c2: Steps to establish the coordinate system: Establish a multi-level coordinate system, including the world coordinate system W(X_w,Y_w,Z_w), the robot base coordinate system R(X_r,Y_r,Z_r), the tooling base coordinate system B(X_b,Y_b,Z_b), and the cleaning head end coordinate system C(X_c,Y_c,Z_c). c3: Parallel constraint solution steps: Based on the normal vector N of the working surface, the joint angles [θ1, θ3] of the three-degree-of-freedom tooling are calculated using the inverse kinematics algorithm, so that the laser cleaning head lens plane is parallel to the working surface; c4: Steps for applying directional constraints: Based on the motion direction vector V, adjust the rotation joint angle θ1 to ensure that the laser emission direction satisfies the spatial relationship of continuous laser in front and pulsed laser behind. c5: Distance control steps: Based on the preset working distance d_dcsircd, calculate the translational joint displacement d2 to maintain a constant distance between the laser cleaning head and the working surface; c6: Real-time correction steps: The actual light output direction is monitored in real time by sensor feedback. When the detected direction deviation exceeds the preset threshold, the direction correction algorithm is executed.

[0045] Furthermore, in the c3 parallel constraint solution step, the constraint condition that the lens is parallel to the working surface is mathematically expressed as: Z_c = -k · N; where Z_c is the Z-axis direction vector of the end coordinate system, N is the normal vector of the working surface, and k is a coefficient greater than zero; the end Z-axis direction vector Z_c is calculated by the kinematic model as: Z_c = [sinθ1·sinθ3, -cosθ1·sinθ3, cosθ3]^T.

[0046] In the c4 direction constraint application step, the constraint condition for continuous preceding pulses is: X_c · V > 0; where X_c is the X-axis direction vector of the end coordinate system, calculated as: X_c = [cosθ1, sinθ1, 0]^T; When |sinθ3| < ε is detected, it is determined to be a singular configuration. In this case, the mirror parallel constraint is maintained first, and the orientation constraint is satisfied by adjusting the robot body pose. The value of ε is selected from 1 to 0.1 (corresponding to a sine value of 0.57° to 5.7°).

[0047] Further, in step b, during adjustment, turn on the laser cleaning equipment, adjust the continuous laser power to 20%P, and the pulsed laser power to 20%P. Manually adjust the laser working distance so that the laser spot is brightest at a certain position; this is the optimal working distance. In step b, the parameters for the continuous laser are mainly: power p concentrated between 3000 and 5400W, and laser cleaning head scanning rate concentrated between 15000 and 2000 mm / s; the pulsed laser uses a Gaussian laser waveform distribution, with power p concentrated between 950 and 1000W, and a scanning rate concentrated between 40000 and 45000 mm / s.

[0048] Furthermore, in step c, during laser cleaning, the wall-climbing robot cleans in a straight back-and-forth motion. When the robot's direction of movement changes, its disc rotates 180° synchronously to ensure that during cleaning, the continuous laser is in front, followed by the pulsed laser, with a working distance of 3-5mm between the two lasers. In step c, during the laser cleaning surface treatment process, it is necessary to maintain the perpendicularity between the laser cleaning head field lens and the surface being cleaned, and to maintain the correct laser working distance at all times.

[0049] Furthermore, in step c, the laser cleaning head is equipped with dual-path light, namely a continuous laser and a pulsed laser. The core diameter of the continuous laser is 50~200μm, and the maximum power is 6000W. The maximum power of the pulsed laser is 1000W. The laser waveform in the pulsed laser conforms to a Gaussian distribution, and the fiber length of the dual lasers is 20m. In step c, during the cleaning process, the maximum width of the laser cleaning is 220mm. In automatic cleaning, an automatic straight-line travel and manual control of lane changing are used, and the lane changing distance of the robot is set to 0.92~0.96 times the cleaning width.

[0050] Example 3 This embodiment describes a composite laser cleaning device for large flat surfaces of ship sections. The composite laser cleaning device includes a wall-climbing robot and a main support arm. The wall-climbing robot and the main support arm are rotatably connected by an integrated platform. The main support arm is provided with a side support arm that can move up and down along the main support arm. One end of the side support arm is provided with a rotatable laser cleaning head, which is equipped with continuous laser and pulsed laser. The integrated platform is connected to the wall-climbing robot through a wall-climbing robot disk. The side support arm is sleeved on the main support arm, and the other end of the side support arm is provided with a control device.

[0051] Taking the corrugated plate section of a 210,000-ton bulk carrier as an example, a new type of continuous 3000W (50μm) + pulsed 1000W composite laser cleaning process is used for secondary rust removal, mainly treating the inclined inner surface, and mainly consisting of the following steps: First, assemble and debug the wall-climbing laser cleaning equipment to ensure that the equipment can work properly.

[0052] After the equipment is assembled and debugged, clean the iron filings and dust from the bottom of the wall-climbing robot to prevent secondary pollution when cleaning the large flat sections.

[0053] After the equipment is assembled and debugged, move the wall-climbing robot to the segmented large plane and perform surface treatment work according to the recommended path; move the wall-climbing robot to the starting point on the plane and adjust the position of the laser cleaning head at the starting point.

[0054] At the starting point, manually adjust the laser's working distance. During adjustment, turn on the laser cleaning equipment and set the continuous laser power to 20%P and the pulsed laser power to 20%P. Manually adjust the laser working distance multiple times until the laser spot is brightest at a certain position; this is the optimal working distance.

[0055] After adjusting the laser working distance, the relevant process parameters are set: continuous laser power 2700W, scanning rate 15000m / s; pulsed laser power 1000W, frequency 700K, pulse width 300ns, scanning rate 35000mm / s.

[0056] After setting the process parameters, turn on the light output switch and proceed according to... Figure 4 The laser cleaning head is used for laser cleaning. During cleaning, the wall-climbing robot brakes and executes the "straight up, straight down, one-key lane change" program to make the robot work back and forth. The "one-key lane change" program needs to be manually activated. At the same time as the wall-climbing robot changes its direction of movement, the control program is activated to rotate the wall-climbing robot's disc 180° to ensure that "continuous light in front, pulsed light behind" during the cleaning operation.

[0057] During laser cleaning of surfaces, it is necessary to always maintain the perpendicular relationship between the laser cleaning head field lens and the working surface being cleaned, and to always maintain the working distance of the laser. In actual cleaning operations, the Z-axis adjustment button and the Y-axis adjustment button can be adjusted at any time to maintain the positional relationship.

[0058] After cleaning, promptly turn off the laser output switch to prevent prolonged laser descent and potential damage to the steel plate. Following cleaning, the surface roughness should be tested according to the method specified in GB / T 13288.4—2013, and found to be between 30 and 75 μm; the surface cleanliness should be visually inspected to achieve Sa2.5 grade according to the method specified in GB / T 8923.1—2011; and the soluble salt content of the cleaned material should be tested according to the method specified in GB / T18570.6-2011, and found to be 6.48~10.45 mg / m³. 2 .

[0059] Example 4 In this embodiment, taking a corrugated plate section of a 210,000-ton bulk carrier as an example, a new type of continuous 6000W (200μm) + pulsed 1000W composite laser cleaning process is used for secondary rust removal, which mainly consists of the following steps: First, assemble and debug the wall-climbing laser cleaning equipment to ensure that the equipment can work properly.

[0060] After the equipment is assembled and debugged, clean the iron filings and dust from the bottom of the wall-climbing robot to prevent secondary pollution when cleaning the large flat sections.

[0061] After the equipment is assembled and debugged, move the wall-climbing robot to the segmented large plane and perform surface treatment work according to the recommended path; move the wall-climbing robot to the starting point on the plane and adjust the position of the laser cleaning head at the starting point.

[0062] At the starting point, manually adjust the laser's working distance. During adjustment, turn on the laser cleaning equipment and set the continuous laser power to 20%P and the pulsed laser power to 20%P. Manually adjust the laser working distance multiple times until the laser spot is brightest at a certain position; this is the optimal working distance.

[0063] After adjusting the laser working distance, the relevant process parameters are set: continuous laser power 4800W, scanning rate 10000m / s; pulsed laser power 950W, frequency 1250K, pulse width 500ns, scanning rate 45000mm / s.

[0064] After setting the process parameters, turn on the light output switch and proceed according to... Figure 4 The laser cleaning head is used for laser cleaning. During cleaning, the wall-climbing robot brakes and executes the "straight up, straight down, one-key lane change" program to make the robot work back and forth. The "one-key lane change" program needs to be manually activated. At the same time as the wall-climbing robot changes its direction of movement, the control program is activated to rotate the wall-climbing robot's disc 180° to ensure that "continuous light in front, pulsed light behind" during the cleaning operation.

[0065] During laser cleaning of surfaces, it is necessary to always maintain the perpendicular relationship between the laser cleaning head field lens and the working surface being cleaned, and to always maintain the working distance of the laser. In actual cleaning operations, the Z-axis adjustment button and the Y-axis adjustment button can be adjusted at any time to maintain the positional relationship.

[0066] After cleaning, promptly turn off the laser output switch to prevent prolonged laser descent and potential damage to the steel plate. Following cleaning, the surface roughness should be between 40 and 75 μm, as specified in GB / T 13288.4—2013; the surface cleanliness should visually meet Sa2.5 standards, as specified in GB / T 8923.1—2011; and the soluble salt content should be between 6.47 and 9.92 mg / m³, as specified in GB / T18570.6-2011. 2 .

[0067] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A composite laser cleaning device for large flat surfaces of ship sections, characterized in that: The composite laser cleaning device includes a wall-climbing robot and a main support arm. The wall-climbing robot and the main support arm are rotatably connected by an integrated platform. The main support arm is equipped with a side support arm that can move up and down along the main support arm. One end of the side support arm is equipped with a rotatable laser cleaning head, which is equipped with continuous laser and pulsed laser. The integrated platform is connected to the wall-climbing robot through a wall-climbing robot disk. The side support arm is sleeved on the main support arm, and the other end of the side support arm is equipped with a control device.

2. The composite laser cleaning device for large flat surfaces of ship sections according to claim 1, characterized in that: The main support arm is equipped with a track, and the side support arm is equipped with a sliding column that cooperates with the track. The side support arm can move within a range of 400-600mm along the main support arm, and the track is equipped with a limiting groove on its side.

3. The composite laser cleaning device for large flat surfaces of ship sections according to claim 1, characterized in that: The laser cleaning head is connected to the side support arm via a connecting device. The connecting device includes a spur gear at the end of the side support arm and an internal meshing gear on one side of the laser cleaning head. The internal meshing gear and the spur gear are engaged, and the two can rotate at an angle of ±10°.

4. A composite laser cleaning device for large flat surfaces of ship sections according to claim 1, characterized in that: The integrated platform has a set of interlocking transmission gears, and the bottom of the main support arm has a rotating structure that works with the transmission gears, allowing the main support arm to rotate 360 ​​degrees around the wall-climbing robot.

5. The method of using a composite laser cleaning device for large flat surfaces of ship sections according to claim 1, characterized in that: The method of use includes the following steps: a) Preparation: First, assemble and debug the wall-climbing laser cleaning equipment, then clean the iron filings and dust from the bottom of the wall-climbing robot, then move the wall-climbing robot to the segmented large plane, move the wall-climbing robot to the starting point on the plane, and adjust the position of the laser cleaning head at the starting point; b) At the starting point, manually adjust the working distance of the laser to obtain the optimal working distance of the laser spot, and then set the relevant laser parameters; c) The wall-climbing robot drives the laser cleaning head to perform laser cleaning on the plane according to the set path. During the laser cleaning operation, it is necessary to ensure that the continuous laser is in front and the pulsed laser is behind. After the cleaning is completed, immediately turn off the continuous light and the pulsed light.

6. The method of using the composite laser cleaning device for large flat surfaces of ship sections according to claim 1, characterized in that: In step c, ensuring that the laser cleaning head emits light in a direction where the continuous laser beam precedes the pulse beam is mainly achieved through the following methods: c1: Steps to obtain environment parameters: The robot's normal vector N, motion direction vector V, and current pose data are acquired in real time. c2: Steps for establishing the coordinate system: Establish a multi-level coordinate system, including the world coordinate system W(X_w,Y_w,Z_w), the robot base coordinate system R(X_r,Y_r,Z_r), the tooling base coordinate system B(X_b,Y_b,Z_b), and the cleaning head end coordinate system C(X_c,Y_c,Z_c). c3: Parallel constraint solution steps: Based on the normal vector N of the working surface, the joint angles [θ1, θ3] of the three-degree-of-freedom tooling are calculated using the inverse kinematics algorithm, so that the laser cleaning head lens plane is parallel to the working surface; c4: Steps for applying directional constraints: Based on the motion direction vector V, adjust the rotation joint angle θ1 to ensure that the laser emission direction satisfies the spatial relationship of continuous laser in front and pulsed laser behind. c5: Distance control steps: Based on the preset working distance d_dcsircd, calculate the translational joint displacement d2 to maintain a constant distance between the laser cleaning head and the working surface; c6: Real-time correction steps: The actual light output direction is monitored in real time by sensor feedback. When the detected direction deviation exceeds the preset threshold, the direction correction algorithm is executed.

7. The method of using a composite laser cleaning device for large flat surfaces of ship sections according to claim 6, characterized in that: In the c3 parallel constraint solution step, the mathematical expression of the constraint condition that the lens is parallel to the working surface is: Z_c = -k ·N; Where Z_c is the Z-axis direction vector of the end coordinate system, N is the normal vector of the working surface, and k is a coefficient greater than zero; The terminal Z-axis direction vector Z_c is calculated using a kinematic model as: Z_c = [sinθ1·sinθ3, -cosθ1·sinθ3, cosθ3]^T.

8. The method of using a composite laser cleaning device for large flat surfaces of ship sections according to claim 6, characterized in that: In the c4 direction constraint application step, the constraint condition for consecutive preceding pulses is: X_c · V > 0; Where X_c is the X-axis direction vector of the end coordinate system, calculated as: X_c = [cosθ1, sinθ1, 0]^T; When |sinθ3| < ε is detected, it is determined to be a singular configuration. In this case, the mirror parallel constraint is maintained first, and the orientation constraint is satisfied by adjusting the robot body pose. Wherein, ε = 1 ~ 0.

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9. The method of using a composite laser cleaning device for large flat surfaces of ship sections according to claim 1, characterized in that: In step b, during adjustment, turn on the laser cleaning equipment, adjust the continuous laser power to 20%P and the pulsed laser power to 20%P, and manually adjust the laser working distance so that the laser spot is brightest at a certain position, which is the optimal working distance.

10. The method of using a composite laser cleaning device for large flat surfaces of ship sections according to claim 1, characterized in that: In step b, the parameters of the continuous laser section are mainly power p concentrated in 3000~5400W, and laser cleaning head scanning rate concentrated in 15000~2000mm / s; The pulsed laser section uses a Gaussian distribution for the laser waveform, with power p concentrated in the range of 950~1000W; the scanning rate is concentrated in the range of 40000~45000mm / s.

11. The method of using a composite laser cleaning device for large flat surfaces of ship sections according to claim 1, characterized in that: In step c, during laser cleaning, the wall-climbing robot cleans in a straight back-and-forth motion. When the robot's direction of movement changes, its disc rotates 180° synchronously to ensure that during cleaning, the continuous laser is in front and the pulsed laser is behind, with a working distance of 3-5mm between the two lasers. During the laser cleaning surface treatment process, the laser cleaning head field lens must always be kept perpendicular to the surface being cleaned, and the working distance of the laser must always be maintained.

12. The method of using a composite laser cleaning device for large flat surfaces of ship sections according to claim 1, characterized in that: In step c, the laser cleaning head is equipped with dual-path light, namely a continuous laser and a pulsed laser. The core diameter of the continuous laser is 50~200μm and the maximum power is 6000W, while the maximum power of the pulsed laser is 1000W. The laser waveform in the pulsed laser conforms to a Gaussian distribution, and the fiber length of the dual lasers is 20m. During the cleaning process, the maximum width of the laser cleaning is 220mm. In automatic cleaning, an automatic straight-line travel and manual control of lane changing are used, and the lane changing distance of the robot is set to 0.92~0.96 times the cleaning width.

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